version: 66.07
glider: 500
mission: 5
dive: 412
start: 2 27 111 9 4 44
data:
$ID,500
$MISSION,5
$DIVE,412
$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,-129700.27
$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,2120
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,59
$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
$GPS1,270211,085607,2214.285,12857.609,36,1.0,36,-3.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.5
$GPS2,270211,090350,2214.283,12857.575,10,1.1,10,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.023,-0.220
$KALMAN_X,-751982.9,-9.1,688.4,1339972.1,26.1
$KALMAN_Y,315917.1,-743.9,-835.0,-194640.2,8589.7
$MHEAD_RNG_PITCHd_Wd,189.1,178651,-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,15205,-0.50,-155.7,807.8,-3.6,554,15209,0.00,2.35,0.00,0.000,4,0.000,0.044,2900,545,3595,0,0,0,0,0,0
$GC,15277,-0.50,-155.7,810.8,-4.1,555,15282,0.12,2.33,0.00,0.000,6,0.120,0.042,2934,2125,3595,0,0,0,0,0,0
$GC,15616,-0.50,-155.7,825.7,-4.9,564,15620,0.00,2.38,0.00,0.000,4,0.000,0.044,2934,536,3595,0,0,0,0,0,0
$GC,15783,-0.50,-155.7,834.3,-5.1,567,15789,0.00,2.35,0.00,0.000,6,0.000,0.042,2929,2130,3594,0,0,0,0,0,0
$GC,16114,-0.50,-155.7,849.3,-4.5,576,16118,0.00,2.40,0.00,0.000,4,0.000,0.044,2928,536,3594,0,0,0,0,0,0
$GC,16240,-0.50,-155.7,854.4,-3.9,578,16244,0.00,2.35,0.00,0.000,6,0.000,0.043,2918,2126,3593,0,0,0,0,0,0
$GC,16571,-0.50,-155.7,867.5,-3.9,586,16575,0.00,2.38,0.00,0.000,4,0.000,0.044,2918,547,3592,0,0,0,0,0,0
$GC,16691,-0.50,-155.7,872.2,-3.8,588,16696,0.00,2.35,0.00,0.000,6,0.000,0.044,2907,2126,3592,0,0,0,0,0,0
$GC,17022,-0.50,-155.7,884.0,-3.7,596,17027,0.00,2.42,0.00,0.000,4,0.000,0.044,2907,534,3592,0,0,0,0,0,0
$GC,17085,-0.50,-155.7,886.4,-3.9,597,17090,0.10,2.40,0.00,0.000,6,0.130,0.045,2932,2125,3591,0,0,0,0,0,0
$GC,17428,-0.50,-155.7,898.2,-3.3,606,17432,0.00,2.38,0.00,0.000,4,0.000,0.044,2932,543,3591,0,0,0,0,0,0
$GC,17567,-0.50,-155.7,902.7,-2.6,609,17572,0.00,2.38,0.00,0.000,6,0.000,0.044,2924,2129,3591,0,0,0,0,0,0
$GC,17887,-0.50,-155.7,911.5,-2.8,617,17891,0.00,2.35,0.00,0.000,4,0.000,0.044,2924,547,3590,0,0,0,0,0,0
$GC,18044,-0.50,-155.7,916.2,-2.6,620,18048,0.00,2.38,0.00,0.000,6,0.000,0.042,2915,2129,3590,0,0,0,0,0,0
$GC,18382,-0.50,-155.7,926.8,-3.3,629,18386,0.00,2.38,0.00,0.000,4,0.000,0.044,2915,547,3590,0,0,0,0,0,0
$GC,18488,-0.50,-155.7,930.4,-3.4,631,18493,0.00,2.38,0.00,0.000,6,0.000,0.043,2904,2130,3589,0,0,0,0,0,0
