version: 66.07
glider: 500
mission: 5
dive: 409
start: 2 26 111 7 23 13
data:
$ID,500
$MISSION,5
$DIVE,409
$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,-129656.15
$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,2120
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,55
$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
$GPS1,260211,071400,2215.027,12858.530,35,1.4,35,-3.2
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.5
$GPS2,260211,072221,2215.046,12858.428,10,3.1,29,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.094,-0.200
$KALMAN_X,-754082.9,-1110.9,-355.5,1345679.2,5808.9
$KALMAN_Y,298525.0,1.6,-367.3,-177060.5,7098.3
$MHEAD_RNG_PITCHd_Wd,158.0,179198,-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,14873,-0.50,-155.7,764.7,-3.4,540,14877,0.00,2.38,0.00,0.000,6,0.000,0.035,2901,2120,3597,0,0,0,0,0,0
$GC,15192,-0.50,-155.7,777.5,-4.2,548,15196,0.00,2.47,0.00,0.000,4,0.000,0.054,2890,3700,3596,0,0,0,0,0,0
$GC,15248,-0.50,-155.7,780.1,-4.6,549,15253,0.12,2.38,0.00,0.000,6,0.111,0.037,2936,2111,3596,0,0,0,0,0,0
$GC,15597,-0.50,-155.7,796.7,-5.1,558,15602,0.00,2.50,0.00,0.000,4,0.000,0.054,2926,3702,3596,0,0,0,0,0,0
$GC,15693,-0.50,-155.7,801.8,-5.4,560,15698,0.00,2.38,0.00,0.000,6,0.000,0.037,2926,2119,3595,0,0,0,0,0,0
$GC,16008,-0.50,-155.7,818.1,-5.1,568,16012,0.00,2.47,0.00,0.000,4,0.000,0.054,2915,3705,3595,0,0,0,0,0,0
$GC,16093,-0.50,-155.7,822.1,-4.5,570,16098,0.00,2.38,0.00,0.000,6,0.000,0.035,2915,2111,3595,0,0,0,0,0,0
$GC,16419,-0.50,-155.7,836.8,-4.5,578,16423,0.00,2.47,0.00,0.000,4,0.000,0.053,2903,3710,3594,0,0,0,0,0,0
$GC,16493,-0.50,-155.7,840.2,-4.2,579,16497,0.00,2.38,0.00,0.000,6,0.000,0.036,2903,2120,3594,0,0,0,0,0,0
$GC,16824,-0.50,-155.7,856.7,-5.1,587,16828,0.00,2.42,0.00,0.000,4,0.000,0.054,2891,3697,3593,0,0,0,0,0,0
$GC,16869,-0.50,-155.7,858.9,-5.2,588,16874,0.12,2.35,0.00,0.000,6,0.110,0.038,2938,2117,3592,0,0,0,0,0,0
$GC,17189,-0.50,-155.7,873.5,-4.6,596,17193,0.00,2.47,0.00,0.000,4,0.000,0.055,2928,3709,3592,0,0,0,0,0,0
$GC,17446,-0.50,-155.7,884.3,-4.4,601,17452,0.00,2.38,0.00,0.000,6,0.000,0.037,2928,2118,3591,0,0,0,0,0,0
$GC,17778,-0.50,-155.7,894.8,-3.1,610,17783,0.00,2.47,0.00,0.000,4,0.000,0.055,2925,3706,3591,0,0,0,0,0,0
$GC,18002,-0.50,-155.7,902.0,-3.9,615,18006,0.00,2.35,0.00,0.000,6,0.000,0.036,2925,2116,3591,0,0,0,0,0,0
$GC,18329,-0.50,-155.7,913.0,-3.5,623,18333,0.00,2.47,0.00,0.000,4,0.000,0.055,2914,3709,3590,0,0,0,0,0,0
$GC,18435,-0.50,-155.7,917.2,-2.8,625,18439,0.00,2.38,0.00,0.000,6,0.000,0.038,2914,2126,3590,0,0,0,0,0,0
