version: 66.07
glider: 500
mission: 5
dive: 380
start: 2 16 111 2 7 59
data:
$ID,500
$MISSION,5
$DIVE,380
$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,-129082.76
$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,41
$R_STBD_OVSHOOT,54
$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
$GPS1,160211,014407,2156.359,12812.955,23,1.4,23,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.0
$GPS2,160211,020706,2156.506,12812.749,46,0.9,63,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.089,-0.202
$KALMAN_X,-793730.6,145.4,1214.6,1303589.9,-4016.4
$KALMAN_Y,84876.2,-191.2,-369.0,2445.3,7502.5
$MHEAD_RNG_PITCHd_Wd,159.4,204733,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,14851,-0.50,-155.7,813.0,-4.9,565,14855,0.00,2.38,0.00,0.000,4,0.000,0.045,2922,565,3618,0,0,0,0,0,0
$GC,14981,-0.50,-155.7,819.2,-4.6,568,14985,0.00,2.35,0.00,0.000,6,0.000,0.042,2912,2169,3618,0,0,0,0,0,0
$GC,15307,-0.50,-155.7,830.6,-3.3,576,15311,0.00,2.40,0.00,0.000,4,0.000,0.044,2912,565,3617,0,0,0,0,0,0
$GC,15374,-0.50,-155.7,832.8,-3.1,577,15378,0.00,2.35,0.00,0.000,6,0.000,0.042,2901,2157,3617,0,0,0,0,0,0
$GC,15712,-0.50,-155.7,843.6,-3.4,586,15716,0.00,2.40,0.00,0.000,4,0.000,0.044,2901,568,3617,0,0,0,0,0,0
$GC,15739,-0.50,-155.7,844.8,-4.5,586,15744,0.12,2.35,0.00,0.000,6,0.121,0.043,2935,2150,3617,0,0,0,0,0,0
$GC,16079,-0.50,-155.7,856.1,-3.5,595,16083,0.00,2.38,0.00,0.000,4,0.000,0.045,2935,571,3617,0,0,0,0,0,0
$GC,16300,-0.50,-155.7,863.0,-3.0,600,16304,0.00,2.33,0.00,0.000,6,0.000,0.043,2935,2151,3616,0,0,0,0,0,0
$GC,16626,-0.50,-155.7,872.6,-3.1,608,16630,0.00,2.35,0.00,0.000,4,0.000,0.044,2935,565,3616,0,0,0,0,0,0
$GC,16815,-0.50,-155.7,879.4,-3.8,612,16820,0.00,2.35,0.00,0.000,6,0.000,0.042,2934,2150,3616,0,0,0,0,0,0
$GC,17165,-0.50,-155.7,895.0,-5.0,621,17169,0.00,2.38,0.00,0.000,4,0.000,0.044,2934,568,3616,0,0,0,0,0,0
$GC,17271,-0.50,-155.7,900.8,-6.3,623,17275,0.00,2.35,0.00,0.000,6,0.000,0.043,2932,2157,3616,0,0,0,0,0,0
$GC,17615,-0.50,-155.7,917.4,-4.7,632,17619,0.00,2.38,0.00,0.000,4,0.000,0.046,2932,568,3616,0,0,0,0,0,0
$GC,17789,-0.50,-155.7,924.1,-3.8,636,17793,0.00,2.35,0.00,0.000,6,0.000,0.043,2931,2154,3615,0,0,0,0,0,0
$GC,18115,-0.50,-155.7,933.3,-2.8,644,18119,0.00,2.38,0.00,0.000,4,0.000,0.045,2931,564,3615,0,0,0,0,0,0
$GC,18277,-0.50,-155.7,937.6,-3.1,647,18281,0.00,2.35,0.00,0.000,6,0.000,0.042,2922,2155,3615,0,0,0,0,0,0
$GC,18609,-0.50,-155.7,946.4,-2.9,655,18613,0.00,2.38,0.00,0.000,4,0.000,0.045,2922,564,3615,0,0,0,0,0,0
$GC,18745,-0.50,-155.7,950.6,-2.6,658,18749,0.00,2.35,0.00,0.000,6,0.000,0.043,2915,2150,3615,0,0,0,0,0,0
$GC,19066,-0.50,-155.7,960.9,-3.4,666,19070,0.00,2.38,0.00,0.000,4,0.000,0.045,2914,576,3614,0,0,0,0,0,0
$GC,19184,-0.50,-155.7,965.3,-3.8,668,19188,0.00,2.38,0.00,0.000,6,0.000,0.044,2904,2159,3614,0,0,0,0,0,0
$GC,19521,-0.50,-155.7,978.1,-3.9,677,19525,0.00,2.38,0.00,0.000,4,0.000,0.047,2904,576,3614,0,0,0,0,0,0
$GC,19622,-0.50,-155.7,982.1,-3.9,679,19627,0.10,2.38,0.00,0.000,6,0.132,0.044,2929,2159,3614,0,0,0,0,0,0
$STATE,19856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19856,begin apogee
