version: 66.07
glider: 500
mission: 5
dive: 387
start: 2 18 111 14 25 27
data:
$ID,500
$MISSION,5
$DIVE,387
$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,-129204.5
$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,38
$R_STBD_OVSHOOT,51
$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
$GPS1,180211,141737,2158.837,12823.982,24,1.5,24,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-77.2
$GPS2,180211,142432,2158.908,12824.051,10,1.9,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.082,-0.205
$KALMAN_X,-793060.7,-357.6,404.3,1323784.8,-372.5
$KALMAN_Y,134127.1,-396.6,-341.1,-42185.8,9535.8
$MHEAD_RNG_PITCHd_Wd,204.9,192482,-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,15723,-0.50,-155.7,858.6,-3.6,571,15727,0.00,2.47,0.00,0.000,4,0.000,0.056,2926,3728,3598,0,0,0,0,0,0
$GC,15935,-0.50,-155.7,866.5,-3.6,575,15941,0.00,2.38,0.00,0.000,6,0.000,0.036,2926,2142,3597,0,0,0,0,0,0
$GC,16268,-0.50,-155.7,878.4,-3.8,584,16272,0.00,2.47,0.00,0.000,4,0.000,0.055,2915,3728,3596,0,0,0,0,0,0
$GC,16368,-0.50,-155.7,882.7,-4.0,586,16372,0.00,2.35,0.00,0.000,6,0.000,0.036,2916,2145,3596,0,0,0,0,0,0
$GC,16718,-0.50,-155.7,896.8,-4.0,595,16722,0.00,2.47,0.00,0.000,4,0.000,0.055,2904,3729,3596,0,0,0,0,0,0
$GC,16784,-0.50,-155.7,899.4,-3.9,596,16788,0.00,2.35,0.00,0.000,6,0.000,0.037,2904,2149,3596,0,0,0,0,0,0
$GC,17124,-0.50,-155.7,910.5,-3.1,605,17128,0.00,2.47,0.00,0.000,4,0.000,0.056,2893,3733,3595,0,0,0,0,0,0
$GC,17163,-0.50,-155.7,911.7,-2.8,606,17168,0.10,2.35,0.00,0.000,6,0.122,0.038,2931,2151,3595,0,0,0,0,0,0
$GC,17489,-0.50,-155.7,920.6,-2.9,614,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2150,3595,0,0,0,0,0,0
$GC,17812,-0.50,-155.7,930.5,-3.0,622,17816,0.00,2.47,0.00,0.000,4,0.000,0.056,2919,3732,3595,0,0,0,0,0,0
$GC,17821,-0.50,-155.7,930.9,-3.0,622,17826,0.00,2.35,0.00,0.000,6,0.000,0.038,2920,2154,3594,0,0,0,0,0,0
$GC,18174,-0.50,-155.7,940.1,-2.6,631,18178,0.00,2.45,0.00,0.000,4,0.000,0.055,2909,3728,3594,0,0,0,0,0,0
$GC,18223,-0.50,-155.7,941.4,-2.3,632,18227,0.00,2.35,0.00,0.000,6,0.000,0.037,2908,2143,3594,0,0,0,0,0,0
$GC,18538,-0.50,-155.7,949.3,-2.7,640,18542,0.00,2.47,0.00,0.000,4,0.000,0.057,2897,3730,3594,0,0,0,0,0,0
$GC,18616,-0.50,-155.7,951.6,-2.5,641,18623,0.00,2.35,0.00,0.000,6,0.000,0.038,2897,2149,3593,0,0,0,0,0,0
$GC,18948,-0.50,-155.7,963.4,-3.9,650,18952,0.00,2.47,0.00,0.000,4,0.000,0.056,2885,3730,3593,0,0,0,0,0,0
$GC,18981,-0.50,-155.7,964.7,-4.1,650,18987,0.12,2.35,0.00,0.000,6,0.113,0.038,2931,2151,3593,0,0,0,0,0,0
$GC,19314,-0.50,-155.7,976.9,-3.7,659,19319,0.00,2.50,0.00,0.000,4,0.000,0.056,2921,3728,3592,0,0,0,0,0,0
$GC,19476,-0.50,-155.7,982.7,-3.1,662,19480,0.00,2.35,0.00,0.000,6,0.000,0.037,2921,2149,3592,0,0,0,0,0,0
$STATE,19724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19724,begin apogee
$GC,19731,-0.23,0.0,990.0,2.9,668,19874,0.28,0.00,140.23,1.630,6,0.077,0.000,3029,1909,2995,0,0,0,0,0,0
$STATE,19875,end apogee,CONTROL_FINISHED_OK
$STATE,19875,begin climb
$GC,19877,0.50,155.7,989.8,0.0,671,20045,0.60,2.75,157.80,1.610,4,0.054,0.051,3270,352,2360,0,0,0,0,0,0
