version: 66.07
glider: 500
mission: 5
dive: 413
start: 2 27 111 17 50 52
data:
$ID,500
$MISSION,5
$DIVE,413
$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,-129713.8
$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,32
$R_STBD_OVSHOOT,41
$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
$GPS1,270211,173424,2213.081,12858.550,34,1.2,34,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.9
$GPS2,270211,174956,2213.115,12858.868,11,1.8,11,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.046,-0.216
$KALMAN_X,-748605.5,774.8,-464.9,1339162.5,1298.5
$KALMAN_Y,320153.2,-248.2,-556.8,-201820.0,7517.0
$MHEAD_RNG_PITCHd_Wd,195.2,175683,-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,7843,-0.51,-155.7,495.2,-3.8,369,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2123,3626,0,0,0,0,0,0
$GC,8167,-0.51,-155.7,510.8,-4.9,377,8171,0.00,2.45,0.00,0.000,4,0.000,0.052,2905,3697,3624,0,0,0,0,0,0
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$GC,15681,-0.51,-155.7,829.9,-3.6,559,15686,0.00,2.50,0.00,0.000,4,0.000,0.056,2924,3714,3602,0,0,0,0,0,0
$GC,15861,-0.51,-155.7,836.4,-3.4,563,15865,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2119,3602,0,0,0,0,0,0
$GC,16182,-0.51,-155.7,847.4,-3.5,571,16186,0.00,2.50,0.00,0.000,4,0.000,0.056,2913,3710,3601,0,0,0,0,0,0
$GC,16276,-0.51,-155.7,851.0,-3.2,573,16280,0.00,2.38,0.00,0.000,6,0.000,0.037,2913,2111,3601,0,0,0,0,0,0
$GC,16591,-0.51,-155.7,862.7,-3.7,581,16595,0.00,2.45,0.00,0.000,4,0.000,0.054,2902,3705,3600,0,0,0,0,0,0
$GC,16675,-0.51,-155.7,866.0,-3.9,583,16680,0.00,2.38,0.00,0.000,6,0.000,0.035,2902,2111,3600,0,0,0,0,0,0
$GC,17003,-0.51,-155.7,879.3,-4.2,591,17007,0.00,2.50,0.00,0.000,4,0.000,0.055,2890,3713,3599,0,0,0,0,0,0
$GC,17042,-0.51,-155.7,881.1,-3.8,592,17047,0.12,2.40,0.00,0.000,6,0.111,0.037,2936,2112,3599,0,0,0,0,0,0
$GC,17370,-0.51,-155.7,893.4,-3.8,600,17374,0.00,2.47,0.00,0.000,4,0.000,0.056,2926,3712,3599,0,0,0,0,0,0
$GC,17599,-0.51,-155.7,902.3,-3.5,605,17603,0.00,2.38,0.00,0.000,6,0.000,0.035,2926,2118,3599,0,0,0,0,0,0
$GC,17914,-0.51,-155.7,912.8,-3.3,613,17919,0.00,2.45,0.00,0.000,4,0.000,0.055,2924,3702,3598,0,0,0,0,0,0
$GC,18173,-0.51,-155.7,922.4,-4.0,618,18179,0.00,2.38,0.00,0.000,6,0.000,0.036,2925,2114,3597,0,0,0,0,0,0
$GC,18504,-0.51,-155.7,934.8,-3.9,627,18508,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3713,3597,0,0,0,0,0,0
$GC,18712,-0.51,-155.7,943.6,-4.0,631,18716,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2112,3596,0,0,0,0,0,0
