version: 66.07
glider: 500
mission: 5
dive: 391
start: 2 20 111 0 23 57
data:
$ID,500
$MISSION,5
$DIVE,391
$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,-129302.31
$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,42
$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
$GPS1,200211,001607,2204.255,12830.733,33,0.9,33,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.8
$GPS2,200211,002302,2204.428,12830.803,10,1.0,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.144,-0.167
$KALMAN_X,-785410.7,16.1,-889.8,1328724.1,1783.9
$KALMAN_Y,168159.8,-40.8,-498.1,-66199.0,11349.3
$MHEAD_RNG_PITCHd_Wd,142.3,191230,-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,15248,-0.50,-155.7,861.1,-5.5,553,15252,0.00,2.47,0.00,0.000,4,0.000,0.058,2912,3733,3602,0,0,0,0,0,0
$GC,15319,-0.50,-155.7,865.1,-5.8,554,15324,0.00,2.38,0.00,0.000,6,0.000,0.038,2911,2144,3602,0,0,0,0,0,0
$GC,15658,-0.50,-155.7,882.5,-5.1,563,15662,0.00,2.47,0.00,0.000,4,0.000,0.058,2900,3737,3601,0,0,0,0,0,0
$GC,15707,-0.50,-155.7,885.0,-4.8,564,15711,0.00,2.40,0.00,0.000,6,0.000,0.039,2900,2143,3601,0,0,0,0,0,0
$GC,16022,-0.50,-155.7,898.1,-4.0,572,16026,0.00,2.47,0.00,0.000,4,0.000,0.058,2889,3731,3600,0,0,0,0,0,0
$GC,16071,-0.50,-155.7,900.2,-3.4,573,16076,0.12,2.38,0.00,0.000,6,0.111,0.038,2935,2144,3600,0,0,0,0,0,0
$GC,16386,-0.50,-155.7,911.0,-3.6,581,16391,0.00,2.47,0.00,0.000,4,0.000,0.059,2925,3730,3600,0,0,0,0,0,0
$GC,16646,-0.50,-155.7,923.1,-5.0,586,16651,0.00,2.35,0.00,0.000,6,0.000,0.038,2925,2148,3599,0,0,0,0,0,0
$GC,16977,-0.50,-155.7,940.1,-5.1,595,16981,0.00,2.45,0.00,0.000,4,0.000,0.058,2922,3732,3599,0,0,0,0,0,0
$GC,17200,-0.50,-155.7,952.0,-5.5,600,17205,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2143,3598,0,0,0,0,0,0
$GC,17527,-0.50,-155.7,966.6,-4.3,608,17532,0.00,2.50,0.00,0.000,4,0.000,0.058,2912,3731,3598,0,0,0,0,0,0
$GC,17628,-0.50,-155.7,971.0,-4.9,610,17632,0.00,2.40,0.00,0.000,6,0.000,0.038,2912,2144,3597,0,0,0,0,0,0
$GC,17978,-0.50,-155.7,985.1,-3.9,619,17982,0.00,2.47,0.00,0.000,4,0.000,0.058,2901,3732,3597,0,0,0,0,0,0
$GC,18049,-0.50,-155.7,988.0,-3.1,620,18054,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2144,3596,0,0,0,0,0,0
$STATE,18135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18135,begin apogee
$GC,18140,-0.23,0.0,991.1,3.6,622,18284,0.32,0.00,140.52,1.630,6,0.081,0.000,3025,1925,2995,0,0,0,0,0,0
$STATE,18285,end apogee,CONTROL_FINISHED_OK
$STATE,18285,begin climb
$GC,18288,0.50,155.7,992.2,0.0,625,18452,0.62,2.72,155.55,1.598,4,0.055,0.054,3262,3499,2359,0,0,0,0,0,0
$GC,18637,0.50,155.7,947.5,15.4,633,18642,0.00,2.45,0.00,0.000,6,0.000,0.041,3273,1928,2355,0,0,0,0,0,0
$GC,18964,0.50,155.7,903.2,13.7,641,18968,0.00,2.42,0.00,0.000,4,0.000,0.053,3286,332,2353,0,0,0,0,0,0
$GC,19025,0.50,155.7,894.1,12.6,642,19030,0.08,2.42,0.00,0.000,6,0.108,0.048,3254,1919,2352,0,0,0,0,0,0
