version: 66.07
glider: 500
mission: 5
dive: 378
start: 2 15 111 8 59 2
data:
$ID,500
$MISSION,5
$DIVE,378
$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,-128983.99
$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,26
$R_STBD_OVSHOOT,51
$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
$GPS1,150211,084806,2158.500,12813.546,49,1.0,49,-3.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.8
$GPS2,150211,085808,2158.608,12813.194,11,1.2,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.037,-0.218
$KALMAN_X,-790406.1,-320.9,-1095.4,1303850.4,292.1
$KALMAN_Y,74404.6,-239.2,-239.5,16724.0,7930.3
$MHEAD_RNG_PITCHd_Wd,192.8,206509,-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,15672,-0.50,-155.7,821.3,-5.2,586,15677,0.12,2.40,0.00,0.000,6,0.110,0.039,2934,2141,3605,0,0,0,0,0,0
$GC,16024,-0.50,-155.7,838.4,-4.9,595,16028,0.00,2.47,0.00,0.000,4,0.000,0.055,2924,3731,3604,0,0,0,0,0,0
$GC,16162,-0.50,-155.7,845.4,-4.6,598,16166,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2148,3604,0,0,0,0,0,0
$GC,16484,-0.50,-155.7,859.4,-4.4,606,16488,0.00,2.45,0.00,0.000,4,0.000,0.055,2913,3728,3603,0,0,0,0,0,0
$GC,16578,-0.50,-155.7,863.9,-4.5,608,16582,0.00,2.38,0.00,0.000,6,0.000,0.038,2913,2149,3603,0,0,0,0,0,0
$GC,16893,-0.50,-155.7,876.6,-3.9,616,16897,0.00,2.42,0.00,0.000,4,0.000,0.054,2901,3730,3602,0,0,0,0,0,0
$GC,16960,-0.50,-155.7,879.0,-3.2,617,16964,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2138,3602,0,0,0,0,0,0
$GC,17304,-0.50,-155.7,889.3,-2.8,626,17309,0.00,2.47,0.00,0.000,4,0.000,0.054,2889,3738,3601,0,0,0,0,0,0
$GC,17360,-0.50,-155.7,890.8,-2.3,627,17365,0.12,2.38,0.00,0.000,6,0.111,0.038,2935,2152,3601,0,0,0,0,0,0
$GC,17710,-0.50,-155.7,898.4,-2.2,636,17714,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3734,3601,0,0,0,0,0,0
$GC,17930,-0.50,-155.7,905.4,-3.9,641,17934,0.00,2.38,0.00,0.000,6,0.000,0.038,2925,2150,3600,0,0,0,0,0,0
$GC,18257,-0.50,-155.7,917.9,-4.1,649,18261,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3732,3600,0,0,0,0,0,0
$GC,18514,-0.50,-155.7,929.7,-3.5,654,18520,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2141,3599,0,0,0,0,0,0
$GC,18845,-0.50,-155.7,942.7,-3.7,663,18850,0.00,2.50,0.00,0.000,4,0.000,0.055,2912,3739,3599,0,0,0,0,0,0
$GC,19030,-0.50,-155.7,948.9,-3.5,667,19034,0.00,2.42,0.00,0.000,6,0.000,0.039,2912,2147,3599,0,0,0,0,0,0
$GC,19346,-0.50,-155.7,958.6,-3.1,675,19350,0.00,2.45,0.00,0.000,4,0.000,0.055,2900,3728,3598,0,0,0,0,0,0
$GC,19434,-0.50,-155.7,961.5,-3.5,677,19439,0.00,2.40,0.00,0.000,6,0.000,0.037,2901,2135,3598,0,0,0,0,0,0
$GC,19756,-0.50,-155.7,972.7,-3.6,685,19760,0.00,2.50,0.00,0.000,4,0.000,0.055,2888,3732,3598,0,0,0,0,0,0
$GC,19816,-0.50,-155.7,974.9,-3.6,686,19821,0.12,2.40,0.00,0.000,6,0.112,0.038,2934,2145,3597,0,0,0,0,0,0
$GC,20161,-0.50,-155.7,985.8,-3.3,695,20165,0.00,2.47,0.00,0.000,4,0.000,0.057,2925,3738,3597,0,0,0,0,0,0
$STATE,20276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20276,begin apogee
$GC,20285,-0.23,0.0,990.1,3.4,697,20429,0.25,0.00,141.45,1.631,6,0.078,0.000,3029,1919,2995,0,0,0,0,0,0
