version: 66.07
glider: 500
mission: 5
dive: 406
start: 2 25 111 6 2 56
data:
$ID,500
$MISSION,5
$DIVE,406
$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,-129592.78
$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,35
$R_STBD_OVSHOOT,38
$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
$GPS1,250211,055454,2214.930,12855.639,53,1.1,53,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.6
$GPS2,250211,060202,2214.994,12855.590,12,1.7,12,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.170,-0.141
$KALMAN_X,-763253.9,-734.3,-732.1,1349950.0,3771.5
$KALMAN_Y,280644.8,54.7,-704.7,-158997.6,7959.2
$MHEAD_RNG_PITCHd_Wd,233.6,181464,-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,16270,-0.50,-155.7,851.5,-4.0,575,16274,0.00,2.45,0.00,0.000,4,0.000,0.054,2887,3728,3595,0,0,0,0,0,0
$GC,16319,-0.50,-155.7,853.5,-3.7,576,16324,0.12,2.38,0.00,0.000,6,0.110,0.038,2934,2141,3595,0,0,0,0,0,0
$GC,16635,-0.50,-155.7,864.0,-3.4,584,16639,0.00,2.45,0.00,0.000,4,0.000,0.055,2923,3735,3594,0,0,0,0,0,0
$GC,16754,-0.50,-155.7,868.3,-3.9,586,16758,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2149,3594,0,0,0,0,0,0
$GC,17090,-0.50,-155.7,881.2,-4.0,595,17095,0.00,2.45,0.00,0.000,4,0.000,0.055,2912,3730,3593,0,0,0,0,0,0
$GC,17236,-0.50,-155.7,887.1,-4.6,598,17240,0.00,2.38,0.00,0.000,6,0.000,0.038,2912,2139,3593,0,0,0,0,0,0
$GC,17550,-0.50,-155.7,900.0,-4.2,606,17555,0.00,2.47,0.00,0.000,4,0.000,0.054,2901,3734,3592,0,0,0,0,0,0
$GC,17636,-0.50,-155.7,903.6,-4.3,608,17640,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2141,3592,0,0,0,0,0,0
$GC,17967,-0.50,-155.7,917.0,-3.9,616,17972,0.00,2.50,0.00,0.000,4,0.000,0.054,2889,3739,3592,0,0,0,0,0,0
$GC,18018,-0.50,-155.7,919.2,-4.1,617,18024,0.12,2.40,0.00,0.000,6,0.110,0.039,2935,2153,3591,0,0,0,0,0,0
$GC,18333,-0.50,-155.7,929.8,-3.4,625,18337,0.00,2.47,0.00,0.000,4,0.000,0.055,2924,3739,3591,0,0,0,0,0,0
$GC,18552,-0.50,-155.7,937.0,-3.9,630,18556,0.00,2.40,0.00,0.000,6,0.000,0.039,2925,2144,3591,0,0,0,0,0,0
$GC,18883,-0.50,-155.7,946.8,-3.0,638,18887,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3728,3591,0,0,0,0,0,0
$GC,19105,-0.50,-155.7,954.4,-3.5,643,19109,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2147,3590,0,0,0,0,0,0
$GC,19427,-0.50,-155.7,966.2,-3.9,651,19432,0.00,2.45,0.00,0.000,4,0.000,0.056,2912,3730,3590,0,0,0,0,0,0
$GC,19618,-0.50,-155.7,974.3,-4.6,655,19622,0.00,2.38,0.00,0.000,6,0.000,0.038,2912,2150,3589,0,0,0,0,0,0
$GC,19968,-0.50,-155.7,988.6,-4.1,664,19972,0.00,2.47,0.00,0.000,4,0.000,0.056,2901,3729,3589,0,0,0,0,0,0
$STATE,20004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20004,begin apogee
$GC,20012,-0.23,0.0,990.3,4.2,664,20154,0.30,0.00,139.43,1.620,6,0.087,0.000,3016,1925,2995,0,0,0,0,0,0
$STATE,20155,end apogee,CONTROL_FINISHED_OK
$STATE,20155,begin climb
$GC,20159,0.50,155.7,991.0,0.0,668,20323,0.68,2.70,155.23,1.579,4,0.053,0.053,3266,3488,2359,0,0,0,0,0,0
$GC,20379,0.50,155.7,963.5,16.4,673,20385,0.00,2.55,0.00,0.000,6,0.000,0.043,3278,1926,2359,0,0,0,0,0,0
$GC,20710,0.50,155.7,909.1,16.7,682,20714,0.00,2.45,0.00,0.000,4,0.000,0.053,3291,323,2356,0,0,0,0,0,0
