version: 66.07
glider: 500
mission: 5
dive: 393
start: 2 20 111 17 14 58
data:
$ID,500
$MISSION,5
$DIVE,393
$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,-129349.12
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,200211,170637,2207.746,12835.817,27,1.4,27,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.3
$GPS2,200211,171404,2207.921,12835.778,10,2.2,29,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.136,-0.174
$KALMAN_X,-786770.2,-338.0,-2.5,1338162.2,-85.8
$KALMAN_Y,186437.6,-750.6,-442.1,-77335.8,11772.4
$MHEAD_RNG_PITCHd_Wd,145.1,190297,-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,14949,-0.50,-155.7,804.7,-5.7,566,14954,0.12,2.38,0.00,0.000,6,0.121,0.045,2936,2153,3604,0,0,0,0,0,0
$GC,15281,-0.50,-155.7,821.1,-5.1,574,15286,0.00,2.40,0.00,0.000,4,0.000,0.047,2936,573,3603,0,0,0,0,0,0
$GC,15460,-0.50,-155.7,830.0,-4.5,578,15464,0.00,2.38,0.00,0.000,6,0.000,0.046,2931,2155,3603,0,0,0,0,0,0
$GC,15779,-0.50,-155.7,844.3,-4.5,586,15783,0.00,2.40,0.00,0.000,4,0.000,0.048,2931,568,3601,0,0,0,0,0,0
$GC,15930,-0.50,-155.7,850.9,-3.8,589,15935,0.00,2.35,0.00,0.000,6,0.000,0.045,2921,2151,3602,0,0,0,0,0,0
$GC,16245,-0.50,-155.7,864.1,-4.4,597,16249,0.00,2.40,0.00,0.000,4,0.000,0.047,2921,569,3601,0,0,0,0,0,0
$GC,16385,-0.50,-155.7,870.3,-4.2,600,16390,0.00,2.35,0.00,0.000,6,0.000,0.045,2913,2152,3601,0,0,0,0,0,0
$GC,16708,-0.50,-155.7,884.2,-4.3,608,16713,0.00,2.40,0.00,0.000,4,0.000,0.047,2913,567,3600,0,0,0,0,0,0
$GC,16827,-0.50,-155.7,888.7,-3.1,610,16831,0.00,2.38,0.00,0.000,6,0.000,0.044,2903,2160,3599,0,0,0,0,0,0
$GC,17159,-0.50,-155.7,898.6,-2.8,618,17164,0.00,2.42,0.00,0.000,4,0.000,0.048,2902,574,3599,0,0,0,0,0,0
$GC,17232,-0.50,-155.7,900.8,-3.1,619,17237,0.12,2.38,0.00,0.000,6,0.120,0.047,2936,2159,3599,0,0,0,0,0,0
$GC,17572,-0.50,-155.7,910.2,-3.3,628,17576,0.00,2.40,0.00,0.000,4,0.000,0.048,2936,575,3598,0,0,0,0,0,0
$GC,17802,-0.50,-155.7,919.7,-4.4,633,17806,0.00,2.38,0.00,0.000,6,0.000,0.045,2936,2156,3598,0,0,0,0,0,0
$GC,18118,-0.50,-155.7,934.5,-4.9,641,18122,0.00,2.45,0.00,0.000,4,0.000,0.055,2926,3736,3597,0,0,0,0,0,0
$GC,18352,-0.50,-155.7,944.8,-3.7,646,18356,0.00,2.38,0.00,0.000,6,0.000,0.038,2925,2144,3597,0,0,0,0,0,0
$GC,18702,-0.50,-155.7,957.4,-3.6,655,18706,0.00,2.47,0.00,0.000,4,0.000,0.054,2923,3732,3597,0,0,0,0,0,0
$GC,18903,-0.50,-155.7,964.6,-4.5,659,18907,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2145,3596,0,0,0,0,0,0
$GC,19242,-0.50,-155.7,976.3,-3.5,668,19246,0.00,2.50,0.00,0.000,4,0.000,0.055,2920,3735,3596,0,0,0,0,0,0
$GC,19501,-0.50,-155.7,985.7,-2.6,673,19507,0.00,2.38,0.00,0.000,6,0.000,0.038,2920,2153,3596,0,0,0,0,0,0
$STATE,19667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19667,begin apogee
$GC,19672,-0.23,0.0,991.3,3.3,678,19816,0.28,0.00,140.60,1.624,6,0.077,0.000,3029,1919,2995,0,0,0,0,0,0
$STATE,19817,end apogee,CONTROL_FINISHED_OK
$STATE,19817,begin climb
$GC,19819,0.50,155.7,991.8,0.0,681,19984,0.60,2.75,155.90,1.589,4,0.050,0.055,3274,350,2360,0,0,0,0,0,0
$GC,20187,0.50,155.7,941.8,16.2,689,20192,0.00,2.42,0.00,0.000,6,0.000,0.045,3274,1924,2358,0,0,0,0,0,0
