version: 66.07
glider: 500
mission: 5
dive: 404
start: 2 24 111 13 18 20
data:
$ID,500
$MISSION,5
$DIVE,404
$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,-129562.17
$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,28
$R_STBD_OVSHOOT,46
$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
$GPS1,240211,131000,2215.826,12855.332,35,1.4,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.6
$GPS2,240211,131728,2215.923,12855.399,12,4.3,31,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.092,-0.201
$KALMAN_X,-768648.1,546.7,48.7,1352936.5,1800.9
$KALMAN_Y,268464.1,-299.8,-229.9,-145206.8,8874.7
$MHEAD_RNG_PITCHd_Wd,207.9,183125,-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
$STATE,16,begin dive
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$GC,15065,-0.50,-155.7,824.4,-4.5,529,15070,0.00,2.35,0.00,0.000,6,0.000,0.038,2900,2152,3599,0,0,0,0,0,0
$GC,15410,-0.50,-155.7,839.7,-4.5,538,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,3599,0,0,0,0,0,0
$GC,15733,-0.50,-155.7,852.2,-3.6,546,15737,0.00,2.45,0.00,0.000,4,0.000,0.055,2888,3733,3597,0,0,0,0,0,0
$GC,15754,-0.50,-155.7,852.8,-3.5,546,15759,0.12,2.38,0.00,0.000,6,0.112,0.038,2934,2143,3597,0,0,0,0,0,0
$GC,16093,-0.50,-155.7,862.4,-2.8,555,16097,0.00,2.45,0.00,0.000,4,0.000,0.055,2924,3728,3597,0,0,0,0,0,0
$GC,16199,-0.50,-155.7,865.8,-3.1,557,16203,0.00,2.35,0.00,0.000,6,0.000,0.037,2924,2149,3596,0,0,0,0,0,0
$GC,16544,-0.50,-155.7,879.5,-4.4,566,16548,0.00,2.45,0.00,0.000,4,0.000,0.055,2912,3731,3596,0,0,0,0,0,0
$GC,16644,-0.50,-155.7,884.7,-5.0,568,16648,0.00,2.33,0.00,0.000,6,0.000,0.036,2912,2148,3596,0,0,0,0,0,0
$GC,16994,-0.50,-155.7,903.2,-5.4,577,16998,0.00,2.45,0.00,0.000,4,0.000,0.055,2901,3729,3595,0,0,0,0,0,0
$GC,17033,-0.50,-155.7,905.4,-5.1,577,17039,0.00,2.35,0.00,0.000,6,0.000,0.037,2901,2141,3595,0,0,0,0,0,0
$GC,17366,-0.50,-155.7,921.1,-4.6,586,17370,0.00,2.47,0.00,0.000,4,0.000,0.055,2889,3733,3595,0,0,0,0,0,0
$GC,17392,-0.50,-155.7,922.3,-4.1,586,17397,0.12,2.38,0.00,0.000,6,0.110,0.038,2935,2140,3595,0,0,0,0,0,0
$GC,17726,-0.50,-155.7,934.5,-3.7,594,17730,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3731,3594,0,0,0,0,0,0
$GC,17888,-0.50,-155.7,940.5,-3.4,597,17892,0.00,2.38,0.00,0.000,6,0.000,0.038,2925,2139,3594,0,0,0,0,0,0
$GC,18221,-0.50,-155.7,952.8,-4.0,605,18225,0.00,2.50,0.00,0.000,4,0.000,0.055,2923,3733,3593,0,0,0,0,0,0
$GC,18382,-0.50,-155.7,959.4,-4.8,608,18386,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2145,3593,0,0,0,0,0,0
$GC,18715,-0.50,-155.7,971.0,-3.3,616,18719,0.00,2.47,0.00,0.000,4,0.000,0.056,2912,3730,3592,0,0,0,0,0,0
$GC,18781,-0.50,-155.7,973.0,-3.1,617,18786,0.00,2.35,0.00,0.000,6,0.000,0.038,2911,2153,3592,0,0,0,0,0,0
$GC,19121,-0.50,-155.7,983.0,-3.0,626,19125,0.00,2.45,0.00,0.000,4,0.000,0.056,2900,3729,3592,0,0,0,0,0,0
$GC,19210,-0.50,-155.7,985.9,-3.4,628,19214,0.00,2.35,0.00,0.000,6,0.000,0.038,2900,2149,3592,0,0,0,0,0,0
$STATE,19363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19363,begin apogee
$GC,19370,-0.23,0.0,991.1,3.5,632,19512,0.32,0.00,138.98,1.595,6,0.080,0.000,3023,1910,2995,0,0,0,0,0,0
$STATE,19513,end apogee,CONTROL_FINISHED_OK
