version: 66.07
glider: 500
mission: 5
dive: 399
start: 2 22 111 19 49 20
data:
$ID,500
$MISSION,5
$DIVE,399
$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,-129466.16
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,220211,193731,2215.794,12849.911,39,1.1,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.1
$GPS2,220211,194826,2215.989,12849.958,13,1.5,13,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.105,-0.194
$KALMAN_X,-771949.4,-532.7,-175.4,1348158.0,5589.0
$KALMAN_Y,237559.4,-916.5,-286.2,-113490.8,10549.4
$MHEAD_RNG_PITCHd_Wd,154.7,187990,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,15934,-0.50,-155.7,883.1,-5.1,554,15938,0.00,2.50,0.00,0.000,4,0.000,0.057,2912,3732,3590,0,0,0,0,0,0
$GC,16073,-0.50,-155.7,890.2,-4.7,557,16077,0.00,2.35,0.00,0.000,6,0.000,0.037,2912,2151,3589,0,0,0,0,0,0
$GC,16389,-0.50,-155.7,906.5,-5.3,565,16393,0.00,2.53,0.00,0.000,4,0.000,0.057,2900,3732,3589,0,0,0,0,0,0
$GC,16467,-0.50,-155.7,910.6,-5.1,566,16472,0.00,2.35,0.00,0.000,6,0.000,0.037,2900,2148,3589,0,0,0,0,0,0
$GC,16799,-0.50,-155.7,926.0,-4.3,575,16803,0.00,2.47,0.00,0.000,4,0.000,0.057,2889,3733,3589,0,0,0,0,0,0
$GC,16859,-0.50,-155.7,928.4,-3.6,576,16864,0.12,2.38,0.00,0.000,6,0.111,0.038,2935,2142,3589,0,0,0,0,0,0
$GC,17205,-0.50,-155.7,938.7,-2.8,585,17210,0.00,2.50,0.00,0.000,4,0.000,0.058,2925,3733,3588,0,0,0,0,0,0
$GC,17406,-0.50,-155.7,944.8,-2.8,589,17411,0.00,2.38,0.00,0.000,6,0.000,0.038,2925,2142,3588,0,0,0,0,0,0
$GC,17746,-0.50,-155.7,955.2,-3.3,598,17750,0.00,2.47,0.00,0.000,4,0.000,0.057,2915,3728,3588,0,0,0,0,0,0
$GC,17876,-0.50,-155.7,959.9,-3.4,601,17881,0.00,2.38,0.00,0.000,6,0.000,0.037,2914,2142,3587,0,0,0,0,0,0
$GC,18203,-0.50,-155.7,972.0,-4.0,609,18207,0.00,2.47,0.00,0.000,4,0.000,0.057,2904,3728,3587,0,0,0,0,0,0
$GC,18309,-0.50,-155.7,976.6,-3.6,611,18313,0.00,2.35,0.00,0.000,6,0.000,0.037,2903,2139,3586,0,0,0,0,0,0
$STATE,18651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18651,begin apogee
$GC,18657,-0.23,0.0,991.5,4.5,620,18798,0.30,0.00,138.00,1.635,6,0.079,0.000,3019,1913,2995,0,0,0,0,0,0
$STATE,18799,end apogee,CONTROL_FINISHED_OK
$STATE,18799,begin climb
$GC,18801,0.50,155.7,993.3,0.0,623,18966,0.62,2.70,154.85,1.605,4,0.052,0.052,3271,354,2360,0,0,0,0,0,0
$GC,19013,0.50,155.7,970.6,11.4,628,19017,0.00,2.47,0.00,0.000,6,0.000,0.042,3271,1911,2360,0,0,0,0,0,0
$GC,19339,0.50,155.7,924.8,14.2,636,19343,0.00,2.47,0.00,0.000,4,0.000,0.055,3271,3503,2357,0,0,0,0,0,0
$GC,19417,0.50,155.7,912.7,16.5,637,19423,0.00,2.38,0.00,0.000,6,0.000,0.039,3283,1926,2356,0,0,0,0,0,0
$GC,19748,0.50,155.7,861.4,15.9,646,19749,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1926,2354,0,0,0,0,0,0
$GC,20073,0.50,155.7,811.2,15.3,654,20074,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1926,2352,0,0,0,0,0,0