$GC,19045,-0.51,-155.7,957.4,-4.3,639,19049,0.00,2.47,0.00,0.000,4,0.000,0.055,2913,3701,3596,0,0,0,0,0,0
$GC,19157,-0.51,-155.7,962.4,-4.0,641,19161,0.00,2.38,0.00,0.000,6,0.000,0.037,2913,2112,3596,0,0,0,0,0,0
$GC,19501,-0.51,-155.7,975.4,-3.7,650,19506,0.00,2.47,0.00,0.000,4,0.000,0.054,2902,3710,3596,0,0,0,0,0,0
$GC,19590,-0.51,-155.7,978.5,-3.1,652,19594,0.00,2.38,0.00,0.000,6,0.000,0.036,2902,2120,3596,0,0,0,0,0,0
$GC,19912,-0.51,-155.7,987.8,-3.0,660,19915,0.00,2.47,0.00,0.000,4,0.000,0.057,2891,3701,3596,0,0,0,0,0,0
$STATE,19981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19982,begin apogee
$GC,19990,-0.23,0.0,990.1,3.2,661,20132,0.32,0.00,139.10,1.577,6,0.089,0.000,3015,1925,2995,0,0,0,0,0,0
$STATE,20133,end apogee,CONTROL_FINISHED_OK
$STATE,20133,begin climb
$GC,20136,0.51,155.7,988.9,0.0,665,20293,0.68,0.00,153.32,1.529,6,0.052,0.000,3266,1925,2360,0,0,0,0,0,0
$GC,20611,0.51,155.7,927.4,13.5,677,20615,0.00,2.47,0.00,0.000,4,0.000,0.054,3267,3510,2360,0,0,0,0,0,0
$GC,20661,0.51,155.7,920.2,14.1,678,20665,0.00,2.45,0.00,0.000,6,0.000,0.041,3279,1927,2359,0,0,0,0,0,0
$GC,20974,0.51,155.7,875.1,14.7,686,20978,0.00,2.47,0.00,0.000,4,0.000,0.052,3291,325,2358,0,0,0,0,0,0
$GC,21035,0.51,155.7,865.8,14.2,687,21040,0.10,2.42,0.00,0.000,6,0.101,0.045,3237,1916,2358,0,0,0,0,0,0
$GC,21385,0.51,155.7,825.2,11.8,696,21389,0.00,2.45,0.00,0.000,4,0.000,0.054,3236,3515,2357,0,0,0,0,0,0
$GC,21440,0.51,155.7,817.8,12.3,697,21444,0.00,2.42,0.00,0.000,6,0.000,0.043,3248,1905,2356,0,0,0,0,0,0
$GC,21754,0.51,155.7,779.2,12.1,705,21758,0.00,2.47,0.00,0.000,4,0.000,0.054,3248,3518,2356,0,0,0,0,0,0
$GC,21787,0.51,155.7,774.7,13.4,705,21793,0.00,2.42,0.00,0.000,6,0.000,0.042,3260,1912,2355,0,0,0,0,0,0
$GC,22119,0.51,155.7,732.9,12.7,714,22120,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1911,2355,0,0,0,0,0,0
$GC,22443,0.51,155.7,692.3,12.8,722,22447,0.00,2.45,0.00,0.000,4,0.000,0.054,3273,341,2354,0,0,0,0,0,0
$GC,22498,0.51,155.7,685.1,13.2,723,22502,0.00,2.40,0.00,0.000,6,0.000,0.045,3273,1923,2353,0,0,0,0,0,0
$GC,22811,0.51,155.7,643.4,13.3,731,22816,0.00,2.47,0.00,0.000,4,0.000,0.058,3273,3509,2354,0,0,0,0,0,0
$GC,22883,0.51,155.7,632.7,14.2,732,22888,0.12,2.42,0.00,0.000,6,0.132,0.044,3245,1911,2354,0,0,0,0,0,0
$GC,23217,0.51,155.7,597.5,10.1,740,23221,0.00,2.42,0.00,0.000,4,0.000,0.054,3256,342,2354,0,0,0,0,0,0
$GC,23283,0.51,155.7,590.5,11.4,741,23287,0.00,2.38,0.00,0.000,6,0.000,0.045,3256,1936,2353,0,0,0,0,0,0