$GC,20732,0.50,155.7,905.4,16.3,682,20737,0.12,2.42,0.00,0.000,6,0.137,0.045,3249,1920,2356,0,0,0,0,0,0
$GC,21070,0.50,155.7,858.7,13.8,691,21074,0.00,2.45,0.00,0.000,4,0.000,0.057,3250,3509,2353,0,0,0,0,0,0
$GC,21165,0.50,155.7,845.0,14.2,693,21169,0.00,2.45,0.00,0.000,6,0.000,0.044,3261,1907,2353,0,0,0,0,0,0
$GC,21478,0.50,155.7,802.1,13.6,701,21479,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1908,2352,0,0,0,0,0,0
$GC,21803,0.50,155.7,759.7,12.9,709,21807,0.00,2.50,0.00,0.000,4,0.000,0.057,3261,3518,2351,0,0,0,0,0,0
$GC,21842,0.50,155.7,754.0,14.6,710,21846,0.00,2.45,0.00,0.000,6,0.000,0.044,3274,1910,2351,0,0,0,0,0,0
$GC,22168,0.50,155.7,708.9,13.6,718,22172,0.00,2.40,0.00,0.000,4,0.000,0.053,3286,332,2350,0,0,0,0,0,0
$GC,22213,0.50,155.7,702.6,13.8,719,22218,0.12,2.42,0.00,0.000,6,0.132,0.047,3246,1934,2350,0,0,0,0,0,0
$GC,22532,0.50,155.7,668.8,10.1,727,22536,0.00,2.42,0.00,0.000,4,0.000,0.055,3246,3517,2349,0,0,0,0,0,0
$GC,22599,0.50,155.7,661.0,13.0,728,22603,0.00,2.42,0.00,0.000,6,0.000,0.043,3256,1912,2349,0,0,0,0,0,0
$GC,22935,0.50,155.7,623.1,11.4,737,22936,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1912,2349,0,0,0,0,0,0
$GC,23261,0.50,155.7,585.0,11.9,745,23265,0.00,2.40,0.00,0.000,4,0.000,0.053,3269,336,2348,0,0,0,0,0,0
$GC,23282,0.50,155.7,582.4,12.9,745,23286,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1924,2348,0,0,0,0,0,0
$GC,23624,0.50,155.7,541.0,12.0,754,23628,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,3515,2348,0,0,0,0,0,0
$GC,23762,0.50,155.7,524.1,11.8,757,23767,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1925,2347,0,0,0,0,0,0
$GC,24081,0.50,155.7,488.1,11.3,765,24086,0.00,2.45,0.00,0.000,4,0.000,0.051,3294,326,2347,0,0,0,0,0,0
$GC,24143,0.50,155.7,480.9,12.4,766,24148,0.12,2.40,0.00,0.000,6,0.130,0.042,3253,1922,2347,0,0,0,0,0,0
$GC,24486,0.50,155.7,447.2,9.8,775,24490,0.00,2.45,0.00,0.000,4,0.000,0.051,3253,3521,2347,0,0,0,0,0,0
$GC,24604,0.50,155.7,434.5,11.2,777,24609,0.00,2.42,0.00,0.000,6,0.000,0.039,3264,1909,2347,0,0,0,0,0,0
$GC,24935,0.50,155.7,402.9,8.9,785,24939,0.00,2.38,0.00,0.000,4,0.000,0.049,3276,337,2347,0,0,0,0,0,0
$GC,25013,0.50,155.7,395.8,9.2,786,25019,0.00,2.38,0.00,0.000,6,0.000,0.041,3275,1924,2347,0,0,0,0,0,0
$GC,25344,0.50,155.7,362.2,10.1,795,25348,0.00,2.40,0.00,0.000,4,0.000,0.050,3276,3510,2348,0,0,0,0,0,0
$GC,25456,0.50,155.7,348.7,12.5,797,25461,0.12,2.40,0.00,0.000,6,0.133,0.039,3247,1921,2348,0,0,0,0,0,0
$GC,25796,0.50,155.7,320.6,7.9,806,25800,0.00,2.40,0.00,0.000,4,0.000,0.049,3258,328,2349,0,0,0,0,0,0
$GC,25840,0.50,155.7,316.7,8.0,807,25845,0.00,2.38,0.00,0.000,6,0.000,0.041,3258,1922,2349,0,0,0,0,0,0
$GC,26160,0.50,155.7,289.6,8.3,817,26164,0.00,2.42,0.00,0.000,4,0.000,0.049,3258,3512,2350,0,0,0,0,0,0
$GC,26203,0.50,155.7,285.6,9.7,819,26207,0.00,2.40,0.00,0.000,6,0.000,0.039,3270,1927,2351,0,0,0,0,0,0
$GC,26530,0.50,155.7,256.1,8.8,835,26534,0.00,2.42,0.00,0.000,4,0.000,0.047,3283,326,2352,0,0,0,0,0,0
$GC,26639,0.50,155.7,247.7,6.7,840,26643,0.00,2.38,0.00,0.000,6,0.000,0.038,3283,1932,2352,0,0,0,0,0,0
$GC,26965,0.50,155.7,222.4,8.1,856,26969,0.00,2.40,0.00,0.000,4,0.000,0.047,3295,326,2353,0,0,0,0,0,0
