version: 66.07
glider: 500
mission: 5
dive: 492
start: 3 27 111 19 28 55
data:
$ID,500
$MISSION,5
$DIVE,492
$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,-131320.14
$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,42
$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
$GPS1,270311,192036,2123.429,12814.807,31,0.9,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.9
$GPS2,270311,192801,2123.430,12814.754,9,1.0,14,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.221,0.000
$KALMAN_X,-450597.6,327.7,1787.9,963145.4,-4869.3
$KALMAN_Y,545761.6,955.9,-108.3,-521146.0,-967.4
$MHEAD_RNG_PITCHd_Wd,92.8,171318,-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
$STATE,15,begin dive
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$GC,14458,-0.50,-155.7,794.0,-4.5,537,14464,0.12,2.30,0.00,0.000,6,0.109,0.037,2938,2090,3611,0,0,0,0,0,0
$GC,14792,-0.50,-155.7,807.4,-4.2,546,14796,0.00,2.35,0.00,0.000,4,0.000,0.046,2938,509,3610,0,0,0,0,0,0
$GC,14900,-0.50,-155.7,812.3,-4.5,548,14904,0.00,2.33,0.00,0.000,6,0.000,0.043,2939,2084,3610,0,0,0,0,0,0
$GC,15243,-0.50,-155.7,828.1,-4.6,557,15247,0.00,2.45,0.00,0.000,4,0.000,0.054,2928,3683,3609,0,0,0,0,0,0
$GC,15500,-0.50,-155.7,840.5,-5.4,562,15505,0.00,2.33,0.00,0.000,6,0.000,0.035,2927,2079,3609,0,0,0,0,0,0
$GC,15831,-0.50,-155.7,855.1,-4.3,571,15835,0.00,2.45,0.00,0.000,4,0.000,0.052,2926,3675,3608,0,0,0,0,0,0
$GC,16071,-0.50,-155.7,863.7,-3.4,576,16075,0.00,2.33,0.00,0.000,6,0.000,0.036,2926,2079,3607,0,0,0,0,0,0
$GC,16416,-0.50,-155.7,871.0,-1.9,585,16420,0.00,2.45,0.00,0.000,4,0.000,0.053,2924,3674,3607,0,0,0,0,0,0
$GC,16601,-0.50,-155.7,874.5,-1.9,589,16605,0.00,2.35,0.00,0.000,6,0.000,0.037,2924,2079,3607,0,0,0,0,0,0
$GC,16921,-0.50,-155.7,880.5,-2.0,597,16925,0.00,2.45,0.00,0.000,4,0.000,0.053,2913,3684,3606,0,0,0,0,0,0
$GC,17022,-0.50,-155.7,882.8,-2.7,599,17026,0.00,2.33,0.00,0.000,6,0.000,0.035,2913,2088,3606,0,0,0,0,0,0
$GC,17371,-0.50,-155.7,893.3,-3.3,608,17375,0.00,2.45,0.00,0.000,4,0.000,0.052,2902,3683,3605,0,0,0,0,0,0
$GC,17416,-0.50,-155.7,894.8,-3.5,609,17420,0.00,2.33,0.00,0.000,6,0.000,0.036,2902,2089,3605,0,0,0,0,0,0
$GC,17737,-0.50,-155.7,907.2,-4.1,617,17741,0.00,2.42,0.00,0.000,4,0.000,0.052,2890,3681,3605,0,0,0,0,0,0
$GC,17814,-0.50,-155.7,910.4,-4.0,618,17819,0.12,2.33,0.00,0.000,6,0.110,0.035,2937,2087,3605,0,0,0,0,0,0
$GC,18148,-0.50,-155.7,923.1,-4.0,627,18151,0.00,2.45,0.00,0.000,4,0.000,0.054,2927,3676,3605,0,0,0,0,0,0
$GC,18407,-0.50,-155.7,934.2,-5.0,632,18411,0.00,2.35,0.00,0.000,6,0.000,0.036,2927,2088,3603,0,0,0,0,0,0