$GC,18833,-0.50,-155.7,940.7,-3.0,640,18838,0.00,2.40,0.00,0.000,4,0.000,0.044,2904,543,3589,0,0,0,0,0,0
$GC,18911,-0.50,-155.7,943.2,-3.3,641,18918,0.12,2.35,0.00,0.000,6,0.117,0.043,2938,2127,3588,0,0,0,0,0,0
$GC,19244,-0.50,-155.7,953.4,-3.3,650,19248,0.00,2.42,0.00,0.000,4,0.000,0.053,2927,3703,3588,0,0,0,0,0,0
$GC,19272,-0.50,-155.7,954.4,-3.5,650,19276,0.00,2.35,0.00,0.000,6,0.000,0.037,2928,2129,3588,0,0,0,0,0,0
$GC,19603,-0.50,-155.7,966.6,-4.1,658,19607,0.00,2.42,0.00,0.000,4,0.000,0.047,2927,530,3588,0,0,0,0,0,0
$GC,19695,-0.50,-155.7,970.7,-5.1,660,19700,0.00,2.38,0.00,0.000,6,0.000,0.044,2917,2124,3588,0,0,0,0,0,0
$GC,20015,-0.50,-155.7,985.0,-4.5,668,20020,0.00,2.38,0.00,0.000,4,0.000,0.045,2917,540,3587,0,0,0,0,0,0
$STATE,20125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20127,begin apogee
$GC,20135,-0.23,0.0,990.3,4.5,670,20275,0.28,0.00,137.30,1.583,6,0.084,0.000,3016,1920,2995,0,0,0,0,0,0
$STATE,20276,end apogee,CONTROL_FINISHED_OK
$STATE,20276,begin climb
$GC,20278,0.50,155.7,991.2,0.0,674,20442,0.62,0.00,153.57,1.541,6,0.053,0.000,3256,1920,2360,0,0,0,0,0,0
$GC,20764,0.50,155.7,932.1,13.4,686,20769,0.00,2.47,0.00,0.000,4,0.000,0.055,3256,3499,2360,0,0,0,0,0,0
$GC,20805,0.50,155.7,926.4,13.0,687,20809,0.00,2.40,0.00,0.000,6,0.000,0.041,3268,1927,2359,0,0,0,0,0,0
$GC,21131,0.50,155.7,880.3,14.0,695,21135,0.00,2.45,0.00,0.000,4,0.000,0.052,3281,329,2358,0,0,0,0,0,0
$GC,21171,0.50,155.7,874.4,14.5,696,21176,0.00,2.38,0.00,0.000,6,0.000,0.046,3281,1914,2358,0,0,0,0,0,0
$GC,21497,0.50,155.7,830.1,13.7,704,21502,0.00,2.47,0.00,0.000,4,0.000,0.054,3281,3517,2357,0,0,0,0,0,0
$GC,21622,0.50,155.7,811.4,15.3,706,21629,0.12,2.45,0.00,0.000,6,0.137,0.041,3254,1902,2356,0,0,0,0,0,0
$GC,21956,0.50,155.7,767.7,13.1,715,21960,0.00,2.38,0.00,0.000,4,0.000,0.051,3264,335,2356,0,0,0,0,0,0
$GC,21982,0.50,155.7,763.9,11.3,715,21987,0.00,2.40,0.00,0.000,6,0.000,0.044,3265,1927,2356,0,0,0,0,0,0
$GC,22321,0.50,155.7,718.9,13.2,724,22325,0.00,2.45,0.00,0.000,4,0.000,0.054,3265,3517,2355,0,0,0,0,0,0
$GC,22398,0.50,155.7,707.8,14.2,725,22404,0.00,2.42,0.00,0.000,6,0.000,0.042,3277,1927,2355,0,0,0,0,0,0
$GC,22730,0.50,155.7,663.2,13.4,734,22734,0.00,2.47,0.00,0.000,4,0.000,0.051,3290,331,2355,0,0,0,0,0,0
$GC,22769,0.50,155.7,657.7,12.9,735,22774,0.12,2.40,0.00,0.000,6,0.130,0.046,3248,1924,2354,0,0,0,0,0,0