$GC,26998,0.50,155.7,219.7,6.7,857,27004,0.15,2.35,0.00,0.000,6,0.111,0.039,3242,1921,2354,0,0,0,0,0,0
$GC,27313,0.54,185.6,202.2,5.2,873,27344,0.00,2.47,25.55,0.925,4,0.000,0.049,3242,3511,2237,0,0,0,0,0,0
$GC,27474,0.55,195.6,192.2,5.7,885,27490,0.00,2.42,10.73,0.833,6,0.000,0.037,3250,1902,2197,0,0,0,0,0,0
$GC,27747,0.58,217.1,176.0,5.4,910,27771,0.00,2.40,19.38,0.890,4,0.000,0.048,3262,336,2108,0,0,0,0,0,0
$GC,27814,0.59,224.7,172.0,5.8,916,27828,0.00,2.35,8.00,0.786,6,0.000,0.038,3262,1918,2078,0,0,0,0,0,0
$GC,28093,0.59,224.7,151.7,7.2,942,28097,0.00,2.45,0.00,0.000,4,0.000,0.048,3262,3522,2080,0,0,0,0,0,0
$GC,28147,0.59,224.7,146.9,7.4,946,28153,0.00,2.40,0.00,0.000,6,0.000,0.035,3272,1909,2080,0,0,0,0,0,0
$GC,28408,0.59,224.7,129.4,6.7,971,28412,0.00,2.35,0.00,0.000,4,0.000,0.044,3284,340,2081,0,0,0,0,0,0
$GC,28476,0.59,224.7,124.7,6.2,976,28482,0.00,2.33,0.00,0.000,6,0.000,0.037,3284,1921,2081,0,0,0,0,0,0
$GC,28738,0.60,233.4,107.6,5.8,1001,28753,0.00,2.45,9.82,0.772,4,0.000,0.048,3284,3517,2043,0,0,0,0,0,0
$GC,28811,0.60,233.4,102.8,7.3,1007,28815,0.00,2.38,0.00,0.000,6,0.000,0.035,3295,1927,2043,0,0,0,0,0,0
$GC,29072,0.61,238.3,87.3,5.9,1031,29084,0.00,2.47,6.57,0.664,4,0.000,0.045,3306,326,2022,0,0,0,0,0,0
$GC,29142,0.61,238.3,82.7,6.3,1037,29146,0.00,2.33,0.00,0.000,6,0.000,0.036,3307,1936,2022,0,0,0,0,0,0
$GC,29404,0.61,238.3,62.9,7.3,1061,29408,0.00,2.40,0.00,0.000,4,0.000,0.048,3307,3513,2024,0,0,0,0,0,0
$GC,29450,0.61,238.3,59.1,7.4,1065,29455,0.12,2.38,0.00,0.000,6,0.120,0.037,3272,1926,2024,0,0,0,0,0,0
$GC,29711,0.61,238.3,42.6,6.8,1089,29714,0.00,2.38,0.00,0.000,4,0.000,0.046,3283,330,2026,0,0,0,0,0,0
$GC,29749,0.61,238.3,40.1,6.3,1092,29755,0.00,2.33,0.00,0.000,6,0.000,0.038,3283,1918,2026,0,0,0,0,0,0
$GC,30010,0.62,247.4,25.8,5.8,1117,30025,0.00,2.42,9.88,0.669,4,0.000,0.048,3283,3509,1986,0,0,0,0,0,0
$GC,30054,0.62,247.4,22.9,6.7,1120,30060,0.00,2.38,0.00,0.000,6,0.000,0.037,3293,1913,1987,0,0,0,0,0,0
$GC,30252,0.62,247.4,7.3,7.2,1139,30256,0.00,2.35,0.00,0.000,4,0.000,0.047,3305,338,1988,0,0,0,0,0,0
$GC,30302,0.62,247.4,3.7,9.4,1143,30306,0.00,2.30,0.00,0.000,6,0.000,0.038,3305,1921,1988,0,0,0,0,0,0
$STATE,30311,end climb,SURFACE_DEPTH_REACHED
$STATE,30311,begin surface coast
$FINISH,0.4,1.023277
$STATE,30345,end surface coast,CONTROL_FINISHED_OK
$STATE,30345,begin surface
$SM_CCo,30363,74.05,0.800,0,0,1364,400.08
$SM_GC,1.12,0.00,0.00,74.05,0.000,0.000,0.800,105,2184,1364,-9.33,0.96,400.08
$IRIDIUM_FIX,2206.70,12857.05,190812,151523
$TT8_MAMPS,0.028379
$HUMID,1078701281
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,21.6,71.654
$10V_AH,9.7,58.754
$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,21.325,316.425,384.575,74.050,0.000,28.545,41.264,213.284,0.000,0.000,14.637,2551.629,23802.703,699.273,3221.780,568.427,33.381,2320.324,0.000,2901.734,0.000,0.541,0.000
$DEVICE_MAMPS,214.760,56.758,1619.904,799.981,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,783.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,39998,1147
$CAP_FILE_SIZE,328942,0
$CFSIZE,260165632,185643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250211,143131,2215.588,12855.764,36,1.9,36,-3.2