version: 66.07
glider: 500
mission: 5
dive: 395
start: 2 21 111 9 53 44
data:
$ID,500
$MISSION,5
$DIVE,395
$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,-129399.9
$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,38
$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
$GPS1,210211,094107,2212.571,12841.064,23,1.5,23,-3.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.9
$GPS2,210211,095252,2212.930,12841.099,14,2.2,33,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.046,-0.216
$KALMAN_X,-787736.4,643.9,310.0,1346969.9,-1480.1
$KALMAN_Y,205897.4,16.7,134.9,-88875.8,11188.0
$MHEAD_RNG_PITCHd_Wd,195.1,191865,-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,15083,-0.51,-155.7,784.8,-4.6,560,15087,0.00,2.35,0.00,0.000,4,0.000,0.044,2898,565,3601,0,0,0,0,0,0
$GC,15195,-0.51,-155.7,790.2,-4.7,562,15200,0.12,2.33,0.00,0.000,6,0.122,0.043,2932,2150,3600,0,0,0,0,0,0
$GC,15534,-0.51,-155.7,803.5,-4.0,571,15538,0.00,2.38,0.00,0.000,4,0.000,0.045,2932,572,3600,0,0,0,0,0,0
$GC,15678,-0.51,-155.7,809.5,-3.8,574,15682,0.00,2.35,0.00,0.000,6,0.000,0.044,2923,2150,3600,0,0,0,0,0,0
$GC,16028,-0.51,-155.7,824.0,-4.3,583,16032,0.00,2.40,0.00,0.000,4,0.000,0.046,2924,573,3599,0,0,0,0,0,0
$GC,16106,-0.51,-155.7,827.4,-4.2,584,16112,0.00,2.35,0.00,0.000,6,0.000,0.044,2914,2159,3598,0,0,0,0,0,0
$GC,16437,-0.51,-155.7,841.9,-4.4,593,16441,0.00,2.40,0.00,0.000,4,0.000,0.047,2914,569,3598,0,0,0,0,0,0
$GC,16545,-0.51,-155.7,846.8,-4.1,595,16549,0.00,2.38,0.00,0.000,6,0.000,0.044,2903,2154,3598,0,0,0,0,0,0
$GC,16888,-0.51,-155.7,862.4,-4.6,604,16892,0.00,2.40,0.00,0.000,4,0.000,0.046,2903,564,3598,0,0,0,0,0,0
$GC,16944,-0.51,-155.7,865.0,-4.3,605,16949,0.12,2.38,0.00,0.000,6,0.117,0.044,2936,2154,3597,0,0,0,0,0,0
$GC,17293,-0.51,-155.7,878.2,-3.8,614,17297,0.00,2.38,0.00,0.000,4,0.000,0.046,2937,565,3597,0,0,0,0,0,0
$GC,17550,-0.51,-155.7,888.4,-4.0,619,17556,0.00,2.38,0.00,0.000,6,0.000,0.044,2937,2155,3596,0,0,0,0,0,0
$GC,17881,-0.51,-155.7,902.0,-4.4,628,17885,0.00,2.45,0.00,0.000,4,0.000,0.053,2927,3733,3595,0,0,0,0,0,0
$GC,18100,-0.51,-155.7,911.8,-4.9,633,18105,0.00,2.38,0.00,0.000,6,0.000,0.037,2927,2146,3595,0,0,0,0,0,0
$GC,18427,-0.51,-155.7,925.7,-4.2,641,18431,0.00,2.47,0.00,0.000,4,0.000,0.054,2924,3732,3594,0,0,0,0,0,0
$GC,18624,-0.51,-155.7,933.7,-4.0,645,18628,0.00,2.35,0.00,0.000,6,0.000,0.036,2924,2146,3594,0,0,0,0,0,0
