version: 66.07
glider: 500
mission: 5
dive: 397
start: 2 22 111 2 59 14
data:
$ID,500
$MISSION,5
$DIVE,397
$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,-129434.88
$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,2150
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,55
$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
$GPS1,220211,024737,2214.414,12841.393,41,1.1,41,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.5
$GPS2,220211,025820,2214.590,12841.633,14,1.4,14,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.121,-0.185
$KALMAN_X,-780537.0,454.7,645.1,1340517.6,1115.3
$KALMAN_Y,223145.3,-191.6,-1325.8,-101353.1,12893.8
$MHEAD_RNG_PITCHd_Wd,150.0,193809,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,14815,-0.50,-155.7,835.8,-4.2,541,14819,0.00,2.38,0.00,0.000,4,0.000,0.045,2902,572,3616,0,0,0,0,0,0
$GC,14876,-0.50,-155.7,838.6,-4.5,542,14881,0.12,2.35,0.00,0.000,6,0.122,0.044,2934,2159,3616,0,0,0,0,0,0
$GC,15221,-0.50,-155.7,852.4,-4.2,551,15225,0.00,2.40,0.00,0.000,4,0.000,0.047,2934,563,3616,0,0,0,0,0,0
$GC,15377,-0.50,-155.7,858.8,-4.0,554,15381,0.00,2.38,0.00,0.000,6,0.000,0.043,2935,2165,3615,0,0,0,0,0,0
$GC,15716,-0.50,-155.7,870.5,-3.5,563,15720,0.00,2.42,0.00,0.000,4,0.000,0.046,2934,565,3614,0,0,0,0,0,0
$GC,15911,-0.50,-155.7,877.0,-3.3,567,15915,0.00,2.35,0.00,0.000,6,0.000,0.042,2934,2147,3614,0,0,0,0,0,0
$GC,16256,-0.50,-155.7,890.4,-4.4,576,16261,0.00,2.47,0.00,0.000,4,0.000,0.053,2928,3732,3614,0,0,0,0,0,0
$GC,16284,-0.50,-155.7,892.0,-4.8,576,16288,0.00,2.40,0.00,0.000,6,0.000,0.037,2928,2139,3614,0,0,0,0,0,0
$GC,16616,-0.50,-155.7,910.3,-5.9,584,16620,0.00,2.38,0.00,0.000,4,0.000,0.046,2928,573,3614,0,0,0,0,0,0
$GC,16733,-0.50,-155.7,917.8,-6.7,586,16737,0.00,2.35,0.00,0.000,6,0.000,0.044,2918,2149,3613,0,0,0,0,0,0
$GC,17072,-0.50,-155.7,934.9,-4.6,595,17076,0.00,2.40,0.00,0.000,4,0.000,0.045,2918,573,3613,0,0,0,0,0,0
$GC,17196,-0.50,-155.7,939.4,-2.5,597,17201,0.00,2.35,0.00,0.000,6,0.000,0.044,2908,2150,3613,0,0,0,0,0,0
$GC,17528,-0.50,-155.7,949.2,-2.9,606,17532,0.00,2.40,0.00,0.000,4,0.000,0.045,2908,572,3613,0,0,0,0,0,0
$GC,17634,-0.50,-155.7,952.4,-3.1,608,17638,0.00,2.35,0.00,0.000,6,0.000,0.044,2899,2153,3613,0,0,0,0,0,0
$GC,17979,-0.50,-155.7,965.1,-4.0,617,17983,0.00,2.38,0.00,0.000,4,0.000,0.045,2899,573,3613,0,0,0,0,0,0
$GC,18040,-0.50,-155.7,968.0,-4.6,618,18045,0.12,2.35,0.00,0.000,6,0.120,0.044,2932,2149,3613,0,0,0,0,0,0
$GC,18385,-0.50,-155.7,980.7,-3.6,627,18389,0.00,2.45,0.00,0.000,4,0.000,0.054,2929,3731,3613,0,0,0,0,0,0
$GC,18417,-0.50,-155.7,982.0,-4.3,627,18423,0.00,2.38,0.00,0.000,6,0.000,0.038,2929,2147,3612,0,0,0,0,0,0
$STATE,18746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18746,begin apogee
$GC,18755,-0.23,0.0,990.7,2.5,636,18902,0.25,0.00,144.25,1.635,6,0.068,0.000,3034,1927,2995,0,0,0,0,0,0
$STATE,18903,end apogee,CONTROL_FINISHED_OK
$STATE,18903,begin climb
$GC,18905,0.50,155.7,990.9,0.0,639,19065,0.57,0.00,156.88,1.596,6,0.050,0.000,3260,1927,2360,0,0,0,0,0,0
$GC,19356,0.50,155.7,929.2,14.0,651,19360,0.00,2.42,0.00,0.000,4,0.000,0.052,3260,3503,2357,0,0,0,0,0,0
