version: 66.07
glider: 500
mission: 5
dive: 385
start: 2 17 111 21 29 21
data:
$ID,500
$MISSION,5
$DIVE,385
$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,-129175.76
$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,33
$R_STBD_OVSHOOT,55
$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
$GPS1,170211,211636,2156.007,12817.289,34,1.1,34,-3.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,6
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-77.6
$GPS2,170211,212826,2156.229,12817.372,10,1.3,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.167,-0.144
$KALMAN_X,-792994.9,151.5,-835.6,1312881.4,1211.6
$KALMAN_Y,118980.0,-130.0,-104.6,-32509.7,8783.8
$MHEAD_RNG_PITCHd_Wd,133.9,198106,-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
$STATE,15,begin dive
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$GC,14782,-0.50,-155.7,787.2,-5.1,554,14786,0.00,2.47,0.00,0.000,4,0.000,0.054,2897,3731,3603,0,0,0,0,0,0
$GC,14798,-0.50,-155.7,788.1,-5.1,554,14802,0.00,2.40,0.00,0.000,6,0.000,0.037,2896,2140,3602,0,0,0,0,0,0
$GC,15143,-0.50,-155.7,805.6,-5.1,563,15145,0.10,0.00,0.00,0.000,6,0.130,0.000,2935,2139,3602,0,0,0,0,0,0
$GC,15465,-0.50,-155.7,820.2,-4.3,571,15469,0.00,2.50,0.00,0.000,4,0.000,0.054,2925,3740,3601,0,0,0,0,0,0
$GC,15572,-0.50,-155.7,824.7,-4.1,573,15577,0.00,2.42,0.00,0.000,6,0.000,0.038,2924,2139,3601,0,0,0,0,0,0
$GC,15916,-0.50,-155.7,837.7,-3.8,582,15920,0.00,2.47,0.00,0.000,4,0.000,0.054,2913,3730,3600,0,0,0,0,0,0
$GC,16012,-0.50,-155.7,841.1,-3.4,584,16016,0.00,2.40,0.00,0.000,6,0.000,0.037,2913,2138,3600,0,0,0,0,0,0
$GC,16327,-0.50,-155.7,852.4,-3.7,592,16331,0.00,2.45,0.00,0.000,4,0.000,0.053,2901,3730,3599,0,0,0,0,0,0
$GC,16399,-0.50,-155.7,855.0,-3.2,593,16404,0.00,2.38,0.00,0.000,6,0.000,0.037,2901,2149,3598,0,0,0,0,0,0
$GC,16731,-0.50,-155.7,866.5,-3.5,601,16735,0.00,2.47,0.00,0.000,4,0.000,0.054,2889,3737,3597,0,0,0,0,0,0
$GC,16757,-0.50,-155.7,867.6,-3.8,601,16762,0.12,2.38,0.00,0.000,6,0.111,0.038,2935,2151,3597,0,0,0,0,0,0
$GC,17098,-0.50,-155.7,877.7,-2.9,610,17102,0.00,2.47,0.00,0.000,4,0.000,0.054,2925,3729,3597,0,0,0,0,0,0
$GC,17216,-0.50,-155.7,881.4,-2.9,612,17220,0.00,2.40,0.00,0.000,6,0.000,0.037,2925,2138,3597,0,0,0,0,0,0
$GC,17548,-0.50,-155.7,892.8,-3.7,620,17553,0.00,2.50,0.00,0.000,4,0.000,0.054,2913,3734,3597,0,0,0,0,0,0
$GC,17633,-0.50,-155.7,896.1,-4.0,622,17637,0.00,2.40,0.00,0.000,6,0.000,0.038,2913,2146,3597,0,0,0,0,0,0
$GC,17959,-0.50,-155.7,909.9,-4.3,630,17963,0.00,2.47,0.00,0.000,4,0.000,0.054,2902,3731,3596,0,0,0,0,0,0
$GC,18032,-0.50,-155.7,913.0,-3.5,631,18036,0.00,2.38,0.00,0.000,6,0.000,0.037,2901,2148,3596,0,0,0,0,0,0
$GC,18364,-0.50,-155.7,925.7,-3.7,639,18368,0.00,2.47,0.00,0.000,4,0.000,0.055,2889,3728,3596,0,0,0,0,0,0
$GC,18436,-0.50,-155.7,928.5,-3.5,640,18441,0.12,2.38,0.00,0.000,6,0.110,0.037,2936,2149,3595,0,0,0,0,0,0
$GC,18769,-0.50,-155.7,939.7,-3.4,648,18773,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3734,3595,0,0,0,0,0,0
$GC,18953,-0.50,-155.7,946.3,-3.8,652,18957,0.00,2.38,0.00,0.000,6,0.000,0.038,2925,2148,3594,0,0,0,0,0,0
$GC,19268,-0.50,-155.7,956.4,-3.2,660,19272,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3730,3594,0,0,0,0,0,0
$GC,19435,-0.50,-155.7,961.3,-3.0,663,19441,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2147,3594,0,0,0,0,0,0
