version: 66.07
glider: 500
mission: 5
dive: 489
start: 3 26 111 17 11 2
data:
$ID,500
$MISSION,5
$DIVE,489
$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,618.14594
$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,-131269.61
$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,2090
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,42
$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
$GPS1,260311,165937,2128.664,12813.722,37,0.9,37,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.8
$GPS2,260311,171008,2128.567,12813.645,14,1.2,14,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.199,-0.096
$KALMAN_X,-438189.4,-1323.0,-2494.3,954841.3,6470.3
$KALMAN_Y,546108.0,505.6,515.7,-512139.2,-2680.0
$MHEAD_RNG_PITCHd_Wd,118.7,176780,-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,15256,-0.50,-155.7,824.0,-4.2,561,15260,0.00,2.35,0.00,0.000,4,0.000,0.046,2931,509,3588,0,0,0,0,0,0
$GC,15394,-0.50,-155.7,829.8,-4.3,564,15398,0.00,2.35,0.00,0.000,6,0.000,0.044,2921,2095,3588,0,0,0,0,0,0
$GC,15715,-0.50,-155.7,841.4,-3.5,572,15719,0.00,2.40,0.00,0.000,4,0.000,0.047,2921,505,3587,0,0,0,0,0,0
$GC,15827,-0.50,-155.7,844.8,-2.8,574,15832,0.00,2.38,0.00,0.000,6,0.000,0.044,2912,2084,3587,0,0,0,0,0,0
$GC,16167,-0.50,-155.7,852.4,-2.1,583,16171,0.00,2.38,0.00,0.000,4,0.000,0.046,2912,509,3586,0,0,0,0,0,0
$GC,16252,-0.50,-155.7,854.3,-2.1,585,16257,0.00,2.40,0.00,0.000,6,0.000,0.045,2902,2103,3586,0,0,0,0,0,0
$GC,16579,-0.50,-155.7,863.7,-3.3,593,16584,0.00,2.42,0.00,0.000,4,0.000,0.045,2902,499,3585,0,0,0,0,0,0
$GC,16635,-0.50,-155.7,866.0,-3.7,594,16640,0.12,2.40,0.00,0.000,6,0.119,0.043,2936,2099,3585,0,0,0,0,0,0
$GC,16986,-0.50,-155.7,880.7,-4.6,603,16990,0.00,2.40,0.00,0.000,4,0.000,0.047,2936,511,3585,0,0,0,0,0,0
$GC,17137,-0.50,-155.7,887.8,-4.6,606,17141,0.00,2.38,0.00,0.000,6,0.000,0.044,2931,2092,3585,0,0,0,0,0,0
$GC,17481,-0.50,-155.7,901.2,-3.8,615,17486,0.00,2.40,0.00,0.000,4,0.000,0.047,2931,506,3584,0,0,0,0,0,0
$GC,17627,-0.50,-155.7,906.5,-3.3,618,17632,0.00,2.38,0.00,0.000,6,0.000,0.044,2921,2100,3584,0,0,0,0,0,0
$GC,17978,-0.50,-155.7,916.7,-3.0,627,17982,0.00,2.38,0.00,0.000,4,0.000,0.046,2921,513,3583,0,0,0,0,0,0
$GC,18097,-0.50,-155.7,919.9,-2.5,629,18101,0.00,2.35,0.00,0.000,6,0.000,0.044,2913,2085,3583,0,0,0,0,0,0
$GC,18429,-0.50,-155.7,928.2,-2.6,637,18433,0.00,2.40,0.00,0.000,4,0.000,0.047,2913,505,3583,0,0,0,0,0,0
$GC,18514,-0.50,-155.7,930.6,-2.6,639,18519,0.00,2.40,0.00,0.000,6,0.000,0.044,2902,2093,3583,0,0,0,0,0,0
