version: 66.07
glider: 500
mission: 5
dive: 377
start: 2 15 111 0 35 18
data:
$ID,500
$MISSION,5
$DIVE,377
$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,-128970.13
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,150211,001707,2159.308,12816.084,47,1.7,47,-3.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.1
$GPS2,150211,003425,2159.328,12815.654,43,1.0,43,-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,-787387.5,-572.2,-221.1,1304449.6,-44.2
$KALMAN_Y,68444.1,-110.7,-286.1,23937.5,7850.7
$MHEAD_RNG_PITCHd_Wd,188.4,204026,-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,16308,-0.50,-155.7,863.1,-3.9,586,16312,0.00,2.47,0.00,0.000,4,0.000,0.056,2901,3737,3590,0,0,0,0,0,0
$GC,16362,-0.50,-155.7,865.3,-3.9,587,16367,0.00,2.40,0.00,0.000,6,0.000,0.039,2901,2138,3589,0,0,0,0,0,0
$GC,16713,-0.50,-155.7,879.2,-4.0,596,16717,0.00,2.50,0.00,0.000,4,0.000,0.055,2890,3742,3589,0,0,0,0,0,0
$GC,16745,-0.50,-155.7,880.6,-4.2,596,16752,0.12,2.40,0.00,0.000,6,0.111,0.039,2936,2151,3588,0,0,0,0,0,0
$GC,17079,-0.50,-155.7,891.6,-3.3,605,17083,0.00,2.50,0.00,0.000,4,0.000,0.057,2925,3734,3588,0,0,0,0,0,0
$GC,17218,-0.50,-155.7,896.5,-3.5,608,17222,0.00,2.38,0.00,0.000,6,0.000,0.038,2926,2149,3587,0,0,0,0,0,0
$GC,17534,-0.50,-155.7,906.1,-3.1,616,17538,0.00,2.47,0.00,0.000,4,0.000,0.056,2915,3736,3587,0,0,0,0,0,0
$GC,17679,-0.50,-155.7,910.6,-3.1,619,17683,0.00,2.40,0.00,0.000,6,0.000,0.039,2915,2136,3586,0,0,0,0,0,0
$GC,18028,-0.50,-155.7,920.4,-2.9,628,18032,0.00,2.47,0.00,0.000,4,0.000,0.054,2904,3740,3586,0,0,0,0,0,0
$GC,18106,-0.50,-155.7,922.8,-2.4,629,18112,0.00,2.40,0.00,0.000,6,0.000,0.039,2904,2141,3585,0,0,0,0,0,0
$GC,18437,-0.50,-155.7,935.0,-3.9,638,18441,0.00,2.50,0.00,0.000,4,0.000,0.056,2892,3737,3585,0,0,0,0,0,0
$GC,18476,-0.50,-155.7,936.7,-4.4,639,18481,0.12,2.40,0.00,0.000,6,0.109,0.039,2938,2145,3585,0,0,0,0,0,0
$GC,18802,-0.50,-155.7,950.4,-4.4,647,18806,0.00,2.42,0.00,0.000,4,0.000,0.051,2939,567,3585,0,0,0,0,0,0
$GC,18812,-0.50,-155.7,951.1,-4.5,647,18816,0.00,2.38,0.00,0.000,6,0.000,0.048,2931,2146,3584,0,0,0,0,0,0
$GC,19162,-0.50,-155.7,965.8,-4.1,656,19166,0.00,2.42,0.00,0.000,4,0.000,0.048,2930,565,3584,0,0,0,0,0,0
$GC,19268,-0.50,-155.7,970.0,-2.9,658,19272,0.00,2.38,0.00,0.000,6,0.000,0.046,2921,2151,3584,0,0,0,0,0,0
$GC,19613,-0.50,-155.7,980.8,-3.0,667,19617,0.00,2.40,0.00,0.000,4,0.000,0.047,2921,568,3584,0,0,0,0,0,0
$GC,19752,-0.50,-155.7,984.4,-2.4,670,19756,0.00,2.38,0.00,0.000,6,0.000,0.046,2912,2157,3583,0,0,0,0,0,0
$STATE,20022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20022,begin apogee
$GC,20029,-0.23,0.0,990.5,2.3,677,20169,0.30,0.00,137.43,1.605,6,0.079,0.000,3028,1909,2995,0,0,0,0,0,0
$STATE,20170,end apogee,CONTROL_FINISHED_OK
$STATE,20170,begin climb
$GC,20172,0.50,155.7,989.6,0.0,680,20337,0.60,2.78,156.50,1.562,4,0.051,0.053,3261,3510,2361,0,0,0,0,0,0
