version: 66.07
glider: 500
mission: 5
dive: 358
start: 2 8 111 9 15 56
data:
$ID,500
$MISSION,5
$DIVE,358
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,1020
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-128576.4
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3090
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2110
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2995
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,080211,090407,2207.755,12822.203,40,0.9,40,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-78.2
$GPS2,080211,091502,2207.862,12822.185,10,1.2,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.004,-0.221
$KALMAN_X,-788538.8,1077.0,57.2,1314908.5,-760.8
$KALMAN_Y,-45597.9,-207.1,72.5,153530.8,7926.2
$MHEAD_RNG_PITCHd_Wd,182.2,206212,-9.4,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
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$GC,15535,-0.50,-155.7,808.2,-3.6,541,15539,0.00,2.47,0.00,0.000,4,0.000,0.058,2921,3686,3593,0,0,0,0,0,0
$GC,15624,-0.50,-155.7,811.6,-3.5,543,15629,0.00,2.35,0.00,0.000,6,0.000,0.038,2920,2097,3593,0,0,0,0,0,0
$GC,15944,-0.50,-155.7,824.8,-4.2,551,15948,0.00,2.45,0.00,0.000,4,0.000,0.058,2910,3687,3592,0,0,0,0,0,0
$GC,16058,-0.50,-155.7,829.6,-4.0,553,16062,0.00,2.35,0.00,0.000,6,0.000,0.038,2909,2110,3592,0,0,0,0,0,0
$GC,16401,-0.50,-155.7,844.2,-4.3,562,16405,0.00,2.47,0.00,0.000,4,0.000,0.056,2899,3686,3591,0,0,0,0,0,0
$GC,16453,-0.50,-155.7,846.4,-3.9,563,16457,0.00,2.35,0.00,0.000,6,0.000,0.037,2899,2103,3591,0,0,0,0,0,0
$GC,16773,-0.50,-155.7,861.0,-4.5,571,16777,0.00,2.47,0.00,0.000,4,0.000,0.056,2888,3696,3590,0,0,0,0,0,0
$GC,16852,-0.50,-155.7,864.8,-5.2,572,16858,0.12,2.38,0.00,0.000,6,0.110,0.038,2933,2110,3590,0,0,0,0,0,0
$GC,17184,-0.50,-155.7,877.3,-3.6,581,17188,0.00,2.47,0.00,0.000,4,0.000,0.058,2922,3696,3590,0,0,0,0,0,0
$GC,17309,-0.50,-155.7,881.3,-3.0,583,17314,0.00,2.35,0.00,0.000,6,0.000,0.038,2922,2110,3589,0,0,0,0,0,0
$GC,17640,-0.50,-155.7,889.2,-2.1,592,17644,0.00,2.45,0.00,0.000,4,0.000,0.055,2912,3690,3588,0,0,0,0,0,0
$GC,17725,-0.50,-155.7,890.8,-2.3,594,17729,0.00,2.35,0.00,0.000,6,0.000,0.037,2912,2095,3588,0,0,0,0,0,0
$GC,18050,-0.50,-155.7,898.1,-2.4,602,18054,0.00,2.50,0.00,0.000,4,0.000,0.057,2901,3699,3588,0,0,0,0,0,0
$GC,18145,-0.50,-155.7,900.6,-3.1,604,18150,0.00,2.35,0.00,0.000,6,0.000,0.037,2901,2111,3588,0,0,0,0,0,0
