version: 66.07
glider: 500
mission: 5
dive: 386
start: 2 18 111 5 58 21
data:
$ID,500
$MISSION,5
$DIVE,386
$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,-129191.48
$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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,180211,055031,2157.915,12821.260,38,1.0,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.3
$GPS2,180211,055726,2158.038,12821.373,13,1.0,13,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.162,-0.150
$KALMAN_X,-792219.6,26.2,-75.3,1318395.8,1694.8
$KALMAN_Y,126677.8,128.6,41.0,-37261.6,8252.6
$MHEAD_RNG_PITCHd_Wd,135.9,194905,-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,16157,-0.50,-155.7,845.1,-4.5,594,16161,0.00,2.35,0.00,0.000,6,0.000,0.042,2906,2153,3612,0,0,0,0,0,0
$GC,16470,-0.50,-155.7,858.6,-4.2,602,16474,0.00,2.38,0.00,0.000,4,0.000,0.044,2906,564,3612,0,0,0,0,0,0
$GC,16571,-0.50,-155.7,862.6,-3.6,604,16576,0.10,2.38,0.00,0.000,6,0.133,0.043,2930,2165,3612,0,0,0,0,0,0
$GC,16885,-0.50,-155.7,873.5,-3.5,612,16890,0.00,2.40,0.00,0.000,4,0.000,0.045,2929,565,3611,0,0,0,0,0,0
$GC,17064,-0.50,-155.7,879.5,-3.2,616,17068,0.00,2.35,0.00,0.000,6,0.000,0.042,2921,2151,3611,0,0,0,0,0,0
$GC,17385,-0.50,-155.7,890.9,-3.8,624,17389,0.00,2.35,0.00,0.000,4,0.000,0.044,2921,566,3610,0,0,0,0,0,0
$GC,17529,-0.50,-155.7,896.8,-3.7,627,17533,0.00,2.35,0.00,0.000,6,0.000,0.042,2912,2154,3610,0,0,0,0,0,0
$GC,17844,-0.50,-155.7,909.1,-4.0,635,17848,0.00,2.38,0.00,0.000,4,0.000,0.044,2911,561,3610,0,0,0,0,0,0
$GC,17950,-0.50,-155.7,913.3,-3.4,637,17954,0.00,2.35,0.00,0.000,6,0.000,0.042,2901,2151,3610,0,0,0,0,0,0
$GC,18295,-0.50,-155.7,925.9,-3.8,646,18299,0.00,2.38,0.00,0.000,4,0.000,0.044,2901,561,3609,0,0,0,0,0,0
$GC,18389,-0.50,-155.7,929.9,-4.3,648,18394,0.12,2.35,0.00,0.000,6,0.120,0.042,2935,2150,3609,0,0,0,0,0,0
$GC,18704,-0.50,-155.7,941.6,-3.9,656,18708,0.00,2.47,0.00,0.000,4,0.000,0.053,2925,3739,3608,0,0,0,0,0,0
$GC,18743,-0.50,-155.7,943.2,-3.6,657,18747,0.00,2.42,0.00,0.000,6,0.000,0.039,2925,2143,3609,0,0,0,0,0,0
$GC,19072,-0.50,-155.7,955.2,-3.7,665,19076,0.00,2.38,0.00,0.000,4,0.000,0.048,2925,567,3608,0,0,0,0,0,0
$GC,19143,-0.50,-155.7,957.9,-5.0,666,19148,0.00,2.38,0.00,0.000,6,0.000,0.044,2916,2154,3608,0,0,0,0,0,0
$GC,19475,-0.50,-155.7,968.8,-3.3,674,19479,0.00,2.38,0.00,0.000,4,0.000,0.046,2916,569,3608,0,0,0,0,0,0
$GC,19606,-0.50,-155.7,973.0,-2.9,677,19610,0.00,2.35,0.00,0.000,6,0.000,0.044,2906,2151,3608,0,0,0,0,0,0
$GC,19933,-0.50,-155.7,983.4,-3.2,685,19937,0.00,2.38,0.00,0.000,4,0.000,0.045,2906,564,3607,0,0,0,0,0,0
$GC,20039,-0.50,-155.7,986.9,-3.0,687,20044,0.10,2.38,0.00,0.000,6,0.130,0.043,2931,2152,3607,0,0,0,0,0,0
$STATE,20175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20175,begin apogee
$GC,20182,-0.23,0.0,990.7,2.7,691,20328,0.22,0.00,143.32,1.625,6,0.074,0.000,3028,1910,2995,0,0,0,0,0,0
$STATE,20329,end apogee,CONTROL_FINISHED_OK
$STATE,20329,begin climb
$GC,20331,0.50,155.7,991.0,0.0,694,20497,0.60,2.67,156.52,1.593,4,0.048,0.050,3274,358,2360,0,0,0,0,0,0
