version: 66.07
glider: 511
mission: 5
dive: 60
start: 11 23 110 19 38 27
data:
$ID,511
$MISSION,5
$DIVE,60
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,366
$T_MISSION,725
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41763.168
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2080
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$GPS1,231110,193258,2059.785,12658.942,5,2.4,24,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.6
$GPS2,231110,193735,2059.885,12658.910,14,2.2,33,-2.8
$SPEED_LIMITS,0.156,0.265
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,-0.263
$KALMAN_X,-10527.7,-239.6,-998.0,-52404.8,-54.8
$KALMAN_Y,202563.6,315.5,104.2,-159600.3,7971.1
$MHEAD_RNG_PITCHd_Wd,175.7,61517,-14.8,-9.016
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.79,-165.4,0.0,0.0,0,112,0.00,0.00,-86.30,0.000,2,0.000,0.000,44,2074,2848,0,0,0,0,0,0
$GC,114,-0.79,-165.5,3.8,-7.9,17,150,9.62,2.12,-20.67,0.000,4,0.260,0.059,2334,671,3959,0,0,0,0,0,0
$GC,280,-0.79,-165.5,58.7,-27.5,43,284,0.00,2.20,0.00,0.000,6,0.000,0.052,2325,2084,3962,0,0,0,0,0,0
$GC,540,-0.79,-165.5,135.7,-29.1,67,544,0.00,2.15,0.00,0.000,4,0.000,0.057,2314,3491,3963,0,0,0,0,0,0
$GC,563,-0.79,-165.5,143.0,-30.5,69,567,0.00,2.12,0.00,0.000,6,0.000,0.042,2319,2078,3964,0,0,0,0,0,0
$GC,832,-0.79,-165.5,218.6,-25.6,91,836,0.00,2.15,0.00,0.000,4,0.000,0.051,2313,664,3965,0,0,0,0,0,0
$GC,881,-0.79,-165.5,231.2,-22.6,93,886,0.10,2.20,0.00,0.000,6,0.170,0.049,2335,2078,3962,0,0,0,0,0,0
$GC,1205,-0.79,-165.5,299.9,-20.7,109,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2075,3963,0,0,0,0,0,0
$GC,1510,-0.79,-165.5,360.0,-19.4,117,1514,0.00,2.20,0.00,0.000,4,0.000,0.058,2326,3494,3961,0,0,0,0,0,0
$GC,1560,-0.79,-165.5,369.7,-17.9,118,1564,0.00,2.12,0.00,0.000,6,0.000,0.042,2326,2079,3961,0,0,0,0,0,0
$GC,1881,-0.79,-165.5,428.4,-18.2,126,1886,0.00,2.15,-0.08,0.000,4,0.000,0.067,2326,667,3972,0,0,0,0,0,0
$GC,1918,-0.79,-165.5,435.0,-17.0,126,1922,0.00,2.15,0.00,0.000,6,0.000,0.047,2317,2084,3972,0,0,0,0,0,0
$GC,2252,-0.79,-165.5,492.4,-16.9,135,2256,0.00,2.17,0.00,0.000,4,0.000,0.060,2307,3491,3969,0,0,0,0,0,0
$GC,2279,-0.79,-165.5,497.0,-16.9,135,2283,0.12,2.12,0.00,0.000,6,0.170,0.042,2340,2071,3969,0,0,0,0,0,0
$GC,2623,-0.79,-165.5,542.8,-12.9,144,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2065,3967,0,0,0,0,0,0
$GC,2948,-0.79,-165.5,585.1,-13.3,152,2952,0.00,2.25,0.00,0.000,4,0.000,0.067,2332,3494,3966,0,0,0,0,0,0
$GC,2979,-0.79,-165.5,589.6,-13.9,152,2983,0.00,2.12,0.00,0.000,6,0.000,0.045,2332,2082,3963,0,0,0,0,0,0
$GC,3313,-0.79,-165.5,637.1,-14.2,161,3317,0.00,2.17,0.00,0.000,4,0.000,0.054,2332,673,3961,0,0,0,0,0,0
$GC,3358,-0.79,-165.5,643.3,-12.6,162,3362,0.00,2.20,0.00,0.000,6,0.000,0.055,2324,2071,3961,0,0,0,0,0,0
$GC,3684,-0.79,-165.5,687.2,-13.4,170,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2074,3954,0,0,0,0,0,0