$STATE,20430,end apogee,CONTROL_FINISHED_OK
$STATE,20430,begin climb
$GC,20434,0.50,155.7,989.9,0.0,701,20600,0.62,2.80,158.25,1.598,4,0.061,0.056,3270,345,2360,0,0,0,0,0,0
$GC,20678,0.50,155.7,960.3,13.4,706,20685,0.00,2.50,0.00,0.000,6,0.000,0.044,3270,1910,2357,0,0,0,0,0,0
$GC,21010,0.50,155.7,911.6,14.4,715,21014,0.00,2.47,0.00,0.000,4,0.000,0.054,3270,3509,2351,0,0,0,0,0,0
$GC,21110,0.50,155.7,896.2,15.4,717,21114,0.00,2.42,0.00,0.000,6,0.000,0.042,3282,1916,2349,0,0,0,0,0,0
$GC,21459,0.50,155.7,843.4,15.2,726,21463,0.00,2.42,0.00,0.000,4,0.000,0.056,3295,343,2348,0,0,0,0,0,0
$GC,21486,0.50,155.7,839.0,15.5,726,21491,0.15,2.40,0.00,0.000,6,0.126,0.047,3245,1922,2347,0,0,0,0,0,0
$GC,21818,0.50,155.7,800.0,11.7,734,21823,0.00,2.45,0.00,0.000,4,0.000,0.056,3245,3518,2347,0,0,0,0,0,0
$GC,21880,0.50,155.7,791.8,14.0,735,21885,0.00,2.45,0.00,0.000,6,0.000,0.044,3256,1916,2346,0,0,0,0,0,0
$GC,22222,0.50,155.7,751.3,11.5,744,22226,0.00,2.45,0.00,0.000,4,0.000,0.057,3268,333,2346,0,0,0,0,0,0
$GC,22272,0.50,155.7,745.5,11.5,745,22276,0.00,2.40,0.00,0.000,6,0.000,0.048,3269,1925,2346,0,0,0,0,0,0
$GC,22587,0.50,155.7,705.7,12.9,753,22591,0.00,2.42,0.00,0.000,4,0.000,0.056,3268,3513,2346,0,0,0,0,0,0
$GC,22642,0.50,155.7,697.3,14.1,754,22646,0.00,2.42,0.00,0.000,6,0.000,0.044,3281,1915,2345,0,0,0,0,0,0
$GC,22957,0.50,155.7,651.7,14.8,762,22958,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1915,2345,0,0,0,0,0,0
$GC,23280,0.50,155.7,603.6,14.9,770,23285,0.00,2.47,0.00,0.000,4,0.000,0.055,3281,3520,2345,0,0,0,0,0,0
$GC,23325,0.50,155.7,596.7,14.0,771,23330,0.12,2.42,0.00,0.000,6,0.138,0.043,3253,1925,2344,0,0,0,0,0,0
$GC,23645,0.50,155.7,558.9,11.6,779,23649,0.00,2.45,0.00,0.000,4,0.000,0.055,3264,335,2344,0,0,0,0,0,0
$GC,23671,0.50,155.7,555.7,10.4,779,23675,0.00,2.40,0.00,0.000,6,0.000,0.048,3265,1927,2344,0,0,0,0,0,0
$GC,24009,0.50,155.7,517.2,11.2,788,24013,0.00,2.42,0.00,0.000,4,0.000,0.055,3264,3505,2344,0,0,0,0,0,0
$GC,24093,0.50,155.7,507.0,10.2,790,24098,0.00,2.42,0.00,0.000,6,0.000,0.044,3277,1909,2345,0,0,0,0,0,0
$GC,24420,0.50,155.7,470.8,11.5,798,24424,0.00,2.45,0.00,0.000,4,0.000,0.054,3289,332,2344,0,0,0,0,0,0
$GC,24514,0.50,155.7,458.6,10.8,800,24519,0.12,2.38,0.00,0.000,6,0.128,0.046,3247,1919,2344,0,0,0,0,0,0
$GC,24835,0.50,155.7,428.1,9.0,808,24839,0.00,2.40,0.00,0.000,4,0.000,0.053,3247,3508,2344,0,0,0,0,0,0
$GC,24879,0.50,155.7,423.5,8.4,809,24883,0.00,2.42,0.00,0.000,6,0.000,0.041,3258,1919,2344,0,0,0,0,0,0
$GC,25207,0.50,155.7,393.1,9.7,817,25211,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,340,2345,0,0,0,0,0,0
$GC,25250,0.50,155.7,388.1,9.9,818,25255,0.00,2.38,0.00,0.000,6,0.000,0.046,3270,1925,2345,0,0,0,0,0,0
$GC,25571,0.50,155.7,354.0,10.1,826,25576,0.00,2.42,0.00,0.000,4,0.000,0.053,3270,3513,2346,0,0,0,0,0,0
$GC,25626,0.50,155.7,347.8,9.1,827,25631,0.00,2.40,0.00,0.000,6,0.000,0.041,3282,1919,2346,0,0,0,0,0,0
$GC,25940,0.50,155.7,314.7,11.0,835,25944,0.00,2.45,0.00,0.000,4,0.000,0.052,3283,3518,2347,0,0,0,0,0,0
