version: 66.07
glider: 500
mission: 5
dive: 415
start: 2 28 111 10 56 26
data:
$ID,500
$MISSION,5
$DIVE,415
$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,-129747.29
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,280211,104831,2210.919,12901.001,37,1.0,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.5
$GPS2,280211,105531,2210.969,12901.044,8,1.2,13,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.065,-0.211
$KALMAN_X,-740329.1,49.4,460.5,1334465.5,2732.7
$KALMAN_Y,329334.2,-378.6,49.4,-215469.2,5835.5
$MHEAD_RNG_PITCHd_Wd,200.3,170407,-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,15122,-0.50,-155.7,786.8,-3.5,560,15127,0.12,2.40,0.00,0.000,6,0.113,0.037,2932,2109,3598,0,0,0,0,0,0
$GC,15460,-0.50,-155.7,799.3,-3.7,569,15465,0.00,2.47,0.00,0.000,4,0.000,0.054,2921,3716,3597,0,0,0,0,0,0
$GC,15540,-0.50,-155.7,802.1,-3.1,570,15545,0.00,2.40,0.00,0.000,6,0.000,0.038,2921,2119,3596,0,0,0,0,0,0
$GC,15871,-0.50,-155.7,813.5,-3.4,579,15875,0.00,2.47,0.00,0.000,4,0.000,0.054,2910,3704,3596,0,0,0,0,0,0
$GC,15956,-0.50,-155.7,816.5,-3.4,581,15961,0.00,2.35,0.00,0.000,6,0.000,0.036,2911,2118,3596,0,0,0,0,0,0
$GC,16282,-0.50,-155.7,829.2,-4.0,589,16286,0.00,2.47,0.00,0.000,4,0.000,0.054,2899,3714,3595,0,0,0,0,0,0
$GC,16323,-0.50,-155.7,830.8,-4.3,590,16327,0.00,2.38,0.00,0.000,6,0.000,0.038,2899,2123,3595,0,0,0,0,0,0
$GC,16650,-0.50,-155.7,842.9,-3.7,598,16654,0.00,2.45,0.00,0.000,4,0.000,0.055,2888,3704,3595,0,0,0,0,0,0
$GC,16677,-0.50,-155.7,844.0,-3.7,598,16682,0.12,2.35,0.00,0.000,6,0.111,0.037,2934,2118,3595,0,0,0,0,0,0
$GC,17011,-0.50,-155.7,854.6,-3.4,606,17015,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3712,3594,0,0,0,0,0,0
$GC,17201,-0.50,-155.7,861.9,-4.5,610,17205,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2122,3594,0,0,0,0,0,0
$GC,17550,-0.50,-155.7,875.9,-4.5,619,17554,0.00,2.47,0.00,0.000,4,0.000,0.055,2912,3704,3593,0,0,0,0,0,0
$GC,17635,-0.50,-155.7,879.6,-3.7,621,17640,0.00,2.38,0.00,0.000,6,0.000,0.037,2912,2110,3593,0,0,0,0,0,0
$GC,17961,-0.50,-155.7,893.4,-4.1,629,17965,0.00,2.50,0.00,0.000,4,0.000,0.054,2901,3705,3593,0,0,0,0,0,0
$GC,18035,-0.50,-155.7,896.4,-3.9,630,18039,0.00,2.40,0.00,0.000,6,0.000,0.035,2901,2105,3592,0,0,0,0,0,0
$GC,18366,-0.50,-155.7,910.3,-4.4,638,18370,0.00,2.50,0.00,0.000,4,0.000,0.054,2890,3704,3592,0,0,0,0,0,0
$GC,18428,-0.50,-155.7,913.0,-4.5,639,18433,0.12,2.38,0.00,0.000,6,0.110,0.037,2936,2111,3592,0,0,0,0,0,0
$GC,18771,-0.50,-155.7,928.5,-4.7,648,18776,0.00,2.50,0.00,0.000,4,0.000,0.055,2926,3702,3591,0,0,0,0,0,0
$GC,19007,-0.50,-155.7,940.0,-3.6,653,19011,0.00,2.40,0.00,0.000,6,0.000,0.037,2926,2112,3591,0,0,0,0,0,0
$GC,19357,-0.50,-155.7,952.7,-3.4,662,19362,0.00,2.50,0.00,0.000,4,0.000,0.054,2923,3717,3590,0,0,0,0,0,0
$GC,19564,-0.50,-155.7,959.0,-3.1,666,19568,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2111,3590,0,0,0,0,0,0
$GC,19897,-0.50,-155.7,968.7,-3.1,674,19901,0.00,2.53,0.00,0.000,4,0.000,0.053,2913,3716,3590,0,0,0,0,0,0
$GC,20046,-0.50,-155.7,974.2,-3.8,677,20051,0.00,2.40,0.00,0.000,6,0.000,0.038,2913,2115,3590,0,0,0,0,0,0
$GC,20392,-0.50,-155.7,989.2,-4.5,686,20396,0.00,2.50,0.00,0.000,4,0.000,0.054,2902,3713,3589,0,0,0,0,0,0
