version: 66.07
glider: 500
mission: 5
dive: 359
start: 2 8 111 17 46 49
data:
$ID,500
$MISSION,5
$DIVE,359
$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,-128589.25
$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,31
$R_STBD_OVSHOOT,41
$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,2
$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
$GPS1,080211,173836,2206.655,12822.726,36,0.9,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-76.0
$GPS2,080211,174555,2206.770,12822.744,10,2.0,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.054,-0.214
$KALMAN_X,-786737.0,-379.1,617.8,1314983.0,769.6
$KALMAN_Y,-39895.0,-861.0,214.7,146313.5,8058.0
$MHEAD_RNG_PITCHd_Wd,197.2,204101,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
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$GC,14930,-0.50,-155.7,851.2,-3.9,539,14934,0.00,2.47,0.00,0.000,4,0.000,0.057,2910,3697,3604,0,0,0,0,0,0
$GC,14973,-0.50,-155.7,853.0,-4.2,540,14978,0.00,2.35,0.00,0.000,6,0.000,0.038,2910,2111,3603,0,0,0,0,0,0
$GC,15293,-0.50,-155.7,865.0,-3.7,548,15297,0.00,2.50,0.00,0.000,4,0.000,0.058,2899,3700,3603,0,0,0,0,0,0
$GC,15353,-0.50,-155.7,867.2,-3.5,549,15358,0.00,2.38,0.00,0.000,6,0.000,0.038,2898,2099,3602,0,0,0,0,0,0
$GC,15701,-0.50,-155.7,880.3,-4.0,558,15706,0.00,2.50,0.00,0.000,4,0.000,0.058,2887,3690,3602,0,0,0,0,0,0
$GC,15713,-0.50,-155.7,880.7,-4.0,558,15718,0.12,2.40,0.00,0.000,6,0.110,0.039,2933,2103,3601,0,0,0,0,0,0
$GC,16060,-0.50,-155.7,894.6,-4.2,567,16065,0.00,2.50,0.00,0.000,4,0.000,0.058,2924,3702,3601,0,0,0,0,0,0
$GC,16193,-0.50,-155.7,900.3,-4.5,570,16197,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2095,3601,0,0,0,0,0,0
$GC,16516,-0.50,-155.7,914.2,-4.3,578,16520,0.00,2.50,0.00,0.000,4,0.000,0.058,2912,3690,3600,0,0,0,0,0,0
$GC,16622,-0.50,-155.7,918.5,-4.0,580,16626,0.00,2.40,0.00,0.000,6,0.000,0.038,2914,2107,3600,0,0,0,0,0,0
$GC,16964,-0.50,-155.7,930.5,-3.4,589,16969,0.00,2.47,0.00,0.000,4,0.000,0.057,2901,3691,3600,0,0,0,0,0,0
$GC,16999,-0.50,-155.7,931.6,-3.1,589,17004,0.00,2.40,0.00,0.000,6,0.000,0.038,2901,2103,3599,0,0,0,0,0,0
$GC,17331,-0.50,-155.7,943.0,-3.5,598,17335,0.00,2.50,0.00,0.000,4,0.000,0.057,2888,3703,3599,0,0,0,0,0,0
$GC,17370,-0.50,-155.7,944.5,-4.5,599,17375,0.12,2.38,0.00,0.000,6,0.113,0.037,2935,2114,3599,0,0,0,0,0,0
$GC,17693,-0.50,-155.7,956.9,-4.0,607,17698,0.00,2.47,0.00,0.000,4,0.000,0.057,2925,3695,3602,0,0,0,0,0,0
$GC,17884,-0.50,-155.7,965.1,-4.0,611,17888,0.00,2.40,0.00,0.000,6,0.000,0.038,2925,2098,3597,0,0,0,0,0,0
$GC,18231,-0.50,-155.7,979.6,-4.2,620,18235,0.00,2.47,0.00,0.000,4,0.000,0.058,2924,3699,3598,0,0,0,0,0,0
$STATE,18480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18480,begin apogee
$GC,18488,-0.23,0.0,990.1,4.9,625,18629,0.25,0.00,137.77,1.575,6,0.074,0.000,3029,1927,2997,0,0,0,0,0,0
$STATE,18632,end apogee,CONTROL_FINISHED_OK
$STATE,18632,begin climb
$GC,18635,0.50,155.7,990.6,0.0,629,18799,0.62,2.75,157.05,1.538,4,0.051,0.057,3263,3505,2363,0,0,0,0,0,0
