version: 66.07
glider: 500
mission: 5
dive: 381
start: 2 16 111 10 45 26
data:
$ID,500
$MISSION,5
$DIVE,381
$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,-129114.56
$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,59
$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
$GPS1,160211,102206,2155.906,12813.236,37,0.9,37,-3.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.7
$GPS2,160211,104434,2156.166,12813.057,9,2.8,28,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.071,-0.209
$KALMAN_X,-794448.5,206.5,-492.4,1306487.2,-2043.0
$KALMAN_Y,90408.3,-132.8,46.5,-4198.1,6685.0
$MHEAD_RNG_PITCHd_Wd,164.4,203928,-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,15270,-0.50,-155.7,783.8,-4.6,580,15274,0.00,2.45,0.00,0.000,4,0.000,0.054,2917,3728,3604,0,0,0,0,0,0
$GC,15342,-0.50,-155.7,787.5,-4.7,581,15346,0.00,2.33,0.00,0.000,6,0.000,0.035,2916,2149,3603,0,0,0,0,0,0
$GC,15680,-0.50,-155.7,804.0,-4.9,590,15684,0.00,2.42,0.00,0.000,4,0.000,0.055,2906,3727,3602,0,0,0,0,0,0
$GC,15709,-0.50,-155.7,805.4,-5.0,590,15713,0.00,2.35,0.00,0.000,6,0.000,0.036,2906,2139,3602,0,0,0,0,0,0
$GC,16040,-0.50,-155.7,817.9,-3.4,598,16044,0.00,2.47,0.00,0.000,4,0.000,0.054,2894,3731,3601,0,0,0,0,0,0
$GC,16085,-0.50,-155.7,819.2,-3.0,599,16089,0.10,2.35,0.00,0.000,6,0.122,0.036,2932,2147,3601,0,0,0,0,0,0
$GC,16404,-0.50,-155.7,825.5,-1.9,607,16408,0.00,2.47,0.00,0.000,4,0.000,0.055,2922,3733,3601,0,0,0,0,0,0
$GC,16544,-0.50,-155.7,828.8,-2.7,610,16548,0.00,2.35,0.00,0.000,6,0.000,0.037,2922,2153,3601,0,0,0,0,0,0
$GC,16859,-0.50,-155.7,838.4,-3.5,618,16863,0.00,2.45,0.00,0.000,4,0.000,0.054,2911,3728,3600,0,0,0,0,0,0
$GC,16937,-0.50,-155.7,841.8,-4.6,619,16943,0.00,2.35,0.00,0.000,6,0.000,0.037,2911,2148,3600,0,0,0,0,0,0
$GC,17268,-0.50,-155.7,859.6,-5.7,628,17272,0.00,2.47,0.00,0.000,4,0.000,0.056,2900,3733,3599,0,0,0,0,0,0
$GC,17330,-0.50,-155.7,863.1,-5.3,629,17334,0.00,2.35,0.00,0.000,6,0.000,0.037,2900,2151,3599,0,0,0,0,0,0
$GC,17673,-0.50,-155.7,881.2,-4.9,638,17677,0.00,2.47,0.00,0.000,4,0.000,0.056,2888,3732,3598,0,0,0,0,0,0
$GC,17694,-0.50,-155.7,882.3,-4.5,638,17699,0.12,2.38,0.00,0.000,6,0.113,0.037,2934,2139,3598,0,0,0,0,0,0
$GC,18032,-0.50,-155.7,894.2,-3.4,647,18036,0.00,2.45,0.00,0.000,4,0.000,0.055,2924,3727,3598,0,0,0,0,0,0
$GC,18245,-0.50,-155.7,901.8,-3.8,651,18250,0.00,2.35,0.00,0.000,6,0.000,0.036,2924,2142,3597,0,0,0,0,0,0
$GC,18576,-0.50,-155.7,913.7,-3.7,660,18580,0.00,2.47,0.00,0.000,4,0.000,0.056,2914,3727,3597,0,0,0,0,0,0