$GC,18459,-0.50,-155.7,910.3,-3.3,612,18464,0.00,2.45,0.00,0.000,4,0.000,0.056,2890,3686,3588,0,0,0,0,0,0
$GC,18533,-0.50,-155.7,913.0,-3.7,613,18538,0.12,2.33,0.00,0.000,6,0.110,0.037,2936,2109,3588,0,0,0,0,0,0
$GC,18865,-0.50,-155.7,923.7,-3.4,621,18869,0.00,2.50,0.00,0.000,4,0.000,0.056,2927,3693,3587,0,0,0,0,0,0
$GC,19084,-0.50,-155.7,931.2,-3.6,626,19088,0.00,2.38,0.00,0.000,6,0.000,0.038,2927,2098,3587,0,0,0,0,0,0
$GC,19410,-0.50,-155.7,942.2,-3.6,634,19414,0.00,2.50,0.00,0.000,4,0.000,0.057,2917,3697,3587,0,0,0,0,0,0
$GC,19572,-0.50,-155.7,948.4,-4.2,637,19576,0.00,2.38,0.00,0.000,6,0.000,0.038,2917,2099,3586,0,0,0,0,0,0
$GC,19904,-0.50,-155.7,962.0,-4.3,645,19909,0.00,2.50,0.00,0.000,4,0.000,0.057,2907,3698,3586,0,0,0,0,0,0
$GC,20029,-0.50,-155.7,967.5,-4.3,647,20034,0.00,2.38,0.00,0.000,6,0.000,0.038,2906,2103,3586,0,0,0,0,0,0
$GC,20361,-0.50,-155.7,981.9,-4.2,656,20365,0.00,2.47,0.00,0.000,4,0.000,0.057,2896,3687,3585,0,0,0,0,0,0
$GC,20416,-0.50,-155.7,984.2,-4.3,657,20421,0.10,2.35,0.00,0.000,6,0.120,0.038,2933,2099,3585,0,0,0,0,0,0
$STATE,20600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20600,begin apogee
$GC,20607,-0.23,0.0,990.2,3.3,662,20746,0.22,0.00,136.60,1.592,6,0.079,0.000,3027,1909,2994,0,0,0,0,0,0
$STATE,20747,end apogee,CONTROL_FINISHED_OK
$STATE,20747,begin climb
$GC,20749,0.50,155.7,990.5,0.0,665,20915,0.60,2.83,157.02,1.555,4,0.050,0.054,3260,3495,2360,0,0,0,0,0,0
$GC,21096,0.50,155.7,942.8,15.2,673,21100,0.00,2.42,0.00,0.000,6,0.000,0.041,3272,1932,2346,0,0,0,0,0,0
$GC,21421,0.50,155.7,893.8,14.8,681,21425,0.00,2.45,0.00,0.000,4,0.000,0.054,3285,333,2343,0,0,0,0,0,0
$GC,21447,0.50,155.7,889.6,16.3,681,21452,0.10,2.40,0.00,0.000,6,0.140,0.048,3252,1922,2342,0,0,0,0,0,0
$GC,21786,0.50,155.7,847.1,12.5,690,21790,0.00,2.42,0.00,0.000,4,0.000,0.058,3252,3506,2340,0,0,0,0,0,0
$GC,21857,0.50,155.7,837.1,12.9,691,21861,0.00,2.40,0.00,0.000,6,0.000,0.044,3263,1920,2340,0,0,0,0,0,0
$GC,22195,0.50,155.7,791.2,13.9,700,22199,0.00,2.42,0.00,0.000,4,0.000,0.055,3276,339,2340,0,0,0,0,0,0
$GC,22249,0.50,155.7,783.1,14.0,701,22254,0.00,2.40,0.00,0.000,6,0.000,0.048,3276,1924,2340,0,0,0,0,0,0
$GC,22564,0.50,155.7,739.2,13.7,709,22568,0.00,2.45,0.00,0.000,4,0.000,0.057,3276,3517,2339,0,0,0,0,0,0
$GC,22657,0.50,155.7,725.1,14.4,711,22662,0.12,2.42,0.00,0.000,6,0.140,0.043,3249,1922,2338,0,0,0,0,0,0
$GC,22979,0.50,155.7,688.5,11.4,719,22984,0.00,2.42,0.00,0.000,4,0.000,0.055,3260,333,2339,0,0,0,0,0,0