$STATE,19513,begin climb
$GC,19515,0.50,155.7,992.2,0.0,635,19681,0.62,2.78,153.45,1.553,4,0.054,0.054,3273,346,2360,0,0,0,0,0,0
$GC,19827,0.50,155.7,952.6,13.8,642,19831,0.00,2.40,0.00,0.000,6,0.000,0.043,3273,1918,2359,0,0,0,0,0,0
$GC,20146,0.50,155.7,905.5,15.0,650,20150,0.00,2.45,0.00,0.000,4,0.000,0.053,3273,3518,2358,0,0,0,0,0,0
$GC,20212,0.50,155.7,894.3,14.9,651,20217,0.10,2.40,0.00,0.000,6,0.153,0.041,3253,1929,2358,0,0,0,0,0,0
$GC,20551,0.50,155.7,848.7,13.2,660,20555,0.00,2.42,0.00,0.000,4,0.000,0.052,3265,339,2358,0,0,0,0,0,0
$GC,20572,0.50,155.7,845.5,11.4,660,20576,0.00,2.40,0.00,0.000,6,0.000,0.045,3265,1920,2357,0,0,0,0,0,0
$GC,20915,0.50,155.7,797.8,14.0,669,20919,0.00,2.42,0.00,0.000,4,0.000,0.053,3265,3510,2356,0,0,0,0,0,0
$GC,20982,0.50,155.7,787.6,14.0,670,20986,0.00,2.40,0.00,0.000,6,0.000,0.042,3277,1917,2356,0,0,0,0,0,0
$GC,21332,0.50,155.7,738.5,13.9,679,21337,0.00,2.45,0.00,0.000,4,0.000,0.055,3289,333,2356,0,0,0,0,0,0
$GC,21382,0.50,155.7,730.9,15.5,680,21387,0.12,2.40,0.00,0.000,6,0.130,0.047,3248,1925,2356,0,0,0,0,0,0
$GC,21702,0.50,155.7,693.4,11.7,688,21703,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1925,2355,0,0,0,0,0,0
$GC,22026,0.50,155.7,655.7,11.6,696,22031,0.00,2.45,0.00,0.000,4,0.000,0.054,3247,3514,2355,0,0,0,0,0,0
$GC,22126,0.50,155.7,643.4,11.2,698,22131,0.00,2.42,0.00,0.000,6,0.000,0.042,3258,1916,2355,0,0,0,0,0,0
$GC,22441,0.50,155.7,606.7,11.9,706,22445,0.00,2.42,0.00,0.000,4,0.000,0.056,3271,340,2355,0,0,0,0,0,0
$GC,22467,0.50,155.7,603.2,11.9,706,22471,0.00,2.40,0.00,0.000,6,0.000,0.047,3271,1927,2355,0,0,0,0,0,0
$GC,22805,0.50,155.7,559.3,13.4,715,22810,0.00,2.47,0.00,0.000,4,0.000,0.054,3271,3513,2355,0,0,0,0,0,0
$GC,22917,0.50,155.7,542.5,14.1,717,22921,0.00,2.42,0.00,0.000,6,0.000,0.043,3283,1919,2355,0,0,0,0,0,0
$GC,23260,0.50,155.7,495.0,13.8,726,23265,0.00,2.47,0.00,0.000,4,0.000,0.055,3296,336,2355,0,0,0,0,0,0
$GC,23315,0.50,155.7,487.5,12.3,727,23320,0.15,2.38,0.00,0.000,6,0.120,0.046,3246,1920,2355,0,0,0,0,0,0
$GC,23629,0.50,155.7,458.8,8.7,735,23634,0.00,2.47,0.00,0.000,4,0.000,0.055,3246,3515,2355,0,0,0,0,0,0
$GC,23731,0.50,155.7,449.6,8.6,737,23735,0.00,2.45,0.00,0.000,6,0.000,0.042,3256,1914,2355,0,0,0,0,0,0
$GC,24079,0.50,155.7,419.6,9.1,746,24083,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,335,2356,0,0,0,0,0,0
$GC,24124,0.50,155.7,415.1,9.9,747,24128,0.00,2.38,0.00,0.000,6,0.000,0.045,3269,1924,2357,0,0,0,0,0,0
$GC,24445,0.50,155.7,381.2,11.0,755,24449,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,3503,2357,0,0,0,0,0,0
$GC,24563,0.50,155.7,367.5,9.9,757,24567,0.00,2.40,0.00,0.000,6,0.000,0.039,3281,1920,2358,0,0,0,0,0,0
$GC,24893,0.50,155.7,332.7,10.1,765,24897,0.00,2.45,0.00,0.000,4,0.000,0.052,3293,328,2359,0,0,0,0,0,0
$GC,24994,0.50,155.7,322.1,10.6,767,25000,0.12,2.38,0.00,0.000,6,0.121,0.042,3250,1926,2360,0,0,0,0,0,0
$GC,25323,0.50,155.7,297.0,7.4,776,25328,0.00,2.42,0.00,0.000,4,0.000,0.051,3250,3509,2362,0,0,0,0,0,0
$GC,25425,0.50,155.7,288.1,9.1,780,25430,0.00,2.40,0.00,0.000,6,0.000,0.038,3260,1915,2362,0,0,0,0,0,0
$GC,25740,0.50,155.7,261.0,8.2,796,25744,0.00,2.42,0.00,0.000,4,0.000,0.051,3273,334,2363,0,0,0,0,0,0