$GC,19863,-0.23,0.0,990.6,3.8,685,20011,0.22,0.00,144.82,1.612,6,0.076,0.000,3023,1927,2995,0,0,0,0,0,0
$STATE,20012,end apogee,CONTROL_FINISHED_OK
$STATE,20012,begin climb
$GC,20014,0.50,155.7,991.5,0.0,688,20179,0.62,2.72,156.30,1.567,4,0.051,0.048,3277,345,2360,0,0,0,0,0,0
$GC,20298,0.50,155.7,952.3,15.9,694,20302,0.00,2.47,0.00,0.000,6,0.000,0.041,3277,1920,2357,0,0,0,0,0,0
$GC,20634,0.50,155.7,896.9,16.7,703,20638,0.00,2.50,0.00,0.000,4,0.000,0.054,3276,3511,2353,0,0,0,0,0,0
$GC,20729,0.50,155.7,880.6,19.0,705,20734,0.12,2.40,0.00,0.000,6,0.140,0.043,3249,1925,2352,0,0,0,0,0,0
$GC,21043,0.50,155.7,837.6,13.3,713,21047,0.00,2.42,0.00,0.000,4,0.000,0.051,3261,330,2351,0,0,0,0,0,0
$GC,21093,0.50,155.7,830.6,13.4,714,21097,0.00,2.40,0.00,0.000,6,0.000,0.045,3261,1929,2350,0,0,0,0,0,0
$GC,21406,0.50,155.7,787.1,13.7,722,21410,0.00,2.42,0.00,0.000,4,0.000,0.054,3261,3514,2350,0,0,0,0,0,0
$GC,21477,0.50,155.7,776.3,14.0,723,21482,0.00,2.40,0.00,0.000,6,0.000,0.043,3273,1918,2349,0,0,0,0,0,0
$GC,21815,0.50,155.7,730.3,13.7,732,21820,0.00,2.42,0.00,0.000,4,0.000,0.053,3286,332,2349,0,0,0,0,0,0
$GC,21859,0.50,155.7,723.8,14.6,733,21864,0.12,2.40,0.00,0.000,6,0.129,0.045,3244,1922,2349,0,0,0,0,0,0
$GC,22185,0.50,155.7,685.2,12.1,741,22190,0.00,2.45,0.00,0.000,4,0.000,0.056,3243,3504,2348,0,0,0,0,0,0
$GC,22270,0.50,155.7,674.1,13.2,743,22274,0.00,2.42,0.00,0.000,6,0.000,0.044,3255,1919,2348,0,0,0,0,0,0
$GC,22595,0.50,155.7,634.3,12.1,751,22600,0.00,2.42,0.00,0.000,4,0.000,0.054,3267,334,2348,0,0,0,0,0,0
$GC,22650,0.50,155.7,627.3,11.9,752,22655,0.00,2.42,0.00,0.000,6,0.000,0.047,3267,1920,2348,0,0,0,0,0,0
$GC,22964,0.50,155.7,588.2,12.5,760,22968,0.00,2.47,0.00,0.000,4,0.000,0.058,3267,3517,2347,0,0,0,0,0,0
$GC,23058,0.50,155.7,575.1,14.6,762,23063,0.00,2.47,0.00,0.000,6,0.000,0.044,3279,1917,2347,0,0,0,0,0,0
$GC,23378,0.50,155.7,531.7,13.7,770,23382,0.00,2.42,0.00,0.000,4,0.000,0.053,3292,334,2348,0,0,0,0,0,0
$GC,23427,0.50,155.7,524.9,14.0,771,23432,0.12,2.40,0.00,0.000,6,0.129,0.045,3251,1926,2347,0,0,0,0,0,0
$GC,23747,0.50,155.7,491.0,10.3,779,23751,0.00,2.42,0.00,0.000,4,0.000,0.054,3250,3512,2347,0,0,0,0,0,0
$GC,23787,0.50,155.7,486.3,12.2,780,23791,0.00,2.42,0.00,0.000,6,0.000,0.044,3261,1909,2347,0,0,0,0,0,0
$GC,24113,0.50,155.7,453.6,10.0,788,24114,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1909,2347,0,0,0,0,0,0
$GC,24436,0.50,155.7,420.0,10.7,796,24440,0.00,2.40,0.00,0.000,4,0.000,0.050,3274,329,2348,0,0,0,0,0,0
$GC,24476,0.50,155.7,415.6,10.1,797,24480,0.00,2.40,0.00,0.000,6,0.000,0.043,3274,1928,2348,0,0,0,0,0,0
$GC,24803,0.50,155.7,381.9,10.0,805,24807,0.00,2.42,0.00,0.000,4,0.000,0.052,3273,3517,2348,0,0,0,0,0,0
$GC,24852,0.50,155.7,375.9,11.3,806,24857,0.12,2.40,0.00,0.000,6,0.130,0.041,3245,1925,2349,0,0,0,0,0,0
$GC,25172,0.50,155.7,347.6,9.1,814,25173,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1924,2349,0,0,0,0,0,0
$GC,25497,0.50,155.7,320.1,8.0,822,25501,0.00,2.42,0.00,0.000,4,0.000,0.050,3256,333,2351,0,0,0,0,0,0
$GC,25551,0.50,155.7,315.7,8.2,823,25556,0.00,2.38,0.00,0.000,6,0.000,0.041,3256,1931,2351,0,0,0,0,0,0
