version: 66.07
glider: 500
mission: 5
dive: 416
start: 2 28 111 19 38 20
data:
$ID,500
$MISSION,5
$DIVE,416
$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,-129761.71
$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,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
$GPS1,280211,192537,2209.267,12901.555,25,1.0,25,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.0
$GPS2,280211,193726,2209.378,12901.634,11,1.9,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.158,-0.155
$KALMAN_X,-736133.4,176.9,-699.6,1332317.5,4638.0
$KALMAN_Y,333778.2,13.5,-794.6,-222401.3,6222.1
$MHEAD_RNG_PITCHd_Wd,228.8,167324,-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,15247,-0.50,-155.7,824.1,-4.7,540,15251,0.00,2.45,0.00,0.000,4,0.000,0.054,2925,3708,3598,0,0,0,0,0,0
$GC,15386,-0.50,-155.7,830.5,-4.2,543,15390,0.00,2.38,0.00,0.000,6,0.000,0.036,2925,2113,3598,0,0,0,0,0,0
$GC,15707,-0.50,-155.7,842.5,-3.7,551,15711,0.00,2.45,0.00,0.000,4,0.000,0.053,2914,3698,3597,0,0,0,0,0,0
$GC,15779,-0.50,-155.7,845.1,-3.5,552,15783,0.00,2.38,0.00,0.000,6,0.000,0.037,2914,2116,3597,0,0,0,0,0,0
$GC,16110,-0.50,-155.7,855.8,-3.2,560,16114,0.00,2.47,0.00,0.000,4,0.000,0.054,2902,3704,3596,0,0,0,0,0,0
$GC,16155,-0.50,-155.7,857.1,-3.0,561,16159,0.00,2.38,0.00,0.000,6,0.000,0.036,2902,2120,3596,0,0,0,0,0,0
$GC,16475,-0.50,-155.7,868.5,-3.7,569,16480,0.00,2.45,0.00,0.000,4,0.000,0.055,2891,3699,3596,0,0,0,0,0,0
$GC,16516,-0.50,-155.7,870.0,-4.0,570,16521,0.12,2.38,0.00,0.000,6,0.110,0.038,2937,2112,3595,0,0,0,0,0,0
$GC,16840,-0.50,-155.7,882.3,-4.0,578,16845,0.00,2.45,0.00,0.000,4,0.000,0.054,2926,3706,3596,0,0,0,0,0,0
$GC,17025,-0.50,-155.7,890.3,-3.9,582,17030,0.00,2.38,0.00,0.000,6,0.000,0.035,2926,2102,3595,0,0,0,0,0,0
$GC,17341,-0.50,-155.7,903.3,-4.1,590,17345,0.00,2.47,0.00,0.000,4,0.000,0.054,2925,3697,3594,0,0,0,0,0,0
$GC,17503,-0.50,-155.7,910.1,-4.0,593,17507,0.00,2.38,0.00,0.000,6,0.000,0.037,2925,2111,3594,0,0,0,0,0,0
$GC,17836,-0.50,-155.7,923.6,-4.2,601,17840,0.00,2.47,0.00,0.000,4,0.000,0.054,2914,3705,3593,0,0,0,0,0,0
$GC,17966,-0.50,-155.7,928.6,-3.6,604,17970,0.00,2.38,0.00,0.000,6,0.000,0.035,2913,2111,3593,0,0,0,0,0,0
$GC,18293,-0.50,-155.7,940.2,-3.5,612,18297,0.00,2.47,0.00,0.000,4,0.000,0.053,2903,3710,3593,0,0,0,0,0,0
$GC,18370,-0.50,-155.7,942.8,-2.8,613,18376,0.00,2.38,0.00,0.000,6,0.000,0.036,2902,2119,3593,0,0,0,0,0,0
