version: 66.07
glider: 500
mission: 5
dive: 389
start: 2 19 111 7 19 14
data:
$ID,500
$MISSION,5
$DIVE,389
$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,-129250.9
$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,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
$GPS1,190211,070236,2201.542,12827.557,34,1.0,39,-3.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-78.7
$GPS2,190211,071820,2201.925,12827.849,11,1.6,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.073,-0.208
$KALMAN_X,-789538.2,500.7,124.5,1326212.5,177.9
$KALMAN_Y,150395.5,152.8,233.3,-53997.8,9067.6
$MHEAD_RNG_PITCHd_Wd,202.4,191510,-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
$STATE,14,begin dive
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$GC,16000,-0.50,-155.7,833.7,-3.8,573,16004,0.00,2.38,0.00,0.000,6,0.000,0.044,2899,2154,3596,0,0,0,0,0,0
$GC,16343,-0.50,-155.7,845.4,-3.6,582,16347,0.00,2.35,0.00,0.000,4,0.000,0.045,2899,572,3596,0,0,0,0,0,0
$GC,16476,-0.50,-155.7,850.7,-4.3,585,16481,0.12,2.38,0.00,0.000,6,0.122,0.044,2932,2156,3595,0,0,0,0,0,0
$GC,16801,-0.50,-155.7,864.1,-4.3,593,16806,0.00,2.45,0.00,0.000,4,0.000,0.055,2922,3731,3596,0,0,0,0,0,0
$GC,16830,-0.50,-155.7,865.3,-4.9,593,16834,0.00,2.38,0.00,0.000,6,0.000,0.038,2922,2149,3595,0,0,0,0,0,0
$GC,17161,-0.50,-155.7,878.4,-3.8,601,17165,0.00,2.40,0.00,0.000,4,0.000,0.048,2922,562,3595,0,0,0,0,0,0
$GC,17300,-0.50,-155.7,883.4,-3.1,604,17304,0.00,2.38,0.00,0.000,6,0.000,0.044,2911,2166,3594,0,0,0,0,0,0
$GC,17614,-0.50,-155.7,893.4,-3.2,612,17619,0.00,2.40,0.00,0.000,4,0.000,0.047,2912,571,3594,0,0,0,0,0,0
$GC,17759,-0.50,-155.7,898.1,-3.2,615,17764,0.00,2.38,0.00,0.000,6,0.000,0.045,2901,2152,3593,0,0,0,0,0,0
$GC,18109,-0.50,-155.7,910.3,-3.8,624,18113,0.00,2.40,0.00,0.000,4,0.000,0.046,2902,562,3593,0,0,0,0,0,0
$GC,18187,-0.50,-155.7,913.6,-3.6,625,18194,0.12,2.40,0.00,0.000,6,0.119,0.045,2934,2155,3593,0,0,0,0,0,0
$GC,18520,-0.50,-155.7,926.9,-4.3,634,18524,0.00,2.45,0.00,0.000,4,0.000,0.056,2925,3732,3593,0,0,0,0,0,0
$GC,18778,-0.50,-155.7,938.2,-4.9,639,18782,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2147,3592,0,0,0,0,0,0
$GC,19109,-0.50,-155.7,951.0,-3.8,647,19113,0.00,2.50,0.00,0.000,4,0.000,0.056,2914,3734,3591,0,0,0,0,0,0
$GC,19276,-0.50,-155.7,957.1,-3.2,650,19282,0.00,2.38,0.00,0.000,6,0.000,0.038,2913,2143,3591,0,0,0,0,0,0
$GC,19609,-0.50,-155.7,967.1,-2.8,659,19613,0.00,2.50,0.00,0.000,4,0.000,0.056,2903,3740,3591,0,0,0,0,0,0
$GC,19698,-0.50,-155.7,969.6,-3.4,661,19702,0.00,2.38,0.00,0.000,6,0.000,0.038,2902,2145,3591,0,0,0,0,0,0
$GC,20020,-0.50,-155.7,979.3,-3.2,669,20024,0.00,2.47,0.00,0.000,4,0.000,0.058,2891,3729,3590,0,0,0,0,0,0
$GC,20097,-0.50,-155.7,982.2,-3.2,670,20104,0.12,2.38,0.00,0.000,6,0.109,0.038,2937,2139,3590,0,0,0,0,0,0
$STATE,20345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20345,begin apogee
$GC,20352,-0.23,0.0,990.7,3.6,677,20494,0.22,0.00,138.93,1.608,6,0.077,0.000,3031,1918,2995,0,0,0,0,0,0
$STATE,20495,end apogee,CONTROL_FINISHED_OK
$STATE,20495,begin climb