$GC,18738,-0.50,-155.7,947.4,-4.0,640,18742,0.00,2.45,0.00,0.000,4,0.000,0.053,2926,3674,3603,0,0,0,0,0,0
$GC,18995,-0.50,-155.7,958.3,-4.3,645,18999,0.00,2.35,0.00,0.000,6,0.000,0.037,2925,2090,3603,0,0,0,0,0,0
$GC,19327,-0.50,-155.7,972.9,-4.5,654,19331,0.00,2.45,0.00,0.000,4,0.000,0.053,2925,3675,3602,0,0,0,0,0,0
$GC,19586,-0.50,-155.7,985.0,-3.7,659,19590,0.00,2.35,0.00,0.000,6,0.000,0.037,2925,2082,3602,0,0,0,0,0,0
$STATE,19751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19751,begin apogee
$GC,19757,-0.23,0.0,991.2,3.8,664,19900,0.25,0.00,140.50,1.615,6,0.070,0.000,3027,1936,2995,0,0,0,0,0,0
$STATE,19901,end apogee,CONTROL_FINISHED_OK
$STATE,19901,begin climb
$GC,19904,0.50,155.7,992.1,0.0,667,20066,0.60,2.72,151.55,1.582,4,0.052,0.052,3262,3522,2360,0,0,0,0,0,0
$GC,20213,0.50,155.7,952.6,12.5,674,20217,0.00,2.38,0.00,0.000,6,0.000,0.038,3274,1950,2359,0,0,0,0,0,0
$GC,20526,0.50,155.7,909.2,13.6,682,20530,0.00,2.45,0.00,0.000,4,0.000,0.049,3286,346,2357,0,0,0,0,0,0
$GC,20605,0.50,155.7,898.7,13.3,683,20610,0.12,2.40,0.00,0.000,6,0.129,0.042,3245,1954,2357,0,0,0,0,0,0
$GC,20937,0.50,155.7,864.6,10.1,692,20941,0.00,2.40,0.00,0.000,4,0.000,0.053,3244,3523,2356,0,0,0,0,0,0
$GC,20975,0.50,155.7,860.1,10.9,693,20980,0.00,2.38,0.00,0.000,6,0.000,0.039,3255,1926,2357,0,0,0,0,0,0
$GC,21302,0.50,155.7,824.3,11.2,701,21306,0.00,2.35,0.00,0.000,4,0.000,0.050,3268,353,2356,0,0,0,0,0,0
$GC,21408,0.50,155.7,811.5,10.2,703,21413,0.00,2.35,0.00,0.000,6,0.000,0.043,3268,1940,2356,0,0,0,0,0,0
$GC,21751,0.50,155.7,766.1,13.6,712,21755,0.00,2.42,0.00,0.000,4,0.000,0.054,3268,3530,2355,0,0,0,0,0,0
$GC,21829,0.50,155.7,753.9,15.0,713,21834,0.00,2.35,0.00,0.000,6,0.000,0.039,3280,1945,2355,0,0,0,0,0,0
$GC,22161,0.50,155.7,704.7,14.8,722,22165,0.00,2.42,0.00,0.000,4,0.000,0.053,3280,3528,2355,0,0,0,0,0,0
$GC,22292,0.50,155.7,684.4,16.2,725,22297,0.12,2.38,0.00,0.000,6,0.136,0.039,3252,1942,2355,0,0,0,0,0,0
$GC,22616,0.50,155.7,646.0,11.2,733,22620,0.00,2.40,0.00,0.000,4,0.000,0.051,3264,347,2355,0,0,0,0,0,0
$GC,22681,0.50,155.7,638.4,11.2,734,22685,0.00,2.38,0.00,0.000,6,0.000,0.043,3264,1949,2355,0,0,0,0,0,0
$GC,23025,0.50,155.7,600.5,11.0,743,23029,0.00,2.40,0.00,0.000,4,0.000,0.053,3264,3525,2354,0,0,0,0,0,0
$GC,23057,0.50,155.7,596.5,11.4,743,23062,0.00,2.35,0.00,0.000,6,0.000,0.040,3276,1941,2354,0,0,0,0,0,0
$GC,23389,0.50,155.7,558.0,12.0,752,23393,0.00,2.42,0.00,0.000,4,0.000,0.052,3289,353,2354,0,0,0,0,0,0