$GC,18841,-0.50,-155.7,941.6,-3.8,647,18845,0.00,2.40,0.00,0.000,4,0.000,0.047,2902,514,3582,0,0,0,0,0,0
$GC,18914,-0.50,-155.7,945.0,-4.0,648,18919,0.12,2.38,0.00,0.000,6,0.118,0.044,2936,2088,3582,0,0,0,0,0,0
$GC,19247,-0.50,-155.7,959.5,-4.7,656,19252,0.00,2.47,0.00,0.000,4,0.000,0.057,2926,3682,3582,0,0,0,0,0,0
$GC,19508,-0.50,-155.7,971.5,-4.9,661,19513,0.00,2.38,0.00,0.000,6,0.000,0.037,2926,2086,3581,0,0,0,0,0,0
$GC,19839,-0.50,-155.7,985.2,-4.0,670,19843,0.00,2.38,0.00,0.000,4,0.000,0.046,2926,515,3581,0,0,0,0,0,0
$STATE,19956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19956,begin apogee
$GC,19964,-0.23,0.0,990.1,3.1,672,20103,0.25,0.00,136.05,1.615,6,0.087,0.000,3018,1945,2995,0,0,0,0,0,0
$STATE,20104,end apogee,CONTROL_FINISHED_OK
$STATE,20104,begin climb
$GC,20106,0.50,155.7,990.8,0.0,676,20269,0.62,2.78,151.50,1.597,4,0.051,0.054,3262,3522,2360,0,0,0,0,0,0
$GC,20304,0.50,155.7,968.6,14.2,680,20308,0.00,2.55,0.00,0.000,6,0.000,0.041,3272,1948,2360,0,0,0,0,0,0
$GC,20635,0.50,155.7,921.8,14.1,688,20639,0.00,2.45,0.00,0.000,4,0.000,0.052,3285,353,2359,0,0,0,0,0,0
$GC,20729,0.50,155.7,907.6,16.1,690,20734,0.10,2.40,0.00,0.000,6,0.140,0.046,3252,1941,2359,0,0,0,0,0,0
$GC,21044,0.50,155.7,864.1,14.2,698,21048,0.00,2.45,0.00,0.000,4,0.000,0.055,3252,3525,2358,0,0,0,0,0,0
$GC,21087,0.50,155.7,857.2,13.4,699,21092,0.00,2.42,0.00,0.000,6,0.000,0.041,3263,1929,2358,0,0,0,0,0,0
$GC,21408,0.50,155.7,812.3,13.9,707,21412,0.00,2.38,0.00,0.000,4,0.000,0.051,3276,357,2358,0,0,0,0,0,0
$GC,21494,0.50,155.7,800.5,13.4,709,21498,0.00,2.40,0.00,0.000,6,0.000,0.044,3276,1944,2358,0,0,0,0,0,0
$GC,21819,0.50,155.7,757.4,13.2,717,21824,0.00,2.45,0.00,0.000,4,0.000,0.056,3276,3528,2357,0,0,0,0,0,0
$GC,21863,0.50,155.7,750.5,16.8,718,21868,0.12,2.42,0.00,0.000,6,0.133,0.041,3248,1928,2357,0,0,0,0,0,0
$GC,22184,0.50,155.7,715.9,10.6,726,22188,0.00,2.38,0.00,0.000,4,0.000,0.052,3259,364,2357,0,0,0,0,0,0
$GC,22255,0.50,155.7,708.0,10.2,727,22259,0.00,2.38,0.00,0.000,6,0.000,0.044,3259,1954,2357,0,0,0,0,0,0
$GC,22591,0.50,155.7,673.7,10.0,736,22596,0.00,2.45,0.00,0.000,4,0.000,0.051,3271,364,2356,0,0,0,0,0,0
$GC,22637,0.50,155.7,669.0,10.7,737,22641,0.00,2.35,0.00,0.000,6,0.000,0.045,3271,1934,2356,0,0,0,0,0,0
$GC,22955,0.50,155.7,632.9,11.7,745,22960,0.00,2.50,0.00,0.000,4,0.000,0.056,3271,3533,2356,0,0,0,0,0,0
$GC,22978,0.50,155.7,630.0,12.5,745,22982,0.00,2.45,0.00,0.000,6,0.000,0.043,3283,1949,2356,0,0,0,0,0,0
$GC,23314,0.50,155.7,588.9,12.4,754,23318,0.00,2.47,0.00,0.000,4,0.000,0.052,3296,348,2355,0,0,0,0,0,0
