version: 66.07
glider: 500
mission: 5
dive: 379
start: 2 15 111 17 31 8
data:
$ID,500
$MISSION,5
$DIVE,379
$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,-129016.97
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,150211,172000,2157.277,12812.334,35,1.7,35,-3.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.7
$GPS2,150211,173016,2157.393,12812.256,10,3.1,29,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.030,-0.219
$KALMAN_X,-792757.9,101.7,409.2,1302634.8,-2070.9
$KALMAN_Y,79674.2,-450.4,-423.1,9606.8,8044.6
$MHEAD_RNG_PITCHd_Wd,175.2,206408,-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,16347,-0.50,-155.7,864.1,-4.0,597,16351,0.00,2.33,0.00,0.000,6,0.000,0.044,2912,2150,3600,0,0,0,0,0,0
$GC,16673,-0.50,-155.7,877.9,-4.4,605,16677,0.00,2.38,0.00,0.000,4,0.000,0.044,2912,567,3600,0,0,0,0,0,0
$GC,16767,-0.50,-155.7,882.0,-4.5,607,16771,0.00,2.35,0.00,0.000,6,0.000,0.043,2902,2157,3600,0,0,0,0,0,0
$GC,17083,-0.50,-155.7,894.1,-3.8,615,17087,0.00,2.38,0.00,0.000,4,0.000,0.045,2902,576,3599,0,0,0,0,0,0
$GC,17177,-0.50,-155.7,897.8,-3.6,617,17182,0.12,2.35,0.00,0.000,6,0.119,0.044,2935,2160,3599,0,0,0,0,0,0
$GC,17492,-0.50,-155.7,909.3,-4.0,625,17496,0.00,2.38,0.00,0.000,4,0.000,0.047,2935,569,3599,0,0,0,0,0,0
$GC,17668,-0.50,-155.7,917.4,-4.8,629,17673,0.00,2.35,0.00,0.000,6,0.000,0.044,2932,2155,3599,0,0,0,0,0,0
$GC,17995,-0.50,-155.7,934.4,-5.4,637,17999,0.00,2.35,0.00,0.000,4,0.000,0.045,2931,579,3598,0,0,0,0,0,0
$GC,18192,-0.50,-155.7,945.0,-4.7,641,18197,0.00,2.35,0.00,0.000,6,0.000,0.044,2921,2165,3597,0,0,0,0,0,0
$GC,18536,-0.50,-155.7,960.2,-4.0,650,18540,0.00,2.38,0.00,0.000,4,0.000,0.046,2922,573,3597,0,0,0,0,0,0
$GC,18679,-0.50,-155.7,964.8,-2.2,653,18684,0.00,2.35,0.00,0.000,6,0.000,0.044,2913,2152,3597,0,0,0,0,0,0
$GC,19031,-0.50,-155.7,972.4,-1.9,662,19035,0.00,2.35,0.00,0.000,4,0.000,0.045,2912,573,3596,0,0,0,0,0,0
$GC,19110,-0.50,-155.7,974.0,-2.2,663,19115,0.00,2.35,0.00,0.000,6,0.000,0.044,2903,2154,3596,0,0,0,0,0,0
$GC,19441,-0.50,-155.7,980.9,-2.1,672,19445,0.00,2.35,0.00,0.000,4,0.000,0.045,2903,575,3596,0,0,0,0,0,0
$GC,19547,-0.50,-155.7,983.6,-3.2,674,19552,0.12,2.35,0.00,0.000,6,0.119,0.044,2936,2156,3596,0,0,0,0,0,0
$STATE,19765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19765,begin apogee
$GC,19771,-0.23,0.0,990.7,3.6,680,19914,0.22,0.00,140.65,1.620,6,0.075,0.000,3032,1914,2994,0,0,0,0,0,0
$STATE,19915,end apogee,CONTROL_FINISHED_OK
$STATE,19915,begin climb
$GC,19918,0.50,155.7,992.5,0.0,683,20085,0.60,2.75,157.43,1.581,4,0.049,0.052,3278,356,2360,0,0,0,0,0,0
$GC,20157,0.50,155.7,965.1,12.8,688,20162,0.00,2.47,0.00,0.000,6,0.000,0.042,3278,1919,2358,0,0,0,0,0,0
$GC,20494,0.50,155.7,918.4,14.0,697,20498,0.00,2.47,0.00,0.000,4,0.000,0.052,3277,3512,2351,0,0,0,0,0,0
$GC,20535,0.50,155.7,912.4,14.9,698,20540,0.12,2.42,0.00,0.000,6,0.140,0.042,3250,1924,2350,0,0,0,0,0,0