$GC,20497,0.50,155.7,992.3,0.0,680,20662,0.60,2.72,155.57,1.586,4,0.051,0.054,3276,348,2360,0,0,0,0,0,0
$GC,20820,0.50,155.7,952.3,13.0,687,20825,0.00,2.42,0.00,0.000,6,0.000,0.044,3277,1918,2359,0,0,0,0,0,0
$GC,21163,0.50,155.7,902.8,14.5,696,21167,0.00,2.47,0.00,0.000,4,0.000,0.054,3277,3503,2355,0,0,0,0,0,0
$GC,21248,0.50,155.7,889.5,15.2,698,21253,0.12,2.38,0.00,0.000,6,0.141,0.041,3249,1928,2354,0,0,0,0,0,0
$GC,21571,0.50,155.7,849.4,12.3,706,21576,0.00,2.42,0.00,0.000,4,0.000,0.052,3260,337,2353,0,0,0,0,0,0
$GC,21667,0.50,155.7,837.7,13.1,708,21671,0.00,2.38,0.00,0.000,6,0.000,0.046,3260,1919,2352,0,0,0,0,0,0
$GC,21980,0.50,155.7,797.0,13.1,716,21985,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,3509,2351,0,0,0,0,0,0
$GC,22031,0.50,155.7,789.8,12.3,717,22035,0.00,2.42,0.00,0.000,6,0.000,0.044,3273,1909,2350,0,0,0,0,0,0
$GC,22344,0.50,155.7,747.7,13.3,725,22348,0.00,2.40,0.00,0.000,4,0.000,0.054,3285,333,2350,0,0,0,0,0,0
$GC,22411,0.50,155.7,738.3,13.6,726,22416,0.10,2.38,0.00,0.000,6,0.141,0.046,3253,1920,2350,0,0,0,0,0,0
$GC,22749,0.50,155.7,700.7,10.9,735,22754,0.00,2.45,0.00,0.000,4,0.000,0.058,3252,3509,2349,0,0,0,0,0,0
$GC,22821,0.50,155.7,691.8,11.2,736,22826,0.00,2.42,0.00,0.000,6,0.000,0.044,3263,1919,2348,0,0,0,0,0,0
$GC,23159,0.50,155.7,654.1,11.2,745,23164,0.00,2.45,0.00,0.000,4,0.000,0.055,3276,327,2348,0,0,0,0,0,0
$GC,23214,0.50,155.7,647.3,11.7,746,23219,0.00,2.45,0.00,0.000,6,0.000,0.048,3276,1920,2348,0,0,0,0,0,0
$GC,23528,0.50,155.7,607.0,13.3,754,23532,0.00,2.45,0.00,0.000,4,0.000,0.058,3276,3509,2348,0,0,0,0,0,0
$GC,23612,0.50,155.7,594.8,13.2,756,23617,0.12,2.42,0.00,0.000,6,0.137,0.045,3249,1918,2347,0,0,0,0,0,0
$GC,23937,0.50,155.7,559.9,10.3,764,23941,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,326,2347,0,0,0,0,0,0
$GC,23997,0.50,155.7,553.2,11.9,765,24002,0.00,2.40,0.00,0.000,6,0.000,0.046,3260,1924,2347,0,0,0,0,0,0
$GC,24348,0.50,155.7,513.7,11.7,774,24352,0.00,2.45,0.00,0.000,4,0.000,0.055,3260,3517,2347,0,0,0,0,0,0
$GC,24486,0.50,155.7,495.2,14.3,777,24490,0.00,2.45,0.00,0.000,6,0.000,0.042,3272,1913,2347,0,0,0,0,0,0
$GC,24806,0.50,155.7,456.0,12.1,785,24807,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1913,2347,0,0,0,0,0,0
$GC,25130,0.50,155.7,418.1,11.3,793,25134,0.00,2.45,0.00,0.000,4,0.000,0.053,3285,336,2347,0,0,0,0,0,0
$GC,25218,0.50,155.7,408.9,8.5,795,25223,0.10,2.38,0.00,0.000,6,0.136,0.044,3252,1923,2347,0,0,0,0,0,0
$GC,25544,0.50,155.7,380.9,8.7,803,25549,0.00,2.45,0.00,0.000,4,0.000,0.052,3252,3518,2347,0,0,0,0,0,0
$GC,25605,0.50,155.7,374.3,9.7,804,25610,0.00,2.45,0.00,0.000,6,0.000,0.041,3262,1926,2347,0,0,0,0,0,0
$GC,25956,0.50,155.7,340.0,9.5,813,25957,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1926,2347,0,0,0,0,0,0
$GC,26278,0.50,155.7,306.3,10.3,821,26282,0.00,2.47,0.00,0.000,4,0.000,0.051,3262,3518,2348,0,0,0,0,0,0
$GC,26306,0.50,155.7,303.4,9.5,821,26310,0.00,2.42,0.00,0.000,6,0.000,0.041,3274,1909,2348,0,0,0,0,0,0
$GC,26625,0.50,155.7,272.7,9.0,836,26626,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1909,2349,0,0,0,0,0,0
