version: 66.07
glider: 500
mission: 5
dive: 394
start: 2 21 111 1 42 50
data:
$ID,500
$MISSION,5
$DIVE,394
$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,-129362.78
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,210211,013454,2210.279,12837.511,38,1.2,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.6
$GPS2,210211,014156,2210.478,12837.544,11,1.4,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.131,-0.178
$KALMAN_X,-787949.9,-470.0,-197.1,1342685.5,370.6
$KALMAN_Y,196122.4,57.6,-502.8,-83046.4,12323.5
$MHEAD_RNG_PITCHd_Wd,146.8,192011,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,3166,-0.50,-155.7,263.9,-5.6,248,3171,0.00,2.40,0.00,0.000,4,0.000,0.049,2886,3743,3637,0,0,0,0,0,0
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$GC,4266,-0.50,-155.7,330.1,-5.7,291,4270,0.00,2.45,0.00,0.000,4,0.000,0.050,2908,3737,3635,0,0,0,0,0,0
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$GC,4676,-0.50,-155.7,351.4,-5.4,300,4680,0.00,2.38,0.00,0.000,4,0.000,0.048,2908,574,3634,0,0,0,0,0,0
$GC,4771,-0.50,-155.7,357.9,-7.0,302,4775,0.00,2.35,0.00,0.000,6,0.000,0.048,2896,2165,3634,0,0,0,0,0,0
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$GC,7561,-0.50,-155.7,501.5,-5.7,370,7566,0.10,2.40,0.00,0.000,4,0.137,0.046,2933,561,3623,0,0,0,0,0,0
$GC,7611,-0.50,-155.7,504.6,-6.2,371,7615,0.00,2.33,0.00,0.000,6,0.000,0.044,2923,2150,3623,0,0,0,0,0,0
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$GC,14798,-0.50,-155.7,833.6,-4.2,548,14802,0.00,2.45,0.00,0.000,4,0.000,0.055,2887,3741,3597,0,0,0,0,0,0
$GC,14837,-0.50,-155.7,835.4,-4.0,549,14842,0.12,2.40,0.00,0.000,6,0.113,0.039,2933,2149,3596,0,0,0,0,0,0
$GC,15161,-0.50,-155.7,848.7,-4.1,557,15165,0.00,2.45,0.00,0.000,4,0.000,0.055,2923,3731,3596,0,0,0,0,0,0
$GC,15261,-0.50,-155.7,852.6,-3.6,559,15265,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2147,3596,0,0,0,0,0,0
$GC,15613,-0.50,-155.7,865.7,-3.8,568,15618,0.00,2.45,0.00,0.000,4,0.000,0.056,2912,3731,3595,0,0,0,0,0,0
$GC,15702,-0.50,-155.7,869.3,-4.1,570,15707,0.00,2.38,0.00,0.000,6,0.000,0.038,2912,2142,3595,0,0,0,0,0,0
$GC,16029,-0.50,-155.7,882.0,-4.0,578,16034,0.00,2.45,0.00,0.000,4,0.000,0.055,2901,3734,3594,0,0,0,0,0,0
$GC,16091,-0.50,-155.7,884.7,-3.9,579,16095,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2150,3594,0,0,0,0,0,0
$GC,16435,-0.50,-155.7,899.2,-4.4,588,16439,0.00,2.45,0.00,0.000,4,0.000,0.056,2889,3732,3593,0,0,0,0,0,0
$GC,16468,-0.50,-155.7,900.9,-4.9,588,16475,0.12,2.38,0.00,0.000,6,0.112,0.038,2935,2144,3593,0,0,0,0,0,0
$GC,16802,-0.50,-155.7,914.8,-4.4,597,16806,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3738,3593,0,0,0,0,0,0
$GC,16992,-0.50,-155.7,923.9,-4.6,601,16996,0.00,2.40,0.00,0.000,6,0.000,0.039,2925,2149,3593,0,0,0,0,0,0
$GC,17342,-0.50,-155.7,940.3,-4.8,610,17346,0.00,2.47,0.00,0.000,4,0.000,0.055,2924,3740,3592,0,0,0,0,0,0
$GC,17482,-0.50,-155.7,947.3,-5.4,613,17486,0.00,2.38,0.00,0.000,6,0.000,0.039,2924,2151,3592,0,0,0,0,0,0
$GC,17796,-0.50,-155.7,961.4,-4.5,621,17800,0.00,2.47,0.00,0.000,4,0.000,0.056,2913,3731,3591,0,0,0,0,0,0
$GC,17927,-0.50,-155.7,967.3,-5.2,624,17932,0.00,2.38,0.00,0.000,6,0.000,0.038,2912,2139,3591,0,0,0,0,0,0
$GC,18253,-0.50,-155.7,980.4,-4.1,632,18257,0.00,2.47,0.00,0.000,4,0.000,0.055,2902,3741,3591,0,0,0,0,0,0
