version: 66.07
glider: 500
mission: 5
dive: 390
start: 2 19 111 15 57 16
data:
$ID,500
$MISSION,5
$DIVE,390
$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,-129289
$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,40
$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
$GPS1,190211,154907,2202.153,12828.428,32,1.8,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.4
$GPS2,190211,155622,2202.371,12828.519,15,2.1,34,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.149,-0.163
$KALMAN_X,-785812.6,-211.4,740.0,1323728.4,2413.2
$KALMAN_Y,159048.0,-433.0,-155.8,-60844.1,10104.5
$MHEAD_RNG_PITCHd_Wd,140.6,191265,-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,16355,-0.50,-155.7,869.1,-4.7,572,16359,0.00,2.50,0.00,0.000,4,0.000,0.058,2914,3737,3595,0,0,0,0,0,0
$GC,16488,-0.50,-155.7,875.0,-5.0,575,16492,0.00,2.38,0.00,0.000,6,0.000,0.038,2913,2144,3594,0,0,0,0,0,0
$GC,16813,-0.50,-155.7,887.8,-3.8,583,16817,0.00,2.50,0.00,0.000,4,0.000,0.057,2902,3739,3594,0,0,0,0,0,0
$GC,16863,-0.50,-155.7,889.6,-3.1,584,16868,0.00,2.42,0.00,0.000,6,0.000,0.039,2902,2143,3594,0,0,0,0,0,0
$GC,17178,-0.50,-155.7,900.9,-3.6,592,17182,0.00,2.50,0.00,0.000,4,0.000,0.058,2891,3732,3593,0,0,0,0,0,0
$GC,17239,-0.50,-155.7,903.1,-3.6,593,17244,0.12,2.40,0.00,0.000,6,0.110,0.038,2938,2139,3593,0,0,0,0,0,0
$GC,17584,-0.50,-155.7,915.0,-3.7,602,17588,0.00,2.50,0.00,0.000,4,0.000,0.058,2927,3737,3593,0,0,0,0,0,0
$GC,17791,-0.50,-155.7,923.5,-4.1,606,17795,0.00,2.38,0.00,0.000,6,0.000,0.039,2927,2150,3592,0,0,0,0,0,0
$GC,18123,-0.50,-155.7,936.6,-3.8,614,18127,0.00,2.50,0.00,0.000,4,0.000,0.058,2925,3736,3592,0,0,0,0,0,0
$GC,18364,-0.50,-155.7,945.4,-2.7,619,18368,0.00,2.40,0.00,0.000,6,0.000,0.038,2925,2149,3591,0,0,0,0,0,0
$GC,18708,-0.50,-155.7,956.4,-3.3,628,18712,0.00,2.50,0.00,0.000,4,0.000,0.057,2915,3730,3591,0,0,0,0,0,0
$GC,18854,-0.50,-155.7,961.1,-2.1,631,18858,0.00,2.38,0.00,0.000,6,0.000,0.038,2914,2143,3591,0,0,0,0,0,0
$GC,19203,-0.50,-155.7,971.5,-3.0,640,19207,0.00,2.47,0.00,0.000,4,0.000,0.058,2904,3735,3590,0,0,0,0,0,0
$GC,19280,-0.50,-155.7,973.9,-2.7,641,19286,0.00,2.38,0.00,0.000,6,0.000,0.039,2904,2149,3590,0,0,0,0,0,0
$GC,19613,-0.50,-155.7,983.7,-3.0,650,19617,0.00,2.50,0.00,0.000,4,0.000,0.058,2893,3736,3590,0,0,0,0,0,0
$GC,19673,-0.50,-155.7,985.6,-3.8,651,19678,0.12,2.38,0.00,0.000,6,0.107,0.039,2940,2149,3589,0,0,0,0,0,0
$STATE,19852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19852,begin apogee
$GC,19859,-0.23,0.0,990.6,2.8,656,20000,0.20,0.00,138.80,1.613,6,0.081,0.000,3025,1918,2995,0,0,0,0,0,0
$STATE,20001,end apogee,CONTROL_FINISHED_OK
$STATE,20001,begin climb
$GC,20004,0.50,155.7,991.5,0.0,659,20169,0.60,2.70,156.65,1.592,4,0.051,0.053,3270,347,2359,0,0,0,0,0,0
$GC,20327,0.50,155.7,950.3,14.6,666,20331,0.00,2.42,0.00,0.000,6,0.000,0.045,3270,1919,2357,0,0,0,0,0,0
$GC,20669,0.50,155.7,900.0,14.7,675,20674,0.00,2.47,0.00,0.000,4,0.000,0.057,3270,3502,2353,0,0,0,0,0,0