$GC,20858,0.50,155.7,870.0,13.3,706,20863,0.00,2.45,0.00,0.000,4,0.000,0.053,3262,335,2348,0,0,0,0,0,0
$GC,20909,0.50,155.7,862.9,13.2,707,20913,0.00,2.38,0.00,0.000,6,0.000,0.045,3261,1920,2348,0,0,0,0,0,0
$GC,21221,0.50,155.7,817.4,14.5,715,21225,0.00,2.42,0.00,0.000,4,0.000,0.054,3262,3512,2346,0,0,0,0,0,0
$GC,21321,0.50,155.7,801.4,16.8,717,21326,0.00,2.42,0.00,0.000,6,0.000,0.044,3274,1908,2345,0,0,0,0,0,0
$GC,21670,0.50,155.7,750.7,14.0,726,21674,0.00,2.40,0.00,0.000,4,0.000,0.051,3287,337,2345,0,0,0,0,0,0
$GC,21703,0.50,155.7,745.7,13.7,726,21710,0.12,2.38,0.00,0.000,6,0.128,0.044,3245,1934,2345,0,0,0,0,0,0
$GC,22037,0.50,155.7,708.3,11.1,735,22041,0.00,2.40,0.00,0.000,4,0.000,0.054,3245,3516,2343,0,0,0,0,0,0
$GC,22124,0.50,155.7,697.5,10.8,737,22129,0.00,2.42,0.00,0.000,6,0.000,0.043,3255,1906,2343,0,0,0,0,0,0
$GC,22451,0.50,155.7,661.3,11.2,745,22455,0.00,2.40,0.00,0.000,4,0.000,0.053,3268,337,2343,0,0,0,0,0,0
$GC,22483,0.50,155.7,657.2,11.5,745,22489,0.00,2.38,0.00,0.000,6,0.000,0.044,3268,1926,2343,0,0,0,0,0,0
$GC,22815,0.50,155.7,615.4,13.1,754,22820,0.00,2.42,0.00,0.000,4,0.000,0.054,3268,3514,2343,0,0,0,0,0,0
$GC,22882,0.50,155.7,605.0,16.0,755,22886,0.00,2.42,0.00,0.000,6,0.000,0.044,3280,1916,2342,0,0,0,0,0,0
$GC,23219,0.50,155.7,555.0,14.5,764,23223,0.00,2.45,0.00,0.000,4,0.000,0.054,3293,337,2343,0,0,0,0,0,0
$GC,23274,0.50,155.7,547.3,14.4,765,23279,0.12,2.40,0.00,0.000,6,0.126,0.045,3251,1924,2343,0,0,0,0,0,0
$GC,23623,0.50,155.7,509.1,11.0,774,23627,0.00,2.47,0.00,0.000,4,0.000,0.054,3250,3521,2343,0,0,0,0,0,0
$GC,23712,0.50,155.7,498.5,9.4,776,23716,0.00,2.42,0.00,0.000,6,0.000,0.041,3261,1911,2342,0,0,0,0,0,0
$GC,24031,0.50,155.7,464.7,10.5,784,24035,0.00,2.45,0.00,0.000,4,0.000,0.054,3261,3512,2342,0,0,0,0,0,0
$GC,24064,0.50,155.7,460.5,10.0,784,24070,0.00,2.45,0.00,0.000,6,0.000,0.044,3274,1910,2342,0,0,0,0,0,0
$GC,24395,0.50,155.7,421.5,12.0,793,24399,0.00,2.40,0.00,0.000,4,0.000,0.052,3285,343,2342,0,0,0,0,0,0
$GC,24433,0.50,155.7,416.6,12.6,794,24439,0.12,2.38,0.00,0.000,6,0.122,0.044,3243,1923,2342,0,0,0,0,0,0
$GC,24759,0.50,155.7,390.2,7.3,802,24763,0.00,2.42,0.00,0.000,4,0.000,0.051,3243,3510,2342,0,0,0,0,0,0
$GC,24847,0.50,155.7,382.5,8.7,804,24851,0.00,2.45,0.00,0.000,6,0.000,0.040,3254,1924,2342,0,0,0,0,0,0
$GC,25174,0.50,155.7,351.8,9.9,812,25178,0.00,2.45,0.00,0.000,4,0.000,0.051,3266,328,2342,0,0,0,0,0,0
$GC,25262,0.50,155.7,342.6,9.9,814,25266,0.00,2.35,0.00,0.000,6,0.000,0.041,3266,1924,2342,0,0,0,0,0,0
$GC,25583,0.50,155.7,312.8,9.2,822,25587,0.00,2.42,0.00,0.000,4,0.000,0.051,3266,3505,2343,0,0,0,0,0,0
$GC,25610,0.50,155.7,309.3,8.9,822,25614,0.00,2.40,0.00,0.000,6,0.000,0.041,3278,1909,2343,0,0,0,0,0,0
$GC,25930,0.50,155.7,275.4,9.6,836,25931,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1909,2343,0,0,0,0,0,0
$GC,26239,0.50,155.7,244.2,10.7,851,26244,0.00,2.45,0.00,0.000,4,0.000,0.053,3278,3504,2345,0,0,0,0,0,0