$GC,20563,0.50,155.7,959.8,13.8,699,20568,0.00,2.50,0.00,0.000,6,0.000,0.043,3274,1918,2359,0,0,0,0,0,0
$GC,20914,0.50,155.7,904.8,15.6,708,20918,0.00,2.50,0.00,0.000,4,0.000,0.052,3274,3519,2354,0,0,0,0,0,0
$GC,20980,0.50,155.7,893.5,15.5,709,20985,0.08,2.45,0.00,0.000,6,0.116,0.041,3255,1932,2353,0,0,0,0,0,0
$GC,21326,0.50,155.7,849.2,12.6,718,21327,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1932,2351,0,0,0,0,0,0
$GC,21647,0.50,155.7,806.6,13.4,726,21651,0.00,2.42,0.00,0.000,4,0.000,0.053,3266,341,2349,0,0,0,0,0,0
$GC,21679,0.50,155.7,802.0,13.2,726,21685,0.00,2.40,0.00,0.000,6,0.000,0.044,3266,1930,2349,0,0,0,0,0,0
$GC,22011,0.50,155.7,752.6,15.1,735,22015,0.00,2.42,0.00,0.000,4,0.000,0.054,3266,3505,2348,0,0,0,0,0,0
$GC,22095,0.50,155.7,739.4,16.1,737,22099,0.00,2.42,0.00,0.000,6,0.000,0.043,3278,1918,2348,0,0,0,0,0,0
$GC,22421,0.50,155.7,690.0,15.3,745,22425,0.00,2.42,0.00,0.000,4,0.000,0.054,3291,332,2347,0,0,0,0,0,0
$GC,22464,0.50,155.7,683.0,14.4,746,22469,0.12,2.40,0.00,0.000,6,0.133,0.045,3250,1920,2347,0,0,0,0,0,0
$GC,22792,0.50,155.7,643.4,12.0,754,22796,0.00,2.42,0.00,0.000,4,0.000,0.053,3249,3506,2347,0,0,0,0,0,0
$GC,22887,0.50,155.7,630.8,13.6,756,22891,0.00,2.45,0.00,0.000,6,0.000,0.043,3259,1921,2346,0,0,0,0,0,0
$GC,23206,0.50,155.7,591.4,12.5,764,23208,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1921,2346,0,0,0,0,0,0
$GC,23530,0.50,155.7,550.2,12.9,772,23535,0.00,2.45,0.00,0.000,4,0.000,0.054,3260,3509,2346,0,0,0,0,0,0
$GC,23586,0.50,155.7,542.2,15.6,773,23590,0.00,2.42,0.00,0.000,6,0.000,0.043,3272,1910,2345,0,0,0,0,0,0
$GC,23935,0.50,155.7,498.9,11.4,782,23940,0.00,2.40,0.00,0.000,4,0.000,0.053,3285,344,2345,0,0,0,0,0,0
$GC,23990,0.50,155.7,492.4,11.4,783,23995,0.10,2.38,0.00,0.000,6,0.140,0.043,3252,1922,2345,0,0,0,0,0,0
$GC,24305,0.50,155.7,463.1,9.5,791,24310,0.00,2.45,0.00,0.000,4,0.000,0.054,3252,3514,2345,0,0,0,0,0,0
$GC,24394,0.50,155.7,452.2,11.6,793,24399,0.00,2.45,0.00,0.000,6,0.000,0.044,3263,1912,2345,0,0,0,0,0,0
$GC,24721,0.50,155.7,411.7,12.9,801,24725,0.00,2.42,0.00,0.000,4,0.000,0.052,3276,331,2344,0,0,0,0,0,0
$GC,24770,0.50,155.7,405.2,10.2,802,24774,0.00,2.40,0.00,0.000,6,0.000,0.044,3276,1923,2344,0,0,0,0,0,0
$GC,25090,0.50,155.7,369.2,10.7,810,25094,0.00,2.45,0.00,0.000,4,0.000,0.051,3276,3521,2345,0,0,0,0,0,0
$GC,25206,0.50,155.7,356.9,11.7,812,25211,0.12,2.42,0.00,0.000,6,0.135,0.039,3248,1918,2344,0,0,0,0,0,0
$GC,25546,0.50,155.7,329.2,8.6,821,25550,0.00,2.42,0.00,0.000,4,0.000,0.051,3258,333,2345,0,0,0,0,0,0
$GC,25594,0.50,155.7,324.5,8.2,822,25599,0.00,2.38,0.00,0.000,6,0.000,0.041,3258,1923,2345,0,0,0,0,0,0
$GC,25915,0.50,155.7,293.3,9.4,831,25919,0.00,2.42,0.00,0.000,4,0.000,0.050,3258,3511,2346,0,0,0,0,0,0
$GC,25948,0.50,155.7,290.0,9.4,832,25954,0.00,2.40,0.00,0.000,6,0.000,0.041,3271,1927,2346,0,0,0,0,0,0
$GC,26263,0.50,155.7,258.4,10.2,848,26267,0.00,2.42,0.00,0.000,4,0.000,0.048,3284,330,2347,0,0,0,0,0,0
$GC,26313,0.50,155.7,253.1,9.2,850,26317,0.00,2.38,0.00,0.000,6,0.000,0.041,3283,1920,2347,0,0,0,0,0,0
