version: 66.07
glider: 500
mission: 5
dive: 493
start: 3 28 111 4 12 17
data:
$ID,500
$MISSION,5
$DIVE,493
$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,-131363.72
$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,49
$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
$GPS1,280311,040307,2122.579,12816.684,24,1.6,24,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.2
$GPS2,280311,041124,2122.531,12816.627,37,1.0,41,-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,-0.006
$KALMAN_X,-452739.8,622.1,-377.9,970421.2,-5462.6
$KALMAN_Y,545098.1,-590.7,444.0,-521124.0,-532.9
$MHEAD_RNG_PITCHd_Wd,94.3,167691,-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,14793,-0.50,-155.7,794.2,-4.8,560,14798,0.10,2.30,0.00,0.000,6,0.119,0.036,2933,2087,3607,0,0,0,0,0,0
$GC,15138,-0.50,-155.7,810.1,-4.8,569,15142,0.00,2.42,0.00,0.000,4,0.000,0.052,2923,3673,3607,0,0,0,0,0,0
$GC,15282,-0.50,-155.7,817.0,-4.2,572,15286,0.00,2.33,0.00,0.000,6,0.000,0.037,2923,2081,3606,0,0,0,0,0,0
$GC,15631,-0.50,-155.7,832.4,-4.3,581,15636,0.00,2.42,0.00,0.000,4,0.000,0.053,2912,3677,3606,0,0,0,0,0,0
$GC,15694,-0.50,-155.7,835.0,-3.8,582,15698,0.00,2.33,0.00,0.000,6,0.000,0.037,2912,2089,3605,0,0,0,0,0,0
$GC,16037,-0.50,-155.7,846.6,-3.1,591,16041,0.00,2.40,0.00,0.000,4,0.000,0.052,2901,3671,3605,0,0,0,0,0,0
$GC,16107,-0.50,-155.7,848.6,-2.2,592,16111,0.00,2.33,0.00,0.000,6,0.000,0.037,2900,2087,3605,0,0,0,0,0,0
$GC,16444,-0.50,-155.7,857.8,-2.9,601,16448,0.00,2.42,0.00,0.000,4,0.000,0.053,2889,3678,3604,0,0,0,0,0,0
$GC,16482,-0.50,-155.7,859.0,-2.9,602,16487,0.12,2.33,0.00,0.000,6,0.110,0.037,2935,2089,3604,0,0,0,0,0,0
$GC,16809,-0.50,-155.7,870.4,-3.9,610,16813,0.00,2.40,0.00,0.000,4,0.000,0.052,2925,3667,3604,0,0,0,0,0,0
$GC,17009,-0.50,-155.7,879.3,-4.1,614,17014,0.00,2.33,0.00,0.000,6,0.000,0.036,2925,2088,3603,0,0,0,0,0,0
$GC,17347,-0.50,-155.7,894.8,-4.8,623,17351,0.00,2.40,0.00,0.000,4,0.000,0.052,2923,3667,3603,0,0,0,0,0,0
$GC,17526,-0.50,-155.7,903.2,-4.2,627,17530,0.00,2.35,0.00,0.000,6,0.000,0.036,2923,2087,3602,0,0,0,0,0,0
$GC,17846,-0.50,-155.7,917.5,-4.4,635,17851,0.00,2.40,0.00,0.000,4,0.000,0.052,2913,3666,3601,0,0,0,0,0,0
$GC,17953,-0.50,-155.7,922.0,-3.4,637,17957,0.00,2.33,0.00,0.000,6,0.000,0.037,2912,2086,3601,0,0,0,0,0,0
$GC,18297,-0.50,-155.7,934.1,-3.3,646,18301,0.00,2.45,0.00,0.000,4,0.000,0.052,2901,3675,3601,0,0,0,0,0,0
$GC,18387,-0.50,-155.7,936.6,-2.1,648,18391,0.00,2.33,0.00,0.000,6,0.000,0.037,2901,2090,3601,0,0,0,0,0,0