$GC,4009,-0.79,-165.5,730.2,-13.3,178,4013,0.00,2.22,0.00,0.000,4,0.000,0.065,2319,3493,3949,0,0,0,0,0,0
$GC,4073,-0.79,-165.5,738.8,-12.5,179,4077,0.00,2.15,0.00,0.000,6,0.000,0.044,2314,2071,3949,0,0,0,0,0,0
$GC,4421,-0.79,-165.5,786.2,-13.5,188,4423,0.10,0.00,0.00,0.000,6,0.208,0.000,2334,2064,3942,0,0,0,0,0,0
$GC,4746,-0.79,-165.5,820.9,-10.5,196,4750,0.00,2.25,0.00,0.000,4,0.000,0.067,2328,3494,3941,0,0,0,0,0,0
$GC,4768,-0.79,-165.5,823.3,-11.2,196,4772,0.00,2.12,0.00,0.000,6,0.000,0.045,2328,2076,3941,0,0,1,0,0,0
$GC,5111,-0.79,-165.5,860.9,-10.9,205,5115,0.00,2.28,0.00,0.000,4,0.000,0.065,2319,3500,3937,0,0,0,0,0,0
$GC,5147,-0.79,-165.5,865.1,-11.4,205,5151,0.00,2.17,0.00,0.000,6,0.000,0.046,2319,2074,3937,0,0,0,0,0,0
$GC,5482,-0.79,-165.5,904.9,-12.0,214,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2069,3934,0,0,0,0,0,0
$GC,5806,-0.79,-165.5,943.7,-12.0,222,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2069,3931,0,0,0,0,0,0
$GC,6131,-0.79,-165.5,981.4,-11.4,230,6136,0.00,2.28,0.00,0.000,4,0.000,0.068,2310,3497,3927,0,0,0,0,0,0
$GC,6158,-0.79,-165.5,984.6,-12.2,230,6163,0.12,2.17,0.00,0.000,6,0.166,0.048,2345,2076,3927,0,0,0,0,0,0
$STATE,6253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6253,begin apogee
$GC,6256,-0.28,0.0,993.3,9.2,233,6384,0.50,0.00,125.18,1.317,6,0.133,0.000,2508,2070,3301,0,0,0,0,0,0
$STATE,6387,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6388,0.79,165.5,999.6,0.0,236,6535,0.98,2.40,138.38,1.282,4,0.070,0.056,2871,645,2629,0,0,1,0,0,0
$GC,6590,0.81,177.3,1007.5,8.6,240,6607,0.00,2.33,10.80,1.115,6,0.000,0.051,2871,2060,2578,0,0,0,0,0,0
$GC,6924,0.81,177.3,967.4,12.3,249,6928,0.00,2.25,0.00,0.000,4,0.000,0.065,2870,3453,2570,0,0,0,0,0,0
$GC,7058,0.81,177.3,949.6,13.5,251,7063,0.00,2.20,0.00,0.000,6,0.000,0.052,2881,2057,2569,0,0,0,0,0,0
$GC,7388,0.81,177.3,910.3,11.7,260,7391,0.00,2.28,0.00,0.000,4,0.000,0.065,2881,3461,2566,0,0,0,0,0,0
$GC,7423,0.81,177.3,906.0,12.2,260,7428,0.08,2.25,0.00,0.000,6,0.243,0.053,2865,2054,2566,0,0,0,0,0,0
$GC,7758,0.81,177.3,869.7,10.5,269,7762,0.00,2.22,0.00,0.000,4,0.000,0.061,2874,633,2564,0,0,0,0,0,0
$GC,7822,0.81,177.3,863.2,10.0,270,7826,0.00,2.22,0.00,0.000,6,0.000,0.056,2868,2047,2563,0,0,0,0,0,0
$GC,8134,0.81,177.3,832.4,9.5,278,8138,0.00,2.25,0.00,0.000,4,0.000,0.067,2869,3462,2563,0,0,0,0,0,0
$GC,8275,0.81,177.3,818.0,9.4,281,8279,0.00,2.22,0.00,0.000,6,0.000,0.056,2877,2045,2562,0,0,0,0,0,0
$GC,8597,0.81,179.7,788.8,8.9,289,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2041,2563,0,0,0,0,0,0
$GC,8922,0.83,197.1,761.2,8.4,297,8942,0.00,2.30,14.85,1.139,4,0.000,0.063,2888,633,2497,0,0,0,0,0,0
$GC,9091,0.83,197.1,743.9,10.9,300,9095,0.00,2.28,0.00,0.000,6,0.000,0.058,2888,2049,2497,0,0,0,0,0,0
$GC,9425,0.83,197.1,708.0,10.9,309,9429,0.00,2.25,0.00,0.000,4,0.000,0.068,2888,3463,2493,0,0,0,0,0,0