$GC,19444,0.50,155.7,916.1,14.5,653,19448,0.00,2.38,0.00,0.000,6,0.000,0.039,3271,1923,2356,0,0,0,0,0,0
$GC,19771,0.50,155.7,869.3,14.5,661,19775,0.00,2.40,0.00,0.000,4,0.000,0.052,3284,344,2354,0,0,0,0,0,0
$GC,19825,0.50,155.7,860.9,14.0,662,19831,0.08,2.38,0.00,0.000,6,0.106,0.044,3252,1911,2354,0,0,0,0,0,0
$GC,20142,0.50,155.7,818.5,13.8,670,20146,0.00,2.42,0.00,0.000,4,0.000,0.054,3252,3510,2353,0,0,0,0,0,0
$GC,20219,0.50,155.7,806.2,15.2,671,20225,0.00,2.42,0.00,0.000,6,0.000,0.042,3263,1908,2353,0,0,0,0,0,0
$GC,20551,0.50,155.7,758.4,14.2,680,20556,0.00,2.47,0.00,0.000,4,0.000,0.056,3262,3509,2352,0,0,0,0,0,0
$GC,20591,0.50,155.7,752.4,15.0,681,20595,0.00,2.40,0.00,0.000,6,0.000,0.044,3275,1920,2352,0,0,0,0,0,0
$GC,20917,0.50,155.7,709.3,13.0,689,20921,0.00,2.45,0.00,0.000,4,0.000,0.054,3288,328,2352,0,0,0,0,0,0
$GC,20967,0.50,155.7,702.3,11.7,690,20972,0.12,2.40,0.00,0.000,6,0.130,0.045,3246,1918,2351,0,0,0,0,0,0
$GC,21281,0.50,155.7,668.5,11.0,698,21285,0.00,2.42,0.00,0.000,4,0.000,0.054,3246,3518,2351,0,0,0,0,0,0
$GC,21347,0.50,155.7,660.0,12.5,699,21352,0.00,2.42,0.00,0.000,6,0.000,0.043,3257,1909,2351,0,0,0,0,0,0
$GC,21684,0.50,155.7,616.7,12.9,708,21688,0.00,2.40,0.00,0.000,4,0.000,0.052,3270,337,2351,0,0,0,0,0,0
$GC,21710,0.50,155.7,613.2,12.3,708,21714,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1920,2351,0,0,0,0,0,0
$GC,22048,0.50,155.7,568.8,13.4,717,22052,0.00,2.42,0.00,0.000,4,0.000,0.053,3270,3505,2351,0,0,0,0,0,0
$GC,22133,0.50,155.7,556.9,12.3,719,22137,0.00,2.38,0.00,0.000,6,0.000,0.041,3282,1927,2351,0,0,0,0,0,0
$GC,22458,0.50,155.7,515.7,12.6,727,22460,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1926,2351,0,0,0,0,0,0
$GC,22781,0.50,155.7,476.2,12.4,735,22785,0.00,2.45,0.00,0.000,4,0.000,0.051,3295,326,2351,0,0,0,0,0,0
$GC,22836,0.50,155.7,468.8,13.3,736,22841,0.12,2.40,0.00,0.000,6,0.128,0.044,3252,1920,2351,0,0,0,0,0,0
$GC,23185,0.50,155.7,431.1,10.5,745,23189,0.00,2.45,0.00,0.000,4,0.000,0.052,3252,3512,2351,0,0,0,0,0,0
$GC,23316,0.50,155.7,417.4,9.1,748,23321,0.00,2.42,0.00,0.000,6,0.000,0.041,3263,1907,2352,0,0,0,0,0,0
$GC,23642,0.50,155.7,384.1,10.6,756,23646,0.00,2.38,0.00,0.000,4,0.000,0.051,3276,330,2352,0,0,0,0,0,0
$GC,23682,0.50,155.7,379.5,10.7,757,23686,0.00,2.38,0.00,0.000,6,0.000,0.042,3276,1926,2352,0,0,0,0,0,0
$GC,24008,0.50,155.7,342.5,11.5,765,24012,0.00,2.42,0.00,0.000,4,0.000,0.052,3276,3504,2354,0,0,0,0,0,0
$GC,24126,0.50,155.7,328.4,10.0,767,24131,0.12,2.38,0.00,0.000,6,0.135,0.038,3247,1903,2354,0,0,0,0,0,0
$GC,24458,0.50,155.7,302.6,7.7,775,24462,0.00,2.35,0.00,0.000,4,0.000,0.049,3257,345,2356,0,0,0,0,0,0
$GC,24530,0.50,155.7,296.8,8.2,777,24534,0.00,2.33,0.00,0.000,6,0.000,0.040,3257,1924,2356,0,0,0,0,0,0
$GC,24850,0.50,155.7,270.9,8.1,793,24854,0.00,2.40,0.00,0.000,4,0.000,0.049,3258,3506,2357,0,0,0,0,0,0
$GC,24936,0.50,155.7,262.8,8.4,797,24940,0.00,2.38,0.00,0.000,6,0.000,0.038,3269,1929,2358,0,0,0,0,0,0
$GC,25261,0.50,155.7,233.0,8.9,813,25263,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1928,2359,0,0,0,0,0,0