$GC,23040,0.50,155.7,680.8,10.4,720,23044,0.00,2.40,0.00,0.000,6,0.000,0.048,3260,1933,2338,0,0,0,0,0,0
$GC,23391,0.50,155.7,635.1,13.3,729,23395,0.00,2.40,0.00,0.000,4,0.000,0.058,3260,3503,2338,0,0,0,0,0,0
$GC,23439,0.50,155.7,628.0,13.4,730,23444,0.00,2.40,0.00,0.000,6,0.000,0.042,3272,1917,2337,0,0,0,0,0,0
$GC,23758,0.50,155.7,587.3,12.4,738,23759,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1917,2338,0,0,0,0,0,0
$GC,24084,0.50,155.7,546.5,12.7,746,24089,0.00,2.45,0.00,0.000,4,0.000,0.057,3272,3503,2338,0,0,0,0,0,0
$GC,24134,0.50,155.7,539.4,13.3,747,24138,0.00,2.40,0.00,0.000,6,0.000,0.042,3284,1913,2338,0,0,0,0,0,0
$GC,24454,0.50,155.7,497.9,13.3,755,24455,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1913,2337,0,0,0,0,0,0
$GC,24777,0.50,155.7,458.8,11.8,763,24782,0.00,2.45,0.00,0.000,4,0.000,0.054,3296,339,2338,0,0,0,0,0,0
$GC,24838,0.50,155.7,451.2,14.8,764,24843,0.10,2.40,0.00,0.000,6,0.092,0.047,3253,1918,2338,0,0,0,0,0,0
$GC,25188,0.50,155.7,414.8,10.6,773,25192,0.00,2.42,0.00,0.000,4,0.000,0.054,3253,3511,2338,0,0,0,0,0,0
$GC,25294,0.50,155.7,402.2,11.2,775,25298,0.00,2.40,0.00,0.000,6,0.000,0.042,3264,1918,2338,0,0,0,0,0,0
$GC,25644,0.50,155.7,361.0,12.1,784,25649,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,3516,2339,0,0,0,0,0,0
$GC,25671,0.50,155.7,357.2,11.9,784,25676,0.00,2.42,0.00,0.000,6,0.000,0.043,3276,1922,2339,0,0,0,0,0,0
$GC,26009,0.50,155.7,318.2,11.5,793,26014,0.00,2.45,0.00,0.000,4,0.000,0.054,3276,3508,2339,0,0,0,0,0,0
$GC,26076,0.50,155.7,309.8,10.8,794,26081,0.12,2.40,0.00,0.000,6,0.130,0.042,3247,1907,2340,0,0,0,0,0,0
$GC,26401,0.50,155.7,281.0,9.5,807,26405,0.00,2.38,0.00,0.000,4,0.000,0.051,3258,338,2340,0,0,0,0,0,0
$GC,26439,0.50,155.7,277.0,12.7,809,26444,0.00,2.35,0.00,0.000,6,0.000,0.043,3258,1937,2340,0,0,0,0,0,0
$GC,26766,0.50,155.7,244.6,9.3,825,26770,0.00,2.38,0.00,0.000,4,0.000,0.053,3258,3503,2341,0,0,0,0,0,0
$GC,26827,0.50,155.7,238.5,9.3,828,26832,0.00,2.38,0.00,0.000,6,0.000,0.039,3270,1913,2342,0,0,0,0,0,0
$GC,27154,0.50,155.7,207.6,9.4,844,27158,0.00,2.40,0.00,0.000,4,0.000,0.052,3282,344,2343,0,0,0,0,0,0
$GC,27202,0.50,155.7,202.7,8.8,846,27207,0.00,2.30,0.00,0.000,6,0.000,0.041,3282,1922,2343,0,0,0,0,0,0
$GC,27532,0.50,155.7,172.1,8.1,876,27536,0.00,2.45,0.00,0.000,4,0.000,0.054,3282,3502,2345,0,0,0,0,0,0
$GC,27630,0.50,155.7,164.2,7.2,884,27635,0.12,2.35,0.00,0.000,6,0.126,0.038,3252,1928,2345,0,0,0,0,0,0