$GC,18822,0.50,155.7,968.4,15.4,634,18827,0.00,2.60,0.00,0.000,6,0.000,0.042,3276,1929,2354,0,0,0,0,0,0
$GC,19141,0.50,155.7,920.2,15.0,642,19142,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1928,2347,0,0,0,0,0,0
$GC,19465,0.50,155.7,869.2,16.1,650,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1931,2344,0,0,0,0,0,0
$GC,19790,0.50,155.7,817.4,15.6,658,19794,0.00,2.42,0.00,0.000,4,0.000,0.058,3276,3501,2344,0,0,0,0,0,0
$GC,19822,0.50,155.7,812.1,16.8,658,19828,0.12,2.40,0.00,0.000,6,0.141,0.043,3249,1911,2347,0,0,0,0,0,0
$GC,20154,0.50,155.7,767.1,13.4,667,20158,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,328,2343,0,0,0,0,0,0
$GC,20186,0.50,155.7,762.5,13.8,667,20192,0.00,2.40,0.00,0.000,6,0.000,0.049,3260,1926,2343,0,0,0,0,0,0
$GC,20517,0.50,155.7,716.0,14.1,676,20521,0.00,2.42,0.00,0.000,4,0.000,0.058,3260,3509,2343,0,0,0,0,0,0
$GC,20658,0.50,155.7,694.7,14.3,679,20662,0.00,2.42,0.00,0.000,6,0.000,0.044,3272,1913,2342,0,0,0,0,0,0
$GC,20970,0.50,155.7,647.8,14.9,687,20974,0.00,2.40,0.00,0.000,4,0.000,0.055,3288,338,2342,0,0,0,0,0,0
$GC,21014,0.50,155.7,641.1,14.8,688,21019,0.10,2.40,0.00,0.000,6,0.140,0.048,3252,1921,2342,0,0,0,0,0,0
$GC,21332,0.50,155.7,601.2,12.3,696,21336,0.00,2.47,0.00,0.000,4,0.000,0.058,3251,3525,2340,0,0,0,0,0,0
$GC,21408,0.50,155.7,591.0,12.2,697,21414,0.00,2.45,0.00,0.000,6,0.000,0.044,3262,1918,2340,0,0,0,0,0,0
$GC,21741,0.50,155.7,549.4,12.7,706,21742,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1918,2341,0,0,0,0,0,0
$GC,22065,0.50,155.7,506.0,13.2,714,22069,0.00,2.45,0.00,0.000,4,0.000,0.055,3275,329,2341,0,0,0,0,0,0
$GC,22096,0.50,155.7,501.6,12.7,714,22103,0.00,2.42,0.00,0.000,6,0.000,0.048,3275,1932,2340,0,0,0,0,0,0
$GC,22429,0.50,155.7,459.6,12.3,723,22433,0.00,2.42,0.00,0.000,4,0.000,0.057,3275,3511,2341,0,0,0,0,0,0
$GC,22528,0.50,155.7,446.3,14.2,725,22533,0.12,2.40,0.00,0.000,6,0.138,0.043,3247,1923,2341,0,0,0,0,0,0
$GC,22841,0.50,155.7,418.9,8.4,733,22845,0.00,2.45,0.00,0.000,4,0.000,0.054,3258,333,2341,0,0,0,0,0,0
$GC,22896,0.50,155.7,413.7,9.1,734,22900,0.00,2.40,0.00,0.000,6,0.000,0.047,3258,1924,2341,0,0,0,0,0,0
$GC,23243,0.50,155.7,377.8,10.5,743,23247,0.00,2.42,0.00,0.000,4,0.000,0.054,3258,3513,2343,0,0,0,0,0,0
$GC,23321,0.50,155.7,368.7,14.4,744,23326,0.00,2.42,0.00,0.000,6,0.000,0.042,3272,1912,2341,0,0,0,0,0,0
$GC,23651,0.50,155.7,331.8,10.7,753,23655,0.00,2.40,0.00,0.000,4,0.000,0.053,3283,338,2344,0,0,0,0,0,0
$GC,23684,0.50,155.7,328.2,9.7,753,23690,0.00,2.35,0.00,0.000,6,0.000,0.044,3283,1921,2343,0,0,0,0,0,0
$GC,23995,0.50,155.7,293.1,11.3,762,23999,0.00,2.42,0.00,0.000,4,0.000,0.055,3283,3511,2345,0,0,0,0,0,0
$GC,24103,0.50,155.7,280.3,11.4,767,24108,0.15,2.40,0.00,0.000,6,0.123,0.041,3246,1918,2346,0,0,0,0,0,0
$GC,24429,0.50,155.7,253.9,7.4,783,24433,0.00,2.42,0.00,0.000,4,0.000,0.052,3257,334,2347,0,0,0,0,0,0
$GC,24491,0.50,155.7,249.2,6.8,786,24495,0.00,2.35,0.00,0.000,6,0.000,0.043,3257,1927,2347,0,0,0,0,0,0