$GC,20531,0.50,155.7,888.3,15.8,698,20535,0.00,2.45,0.00,0.000,4,0.000,0.053,3275,3513,2354,0,0,0,0,0,0
$GC,20571,0.50,155.7,881.7,15.4,699,20576,0.12,2.42,0.00,0.000,6,0.140,0.043,3248,1926,2353,0,0,0,0,0,0
$GC,20894,0.50,155.7,837.0,13.5,707,20898,0.00,2.45,0.00,0.000,4,0.000,0.054,3259,332,2352,0,0,0,0,0,0
$GC,20956,0.50,155.7,828.7,13.2,708,20960,0.00,2.40,0.00,0.000,6,0.000,0.048,3259,1921,2351,0,0,0,0,0,0
$GC,21297,0.50,155.7,784.2,12.5,717,21302,0.00,2.40,0.00,0.000,4,0.000,0.054,3259,3505,2351,0,0,0,0,0,0
$GC,21383,0.50,155.7,773.2,12.6,719,21387,0.00,2.40,0.00,0.000,6,0.000,0.042,3270,1917,2350,0,0,0,0,0,0
$GC,21708,0.50,155.7,730.8,13.2,727,21709,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1917,2350,0,0,0,0,0,0
$GC,22032,0.50,155.7,686.1,14.1,735,22036,0.00,2.42,0.00,0.000,4,0.000,0.055,3284,337,2349,0,0,0,0,0,0
$GC,22110,0.50,155.7,674.5,14.8,736,22117,0.10,2.40,0.00,0.000,6,0.142,0.048,3251,1921,2349,0,0,0,0,0,0
$GC,22442,0.50,155.7,633.3,12.2,745,22447,0.00,2.50,0.00,0.000,4,0.000,0.058,3251,3520,2348,0,0,0,0,0,0
$GC,22492,0.50,155.7,626.7,12.6,746,22497,0.00,2.47,0.00,0.000,6,0.000,0.044,3262,1910,2348,0,0,0,0,0,0
$GC,22805,0.50,155.7,589.1,11.8,754,22806,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1910,2348,0,0,0,0,0,0
$GC,23131,0.50,155.7,552.5,11.1,762,23135,0.00,2.47,0.00,0.000,4,0.000,0.055,3262,3519,2348,0,0,0,0,0,0
$GC,23152,0.50,155.7,549.8,11.3,762,23156,0.00,2.42,0.00,0.000,6,0.000,0.044,3274,1924,2348,0,0,0,0,0,0
$GC,23494,0.50,155.7,509.4,11.7,771,23499,0.00,2.45,0.00,0.000,4,0.000,0.055,3287,334,2348,0,0,0,0,0,0
$GC,23545,0.50,155.7,503.8,14.0,772,23550,0.12,2.40,0.00,0.000,6,0.127,0.048,3246,1920,2348,0,0,0,0,0,0
$GC,23858,0.50,155.7,474.0,9.5,780,23863,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3516,2347,0,0,0,0,0,0
$GC,23915,0.50,155.7,468.2,7.3,781,23919,0.00,2.42,0.00,0.000,6,0.000,0.043,3256,1909,2347,0,0,0,0,0,0
$GC,24263,0.50,155.7,432.6,10.5,790,24267,0.00,2.40,0.00,0.000,4,0.000,0.053,3269,336,2347,0,0,0,0,0,0
$GC,24319,0.50,155.7,426.7,10.6,791,24323,0.00,2.40,0.00,0.000,6,0.000,0.048,3269,1921,2347,0,0,0,0,0,0
$GC,24667,0.50,155.7,389.8,10.8,800,24671,0.00,2.45,0.00,0.000,4,0.000,0.057,3269,3514,2347,0,0,0,0,0,0
$GC,24784,0.50,155.7,376.3,10.7,802,24789,0.00,2.45,0.00,0.000,6,0.000,0.044,3282,1906,2348,0,0,0,0,0,0
$GC,25115,0.50,155.7,341.7,10.3,810,25119,0.00,2.40,0.00,0.000,4,0.000,0.051,3293,338,2348,0,0,0,0,0,0
$GC,25142,0.50,155.7,338.8,10.5,810,25147,0.12,2.35,0.00,0.000,6,0.126,0.044,3252,1922,2348,0,0,0,0,0,0
$GC,25481,0.50,155.7,312.2,7.9,819,25485,0.00,2.42,0.00,0.000,4,0.000,0.053,3252,3513,2349,0,0,0,0,0,0
$GC,25569,0.50,155.7,302.7,10.3,821,25574,0.00,2.40,0.00,0.000,6,0.000,0.041,3262,1919,2350,0,0,0,0,0,0
$GC,25898,0.50,155.7,274.3,8.2,836,25902,0.00,2.45,0.00,0.000,4,0.000,0.052,3275,332,2351,0,0,0,0,0,0
$GC,25993,0.50,155.7,266.2,7.2,840,25997,0.00,2.38,0.00,0.000,6,0.000,0.043,3275,1921,2351,0,0,0,0,0,0
$GC,26308,0.50,155.7,239.5,8.9,855,26312,0.00,2.42,0.00,0.000,4,0.000,0.050,3275,3514,2352,0,0,0,0,0,0