$GC,18689,-0.50,-155.7,918.3,-3.7,662,18693,0.00,2.35,0.00,0.000,6,0.000,0.036,2913,2153,3597,0,0,0,0,0,0
$GC,19033,-0.50,-155.7,932.2,-4.1,671,19037,0.00,2.42,0.00,0.000,4,0.000,0.054,2903,3728,3596,0,0,0,0,0,0
$GC,19111,-0.50,-155.7,935.3,-3.9,672,19117,0.00,2.38,0.00,0.000,6,0.000,0.036,2902,2141,3596,0,0,0,0,0,0
$GC,19442,-0.50,-155.7,946.8,-3.3,681,19447,0.00,2.50,0.00,0.000,4,0.000,0.055,2891,3731,3596,0,0,0,0,0,0
$GC,19521,-0.50,-155.7,949.3,-3.4,682,19528,0.12,2.38,0.00,0.000,6,0.110,0.036,2937,2142,3596,0,0,0,0,0,0
$GC,19854,-0.50,-155.7,959.7,-3.3,691,19858,0.00,2.50,0.00,0.000,4,0.000,0.056,2927,3732,3596,0,0,0,0,0,0
$GC,20111,-0.50,-155.7,970.3,-4.4,696,20117,0.00,2.38,0.00,0.000,6,0.000,0.038,2927,2143,3596,0,0,0,0,0,0
$GC,20444,-0.50,-155.7,984.2,-4.2,705,20448,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3726,3595,0,0,0,0,0,0
$STATE,20581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20582,begin apogee
$GC,20589,-0.23,0.0,990.3,4.0,708,20732,0.25,0.00,139.93,1.609,6,0.072,0.000,3031,1920,2995,0,0,0,0,0,0
$STATE,20733,end apogee,CONTROL_FINISHED_OK
$STATE,20733,begin climb
$GC,20737,0.50,155.7,991.8,0.0,711,20903,0.60,2.78,156.68,1.562,4,0.053,0.054,3260,3493,2360,0,0,0,0,0,0
$GC,20926,0.50,155.7,969.5,14.3,715,20931,0.00,2.60,0.00,0.000,6,0.000,0.041,3272,1915,2360,0,0,0,0,0,0
$GC,21262,0.50,155.7,920.3,14.7,724,21266,0.00,2.47,0.00,0.000,4,0.000,0.054,3285,331,2354,0,0,0,0,0,0
$GC,21306,0.50,155.7,913.6,14.7,725,21311,0.10,2.38,0.00,0.000,6,0.140,0.044,3253,1916,2354,0,0,0,0,0,0
$GC,21635,0.50,155.7,872.1,12.9,733,21639,0.00,2.40,0.00,0.000,4,0.000,0.053,3252,3500,2352,0,0,0,0,0,0
$GC,21735,0.50,155.7,857.3,14.1,735,21739,0.00,2.38,0.00,0.000,6,0.000,0.041,3263,1914,2351,0,0,0,0,0,0
$GC,22085,0.50,155.7,810.4,13.3,744,22089,0.00,2.42,0.00,0.000,4,0.000,0.054,3276,334,2351,0,0,0,0,0,0
$GC,22133,0.50,155.7,803.4,13.5,745,22138,0.00,2.38,0.00,0.000,6,0.000,0.044,3276,1915,2350,0,0,0,0,0,0
$GC,22453,0.50,155.7,760.0,13.7,753,22458,0.00,2.42,0.00,0.000,4,0.000,0.054,3276,3514,2350,0,0,0,0,0,0
$GC,22486,0.50,155.7,755.0,14.8,753,22493,0.12,2.40,0.00,0.000,6,0.140,0.043,3249,1926,2350,0,0,0,0,0,0
$GC,22820,0.50,155.7,715.8,12.0,762,22824,0.00,2.45,0.00,0.000,4,0.000,0.053,3260,332,2350,0,0,0,0,0,0
$GC,22913,0.50,155.7,703.5,12.5,764,22918,0.00,2.38,0.00,0.000,6,0.000,0.044,3260,1923,2350,0,0,0,0,0,0
$GC,23234,0.50,155.7,664.9,12.0,772,23238,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,3516,2349,0,0,0,0,0,0
$GC,23294,0.50,155.7,656.9,13.6,773,23298,0.00,2.47,0.00,0.000,6,0.000,0.043,3272,1908,2350,0,0,0,0,0,0