$STATE,20405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20405,begin apogee
$GC,20414,-0.23,0.0,990.1,4.5,686,20555,0.30,0.00,137.65,1.572,6,0.089,0.000,3016,1916,2994,0,0,0,0,0,0
$STATE,20556,end apogee,CONTROL_FINISHED_OK
$STATE,20556,begin climb
$GC,20560,0.50,155.7,991.1,0.0,690,20717,0.62,0.00,152.52,1.529,6,0.054,0.000,3256,1916,2360,0,0,0,0,0,0
$GC,21010,0.50,155.7,938.0,13.2,701,21014,0.00,2.45,0.00,0.000,4,0.000,0.054,3256,3502,2360,0,0,0,0,0,0
$GC,21064,0.50,155.7,929.3,16.7,702,21069,0.00,2.45,0.00,0.000,6,0.000,0.041,3266,1921,2359,0,0,0,0,0,0
$GC,21379,0.50,155.7,884.3,14.4,710,21383,0.00,2.45,0.00,0.000,4,0.000,0.055,3279,325,2358,0,0,0,0,0,0
$GC,21439,0.50,155.7,875.5,14.2,711,21443,0.00,2.40,0.00,0.000,6,0.000,0.046,3279,1920,2358,0,0,0,0,0,0
$GC,21788,0.50,155.7,825.2,14.3,720,21792,0.00,2.45,0.00,0.000,4,0.000,0.056,3279,3512,2358,0,0,0,0,0,0
$GC,21882,0.50,155.7,810.6,14.6,722,21887,0.12,2.45,0.00,0.000,6,0.142,0.043,3252,1903,2357,0,0,0,0,0,0
$GC,22203,0.50,155.7,772.2,11.7,730,22207,0.00,2.42,0.00,0.000,4,0.000,0.054,3263,329,2357,0,0,0,0,0,0
$GC,22264,0.50,155.7,764.5,11.8,731,22268,0.00,2.42,0.00,0.000,6,0.000,0.048,3263,1920,2357,0,0,0,0,0,0
$GC,22614,0.50,155.7,721.4,12.4,740,22618,0.00,2.45,0.00,0.000,4,0.000,0.055,3263,3507,2357,0,0,0,0,0,0
$GC,22686,0.50,155.7,711.2,13.6,741,22690,0.00,2.42,0.00,0.000,6,0.000,0.043,3275,1918,2357,0,0,0,0,0,0
$GC,23017,0.50,155.7,665.2,13.5,749,23021,0.00,2.42,0.00,0.000,4,0.000,0.055,3287,341,2357,0,0,0,0,0,0
$GC,23072,0.50,155.7,658.0,11.8,750,23077,0.12,2.40,0.00,0.000,6,0.130,0.047,3246,1920,2356,0,0,0,0,0,0
$GC,23421,0.50,155.7,622.8,9.8,759,23425,0.00,2.47,0.00,0.000,4,0.000,0.055,3246,3505,2356,0,0,0,0,0,0
$GC,23494,0.50,155.7,614.7,9.2,760,23498,0.00,2.42,0.00,0.000,6,0.000,0.041,3256,1926,2356,0,0,0,0,0,0
$GC,23824,0.50,155.7,578.3,11.1,768,23829,0.00,2.47,0.00,0.000,4,0.000,0.054,3269,333,2356,0,0,0,0,0,0
$GC,23874,0.50,155.7,572.4,10.7,769,23878,0.00,2.40,0.00,0.000,6,0.000,0.048,3269,1920,2356,0,0,0,0,0,0
$GC,24194,0.50,155.7,534.2,12.0,777,24198,0.00,2.50,0.00,0.000,4,0.000,0.054,3269,3517,2356,0,0,0,0,0,0
$GC,24233,0.50,155.7,528.8,13.5,778,24237,0.00,2.47,0.00,0.000,6,0.000,0.043,3282,1905,2357,0,0,0,0,0,0
$GC,24561,0.50,155.7,488.3,12.2,786,24566,0.00,2.53,0.00,0.000,4,0.000,0.054,3282,3517,2357,0,0,0,0,0,0
$GC,24616,0.50,155.7,480.4,12.8,787,24621,0.12,2.45,0.00,0.000,6,0.132,0.042,3254,1910,2357,0,0,0,0,0,0
$GC,24967,0.50,155.7,446.6,9.4,796,24971,0.00,2.47,0.00,0.000,4,0.000,0.052,3254,3518,2357,0,0,0,0,0,0
$GC,25010,0.50,155.7,441.9,11.2,797,25014,0.00,2.42,0.00,0.000,6,0.000,0.041,3264,1914,2358,0,0,0,0,0,0
$GC,25336,0.50,155.7,411.7,9.5,805,25339,0.00,2.45,0.00,0.000,4,0.000,0.054,3277,333,2358,0,0,0,0,0,0
$GC,25407,0.50,155.7,403.8,10.8,806,25412,0.00,2.38,0.00,0.000,6,0.000,0.044,3277,1922,2359,0,0,0,0,0,0
$GC,25750,0.50,155.7,365.6,11.1,815,25754,0.00,2.47,0.00,0.000,4,0.000,0.051,3277,3514,2360,0,0,0,0,0,0
$GC,25806,0.50,155.7,359.8,12.0,816,25811,0.12,2.45,0.00,0.000,6,0.128,0.041,3248,1909,2360,0,0,0,0,0,0
$GC,26155,0.50,155.7,332.7,7.6,825,26156,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1908,2361,0,0,0,0,0,0