$GC,25870,0.50,155.7,289.3,8.5,834,25875,0.00,2.40,0.00,0.000,4,0.000,0.051,3256,3505,2352,0,0,0,0,0,0
$GC,25993,0.50,155.7,277.5,8.3,839,25999,0.00,2.40,0.00,0.000,6,0.000,0.038,3269,1904,2353,0,0,0,0,0,0
$GC,26308,0.50,155.7,249.3,9.2,855,26313,0.00,2.40,0.00,0.000,4,0.000,0.048,3281,343,2354,0,0,0,0,0,0
$GC,26352,0.50,155.7,244.4,9.6,857,26357,0.00,2.33,0.00,0.000,6,0.000,0.039,3281,1925,2354,0,0,0,0,0,0
$GC,26679,0.50,155.7,209.1,10.4,873,26683,0.00,2.47,0.00,0.000,4,0.000,0.050,3281,3517,2356,0,0,0,0,0,0
$GC,26768,0.50,155.7,199.7,10.5,877,26773,0.12,2.40,0.00,0.000,6,0.125,0.038,3251,1915,2356,0,0,0,0,0,0
$GC,27098,0.50,155.7,172.4,8.0,908,27102,0.00,2.42,0.00,0.000,4,0.000,0.049,3262,334,2357,0,0,0,0,0,0
$GC,27188,0.50,155.7,164.8,6.7,915,27194,0.00,2.35,0.00,0.000,6,0.000,0.039,3262,1926,2358,0,0,0,0,0,0
$GC,27449,0.54,181.5,148.6,5.3,940,27479,0.00,0.00,23.98,0.872,6,0.000,0.000,3262,1926,2254,0,0,0,0,0,0
$GC,27734,0.54,181.5,130.3,7.1,967,27738,0.00,2.38,0.00,0.000,4,0.000,0.046,3274,333,2254,0,0,0,0,0,0
$GC,27774,0.54,181.5,127.0,8.3,970,27778,0.00,2.35,0.00,0.000,6,0.000,0.039,3274,1926,2254,0,0,0,0,0,0
$GC,28036,0.54,181.5,105.1,7.4,994,28040,0.00,2.40,0.00,0.000,4,0.000,0.049,3274,3504,2255,0,0,0,0,0,0
$GC,28134,0.54,181.5,96.6,7.8,1002,28141,0.00,2.40,0.00,0.000,6,0.000,0.037,3285,1907,2256,0,0,0,0,0,0
$GC,28396,0.54,181.5,73.2,8.8,1027,28397,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1906,2257,0,0,0,0,0,0
$GC,28651,0.54,181.5,49.9,7.9,1051,28652,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1906,2258,0,0,0,0,0,0
$GC,28907,0.54,181.5,31.2,6.5,1075,28911,0.00,2.40,0.00,0.000,4,0.000,0.047,3297,331,2259,0,0,0,0,0,0
$GC,28950,0.54,181.5,28.0,6.1,1078,28957,0.12,2.33,0.00,0.000,6,0.108,0.038,3249,1924,2259,0,0,0,0,0,0
$GC,29148,0.54,187.8,18.2,5.8,1097,29162,0.00,2.42,7.97,0.642,4,0.000,0.048,3249,3488,2229,0,0,0,0,0,0
$GC,29220,0.54,187.8,14.0,6.3,1103,29226,0.00,2.35,0.00,0.000,6,0.000,0.038,3257,1923,2230,0,0,0,0,0,0
$STATE,29404,end climb,SURFACE_DEPTH_REACHED
$STATE,29404,begin surface coast
$FINISH,0.4,1.023769
$STATE,29448,end surface coast,CONTROL_FINISHED_OK
$STATE,29448,begin surface
$SM_CCo,29466,102.93,0.820,0,0,1363,400.08
$SM_GC,0.97,0.00,0.00,102.93,0.000,0.000,0.820,133,2174,1363,-9.24,0.68,400.08
$IRIDIUM_FIX,2148.09,12814.92,100812,202046
$TT8_MAMPS,0.029146
$HUMID,1078734829
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,21.6,66.549
$10V_AH,9.8,55.956
$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,21.475,318.500,333.075,102.925,0.000,86.612,108.126,853.042,0.250,0.000,65.160,2547.877,22999.715,688.981,3923.662,766.375,33.378,2336.667,0.000,2970.513,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,58.292,1612.234,819.923,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,770.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354992
$DATA_FILE_SIZE,40036,1125
$CAP_FILE_SIZE,341662,0
$CFSIZE,260165632,188485632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160211,102206,2155.906,12813.236,37,0.9,37,-3.1