$GC,20519,0.50,155.7,938.6,16.8,688,20523,0.00,2.45,0.00,0.000,6,0.000,0.042,3273,1931,2354,0,0,0,0,0,0
$GC,20844,0.50,155.7,886.8,16.2,696,20848,0.00,2.45,0.00,0.000,4,0.000,0.054,3285,338,2350,0,0,0,0,0,0
$GC,20893,0.50,155.7,878.3,16.1,697,20899,0.12,2.38,0.00,0.000,6,0.134,0.047,3245,1918,2349,0,0,0,0,0,0
$GC,21207,0.50,155.7,835.6,13.4,705,21211,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3505,2347,0,0,0,0,0,0
$GC,21314,0.50,155.7,821.1,12.8,707,21318,0.00,2.40,0.00,0.000,6,0.000,0.041,3256,1919,2346,0,0,0,0,0,0
$GC,21657,0.50,155.7,778.2,12.2,716,21661,0.00,2.42,0.00,0.000,4,0.000,0.055,3268,334,2345,0,0,0,0,0,0
$GC,21679,0.50,155.7,775.4,12.2,716,21683,0.00,2.40,0.00,0.000,6,0.000,0.048,3268,1925,2345,0,0,0,0,0,0
$GC,22014,0.50,155.7,731.2,13.5,725,22019,0.00,2.42,0.00,0.000,4,0.000,0.056,3268,3512,2345,0,0,0,0,0,0
$GC,22099,0.50,155.7,718.9,14.3,727,22103,0.00,2.42,0.00,0.000,6,0.000,0.044,3280,1911,2344,0,0,0,0,0,0
$GC,22424,0.50,155.7,669.5,15.2,735,22429,0.00,2.40,0.00,0.000,4,0.000,0.055,3293,340,2344,0,0,0,0,0,0
$GC,22464,0.50,155.7,663.3,15.5,736,22469,0.12,2.40,0.00,0.000,6,0.132,0.048,3252,1932,2343,0,0,0,0,0,0
$GC,22791,0.50,155.7,623.8,12.0,744,22795,0.00,2.45,0.00,0.000,4,0.000,0.057,3252,3514,2343,0,0,0,0,0,0
$GC,22869,0.50,155.7,613.1,13.7,745,22875,0.00,2.42,0.00,0.000,6,0.000,0.044,3263,1918,2343,0,0,0,0,0,0
$GC,23201,0.50,155.7,572.7,12.1,754,23205,0.00,2.42,0.00,0.000,4,0.000,0.056,3275,337,2342,0,0,0,0,0,0
$GC,23250,0.50,155.7,566.5,14.0,755,23254,0.00,2.40,0.00,0.000,6,0.000,0.048,3275,1929,2342,0,0,0,0,0,0
$GC,23570,0.50,155.7,525.8,12.9,763,23574,0.00,2.42,0.00,0.000,4,0.000,0.056,3276,3513,2342,0,0,0,0,0,0
$GC,23654,0.50,155.7,514.5,12.1,765,23659,0.12,2.42,0.00,0.000,6,0.143,0.044,3248,1912,2341,0,0,0,0,0,0
$GC,23981,0.50,155.7,480.1,10.8,773,23985,0.00,2.45,0.00,0.000,4,0.000,0.055,3259,333,2341,0,0,0,0,0,0
$GC,24058,0.50,155.7,470.7,10.3,774,24064,0.00,2.40,0.00,0.000,6,0.000,0.047,3259,1932,2341,0,0,0,0,0,0
$GC,24389,0.50,155.7,435.0,10.0,783,24393,0.00,2.42,0.00,0.000,4,0.000,0.055,3259,3503,2341,0,0,0,0,0,0
$GC,24475,0.50,155.7,426.4,8.8,785,24479,0.00,2.40,0.00,0.000,6,0.000,0.041,3272,1922,2341,0,0,0,0,0,0
$GC,24799,0.50,155.7,392.5,10.8,793,24804,0.00,2.45,0.00,0.000,4,0.000,0.054,3284,334,2341,0,0,0,0,0,0
$GC,24850,0.50,155.7,386.0,12.8,794,24855,0.10,2.38,0.00,0.000,6,0.137,0.045,3251,1920,2341,0,0,0,0,0,0
$GC,25163,0.50,155.7,355.0,9.1,802,25168,0.00,2.45,0.00,0.000,4,0.000,0.055,3251,3506,2341,0,0,0,0,0,0
$GC,25276,0.50,155.7,344.2,10.5,804,25280,0.00,2.42,0.00,0.000,6,0.000,0.041,3262,1924,2341,0,0,0,0,0,0
$GC,25612,0.50,155.7,311.8,9.6,813,25613,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1923,2341,0,0,0,0,0,0
$GC,25920,0.50,155.7,284.5,8.3,824,25924,0.00,2.45,0.00,0.000,4,0.000,0.052,3274,332,2341,0,0,0,0,0,0
$GC,25983,0.50,155.7,279.2,7.5,827,25987,0.00,2.40,0.00,0.000,6,0.000,0.044,3274,1937,2342,0,0,0,0,0,0