$GC,27892,0.54,187.6,149.8,5.2,908,27921,0.00,0.00,26.85,0.879,6,0.000,0.000,3251,1928,2230,0,0,0,0,0,0
$GC,28179,0.56,199.2,134.5,5.7,935,28199,0.00,2.45,11.48,0.807,4,0.000,0.048,3262,326,2183,0,0,0,0,0,0
$GC,28222,0.57,209.4,131.8,5.7,939,28238,0.00,2.35,10.55,0.792,6,0.000,0.041,3263,1920,2141,0,0,0,0,0,0
$GC,28494,0.57,209.4,113.3,7.0,964,28498,0.00,2.42,0.00,0.000,4,0.000,0.052,3262,3514,2140,0,0,0,0,0,0
$GC,28538,0.57,209.4,109.7,8.1,967,28544,0.00,2.40,0.00,0.000,6,0.000,0.040,3274,1906,2139,0,0,0,0,0,0
$GC,28800,0.57,209.4,91.3,6.3,992,28804,0.00,2.35,0.00,0.000,4,0.000,0.049,3286,336,2139,0,0,0,0,0,0
$GC,28839,0.57,209.4,88.5,7.4,995,28843,0.00,2.33,0.00,0.000,6,0.000,0.041,3285,1924,2139,0,0,0,0,0,0
$GC,29099,0.57,209.4,68.4,7.9,1019,29104,0.00,2.42,0.00,0.000,4,0.000,0.054,3286,3503,2139,0,0,0,0,0,0
$GC,29154,0.57,209.4,63.4,8.2,1023,29161,0.00,2.38,0.00,0.000,6,0.000,0.038,3298,1911,2140,0,0,0,0,0,0
$GC,29416,0.57,209.4,40.4,8.4,1048,29420,0.00,2.35,0.00,0.000,4,0.000,0.050,3310,338,2141,0,0,0,0,0,0
$GC,29534,0.57,209.4,29.1,8.3,1058,29539,0.12,2.30,0.00,0.000,6,0.112,0.042,3262,1926,2141,0,0,0,0,0,0
$GC,29731,0.57,209.6,15.6,6.0,1076,29735,0.00,2.38,0.00,0.000,4,0.000,0.053,3262,3499,2142,0,0,0,0,0,0
$GC,29770,0.57,209.6,12.7,8.0,1079,29774,0.00,2.35,0.00,0.000,6,0.000,0.039,3272,1919,2142,0,0,0,0,0,0
$STATE,29922,end climb,SURFACE_DEPTH_REACHED
$STATE,29922,begin surface coast
$FINISH,0.2,1.022197
$STATE,29966,end surface coast,CONTROL_FINISHED_OK
$STATE,29966,begin surface
$SM_CCo,29983,94.10,0.795,0,0,1364,400.08
$SM_GC,1.03,0.00,0.00,94.10,0.000,0.000,0.795,126,2117,1364,-9.26,0.20,400.08
$IRIDIUM_FIX,2159.71,12824.33,030812,030311
$TT8_MAMPS,0.027612
$HUMID,1078705152
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,21.7,62.044
$10V_AH,9.9,52.773
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.225,317.075,342.500,94.100,0.000,59.521,68.174,310.070,0.250,0.000,12.489,2455.142,23816.230,680.784,3190.985,563.038,33.376,2231.637,0.000,2731.417,0.000,0.541,0.000
$DEVICE_MAMPS,217.061,63.661,1591.525,794.612,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,750.906,0.000,0.000,0.000,0.000,0.000,0.000,709.059,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,40007,1097
$CAP_FILE_SIZE,323817,0
$CFSIZE,260165632,190865408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080211,173836,2206.655,12822.726,36,0.9,41,-3.1