version: 66.07
glider: 500
mission: 5
dive: 396
start: 2 21 111 18 28 31
data:
$ID,500
$MISSION,5
$DIVE,396
$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,-129417.62
$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,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
$GPS1,210211,182037,2213.037,12841.856,28,1.0,28,-3.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.7
$GPS2,210211,182737,2213.240,12841.923,10,1.5,15,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.143,-0.168
$KALMAN_X,-785071.7,308.2,986.5,1345366.0,-869.9
$KALMAN_Y,215261.1,-1013.2,-563.2,-95924.0,13293.0
$MHEAD_RNG_PITCHd_Wd,223.6,191488,-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,15574,-0.50,-155.7,837.2,-4.8,560,15578,0.00,2.45,0.00,0.000,4,0.000,0.054,2904,3732,3595,0,0,0,0,0,0
$GC,15595,-0.50,-155.7,838.3,-4.2,560,15599,0.00,2.38,0.00,0.000,6,0.000,0.038,2904,2142,3595,0,0,0,0,0,0
$GC,15935,-0.50,-155.7,852.4,-4.1,569,15939,0.00,2.47,0.00,0.000,4,0.000,0.054,2893,3736,3595,0,0,0,0,0,0
$GC,15956,-0.50,-155.7,853.3,-3.8,569,15960,0.12,2.38,0.00,0.000,6,0.109,0.038,2939,2146,3594,0,0,0,0,0,0
$GC,16301,-0.50,-155.7,864.7,-3.4,578,16305,0.00,2.45,0.00,0.000,4,0.000,0.055,2928,3736,3594,0,0,0,0,0,0
$GC,16457,-0.50,-155.7,870.2,-2.9,581,16461,0.00,2.38,0.00,0.000,6,0.000,0.038,2928,2152,3594,0,0,0,0,0,0
$GC,16796,-0.50,-155.7,881.6,-3.5,590,16800,0.00,2.45,0.00,0.000,4,0.000,0.054,2917,3730,3593,0,0,0,0,0,0
$GC,16885,-0.50,-155.7,885.0,-3.8,592,16889,0.00,2.35,0.00,0.000,6,0.000,0.037,2917,2146,3593,0,0,0,0,0,0
$GC,17206,-0.50,-155.7,897.6,-4.1,600,17211,0.00,2.47,0.00,0.000,4,0.000,0.055,2906,3737,3592,0,0,0,0,0,0
$GC,17296,-0.50,-155.7,901.6,-3.9,602,17300,0.00,2.38,0.00,0.000,6,0.000,0.038,2906,2153,3591,0,0,0,0,0,0
$GC,17616,-0.50,-155.7,915.6,-4.4,610,17621,0.00,2.45,0.00,0.000,4,0.000,0.054,2894,3731,3591,0,0,0,0,0,0
$GC,17683,-0.50,-155.7,918.7,-5.2,611,17688,0.10,2.38,0.00,0.000,6,0.120,0.037,2932,2142,3591,0,0,0,0,0,0
$GC,18023,-0.50,-155.7,931.6,-3.9,620,18027,0.00,2.47,0.00,0.000,4,0.000,0.055,2921,3732,3591,0,0,0,0,0,0
$GC,18135,-0.50,-155.7,936.0,-3.8,622,18139,0.00,2.38,0.00,0.000,6,0.000,0.038,2921,2150,3590,0,0,0,0,0,0
$GC,18474,-0.50,-155.7,947.8,-3.4,631,18478,0.00,2.47,0.00,0.000,4,0.000,0.055,2910,3734,3590,0,0,0,0,0,0
$GC,18574,-0.50,-155.7,951.2,-3.1,633,18578,0.00,2.38,0.00,0.000,6,0.000,0.038,2911,2152,3590,0,0,0,0,0,0
$GC,18924,-0.50,-155.7,960.5,-2.5,642,18928,0.00,2.47,0.00,0.000,4,0.000,0.055,2898,3739,3590,0,0,0,0,0,0
$GC,18973,-0.50,-155.7,961.7,-2.1,643,18978,0.00,2.40,0.00,0.000,6,0.000,0.038,2898,2149,3589,0,0,0,0,0,0
$GC,19289,-0.50,-155.7,969.2,-2.4,651,19293,0.00,2.47,0.00,0.000,4,0.000,0.055,2886,3732,3589,0,0,0,0,0,0
$GC,19333,-0.50,-155.7,970.4,-2.1,652,19338,0.12,2.40,0.00,0.000,6,0.110,0.038,2932,2140,3589,0,0,0,0,0,0
$GC,19652,-0.50,-155.7,979.4,-3.1,660,19657,0.00,2.47,0.00,0.000,4,0.000,0.055,2921,3738,3589,0,0,0,0,0,0
$GC,19854,-0.50,-155.7,986.8,-3.7,664,19858,0.00,2.40,0.00,0.000,6,0.000,0.038,2922,2141,3588,0,0,0,0,0,0