$GC,24823,0.50,155.7,224.4,7.4,802,24827,0.00,2.40,0.00,0.000,4,0.000,0.050,3269,335,2348,0,0,0,0,0,0
$GC,24846,0.50,155.7,222.6,8.8,803,24851,0.00,2.35,0.00,0.000,6,0.000,0.043,3274,1924,2347,0,0,0,0,0,0
$GC,25165,0.50,155.7,194.8,8.9,821,25169,0.00,2.42,0.00,0.000,4,0.000,0.052,3269,3518,2350,0,0,0,0,0,0
$GC,25204,0.50,155.7,190.9,10.3,824,25208,0.00,2.40,0.00,0.000,6,0.000,0.041,3282,1922,2350,0,0,0,0,0,0
$GC,25466,0.50,155.7,164.3,9.4,848,25471,0.00,2.40,0.00,0.000,4,0.000,0.051,3293,334,2351,0,0,0,0,0,0
$GC,25510,0.50,155.7,160.2,9.3,851,25517,0.12,2.35,0.00,0.000,6,0.114,0.042,3248,1933,2351,0,0,0,0,0,0
$GC,25771,0.57,208.3,146.5,4.6,876,25823,0.00,2.45,45.85,0.895,4,0.000,0.051,3248,3500,2145,0,0,0,0,0,0
$GC,25839,0.62,247.6,142.9,5.0,882,25879,0.00,2.45,34.38,0.884,6,0.000,0.039,3257,1922,1986,0,0,0,0,0,0
$GC,26140,0.65,273.6,125.6,5.3,911,26172,0.12,2.53,22.67,0.854,4,0.083,0.051,3372,334,1879,0,0,0,0,0,0
$GC,26230,0.65,273.6,114.4,13.8,919,26235,0.22,2.35,0.00,0.000,6,0.116,0.042,3300,1921,1878,0,0,0,0,0,0
$GC,26492,0.65,273.6,89.5,8.6,943,26496,0.00,2.40,0.00,0.000,4,0.000,0.051,3300,3510,1875,0,0,0,0,0,0
$GC,26519,0.65,273.6,86.7,9.6,945,26523,0.00,2.40,0.00,0.000,6,0.000,0.041,3310,1912,1874,0,0,0,0,0,0
$GC,26788,0.65,273.6,60.4,10.4,970,26792,0.00,2.40,0.00,0.000,4,0.000,0.051,3323,327,1875,0,0,0,0,0,0
$GC,26865,0.65,273.6,52.1,8.4,976,26871,0.00,2.33,0.00,0.000,6,0.000,0.040,3323,1921,1875,0,0,0,0,0,0
$GC,27128,0.65,273.6,25.8,9.5,1001,27129,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1921,1875,0,0,0,0,0,0
$GC,27317,0.65,273.6,5.0,11.1,1019,27318,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1921,1875,0,0,0,0,0,0
$STATE,27336,end climb,SURFACE_DEPTH_REACHED
$STATE,27336,begin surface coast
$FINISH,0.7,1.023554
$STATE,27359,end surface coast,CONTROL_FINISHED_OK
$STATE,27359,begin surface
$SM_CCo,27389,63.60,0.790,0,0,1364,400.08
$SM_GC,1.06,0.00,0.00,63.60,0.000,0.000,0.790,125,2133,1364,-9.27,0.65,400.08
$IRIDIUM_FIX,2159.71,12821.06,030812,030348
$TT8_MAMPS,0.059059
$HUMID,1078705152
$INTERNAL_PRESSURE,9.12999
$TCM_TEMP,24.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8318287872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51221692416
$AR_DDRIVE_SIZE,59996930048
$24V_AH,21.7,62.232
$10V_AH,9.8,52.880
$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,21.575,304.250,397.725,63.600,0.000,39.208,46.836,216.278,0.250,0.000,12.221,2124.313,21759.477,722.623,2891.611,423.180,33.377,2144.697,0.000,2507.121,0.000,0.541,0.000
$DEVICE_MAMPS,217.061,60.593,1575.418,790.010,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,698.518,0.000,0.000,0.000,0.000,0.000,0.000,27452.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.006,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,36660,1023
$CAP_FILE_SIZE,231587,0
$CFSIZE,260165632,190861312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090211,012630,2206.042,12822.148,40,1.1,40,-3.1