$GC,18779,-0.50,-155.7,931.2,-4.3,634,18783,0.00,2.42,0.00,0.000,4,0.000,0.054,2903,3699,3589,0,0,0,0,0,0
$GC,18823,-0.50,-155.7,933.2,-4.4,635,18828,0.00,2.35,0.00,0.000,6,0.000,0.038,2903,2120,3589,0,0,0,0,0,0
$GC,19145,-0.50,-155.7,947.6,-4.7,643,19149,0.00,2.47,0.00,0.000,4,0.000,0.055,2891,3709,3589,0,0,0,0,0,0
$GC,19196,-0.50,-155.7,949.9,-4.6,644,19201,0.12,2.40,0.00,0.000,6,0.109,0.038,2938,2111,3588,0,0,0,0,0,0
$GC,19517,-0.50,-155.7,962.5,-3.9,652,19522,0.00,2.50,0.00,0.000,4,0.000,0.054,2927,3705,3589,0,0,0,0,0,0
$GC,19776,-0.50,-155.7,972.5,-3.5,657,19782,0.00,2.38,0.00,0.000,6,0.000,0.035,2927,2112,3587,0,0,0,0,0,0
$GC,20107,-0.50,-155.7,984.5,-3.8,666,20111,0.00,2.50,0.00,0.000,4,0.000,0.054,2926,3700,3587,0,0,0,0,0,0
$STATE,20239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20239,begin apogee
$GC,20247,-0.23,0.0,990.1,3.8,669,20388,0.25,0.00,138.18,1.634,6,0.071,0.000,3032,1928,2995,0,0,0,0,0,0
$STATE,20389,end apogee,CONTROL_FINISHED_OK
$STATE,20389,begin climb
$GC,20391,0.50,155.7,992.0,0.0,672,20556,0.60,2.78,154.50,1.605,4,0.051,0.051,3279,321,2360,0,0,0,0,0,0
$GC,20579,0.50,155.7,971.0,12.9,676,20584,0.00,2.60,0.00,0.000,6,0.000,0.041,3279,1920,2360,0,0,0,0,0,0
$GC,20924,0.50,155.7,921.6,14.8,685,20928,0.00,2.50,0.00,0.000,4,0.000,0.055,3279,3511,2358,0,0,0,0,0,0
$GC,21012,0.50,155.7,907.5,13.9,687,21017,0.12,2.42,0.00,0.000,6,0.140,0.043,3252,1913,2357,0,0,0,0,0,0
$GC,21340,0.50,155.7,866.8,12.3,695,21344,0.00,2.40,0.00,0.000,4,0.000,0.053,3264,336,2356,0,0,0,0,0,0
$GC,21380,0.50,155.7,861.2,12.7,696,21385,0.00,2.38,0.00,0.000,6,0.000,0.045,3264,1925,2355,0,0,0,0,0,0
$GC,21707,0.50,155.7,818.4,13.0,704,21711,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,3509,2354,0,0,0,0,0,0
$GC,21784,0.50,155.7,807.7,14.4,705,21790,0.00,2.42,0.00,0.000,6,0.000,0.043,3277,1914,2354,0,0,0,0,0,0
$GC,22116,0.50,155.7,762.6,13.9,714,22120,0.00,2.50,0.00,0.000,4,0.000,0.055,3276,3513,2353,0,0,0,0,0,0
$GC,22150,0.50,155.7,757.7,14.6,714,22156,0.12,2.42,0.00,0.000,6,0.138,0.044,3249,1909,2353,0,0,0,0,0,0
$GC,22483,0.50,155.7,719.7,11.1,723,22487,0.00,2.40,0.00,0.000,4,0.000,0.052,3261,330,2353,0,0,0,0,0,0
$GC,22544,0.50,155.7,712.3,12.1,724,22549,0.00,2.38,0.00,0.000,6,0.000,0.044,3261,1923,2353,0,0,0,0,0,0
$GC,22888,0.50,155.7,669.4,12.6,733,22892,0.00,2.42,0.00,0.000,4,0.000,0.053,3261,3505,2352,0,0,0,0,0,0
$GC,22983,0.50,155.7,656.9,12.9,735,22987,0.00,2.40,0.00,0.000,6,0.000,0.042,3274,1914,2351,0,0,0,0,0,0
$GC,23295,0.50,155.7,619.2,12.0,743,23299,0.00,2.42,0.00,0.000,4,0.000,0.054,3286,334,2351,0,0,0,0,0,0