$GC,23626,0.51,155.7,554.5,10.5,750,23630,0.00,2.42,0.00,0.000,4,0.000,0.055,3256,3501,2353,0,0,0,0,0,0
$GC,23692,0.51,155.7,546.8,9.6,751,23696,0.00,2.38,0.00,0.000,6,0.000,0.041,3268,1926,2353,0,0,0,0,0,0
$GC,24029,0.51,155.7,510.8,10.8,760,24033,0.00,2.45,0.00,0.000,4,0.000,0.053,3281,334,2353,0,0,0,0,0,0
$GC,24113,0.51,155.7,501.5,8.8,762,24117,0.00,2.38,0.00,0.000,6,0.000,0.045,3281,1921,2353,0,0,0,0,0,0
$GC,24443,0.51,155.7,464.2,11.1,770,24448,0.00,2.47,0.00,0.000,4,0.000,0.057,3282,3505,2353,0,0,0,0,0,0
$GC,24484,0.51,155.7,459.1,12.7,771,24489,0.12,2.45,0.00,0.000,6,0.131,0.043,3253,1905,2353,0,0,0,0,0,0
$GC,24808,0.51,155.7,427.2,9.8,779,24812,0.00,2.42,0.00,0.000,4,0.000,0.051,3264,333,2352,0,0,0,0,0,0
$GC,24863,0.51,155.7,421.9,9.3,780,24868,0.00,2.40,0.00,0.000,6,0.000,0.045,3264,1931,2352,0,0,0,0,0,0
$GC,25176,0.51,155.7,391.9,9.8,788,25181,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,3513,2353,0,0,0,0,0,0
$GC,25289,0.51,155.7,379.7,11.1,790,25293,0.00,2.40,0.00,0.000,6,0.000,0.041,3276,1921,2353,0,0,0,0,0,0
$GC,25625,0.51,155.7,346.7,9.4,799,25629,0.00,2.42,0.00,0.000,4,0.000,0.051,3289,333,2353,0,0,0,0,0,0
$GC,25669,0.51,155.7,342.4,8.8,800,25674,0.12,2.38,0.00,0.000,6,0.123,0.043,3245,1928,2354,0,0,0,0,0,0
$GC,25990,0.51,155.7,317.8,8.2,808,25994,0.00,2.42,0.00,0.000,4,0.000,0.051,3245,3514,2354,0,0,0,0,0,0
$GC,26047,0.51,155.7,312.3,8.7,809,26051,0.00,2.40,0.00,0.000,6,0.000,0.040,3255,1925,2355,0,0,0,0,0,0
$GC,26375,0.51,155.7,286.1,7.5,821,26376,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1925,2356,0,0,0,0,0,0
$GC,26685,0.51,155.7,262.3,7.7,836,26689,0.00,2.42,0.00,0.000,4,0.000,0.049,3268,328,2357,0,0,0,0,0,0
$GC,26756,0.51,155.7,256.6,7.3,839,26760,0.00,2.35,0.00,0.000,6,0.000,0.040,3268,1937,2358,0,0,0,0,0,0
$GC,27077,0.51,155.7,229.3,8.3,855,27082,0.00,2.38,0.00,0.000,4,0.000,0.050,3269,3497,2359,0,0,0,0,0,0
$GC,27190,0.51,155.7,219.7,8.0,860,27194,0.00,2.38,0.00,0.000,6,0.000,0.038,3280,1908,2360,0,0,0,0,0,0
$GC,27512,0.51,155.7,194.2,8.4,879,27516,0.00,2.38,0.00,0.000,4,0.000,0.048,3292,327,2361,0,0,0,0,0,0
$GC,27552,0.51,155.7,191.0,9.0,882,27557,0.12,2.35,0.00,0.000,6,0.113,0.041,3246,1923,2361,0,0,0,0,0,0
$GC,27814,0.51,155.7,173.8,6.7,906,27815,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1923,2362,0,0,0,0,0,0
$GC,28068,0.51,157.2,159.2,6.0,930,28079,0.00,2.47,3.97,0.521,4,0.000,0.048,3246,3500,2354,0,0,0,0,0,0
$GC,28150,0.51,157.2,154.1,7.5,937,28154,0.00,2.38,0.00,0.000,6,0.000,0.035,3255,1909,2355,0,0,0,0,0,0