$GC,23409,0.50,155.7,576.9,12.8,756,23414,0.15,2.42,0.00,0.000,6,0.119,0.046,3245,1943,2355,0,0,0,0,0,0
$GC,23723,0.50,155.7,547.6,9.1,764,23727,0.00,2.45,0.00,0.000,4,0.000,0.057,3245,3528,2355,0,0,0,0,0,0
$GC,23749,0.50,155.7,544.7,9.6,764,23753,0.00,2.45,0.00,0.000,6,0.000,0.042,3256,1930,2355,0,0,0,0,0,0
$GC,24081,0.50,155.7,513.6,9.3,772,24086,0.00,2.42,0.00,0.000,4,0.000,0.051,3268,348,2355,0,0,0,0,0,0
$GC,24137,0.50,155.7,508.2,10.6,773,24141,0.00,2.40,0.00,0.000,6,0.000,0.044,3268,1942,2355,0,0,0,0,0,0
$GC,24450,0.50,155.7,477.6,10.0,781,24454,0.00,2.50,0.00,0.000,4,0.000,0.058,3269,3527,2356,0,0,0,0,0,0
$GC,24516,0.50,155.7,470.1,8.7,782,24520,0.00,2.42,0.00,0.000,6,0.000,0.043,3281,1937,2356,0,0,0,0,0,0
$GC,24859,0.50,155.7,434.1,10.6,791,24863,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,360,2357,0,0,0,0,0,0
$GC,24919,0.50,155.7,427.1,11.2,792,24924,0.12,2.40,0.00,0.000,6,0.124,0.043,3252,1944,2357,0,0,0,0,0,0
$GC,25271,0.50,155.7,398.3,7.9,801,25275,0.00,2.42,0.00,0.000,4,0.000,0.054,3251,3528,2358,0,0,0,0,0,0
$GC,25304,0.50,155.7,395.3,7.1,801,25309,0.00,2.42,0.00,0.000,6,0.000,0.041,3262,1941,2358,0,0,0,0,0,0
$GC,25634,0.50,155.7,371.4,7.2,810,25639,0.00,2.42,0.00,0.000,4,0.000,0.050,3274,348,2358,0,0,0,0,0,0
$GC,25747,0.50,155.7,362.4,9.1,812,25752,0.00,2.40,0.00,0.000,6,0.000,0.040,3274,1954,2358,0,0,0,0,0,0
$GC,26083,0.50,155.7,329.9,10.4,821,26084,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1954,2360,0,0,0,0,0,0
$GC,26409,0.50,155.7,299.5,8.9,829,26413,0.00,2.45,0.00,0.000,4,0.000,0.048,3286,347,2361,0,0,0,0,0,0
$GC,26437,0.50,155.7,297.2,7.7,830,26442,0.12,2.38,0.00,0.000,6,0.115,0.039,3242,1945,2362,0,0,0,0,0,0
$GC,26759,0.54,186.3,279.4,5.2,846,26793,0.00,2.50,27.65,1.013,4,0.000,0.052,3241,3522,2235,0,0,0,0,0,0
$GC,26846,0.54,186.3,274.4,6.5,850,26850,0.00,2.42,0.00,0.000,6,0.000,0.038,3251,1928,2236,0,0,0,0,0,0
$GC,27177,0.54,186.3,251.1,7.8,866,27181,0.00,2.38,0.00,0.000,4,0.000,0.047,3263,352,2236,0,0,0,0,0,0
$GC,27231,0.54,186.3,246.6,8.2,868,27236,0.00,2.35,0.00,0.000,6,0.000,0.040,3263,1948,2236,0,0,0,0,0,0
$GC,27547,0.54,186.3,222.0,7.4,884,27551,0.00,2.42,0.00,0.000,4,0.000,0.053,3263,3525,2238,0,0,0,0,0,0
$GC,27590,0.54,186.3,218.5,9.4,886,27595,0.00,2.40,0.00,0.000,6,0.000,0.038,3275,1937,2238,0,0,0,0,0,0
$GC,27913,0.54,186.3,195.3,6.2,905,27917,0.00,2.40,0.00,0.000,4,0.000,0.050,3287,357,2240,0,0,0,0,0,0
$GC,27980,0.54,186.3,190.8,6.1,910,27984,0.00,2.38,0.00,0.000,6,0.000,0.041,3287,1954,2239,0,0,0,0,0,0
$GC,28241,0.54,186.3,172.2,7.6,935,28245,0.00,2.42,0.00,0.000,4,0.000,0.053,3287,3525,2241,0,0,0,0,0,0