$GC,18967,-0.51,-155.7,946.3,-3.7,654,18971,0.00,2.53,0.00,0.000,4,0.000,0.055,2912,3740,3593,0,0,0,0,0,0
$GC,19080,-0.51,-155.7,950.8,-2.9,656,19085,0.00,2.40,0.00,0.000,6,0.000,0.038,2912,2153,3593,0,0,0,0,0,0
$GC,19424,-0.51,-155.7,964.0,-3.8,665,19428,0.00,2.47,0.00,0.000,4,0.000,0.054,2901,3731,3593,0,0,0,0,0,0
$GC,19475,-0.51,-155.7,966.0,-3.4,666,19479,0.00,2.40,0.00,0.000,6,0.000,0.037,2901,2141,3592,0,0,0,0,0,0
$GC,19789,-0.51,-155.7,977.7,-3.7,674,19793,0.00,2.53,0.00,0.000,4,0.000,0.055,2889,3738,3592,0,0,0,0,0,0
$GC,19874,-0.51,-155.7,980.8,-3.6,676,19879,0.12,2.38,0.00,0.000,6,0.110,0.038,2935,2153,3592,0,0,0,0,0,0
$GC,20198,-0.51,-155.7,989.8,-2.7,684,20202,0.00,2.40,0.00,0.000,4,0.000,0.050,2936,571,3592,0,0,0,0,0,0
$STATE,20206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20206,begin apogee
$GC,20215,-0.23,0.0,990.1,2.5,684,20361,0.25,0.00,140.18,1.638,6,0.084,0.000,3033,1921,2994,0,0,0,0,0,0
$STATE,20362,end apogee,CONTROL_FINISHED_OK
$STATE,20362,begin climb
$GC,20364,0.51,155.7,987.8,0.0,688,20530,0.60,2.72,157.05,1.614,4,0.052,0.051,3277,351,2359,0,0,0,0,0,0
$GC,20636,0.51,155.7,950.1,16.2,694,20640,0.00,2.50,0.00,0.000,6,0.000,0.047,3277,1910,2358,0,0,0,0,0,0
$GC,20950,0.51,155.7,899.9,15.8,702,20955,0.00,2.53,0.00,0.000,4,0.000,0.055,3277,3521,2354,0,0,0,0,0,0
$GC,21005,0.51,155.7,890.4,15.7,703,21010,0.12,2.42,0.00,0.000,6,0.137,0.041,3250,1924,2353,0,0,0,0,0,0
$GC,21320,0.51,155.7,849.9,12.8,711,21322,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1924,2351,0,0,0,0,0,0
$GC,21643,0.51,155.7,809.3,12.4,719,21644,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1923,2350,0,0,0,0,0,0
$GC,21968,0.51,155.7,769.3,12.2,727,21969,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1923,2349,0,0,0,0,0,0
$GC,22294,0.51,155.7,732.2,11.2,735,22295,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1923,2348,0,0,0,0,0,0
$GC,22618,0.51,155.7,695.8,11.3,743,22622,0.00,2.45,0.00,0.000,4,0.000,0.054,3249,3520,2348,0,0,0,0,0,0
$GC,22668,0.51,155.7,689.8,12.0,744,22672,0.00,2.42,0.00,0.000,6,0.000,0.042,3260,1917,2347,0,0,0,0,0,0
$GC,22981,0.51,155.7,652.6,12.2,752,22985,0.00,2.45,0.00,0.000,4,0.000,0.056,3273,344,2347,0,0,0,0,0,0
$GC,23035,0.51,155.7,645.3,11.5,753,23040,0.00,2.40,0.00,0.000,6,0.000,0.047,3273,1919,2347,0,0,0,0,0,0
$GC,23349,0.51,155.7,603.3,13.5,761,23353,0.00,2.45,0.00,0.000,4,0.000,0.054,3273,3510,2347,0,0,0,0,0,0