$GC,26308,0.50,155.7,247.9,10.2,843,26312,0.00,2.40,0.00,0.000,4,0.000,0.052,3274,3501,2343,0,0,0,0,0,0
$GC,26335,0.50,155.7,244.5,11.9,844,26340,0.08,2.45,0.00,0.000,6,0.102,0.040,3253,1909,2343,0,0,0,0,0,0
$GC,26656,0.50,155.7,215.9,8.2,860,26660,0.00,2.45,0.00,0.000,4,0.000,0.051,3264,326,2344,0,0,0,0,0,0
$GC,26705,0.50,155.7,211.7,7.6,862,26709,0.00,2.35,0.00,0.000,6,0.000,0.043,3264,1916,2344,0,0,0,0,0,0
$GC,27031,0.50,155.7,184.2,7.7,886,27035,0.00,2.42,0.00,0.000,4,0.000,0.052,3264,3503,2345,0,0,0,0,0,0
$GC,27071,0.50,155.7,180.7,8.4,889,27075,0.00,2.42,0.00,0.000,6,0.000,0.040,3276,1907,2345,0,0,0,0,0,0
$GC,27332,0.50,155.7,156.8,8.9,913,27337,0.00,2.42,0.00,0.000,4,0.000,0.050,3289,328,2346,0,0,0,0,0,0
$GC,27466,0.50,155.7,144.8,7.5,924,27473,0.12,2.38,0.00,0.000,6,0.120,0.041,3245,1929,2347,0,0,0,0,0,0
$GC,27728,0.55,195.9,130.6,4.9,949,27767,0.00,0.00,33.72,0.883,6,0.000,0.000,3245,1929,2196,0,0,0,0,0,0
$GC,28024,0.59,228.6,115.6,5.1,977,28059,0.10,2.53,28.02,0.877,4,0.097,0.050,3350,340,2063,0,0,0,0,0,0
$GC,28160,0.59,228.6,99.7,11.4,989,28166,0.22,2.35,0.00,0.000,6,0.109,0.042,3274,1924,2063,0,0,0,0,0,0
$GC,28421,0.59,228.6,79.4,7.0,1014,28425,0.00,2.40,0.00,0.000,4,0.000,0.051,3274,3505,2063,0,0,0,0,0,0
$GC,28467,0.59,228.6,75.6,7.5,1018,28472,0.00,2.38,0.00,0.000,6,0.000,0.039,3285,1929,2063,0,0,0,0,0,0
$GC,28728,0.59,228.6,55.1,7.4,1042,28732,0.00,2.42,0.00,0.000,4,0.000,0.050,3297,324,2063,0,0,0,0,0,0
$GC,28779,0.59,228.6,50.9,8.2,1046,28783,0.00,2.35,0.00,0.000,6,0.000,0.041,3297,1922,2063,0,0,0,0,0,0
$GC,29046,0.59,228.6,27.4,8.8,1071,29047,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1923,2063,0,0,0,0,0,0
$GC,29236,0.59,228.6,11.6,9.2,1089,29240,0.00,2.42,0.00,0.000,4,0.000,0.050,3308,325,2064,0,0,0,0,0,0
$GC,29280,0.59,228.6,6.7,11.9,1092,29286,0.00,2.35,0.00,0.000,6,0.000,0.044,3308,1923,2064,0,0,0,0,0,0
$STATE,29326,end climb,SURFACE_DEPTH_REACHED
$STATE,29326,begin surface coast
$FINISH,2.0,1.023410
$STATE,29371,end surface coast,CONTROL_FINISHED_OK
$STATE,29372,begin surface
$SM_CCo,29390,89.22,0.821,0,0,1364,400.08
$SM_GC,1.12,0.00,0.00,89.22,0.000,0.000,0.821,103,2175,1364,-9.34,0.71,400.08
$IRIDIUM_FIX,2148.09,12814.92,090812,181811
$TT8_MAMPS,0.028379
$HUMID,1078742571
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,21.7,65.924
$10V_AH,9.8,55.635
$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,21.975,300.200,355.675,89.225,0.000,89.367,116.567,494.708,0.000,0.000,45.024,2447.654,23244.701,683.360,3560.890,561.410,33.380,2237.978,0.000,2780.615,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,59.826,1605.331,820.690,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,753.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,40013,1101
$CAP_FILE_SIZE,325186,0
$CFSIZE,260165632,188829696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150211,084806,2158.500,12813.546,49,1.0,49,-3.1