$GC,25990,0.50,155.7,308.1,12.7,836,25995,0.15,2.42,0.00,0.000,6,0.122,0.041,3246,1916,2347,0,0,0,0,0,0
$GC,26305,0.50,155.7,281.7,7.2,849,26309,0.00,2.42,0.00,0.000,4,0.000,0.053,3256,332,2348,0,0,0,0,0,0
$GC,26406,0.50,155.7,274.3,7.3,853,26411,0.00,2.38,0.00,0.000,6,0.000,0.043,3256,1919,2349,0,0,0,0,0,0
$GC,26722,0.50,155.7,246.5,9.4,869,26726,0.00,2.42,0.00,0.000,4,0.000,0.051,3256,3508,2350,0,0,0,0,0,0
$GC,26821,0.50,155.7,235.8,9.3,873,26828,0.00,2.40,0.00,0.000,6,0.000,0.038,3268,1924,2350,0,0,0,0,0,0
$GC,27137,0.50,155.7,207.2,8.4,889,27141,0.00,2.45,0.00,0.000,4,0.000,0.052,3281,331,2352,0,0,0,0,0,0
$GC,27214,0.50,155.7,200.4,7.2,892,27220,0.00,2.35,0.00,0.000,6,0.000,0.041,3281,1927,2352,0,0,0,0,0,0
$GC,27539,0.50,155.7,171.0,9.0,923,27543,0.00,2.42,0.00,0.000,4,0.000,0.050,3281,3505,2353,0,0,0,0,0,0
$GC,27731,0.50,155.7,151.2,8.2,940,27736,0.12,2.38,0.00,0.000,6,0.124,0.038,3250,1906,2354,0,0,0,0,0,0
$GC,27992,0.54,181.8,135.9,5.3,964,28022,0.00,0.00,23.80,0.874,6,0.000,0.000,3251,1907,2253,0,0,0,0,0,0
$GC,28277,0.54,181.8,118.1,6.7,991,28281,0.00,2.50,0.00,0.000,4,0.000,0.048,3250,3519,2253,0,0,0,0,0,0
$GC,28341,0.54,181.8,114.3,6.8,996,28345,0.00,2.42,0.00,0.000,6,0.000,0.038,3260,1909,2253,0,0,0,0,0,0
$GC,28603,0.54,184.0,97.7,5.9,1020,28614,0.00,2.42,3.92,0.534,4,0.000,0.049,3272,344,2244,0,0,0,0,0,0
$GC,28683,0.54,184.0,92.4,7.0,1027,28687,0.00,2.30,0.00,0.000,6,0.000,0.039,3272,1919,2244,0,0,0,0,0,0
$GC,28944,0.54,184.0,73.3,6.8,1051,28948,0.00,2.38,0.00,0.000,4,0.000,0.048,3272,3507,2245,0,0,0,0,0,0
$GC,28983,0.54,184.0,70.4,7.9,1054,28987,0.00,2.35,0.00,0.000,6,0.000,0.038,3283,1930,2245,0,0,0,0,0,0
$GC,29244,0.56,204.5,54.1,5.5,1078,29268,0.00,2.50,18.88,0.795,4,0.000,0.050,3296,332,2161,0,0,0,0,0,0
$GC,29335,0.62,248.0,49.6,4.9,1086,29377,0.00,2.33,36.75,0.854,6,0.000,0.041,3295,1918,1983,0,0,0,0,0,0
$GC,29632,0.62,248.0,24.6,10.7,1114,29636,0.00,2.45,0.00,0.000,4,0.000,0.049,3296,3520,1985,0,0,0,0,0,0
$GC,29672,0.62,248.0,20.2,11.1,1117,29676,0.00,2.42,0.00,0.000,6,0.000,0.037,3308,1918,1985,0,0,0,0,0,0
$STATE,29856,end climb,SURFACE_DEPTH_REACHED
$STATE,29856,begin surface coast
$FINISH,0.5,1.023850
$STATE,29889,end surface coast,CONTROL_FINISHED_OK
$STATE,29889,begin surface
$SM_CCo,29908,74.43,0.831,0,0,1364,400.08
$SM_GC,1.10,0.00,0.00,74.43,0.000,0.000,0.831,105,2173,1364,-9.33,0.65,400.08
$IRIDIUM_FIX,2155.06,12816.35,090812,181817
$TT8_MAMPS,0.027612
$HUMID,1078749023
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,21.6,66.126
$10V_AH,9.8,55.741
$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,21.450,323.675,383.050,74.425,0.000,27.174,36.962,396.643,0.000,0.000,13.237,2555.596,23261.252,695.170,3448.011,605.270,33.381,2359.195,0.000,2992.085,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,60.593,1631.409,830.661,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,778.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,39979,1137
$CAP_FILE_SIZE,333597,0
$CFSIZE,260165632,188710912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150211,172000,2157.277,12812.334,35,1.7,35,-3.1