$GC,20399,0.50,155.7,761.4,15.3,662,20403,0.00,2.45,0.00,0.000,4,0.000,0.051,3296,333,2351,0,0,0,0,0,0
$GC,20442,0.50,155.7,754.4,15.0,663,20447,0.15,2.38,0.00,0.000,6,0.127,0.045,3246,1919,2351,0,0,0,0,0,0
$GC,20768,0.50,155.7,715.3,12.0,671,20773,0.00,2.45,0.00,0.000,4,0.000,0.055,3246,3505,2351,0,0,0,0,0,0
$GC,20829,0.50,155.7,707.1,13.7,672,20834,0.00,2.45,0.00,0.000,6,0.000,0.042,3257,1924,2350,0,0,0,0,0,0
$GC,21180,0.50,155.7,661.6,13.3,681,21181,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1924,2350,0,0,0,0,0,0
$GC,21502,0.50,155.7,622.4,11.5,689,21506,0.00,2.47,0.00,0.000,4,0.000,0.055,3257,3517,2350,0,0,0,0,0,0
$GC,21535,0.50,155.7,618.4,12.2,689,21541,0.00,2.45,0.00,0.000,6,0.000,0.044,3271,1909,2349,0,0,0,0,0,0
$GC,21867,0.50,155.7,580.9,11.4,698,21871,0.00,2.40,0.00,0.000,4,0.000,0.053,3283,341,2349,0,0,0,0,0,0
$GC,21907,0.50,155.7,576.2,11.5,699,21911,0.00,2.38,0.00,0.000,6,0.000,0.044,3283,1920,2349,0,0,0,0,0,0
$GC,22234,0.50,155.7,537.0,12.1,707,22239,0.00,2.45,0.00,0.000,4,0.000,0.057,3283,3507,2349,0,0,0,0,0,0
$GC,22267,0.50,155.7,532.1,13.3,707,22274,0.15,2.40,0.00,0.000,6,0.127,0.044,3247,1914,2348,0,0,0,0,0,0
$GC,22601,0.50,155.7,498.2,10.3,716,22605,0.00,2.47,0.00,0.000,4,0.000,0.056,3247,3509,2348,0,0,0,0,0,0
$GC,22641,0.50,155.7,493.3,12.3,717,22646,0.00,2.42,0.00,0.000,6,0.000,0.044,3258,1911,2348,0,0,0,0,0,0
$GC,22967,0.50,155.7,457.6,11.1,725,22971,0.00,2.45,0.00,0.000,4,0.000,0.053,3271,326,2348,0,0,0,0,0,0
$GC,23084,0.50,155.7,445.2,9.8,727,23088,0.00,2.38,0.00,0.000,6,0.000,0.042,3271,1921,2348,0,0,0,0,0,0
$GC,23415,0.50,155.7,410.8,10.3,735,23419,0.00,2.47,0.00,0.000,4,0.000,0.057,3271,3506,2349,0,0,0,0,0,0
$GC,23526,0.50,155.7,398.3,11.3,737,23530,0.00,2.40,0.00,0.000,6,0.000,0.041,3283,1918,2348,0,0,0,0,0,0
$GC,23868,0.50,155.7,361.2,10.9,746,23873,0.00,2.42,0.00,0.000,4,0.000,0.051,3296,335,2348,0,0,0,0,0,0
$GC,23930,0.50,155.7,354.5,10.6,747,23935,0.15,2.35,0.00,0.000,6,0.117,0.041,3245,1928,2349,0,0,0,0,0,0
$GC,24273,0.50,155.7,327.4,7.8,756,24278,0.00,2.45,0.00,0.000,4,0.000,0.053,3244,3512,2349,0,0,0,0,0,0
$GC,24351,0.50,155.7,321.1,8.0,757,24357,0.00,2.42,0.00,0.000,6,0.000,0.040,3255,1910,2350,0,0,0,0,0,0
$GC,24665,0.50,155.7,296.2,8.3,766,24669,0.00,2.40,0.00,0.000,4,0.000,0.049,3267,331,2350,0,0,0,0,0,0
$GC,24708,0.50,155.7,291.8,9.1,768,24712,0.00,2.35,0.00,0.000,6,0.000,0.040,3268,1935,2350,0,0,0,0,0,0
$GC,25035,0.50,155.7,261.1,9.4,784,25039,0.00,2.42,0.00,0.000,4,0.000,0.052,3267,3505,2352,0,0,0,0,0,0
$GC,25106,0.50,155.7,253.9,9.8,787,25111,0.00,2.40,0.00,0.000,6,0.000,0.038,3279,1928,2352,0,0,0,0,0,0
$GC,25427,0.50,155.7,224.8,8.0,803,25431,0.00,2.42,0.00,0.000,4,0.000,0.047,3292,328,2354,0,0,0,0,0,0
$GC,25454,0.50,155.7,222.7,7.4,804,25459,0.12,2.33,0.00,0.000,6,0.119,0.038,3248,1922,2354,0,0,0,0,0,0