$GC,23643,0.50,155.7,616.1,11.9,782,23647,0.00,2.42,0.00,0.000,4,0.000,0.052,3285,333,2350,0,0,0,0,0,0
$GC,23715,0.50,155.7,606.7,11.5,783,23720,0.10,2.40,0.00,0.000,6,0.137,0.046,3252,1930,2350,0,0,0,0,0,0
$GC,24048,0.50,155.7,568.8,11.7,791,24052,0.00,2.45,0.00,0.000,4,0.000,0.055,3251,3516,2349,0,0,0,0,0,0
$GC,24109,0.50,155.7,561.0,10.4,792,24113,0.00,2.42,0.00,0.000,6,0.000,0.044,3262,1924,2350,0,0,0,0,0,0
$GC,24452,0.50,155.7,522.5,10.9,801,24456,0.00,2.42,0.00,0.000,4,0.000,0.054,3275,333,2350,0,0,0,0,0,0
$GC,24508,0.50,155.7,516.0,10.8,802,24513,0.00,2.40,0.00,0.000,6,0.000,0.044,3275,1921,2350,0,0,0,0,0,0
$GC,24857,0.50,155.7,470.4,13.8,811,24861,0.00,2.47,0.00,0.000,4,0.000,0.056,3275,3516,2350,0,0,0,0,0,0
$GC,24901,0.50,155.7,463.9,13.5,812,24906,0.12,2.42,0.00,0.000,6,0.135,0.044,3247,1915,2351,0,0,0,0,0,0
$GC,25229,0.50,155.7,430.6,9.9,820,25233,0.00,2.50,0.00,0.000,4,0.000,0.054,3247,3508,2351,0,0,0,0,0,0
$GC,25306,0.50,155.7,422.1,10.0,821,25312,0.00,2.42,0.00,0.000,6,0.000,0.042,3258,1909,2351,0,0,0,0,0,0
$GC,25638,0.50,155.7,391.9,8.9,830,25642,0.00,2.42,0.00,0.000,4,0.000,0.051,3270,333,2352,0,0,0,0,0,0
$GC,25715,0.50,155.7,384.2,9.8,831,25721,0.00,2.40,0.00,0.000,6,0.000,0.044,3270,1923,2352,0,0,0,0,0,0
$GC,26047,0.50,155.7,350.1,10.1,840,26052,0.00,2.45,0.00,0.000,4,0.000,0.051,3270,3520,2353,0,0,0,0,0,0
$GC,26080,0.50,155.7,346.3,11.2,840,26086,0.00,2.42,0.00,0.000,6,0.000,0.041,3283,1907,2353,0,0,0,0,0,0
$GC,26411,0.50,155.7,311.8,10.3,849,26415,0.00,2.47,0.00,0.000,4,0.000,0.051,3283,3510,2355,0,0,0,0,0,0
$GC,26445,0.50,155.7,307.9,11.5,849,26451,0.15,2.42,0.00,0.000,6,0.120,0.041,3245,1914,2355,0,0,0,0,0,0
$GC,26758,0.50,155.7,282.7,7.6,862,26762,0.00,2.47,0.00,0.000,4,0.000,0.052,3245,3516,2355,0,0,0,0,0,0
$GC,26798,0.50,155.7,279.6,6.7,864,26802,0.00,2.40,0.00,0.000,6,0.000,0.041,3256,1927,2356,0,0,0,0,0,0
$GC,27123,0.50,155.7,257.1,6.8,880,27128,0.00,2.45,0.00,0.000,4,0.000,0.049,3268,330,2357,0,0,0,0,0,0
$GC,27188,0.50,155.7,252.5,7.8,883,27192,0.00,2.35,0.00,0.000,6,0.000,0.042,3268,1921,2357,0,0,0,0,0,0
$GC,27515,0.50,155.7,223.1,9.3,899,27519,0.00,2.42,0.00,0.000,4,0.000,0.054,3268,3508,2359,0,0,0,0,0,0
$GC,27632,0.50,155.7,211.4,10.1,904,27637,0.00,2.40,0.00,0.000,6,0.000,0.039,3281,1906,2360,0,0,0,0,0,0
$GC,27953,0.50,155.7,183.2,7.9,928,27954,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1905,2361,0,0,0,0,0,0
$GC,28208,0.50,155.7,162.6,7.8,952,28209,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1905,2362,0,0,0,0,0,0
