version: 66.07
glider: 500
mission: 5
dive: 373
start: 2 13 111 14 53 43
data:
$ID,500
$MISSION,5
$DIVE,373
$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,-128875.85
$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,2150
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,48
$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
$GPS1,130211,144307,2201.615,12820.132,35,1.0,35,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.7
$GPS2,130211,145249,2201.724,12820.175,10,1.8,15,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.021,-0.220
$KALMAN_X,-786705.9,641.4,503.6,1309609.0,-2356.5
$KALMAN_Y,45502.8,-764.3,-533.6,52222.5,9982.7
$MHEAD_RNG_PITCHd_Wd,188.6,200961,-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
$STATE,14,begin dive
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$GC,15036,-0.50,-155.7,807.2,-6.1,540,15041,0.00,2.35,0.00,0.000,6,0.000,0.037,2922,2151,3607,0,0,0,0,0,0
$GC,15351,-0.50,-155.7,821.8,-4.4,548,15356,0.00,2.45,0.00,0.000,4,0.000,0.055,2911,3729,3606,0,0,0,0,0,0
$GC,15464,-0.50,-155.7,826.5,-4.3,550,15468,0.00,2.38,0.00,0.000,6,0.000,0.036,2911,2144,3606,0,0,0,0,0,0
$GC,15809,-0.50,-155.7,839.6,-3.8,559,15813,0.00,2.47,0.00,0.000,4,0.000,0.055,2899,3732,3606,0,0,0,0,0,0
$GC,15849,-0.50,-155.7,841.3,-3.5,560,15853,0.00,2.38,0.00,0.000,6,0.000,0.038,2899,2141,3605,0,0,0,0,0,0
$GC,16177,-0.50,-155.7,853.2,-3.7,568,16181,0.00,2.47,0.00,0.000,4,0.000,0.056,2887,3729,3605,0,0,0,0,0,0
$GC,16231,-0.50,-155.7,855.2,-3.4,569,16236,0.12,2.35,0.00,0.000,6,0.112,0.037,2933,2141,3604,0,0,0,0,0,0
$GC,16583,-0.50,-155.7,865.3,-2.8,578,16587,0.00,2.47,0.00,0.000,4,0.000,0.056,2923,3729,3604,0,0,0,0,0,0
$GC,16695,-0.50,-155.7,868.6,-2.9,580,16699,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2150,3604,0,0,0,0,0,0
$GC,17039,-0.50,-155.7,879.6,-3.6,589,17044,0.00,2.47,0.00,0.000,4,0.000,0.056,2913,3737,3604,0,0,0,0,0,0
$GC,17089,-0.50,-155.7,881.7,-3.9,590,17094,0.00,2.40,0.00,0.000,6,0.000,0.038,2913,2143,3603,0,0,0,0,0,0
$GC,17405,-0.50,-155.7,895.8,-4.8,598,17409,0.00,2.50,0.00,0.000,4,0.000,0.057,2901,3737,3603,0,0,0,0,0,0
$GC,17465,-0.50,-155.7,898.9,-4.8,599,17470,0.00,2.42,0.00,0.000,6,0.000,0.038,2901,2141,3602,0,0,0,0,0,0
$GC,17810,-0.50,-155.7,914.3,-4.3,608,17815,0.00,2.47,0.00,0.000,4,0.000,0.057,2889,3735,3602,0,0,0,0,0,0
$GC,17832,-0.50,-155.7,915.3,-3.8,608,17837,0.12,2.38,0.00,0.000,6,0.111,0.038,2935,2150,3602,0,0,0,0,0,0
$GC,18170,-0.50,-155.7,926.8,-3.4,617,18174,0.00,2.47,0.00,0.000,4,0.000,0.057,2925,3729,3602,0,0,0,0,0,0
$GC,18404,-0.50,-155.7,935.8,-2.6,622,18409,0.00,2.38,0.00,0.000,6,0.000,0.037,2925,2139,3601,0,0,0,0,0,0
$GC,18720,-0.50,-155.7,949.7,-4.7,630,18724,0.00,2.47,0.00,0.000,4,0.000,0.056,2914,3729,3601,0,0,0,0,0,0
$GC,18876,-0.50,-155.7,957.9,-5.5,633,18880,0.00,2.35,0.00,0.000,6,0.000,0.037,2914,2151,3600,0,0,0,0,0,0
$GC,19227,-0.50,-155.7,976.9,-5.4,642,19231,0.00,2.47,0.00,0.000,4,0.000,0.056,2903,3737,3600,0,0,0,0,0,0
$GC,19304,-0.50,-155.7,980.8,-5.4,643,19310,0.00,2.38,0.00,0.000,6,0.000,0.038,2903,2153,3600,0,0,0,0,0,0
