version: 66.07
glider: 500
mission: 5
dive: 405
start: 2 24 111 21 38 15
data:
$ID,500
$MISSION,5
$DIVE,405
$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,-129577.51
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,240211,213025,2215.692,12856.059,40,1.3,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-77.6
$GPS2,240211,213720,2215.804,12856.077,12,1.1,12,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.003,-0.221
$KALMAN_X,-765398.4,485.2,1140.8,1349820.6,-281.2
$KALMAN_Y,274358.5,-519.6,427.0,-151764.5,7588.0
$MHEAD_RNG_PITCHd_Wd,182.3,182365,-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,7764,-0.51,-155.7,510.9,-4.7,359,7768,0.00,2.35,0.00,0.000,4,0.000,0.043,2898,581,3620,0,0,0,0,0,0
$GC,7809,-0.51,-155.7,513.1,-5.0,360,7814,0.12,2.30,0.00,0.000,6,0.126,0.041,2930,2163,3620,0,0,0,0,0,0
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$GC,15668,-0.51,-155.7,860.1,-4.2,550,15672,0.00,2.45,0.00,0.000,4,0.000,0.056,2910,3731,3592,0,0,0,0,0,0
$GC,15769,-0.51,-155.7,864.5,-4.4,552,15774,0.00,2.35,0.00,0.000,6,0.000,0.037,2910,2146,3591,0,0,0,0,0,0
$GC,16118,-0.51,-155.7,879.7,-4.3,561,16122,0.00,2.47,0.00,0.000,4,0.000,0.055,2899,3729,3591,0,0,0,0,0,0
$GC,16168,-0.51,-155.7,882.0,-4.7,562,16173,0.00,2.35,0.00,0.000,6,0.000,0.037,2899,2147,3591,0,0,0,0,0,0
$GC,16483,-0.51,-155.7,895.1,-4.2,570,16487,0.00,2.50,0.00,0.000,4,0.000,0.055,2887,3732,3590,0,0,0,0,0,0
$GC,16550,-0.51,-155.7,898.1,-4.4,571,16555,0.12,2.38,0.00,0.000,6,0.111,0.038,2933,2149,3590,0,0,0,0,0,0
$GC,16890,-0.51,-155.7,911.4,-3.9,580,16894,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3733,3589,0,0,0,0,0,0
$GC,17009,-0.51,-155.7,916.0,-3.3,582,17013,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2150,3589,0,0,0,0,0,0
$GC,17345,-0.51,-155.7,926.9,-3.1,591,17349,0.00,2.50,0.00,0.000,4,0.000,0.056,2912,3732,3589,0,0,0,0,0,0
$GC,17441,-0.51,-155.7,929.6,-2.9,593,17445,0.00,2.35,0.00,0.000,6,0.000,0.037,2912,2146,3588,0,0,0,0,0,0
$GC,17761,-0.51,-155.7,937.3,-2.4,601,17764,0.00,2.47,0.00,0.000,4,0.000,0.055,2901,3737,3588,0,0,0,0,0,0
$GC,17857,-0.51,-155.7,939.5,-2.1,603,17861,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2143,3587,0,0,0,0,0,0
$GC,18178,-0.51,-155.7,948.2,-2.9,611,18182,0.00,2.47,0.00,0.000,4,0.000,0.056,2889,3732,3587,0,0,0,0,0,0
$GC,18245,-0.51,-155.7,950.4,-3.2,612,18250,0.12,2.35,0.00,0.000,6,0.110,0.038,2935,2148,3587,0,0,0,0,0,0
$GC,18583,-0.51,-155.7,960.8,-3.3,621,18587,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3733,3587,0,0,0,0,0,0
$GC,18823,-0.51,-155.7,970.3,-4.4,626,18827,0.00,2.35,0.00,0.000,6,0.000,0.038,2926,2149,3586,0,0,0,0,0,0
$GC,19167,-0.51,-155.7,983.3,-3.8,635,19171,0.00,2.38,0.00,0.000,4,0.000,0.048,2926,569,3586,0,0,0,0,0,0
$STATE,19339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19339,begin apogee
$GC,19347,-0.23,0.0,990.1,3.7,639,19487,0.28,0.00,137.12,1.586,6,0.084,0.000,3022,1913,2995,0,0,0,0,0,0
$STATE,19487,end apogee,CONTROL_FINISHED_OK
$STATE,19488,begin climb
$GC,19491,0.51,155.7,990.9,0.0,642,19649,0.65,0.00,153.43,1.541,6,0.051,0.000,3266,1913,2360,0,0,0,0,0,0