$GC,28285,0.54,186.3,168.4,7.2,938,28290,0.12,2.40,0.00,0.000,6,0.122,0.038,3253,1932,2242,0,0,0,0,0,0
$GC,28547,0.55,188.8,152.6,5.9,963,28557,0.00,2.45,5.70,0.694,4,0.000,0.051,3253,3522,2225,0,0,0,0,0,0
$GC,28602,0.55,193.6,149.1,5.9,968,28613,0.00,2.38,5.85,0.706,6,0.000,0.038,3263,1937,2206,0,0,0,0,0,0
$GC,28869,0.57,210.2,134.7,5.6,993,28890,0.00,2.42,15.25,0.858,4,0.000,0.048,3272,361,2137,0,0,0,0,0,0
$GC,28996,0.59,228.0,127.0,5.5,1004,29017,0.00,2.33,15.90,0.858,6,0.000,0.040,3271,1941,2065,0,0,0,0,0,0
$GC,29272,0.61,238.8,110.5,5.7,1030,29288,0.00,2.42,11.02,0.800,4,0.000,0.049,3276,360,2021,0,0,0,0,0,0
$GC,29328,0.61,238.8,106.8,6.8,1034,29332,0.00,2.35,0.00,0.000,6,0.000,0.039,3276,1948,2021,0,0,0,0,0,0
$GC,29589,0.61,238.8,88.9,7.3,1059,29593,0.00,2.45,0.00,0.000,4,0.000,0.047,3282,350,2022,0,0,0,0,0,0
$GC,29695,0.61,238.8,80.4,6.4,1068,29699,0.00,2.35,0.00,0.000,6,0.000,0.040,3282,1950,2022,0,0,0,0,0,0
$GC,29955,0.61,238.8,61.4,8.2,1092,29959,0.00,2.45,0.00,0.000,4,0.000,0.048,3286,351,2024,0,0,0,0,0,0
$GC,30041,0.61,238.8,55.5,7.2,1099,30045,0.00,2.38,0.00,0.000,6,0.000,0.041,3286,1951,2025,0,0,0,0,0,0
$GC,30303,0.67,288.8,38.6,4.7,1123,30353,0.00,2.55,42.05,0.841,4,0.000,0.054,3287,352,1817,0,0,0,0,0,0
$GC,30387,0.67,288.8,34.0,7.0,1131,30391,0.00,2.38,0.00,0.000,6,0.000,0.048,3287,1941,1818,0,0,0,0,0,0
$GC,30647,0.67,288.8,17.7,6.7,1155,30651,0.00,2.40,0.00,0.000,4,0.000,0.047,3287,352,1818,0,0,0,0,0,0
$GC,30791,0.67,288.8,3.3,10.4,1167,30796,0.00,2.35,0.00,0.000,6,0.000,0.042,3281,1945,1819,0,0,0,0,0,0
$STATE,30805,end climb,SURFACE_DEPTH_REACHED
$STATE,30805,begin surface coast
$FINISH,0.3,NaN
$STATE,30828,end surface coast,CONTROL_FINISHED_OK
$STATE,30828,begin surface
$SM_CCo,30848,171.10,0.839,0,0,475,618.15
$SM_GC,0.87,0.00,0.00,171.10,0.000,0.000,0.839,117,2105,475,-9.29,0.42,618.15
$IRIDIUM_FIX,2117.95,12811.38,180912,111140
$TT8_MAMPS,0.03068
$HUMID,1078724506
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,24.40
$XPDR_PINGS,898
$24V_AH,21.6,90.569
$10V_AH,8.0,66.812
$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,21.400,350.925,410.975,171.100,0.000,60.450,67.776,283.956,224.500,0.000,16.001,1812.042,24692.570,822.074,3615.807,686.803,33.379,2581.841,0.000,3118.059,0.000,0.541,0.000
$DEVICE_MAMPS,212.459,70.564,1615.302,839.098,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,40022,1171
$CAP_FILE_SIZE,350343,0
$CFSIZE,260165632,176779264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270311,014906,2126.533,12815.797,23,1.6,23,-2.9