$GC,25780,0.50,155.7,202.3,7.0,820,25782,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1922,2355,0,0,0,0,0,0
$GC,26098,0.50,155.7,179.3,7.1,848,26102,0.00,2.45,0.00,0.000,4,0.000,0.049,3247,3512,2356,0,0,0,0,0,0
$GC,26165,0.50,155.7,174.0,7.4,853,26171,0.00,2.40,0.00,0.000,6,0.000,0.038,3258,1906,2357,0,0,0,0,0,0
$GC,26427,0.52,167.7,157.3,5.7,878,26447,0.00,2.47,11.55,0.834,4,0.000,0.046,3269,337,2310,0,0,0,0,0,0
$GC,26520,0.52,167.7,151.4,6.7,886,26526,0.00,2.33,0.00,0.000,6,0.000,0.037,3270,1924,2312,0,0,0,0,0,0
$GC,26781,0.52,167.7,134.3,6.8,911,26785,0.00,2.42,0.00,0.000,4,0.000,0.050,3269,3502,2314,0,0,0,0,0,0
$GC,26856,0.52,167.7,129.2,6.2,917,26860,0.00,2.35,0.00,0.000,6,0.000,0.036,3282,1916,2314,0,0,0,0,0,0
$GC,27117,0.59,224.1,115.7,4.5,941,27171,0.00,2.55,47.75,0.897,4,0.000,0.051,3282,3499,2081,0,0,0,0,0,0
$GC,27192,0.64,266.8,111.7,4.9,948,27236,0.00,2.40,36.78,0.900,6,0.000,0.038,3293,1921,1907,0,0,0,0,0,0
$GC,27497,0.64,266.8,90.5,7.0,977,27501,0.00,2.40,0.00,0.000,4,0.000,0.047,3304,330,1912,0,0,0,0,0,0
$GC,27542,0.64,266.8,87.2,7.0,980,27548,0.00,2.33,0.00,0.000,6,0.000,0.037,3305,1920,1912,0,0,0,0,0,0
$GC,27804,0.64,266.8,68.6,6.4,1005,27808,0.00,2.45,0.00,0.000,4,0.000,0.050,3304,3501,1914,0,0,0,0,0,0
$GC,27843,0.64,266.8,65.5,7.0,1008,27847,0.00,2.35,0.00,0.000,6,0.000,0.038,3315,1918,1915,0,0,0,0,0,0
$GC,28105,0.64,266.8,43.4,8.7,1032,28116,0.00,2.42,3.60,0.469,4,0.000,0.047,3327,344,1907,0,0,0,0,0,0
$GC,28178,0.64,266.8,36.9,9.1,1038,28184,0.00,2.30,0.00,0.000,6,0.000,0.036,3327,1932,1907,0,0,0,0,0,0
$GC,28439,0.64,266.8,12.1,9.5,1063,28443,0.00,2.42,0.00,0.000,4,0.000,0.052,3327,3496,1908,0,0,0,0,0,0
$GC,28470,0.64,266.8,9.1,12.3,1065,28475,0.12,2.35,0.00,0.000,6,0.122,0.041,3296,1915,1908,0,0,0,0,0,0
$STATE,28548,end climb,SURFACE_DEPTH_REACHED
$STATE,28548,begin surface coast
$FINISH,0.2,0.998181
$STATE,28593,end surface coast,CONTROL_FINISHED_OK
$STATE,28593,begin surface
$SM_CCo,28612,64.75,0.820,0,0,1363,400.08
$SM_GC,0.98,0.00,0.00,64.75,0.000,0.000,0.820,123,2173,1363,-9.28,0.65,400.08
$IRIDIUM_FIX,2206.70,12850.50,170812,141443
$TT8_MAMPS,0.028379
$HUMID,1078721926
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.7,70.337
$10V_AH,9.7,58.046
$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,21.100,301.325,392.525,64.750,0.000,69.923,71.798,297.143,0.000,0.000,14.971,2412.892,22341.607,685.434,3307.482,561.853,33.374,2269.837,0.000,2834.829,0.000,0.542,0.000
$DEVICE_MAMPS,217.828,70.564,1635.244,819.923,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,733.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40003,1076
$CAP_FILE_SIZE,316919,0
$CFSIZE,260165632,186404864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230211,034836,2215.800,12851.175,39,0.8,39,-3.2