$GC,19375,0.50,155.7,849.0,13.0,651,19379,0.00,2.42,0.00,0.000,4,0.000,0.056,3254,3512,2350,0,0,0,0,0,0
$GC,19469,0.50,155.7,835.5,13.9,653,19473,0.00,2.42,0.00,0.000,6,0.000,0.043,3265,1915,2349,0,0,0,0,0,0
$GC,19789,0.50,155.7,792.8,13.5,661,19793,0.00,2.40,0.00,0.000,4,0.000,0.056,3278,338,2347,0,0,0,0,0,0
$GC,19838,0.50,155.7,785.6,13.2,662,19842,0.00,2.38,0.00,0.000,6,0.000,0.048,3278,1928,2348,0,0,0,0,0,0
$GC,20157,0.50,155.7,739.2,14.7,670,20161,0.00,2.40,0.00,0.000,4,0.000,0.058,3278,3503,2348,0,0,0,0,0,0
$GC,20252,0.50,155.7,724.6,14.6,672,20256,0.12,2.38,0.00,0.000,6,0.141,0.041,3251,1917,2347,0,0,0,0,0,0
$GC,20565,0.50,155.7,688.0,11.5,680,20569,0.00,2.45,0.00,0.000,4,0.000,0.055,3262,330,2346,0,0,0,0,0,0
$GC,20655,0.50,155.7,677.5,11.1,682,20660,0.00,2.40,0.00,0.000,6,0.000,0.048,3262,1923,2346,0,0,0,0,0,0
$GC,20974,0.50,155.7,640.2,11.8,690,20978,0.00,2.45,0.00,0.000,4,0.000,0.055,3262,3518,2345,0,0,0,0,0,0
$GC,21018,0.50,155.7,634.7,11.8,691,21023,0.00,2.45,0.00,0.000,6,0.000,0.043,3275,1916,2345,0,0,0,0,0,0
$GC,21338,0.50,155.7,593.7,13.7,699,21342,0.00,2.45,0.00,0.000,4,0.000,0.055,3287,329,2345,0,0,0,0,0,0
$GC,21371,0.50,155.7,588.9,13.5,699,21378,0.12,2.42,0.00,0.000,6,0.129,0.048,3246,1924,2345,0,0,0,0,0,0
$GC,21703,0.50,155.7,550.1,11.5,708,21707,0.00,2.45,0.00,0.000,4,0.000,0.056,3245,3518,2344,0,0,0,0,0,0
$GC,21764,0.50,155.7,542.4,12.2,709,21768,0.00,2.47,0.00,0.000,6,0.000,0.043,3256,1912,2345,0,0,0,0,0,0
$GC,22113,0.50,155.7,505.1,10.4,718,22117,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,329,2345,0,0,0,0,0,0
$GC,22184,0.50,155.7,497.5,10.3,719,22189,0.00,2.40,0.00,0.000,6,0.000,0.047,3269,1930,2344,0,0,0,0,0,0
$GC,22523,0.50,155.7,458.5,12.2,728,22527,0.00,2.42,0.00,0.000,4,0.000,0.056,3269,3503,2345,0,0,0,0,0,0
$GC,22616,0.50,155.7,446.0,12.8,730,22621,0.00,2.40,0.00,0.000,6,0.000,0.040,3282,1909,2345,0,0,0,0,0,0
$GC,22936,0.50,155.7,409.0,11.5,738,22938,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1908,2345,0,0,0,0,0,0
$GC,23260,0.50,155.7,372.9,11.4,746,23261,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1908,2345,0,0,0,0,0,0
$GC,23586,0.50,155.7,337.7,10.6,754,23590,0.00,2.38,0.00,0.000,4,0.000,0.051,3294,336,2345,0,0,0,0,0,0
$GC,23653,0.50,155.7,329.7,10.8,755,23657,0.12,2.35,0.00,0.000,6,0.123,0.044,3252,1922,2345,0,0,0,0,0,0
$GC,23997,0.50,155.7,300.6,7.7,764,24001,0.00,2.42,0.00,0.000,4,0.000,0.052,3251,3517,2346,0,0,0,0,0,0
$GC,24097,0.50,155.7,292.1,8.3,767,24103,0.00,2.42,0.00,0.000,6,0.000,0.039,3261,1916,2346,0,0,0,0,0,0
$GC,24413,0.50,155.7,264.3,9.2,783,24418,0.00,2.40,0.00,0.000,4,0.000,0.052,3274,345,2347,0,0,0,0,0,0
$GC,24475,0.50,155.7,258.3,8.7,786,24479,0.00,2.33,0.00,0.000,6,0.000,0.041,3274,1926,2348,0,0,0,0,0,0
$GC,24810,0.50,155.7,229.9,8.6,802,24814,0.00,2.42,0.00,0.000,4,0.000,0.052,3274,3501,2349,0,0,0,0,0,0