$GC,23328,0.50,155.7,615.3,10.4,743,23334,0.12,2.40,0.00,0.000,6,0.127,0.044,3244,1922,2351,0,0,0,0,0,0
$GC,23660,0.50,155.7,585.4,9.0,752,23661,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1922,2351,0,0,0,0,0,0
$GC,23984,0.50,155.7,551.8,10.6,760,23988,0.00,2.45,0.00,0.000,4,0.000,0.052,3244,3509,2350,0,0,0,0,0,0
$GC,24101,0.50,155.7,539.1,9.2,762,24106,0.00,2.40,0.00,0.000,6,0.000,0.041,3255,1928,2350,0,0,0,0,0,0
$GC,24432,0.50,155.7,507.9,8.8,770,24436,0.00,2.45,0.00,0.000,4,0.000,0.051,3268,326,2350,0,0,0,0,0,0
$GC,24510,0.50,155.7,500.8,8.1,771,24516,0.00,2.38,0.00,0.000,6,0.000,0.042,3268,1923,2350,0,0,0,0,0,0
$GC,24841,0.50,155.7,465.1,11.5,780,24842,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1923,2350,0,0,0,0,0,0
$GC,25167,0.50,155.7,428.7,10.7,788,25171,0.00,2.45,0.00,0.000,4,0.000,0.051,3268,3513,2350,0,0,0,0,0,0
$GC,25255,0.50,155.7,419.4,11.5,790,25260,0.00,2.45,0.00,0.000,6,0.000,0.041,3280,1909,2350,0,0,0,0,0,0
$GC,25582,0.50,155.7,387.1,9.9,798,25587,0.00,2.40,0.00,0.000,4,0.000,0.051,3292,334,2351,0,0,0,0,0,0
$GC,25654,0.50,155.7,379.0,11.8,799,25659,0.12,2.38,0.00,0.000,6,0.125,0.041,3250,1924,2351,0,0,0,0,0,0
$GC,25993,0.50,155.7,350.7,8.2,808,25997,0.00,2.45,0.00,0.000,4,0.000,0.051,3250,3503,2352,0,0,0,0,0,0
$GC,26088,0.50,155.7,342.2,8.4,810,26092,0.00,2.40,0.00,0.000,6,0.000,0.040,3261,1913,2352,0,0,0,0,0,0
$GC,26408,0.50,155.7,313.4,9.2,818,26409,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1913,2352,0,0,0,0,0,0
$GC,26713,0.50,155.7,290.4,6.8,828,26717,0.00,2.40,0.00,0.000,4,0.000,0.050,3273,328,2354,0,0,0,0,0,0
$GC,26762,0.50,155.7,286.6,7.4,830,26766,0.00,2.35,0.00,0.000,6,0.000,0.041,3273,1928,2354,0,0,0,0,0,0
$GC,27083,0.50,155.7,261.0,7.9,846,27087,0.00,2.42,0.00,0.000,4,0.000,0.051,3273,3501,2355,0,0,0,0,0,0
$GC,27192,0.50,155.7,252.1,7.7,851,27197,0.12,2.38,0.00,0.000,6,0.123,0.037,3243,1903,2356,0,0,0,0,0,0
$GC,27518,0.51,161.2,232.6,5.9,867,27526,0.00,0.00,6.28,0.765,6,0.000,0.000,3243,1902,2337,0,0,0,0,0,0
$GC,27827,0.51,161.2,213.5,6.4,882,27831,0.00,2.38,0.00,0.000,4,0.000,0.049,3253,343,2339,0,0,0,0,0,0
$GC,27893,0.51,161.2,208.8,7.0,885,27897,0.00,2.35,0.00,0.000,6,0.000,0.038,3253,1916,2340,0,0,0,0,0,0
$GC,28215,0.53,177.0,187.7,5.6,909,28237,0.00,2.47,16.15,0.898,4,0.000,0.048,3253,3519,2272,0,0,0,0,0,0
$GC,28272,0.53,177.0,184.2,6.8,914,28277,0.00,2.40,0.00,0.000,6,0.000,0.038,3265,1927,2273,0,0,0,0,0,0
$GC,28534,0.53,177.0,168.9,6.1,938,28538,0.00,2.45,0.00,0.000,4,0.000,0.048,3278,328,2275,0,0,0,0,0,0