$GC,26628,0.50,155.7,219.8,9.7,865,26632,0.00,2.45,0.00,0.000,4,0.000,0.054,3283,3503,2349,0,0,0,0,0,0
$GC,26751,0.50,155.7,206.7,11.2,870,26757,0.15,2.40,0.00,0.000,6,0.120,0.038,3245,1914,2349,0,0,0,0,0,0
$GC,27072,0.50,155.7,183.2,7.5,896,27076,0.00,2.42,0.00,0.000,4,0.000,0.048,3255,333,2350,0,0,0,0,0,0
$GC,27135,0.50,155.7,178.5,7.0,901,27139,0.00,2.35,0.00,0.000,6,0.000,0.040,3255,1921,2350,0,0,0,0,0,0
$GC,27395,0.50,155.7,159.6,7.3,925,27400,0.00,2.40,0.00,0.000,4,0.000,0.048,3256,3508,2351,0,0,0,0,0,0
$GC,27502,0.50,155.7,151.3,7.7,934,27506,0.00,2.38,0.00,0.000,6,0.000,0.037,3268,1922,2352,0,0,0,0,0,0
$GC,27764,0.50,155.7,132.5,6.8,958,27768,0.00,2.42,0.00,0.000,4,0.000,0.048,3280,327,2353,0,0,0,0,0,0
$GC,27814,0.50,155.7,129.0,6.8,962,27818,0.00,2.35,0.00,0.000,6,0.000,0.039,3280,1926,2353,0,0,0,0,0,0
$GC,28080,0.50,155.7,107.3,7.8,987,28084,0.00,2.42,0.00,0.000,4,0.000,0.048,3280,3518,2354,0,0,0,0,0,0
$GC,28142,0.50,155.7,101.8,9.1,992,28147,0.12,2.42,0.00,0.000,6,0.121,0.037,3248,1912,2354,0,0,0,0,0,0
$GC,28404,0.50,155.7,84.1,6.7,1016,28408,0.00,2.38,0.00,0.000,4,0.000,0.048,3258,334,2355,0,0,0,0,0,0
$GC,28454,0.50,155.7,80.7,7.0,1020,28458,0.00,2.35,0.00,0.000,6,0.000,0.038,3258,1929,2356,0,0,0,0,0,0
$GC,28714,0.50,155.7,64.3,6.1,1044,28719,0.00,2.40,0.00,0.000,4,0.000,0.048,3258,3519,2357,0,0,0,0,0,0
$GC,28776,0.50,155.7,60.2,8.2,1049,28781,0.00,2.40,0.00,0.000,6,0.000,0.037,3270,1925,2357,0,0,0,0,0,0
$GC,29037,0.50,155.7,43.9,6.4,1073,29041,0.00,2.40,0.00,0.000,4,0.000,0.046,3282,332,2358,0,0,0,0,0,0
$GC,29123,0.50,155.7,38.0,7.4,1080,29127,0.00,2.35,0.00,0.000,6,0.000,0.038,3282,1935,2358,0,0,0,0,0,0
$GC,29385,0.50,155.7,21.1,6.3,1104,29389,0.00,2.40,0.00,0.000,4,0.000,0.048,3282,3510,2359,0,0,0,0,0,0
$GC,29412,0.50,155.7,19.1,7.8,1106,29417,0.12,2.40,0.00,0.000,6,0.119,0.038,3250,1910,2360,0,0,0,0,0,0
$GC,29609,0.59,221.6,9.5,4.3,1124,29669,0.00,0.00,55.12,0.804,6,0.000,0.000,3250,1909,2090,0,0,0,0,0,0
$STATE,29731,end climb,SURFACE_DEPTH_REACHED
$STATE,29731,begin surface coast
$FINISH,0.3,0.999609
$STATE,29785,end surface coast,CONTROL_FINISHED_OK
$STATE,29786,begin surface
$SM_CCo,29804,87.72,0.842,0,0,1363,400.08
$SM_GC,0.95,0.00,0.00,87.72,0.000,0.000,0.842,104,2164,1363,-9.33,0.40,400.08
$IRIDIUM_FIX,2148.09,12811.65,120812,151558
$TT8_MAMPS,0.027612
$HUMID,1078694829
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,21.6,67.811
$10V_AH,9.8,56.713
$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,21.425,300.500,354.975,87.725,0.000,24.742,35.070,207.672,0.000,0.000,15.092,2527.525,23404.881,675.440,3142.672,535.425,33.378,2252.619,0.000,2827.530,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,54.457,1625.273,842.166,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,781.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,39997,1141
$CAP_FILE_SIZE,322872,0
$CFSIZE,260165632,187817984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180211,141737,2158.837,12823.982,24,1.5,24,-3.1