$GC,23410,0.51,155.7,594.2,16.6,762,23415,0.12,2.42,0.00,0.000,6,0.134,0.043,3245,1914,2347,0,0,0,0,0,0
$GC,23761,0.51,155.7,554.8,11.1,771,23765,0.00,2.42,0.00,0.000,4,0.000,0.055,3256,344,2347,0,0,0,0,0,0
$GC,23810,0.51,155.7,548.7,10.4,772,23814,0.00,2.38,0.00,0.000,6,0.000,0.047,3256,1920,2346,0,0,0,0,0,0
$GC,24130,0.51,155.7,512.5,11.3,780,24134,0.00,2.45,0.00,0.000,4,0.000,0.056,3256,3511,2346,0,0,0,0,0,0
$GC,24173,0.51,155.7,507.0,13.7,781,24178,0.00,2.47,0.00,0.000,6,0.000,0.044,3268,1924,2346,0,0,0,0,0,0
$GC,24500,0.51,155.7,468.1,12.4,789,24504,0.00,2.45,0.00,0.000,4,0.000,0.054,3281,328,2346,0,0,0,0,0,0
$GC,24539,0.51,155.7,462.8,12.0,790,24543,0.00,2.40,0.00,0.000,6,0.000,0.047,3281,1924,2346,0,0,0,0,0,0
$GC,24864,0.51,155.7,420.9,12.8,798,24868,0.00,2.45,0.00,0.000,4,0.000,0.057,3281,3515,2346,0,0,0,0,0,0
$GC,24931,0.51,155.7,411.8,14.0,799,24936,0.12,2.45,0.00,0.000,6,0.134,0.043,3253,1909,2346,0,0,0,0,0,0
$GC,25269,0.51,155.7,380.2,8.5,808,25273,0.00,2.42,0.00,0.000,4,0.000,0.052,3264,334,2346,0,0,0,0,0,0
$GC,25313,0.51,155.7,376.2,8.5,809,25317,0.00,2.40,0.00,0.000,6,0.000,0.046,3264,1922,2346,0,0,0,0,0,0
$GC,25632,0.51,155.7,346.7,9.2,817,25636,0.00,2.40,0.00,0.000,4,0.000,0.051,3264,3506,2347,0,0,0,0,0,0
$GC,25664,0.51,155.7,343.0,10.7,817,25670,0.00,2.40,0.00,0.000,6,0.000,0.041,3277,1909,2347,0,0,0,0,0,0
$GC,25996,0.51,155.7,308.1,10.6,826,26001,0.00,2.53,0.00,0.000,4,0.000,0.053,3277,3513,2348,0,0,0,0,0,0
$GC,26036,0.51,155.7,303.6,12.9,827,26041,0.12,2.45,0.00,0.000,6,0.129,0.042,3247,1923,2349,0,0,0,0,0,0
$GC,26363,0.51,155.7,279.7,7.0,841,26368,0.00,2.47,0.00,0.000,4,0.000,0.051,3258,325,2349,0,0,0,0,0,0
$GC,26418,0.51,155.7,275.7,8.0,843,26425,0.00,2.35,0.00,0.000,6,0.000,0.042,3258,1923,2350,0,0,0,0,0,0
$GC,26734,0.51,155.7,252.5,7.1,859,26738,0.00,2.40,0.00,0.000,4,0.000,0.050,3258,3502,2350,0,0,0,0,0,0
$GC,26843,0.51,155.7,244.0,7.0,864,26847,0.00,2.40,0.00,0.000,6,0.000,0.037,3270,1904,2351,0,0,0,0,0,0
$GC,27168,0.51,155.7,218.8,7.8,880,27173,0.00,2.40,0.00,0.000,4,0.000,0.049,3283,345,2352,0,0,0,0,0,0
$GC,27264,0.51,155.7,211.0,6.6,884,27268,0.00,2.35,0.00,0.000,6,0.000,0.041,3283,1924,2352,0,0,0,0,0,0
$GC,27586,0.51,155.7,182.4,9.3,908,27590,0.00,2.42,0.00,0.000,4,0.000,0.048,3283,3504,2354,0,0,0,0,0,0
$GC,27684,0.51,155.7,172.3,9.8,916,27691,0.12,2.35,0.00,0.000,6,0.124,0.036,3252,1928,2355,0,0,0,0,0,0
$GC,27946,0.51,155.7,154.1,6.6,941,27950,0.00,2.47,0.00,0.000,4,0.000,0.050,3262,330,2356,0,0,0,0,0,0