$GC,19949,0.51,155.7,930.5,14.1,654,19954,0.00,2.47,0.00,0.000,4,0.000,0.054,3266,3509,2358,0,0,0,0,0,0
$GC,20004,0.51,155.7,921.9,14.2,655,20009,0.00,2.42,0.00,0.000,6,0.000,0.041,3277,1932,2357,0,0,0,0,0,0
$GC,20318,0.51,155.7,876.4,14.6,663,20322,0.00,2.47,0.00,0.000,4,0.000,0.054,3290,329,2355,0,0,0,0,0,0
$GC,20357,0.51,155.7,870.5,15.1,664,20362,0.12,2.40,0.00,0.000,6,0.132,0.046,3249,1926,2354,0,0,0,0,0,0
$GC,20681,0.51,155.7,828.6,13.0,672,20685,0.00,2.45,0.00,0.000,4,0.000,0.054,3248,3516,2354,0,0,0,0,0,0
$GC,20765,0.51,155.7,817.1,12.2,674,20770,0.00,2.40,0.00,0.000,6,0.000,0.042,3260,1923,2353,0,0,0,0,0,0
$GC,21092,0.51,155.7,773.1,13.5,682,21096,0.00,2.45,0.00,0.000,4,0.000,0.054,3260,3517,2353,0,0,0,0,0,0
$GC,21125,0.51,155.7,768.1,14.4,682,21131,0.00,2.42,0.00,0.000,6,0.000,0.043,3273,1907,2352,0,0,0,0,0,0
$GC,21456,0.51,155.7,719.8,14.9,691,21459,0.00,2.40,0.00,0.000,4,0.000,0.054,3285,344,2352,0,0,0,0,0,0
$GC,21551,0.51,155.7,705.4,14.9,693,21556,0.12,2.38,0.00,0.000,6,0.128,0.047,3244,1922,2351,0,0,0,0,0,0
$GC,21870,0.51,155.7,668.2,11.4,701,21875,0.00,2.45,0.00,0.000,4,0.000,0.058,3243,3506,2351,0,0,0,0,0,0
$GC,21943,0.51,155.7,659.1,12.3,702,21948,0.00,2.40,0.00,0.000,6,0.000,0.044,3254,1921,2351,0,0,0,0,0,0
$GC,22274,0.51,155.7,621.1,11.0,710,22278,0.00,2.45,0.00,0.000,4,0.000,0.054,3267,334,2350,0,0,0,0,0,0
$GC,22352,0.51,155.7,612.3,11.0,711,22358,0.00,2.38,0.00,0.000,6,0.000,0.047,3267,1920,2350,0,0,0,0,0,0
$GC,22684,0.51,155.7,575.5,10.9,720,22688,0.00,2.45,0.00,0.000,4,0.000,0.058,3267,3513,2349,0,0,0,0,0,0
$GC,22773,0.51,155.7,564.9,11.8,722,22777,0.00,2.40,0.00,0.000,6,0.000,0.044,3279,1917,2350,0,0,0,0,0,0
$GC,23102,0.51,155.7,527.1,11.6,730,23106,0.00,2.42,0.00,0.000,4,0.000,0.054,3292,328,2350,0,0,0,0,0,0
$GC,23142,0.51,155.7,521.7,12.3,731,23147,0.12,2.42,0.00,0.000,6,0.129,0.046,3250,1932,2349,0,0,0,0,0,0
$GC,23468,0.51,155.7,486.4,10.8,739,23472,0.00,2.40,0.00,0.000,4,0.000,0.054,3250,3508,2350,0,0,0,0,0,0
$GC,23523,0.51,155.7,479.7,9.6,740,23527,0.00,2.45,0.00,0.000,6,0.000,0.041,3261,1921,2349,0,0,0,0,0,0
$GC,23836,0.51,155.7,445.2,10.6,748,23840,0.00,2.42,0.00,0.000,4,0.000,0.053,3274,333,2349,0,0,0,0,0,0
$GC,23925,0.51,155.7,435.6,8.1,750,23929,0.00,2.38,0.00,0.000,6,0.000,0.044,3274,1926,2349,0,0,0,0,0,0
$GC,24251,0.51,155.7,401.8,10.3,758,24255,0.00,2.47,0.00,0.000,4,0.000,0.053,3274,3519,2349,0,0,0,0,0,0
$GC,24306,0.51,155.7,395.5,9.4,759,24311,0.12,2.42,0.00,0.000,6,0.130,0.041,3245,1905,2350,0,0,0,0,0,0
$GC,24654,0.51,155.7,369.8,7.1,768,24659,0.00,2.50,0.00,0.000,4,0.000,0.051,3245,3520,2350,0,0,0,0,0,0
$GC,24683,0.51,155.7,367.6,8.6,768,24687,0.00,2.40,0.00,0.000,6,0.000,0.039,3256,1926,2350,0,0,0,0,0,0
$GC,25013,0.51,155.7,342.5,7.6,776,25018,0.00,2.42,0.00,0.000,4,0.000,0.050,3268,328,2351,0,0,0,0,0,0
$GC,25042,0.51,155.7,340.2,8.3,776,25046,0.00,2.38,0.00,0.000,6,0.000,0.042,3268,1926,2351,0,0,0,0,0,0
$GC,25378,0.51,155.7,310.0,9.2,785,25382,0.00,2.45,0.00,0.000,4,0.000,0.051,3268,3511,2353,0,0,0,0,0,0
$GC,25417,0.51,155.7,306.1,10.1,786,25421,0.00,2.40,0.00,0.000,6,0.000,0.040,3281,1907,2353,0,0,0,0,0,0
$GC,25744,0.51,155.7,274.5,9.6,800,25748,0.00,2.38,0.00,0.000,4,0.000,0.050,3292,338,2354,0,0,0,0,0,0