$GC,19767,-0.50,-155.7,970.4,-2.8,672,19771,0.00,2.47,0.00,0.000,4,0.000,0.055,2912,3728,3593,0,0,0,0,0,0
$GC,19946,-0.50,-155.7,976.1,-3.5,676,19950,0.00,2.35,0.00,0.000,6,0.000,0.037,2912,2149,3593,0,0,0,0,0,0
$GC,20265,-0.50,-155.7,986.5,-3.3,684,20270,0.00,2.47,0.00,0.000,4,0.000,0.054,2901,3731,3593,0,0,0,0,0,0
$STATE,20369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20369,begin apogee
$GC,20379,-0.23,0.0,990.2,2.6,686,20523,0.30,0.00,140.60,1.630,6,0.087,0.000,3016,1919,2995,0,0,0,0,0,0
$STATE,20524,end apogee,CONTROL_FINISHED_OK
$STATE,20524,begin climb
$GC,20526,0.50,155.7,989.4,0.0,690,20691,0.65,2.72,156.88,1.598,4,0.054,0.051,3262,3493,2359,0,0,0,0,0,0
$GC,20749,0.50,155.7,962.0,14.7,695,20754,0.00,2.55,0.00,0.000,6,0.000,0.041,3273,1926,2359,0,0,0,0,0,0
$GC,21063,0.50,155.7,915.8,14.4,703,21067,0.00,2.50,0.00,0.000,4,0.000,0.052,3273,3508,2355,0,0,0,0,0,0
$GC,21089,0.50,155.7,911.6,15.6,703,21094,0.12,2.47,0.00,0.000,6,0.138,0.043,3247,1904,2354,0,0,0,0,0,0
$GC,21428,0.50,155.7,871.6,11.9,712,21429,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,2353,0,0,0,0,0,0
$GC,21750,0.50,155.7,831.9,12.2,720,21755,0.00,2.42,0.00,0.000,4,0.000,0.051,3258,325,2351,0,0,0,0,0,0
$GC,21791,0.50,155.7,827.1,12.3,721,21795,0.00,2.40,0.00,0.000,6,0.000,0.044,3258,1921,2350,0,0,0,0,0,0
$GC,22116,0.50,155.7,784.6,12.9,729,22120,0.00,2.45,0.00,0.000,4,0.000,0.056,3258,3505,2350,0,0,0,0,0,0
$GC,22205,0.50,155.7,771.8,14.0,731,22209,0.00,2.45,0.00,0.000,6,0.000,0.044,3270,1909,2349,0,0,0,0,0,0
$GC,22524,0.50,155.7,725.7,14.8,739,22525,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1909,2348,0,0,0,0,0,0
$GC,22849,0.50,155.7,679.5,13.9,747,22850,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1908,2347,0,0,0,0,0,0
$GC,23172,0.50,155.7,635.2,13.7,755,23177,0.00,2.40,0.00,0.000,4,0.000,0.054,3283,337,2347,0,0,0,0,0,0
$GC,23212,0.50,155.7,629.4,14.5,756,23216,0.00,2.40,0.00,0.000,6,0.000,0.048,3283,1920,2347,0,0,0,0,0,0
$GC,23538,0.50,155.7,581.1,14.7,764,23542,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,3505,2347,0,0,0,0,0,0
$GC,23632,0.50,155.7,566.6,15.1,766,23637,0.15,2.40,0.00,0.000,6,0.129,0.042,3246,1918,2346,0,0,0,0,0,0
$GC,23955,0.50,155.7,533.9,9.8,774,23956,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1917,2346,0,0,0,0,0,0
$GC,24276,0.50,155.7,500.7,10.4,782,24280,0.00,2.47,0.00,0.000,4,0.000,0.054,3246,3508,2346,0,0,0,0,0,0
$GC,24308,0.50,155.7,497.1,9.7,782,24315,0.00,2.42,0.00,0.000,6,0.000,0.043,3257,1920,2346,0,0,0,0,0,0
$GC,24641,0.50,155.7,463.1,10.0,791,24645,0.00,2.42,0.00,0.000,4,0.000,0.052,3269,332,2346,0,0,0,0,0,0
$GC,24690,0.50,155.7,457.9,10.1,792,24694,0.00,2.38,0.00,0.000,6,0.000,0.044,3270,1924,2345,0,0,0,0,0,0
$GC,25010,0.50,155.7,420.3,12.1,800,25014,0.00,2.45,0.00,0.000,4,0.000,0.054,3269,3512,2345,0,0,0,0,0,0
$GC,25115,0.50,155.7,406.6,10.9,802,25119,0.00,2.47,0.00,0.000,6,0.000,0.042,3282,1913,2345,0,0,0,0,0,0
$GC,25466,0.50,155.7,368.0,10.3,811,25467,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1913,2345,0,0,0,0,0,0
$GC,25788,0.50,155.7,333.8,11.0,819,25792,0.00,2.47,0.00,0.000,4,0.000,0.052,3282,3511,2346,0,0,0,0,0,0
$GC,25860,0.50,155.7,324.4,14.7,820,25866,0.12,2.42,0.00,0.000,6,0.129,0.041,3252,1928,2346,0,0,0,0,0,0