$STATE,19944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19944,begin apogee
$GC,19951,-0.23,0.0,990.0,3.4,667,20094,0.25,0.00,139.75,1.654,6,0.071,0.000,3023,1924,2995,0,0,0,0,0,0
$STATE,20095,end apogee,CONTROL_FINISHED_OK
$STATE,20095,begin climb
$GC,20097,0.50,155.7,990.8,0.0,670,20262,0.62,2.72,157.07,1.633,4,0.053,0.052,3261,3502,2360,0,0,0,0,0,0
$GC,20419,0.50,155.7,946.2,15.8,677,20423,0.00,2.45,0.00,0.000,6,0.000,0.039,3273,1926,2358,0,0,0,0,0,0
$GC,20770,0.50,155.7,890.6,16.1,686,20774,0.00,2.45,0.00,0.000,4,0.000,0.053,3286,336,2356,0,0,0,0,0,0
$GC,20796,0.50,155.7,885.6,16.6,686,20801,0.12,2.40,0.00,0.000,6,0.130,0.046,3244,1920,2355,0,0,0,0,0,0
$GC,21135,0.50,155.7,841.1,13.0,695,21139,0.00,2.47,0.00,0.000,4,0.000,0.057,3244,3505,2354,0,0,0,0,0,0
$GC,21234,0.50,155.7,827.2,13.1,697,21239,0.00,2.42,0.00,0.000,6,0.000,0.043,3255,1913,2353,0,0,0,0,0,0
$GC,21549,0.50,155.7,786.9,12.7,705,21550,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1913,2352,0,0,0,0,0,0
$GC,21873,0.50,155.7,747.5,12.1,713,21874,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1913,2351,0,0,0,0,0,0
$GC,22199,0.50,155.7,705.4,13.2,721,22203,0.00,2.47,0.00,0.000,4,0.000,0.055,3255,3512,2351,0,0,0,0,0,0
$GC,22219,0.50,155.7,702.1,12.8,721,22224,0.00,2.45,0.00,0.000,6,0.000,0.044,3268,1917,2351,0,0,0,0,0,0
$GC,22562,0.50,155.7,656.1,13.5,730,22563,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1916,2351,0,0,0,0,0,0
$GC,22888,0.50,155.7,613.6,13.0,738,22889,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1916,2350,0,0,0,0,0,0
$GC,23212,0.50,155.7,572.3,12.7,746,23213,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1916,2349,0,0,0,0,0,0
$GC,23537,0.50,155.7,532.1,12.2,754,23538,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1916,2349,0,0,0,0,0,0
$GC,23863,0.50,155.7,495.8,11.3,762,23867,0.00,2.47,0.00,0.000,4,0.000,0.055,3281,326,2349,0,0,0,0,0,0
$GC,23917,0.50,155.7,489.1,10.0,763,23922,0.00,2.40,0.00,0.000,6,0.000,0.045,3281,1923,2348,0,0,0,0,0,0
$GC,24232,0.50,155.7,451.0,12.1,771,24236,0.00,2.47,0.00,0.000,4,0.000,0.052,3280,3514,2348,0,0,0,0,0,0
$GC,24337,0.50,155.7,437.4,12.6,773,24342,0.12,2.45,0.00,0.000,6,0.131,0.041,3252,1905,2348,0,0,0,0,0,0
$GC,24681,0.50,155.7,406.4,8.9,782,24686,0.00,2.50,0.00,0.000,4,0.000,0.051,3252,3517,2348,0,0,0,0,0,0
$GC,24708,0.50,155.7,403.5,9.8,782,24712,0.00,2.45,0.00,0.000,6,0.000,0.041,3262,1911,2349,0,0,0,0,0,0
$GC,25046,0.50,155.7,371.1,9.6,791,25051,0.00,2.45,0.00,0.000,4,0.000,0.051,3262,3504,2349,0,0,0,0,0,0
$GC,25119,0.50,155.7,363.1,10.4,792,25123,0.00,2.42,0.00,0.000,6,0.000,0.040,3275,1926,2349,0,0,0,0,0,0
$GC,25455,0.50,155.7,327.8,10.2,801,25459,0.00,2.45,0.00,0.000,4,0.000,0.051,3287,331,2349,0,0,0,0,0,0
$GC,25579,0.50,155.7,315.2,9.8,803,25586,0.12,2.38,0.00,0.000,6,0.120,0.043,3243,1920,2349,0,0,0,0,0,0
$GC,25893,0.50,155.7,290.6,7.7,814,25897,0.00,2.42,0.00,0.000,4,0.000,0.050,3243,3520,2350,0,0,0,0,0,0
$GC,25957,0.50,155.7,285.5,8.8,817,25961,0.00,2.42,0.00,0.000,6,0.000,0.038,3253,1923,2350,0,0,0,0,0,0