$GC,23095,0.50,155.7,624.0,10.0,743,23099,0.00,2.45,0.00,0.000,4,0.000,0.054,3247,3509,2354,0,0,0,0,0,0
$GC,23144,0.50,155.7,618.7,9.1,744,23148,0.00,2.42,0.00,0.000,6,0.000,0.043,3258,1905,2354,0,0,0,0,0,0
$GC,23463,0.50,155.7,587.1,10.5,752,23464,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1905,2354,0,0,0,0,0,0
$GC,23789,0.50,155.7,550.9,11.0,760,23793,0.00,2.40,0.00,0.000,4,0.000,0.051,3271,337,2354,0,0,0,0,0,0
$GC,23821,0.50,155.7,546.9,12.4,760,23827,0.00,2.38,0.00,0.000,6,0.000,0.043,3271,1923,2354,0,0,0,0,0,0
$GC,24153,0.50,155.7,509.3,11.4,769,24154,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1924,2354,0,0,0,0,0,0
$GC,24477,0.50,155.7,471.7,11.3,777,24481,0.00,2.47,0.00,0.000,4,0.000,0.055,3271,3511,2354,0,0,0,0,0,0
$GC,24565,0.50,155.7,462.2,11.1,779,24570,0.00,2.45,0.00,0.000,6,0.000,0.042,3283,1908,2354,0,0,0,0,0,0
$GC,24890,0.50,155.7,427.3,11.4,787,24895,0.00,2.38,0.00,0.000,4,0.000,0.049,3296,338,2354,0,0,0,0,0,0
$GC,24996,0.50,155.7,415.3,10.9,789,25001,0.15,2.38,0.00,0.000,6,0.120,0.042,3245,1923,2355,0,0,0,0,0,0
$GC,25348,0.50,155.7,388.8,7.5,798,25352,0.00,2.42,0.00,0.000,4,0.000,0.050,3244,3513,2355,0,0,0,0,0,0
$GC,25500,0.50,155.7,375.9,7.6,801,25505,0.00,2.40,0.00,0.000,6,0.000,0.038,3255,1924,2356,0,0,0,0,0,0
$GC,25845,0.50,155.7,345.0,9.0,810,25849,0.00,2.45,0.00,0.000,4,0.000,0.049,3268,324,2357,0,0,0,0,0,0
$GC,25990,0.50,155.7,331.3,11.2,813,25994,0.00,2.38,0.00,0.000,6,0.000,0.039,3268,1926,2357,0,0,0,0,0,0
$GC,26303,0.50,155.7,302.6,9.3,821,26307,0.00,2.42,0.00,0.000,4,0.000,0.051,3268,3503,2358,0,0,0,0,0,0
$GC,26381,0.50,155.7,294.0,12.2,823,26387,0.00,2.40,0.00,0.000,6,0.000,0.037,3280,1907,2359,0,0,0,0,0,0
$GC,26696,0.50,155.7,264.5,8.2,839,26700,0.00,2.38,0.00,0.000,4,0.000,0.048,3292,334,2360,0,0,0,0,0,0
$GC,26786,0.50,155.7,257.1,7.9,843,26791,0.12,2.35,0.00,0.000,6,0.120,0.040,3249,1926,2360,0,0,0,0,0,0
$GC,27106,0.50,155.7,236.9,6.4,859,27110,0.00,2.42,0.00,0.000,4,0.000,0.049,3248,3520,2361,0,0,0,0,0,0
$GC,27151,0.50,155.7,233.7,7.4,861,27156,0.00,2.40,0.00,0.000,6,0.000,0.037,3258,1920,2362,0,0,0,0,0,0
$GC,27473,0.50,155.7,210.4,6.8,877,27474,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1920,2363,0,0,0,0,0,0
$GC,27786,0.51,156.6,190.6,6.0,899,27797,0.00,2.47,3.90,0.557,4,0.000,0.048,3271,330,2356,0,0,0,0,0,0
$GC,27826,0.51,156.6,187.9,6.1,902,27831,0.00,2.38,0.00,0.000,6,0.000,0.039,3271,1941,2357,0,0,0,0,0,0