$GC,28611,0.54,180.9,163.5,5.9,944,28622,0.00,2.35,5.90,0.716,6,0.000,0.038,3277,1934,2256,0,0,0,0,0,0
$GC,28879,0.54,180.9,144.6,7.0,969,28883,0.00,2.42,0.00,0.000,4,0.000,0.050,3278,3497,2258,0,0,0,0,0,0
$GC,28977,0.54,180.9,137.8,7.4,977,28981,0.00,2.38,0.00,0.000,6,0.000,0.037,3289,1910,2259,0,0,0,0,0,0
$GC,29239,0.57,206.6,122.6,5.3,1001,29270,0.00,2.45,23.20,0.874,4,0.000,0.048,3300,345,2152,0,0,0,0,0,0
$GC,29310,0.57,206.6,118.0,6.5,1007,29316,0.00,2.33,0.00,0.000,6,0.000,0.036,3301,1930,2153,0,0,0,0,0,0
$GC,29571,0.57,206.6,98.5,7.6,1032,29575,0.00,2.40,0.00,0.000,4,0.000,0.049,3301,3500,2155,0,0,0,0,0,0
$GC,29638,0.57,206.6,92.2,9.4,1037,29645,0.12,2.33,0.00,0.000,6,0.118,0.035,3266,1928,2155,0,0,0,0,0,0
$GC,29900,0.57,206.6,78.7,6.0,1062,29904,0.00,2.42,0.00,0.000,4,0.000,0.047,3276,325,2156,0,0,0,0,0,0
$GC,29972,0.57,206.6,74.1,6.0,1068,29978,0.00,2.33,0.00,0.000,6,0.000,0.037,3276,1919,2157,0,0,0,0,0,0
$GC,30233,0.57,206.6,53.8,7.7,1093,30237,0.00,2.38,0.00,0.000,4,0.000,0.045,3285,331,2158,0,0,0,0,0,0
$GC,30307,0.57,206.6,48.7,6.2,1099,30311,0.00,2.30,0.00,0.000,6,0.000,0.037,3285,1923,2158,0,0,0,0,0,0
$GC,30569,0.57,206.6,30.9,7.4,1123,30572,0.00,2.42,0.00,0.000,4,0.000,0.049,3285,3503,2160,0,0,0,0,0,0
$GC,30666,0.57,206.6,24.6,6.9,1131,30672,0.00,2.35,0.00,0.000,6,0.000,0.036,3296,1910,2160,0,0,0,0,0,0
$GC,30863,0.57,206.6,10.9,10.9,1150,30867,0.00,2.40,0.00,0.000,4,0.000,0.047,3308,330,2161,0,0,0,0,0,0
$GC,30942,0.57,206.6,5.8,6.5,1157,30946,0.12,2.33,0.00,0.000,6,0.100,0.038,3255,1926,2161,0,0,0,0,0,0
$STATE,31009,end climb,SURFACE_DEPTH_REACHED
$STATE,31009,begin surface coast
$FINISH,0.4,1.023327
$STATE,31085,end surface coast,CONTROL_FINISHED_OK
$STATE,31085,begin surface
$SM_CCo,31102,91.88,0.829,0,0,1364,400.08
$SM_GC,1.06,0.00,0.00,91.88,0.000,0.000,0.829,107,2142,1364,-9.32,0.65,400.08
$IRIDIUM_FIX,2206.70,12858.86,200812,171713
$TT8_MAMPS,0.028379
$HUMID,1078669023
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.6,72.223
$10V_AH,9.6,59.066
$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,21.375,340.525,344.200,91.875,0.000,30.453,34.245,273.497,0.000,0.000,31.974,2639.486,24331.797,685.415,3417.296,599.796,33.376,2382.260,0.000,3024.876,0.000,0.542,0.000
$DEVICE_MAMPS,215.527,57.525,1634.477,829.127,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,799.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,43310,1170
$CAP_FILE_SIZE,344357,0
$CFSIZE,260165632,185286656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260211,160437,2215.226,12900.713,47,1.1,47,-3.2