$GC,26936,0.50,155.7,244.5,8.6,851,26940,0.00,2.42,0.00,0.000,4,0.000,0.049,3287,330,2351,0,0,0,0,0,0
$GC,26997,0.50,155.7,238.6,9.5,854,27002,0.12,2.35,0.00,0.000,6,0.117,0.041,3243,1924,2351,0,0,0,0,0,0
$GC,27323,0.50,155.7,214.7,7.8,870,27327,0.00,2.42,0.00,0.000,4,0.000,0.050,3242,3517,2352,0,0,0,0,0,0
$GC,27378,0.50,155.7,210.1,9.3,872,27384,0.00,2.40,0.00,0.000,6,0.000,0.038,3253,1930,2352,0,0,0,0,0,0
$GC,27698,0.50,155.7,185.4,7.5,896,27702,0.00,2.45,0.00,0.000,4,0.000,0.048,3265,321,2353,0,0,0,0,0,0
$GC,27797,0.50,155.7,177.5,7.2,904,27801,0.00,2.38,0.00,0.000,6,0.000,0.039,3265,1932,2354,0,0,0,0,0,0
$GC,28064,0.50,155.7,155.4,7.1,929,28068,0.00,2.45,0.00,0.000,4,0.000,0.051,3265,3508,2355,0,0,0,0,0,0
$GC,28154,0.50,155.7,147.8,9.5,936,28159,0.00,2.42,0.00,0.000,6,0.000,0.038,3277,1906,2355,0,0,0,0,0,0
$GC,28414,0.50,155.7,129.0,6.3,961,28418,0.00,2.40,0.00,0.000,4,0.000,0.048,3289,340,2356,0,0,0,0,0,0
$GC,28521,0.50,155.7,121.8,6.2,970,28526,0.12,2.33,0.00,0.000,6,0.111,0.040,3243,1923,2356,0,0,0,0,0,0
$GC,28790,0.57,206.9,109.0,4.6,995,28841,0.00,2.50,43.08,0.885,4,0.000,0.049,3242,3491,2151,0,0,0,0,0,0
$GC,28899,0.57,206.9,103.4,6.1,1005,28904,0.00,2.40,0.00,0.000,6,0.000,0.038,3251,1918,2153,0,0,0,0,0,0
$GC,29161,0.57,211.0,89.1,5.9,1029,29173,0.00,2.42,5.57,0.665,4,0.000,0.048,3261,328,2135,0,0,0,0,0,0
$GC,29230,0.57,211.0,84.7,7.7,1035,29234,0.00,2.35,0.00,0.000,6,0.000,0.040,3261,1917,2136,0,0,0,0,0,0
$GC,29491,0.61,243.7,69.1,5.1,1059,29525,0.00,2.53,27.98,0.861,4,0.000,0.050,3261,3499,2001,0,0,0,0,0,0
$GC,29592,0.61,243.7,63.2,7.6,1068,29598,0.00,2.40,0.00,0.000,6,0.000,0.036,3270,1913,2004,0,0,0,0,0,0
$GC,29854,0.61,243.7,46.6,6.5,1093,29858,0.00,2.42,0.00,0.000,4,0.000,0.051,3272,328,2005,0,0,0,0,0,0
$GC,29920,0.64,264.5,42.2,5.5,1098,29947,0.00,2.35,19.12,0.815,6,0.000,0.041,3272,1913,1916,0,0,0,0,0,0
$GC,30201,0.64,264.5,21.6,8.7,1125,30202,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1913,1918,0,0,0,0,0,0
$GC,30392,0.64,264.5,3.2,9.3,1143,30396,0.00,2.03,0.00,0.000,3,0.000,0.049,3272,561,1919,0,0,0,0,0,0
$STATE,30397,end climb,SURFACE_DEPTH_REACHED
$STATE,30397,begin surface coast
$FINISH,0.3,1.023071
$STATE,30435,end surface coast,CONTROL_FINISHED_OK
$STATE,30435,begin surface
$SM_CCo,30454,65.40,0.841,0,0,1363,400.08
$SM_GC,1.01,0.00,0.00,65.40,0.000,0.000,0.841,110,2174,1363,-9.31,0.68,400.08
$IRIDIUM_FIX,2152.74,12827.97,140812,010144
$TT8_MAMPS,0.028379
$HUMID,1078736119
$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,21.6,68.399
$10V_AH,9.8,57.023
$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,21.325,316.550,390.250,65.400,0.000,124.482,136.543,351.369,0.000,0.000,13.359,2600.885,23784.512,689.024,3767.346,602.546,33.380,2410.971,0.000,3125.279,0.000,0.541,0.000
$DEVICE_MAMPS,219.362,59.826,1607.632,840.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,784.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354580
$DATA_FILE_SIZE,39985,1147
$CAP_FILE_SIZE,341047,0
$CFSIZE,260165632,187478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190211,154907,2202.153,12828.428,32,1.8,32,-3.1