$GC,18708,-0.50,-155.7,944.9,-2.6,656,18712,0.00,2.47,0.00,0.000,4,0.000,0.054,2890,3675,3600,0,0,0,0,0,0
$GC,18769,-0.50,-155.7,946.7,-2.8,657,18774,0.12,2.35,0.00,0.000,6,0.108,0.038,2937,2082,3600,0,0,0,0,0,0
$GC,19113,-0.50,-155.7,956.6,-3.3,666,19117,0.00,2.45,0.00,0.000,4,0.000,0.054,2926,3664,3600,0,0,0,0,0,0
$GC,19360,-0.50,-155.7,967.1,-4.8,671,19364,0.00,2.33,0.00,0.000,6,0.000,0.037,2926,2087,3599,0,0,0,0,0,0
$GC,19704,-0.50,-155.7,982.3,-4.7,680,19708,0.00,2.42,0.00,0.000,4,0.000,0.053,2925,3666,3599,0,0,0,0,0,0
$STATE,19871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19871,begin apogee
$GC,19880,-0.23,0.0,990.1,4.2,683,20022,0.25,0.00,139.27,1.601,6,0.071,0.000,3030,1930,2995,0,0,0,0,0,0
$STATE,20023,end apogee,CONTROL_FINISHED_OK
$STATE,20023,begin climb
$GC,20026,0.50,155.7,991.8,0.0,687,20184,0.60,2.65,150.52,1.572,4,0.053,0.050,3276,372,2361,0,0,0,0,0,0
$GC,20201,0.50,155.7,971.7,14.9,690,20205,0.00,2.50,0.00,0.000,6,0.000,0.042,3276,1930,2361,0,0,0,0,0,0
$GC,20551,0.50,155.7,919.4,15.1,699,20555,0.00,2.42,0.00,0.000,4,0.000,0.052,3276,3538,2360,0,0,0,0,0,0
$GC,20578,0.50,155.7,914.7,16.3,699,20583,0.12,2.40,0.00,0.000,6,0.137,0.041,3248,1948,2359,0,0,0,0,0,0
$GC,20910,0.50,155.7,873.4,12.2,707,20914,0.00,2.40,0.00,0.000,4,0.000,0.050,3260,346,2359,0,0,0,0,0,0
$GC,20978,0.50,155.7,865.1,11.2,708,20983,0.00,2.38,0.00,0.000,6,0.000,0.041,3260,1957,2359,0,0,0,0,0,0
$GC,21314,0.50,155.7,822.2,12.5,717,21315,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1957,2358,0,0,0,0,0,0
$GC,21640,0.50,155.7,782.1,12.3,725,21645,0.00,2.35,0.00,0.000,4,0.000,0.052,3260,3523,2358,0,0,0,0,0,0
$GC,21696,0.50,155.7,774.6,13.9,726,21700,0.00,2.35,0.00,0.000,6,0.000,0.039,3273,1927,2358,0,0,0,0,0,0
$GC,22009,0.50,155.7,733.4,13.3,734,22013,0.00,2.35,0.00,0.000,4,0.000,0.050,3285,363,2358,0,0,0,0,0,0
$GC,22075,0.50,155.7,724.4,12.3,735,22080,0.12,2.35,0.00,0.000,6,0.127,0.043,3243,1934,2358,0,0,0,0,0,0
$GC,22412,0.50,155.7,688.4,10.6,744,22416,0.00,2.40,0.00,0.000,4,0.000,0.053,3242,3527,2358,0,0,0,0,0,0
$GC,22479,0.50,155.7,680.6,11.8,745,22483,0.00,2.35,0.00,0.000,6,0.000,0.040,3253,1950,2358,0,0,0,0,0,0
$GC,22820,0.50,155.7,643.1,10.8,754,22824,0.00,2.40,0.00,0.000,4,0.000,0.051,3266,353,2358,0,0,0,0,0,0
$GC,22904,0.50,155.7,633.8,11.0,756,22909,0.00,2.38,0.00,0.000,6,0.000,0.044,3266,1949,2359,0,0,0,0,0,0
$GC,23229,0.50,155.7,595.3,12.0,764,23234,0.00,2.42,0.00,0.000,4,0.000,0.054,3266,3535,2359,0,0,0,0,0,0