$GC,26173,0.50,155.7,292.1,9.8,829,26177,0.00,2.47,0.00,0.000,4,0.000,0.048,3263,321,2346,0,0,0,0,0,0
$GC,26222,0.50,155.7,286.8,9.1,831,26226,0.00,2.38,0.00,0.000,6,0.000,0.041,3263,1929,2346,0,0,0,0,0,0
$GC,26543,0.50,155.7,254.9,9.0,847,26547,0.00,2.42,0.00,0.000,4,0.000,0.051,3263,3503,2348,0,0,0,0,0,0
$GC,26570,0.50,155.7,252.2,8.5,848,26574,0.00,2.42,0.00,0.000,6,0.000,0.038,3276,1907,2348,0,0,0,0,0,0
$GC,26891,0.50,155.7,220.1,10.5,864,26896,0.00,2.40,0.00,0.000,4,0.000,0.048,3288,329,2349,0,0,0,0,0,0
$GC,26970,0.50,155.7,211.1,11.6,867,26977,0.12,2.38,0.00,0.000,6,0.120,0.040,3243,1930,2349,0,0,0,0,0,0
$GC,27292,0.50,155.7,183.0,7.7,892,27296,0.00,2.40,0.00,0.000,4,0.000,0.049,3243,3505,2350,0,0,0,0,0,0
$GC,27364,0.50,155.7,176.7,8.4,898,27370,0.00,2.38,0.00,0.000,6,0.000,0.037,3254,1914,2351,0,0,0,0,0,0
$GC,27625,0.50,155.7,157.2,6.8,923,27629,0.00,2.42,0.00,0.000,4,0.000,0.048,3266,326,2352,0,0,0,0,0,0
$GC,27657,0.50,155.7,154.8,8.3,925,27663,0.00,2.35,0.00,0.000,6,0.000,0.039,3266,1924,2352,0,0,0,0,0,0
$GC,27918,0.51,158.7,138.2,5.9,950,27923,0.00,2.42,0.00,0.000,4,0.000,0.046,3278,334,2353,0,0,0,0,0,0
$GC,27952,0.51,158.7,136.2,6.6,952,27958,0.00,2.35,0.00,0.000,6,0.000,0.040,3278,1926,2353,0,0,0,0,0,0
$GC,28213,0.51,158.7,117.4,7.3,977,28217,0.00,2.42,0.00,0.000,4,0.000,0.049,3278,3512,2354,0,0,0,0,0,0
$GC,28253,0.51,158.7,114.2,8.5,980,28258,0.12,2.40,0.00,0.000,6,0.123,0.038,3247,1918,2354,0,0,0,0,0,0
$GC,28515,0.57,211.9,102.5,4.6,1004,28564,0.00,0.00,47.28,0.887,6,0.000,0.000,3247,1917,2131,0,0,0,0,0,0
$GC,28819,0.59,222.3,83.2,5.7,1033,28831,0.00,0.00,10.50,0.792,6,0.000,0.000,3247,1917,2088,0,0,0,0,0,0
$GC,29085,0.59,222.3,65.9,6.3,1058,29086,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1917,2088,0,0,0,0,0,0
$GC,29340,0.64,265.2,50.2,4.9,1082,29383,0.12,2.45,36.30,0.854,4,0.081,0.046,3360,340,1912,0,0,0,0,0,0
$GC,29434,0.64,265.2,39.7,15.4,1090,29440,0.20,2.35,0.00,0.000,6,0.114,0.038,3295,1924,1916,0,0,0,0,0,0
$GC,29694,0.64,265.2,18.1,7.8,1115,29699,0.00,2.40,0.00,0.000,4,0.000,0.047,3295,3505,1917,0,0,0,0,0,0
$GC,29741,0.64,265.2,14.2,7.9,1118,29747,0.00,2.38,0.00,0.000,6,0.000,0.035,3305,1921,1918,0,0,0,0,0,0
$STATE,29872,end climb,SURFACE_DEPTH_REACHED
$STATE,29872,begin surface coast
$FINISH,0.3,1.023478
$STATE,29905,end surface coast,CONTROL_FINISHED_OK
$STATE,29905,begin surface
$SM_CCo,29924,67.22,0.846,0,0,1363,400.08
$SM_GC,1.01,0.00,0.00,67.22,0.000,0.000,0.846,106,2164,1363,-9.33,0.40,400.08
$IRIDIUM_FIX,2148.09,12814.92,120812,070718
$TT8_MAMPS,0.027612
$HUMID,1078728377
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,21.6,67.625
$10V_AH,9.8,56.613
$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,21.975,325.900,391.550,67.225,0.000,30.301,48.797,415.577,0.000,0.000,11.947,2535.225,23415.670,695.862,3393.808,632.932,33.378,2314.157,0.000,2864.186,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,58.292,1629.875,846.001,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,775.858,0.000,0.000,0.000,0.000,0.000,0.000,757.535,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,40047,1134
$CAP_FILE_SIZE,334192,0
$CFSIZE,260165632,187912192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180211,055031,2157.915,12821.260,38,1.0,38,-3.1