$GC,24888,0.50,155.7,220.8,11.6,805,24895,0.12,2.35,0.00,0.000,6,0.125,0.038,3243,1927,2349,0,0,0,0,0,0
$GC,25205,0.50,155.7,195.6,7.0,823,25209,0.00,2.45,0.00,0.000,4,0.000,0.050,3253,326,2350,0,0,0,0,0,0
$GC,25270,0.50,155.7,190.7,7.9,828,25277,0.00,2.35,0.00,0.000,6,0.000,0.041,3254,1912,2350,0,0,0,0,0,0
$GC,25532,0.51,162.8,173.7,5.8,853,25542,0.00,0.00,6.40,0.725,6,0.000,0.000,3254,1912,2331,0,0,0,0,0,0
$GC,25797,0.51,162.8,157.3,6.4,878,25801,0.00,2.40,0.00,0.000,4,0.000,0.049,3265,332,2332,0,0,0,0,0,0
$GC,25826,0.51,162.8,155.4,6.4,880,25830,0.00,2.38,0.00,0.000,6,0.000,0.041,3265,1934,2333,0,0,0,0,0,0
$GC,26088,0.51,162.8,135.8,7.6,904,26092,0.00,2.42,0.00,0.000,4,0.000,0.053,3265,3499,2334,0,0,0,0,0,0
$GC,26173,0.51,162.8,128.5,8.4,911,26177,0.00,2.38,0.00,0.000,6,0.000,0.038,3277,1921,2335,0,0,0,0,0,0
$GC,26434,0.51,162.8,107.5,7.8,935,26438,0.00,2.40,0.00,0.000,4,0.000,0.051,3289,332,2337,0,0,0,0,0,0
$GC,26541,0.51,162.8,98.9,7.4,944,26546,0.12,2.33,0.00,0.000,6,0.109,0.041,3241,1923,2338,0,0,0,0,0,0
$GC,26803,0.51,162.8,83.6,6.5,968,26807,0.00,2.42,0.00,0.000,4,0.000,0.051,3241,3512,2339,0,0,0,0,0,0
$GC,26846,0.51,162.8,80.8,6.8,971,26852,0.00,2.40,0.00,0.000,6,0.000,0.039,3250,1919,2339,0,0,0,0,0,0
$GC,27109,0.54,183.2,65.5,5.5,996,27135,0.00,2.45,21.00,0.798,4,0.000,0.049,3257,332,2246,0,0,0,0,0,0
$GC,27196,0.54,183.2,60.9,6.2,1003,27202,0.00,2.35,0.00,0.000,6,0.000,0.041,3258,1923,2247,0,0,0,0,0,0
$GC,27458,0.55,196.6,46.0,5.6,1028,27476,0.00,0.00,12.55,0.743,6,0.000,0.000,3257,1923,2192,0,0,0,0,0,0
$GC,27731,0.56,198.3,29.3,6.0,1054,27735,0.00,2.42,0.00,0.000,4,0.000,0.051,3257,3508,2195,0,0,0,0,0,0
$GC,27838,0.60,233.9,22.8,5.1,1063,27875,0.00,2.38,30.92,0.808,6,0.000,0.038,3261,1909,2041,0,0,0,0,0,0
$GC,28066,0.60,233.9,8.1,6.5,1084,28070,0.00,2.38,0.00,0.000,4,0.000,0.050,3262,339,2043,0,0,0,0,0,0
$STATE,28141,end climb,SURFACE_DEPTH_REACHED
$STATE,28141,begin surface coast
$FINISH,0.3,0.998532
$STATE,28186,end surface coast,CONTROL_FINISHED_OK
$STATE,28186,begin surface
$SM_CCo,28206,80.28,0.834,0,0,1364,400.08
$SM_GC,0.99,0.00,0.00,80.28,0.000,0.000,0.834,107,2167,1364,-9.32,0.45,400.08
$IRIDIUM_FIX,2152.74,12831.24,140812,101011
$TT8_MAMPS,0.027612
$HUMID,1078693539
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,21.7,68.775
$10V_AH,9.8,57.219
$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,21.175,304.250,366.950,80.275,0.000,25.644,36.934,211.855,0.000,0.000,12.676,2408.824,22044.611,685.399,3017.483,524.942,33.376,2210.211,0.000,2710.253,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,72.098,1629.875,834.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,746.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,40031,1094
$CAP_FILE_SIZE,310172,0
$CFSIZE,260165632,187289600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200211,081637,2206.722,12834.032,34,1.1,34,-3.1