version: 66.07
glider: 500
mission: 5
dive: 398
start: 2 22 111 11 8 9
data:
$ID,500
$MISSION,5
$DIVE,398
$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,-129450.55
$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,60
$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
$GPS1,220211,110025,2215.885,12846.081,39,1.0,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.5
$GPS2,220211,110714,2215.977,12846.207,13,1.0,13,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.112,-0.190
$KALMAN_X,-775806.1,663.9,-301.3,1344442.0,3227.3
$KALMAN_Y,230869.5,-530.5,-149.8,-107353.9,11806.6
$MHEAD_RNG_PITCHd_Wd,152.6,191452,-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,14992,-0.50,-155.7,806.9,-3.7,536,14996,0.00,2.35,0.00,0.000,6,0.000,0.043,2902,2151,3611,0,0,0,0,0,0
$GC,15305,-0.50,-155.7,819.3,-4.1,544,15308,0.00,2.38,0.00,0.000,4,0.000,0.044,2902,568,3610,0,0,0,0,0,0
$GC,15366,-0.50,-155.7,821.8,-3.8,545,15371,0.12,2.33,0.00,0.000,6,0.118,0.042,2936,2152,3610,0,0,0,0,0,0
$GC,15716,-0.50,-155.7,833.8,-3.5,554,15720,0.00,2.35,0.00,0.000,4,0.000,0.044,2937,571,3610,0,0,0,0,0,0
$GC,15922,-0.50,-155.7,840.2,-2.8,558,15927,0.00,2.33,0.00,0.000,6,0.000,0.042,2934,2157,3609,0,0,0,0,0,0
$GC,16254,-0.50,-155.7,849.6,-2.9,566,16258,0.00,2.42,0.00,0.000,4,0.000,0.054,2924,3731,3608,0,0,0,0,0,0
$GC,16511,-0.50,-155.7,857.7,-3.2,571,16517,0.00,2.35,0.00,0.000,6,0.000,0.035,2924,2149,3608,0,0,0,0,0,0
$GC,16844,-0.50,-155.7,869.5,-3.8,580,16848,0.00,2.45,0.00,0.000,4,0.000,0.055,2913,3729,3608,0,0,0,0,0,0
$GC,16956,-0.50,-155.7,873.9,-3.7,582,16960,0.00,2.35,0.00,0.000,6,0.000,0.036,2913,2145,3607,0,0,0,0,0,0
$GC,17300,-0.50,-155.7,887.8,-4.0,591,17305,0.00,2.47,0.00,0.000,4,0.000,0.055,2902,3732,3607,0,0,0,0,0,0
$GC,17344,-0.50,-155.7,889.7,-3.1,592,17349,0.00,2.35,0.00,0.000,6,0.000,0.037,2901,2153,3607,0,0,0,0,0,0
$GC,17671,-0.50,-155.7,902.0,-3.8,600,17676,0.00,2.42,0.00,0.000,4,0.000,0.054,2889,3731,3606,0,0,0,0,0,0
$GC,17700,-0.50,-155.7,903.1,-3.6,600,17705,0.12,2.38,0.00,0.000,6,0.109,0.037,2937,2147,3606,0,0,0,0,0,0
$GC,18034,-0.50,-155.7,913.5,-3.0,608,18038,0.00,2.47,0.00,0.000,4,0.000,0.056,2926,3734,3606,0,0,0,0,0,0
$GC,18286,-0.50,-155.7,921.1,-3.5,613,18291,0.00,2.38,0.00,0.000,6,0.000,0.038,2927,2140,3605,0,0,0,0,0,0
$GC,18625,-0.50,-155.7,931.2,-3.1,622,18629,0.00,2.45,0.00,0.000,4,0.000,0.056,2924,3729,3605,0,0,0,0,0,0
$GC,18804,-0.50,-155.7,937.7,-5.2,626,18808,0.00,2.35,0.00,0.000,6,0.000,0.037,2924,2143,3605,0,0,0,0,0,0