$GC,23286,0.50,155.7,588.0,9.9,765,23290,0.00,2.42,0.00,0.000,6,0.000,0.042,3278,1926,2358,0,0,0,0,0,0
$GC,23634,0.50,155.7,545.1,12.1,774,23638,0.00,2.38,0.00,0.000,4,0.000,0.051,3291,350,2359,0,0,0,0,0,0
$GC,23723,0.50,155.7,533.7,11.6,776,23728,0.12,2.40,0.00,0.000,6,0.127,0.044,3249,1942,2359,0,0,0,0,0,0
$GC,24042,0.50,155.7,501.9,9.8,784,24047,0.00,2.42,0.00,0.000,4,0.000,0.056,3249,3533,2359,0,0,0,0,0,0
$GC,24075,0.50,155.7,498.2,10.7,784,24080,0.00,2.40,0.00,0.000,6,0.000,0.043,3260,1933,2359,0,0,0,0,0,0
$GC,24407,0.50,155.7,466.2,9.5,793,24412,0.00,2.40,0.00,0.000,4,0.000,0.051,3272,357,2359,0,0,0,0,0,0
$GC,24440,0.50,155.7,462.9,11.1,793,24445,0.00,2.38,0.00,0.000,6,0.000,0.044,3272,1949,2360,0,0,0,0,0,0
$GC,24772,0.50,155.7,428.5,10.5,802,24776,0.00,2.42,0.00,0.000,4,0.000,0.052,3272,3540,2360,0,0,0,0,0,0
$GC,24849,0.50,155.7,419.2,12.8,803,24855,0.10,2.40,0.00,0.000,6,0.137,0.040,3252,1928,2360,0,0,0,0,0,0
$GC,25183,0.50,155.7,390.6,8.1,812,25187,0.00,2.38,0.00,0.000,4,0.000,0.048,3262,349,2360,0,0,0,0,0,0
$GC,25283,0.50,155.7,382.2,9.2,814,25287,0.00,2.38,0.00,0.000,6,0.000,0.040,3262,1945,2361,0,0,0,0,0,0
$GC,25602,0.50,155.7,358.3,7.4,822,25607,0.00,2.40,0.00,0.000,4,0.000,0.050,3262,3527,2362,0,0,0,0,0,0
$GC,25670,0.50,155.7,352.5,8.4,823,25675,0.00,2.35,0.00,0.000,6,0.000,0.038,3274,1942,2363,0,0,0,0,0,0
$GC,26006,0.50,155.7,324.9,8.5,832,26010,0.00,2.40,0.00,0.000,4,0.000,0.048,3286,352,2364,0,0,0,0,0,0
$GC,26085,0.50,155.7,317.7,8.2,833,26090,0.12,2.38,0.00,0.000,6,0.118,0.044,3242,1953,2365,0,0,0,0,0,0
$GC,26397,0.50,155.7,293.1,8.3,842,26401,0.00,2.38,0.00,0.000,4,0.000,0.050,3241,3528,2367,0,0,0,0,0,0
$GC,26459,0.50,155.7,287.2,9.6,845,26463,0.00,2.35,0.00,0.000,6,0.000,0.037,3252,1927,2367,0,0,0,0,0,0
$GC,26784,0.50,155.7,258.8,8.0,861,26793,0.00,2.40,3.78,0.593,4,0.000,0.046,3264,364,2360,0,0,0,0,0,0
$GC,26859,0.50,155.7,253.5,7.5,864,26863,0.00,2.35,0.00,0.000,6,0.000,0.039,3264,1949,2360,0,0,0,0,0,0
$GC,27179,0.50,155.7,230.6,6.5,880,27184,0.00,2.38,0.00,0.000,4,0.000,0.048,3264,3527,2363,0,0,0,0,0,0
$GC,27241,0.50,155.7,226.2,7.7,883,27245,0.00,2.35,0.00,0.000,6,0.000,0.035,3275,1935,2363,0,0,0,0,0,0
$GC,27572,0.51,163.8,205.6,5.8,899,27587,0.00,2.38,9.93,0.842,4,0.000,0.048,3287,350,2327,0,0,0,0,0,0
$GC,27650,0.51,163.8,200.6,6.8,901,27655,0.10,2.35,0.00,0.000,6,0.124,0.038,3251,1953,2327,0,0,0,0,0,0
$GC,27974,0.56,200.8,184.5,5.0,931,28013,0.00,2.45,31.80,0.923,4,0.000,0.048,3250,3519,2176,0,0,0,0,0,0