$GC,28088,0.51,156.6,170.0,6.4,927,28092,0.00,2.38,0.00,0.000,4,0.000,0.049,3271,3507,2358,0,0,0,0,0,0
$GC,28184,0.51,156.6,161.1,9.7,935,28188,0.00,2.38,0.00,0.000,6,0.000,0.037,3283,1917,2359,0,0,0,0,0,0
$GC,28445,0.51,156.6,139.6,7.2,959,28449,0.00,2.45,0.00,0.000,4,0.000,0.048,3283,3502,2362,0,0,0,0,0,0
$GC,28500,0.51,156.6,134.9,7.3,963,28507,0.12,2.38,0.00,0.000,6,0.121,0.035,3252,1920,2362,0,0,0,0,0,0
$GC,28763,0.51,162.6,120.4,5.8,988,28777,0.00,2.47,8.65,0.736,4,0.000,0.047,3263,326,2331,0,0,0,0,0,0
$GC,28799,0.51,162.6,117.7,7.6,991,28805,0.00,2.33,0.00,0.000,6,0.000,0.038,3263,1919,2331,0,0,0,0,0,0
$GC,29062,0.58,213.6,103.9,4.7,1016,29113,0.00,2.55,42.00,0.846,4,0.000,0.048,3263,3518,2123,0,0,0,0,0,0
$GC,29176,0.61,245.1,97.5,5.2,1026,29212,0.00,2.40,27.08,0.838,6,0.000,0.035,3272,1922,1994,0,0,0,0,0,0
$GC,29467,0.61,245.1,78.4,6.1,1054,29471,0.00,2.45,0.00,0.000,4,0.000,0.047,3282,323,2001,0,0,0,0,0,0
$GC,29566,0.65,270.1,71.8,5.3,1062,29595,0.00,2.35,22.40,0.808,6,0.000,0.035,3283,1942,1894,0,0,0,0,0,0
$GC,29858,0.65,270.1,51.2,6.4,1090,29862,0.00,2.42,0.00,0.000,4,0.000,0.043,3283,328,1899,0,0,0,0,0,0
$GC,29930,0.65,270.1,46.0,6.9,1096,29935,0.00,2.30,0.00,0.000,6,0.000,0.037,3283,1918,1900,0,0,0,0,0,0
$GC,30191,0.65,270.1,23.5,8.3,1120,30195,0.00,2.42,0.00,0.000,4,0.000,0.044,3283,323,1902,0,0,0,0,0,0
$GC,30331,0.65,270.1,8.4,10.1,1132,30335,0.00,2.33,0.00,0.000,6,0.000,0.036,3282,1920,1903,0,0,0,0,0,0
$STATE,30388,end climb,SURFACE_DEPTH_REACHED
$STATE,30388,begin surface coast
$FINISH,0.3,1.023296
$STATE,30423,end surface coast,CONTROL_FINISHED_OK
$STATE,30423,begin surface
$SM_CCo,30440,62.75,0.777,0,0,1363,400.08
$SM_GC,1.05,0.00,0.00,62.75,0.000,0.000,0.777,106,2126,1363,-9.33,0.17,400.08
$IRIDIUM_FIX,2206.70,12902.13,210812,191932
$TT8_MAMPS,0.027612
$HUMID,1078718055
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,21.6,72.783
$10V_AH,9.5,59.373
$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,21.200,331.650,394.900,62.750,0.000,28.348,35.571,254.547,0.000,0.000,13.428,2576.225,23666.936,722.453,3388.841,591.478,33.382,2412.870,0.000,3037.348,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,60.593,1583.088,776.971,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,777.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,39983,1140
$CAP_FILE_SIZE,336883,0
$CFSIZE,260165632,184967168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270211,173424,2213.081,12858.550,34,1.2,34,-3.2