$GC,25780,0.50,155.7,257.6,7.6,798,25784,0.00,2.38,0.00,0.000,6,0.000,0.041,3273,1936,2363,0,0,0,0,0,0
$GC,26105,0.50,155.7,227.6,8.5,814,26110,0.00,2.40,0.00,0.000,4,0.000,0.050,3273,3498,2366,0,0,0,0,0,0
$GC,26173,0.50,155.7,221.2,9.8,817,26178,0.10,2.38,0.00,0.000,6,0.134,0.038,3251,1924,2366,0,0,0,0,0,0
$GC,26495,0.50,155.7,199.6,6.6,833,26499,0.00,2.45,0.00,0.000,4,0.000,0.051,3261,328,2368,0,0,0,0,0,0
$GC,26550,0.54,183.4,195.6,5.3,837,26581,0.00,2.33,26.42,0.921,6,0.000,0.040,3261,1913,2247,0,0,0,0,0,0
$GC,26836,0.54,183.4,177.4,6.0,864,26840,0.00,2.42,0.00,0.000,4,0.000,0.049,3261,3513,2249,0,0,0,0,0,0
$GC,26910,0.57,211.4,172.6,5.3,870,26941,0.00,2.42,25.05,0.908,6,0.000,0.038,3273,1905,2133,0,0,0,0,0,0
$GC,27195,0.57,211.4,152.9,6.3,897,27200,0.00,2.38,0.00,0.000,4,0.000,0.049,3285,340,2135,0,0,0,0,0,0
$GC,27235,0.57,211.4,150.0,8.0,900,27239,0.00,2.33,0.00,0.000,6,0.000,0.040,3285,1924,2135,0,0,0,0,0,0
$GC,27496,0.57,211.4,130.7,7.6,924,27497,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1924,2136,0,0,0,0,0,0
$GC,27751,0.57,211.4,111.8,6.5,948,27755,0.00,2.40,0.00,0.000,4,0.000,0.048,3284,3505,2138,0,0,0,0,0,0
$GC,27778,0.57,211.4,109.5,9.3,950,27783,0.00,2.35,0.00,0.000,6,0.000,0.036,3296,1926,2139,0,0,0,0,0,0
$GC,28045,0.57,211.4,90.1,6.9,975,28049,0.00,2.42,0.00,0.000,4,0.000,0.049,3308,328,2140,0,0,0,0,0,0
$GC,28112,0.57,211.4,84.9,6.6,980,28118,0.10,2.33,0.00,0.000,6,0.120,0.041,3267,1923,2140,0,0,0,0,0,0
$GC,28374,0.58,214.1,69.1,5.9,1005,28385,0.00,2.40,5.97,0.608,4,0.000,0.045,3267,3516,2121,0,0,0,0,0,0
$GC,28431,0.58,214.1,65.1,7.9,1010,28435,0.00,2.38,0.00,0.000,6,0.000,0.036,3277,1914,2122,0,0,0,0,0,0
$GC,28697,0.58,219.8,48.4,5.9,1035,28709,0.00,2.47,6.60,0.614,4,0.000,0.051,3288,337,2099,0,0,0,0,0,0
$GC,28749,0.60,233.2,45.1,5.6,1039,28768,0.00,2.33,12.40,0.721,6,0.000,0.042,3288,1921,2043,0,0,0,0,0,0
$GC,29029,0.60,233.2,25.4,6.6,1066,29034,0.00,2.40,0.00,0.000,4,0.000,0.047,3288,3521,2045,0,0,0,0,0,0
$GC,29080,0.60,233.2,21.4,7.8,1070,29084,0.00,2.38,0.00,0.000,6,0.000,0.035,3299,1913,2046,0,0,0,0,0,0
$GC,29282,0.60,233.2,6.4,7.8,1089,29286,0.00,2.38,0.00,0.000,4,0.000,0.051,3310,340,2047,0,0,0,0,0,0
$STATE,29326,end climb,SURFACE_DEPTH_REACHED
$STATE,29326,begin surface coast
$FINISH,1.1,1.023306
$STATE,29341,end surface coast,CONTROL_FINISHED_OK
$STATE,29341,begin surface
$SM_CCo,29363,80.40,0.808,0,0,1364,400.08
$SM_GC,1.14,0.00,0.00,80.40,0.000,0.000,0.808,122,2157,1364,-9.28,0.20,400.08
$IRIDIUM_FIX,2206.70,12857.05,180812,232340
$TT8_MAMPS,0.027612
$HUMID,1078674184
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,21.7,71.283
$10V_AH,9.7,58.549
$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,21.375,334.850,368.875,80.400,0.000,29.840,40.628,202.603,0.000,0.000,33.887,2483.485,22943.188,678.142,3195.521,568.723,33.382,2293.166,0.000,2851.252,0.000,0.541,0.000
$DEVICE_MAMPS,213.993,57.525,1595.360,807.651,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,747.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40065,1094
$CAP_FILE_SIZE,324898,0
$CFSIZE,260165632,185856000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240211,213025,2215.692,12856.059,40,1.3,40,-3.2