$GC,26284,0.50,155.7,261.4,6.9,833,26288,0.00,2.45,0.00,0.000,4,0.000,0.051,3266,326,2351,0,0,0,0,0,0
$GC,26345,0.50,155.7,256.6,6.7,836,26349,0.00,2.38,0.00,0.000,6,0.000,0.041,3266,1929,2352,0,0,0,0,0,0
$GC,26672,0.50,155.7,229.3,9.0,852,26676,0.00,2.40,0.00,0.000,4,0.000,0.050,3266,3501,2353,0,0,0,0,0,0
$GC,26766,0.50,155.7,219.5,8.9,856,26770,0.00,2.38,0.00,0.000,6,0.000,0.035,3278,1914,2353,0,0,0,0,0,0
$GC,27090,0.50,155.7,190.2,7.3,877,27094,0.00,2.42,0.00,0.000,4,0.000,0.051,3290,341,2354,0,0,0,0,0,0
$GC,27190,0.50,155.7,182.6,7.8,885,27197,0.12,2.35,0.00,0.000,6,0.113,0.040,3243,1926,2354,0,0,0,0,0,0
$GC,27452,0.55,190.1,169.5,5.1,910,27487,0.00,2.47,29.38,0.942,4,0.000,0.049,3243,3517,2220,0,0,0,0,0,0
$GC,27548,0.55,190.1,163.2,6.3,918,27554,0.00,2.45,0.00,0.000,6,0.000,0.037,3253,1908,2222,0,0,0,0,0,0
$GC,27809,0.55,190.1,145.0,6.5,943,27814,0.00,2.38,0.00,0.000,4,0.000,0.048,3265,341,2223,0,0,0,0,0,0
$GC,27861,0.55,190.1,141.5,7.0,947,27866,0.00,2.35,0.00,0.000,6,0.000,0.039,3265,1923,2223,0,0,0,0,0,0
$GC,28123,0.62,249.6,126.2,4.4,971,28180,0.00,2.47,50.83,0.942,4,0.000,0.046,3265,3513,1976,0,0,0,0,0,0
$GC,28238,0.62,249.6,119.8,8.1,981,28242,0.00,2.45,0.00,0.000,6,0.000,0.036,3275,1909,1980,0,0,0,0,0,0
$GC,28499,0.62,249.6,102.9,7.3,1005,28503,0.00,2.40,0.00,0.000,4,0.000,0.048,3287,341,1981,0,0,0,0,0,0
$GC,28556,0.62,249.6,98.7,6.6,1010,28560,0.00,2.35,0.00,0.000,6,0.000,0.038,3287,1936,1981,0,0,0,0,0,0
$GC,28818,0.62,249.6,77.9,7.9,1034,28822,0.00,2.40,0.00,0.000,4,0.000,0.048,3287,3518,1982,0,0,0,0,0,0
$GC,28864,0.62,249.6,73.9,10.4,1038,28868,0.00,2.40,0.00,0.000,6,0.000,0.036,3298,1924,1982,0,0,0,0,0,0
$GC,29126,0.62,249.6,52.3,7.8,1062,29130,0.00,2.42,0.00,0.000,4,0.000,0.048,3310,329,1982,0,0,0,0,0,0
$GC,29223,0.65,278.0,45.1,5.3,1070,29254,0.00,2.35,25.70,0.843,6,0.000,0.039,3310,1935,1861,0,0,0,0,0,0
$GC,29511,0.65,278.0,22.7,8.3,1097,29515,0.00,2.40,0.00,0.000,4,0.000,0.048,3310,3511,1865,0,0,0,0,0,0
$GC,29554,0.65,278.0,19.1,7.7,1100,29561,0.00,2.40,0.00,0.000,6,0.000,0.038,3321,1907,1866,0,0,0,0,0,0
$STATE,29750,end climb,SURFACE_DEPTH_REACHED
$STATE,29750,begin surface coast
$FINISH,1.1,1.023205
$STATE,29783,end surface coast,CONTROL_FINISHED_OK
$STATE,29783,begin surface
$SM_CCo,29802,61.78,0.851,0,0,1363,400.08
$SM_GC,1.08,0.00,0.00,61.78,0.000,0.000,0.851,111,2172,1363,-9.31,0.59,400.08
$IRIDIUM_FIX,2204.37,12842.50,160812,040445
$TT8_MAMPS,0.027612
$HUMID,1078730958
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,21.6,69.739
$10V_AH,9.8,57.740
$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,21.250,311.525,402.725,61.775,0.000,29.185,39.362,192.802,0.000,0.000,17.097,2502.263,23360.348,680.619,3167.517,549.787,33.386,2284.837,0.000,2850.027,0.000,0.542,0.000
$DEVICE_MAMPS,218.595,59.059,1654.419,850.603,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,766.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,40022,1122
$CAP_FILE_SIZE,323162,0
$CFSIZE,260165632,186724352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220211,024737,2214.414,12841.393,41,1.1,41,-3.2