$GC,19123,-0.50,-155.7,948.6,-3.6,634,19127,0.00,2.47,0.00,0.000,4,0.000,0.056,2913,3731,3605,0,0,0,0,0,0
$GC,19224,-0.50,-155.7,952.6,-3.3,636,19228,0.00,2.38,0.00,0.000,6,0.000,0.038,2913,2146,3604,0,0,0,0,0,0
$GC,19574,-0.50,-155.7,965.9,-3.8,645,19579,0.00,2.47,0.00,0.000,4,0.000,0.056,2902,3734,3604,0,0,0,0,0,0
$GC,19653,-0.50,-155.7,968.7,-3.5,646,19659,0.00,2.38,0.00,0.000,6,0.000,0.038,2902,2152,3604,0,0,0,0,0,0
$GC,19984,-0.50,-155.7,978.6,-2.7,655,19989,0.00,2.42,0.00,0.000,4,0.000,0.056,2891,3728,3603,0,0,0,0,0,0
$GC,20029,-0.50,-155.7,979.7,-2.7,656,20034,0.12,2.38,0.00,0.000,6,0.109,0.037,2938,2139,3603,0,0,0,0,0,0
$GC,20351,-0.50,-155.7,985.5,-1.9,664,20355,0.00,2.47,0.00,0.000,4,0.000,0.056,2927,3736,3603,0,0,0,0,0,0
$STATE,20539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20539,begin apogee
$GC,20548,-0.23,0.0,990.2,2.6,668,20695,0.25,0.00,141.30,1.613,6,0.071,0.000,3034,1928,2995,0,0,0,0,0,0
$STATE,20696,end apogee,CONTROL_FINISHED_OK
$STATE,20696,begin climb
$GC,20698,0.50,155.7,989.1,0.0,672,20860,0.57,0.00,157.20,1.589,6,0.048,0.000,3264,1927,2360,0,0,0,0,0,0
$GC,21184,0.50,155.7,928.7,12.8,684,21188,0.00,2.45,0.00,0.000,4,0.000,0.053,3265,3505,2354,0,0,0,0,0,0
$GC,21216,0.50,155.7,924.0,14.0,684,21222,0.00,2.40,0.00,0.000,6,0.000,0.041,3277,1925,2354,0,0,0,0,0,0
$GC,21548,0.50,155.7,876.7,14.6,693,21553,0.00,2.42,0.00,0.000,4,0.000,0.053,3289,331,2351,0,0,0,0,0,0
$GC,21576,0.50,155.7,872.1,16.5,693,21581,0.12,2.40,0.00,0.000,6,0.130,0.044,3247,1919,2351,0,0,0,0,0,0
$GC,21909,0.50,155.7,829.6,12.6,701,21913,0.00,2.40,0.00,0.000,4,0.000,0.053,3247,3506,2349,0,0,0,0,0,0
$GC,22004,0.50,155.7,816.8,12.5,703,22008,0.00,2.40,0.00,0.000,6,0.000,0.041,3258,1925,2349,0,0,0,0,0,0
$GC,22323,0.50,155.7,776.8,12.6,711,22327,0.00,2.42,0.00,0.000,4,0.000,0.053,3271,331,2348,0,0,0,0,0,0
$GC,22366,0.50,155.7,771.0,12.9,712,22370,0.00,2.38,0.00,0.000,6,0.000,0.044,3271,1919,2348,0,0,0,0,0,0
$GC,22691,0.50,155.7,728.1,13.5,720,22695,0.00,2.42,0.00,0.000,4,0.000,0.054,3271,3517,2347,0,0,0,0,0,0
$GC,22769,0.50,155.7,716.2,13.9,721,22775,0.00,2.45,0.00,0.000,6,0.000,0.042,3283,1904,2347,0,0,0,0,0,0
$GC,23100,0.50,155.7,667.7,14.6,730,23101,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1903,2346,0,0,0,0,0,0
$GC,23426,0.50,155.7,620.2,14.7,738,23430,0.00,2.40,0.00,0.000,4,0.000,0.051,3296,333,2346,0,0,0,0,0,0