$GC,25853,0.51,155.7,264.2,10.5,805,25858,0.12,2.35,0.00,0.000,6,0.118,0.041,3249,1926,2355,0,0,0,0,0,0
$GC,26179,0.51,155.7,241.6,6.8,821,26183,0.00,2.42,0.00,0.000,4,0.000,0.050,3248,3521,2357,0,0,0,0,0,0
$GC,26212,0.51,155.7,239.0,7.5,822,26216,0.00,2.38,0.00,0.000,6,0.000,0.037,3259,1927,2356,0,0,0,0,0,0
$GC,26527,0.51,155.7,214.9,7.6,837,26531,0.00,2.42,0.00,0.000,4,0.000,0.049,3258,3511,2358,0,0,0,0,0,0
$GC,26612,0.51,155.7,207.6,9.3,841,26616,0.00,2.38,0.00,0.000,6,0.000,0.038,3270,1916,2358,0,0,0,0,0,0
$GC,26935,0.51,155.7,186.0,6.4,866,26939,0.00,2.42,0.00,0.000,4,0.000,0.050,3282,329,2360,0,0,0,0,0,0
$GC,26996,0.51,155.7,181.6,7.2,871,27000,0.00,2.35,0.00,0.000,6,0.000,0.040,3282,1943,2360,0,0,0,0,0,0
$GC,27257,0.51,155.7,162.2,7.8,895,27261,0.00,2.42,0.00,0.000,4,0.000,0.046,3294,331,2361,0,0,0,0,0,0
$GC,27300,0.51,155.7,158.5,7.6,898,27307,0.12,2.33,0.00,0.000,6,0.113,0.039,3249,1929,2362,0,0,0,0,0,0
$GC,27561,0.51,155.7,142.0,6.4,923,27565,0.00,2.40,0.00,0.000,4,0.000,0.048,3248,3511,2363,0,0,0,0,0,0
$GC,27606,0.51,155.7,138.8,6.5,926,27612,0.00,2.35,0.00,0.000,6,0.000,0.037,3258,1919,2363,0,0,0,0,0,0
$GC,27868,0.51,155.7,122.4,6.1,951,27869,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1919,2363,0,0,0,0,0,0
$GC,28123,0.55,194.6,108.1,5.0,975,28165,0.00,2.50,34.20,0.828,4,0.000,0.049,3258,3503,2201,0,0,0,0,0,0
$GC,28210,0.57,209.8,103.3,5.6,983,28231,0.00,2.40,14.55,0.796,6,0.000,0.035,3268,1909,2138,0,0,0,0,0,0
$GC,28487,0.64,263.4,90.0,4.6,1009,28539,0.00,2.47,43.85,0.854,4,0.000,0.048,3280,339,1921,0,0,0,0,0,0
$GC,28573,0.65,270.6,85.5,5.8,1017,28588,0.00,2.33,8.38,0.720,6,0.000,0.037,3280,1922,1892,0,0,0,0,0,0
$GC,28851,0.65,270.6,66.1,8.1,1043,28852,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1922,1895,0,0,0,0,0,0
$GC,29105,0.65,270.6,46.0,7.6,1067,29109,0.00,2.38,0.00,0.000,4,0.000,0.046,3280,328,1896,0,0,0,0,0,0
$GC,29329,0.65,270.6,26.0,9.2,1086,29335,0.00,2.33,0.00,0.000,6,0.000,0.041,3277,1924,1898,0,0,0,0,0,0
$GC,29527,0.65,270.6,9.4,7.7,1105,29532,0.00,2.42,0.00,0.000,4,0.000,0.046,3276,334,1898,0,0,0,0,0,0
$STATE,29600,end climb,SURFACE_DEPTH_REACHED
$STATE,29600,begin surface coast
$FINISH,0.7,1.023254
$STATE,29622,end surface coast,CONTROL_FINISHED_OK
$STATE,29622,begin surface
$SM_CCo,29642,62.25,0.788,0,0,1363,400.08
$SM_GC,1.12,0.00,0.00,62.25,0.000,0.000,0.788,104,2152,1363,-9.33,0.06,400.08
$IRIDIUM_FIX,2204.37,12855.58,190812,070759
$TT8_MAMPS,0.027612
$HUMID,1078689668
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.7,71.466
$10V_AH,9.7,58.651
$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,21.300,319.600,391.525,62.250,0.000,29.623,34.605,206.239,0.000,0.000,14.702,2502.936,23161.084,678.329,3187.346,571.105,33.379,2295.501,0.000,2878.411,0.000,0.541,0.000
$DEVICE_MAMPS,217.061,57.525,1586.156,787.709,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,760.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,40051,1113
$CAP_FILE_SIZE,324911,0
$CFSIZE,260165632,185753600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250211,055454,2214.930,12855.639,53,1.1,53,-3.2