$GC,20129,0.50,155.7,956.0,15.4,677,20134,0.00,2.47,0.00,0.000,6,0.000,0.042,3270,1917,2360,0,0,0,0,0,0
$GC,20455,0.50,155.7,905.8,15.4,685,20459,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,3499,2354,0,0,0,0,0,0
$GC,20510,0.50,155.7,896.2,16.3,686,20515,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1927,2353,0,0,0,0,0,0
$GC,20824,0.50,155.7,846.3,16.0,694,20825,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1926,2351,0,0,0,0,0,0
$GC,21148,0.50,155.7,797.0,15.0,702,21152,0.00,2.45,0.00,0.000,4,0.000,0.054,3282,3501,2350,0,0,0,0,0,0
$GC,21174,0.50,155.7,792.8,16.4,702,21179,0.15,2.42,0.00,0.000,6,0.133,0.041,3247,1912,2350,0,0,0,0,0,0
$GC,21513,0.50,155.7,754.9,11.0,711,21517,0.00,2.42,0.00,0.000,4,0.000,0.054,3258,338,2349,0,0,0,0,0,0
$GC,21539,0.50,155.7,751.5,11.5,711,21544,0.00,2.35,0.00,0.000,6,0.000,0.045,3258,1918,2349,0,0,0,0,0,0
$GC,21878,0.50,155.7,710.6,12.6,720,21882,0.00,2.45,0.00,0.000,4,0.000,0.054,3258,3501,2348,0,0,0,0,0,0
$GC,21904,0.50,155.7,706.8,14.4,720,21908,0.00,2.45,0.00,0.000,6,0.000,0.043,3270,1919,2348,0,0,0,0,0,0
$GC,22241,0.50,155.7,661.4,13.4,729,22242,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1919,2347,0,0,0,0,0,0
$GC,22567,0.50,155.7,620.1,12.6,737,22571,0.00,2.45,0.00,0.000,4,0.000,0.054,3283,335,2347,0,0,0,0,0,0
$GC,22606,0.50,155.7,615.2,14.0,738,22610,0.00,2.38,0.00,0.000,6,0.000,0.045,3283,1920,2347,0,0,0,0,0,0
$GC,22933,0.50,155.7,573.3,13.0,746,22937,0.00,2.47,0.00,0.000,4,0.000,0.058,3283,3519,2347,0,0,0,0,0,0
$GC,23066,0.50,155.7,554.7,12.9,749,23071,0.15,2.45,0.00,0.000,6,0.133,0.043,3247,1912,2346,0,0,0,0,0,0
$GC,23394,0.50,155.7,521.1,10.4,757,23398,0.00,2.50,0.00,0.000,4,0.000,0.055,3247,3517,2346,0,0,0,0,0,0
$GC,23443,0.50,155.7,515.1,11.4,758,23447,0.00,2.42,0.00,0.000,6,0.000,0.044,3258,1928,2346,0,0,0,0,0,0
$GC,23763,0.50,155.7,480.0,11.2,766,23767,0.00,2.47,0.00,0.000,4,0.000,0.053,3270,326,2346,0,0,0,0,0,0
$GC,23840,0.50,155.7,471.0,11.4,767,23846,0.00,2.42,0.00,0.000,6,0.000,0.044,3270,1932,2346,0,0,0,0,0,0
$GC,24172,0.50,155.7,433.0,11.4,776,24177,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,3520,2346,0,0,0,0,0,0
$GC,24261,0.50,155.7,422.4,9.9,778,24265,0.00,2.47,0.00,0.000,6,0.000,0.041,3283,1906,2345,0,0,0,0,0,0
$GC,24587,0.50,155.7,385.8,11.2,786,24591,0.00,2.50,0.00,0.000,4,0.000,0.052,3283,3512,2345,0,0,0,0,0,0
$GC,24637,0.50,155.7,379.7,11.7,787,24642,0.15,2.45,0.00,0.000,6,0.125,0.041,3247,1908,2345,0,0,0,0,0,0
$GC,24952,0.50,155.7,350.6,9.3,795,24956,0.00,2.40,0.00,0.000,4,0.000,0.050,3258,334,2345,0,0,0,0,0,0
$GC,25041,0.50,155.7,341.6,9.7,797,25045,0.00,2.38,0.00,0.000,6,0.000,0.041,3258,1941,2346,0,0,0,0,0,0
$GC,25360,0.50,155.7,313.2,8.6,805,25364,0.00,2.38,0.00,0.000,4,0.000,0.051,3258,3501,2347,0,0,0,0,0,0
$GC,25410,0.50,155.7,308.3,8.6,806,25414,0.00,2.40,0.00,0.000,6,0.000,0.039,3270,1919,2347,0,0,0,0,0,0
$GC,25725,0.50,155.7,281.8,8.8,819,25729,0.00,2.42,0.00,0.000,4,0.000,0.050,3282,341,2348,0,0,0,0,0,0
$GC,25775,0.50,155.7,277.2,7.9,821,25779,0.00,2.35,0.00,0.000,6,0.000,0.041,3282,1920,2348,0,0,0,0,0,0