$GC,28041,0.56,200.8,180.5,6.1,937,28045,0.00,2.38,0.00,0.000,6,0.000,0.036,3258,1931,2176,0,0,0,0,0,0
$GC,28302,0.56,200.8,161.7,7.8,962,28307,0.00,2.40,0.00,0.000,4,0.000,0.047,3258,3525,2177,0,0,0,0,0,0
$GC,28375,0.56,200.8,155.8,7.6,968,28379,0.00,2.33,0.00,0.000,6,0.000,0.034,3267,1927,2178,0,0,0,0,0,0
$GC,28635,0.56,200.8,135.5,8.0,992,28639,0.00,2.40,0.00,0.000,4,0.000,0.046,3267,3528,2179,0,0,0,0,0,0
$GC,28727,0.56,200.8,128.2,8.0,999,28732,0.00,2.35,0.00,0.000,6,0.000,0.035,3278,1928,2180,0,0,0,0,0,0
$GC,28989,0.56,200.8,109.7,6.9,1024,28993,0.00,2.40,0.00,0.000,4,0.000,0.046,3278,3524,2181,0,0,0,0,0,0
$GC,29061,0.56,200.8,104.6,7.2,1030,29065,0.00,2.33,0.00,0.000,6,0.000,0.034,3288,1940,2182,0,0,0,0,0,0
$GC,29327,0.56,200.8,87.4,6.7,1055,29331,0.00,2.35,0.00,0.000,4,0.000,0.046,3299,361,2183,0,0,0,0,0,0
$GC,29389,0.56,200.8,83.1,6.4,1060,29393,0.00,2.28,0.00,0.000,6,0.000,0.037,3299,1926,2184,0,0,0,0,0,0
$GC,29650,0.56,200.8,63.1,8.0,1084,29658,0.00,0.00,3.75,0.506,6,0.000,0.000,3299,1926,2176,0,0,0,0,0,0
$GC,29914,0.56,200.8,39.8,7.9,1109,29918,0.00,2.40,0.00,0.000,4,0.000,0.047,3299,3531,2177,0,0,0,0,0,0
$GC,29942,0.56,200.8,37.7,6.9,1111,29947,0.12,2.33,0.00,0.000,6,0.116,0.036,3263,1944,2177,0,0,0,0,0,0
$GC,30204,0.56,200.8,17.3,8.9,1135,30208,0.00,2.40,0.00,0.000,4,0.000,0.048,3263,3542,2178,0,0,0,0,0,0
$GC,30236,0.56,200.8,14.2,7.8,1137,30241,0.00,2.38,0.00,0.000,6,0.000,0.036,3272,1927,2179,0,0,0,0,0,0
$STATE,30398,end climb,SURFACE_DEPTH_REACHED
$STATE,30399,begin surface coast
$FINISH,0.3,NaN
$STATE,30441,end surface coast,CONTROL_FINISHED_OK
$STATE,30442,begin surface
$SM_CCo,30460,214.07,0.818,0,0,475,618.15
$SM_GC,0.81,0.00,0.00,214.07,0.000,0.000,0.818,120,2130,475,-9.28,1.10,618.15
$IRIDIUM_FIX,2115.63,12813.20,190912,131339
$TT8_MAMPS,0.03068
$HUMID,1078711603
$INTERNAL_PRESSURE,9.12999
$TCM_TEMP,24.50
$XPDR_PINGS,1094
$24V_AH,21.6,91.548
$10V_AH,8.0,67.212
$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,21.475,339.825,339.050,214.075,0.000,28.892,42.783,246.545,273.500,0.000,42.949,1783.908,24481.094,805.693,3437.587,641.023,33.378,2504.692,0.000,3018.653,0.000,0.541,0.000
$DEVICE_MAMPS,213.226,60.593,1601.496,818.389,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355556
$DATA_FILE_SIZE,36682,1157
$CAP_FILE_SIZE,340424,0
$CFSIZE,260165632,176349184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280311,124454,2121.754,12817.824,22,1.3,39,-2.9