$GC,25572,0.50,155.7,205.0,8.2,828,25576,0.00,2.40,0.00,0.000,4,0.000,0.048,3270,3520,2361,0,0,0,0,0,0
$GC,25658,0.50,155.7,198.3,8.5,833,25662,0.00,2.40,0.00,0.000,6,0.000,0.037,3282,1906,2362,0,0,0,0,0,0
$GC,25918,0.50,155.7,180.8,6.4,857,25923,0.00,2.38,0.00,0.000,4,0.000,0.047,3295,329,2363,0,0,0,0,0,0
$GC,25952,0.50,155.7,178.5,6.9,859,25959,0.12,2.35,0.00,0.000,6,0.116,0.038,3250,1924,2363,0,0,0,0,0,0
$GC,26214,0.53,172.3,163.5,5.6,884,26236,0.00,2.53,16.58,0.890,4,0.000,0.048,3249,3514,2291,0,0,0,0,0,0
$GC,26270,0.53,172.3,160.1,6.3,889,26275,0.00,2.40,0.00,0.000,6,0.000,0.038,3258,1927,2293,0,0,0,0,0,0
$GC,26531,0.55,194.3,146.1,5.4,913,26557,0.00,2.45,20.33,0.893,4,0.000,0.046,3270,329,2202,0,0,0,0,0,0
$GC,26613,0.55,194.3,141.1,6.4,920,26618,0.00,2.35,0.00,0.000,6,0.000,0.039,3270,1917,2203,0,0,0,0,0,0
$GC,26875,0.55,194.3,123.2,7.2,944,26879,0.00,2.42,0.00,0.000,4,0.000,0.048,3270,3521,2204,0,0,0,0,0,0
$GC,26930,0.55,194.3,118.7,9.3,948,26937,0.00,2.38,0.00,0.000,6,0.000,0.035,3282,1914,2205,0,0,0,0,0,0
$GC,27192,0.55,194.3,100.5,6.9,973,27193,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1913,2205,0,0,0,0,0,0
$GC,27447,0.56,204.5,84.2,5.7,997,27462,0.00,2.45,10.80,0.788,4,0.000,0.047,3282,3514,2162,0,0,0,0,0,0
$GC,27497,0.56,204.5,80.7,6.7,1001,27501,0.00,2.40,0.00,0.000,6,0.000,0.038,3293,1921,2163,0,0,0,0,0,0
$GC,27758,0.58,213.1,63.4,5.8,1025,27772,0.00,2.45,9.25,0.724,4,0.000,0.048,3305,336,2125,0,0,0,0,0,0
$GC,27827,0.58,213.1,59.0,6.8,1031,27832,0.00,2.35,0.00,0.000,6,0.000,0.038,3305,1944,2126,0,0,0,0,0,0
$GC,28089,0.60,236.6,42.5,5.4,1055,28115,0.00,2.38,20.35,0.802,4,0.000,0.044,3305,3500,2029,0,0,0,0,0,0
$GC,28142,0.60,236.6,38.0,9.9,1059,28149,0.10,2.38,0.00,0.000,6,0.132,0.035,3280,1911,2030,0,0,0,0,0,0
$GC,28404,0.60,236.6,20.1,7.2,1084,28408,0.00,2.38,0.00,0.000,4,0.000,0.047,3291,326,2032,0,0,0,0,0,0
$GC,28444,0.60,236.6,17.4,6.6,1087,28448,0.00,2.30,0.00,0.000,6,0.000,0.037,3291,1919,2032,0,0,0,0,0,0
$GC,28641,0.65,276.2,4.3,5.0,1105,28662,0.00,0.00,19.17,0.778,2,0.000,0.000,3291,1920,1942,0,0,0,0,0,0
$STATE,28663,end climb,SURFACE_DEPTH_REACHED
$STATE,28663,begin surface coast
$FINISH,0.4,1.023250
$STATE,28703,end surface coast,CONTROL_FINISHED_OK
$STATE,28703,begin surface
$SM_CCo,28722,68.70,0.849,0,0,1363,400.08
$SM_GC,0.94,0.00,0.00,68.70,0.000,0.000,0.849,105,2177,1363,-9.33,0.76,400.08
$IRIDIUM_FIX,2206.70,12842.13,160812,212135
$TT8_MAMPS,0.027612
$HUMID,1078685797
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.6,69.940
$10V_AH,9.8,57.840
$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,21.325,319.900,397.600,68.700,0.000,57.398,69.599,301.349,0.000,0.000,16.628,2482.047,22447.588,724.733,3194.002,564.007,33.384,2257.382,0.000,2738.335,0.000,0.542,0.000
$DEVICE_MAMPS,217.061,58.292,1635.244,849.069,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,759.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,40034,1111
$CAP_FILE_SIZE,323316,0
$CFSIZE,260165632,186617856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220211,110025,2215.885,12846.081,39,1.0,39,-3.2