$GC,23427,0.50,155.7,553.1,13.9,752,23433,0.12,2.38,0.00,0.000,6,0.125,0.044,3246,1953,2354,0,0,0,0,0,0
$GC,23759,0.50,155.7,522.7,8.7,761,23760,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1953,2354,0,0,0,0,0,0
$GC,24084,0.50,155.7,493.7,9.2,769,24088,0.00,2.40,0.00,0.000,4,0.000,0.052,3246,3524,2355,0,0,0,0,0,0
$GC,24110,0.50,155.7,490.9,9.4,769,24115,0.00,2.40,0.00,0.000,6,0.000,0.038,3257,1929,2355,0,0,0,0,0,0
$GC,24444,0.50,155.7,461.6,8.4,777,24448,0.00,2.40,0.00,0.000,4,0.000,0.048,3270,351,2355,0,0,0,0,0,0
$GC,24528,0.50,155.7,454.2,8.3,779,24532,0.00,2.38,0.00,0.000,6,0.000,0.041,3270,1946,2356,0,0,0,0,0,0
$GC,24853,0.50,155.7,424.9,9.3,787,24858,0.00,2.42,0.00,0.000,4,0.000,0.048,3282,344,2356,0,0,0,0,0,0
$GC,24881,0.50,155.7,422.0,8.5,787,24885,0.00,2.35,0.00,0.000,6,0.000,0.041,3282,1940,2356,0,0,0,0,0,0
$GC,25217,0.50,155.7,387.6,10.0,796,25221,0.00,2.42,0.00,0.000,4,0.000,0.050,3282,3522,2357,0,0,0,0,0,0
$GC,25273,0.50,155.7,381.8,10.0,797,25278,0.12,2.38,0.00,0.000,6,0.129,0.038,3252,1933,2357,0,0,0,0,0,0
$GC,25621,0.50,155.7,355.0,7.4,806,25625,0.00,2.42,0.00,0.000,4,0.000,0.048,3263,348,2357,0,0,0,0,0,0
$GC,25678,0.50,155.7,350.7,8.4,807,25682,0.00,2.35,0.00,0.000,6,0.000,0.041,3263,1933,2358,0,0,0,0,0,0
$GC,25989,0.50,155.7,325.9,7.9,815,25993,0.00,2.38,0.00,0.000,4,0.000,0.048,3275,349,2359,0,0,0,0,0,0
$GC,26044,0.50,155.7,321.2,8.0,816,26049,0.00,2.35,0.00,0.000,6,0.000,0.039,3275,1944,2359,0,0,0,0,0,0
$GC,26360,0.50,155.7,293.9,8.9,825,26365,0.00,2.40,0.00,0.000,4,0.000,0.048,3276,3538,2360,0,0,0,0,0,0
$GC,26416,0.50,155.7,288.3,9.6,827,26421,0.12,2.38,0.00,0.000,6,0.123,0.037,3244,1937,2361,0,0,0,0,0,0
$GC,26730,0.50,155.7,267.4,6.1,843,26735,0.00,2.38,0.00,0.000,4,0.000,0.048,3255,350,2362,0,0,0,0,0,0
$GC,26786,0.51,162.9,263.6,5.8,845,26801,0.00,2.33,8.60,0.862,6,0.000,0.038,3255,1937,2330,0,0,0,0,0,0
$GC,27122,0.51,162.9,242.0,6.3,862,27126,0.00,2.40,0.00,0.000,4,0.000,0.048,3255,3537,2333,0,0,0,0,0,0
$GC,27156,0.51,162.9,239.8,8.0,863,27160,0.00,2.35,0.00,0.000,6,0.000,0.038,3266,1941,2333,0,0,0,0,0,0
$GC,27470,0.51,162.9,217.9,6.8,879,27474,0.00,2.40,0.00,0.000,4,0.000,0.047,3278,346,2336,0,0,0,0,0,0
$GC,27498,0.51,162.9,216.1,6.2,880,27502,0.00,2.35,0.00,0.000,6,0.000,0.038,3278,1953,2336,0,0,0,0,0,0
$GC,27814,0.52,169.2,197.3,5.8,897,27825,0.00,0.00,8.90,0.817,6,0.000,0.000,3278,1953,2305,0,0,0,0,0,0
$GC,28079,0.52,169.2,180.6,6.2,922,28080,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1953,2306,0,0,0,0,0,0
$GC,28333,0.52,169.2,160.7,8.1,946,28335,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1953,2308,0,0,0,0,0,0