$STATE,19552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19552,begin apogee
$GC,19559,-0.23,0.0,990.9,4.0,650,19702,0.32,0.00,140.40,1.601,6,0.078,0.000,3027,1911,2995,0,0,0,0,0,0
$STATE,19703,end apogee,CONTROL_FINISHED_OK
$STATE,19703,begin climb
$GC,19705,0.50,155.7,991.0,0.0,653,19871,0.60,2.67,156.65,1.557,4,0.052,0.051,3271,350,2360,0,0,0,0,0,0
$GC,19961,0.50,155.7,954.9,14.7,659,19965,0.00,2.45,0.00,0.000,6,0.000,0.043,3271,1918,2356,0,0,0,0,0,0
$GC,20288,0.50,155.7,902.3,16.1,667,20292,0.00,2.45,0.00,0.000,4,0.000,0.054,3271,3502,2349,0,0,0,0,0,0
$GC,20359,0.50,155.7,889.4,15.9,668,20364,0.00,2.38,0.00,0.000,6,0.000,0.041,3282,1929,2347,0,0,0,0,0,0
$GC,20698,0.50,155.7,836.8,15.4,677,20702,0.00,2.45,0.00,0.000,4,0.000,0.052,3296,333,2346,0,0,0,0,0,0
$GC,20741,0.50,155.7,830.2,13.6,678,20746,0.15,2.38,0.00,0.000,6,0.126,0.045,3246,1920,2346,0,0,0,0,0,0
$GC,21069,0.50,155.7,794.2,10.8,686,21073,0.00,2.45,0.00,0.000,4,0.000,0.058,3246,3504,2345,0,0,0,0,0,0
$GC,21169,0.50,155.7,782.0,11.8,688,21173,0.00,2.42,0.00,0.000,6,0.000,0.044,3257,1918,2344,0,0,0,0,0,0
$GC,21483,0.50,155.7,744.6,12.2,696,21485,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1917,2344,0,0,0,0,0,0
$GC,21807,0.50,155.7,704.7,12.2,704,21811,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,334,2344,0,0,0,0,0,0
$GC,21834,0.50,155.7,701.3,12.7,704,21839,0.00,2.42,0.00,0.000,6,0.000,0.046,3269,1922,2344,0,0,0,0,0,0
$GC,22172,0.50,155.7,660.3,12.0,713,22176,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,3513,2344,0,0,0,0,0,0
$GC,22272,0.50,155.7,647.3,12.6,715,22277,0.00,2.45,0.00,0.000,6,0.000,0.043,3282,1921,2343,0,0,0,0,0,0
$GC,22587,0.50,155.7,607.4,12.8,723,22588,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1921,2343,0,0,0,0,0,0
$GC,22910,0.50,155.7,566.5,12.4,731,22912,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1921,2343,0,0,0,0,0,0
$GC,23236,0.50,155.7,524.5,13.2,739,23241,0.00,2.42,0.00,0.000,4,0.000,0.053,3294,336,2343,0,0,0,0,0,0
$GC,23297,0.50,155.7,516.0,14.5,740,23302,0.12,2.40,0.00,0.000,6,0.129,0.044,3253,1925,2342,0,0,0,0,0,0
$GC,23647,0.50,155.7,475.9,11.5,749,23648,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1926,2343,0,0,0,0,0,0
$GC,23970,0.50,155.7,440.9,10.5,757,23974,0.00,2.45,0.00,0.000,4,0.000,0.054,3252,3517,2343,0,0,0,0,0,0
$GC,24058,0.50,155.7,430.7,10.4,759,24062,0.00,2.42,0.00,0.000,6,0.000,0.041,3263,1920,2343,0,0,0,0,0,0
$GC,24383,0.50,155.7,396.4,10.6,767,24388,0.00,2.45,0.00,0.000,4,0.000,0.052,3276,326,2343,0,0,0,0,0,0
$GC,24405,0.50,155.7,393.7,9.0,767,24409,0.00,2.38,0.00,0.000,6,0.000,0.042,3276,1924,2343,0,0,0,0,0,0
$GC,24748,0.50,155.7,356.8,10.8,776,24752,0.00,2.45,0.00,0.000,4,0.000,0.053,3276,3518,2343,0,0,0,0,0,0
$GC,24797,0.50,155.7,350.6,11.2,777,24802,0.12,2.42,0.00,0.000,6,0.135,0.041,3248,1912,2343,0,0,0,0,0,0
$GC,25119,0.50,155.7,320.7,9.1,785,25124,0.00,2.40,0.00,0.000,4,0.000,0.051,3258,344,2344,0,0,0,0,0,0
$GC,25208,0.50,155.7,312.6,9.9,787,25213,0.00,2.38,0.00,0.000,6,0.000,0.041,3259,1927,2344,0,0,0,0,0,0