$GC,23477,0.50,155.7,612.4,14.4,739,23482,0.15,2.40,0.00,0.000,6,0.120,0.044,3246,1924,2346,0,0,0,0,0,0
$GC,23797,0.50,155.7,575.6,11.4,747,23801,0.00,2.42,0.00,0.000,4,0.000,0.054,3246,3509,2345,0,0,0,0,0,0
$GC,23881,0.50,155.7,565.4,11.0,749,23885,0.00,2.40,0.00,0.000,6,0.000,0.042,3257,1918,2345,0,0,0,0,0,0
$GC,24207,0.50,155.7,531.6,10.0,757,24211,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,333,2345,0,0,0,0,0,0
$GC,24239,0.50,155.7,527.9,9.9,757,24245,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1922,2345,0,0,0,0,0,0
$GC,24570,0.50,155.7,491.0,11.9,766,24574,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,3511,2345,0,0,0,0,0,0
$GC,24632,0.50,155.7,482.8,11.4,767,24636,0.00,2.42,0.00,0.000,6,0.000,0.043,3282,1914,2344,0,0,0,0,0,0
$GC,24973,0.50,155.7,438.2,13.0,776,24975,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1914,2344,0,0,0,0,0,0
$GC,25299,0.50,155.7,398.8,11.8,784,25304,0.00,2.50,0.00,0.000,4,0.000,0.053,3281,3520,2344,0,0,0,0,0,0
$GC,25388,0.50,155.7,387.7,11.8,786,25393,0.12,2.42,0.00,0.000,6,0.126,0.040,3253,1927,2344,0,0,0,0,0,0
$GC,25716,0.50,155.7,359.0,8.8,794,25720,0.00,2.45,0.00,0.000,4,0.000,0.050,3264,325,2344,0,0,0,0,0,0
$GC,25749,0.50,155.7,355.4,8.3,794,25755,0.00,2.40,0.00,0.000,6,0.000,0.042,3264,1934,2344,0,0,0,0,0,0
$GC,26080,0.50,155.7,322.4,9.9,803,26084,0.00,2.42,0.00,0.000,4,0.000,0.052,3264,3512,2345,0,0,0,0,0,0
$GC,26141,0.50,155.7,316.0,9.7,804,26146,0.00,2.45,0.00,0.000,6,0.000,0.041,3276,1907,2346,0,0,0,0,0,0
$GC,26465,0.50,155.7,284.8,9.0,816,26469,0.00,2.40,0.00,0.000,4,0.000,0.048,3288,335,2347,0,0,0,0,0,0
$GC,26505,0.50,155.7,281.3,10.7,818,26510,0.12,2.35,0.00,0.000,6,0.117,0.041,3244,1924,2347,0,0,0,0,0,0
$GC,26831,0.50,155.7,258.6,7.1,834,26835,0.00,2.42,0.00,0.000,4,0.000,0.049,3243,3505,2348,0,0,0,0,0,0
$GC,26941,0.50,155.7,249.9,8.3,839,26945,0.00,2.38,0.00,0.000,6,0.000,0.036,3254,1924,2349,0,0,0,0,0,0
$GC,27274,0.50,155.7,225.5,6.7,855,27278,0.00,2.42,0.00,0.000,4,0.000,0.048,3266,332,2349,0,0,0,0,0,0
$GC,27306,0.54,184.8,223.1,5.2,856,27336,0.00,2.35,23.95,0.959,6,0.000,0.040,3266,1928,2241,0,0,0,0,0,0
$GC,27653,0.54,184.8,198.9,6.5,874,27658,0.00,2.40,0.00,0.000,4,0.000,0.050,3266,3499,2243,0,0,0,0,0,0
$GC,27708,0.54,184.8,194.6,7.0,878,27715,0.00,2.38,0.00,0.000,6,0.000,0.037,3278,1903,2243,0,0,0,0,0,0
$GC,27970,0.54,184.8,174.1,7.7,903,27974,0.00,2.38,0.00,0.000,4,0.000,0.047,3290,330,2244,0,0,0,0,0,0