$GC,26280,0.50,155.7,239.6,11.7,853,26285,0.12,2.40,0.00,0.000,6,0.127,0.040,3248,1927,2345,0,0,0,0,0,0
$GC,26607,0.50,155.7,212.5,7.6,869,26611,0.00,2.45,0.00,0.000,4,0.000,0.049,3258,325,2346,0,0,0,0,0,0
$GC,26696,0.51,156.5,205.7,6.0,873,26701,0.00,2.35,0.00,0.000,6,0.000,0.039,3259,1929,2346,0,0,0,0,0,0
$GC,27025,0.51,156.5,182.3,7.4,900,27030,0.00,2.38,0.00,0.000,4,0.000,0.049,3259,3502,2348,0,0,0,0,0,0
$GC,27081,0.51,156.5,177.3,8.1,904,27087,0.00,2.40,0.00,0.000,6,0.000,0.037,3271,1905,2348,0,0,0,0,0,0
$GC,27342,0.51,156.5,152.4,10.2,929,27346,0.00,2.35,0.00,0.000,4,0.000,0.047,3283,340,2349,0,0,0,0,0,0
$GC,27397,0.51,156.5,146.9,8.2,933,27404,0.10,2.33,0.00,0.000,6,0.127,0.038,3247,1927,2349,0,0,0,0,0,0
$GC,27660,0.55,193.0,129.7,5.0,958,27700,0.00,2.45,31.35,0.871,4,0.000,0.048,3247,3517,2208,0,0,0,0,0,0
$GC,27746,0.56,201.2,124.7,5.8,966,27760,0.00,2.42,8.77,0.772,6,0.000,0.037,3256,1926,2174,0,0,0,0,0,0
$GC,28024,0.56,201.2,107.0,7.3,992,28028,0.00,2.42,0.00,0.000,4,0.000,0.047,3268,326,2174,0,0,0,0,0,0
$GC,28085,0.56,201.2,102.2,7.2,997,28090,0.00,2.35,0.00,0.000,6,0.000,0.038,3268,1941,2173,0,0,0,0,0,0
$GC,28347,0.56,201.2,83.4,6.3,1021,28348,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1942,2173,0,0,0,0,0,0
$GC,28602,0.56,201.2,64.7,7.8,1045,28606,0.00,2.45,0.00,0.000,4,0.000,0.046,3280,331,2174,0,0,0,0,0,0
$GC,28663,0.56,201.2,60.0,8.4,1050,28667,0.00,2.33,0.00,0.000,6,0.000,0.038,3280,1923,2174,0,0,0,0,0,0
$GC,28930,0.56,201.2,39.6,6.5,1075,28934,0.00,2.40,0.00,0.000,4,0.000,0.048,3280,3499,2175,0,0,0,0,0,0
$GC,29016,0.56,201.2,32.4,8.6,1082,29020,0.00,2.35,0.00,0.000,6,0.000,0.035,3291,1907,2176,0,0,0,0,0,0
$GC,29278,0.56,201.2,10.5,8.7,1106,29282,0.00,2.38,0.00,0.000,4,0.000,0.046,3303,341,2176,0,0,0,0,0,0
$GC,29350,0.56,201.2,4.2,8.9,1112,29355,0.10,2.30,0.00,0.000,6,0.120,0.038,3264,1918,2177,0,0,0,0,0,0
$STATE,29364,end climb,SURFACE_DEPTH_REACHED
$STATE,29364,begin surface coast
$FINISH,1.0,1.023793
$STATE,29399,end surface coast,CONTROL_FINISHED_OK
$STATE,29399,begin surface
$SM_CCo,29419,96.88,0.824,0,0,1363,400.08
$SM_GC,1.15,0.00,0.00,96.88,0.000,0.000,0.824,118,2169,1363,-9.29,0.54,400.08
$IRIDIUM_FIX,2152.74,12813.09,100812,030301
$TT8_MAMPS,0.027612
$HUMID,1078727087
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,21.6,66.321
$10V_AH,9.8,55.843
$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,21.300,294.875,338.200,96.875,0.000,29.132,48.902,373.785,0.000,0.000,32.340,2499.895,23039.844,658.196,3315.924,594.183,33.377,2246.631,0.000,2858.918,0.000,0.542,0.000
$DEVICE_MAMPS,217.828,55.991,1619.904,823.758,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,764.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354928
$DATA_FILE_SIZE,40000,1116
$CAP_FILE_SIZE,321813,0
$CFSIZE,260165632,188612608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160211,014407,2156.359,12812.955,23,1.4,23,-3.1