$GC,28588,0.52,169.2,142.2,7.3,970,28593,0.00,2.38,0.00,0.000,4,0.000,0.055,3278,3521,2310,0,0,0,0,0,0
$GC,28632,0.52,169.2,138.4,9.6,973,28638,0.10,2.35,0.00,0.000,6,0.156,0.035,3256,1928,2311,0,0,0,0,0,0
$GC,28893,0.54,181.0,123.2,5.7,998,28913,0.00,2.40,12.85,0.799,4,0.000,0.045,3267,360,2257,0,0,0,0,0,0
$GC,28948,0.54,181.0,120.0,7.5,1003,28953,0.00,2.28,0.00,0.000,6,0.000,0.036,3267,1930,2256,0,0,0,0,0,0
$GC,29210,0.58,216.3,105.1,5.1,1027,29245,0.00,2.45,29.62,0.846,4,0.000,0.050,3267,3525,2113,0,0,0,0,0,0
$GC,29295,0.60,234.5,100.5,5.5,1034,29316,0.00,2.33,16.15,0.810,6,0.000,0.035,3278,1940,2038,0,0,0,0,0,0
$GC,29572,0.60,234.5,82.3,7.6,1060,29576,0.00,2.38,0.00,0.000,4,0.000,0.047,3278,3534,2040,0,0,0,0,0,0
$GC,29629,0.60,234.5,78.2,7.4,1064,29634,0.00,2.35,0.00,0.000,6,0.000,0.041,3286,1928,2041,0,0,0,0,0,0
$GC,29890,0.60,234.5,57.3,9.3,1089,29894,0.00,2.38,0.00,0.000,4,0.000,0.047,3287,3536,2042,0,0,0,0,0,0
$GC,29917,0.60,234.5,54.8,10.3,1091,29922,0.00,2.33,0.00,0.000,6,0.000,0.035,3296,1936,2042,0,0,0,0,0,0
$GC,30179,0.60,234.5,33.5,7.0,1116,30183,0.00,2.38,0.00,0.000,4,0.000,0.048,3296,3525,2043,0,0,0,0,0,0
$GC,30265,0.60,234.5,26.5,7.0,1123,30269,0.00,2.28,0.00,0.000,6,0.000,0.033,3307,1932,2043,0,0,0,0,0,0
$GC,30461,0.60,234.5,9.6,7.9,1141,30465,0.00,2.33,0.00,0.000,4,0.000,0.046,3318,366,2044,0,0,0,0,0,0
$GC,30506,0.70,311.0,7.6,4.0,1144,30566,0.00,2.30,54.25,0.797,2,0.000,0.035,3318,1945,1770,0,0,0,0,0,0
$STATE,30568,end climb,SURFACE_DEPTH_REACHED
$STATE,30568,begin surface coast
$FINISH,0.4,NaN
$STATE,30599,end surface coast,CONTROL_FINISHED_OK
$STATE,30599,begin surface
$SM_CCo,30617,166.73,0.829,0,0,474,618.15
$SM_GC,0.98,0.00,0.00,166.73,0.000,0.000,0.829,127,2106,474,-9.26,0.45,618.15
$IRIDIUM_FIX,2115.63,12816.45,190912,050522
$TT8_MAMPS,0.029913
$HUMID,1078716764
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,24.60
$XPDR_PINGS,933
$24V_AH,21.6,91.305
$10V_AH,8.0,67.113
$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,21.625,339.650,422.425,166.725,0.000,28.235,33.990,232.501,233.250,0.000,16.233,1777.170,24511.512,822.580,3442.592,654.904,33.379,2559.253,0.000,3071.562,0.000,0.542,0.000
$DEVICE_MAMPS,215.527,72.865,1614.535,829.127,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,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,355544
$DATA_FILE_SIZE,36654,1153
$CAP_FILE_SIZE,341632,0
$CFSIZE,260165632,176459776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280311,040307,2122.579,12816.684,24,1.6,24,-2.9