$GC,28003,0.54,184.8,171.5,7.4,905,28009,0.00,2.35,0.00,0.000,6,0.000,0.039,3290,1925,2244,0,0,0,0,0,0
$GC,28265,0.54,184.8,151.7,7.3,930,28269,0.00,2.42,0.00,0.000,4,0.000,0.050,3290,3504,2245,0,0,0,0,0,0
$GC,28326,0.54,184.8,146.4,7.8,935,28331,0.12,2.38,0.00,0.000,6,0.120,0.036,3257,1916,2246,0,0,0,0,0,0
$GC,28588,0.58,217.0,132.5,5.2,959,28623,0.00,2.53,28.58,0.895,4,0.000,0.050,3257,3501,2110,0,0,0,0,0,0
$GC,28646,0.60,235.1,129.4,5.5,964,28668,0.00,2.40,16.27,0.870,6,0.000,0.036,3266,1909,2036,0,0,0,0,0,0
$GC,28925,0.62,251.8,113.5,5.6,990,28943,0.00,0.00,15.98,0.857,6,0.000,0.000,3266,1909,1968,0,0,0,0,0,0
$GC,29198,0.62,251.8,96.0,6.1,1016,29199,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1909,1972,0,0,0,0,0,0
$GC,29452,0.66,279.5,82.6,5.3,1040,29484,0.10,2.42,25.12,0.851,4,0.099,0.044,3376,326,1855,0,0,0,0,0,0
$GC,29535,0.66,279.5,72.6,13.0,1047,29541,0.22,2.33,0.00,0.000,6,0.108,0.036,3301,1929,1859,0,0,0,0,0,0
$GC,29796,0.66,279.5,54.8,6.9,1072,29800,0.00,2.40,0.00,0.000,4,0.000,0.048,3301,3502,1860,0,0,0,0,0,0
$GC,29817,0.71,326.4,53.9,4.8,1073,29864,0.00,2.38,40.72,0.854,6,0.000,0.036,3311,1918,1664,0,0,0,0,0,0
$GC,30119,0.71,326.4,29.1,8.6,1102,30123,0.00,2.40,0.00,0.000,4,0.000,0.047,3323,334,1666,0,0,0,0,0,0
$GC,30180,0.71,326.4,23.4,10.5,1107,30185,0.00,2.30,0.00,0.000,6,0.000,0.037,3323,1913,1667,0,0,0,0,0,0
$GC,30377,0.71,326.4,3.4,9.8,1125,30381,0.00,2.42,0.00,0.000,4,0.000,0.050,3323,3509,1667,0,0,0,0,0,0
$STATE,30387,end climb,SURFACE_DEPTH_REACHED
$STATE,30387,begin surface coast
$FINISH,0.3,1.023390
$STATE,30423,end surface coast,CONTROL_FINISHED_OK
$STATE,30423,begin surface
$SM_CCo,30442,38.25,0.812,0,0,1364,400.08
$SM_GC,1.11,0.00,0.00,38.25,0.000,0.000,0.812,123,2140,1364,-9.27,-0.28,400.08
$IRIDIUM_FIX,2206.70,12842.13,160812,212101
$TT8_MAMPS,0.027612
$HUMID,1078706442
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,21.6,70.138
$10V_AH,9.7,57.945
$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,21.725,337.600,449.125,38.250,0.000,27.114,37.384,200.709,0.000,0.000,15.056,2560.288,23692.098,740.113,3313.906,564.584,33.373,2421.136,0.000,3004.739,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,55.991,1613.001,812.253,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,770.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40051,1129
$CAP_FILE_SIZE,336565,0
$CFSIZE,260165632,186490880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220211,193731,2215.794,12849.911,39,1.1,39,-3.2