$GC,26393,0.50,155.7,230.5,9.7,859,26398,0.12,2.40,0.00,0.000,6,0.129,0.040,3246,1909,2353,0,0,0,0,0,0
$GC,26719,0.50,155.7,205.6,7.0,875,26723,0.00,2.38,0.00,0.000,4,0.000,0.050,3256,344,2354,0,0,0,0,0,0
$GC,26769,0.50,155.7,201.8,8.0,877,26773,0.00,2.35,0.00,0.000,6,0.000,0.042,3256,1918,2354,0,0,0,0,0,0
$GC,27097,0.50,155.7,178.6,6.9,906,27101,0.00,2.42,0.00,0.000,4,0.000,0.051,3256,3516,2356,0,0,0,0,0,0
$GC,27184,0.50,155.7,172.5,6.9,913,27188,0.00,2.40,0.00,0.000,6,0.000,0.038,3269,1928,2356,0,0,0,0,0,0
$GC,27445,0.50,155.7,155.0,6.3,937,27449,0.00,2.45,0.00,0.000,4,0.000,0.049,3268,3517,2358,0,0,0,0,0,0
$GC,27500,0.50,155.7,151.3,6.4,941,27506,0.00,2.40,0.00,0.000,6,0.000,0.038,3280,1917,2358,0,0,0,0,0,0
$GC,27762,0.50,155.7,133.5,7.3,966,27766,0.00,2.40,0.00,0.000,4,0.000,0.051,3293,328,2359,0,0,0,0,0,0
$GC,27835,0.50,155.7,127.9,7.3,972,27840,0.12,2.35,0.00,0.000,6,0.117,0.041,3249,1941,2360,0,0,0,0,0,0
$GC,28096,0.56,204.0,114.6,4.7,996,28147,0.00,2.47,41.35,0.878,4,0.000,0.049,3248,3502,2163,0,0,0,0,0,0
$GC,28186,0.59,222.8,109.8,5.5,1004,28212,0.00,2.40,17.40,0.854,6,0.000,0.036,3258,1926,2085,0,0,0,0,0,0
$GC,28466,0.59,222.8,93.7,6.1,1031,28471,0.00,2.42,0.00,0.000,4,0.000,0.050,3269,323,2086,0,0,0,0,0,0
$GC,28506,0.59,222.8,91.0,7.2,1034,28510,0.00,2.35,0.00,0.000,6,0.000,0.041,3269,1914,2086,0,0,0,0,0,0
$GC,28766,0.59,222.8,73.4,6.4,1058,28771,0.00,2.40,0.00,0.000,4,0.000,0.048,3269,3514,2087,0,0,0,0,0,0
$GC,28834,0.59,222.8,68.4,7.6,1063,28840,0.00,2.40,0.00,0.000,6,0.000,0.038,3281,1909,2088,0,0,0,0,0,0
$GC,29096,0.59,222.8,51.7,7.0,1088,29100,0.00,2.40,0.00,0.000,4,0.000,0.051,3292,326,2089,0,0,0,0,0,0
$GC,29146,0.59,222.8,48.2,6.8,1092,29150,0.00,2.35,0.00,0.000,6,0.000,0.041,3292,1921,2089,0,0,0,0,0,0
$GC,29411,0.59,222.8,30.2,7.4,1117,29416,0.00,2.38,0.00,0.000,4,0.000,0.048,3292,3520,2090,0,0,0,0,0,0
$GC,29535,0.59,222.8,20.3,8.4,1127,29541,0.00,2.35,0.00,0.000,6,0.000,0.037,3304,1913,2091,0,0,0,0,0,0
$GC,29732,0.59,222.8,7.7,6.1,1146,29736,0.00,2.40,0.00,0.000,4,0.000,0.052,3315,337,2091,0,0,0,0,0,0
$STATE,29803,end climb,SURFACE_DEPTH_REACHED
$STATE,29803,begin surface coast
$FINISH,1.9,1.023166
$STATE,29811,end surface coast,CONTROL_FINISHED_OK
$STATE,29811,begin surface
$SM_CCo,29830,85.70,0.828,0,0,1363,400.08
$SM_GC,0.88,0.00,0.00,85.70,0.000,0.000,0.828,104,2160,1363,-9.34,0.28,400.08
$IRIDIUM_FIX,2159.71,12832.69,150812,020235
$TT8_MAMPS,0.027612
$HUMID,1078696119
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.6,69.154
$10V_AH,9.8,57.432
$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,21.425,331.400,355.250,85.700,0.000,30.355,38.221,214.870,0.000,0.000,32.574,2600.623,23066.699,679.940,3414.374,578.521,33.385,2382.488,0.000,3070.225,0.000,0.540,0.000
$DEVICE_MAMPS,214.760,59.826,1623.739,828.360,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,787.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,40037,1152
$CAP_FILE_SIZE,335611,0
$CFSIZE,260165632,187039744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210211,013454,2210.279,12837.511,38,1.2,38,-3.1