$GC,27990,0.51,155.7,150.8,6.9,944,27996,0.00,2.35,0.00,0.000,6,0.000,0.042,3262,1918,2356,0,0,0,0,0,0
$GC,28252,0.51,156.3,132.4,6.0,969,28256,0.00,2.42,0.00,0.000,4,0.000,0.049,3262,3510,2357,0,0,0,0,0,0
$GC,28338,0.51,156.3,126.8,6.3,976,28342,0.00,2.40,0.00,0.000,6,0.000,0.037,3274,1922,2358,0,0,0,0,0,0
$GC,28599,0.51,156.3,109.8,6.4,1000,28603,0.00,2.45,0.00,0.000,4,0.000,0.050,3286,333,2359,0,0,0,0,0,0
$GC,28677,0.51,156.3,104.3,7.1,1006,28683,0.12,2.35,0.00,0.000,6,0.114,0.040,3239,1929,2359,0,0,0,0,0,0
$GC,28939,0.57,211.6,92.0,4.5,1031,28994,0.10,2.53,47.22,0.881,4,0.098,0.048,3330,3501,2131,0,0,0,0,0,0
$GC,29062,0.57,211.6,79.8,11.3,1042,29069,0.22,2.38,0.00,0.000,6,0.114,0.035,3267,1912,2133,0,0,0,0,0,0
$GC,29323,0.57,211.6,62.0,6.5,1067,29328,0.00,2.42,0.00,0.000,4,0.000,0.050,3278,345,2134,0,0,0,0,0,0
$GC,29346,0.57,211.6,60.5,6.0,1068,29352,0.00,2.33,0.00,0.000,6,0.000,0.041,3277,1921,2134,0,0,0,0,0,0
$GC,29608,0.61,241.3,44.7,5.2,1093,29639,0.00,2.45,25.65,0.834,4,0.000,0.046,3278,3521,2010,0,0,0,0,0,0
$GC,29700,0.61,241.3,38.6,6.8,1101,29707,0.00,2.40,0.00,0.000,6,0.000,0.035,3288,1926,2013,0,0,0,0,0,0
$GC,29962,0.61,241.3,21.8,6.5,1126,29966,0.00,2.42,0.00,0.000,4,0.000,0.050,3299,336,2014,0,0,0,0,0,0
$GC,30040,0.61,241.3,15.9,6.9,1132,30046,0.00,2.33,0.00,0.000,6,0.000,0.042,3299,1923,2015,0,0,0,0,0,0
$STATE,30214,end climb,SURFACE_DEPTH_REACHED
$STATE,30214,begin surface coast
$FINISH,0.8,1.023187
$STATE,30247,end surface coast,CONTROL_FINISHED_OK
$STATE,30247,begin surface
$SM_CCo,30266,78.22,0.840,0,0,1363,400.08
$SM_GC,1.15,0.00,0.00,78.22,0.000,0.000,0.840,121,2171,1363,-9.28,0.59,400.08
$IRIDIUM_FIX,2206.70,12842.13,160812,040406
$TT8_MAMPS,0.027612
$HUMID,1078705152
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.6,69.543
$10V_AH,9.8,57.639
$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,21.675,339.125,370.100,78.225,0.000,58.465,68.134,343.572,0.000,0.000,36.489,2591.532,23575.992,696.816,3573.804,587.748,33.380,2400.908,0.000,3045.780,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,56.758,1637.545,839.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,786.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,39984,1152
$CAP_FILE_SIZE,342146,0
$CFSIZE,260165632,186814464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210211,182037,2213.037,12841.856,28,1.0,28,-3.2