$GC,28412,0.53,176.2,137.9,5.5,961,28436,0.00,2.45,17.83,0.830,4,0.000,0.048,3267,340,2275,0,0,0,0,0,0
$GC,28466,0.55,188.1,134.6,5.7,966,28483,0.00,2.35,11.27,0.791,6,0.000,0.039,3267,1919,2228,0,0,0,0,0,0
$GC,28739,0.59,225.6,119.6,5.0,991,28780,0.00,2.53,31.75,0.861,4,0.000,0.049,3267,3508,2074,0,0,0,0,0,0
$GC,28808,0.59,226.7,115.4,6.0,997,28814,0.00,2.42,0.00,0.000,6,0.000,0.037,3278,1919,2075,0,0,0,0,0,0
$GC,29069,0.60,229.1,100.1,5.9,1022,29081,0.00,2.45,5.15,0.621,4,0.000,0.049,3289,325,2060,0,0,0,0,0,0
$GC,29126,0.60,229.1,96.5,6.2,1027,29130,0.00,2.38,0.00,0.000,6,0.000,0.041,3289,1926,2061,0,0,0,0,0,0
$GC,29392,0.60,229.1,78.5,7.3,1052,29396,0.00,2.40,0.00,0.000,4,0.000,0.050,3289,3511,2062,0,0,0,0,0,0
$GC,29421,0.60,229.1,76.3,8.2,1054,29425,0.00,2.40,0.00,0.000,6,0.000,0.038,3300,1913,2062,0,0,0,0,0,0
$GC,29683,0.60,229.1,55.2,8.0,1078,29687,0.00,2.40,0.00,0.000,4,0.000,0.051,3311,326,2064,0,0,0,0,0,0
$GC,29733,0.60,229.1,51.4,8.2,1082,29737,0.00,2.38,0.00,0.000,6,0.000,0.041,3312,1934,2064,0,0,0,0,0,0
$GC,29994,0.60,229.1,31.4,7.9,1106,29998,0.00,2.40,0.00,0.000,4,0.000,0.051,3312,3508,2066,0,0,0,0,0,0
$GC,30037,0.60,229.1,27.4,9.1,1109,30044,0.12,2.38,0.00,0.000,6,0.120,0.038,3278,1923,2066,0,0,0,0,0,0
$GC,30235,0.62,246.2,15.4,5.5,1128,30256,0.00,2.53,16.48,0.719,4,0.000,0.052,3288,323,1991,0,0,0,0,0,0
$GC,30292,0.62,246.2,12.0,6.5,1133,30296,0.00,2.38,0.00,0.000,6,0.000,0.043,3288,1931,1991,0,0,0,0,0,0
$STATE,30424,end climb,SURFACE_DEPTH_REACHED
$STATE,30425,begin surface coast
$FINISH,0.3,1.023231
$STATE,30467,end surface coast,CONTROL_FINISHED_OK
$STATE,30467,begin surface
$SM_CCo,30486,74.82,0.791,0,0,1364,400.08
$SM_GC,1.10,0.00,0.00,74.82,0.000,0.000,0.791,129,2138,1364,-9.26,0.51,400.08
$IRIDIUM_FIX,2204.37,12858.86,220812,121216
$TT8_MAMPS,0.027612
$HUMID,1078679345
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,21.7,72.984
$10V_AH,9.6,59.481
$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,21.250,323.050,378.875,74.825,0.000,86.943,112.764,443.284,0.000,0.000,12.891,2568.732,23995.365,725.141,3549.350,632.459,33.382,2330.807,0.000,2891.733,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,69.797,1576.952,790.777,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,784.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,40025,1149
$CAP_FILE_SIZE,337652,0
$CFSIZE,260165632,184856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280211,022136,2212.079,12900.689,37,1.3,42,-3.2