$GC,20725,0.50,155.7,891.0,15.2,676,20730,0.00,2.40,0.00,0.000,6,0.000,0.042,3282,1926,2352,0,0,0,0,0,0
$GC,21074,0.50,155.7,835.3,16.2,685,21078,0.00,2.45,0.00,0.000,4,0.000,0.053,3295,333,2350,0,0,0,0,0,0
$GC,21100,0.50,155.7,830.4,17.8,685,21105,0.10,2.42,0.00,0.000,6,0.103,0.048,3239,1912,2349,0,0,0,0,0,0
$GC,21440,0.50,155.7,788.2,12.1,694,21445,0.00,2.45,0.00,0.000,4,0.000,0.057,3239,3508,2348,0,0,0,0,0,0
$GC,21512,0.50,155.7,778.6,13.1,695,21517,0.00,2.42,0.00,0.000,6,0.000,0.044,3250,1917,2348,0,0,0,0,0,0
$GC,21850,0.50,155.7,739.7,11.2,704,21854,0.00,2.42,0.00,0.000,4,0.000,0.055,3262,337,2347,0,0,0,0,0,0
$GC,21894,0.50,155.7,734.1,11.8,705,21898,0.00,2.38,0.00,0.000,6,0.000,0.048,3262,1920,2347,0,0,0,0,0,0
$GC,22220,0.50,155.7,692.6,13.0,713,22224,0.00,2.47,0.00,0.000,4,0.000,0.059,3262,3506,2347,0,0,0,0,0,0
$GC,22330,0.50,155.7,677.1,13.6,715,22335,0.00,2.42,0.00,0.000,6,0.000,0.044,3274,1921,2346,0,0,0,0,0,0
$GC,22674,0.50,155.7,631.5,13.4,724,22678,0.00,2.45,0.00,0.000,4,0.000,0.055,3287,325,2346,0,0,0,0,0,0
$GC,22728,0.50,155.7,623.6,12.1,725,22733,0.12,2.42,0.00,0.000,6,0.130,0.047,3246,1928,2346,0,0,0,0,0,0
$GC,23044,0.50,155.7,591.2,10.4,733,23048,0.00,2.42,0.00,0.000,4,0.000,0.058,3246,3503,2346,0,0,0,0,0,0
$GC,23092,0.50,155.7,585.1,11.5,734,23097,0.00,2.42,0.00,0.000,6,0.000,0.043,3257,1909,2345,0,0,0,0,0,0
$GC,23411,0.50,155.7,547.1,11.7,742,23412,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1909,2345,0,0,0,0,0,0
$GC,23737,0.50,155.7,512.1,10.8,750,23742,0.00,2.50,0.00,0.000,4,0.000,0.055,3257,3513,2345,0,0,0,0,0,0
$GC,23764,0.50,155.7,508.7,11.1,750,23768,0.00,2.45,0.00,0.000,6,0.000,0.044,3270,1913,2345,0,0,0,0,0,0
$GC,24102,0.50,155.7,470.9,11.3,759,24107,0.00,2.42,0.00,0.000,4,0.000,0.054,3283,330,2345,0,0,0,0,0,0
$GC,24202,0.50,155.7,459.2,10.8,761,24207,0.00,2.40,0.00,0.000,6,0.000,0.046,3283,1929,2344,0,0,0,0,0,0
$GC,24516,0.50,155.7,424.2,11.1,769,24520,0.00,2.45,0.00,0.000,4,0.000,0.056,3283,3514,2345,0,0,0,0,0,0
$GC,24577,0.50,155.7,416.1,14.1,770,24582,0.15,2.42,0.00,0.000,6,0.127,0.043,3246,1918,2344,0,0,0,0,0,0
$GC,24920,0.50,155.7,381.4,9.9,779,24921,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1918,2344,0,0,0,0,0,0
$GC,25245,0.50,155.7,357.3,6.9,787,25249,0.00,2.42,0.00,0.000,4,0.000,0.053,3257,336,2344,0,0,0,0,0,0
$GC,25316,0.50,155.7,351.5,6.8,788,25320,0.00,2.40,0.00,0.000,6,0.000,0.044,3258,1925,2345,0,0,0,0,0,0
$GC,25660,0.50,155.7,320.9,9.5,797,25664,0.00,2.42,0.00,0.000,4,0.000,0.054,3258,3514,2346,0,0,0,0,0,0
$GC,25710,0.50,155.7,315.1,9.5,798,25714,0.00,2.40,0.00,0.000,6,0.000,0.041,3270,1918,2346,0,0,0,0,0,0
$GC,26031,0.50,155.7,282.4,10.2,810,26036,0.00,2.42,0.00,0.000,4,0.000,0.051,3282,336,2347,0,0,0,0,0,0
$GC,26171,0.50,155.7,267.6,9.4,816,26175,0.00,2.35,0.00,0.000,6,0.000,0.041,3282,1926,2347,0,0,0,0,0,0
$GC,26492,0.50,155.7,236.1,9.3,832,26496,0.00,2.40,0.00,0.000,4,0.000,0.051,3282,3505,2349,0,0,0,0,0,0