$GC,28464,0.50,155.7,139.5,9.4,976,28468,0.00,2.50,0.00,0.000,4,0.000,0.048,3281,3516,2363,0,0,0,0,0,0
$GC,28507,0.50,155.7,135.1,8.6,979,28514,0.12,2.42,0.00,0.000,6,0.122,0.038,3250,1915,2363,0,0,0,0,0,0
$GC,28768,0.50,155.7,117.7,6.5,1004,28773,0.00,2.40,0.00,0.000,4,0.000,0.049,3261,336,2364,0,0,0,0,0,0
$GC,28797,0.55,188.8,116.1,5.1,1006,28832,0.00,2.33,30.38,0.865,6,0.000,0.039,3261,1928,2225,0,0,0,0,0,0
$GC,29089,0.57,205.2,99.5,5.6,1033,29110,0.00,2.42,15.07,0.826,4,0.000,0.048,3261,3501,2158,0,0,0,0,0,0
$GC,29145,0.57,205.2,95.5,7.0,1038,29149,0.00,2.40,0.00,0.000,6,0.000,0.038,3272,1923,2159,0,0,0,0,0,0
$GC,29405,0.57,205.2,76.7,7.1,1062,29409,0.00,2.42,0.00,0.000,4,0.000,0.048,3284,329,2158,0,0,0,0,0,0
$GC,29460,0.57,205.2,72.4,7.2,1066,29466,0.00,2.33,0.00,0.000,6,0.000,0.038,3284,1934,2159,0,0,0,0,0,0
$GC,29722,0.57,205.2,52.6,8.0,1091,29726,0.00,2.40,0.00,0.000,4,0.000,0.049,3284,3499,2160,0,0,0,0,0,0
$GC,29773,0.57,205.2,48.2,8.5,1095,29778,0.00,2.38,0.00,0.000,6,0.000,0.036,3296,1905,2161,0,0,0,0,0,0
$GC,30035,0.57,205.2,23.9,9.4,1119,30039,0.00,2.38,0.00,0.000,4,0.000,0.047,3308,328,2161,0,0,0,0,0,0
$GC,30067,0.57,205.2,20.8,8.8,1121,30074,0.12,2.33,0.00,0.000,6,0.108,0.037,3261,1920,2162,0,0,0,0,0,0
$GC,30265,0.57,209.2,8.5,5.9,1140,30276,0.00,2.40,5.93,0.579,4,0.000,0.051,3260,3496,2141,0,0,0,0,0,0
$GC,30335,0.58,214.5,4.2,5.9,1146,30346,0.00,2.35,5.68,0.572,6,0.000,0.038,3270,1909,2119,0,0,0,0,0,0
$STATE,30364,end climb,SURFACE_DEPTH_REACHED
$STATE,30365,begin surface coast
$FINISH,0.3,1.012841
$STATE,30429,end surface coast,CONTROL_FINISHED_OK
$STATE,30430,begin surface
$SM_CCo,30447,89.25,0.822,0,0,1363,400.08
$SM_GC,1.04,0.00,0.00,89.25,0.000,0.000,0.822,107,2171,1363,-9.32,0.59,400.08
$IRIDIUM_FIX,2148.09,12814.92,110812,040424
$TT8_MAMPS,0.028379
$HUMID,1078742571
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,21.6,66.778
$10V_AH,9.8,56.070
$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,21.600,345.000,353.650,89.250,0.000,87.639,105.360,860.082,0.000,0.000,31.172,2591.424,23916.846,724.396,3908.996,719.401,33.376,2371.940,0.000,2939.826,0.000,0.542,0.000
$DEVICE_MAMPS,216.294,55.991,1609.166,822.224,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,790.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354996
$DATA_FILE_SIZE,40061,1155
$CAP_FILE_SIZE,352531,0
$CFSIZE,260165632,188358656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160211,191554,2155.606,12813.787,32,1.4,50,-3.1