$GC,18703,-0.50,-155.7,953.6,-3.2,622,18707,0.00,2.47,0.00,0.000,4,0.000,0.054,2891,3705,3592,0,0,0,0,0,0
$GC,18735,-0.50,-155.7,954.6,-3.8,622,18742,0.12,2.38,0.00,0.000,6,0.109,0.036,2938,2112,3592,0,0,0,0,0,0
$GC,19069,-0.50,-155.7,963.1,-2.5,631,19074,0.00,2.47,0.00,0.000,4,0.000,0.054,2927,3700,3592,0,0,0,0,0,0
$GC,19327,-0.50,-155.7,970.1,-2.1,636,19333,0.00,2.38,0.00,0.000,6,0.000,0.038,2927,2113,3591,0,0,0,0,0,0
$GC,19660,-0.50,-155.7,979.6,-3.1,645,19664,0.00,2.40,0.00,0.000,4,0.000,0.049,2927,540,3591,0,0,0,0,0,0
$GC,19873,-0.50,-155.7,987.2,-3.4,649,19879,0.00,2.40,0.00,0.000,6,0.000,0.044,2917,2125,3591,0,0,0,0,0,0
$STATE,19958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19958,begin apogee
$GC,19964,-0.23,0.0,990.2,3.4,652,20105,0.28,0.00,138.38,1.598,6,0.078,0.000,3025,1907,2995,0,0,0,0,0,0
$STATE,20106,end apogee,CONTROL_FINISHED_OK
$STATE,20106,begin climb
$GC,20110,0.50,155.7,991.2,0.0,655,20274,0.60,2.72,152.57,1.556,4,0.054,0.053,3267,362,2360,0,0,0,0,0,0
$GC,20340,0.50,155.7,963.5,13.4,660,20345,0.00,2.47,0.00,0.000,6,0.000,0.046,3267,1919,2360,0,0,0,0,0,0
$GC,20689,0.50,155.7,914.7,14.0,669,20693,0.00,2.45,0.00,0.000,4,0.000,0.054,3267,3502,2359,0,0,0,0,0,0
$GC,20774,0.50,155.7,902.2,15.7,671,20778,0.00,2.40,0.00,0.000,6,0.000,0.040,3279,1923,2359,0,0,0,0,0,0
$GC,21098,0.50,155.7,854.6,14.5,679,21103,0.00,2.42,0.00,0.000,4,0.000,0.054,3291,340,2358,0,0,0,0,0,0
$GC,21142,0.50,155.7,847.6,15.6,680,21147,0.12,2.40,0.00,0.000,6,0.133,0.047,3251,1922,2357,0,0,0,0,0,0
$GC,21470,0.50,155.7,805.4,12.9,688,21474,0.00,2.47,0.00,0.000,4,0.000,0.055,3250,3520,2356,0,0,0,0,0,0
$GC,21558,0.50,155.7,792.4,14.0,690,21563,0.00,2.45,0.00,0.000,6,0.000,0.042,3261,1928,2356,0,0,0,0,0,0
$GC,21885,0.50,155.7,749.9,12.9,698,21889,0.00,2.47,0.00,0.000,4,0.000,0.055,3274,331,2355,0,0,0,0,0,0
$GC,21951,0.50,155.7,741.1,11.3,699,21955,0.00,2.40,0.00,0.000,6,0.000,0.049,3274,1927,2355,0,0,0,0,0,0
$GC,22294,0.50,155.7,697.1,12.8,708,22299,0.00,2.45,0.00,0.000,4,0.000,0.055,3274,3506,2354,0,0,0,0,0,0
$GC,22411,0.50,155.7,681.8,13.0,710,22416,0.12,2.45,0.00,0.000,6,0.142,0.042,3247,1906,2354,0,0,0,0,0,0
$GC,22752,0.50,155.7,649.3,9.5,719,22753,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,2354,0,0,0,0,0,0
$GC,23073,0.50,155.7,617.8,9.8,727,23077,0.00,2.40,0.00,0.000,4,0.000,0.054,3258,334,2353,0,0,0,0,0,0
$GC,23145,0.50,155.7,610.2,10.1,728,23150,0.00,2.40,0.00,0.000,6,0.000,0.046,3258,1922,2353,0,0,0,0,0,0