$GC,26090,0.50,155.7,245.2,11.2,836,26094,0.00,2.42,0.00,0.000,4,0.000,0.051,3282,3510,2350,0,0,0,0,0,0
$GC,26168,0.50,155.7,235.6,11.3,839,26175,0.15,2.42,0.00,0.000,6,0.120,0.038,3244,1909,2350,0,0,0,0,0,0
$GC,26484,0.50,155.7,212.1,6.5,855,26486,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1909,2351,0,0,0,0,0,0
$GC,26795,0.51,159.1,194.0,5.9,874,26800,0.00,2.45,0.00,0.000,4,0.000,0.048,3244,3502,2352,0,0,0,0,0,0
$GC,26825,0.51,159.1,192.0,6.8,876,26829,0.00,2.40,0.00,0.000,6,0.000,0.037,3255,1923,2352,0,0,0,0,0,0
$GC,27085,0.51,159.1,174.5,6.9,900,27090,0.00,2.45,0.00,0.000,4,0.000,0.048,3267,323,2353,0,0,0,0,0,0
$GC,27192,0.51,159.1,166.2,7.2,909,27196,0.00,2.35,0.00,0.000,6,0.000,0.038,3267,1926,2353,0,0,0,0,0,0
$GC,27458,0.51,159.1,146.6,7.5,934,27462,0.00,2.42,0.00,0.000,4,0.000,0.050,3267,3513,2354,0,0,0,0,0,0
$GC,27575,0.51,159.1,137.0,8.6,944,27587,0.00,2.42,3.88,0.550,6,0.000,0.038,3280,1908,2346,0,0,0,0,0,0
$GC,27842,0.51,159.1,118.0,6.4,969,27846,0.00,2.40,0.00,0.000,4,0.000,0.047,3291,338,2348,0,0,0,0,0,0
$GC,27897,0.51,159.1,113.9,7.9,973,27903,0.12,2.33,0.00,0.000,6,0.117,0.038,3246,1927,2348,0,0,0,0,0,0
$GC,28158,0.52,170.9,100.1,5.7,998,28179,0.00,2.50,12.45,0.821,4,0.000,0.049,3246,3502,2298,0,0,0,0,0,0
$GC,28233,0.52,170.9,95.5,7.3,1004,28239,0.00,2.38,0.00,0.000,6,0.000,0.035,3255,1923,2300,0,0,0,0,0,0
$GC,28495,0.52,170.9,78.0,6.8,1029,28499,0.00,2.42,0.00,0.000,4,0.000,0.048,3267,325,2300,0,0,0,0,0,0
$GC,28542,0.52,170.9,74.8,6.1,1033,28546,0.00,2.35,0.00,0.000,6,0.000,0.038,3267,1925,2300,0,0,0,0,0,0
$GC,28804,0.56,199.4,60.3,5.2,1057,28835,0.00,2.42,25.38,0.831,4,0.000,0.048,3267,3501,2181,0,0,0,0,0,0
$GC,28894,0.56,202.0,54.9,5.9,1065,28905,0.00,2.40,4.20,0.548,6,0.000,0.035,3278,1909,2171,0,0,0,0,0,0
$GC,29161,0.56,202.0,36.8,7.5,1090,29165,0.00,2.40,0.00,0.000,4,0.000,0.047,3290,330,2171,0,0,0,0,0,0
$GC,29211,0.56,202.0,32.7,7.7,1094,29215,0.00,2.33,0.00,0.000,6,0.000,0.037,3290,1933,2171,0,0,0,0,0,0
$GC,29473,0.56,202.0,13.1,6.6,1118,29474,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1934,2171,0,0,0,0,0,0
$STATE,29629,end climb,SURFACE_DEPTH_REACHED
$STATE,29629,begin surface coast
$FINISH,0.3,1.006226
$STATE,29683,end surface coast,CONTROL_FINISHED_OK
$STATE,29684,begin surface
$SM_CCo,29702,96.28,0.849,0,0,1363,400.08
$SM_GC,1.12,0.00,0.00,96.28,0.000,0.000,0.849,107,2175,1363,-9.32,0.68,400.08
$IRIDIUM_FIX,2150.42,12823.26,130812,000025
$TT8_MAMPS,0.028379
$HUMID,1078719345
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,21.5,67.998
$10V_AH,9.7,56.813
$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,21.525,312.175,343.925,96.275,0.000,25.212,35.573,212.942,0.000,0.000,12.399,2511.922,23349.568,685.743,3092.721,553.715,33.377,2259.165,0.000,2791.171,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,60.593,1629.875,849.069,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,779.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,40030,1138
$CAP_FILE_SIZE,322415,0
$CFSIZE,260165632,187711488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180211,224324,2159.475,12823.567,37,1.0,37,-3.1