$GC,26622,0.50,155.7,223.2,10.3,838,26627,0.12,2.38,0.00,0.000,6,0.123,0.038,3252,1919,2350,0,0,0,0,0,0
$GC,26938,0.50,155.7,198.6,7.4,854,26942,0.00,2.42,0.00,0.000,4,0.000,0.050,3262,325,2350,0,0,0,0,0,0
$GC,26984,0.50,155.7,195.3,6.6,857,26990,0.00,2.38,0.00,0.000,6,0.000,0.041,3263,1924,2351,0,0,0,0,0,0
$GC,27246,0.53,174.7,178.7,5.5,882,27267,0.00,2.45,16.12,0.899,4,0.000,0.050,3263,3512,2283,0,0,0,0,0,0
$GC,27308,0.55,190.7,175.4,5.6,887,27329,0.00,2.45,15.88,0.897,6,0.000,0.040,3274,1906,2217,0,0,0,0,0,0
$GC,27585,0.55,190.7,159.0,6.4,913,27589,0.00,2.38,0.00,0.000,4,0.000,0.048,3286,334,2217,0,0,0,0,0,0
$GC,27636,0.55,190.7,155.2,9.1,917,27641,0.00,2.35,0.00,0.000,6,0.000,0.041,3286,1932,2217,0,0,0,0,0,0
$GC,27898,0.55,190.7,132.9,9.3,941,27902,0.00,2.42,0.00,0.000,4,0.000,0.051,3286,3504,2219,0,0,0,0,0,0
$GC,27959,0.55,190.7,127.0,8.8,946,27964,0.10,2.35,0.00,0.000,6,0.133,0.037,3262,1927,2220,0,0,0,0,0,0
$GC,28221,0.55,190.7,109.9,6.6,970,28225,0.00,2.40,0.00,0.000,4,0.000,0.048,3273,322,2220,0,0,0,0,0,0
$GC,28283,0.55,190.7,105.7,6.4,975,28287,0.00,2.35,0.00,0.000,6,0.000,0.041,3273,1909,2222,0,0,0,0,0,0
$GC,28544,0.55,190.7,89.5,6.2,999,28548,0.00,2.47,0.00,0.000,4,0.000,0.052,3273,3516,2222,0,0,0,0,0,0
$GC,28595,0.55,190.7,86.1,6.0,1003,28599,0.00,2.40,0.00,0.000,6,0.000,0.039,3284,1909,2223,0,0,0,0,0,0
$GC,28857,0.56,204.3,69.5,5.6,1027,28878,0.00,2.40,14.12,0.802,4,0.000,0.048,3296,322,2162,0,0,0,0,0,0
$GC,28913,0.62,249.8,66.5,4.8,1032,28957,0.00,2.38,38.25,0.874,6,0.000,0.041,3296,1925,1976,0,0,0,0,0,0
$GC,29219,0.62,249.8,45.1,7.7,1061,29223,0.00,2.42,0.00,0.000,4,0.000,0.051,3296,3516,1979,0,0,0,0,0,0
$GC,29270,0.62,249.8,40.9,7.4,1065,29274,0.00,2.42,0.00,0.000,6,0.000,0.039,3307,1912,1980,0,0,0,0,0,0
$GC,29532,0.62,249.8,20.2,8.1,1089,29536,0.00,2.42,0.00,0.000,4,0.000,0.051,3319,323,1980,0,0,0,0,0,0
$GC,29582,0.62,249.8,16.2,8.9,1093,29586,0.00,2.35,0.00,0.000,6,0.000,0.041,3319,1924,1980,0,0,0,0,0,0
$STATE,29734,end climb,SURFACE_DEPTH_REACHED
$STATE,29734,begin surface coast
$FINISH,0.4,0.999037
$STATE,29767,end surface coast,CONTROL_FINISHED_OK
$STATE,29767,begin surface
$SM_CCo,29785,73.05,0.844,0,0,1364,400.08
$SM_GC,1.09,0.00,0.00,73.05,0.000,0.000,0.844,104,2167,1364,-9.34,0.48,400.08
$IRIDIUM_FIX,2155.06,12831.24,140812,010122
$TT8_MAMPS,0.027612
$HUMID,1078716764
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.6,68.588
$10V_AH,9.8,57.123
$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,21.100,300.275,379.825,73.050,0.000,30.854,34.155,201.506,0.000,0.000,37.468,2477.654,23443.127,663.285,3137.647,547.396,33.374,2241.807,0.000,2811.196,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,68.263,1613.001,843.700,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,759.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,39971,1110
$CAP_FILE_SIZE,319052,0
$CFSIZE,260165632,187387904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200211,001607,2204.255,12830.733,33,0.9,33,-3.1