$GC,23476,0.50,155.7,573.7,11.0,736,23480,0.00,2.45,0.00,0.000,4,0.000,0.053,3258,3514,2353,0,0,0,0,0,0
$GC,23515,0.50,155.7,569.3,11.4,737,23519,0.00,2.42,0.00,0.000,6,0.000,0.042,3270,1920,2353,0,0,0,0,0,0
$GC,23841,0.50,155.7,532.6,11.0,745,23845,0.00,2.45,0.00,0.000,4,0.000,0.054,3283,341,2353,0,0,0,0,0,0
$GC,23929,0.50,155.7,522.2,10.5,747,23934,0.10,2.38,0.00,0.000,6,0.137,0.046,3249,1922,2352,0,0,0,0,0,0
$GC,24257,0.50,155.7,490.8,9.6,755,24261,0.00,2.45,0.00,0.000,4,0.000,0.052,3249,3518,2352,0,0,0,0,0,0
$GC,24311,0.50,155.7,484.6,11.5,756,24316,0.00,2.42,0.00,0.000,6,0.000,0.041,3260,1924,2352,0,0,0,0,0,0
$GC,24626,0.50,155.7,451.2,10.6,764,24630,0.00,2.45,0.00,0.000,4,0.000,0.054,3273,326,2352,0,0,0,0,0,0
$GC,24669,0.50,155.7,446.3,10.0,765,24673,0.00,2.42,0.00,0.000,6,0.000,0.044,3273,1934,2352,0,0,0,0,0,0
$GC,24997,0.50,155.7,411.3,10.6,773,25002,0.00,2.40,0.00,0.000,4,0.000,0.053,3273,3507,2352,0,0,0,0,0,0
$GC,25064,0.50,155.7,402.8,10.4,774,25069,0.12,2.42,0.00,0.000,6,0.133,0.041,3245,1904,2353,0,0,0,0,0,0
$GC,25409,0.50,155.7,372.3,8.8,783,25413,0.00,2.42,0.00,0.000,4,0.000,0.051,3255,334,2353,0,0,0,0,0,0
$GC,25493,0.50,155.7,364.8,8.4,785,25497,0.00,2.40,0.00,0.000,6,0.000,0.044,3255,1921,2353,0,0,0,0,0,0
$GC,25819,0.50,155.7,335.7,8.9,793,25823,0.00,2.47,0.00,0.000,4,0.000,0.054,3255,3519,2353,0,0,0,0,0,0
$GC,25845,0.50,155.7,333.0,8.4,793,25849,0.00,2.45,0.00,0.000,6,0.000,0.041,3268,1920,2354,0,0,0,0,0,0
$GC,26182,0.50,155.7,303.4,8.8,802,26186,0.00,2.50,0.00,0.000,4,0.000,0.052,3268,3522,2354,0,0,0,0,0,0
$GC,26225,0.50,155.7,299.5,9.1,803,26229,0.00,2.45,0.00,0.000,6,0.000,0.039,3280,1909,2355,0,0,0,0,0,0
$GC,26553,0.50,155.7,271.3,8.8,818,26558,0.00,2.40,0.00,0.000,4,0.000,0.050,3293,330,2356,0,0,0,0,0,0
$GC,26669,0.50,155.7,261.3,9.5,823,26674,0.12,2.40,0.00,0.000,6,0.121,0.041,3249,1940,2357,0,0,0,0,0,0
$GC,26991,0.50,155.7,236.9,8.1,839,26995,0.00,2.38,0.00,0.000,4,0.000,0.050,3249,3505,2357,0,0,0,0,0,0
$GC,27040,0.50,155.7,232.4,9.3,841,27044,0.00,2.40,0.00,0.000,6,0.000,0.038,3259,1924,2358,0,0,0,0,0,0
$GC,27355,0.50,155.7,207.8,7.2,856,27356,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1924,2359,0,0,0,0,0,0
$GC,27672,0.54,187.2,189.0,5.2,880,27706,0.00,2.55,27.62,0.911,4,0.000,0.051,3271,331,2231,0,0,0,0,0,0
$GC,27741,0.55,193.7,185.1,5.8,886,27757,0.00,2.40,7.30,0.769,6,0.000,0.041,3271,1923,2205,0,0,0,0,0,0