$GC,18326,-0.50,-155.7,983.4,-4.2,633,18330,0.00,2.38,0.00,0.000,6,0.000,0.039,2901,2153,3590,0,0,0,0,0,0
$STATE,18492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18492,begin apogee
$GC,18498,-0.23,0.0,990.0,3.9,637,18640,0.32,0.00,139.20,1.620,6,0.082,0.000,3024,1917,2995,0,0,0,0,0,0
$STATE,18641,end apogee,CONTROL_FINISHED_OK
$STATE,18641,begin climb
$GC,18643,0.50,155.7,991.0,0.0,640,18807,0.62,2.70,155.38,1.590,4,0.053,0.054,3276,349,2360,0,0,0,0,0,0
$GC,18997,0.50,155.7,945.7,13.2,648,19002,0.00,2.40,0.00,0.000,6,0.000,0.046,3276,1924,2358,0,0,0,0,0,0
$GC,19316,0.50,155.7,897.9,15.3,656,19320,0.00,2.45,0.00,0.000,4,0.000,0.054,3275,3513,2354,0,0,0,0,0,0
$GC,19405,0.50,155.7,883.0,16.2,658,19411,0.12,2.40,0.00,0.000,6,0.145,0.043,3249,1928,2354,0,0,0,0,0,0
$GC,19725,0.50,155.7,841.4,12.6,666,19729,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,334,2352,0,0,0,0,0,0
$GC,19797,0.50,155.7,832.2,12.3,667,19802,0.00,2.38,0.00,0.000,6,0.000,0.048,3260,1920,2352,0,0,0,0,0,0
$GC,20128,0.50,155.7,791.8,11.6,675,20132,0.00,2.42,0.00,0.000,4,0.000,0.057,3260,3508,2351,0,0,0,0,0,0
$GC,20201,0.50,155.7,782.6,12.3,676,20205,0.00,2.42,0.00,0.000,6,0.000,0.044,3272,1912,2350,0,0,0,0,0,0
$GC,20531,0.50,155.7,741.8,12.2,684,20536,0.00,2.42,0.00,0.000,4,0.000,0.055,3285,341,2350,0,0,0,0,0,0
$GC,20605,0.50,155.7,733.1,11.3,685,20610,0.10,2.40,0.00,0.000,6,0.142,0.048,3252,1923,2349,0,0,0,0,0,0
$GC,20937,0.50,155.7,698.1,10.8,693,20941,0.00,2.42,0.00,0.000,4,0.000,0.054,3252,3518,2349,0,0,0,0,0,0
$GC,21054,0.50,155.7,683.5,11.3,695,21058,0.00,2.42,0.00,0.000,6,0.000,0.042,3263,1920,2348,0,0,0,0,0,0
$GC,21385,0.50,155.7,643.9,12.0,703,21389,0.00,2.42,0.00,0.000,4,0.000,0.055,3276,332,2348,0,0,0,0,0,0
$GC,21417,0.50,155.7,639.8,12.7,703,21423,0.00,2.40,0.00,0.000,6,0.000,0.048,3276,1928,2348,0,0,0,0,0,0
$GC,21749,0.50,155.7,600.7,11.7,712,21754,0.00,2.42,0.00,0.000,4,0.000,0.055,3276,3518,2348,0,0,0,0,0,0
$GC,21816,0.50,155.7,591.9,12.5,713,21820,0.12,2.42,0.00,0.000,6,0.143,0.043,3249,1925,2348,0,0,0,0,0,0
$GC,22159,0.50,155.7,555.9,10.6,722,22160,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1924,2348,0,0,0,0,0,0
$GC,22482,0.50,155.7,519.3,11.1,730,22487,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,333,2348,0,0,0,0,0,0
$GC,22550,0.50,155.7,512.1,10.2,731,22554,0.00,2.40,0.00,0.000,6,0.000,0.047,3260,1933,2348,0,0,0,0,0,0
$GC,22886,0.50,155.7,475.2,10.9,740,22890,0.00,2.45,0.00,0.000,4,0.000,0.054,3260,3513,2348,0,0,0,0,0,0
$GC,22963,0.50,155.7,465.7,11.1,741,22969,0.00,2.42,0.00,0.000,6,0.000,0.042,3272,1914,2348,0,0,0,0,0,0
$GC,23295,0.50,155.7,423.3,13.2,750,23299,0.00,2.47,0.00,0.000,4,0.000,0.054,3272,3506,2348,0,0,0,0,0,0
$GC,23334,0.50,155.7,417.7,13.2,751,23339,0.12,2.42,0.00,0.000,6,0.137,0.043,3245,1923,2348,0,0,0,0,0,0
$GC,23659,0.50,155.7,385.8,9.2,759,23663,0.00,2.42,0.00,0.000,4,0.000,0.054,3256,334,2348,0,0,0,0,0,0
$GC,23747,0.50,155.7,377.8,7.7,761,23752,0.00,2.40,0.00,0.000,6,0.000,0.044,3256,1916,2348,0,0,0,0,0,0
$GC,24074,0.50,155.7,350.3,8.6,769,24078,0.00,2.45,0.00,0.000,4,0.000,0.051,3256,3521,2349,0,0,0,0,0,0
$GC,24113,0.50,155.7,346.5,9.9,770,24117,0.00,2.42,0.00,0.000,6,0.000,0.040,3268,1917,2349,0,0,0,0,0,0