$GC,25535,0.50,155.7,283.3,9.1,799,25539,0.00,2.40,0.00,0.000,4,0.000,0.052,3259,3503,2345,0,0,0,0,0,0
$GC,25598,0.50,155.7,277.1,10.5,802,25602,0.00,2.38,0.00,0.000,6,0.000,0.038,3271,1922,2345,0,0,0,0,0,0
$GC,25923,0.50,155.7,242.3,11.0,818,25927,0.00,2.42,0.00,0.000,4,0.000,0.050,3283,331,2347,0,0,0,0,0,0
$GC,25973,0.50,155.7,237.0,8.1,820,25978,0.10,2.35,0.00,0.000,6,0.131,0.040,3249,1927,2347,0,0,0,0,0,0
$GC,26294,0.50,155.7,212.9,7.0,836,26298,0.00,2.42,0.00,0.000,4,0.000,0.051,3248,3511,2348,0,0,0,0,0,0
$GC,26355,0.50,155.7,208.2,9.5,839,26359,0.00,2.40,0.00,0.000,6,0.000,0.040,3259,1902,2348,0,0,0,0,0,0
$GC,26676,0.50,155.7,184.0,7.5,864,26678,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1902,2349,0,0,0,0,0,0
$GC,26931,0.50,155.7,165.2,7.8,888,26936,0.00,2.38,0.00,0.000,4,0.000,0.048,3271,335,2351,0,0,0,0,0,0
$GC,26995,0.50,155.7,160.5,7.6,893,26999,0.00,2.35,0.00,0.000,6,0.000,0.038,3271,1936,2351,0,0,0,0,0,0
$GC,27262,0.50,155.7,139.4,7.9,918,27266,0.00,2.42,0.00,0.000,4,0.000,0.047,3284,326,2352,0,0,0,0,0,0
$GC,27323,0.50,155.7,133.9,6.9,923,27328,0.00,2.33,0.00,0.000,6,0.000,0.038,3283,1921,2353,0,0,0,0,0,0
$GC,27585,0.50,155.7,114.5,6.7,947,27589,0.00,2.42,0.00,0.000,4,0.000,0.050,3283,3511,2354,0,0,0,0,0,0
$GC,27624,0.50,155.7,111.3,8.9,950,27629,0.12,2.38,0.00,0.000,6,0.122,0.038,3251,1925,2355,0,0,0,0,0,0
$GC,27885,0.57,206.3,98.1,4.7,974,27934,0.00,0.00,43.88,0.847,6,0.000,0.000,3250,1925,2154,0,0,0,0,0,0
$GC,28190,0.64,267.0,85.7,4.4,1003,28244,0.12,0.00,50.62,0.862,6,0.080,0.000,3352,1924,1905,0,0,0,0,0,0
$GC,28495,0.64,267.0,50.8,10.9,1032,28500,0.17,2.42,0.00,0.000,4,0.118,0.050,3293,3505,1906,0,0,0,0,0,0
$GC,28523,0.64,267.0,47.6,10.2,1034,28528,0.00,2.38,0.00,0.000,6,0.000,0.038,3303,1922,1906,0,0,0,0,0,0
$GC,28785,0.64,267.0,24.7,8.1,1058,28789,0.00,2.38,0.00,0.000,4,0.000,0.048,3315,327,1906,0,0,0,0,0,0
$GC,28835,0.64,267.0,20.4,7.1,1062,28839,0.00,2.35,0.00,0.000,6,0.000,0.037,3315,1939,1906,0,0,0,0,0,0
$GC,29032,0.64,267.0,3.9,8.9,1080,29036,0.00,2.35,0.00,0.000,4,0.000,0.050,3315,3500,1906,0,0,0,0,0,0
$STATE,29039,end climb,SURFACE_DEPTH_REACHED
$STATE,29039,begin surface coast
$FINISH,0.3,1.023355
$STATE,29070,end surface coast,CONTROL_FINISHED_OK
$STATE,29070,begin surface
$SM_CCo,29090,65.18,0.802,0,0,1363,400.08
$SM_GC,0.94,0.00,0.00,65.18,0.000,0.000,0.802,114,2149,1363,-9.30,-0.03,400.08
$IRIDIUM_FIX,2155.06,12817.79,080812,000056
$TT8_MAMPS,0.028379
$HUMID,1078720635
$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,21.7,65.110
$10V_AH,9.9,55.227
$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,21.825,305.050,391.550,65.175,0.000,31.013,34.079,370.548,0.000,0.000,17.773,2433.049,22893.496,669.696,3141.249,578.346,33.378,2205.660,0.000,2715.037,0.000,0.541,0.000
$DEVICE_MAMPS,217.061,62.894,1601.496,802.282,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,741.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354932
$DATA_FILE_SIZE,40057,1083
$CAP_FILE_SIZE,317261,0
$CFSIZE,260165632,189259776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130211,230055,2200.904,12819.380,37,1.1,37,-3.1