$GC,26479,0.50,155.7,307.7,7.7,833,26481,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1908,2362,0,0,0,0,0,0
$GC,26787,0.50,155.7,285.0,6.9,845,26791,0.00,2.42,0.00,0.000,4,0.000,0.050,3259,330,2364,0,0,0,0,0,0
$GC,26851,0.50,155.7,280.2,7.6,848,26856,0.00,2.35,0.00,0.000,6,0.000,0.041,3258,1919,2365,0,0,0,0,0,0
$GC,27178,0.50,155.7,256.4,7.1,864,27182,0.00,2.47,0.00,0.000,4,0.000,0.050,3259,3517,2366,0,0,0,0,0,0
$GC,27251,0.50,155.7,250.3,9.2,867,27255,0.00,2.42,0.00,0.000,6,0.000,0.038,3271,1925,2367,0,0,0,0,0,0
$GC,27566,0.50,155.7,225.5,7.7,882,27570,0.00,2.45,0.00,0.000,4,0.000,0.049,3271,3517,2369,0,0,0,0,0,0
$GC,27606,0.50,155.7,222.3,8.4,884,27615,0.00,2.42,3.85,0.564,6,0.000,0.038,3283,1917,2359,0,0,0,0,0,0
$GC,27929,0.50,155.7,195.6,8.0,902,27933,0.00,2.47,0.00,0.000,4,0.000,0.049,3283,3518,2363,0,0,0,0,0,0
$GC,27975,0.50,155.7,191.2,8.4,906,27980,0.15,2.42,0.00,0.000,6,0.111,0.038,3243,1913,2363,0,0,0,0,0,0
$GC,28237,0.57,212.3,176.4,4.5,930,28288,0.00,0.00,48.58,0.907,6,0.000,0.000,3243,1913,2128,0,0,0,0,0,0
$GC,28541,0.65,276.4,163.2,4.3,959,28606,0.15,2.50,53.97,0.907,4,0.071,0.051,3371,334,1868,0,0,0,0,0,0
$GC,28679,0.65,276.4,147.1,15.5,971,28686,0.22,2.38,0.00,0.000,6,0.110,0.042,3296,1924,1873,0,0,0,0,0,0
$GC,28941,0.65,276.4,128.1,7.3,996,28952,0.00,2.47,3.90,0.532,4,0.000,0.048,3296,3515,1868,0,0,0,0,0,0
$GC,28975,0.65,276.4,125.1,8.2,999,28980,0.00,2.40,0.00,0.000,6,0.000,0.038,3307,1920,1868,0,0,0,0,0,0
$GC,29236,0.65,276.4,104.7,7.6,1023,29240,0.00,2.45,0.00,0.000,4,0.000,0.051,3318,332,1869,0,0,0,0,0,0
$GC,29276,0.65,276.4,101.7,7.8,1026,29280,0.00,2.35,0.00,0.000,6,0.000,0.042,3319,1925,1870,0,0,0,0,0,0
$GC,29538,0.65,276.4,79.0,8.0,1050,29539,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1925,1870,0,0,0,0,0,0
$GC,29792,0.65,276.4,57.3,8.5,1074,29796,0.00,2.40,0.00,0.000,4,0.000,0.051,3330,333,1871,0,0,0,0,0,0
$GC,29825,0.65,276.4,54.2,9.4,1076,29832,0.00,2.38,0.00,0.000,6,0.000,0.044,3330,1927,1871,0,0,0,0,0,0
$GC,30087,0.65,276.4,29.5,9.1,1101,30088,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1928,1871,0,0,0,0,0,0
$GC,30278,0.65,276.4,11.0,9.5,1119,30280,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1928,1872,0,0,0,0,0,0
$STATE,30370,end climb,SURFACE_DEPTH_REACHED
$STATE,30370,begin surface coast
$FINISH,0.5,1.023187
$STATE,30406,end surface coast,CONTROL_FINISHED_OK
$STATE,30406,begin surface
$SM_CCo,30424,60.40,0.782,0,0,1363,400.08
$SM_GC,1.08,0.00,0.00,60.40,0.000,0.000,0.782,108,2152,1363,-9.32,0.90,400.08
$IRIDIUM_FIX,2206.70,12900.32,220812,202038
$TT8_MAMPS,0.028379
$HUMID,1078705152
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,21.6,73.357
$10V_AH,9.6,59.686
$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,21.700,319.325,400.475,60.400,0.000,24.462,37.393,211.039,0.250,0.000,15.882,2525.429,23966.697,689.411,3123.292,578.353,33.381,2283.609,0.000,2820.025,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,60.593,1572.350,781.573,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,773.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,39984,1131
$CAP_FILE_SIZE,327436,0
$CFSIZE,260165632,184647680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280211,192537,2209.267,12901.555,25,1.0,25,-3.1