$GC,24439,0.50,155.7,314.1,10.2,778,24440,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1916,2350,0,0,0,0,0,0
$GC,24743,0.50,155.7,283.6,9.3,789,24747,0.00,2.42,0.00,0.000,4,0.000,0.053,3281,329,2351,0,0,0,0,0,0
$GC,24828,0.50,155.7,275.5,8.4,793,24832,0.00,2.35,0.00,0.000,6,0.000,0.042,3281,1922,2352,0,0,0,0,0,0
$GC,25153,0.50,155.7,243.7,10.0,809,25158,0.00,2.45,0.00,0.000,4,0.000,0.052,3281,3504,2353,0,0,0,0,0,0
$GC,25263,0.50,155.7,231.4,10.5,814,25268,0.12,2.38,0.00,0.000,6,0.128,0.041,3251,1926,2354,0,0,0,0,0,0
$GC,25590,0.50,155.7,202.7,8.2,830,25592,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1926,2354,0,0,0,0,0,0
$GC,25908,0.54,182.0,183.9,5.3,858,25939,0.00,2.53,23.02,0.918,4,0.000,0.051,3262,327,2253,0,0,0,0,0,0
$GC,25968,0.54,184.4,180.5,5.9,863,25978,0.00,2.40,4.18,0.607,6,0.000,0.041,3262,1923,2243,0,0,0,0,0,0
$GC,26241,0.54,184.4,162.5,7.1,889,26245,0.00,2.45,0.00,0.000,4,0.000,0.049,3262,3520,2243,0,0,0,0,0,0
$GC,26347,0.54,184.4,154.0,6.0,898,26351,0.00,2.42,0.00,0.000,6,0.000,0.038,3274,1908,2244,0,0,0,0,0,0
$GC,26609,0.54,184.4,133.7,7.6,922,26613,0.00,2.40,0.00,0.000,4,0.000,0.049,3286,339,2245,0,0,0,0,0,0
$GC,26713,0.54,184.4,124.7,7.3,931,26720,0.00,2.35,0.00,0.000,6,0.000,0.041,3286,1929,2246,0,0,0,0,0,0
$GC,26975,0.54,184.4,102.8,7.9,956,26979,0.00,2.45,0.00,0.000,4,0.000,0.051,3286,3503,2248,0,0,0,0,0,0
$GC,27030,0.54,184.4,97.5,9.1,960,27037,0.12,2.35,0.00,0.000,6,0.124,0.036,3254,1929,2248,0,0,0,0,0,0
$GC,27292,0.54,184.4,80.3,6.3,985,27296,0.00,2.45,0.00,0.000,4,0.000,0.049,3265,325,2249,0,0,0,0,0,0
$GC,27320,0.54,184.4,78.3,6.6,987,27325,0.00,2.38,0.00,0.000,6,0.000,0.042,3265,1925,2249,0,0,0,0,0,0
$GC,27582,0.54,184.4,61.3,7.1,1011,27586,0.00,2.42,0.00,0.000,4,0.000,0.050,3265,3515,2251,0,0,0,0,0,0
$GC,27665,0.54,184.4,55.0,7.3,1018,27672,0.00,2.38,0.00,0.000,6,0.000,0.038,3276,1913,2252,0,0,0,0,0,0
$GC,27927,0.54,184.4,38.4,6.5,1043,27938,0.00,2.50,3.92,0.474,4,0.000,0.050,3276,3510,2243,0,0,0,0,0,0
$GC,27989,0.56,196.6,35.0,5.7,1048,28006,0.00,2.40,11.73,0.713,6,0.000,0.039,3287,1908,2193,0,0,0,0,0,0
$GC,28262,0.56,196.6,19.0,6.4,1074,28267,0.00,2.38,0.00,0.000,4,0.000,0.050,3298,333,2194,0,0,0,0,0,0
$GC,28348,0.61,240.9,13.2,4.8,1081,28390,0.00,2.38,36.62,0.810,6,0.000,0.043,3298,1941,2012,0,0,0,0,0,0
$STATE,28493,end climb,SURFACE_DEPTH_REACHED
$STATE,28494,begin surface coast
$FINISH,0.3,0.999293
$STATE,28538,end surface coast,CONTROL_FINISHED_OK
$STATE,28538,begin surface
$SM_CCo,28555,77.35,0.835,0,0,1364,400.08
$SM_GC,1.01,0.00,0.00,77.35,0.000,0.000,0.835,122,2171,1364,-9.28,0.59,400.08
$IRIDIUM_FIX,2202.04,12835.96,150812,111143
$TT8_MAMPS,0.027612
$HUMID,1078711603
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.7,69.342
$10V_AH,9.8,57.532
$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,21.525,322.425,374.050,77.350,0.000,29.635,38.552,210.568,0.000,0.000,13.035,2462.990,22200.453,679.233,3138.902,551.447,33.381,2268.049,0.000,2822.489,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,59.826,1619.904,835.263,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,750.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,40001,1099
$CAP_FILE_SIZE,320790,0
$CFSIZE,260165632,186945536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210211,094107,2212.571,12841.064,23,1.5,23,-3.2