$GC,28013,0.55,193.7,168.1,6.3,912,28017,0.00,2.45,0.00,0.000,4,0.000,0.048,3271,3522,2208,0,0,0,0,0,0
$GC,28070,0.55,193.7,163.8,7.4,916,28075,0.00,2.42,0.00,0.000,6,0.000,0.035,3283,1908,2209,0,0,0,0,0,0
$GC,28331,0.55,193.7,144.2,8.2,941,28336,0.00,2.40,0.00,0.000,4,0.000,0.049,3294,330,2211,0,0,0,0,0,0
$GC,28353,0.55,193.7,142.4,9.7,942,28359,0.00,2.38,0.00,0.000,6,0.000,0.042,3295,1932,2211,0,0,0,0,0,0
$GC,28615,0.55,193.7,120.4,8.2,967,28624,0.00,0.00,3.65,0.505,6,0.000,0.000,3295,1932,2204,0,0,0,0,0,0
$GC,28880,0.55,193.7,100.0,7.0,992,28884,0.00,2.42,0.00,0.000,4,0.000,0.048,3295,3505,2207,0,0,0,0,0,0
$GC,28908,0.55,193.7,97.7,8.4,994,28913,0.12,2.38,0.00,0.000,6,0.119,0.036,3261,1920,2208,0,0,0,0,0,0
$GC,29169,0.60,232.0,83.7,5.0,1018,29211,0.00,2.53,32.20,0.844,4,0.000,0.051,3271,338,2049,0,0,0,0,0,0
$GC,29257,0.62,249.0,79.1,5.6,1026,29278,0.00,2.35,15.70,0.805,6,0.000,0.041,3271,1920,1979,0,0,0,0,0,0
$GC,29535,0.62,249.0,60.5,7.1,1052,29539,0.00,2.42,0.00,0.000,4,0.000,0.047,3271,3505,1983,0,0,0,0,0,0
$GC,29653,0.62,249.0,52.0,6.7,1062,29657,0.00,2.38,0.00,0.000,6,0.000,0.035,3271,1908,1984,0,0,0,0,0,0
$GC,29913,0.62,249.0,33.6,7.3,1086,29917,0.00,2.38,0.00,0.000,4,0.000,0.049,3272,331,1985,0,0,0,0,0,0
$GC,30171,0.62,249.0,12.4,8.4,1108,30177,0.00,2.35,0.00,0.000,6,0.000,0.043,3264,1924,1987,0,0,0,0,0,0
$STATE,30295,end climb,SURFACE_DEPTH_REACHED
$STATE,30295,begin surface coast
$FINISH,0.4,1.014821
$STATE,30336,end surface coast,CONTROL_FINISHED_OK
$STATE,30336,begin surface
$SM_CCo,30353,72.80,0.798,0,0,1363,400.08
$SM_GC,1.08,0.00,0.00,72.80,0.000,0.000,0.798,133,2149,1363,-9.24,0.82,400.08
$IRIDIUM_FIX,2159.71,12900.67,230812,131333
$TT8_MAMPS,0.028379
$HUMID,1078711603
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,21.7,73.552
$10V_AH,9.5,59.791
$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,21.200,328.050,377.425,72.800,0.000,55.692,72.465,355.827,0.000,0.000,13.789,2548.791,23782.068,692.813,3479.050,611.740,33.381,2352.429,0.000,2955.239,0.000,0.541,0.000
$DEVICE_MAMPS,213.993,62.127,1597.661,798.447,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,767.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,39978,1124
$CAP_FILE_SIZE,336870,0
$CFSIZE,260165632,184528896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010311,040637,2208.868,12901.409,28,0.8,28,-3.1