$GC,9669,0.83,197.1,674.9,14.3,314,9673,0.00,2.20,0.00,0.000,6,0.000,0.057,2899,2049,2492,0,0,1,0,0,0
$GC,9981,0.83,197.1,636.1,12.0,322,9985,0.00,2.22,0.00,0.000,4,0.000,0.061,2909,636,2491,0,0,0,0,0,0
$GC,10077,0.83,197.1,625.4,11.2,324,10082,0.17,2.22,0.00,0.000,6,0.235,0.054,2871,2054,2490,0,0,0,0,0,0
$GC,10400,0.91,255.7,601.2,6.9,332,10456,0.00,2.35,48.67,1.085,4,0.000,0.064,2879,636,2259,0,0,0,0,0,0
$GC,10538,0.91,255.7,585.9,13.0,335,10542,0.00,2.28,0.00,0.000,6,0.000,0.055,2879,2046,2251,0,0,0,0,0,0
$GC,10860,0.91,255.7,541.6,13.7,343,10864,0.00,2.30,0.00,0.000,4,0.000,0.068,2879,3463,2247,0,0,0,0,0,0
$GC,11011,0.91,255.7,517.4,15.3,346,11015,0.00,2.22,0.00,0.000,6,0.000,0.052,2890,2044,2246,0,0,0,0,0,0
$GC,11328,0.91,255.7,471.2,14.8,354,11332,0.00,2.33,0.00,0.000,4,0.000,0.068,2890,3469,2245,0,0,0,0,0,0
$GC,11502,0.91,255.7,441.7,17.0,357,11508,0.00,2.22,0.00,0.000,6,0.000,0.051,2901,2046,2244,0,0,0,0,0,0
$GC,11832,0.91,255.7,393.7,14.6,366,11837,0.00,2.28,0.00,0.000,4,0.000,0.066,2900,3471,2243,0,0,0,0,0,0
$GC,11855,0.91,255.7,390.2,14.7,366,11859,0.00,2.22,0.00,0.000,6,0.000,0.051,2911,2034,2244,0,0,0,0,0,0
$GC,12194,0.91,255.7,344.0,13.0,375,12198,0.00,2.17,0.00,0.000,4,0.000,0.060,2922,640,2242,0,0,0,0,0,0
$GC,12220,0.91,255.7,339.9,14.9,375,12225,0.12,2.22,0.00,0.000,6,0.229,0.053,2895,2058,2242,0,0,0,0,0,0
$GC,12560,0.91,255.7,296.2,13.4,384,12564,0.00,2.22,0.00,0.000,4,0.000,0.066,2895,3463,2242,0,0,0,0,0,0
$GC,12827,0.91,255.7,256.3,14.4,395,12833,0.00,2.20,0.00,0.000,6,0.000,0.053,2904,2050,2243,0,0,0,0,0,0
$GC,13141,0.91,255.7,220.0,10.3,411,13145,0.00,2.20,0.00,0.000,4,0.000,0.058,2915,633,2243,0,0,0,0,0,0
$GC,13168,0.91,255.7,217.0,10.6,412,13172,0.00,2.20,0.00,0.000,6,0.000,0.051,2911,2050,2243,0,0,0,0,0,0
$GC,13496,0.91,255.7,180.0,11.0,436,13500,0.00,2.25,0.00,0.000,4,0.000,0.061,2926,630,2243,0,0,0,0,0,0
$GC,13613,0.91,255.7,166.7,11.1,448,13617,0.12,2.20,0.00,0.000,6,0.222,0.054,2899,2050,2243,0,0,0,0,0,0
$GC,13872,0.92,266.4,143.2,8.6,472,13883,0.00,0.00,7.45,0.634,6,0.000,0.000,2898,2050,2215,0,0,0,0,0,0
$GC,14138,0.92,266.4,114.9,10.0,497,14142,0.00,2.22,0.00,0.000,4,0.000,0.062,2897,3461,2215,0,0,0,0,0,0
$GC,14201,0.92,266.4,108.6,9.4,503,14207,0.00,2.17,0.00,0.000,6,0.000,0.048,2906,2046,2216,0,0,0,0,0,0
$GC,14463,0.99,324.6,89.2,6.9,528,14512,0.00,0.00,46.62,0.655,6,0.000,0.000,2906,2045,1978,0,0,0,0,0,0
$GC,14767,1.12,429.1,68.3,5.2,557,14852,0.15,2.35,77.80,0.624,4,0.095,0.062,2962,3465,1550,0,0,0,0,0,0
$GC,15042,1.12,429.1,18.2,22.6,592,15047,0.00,2.25,0.00,0.000,6,0.000,0.048,2977,2045,1543,0,0,0,0,0,0
$STATE,15130,end climb,SURFACE_DEPTH_REACHED
$STATE,15130,begin surface coast
$FINISH,0.2,1.021911
$STATE,15148,end surface coast,CONTROL_FINISHED_OK
$STATE,15149,begin surface
$SM_CCo,15165,44.97,0.565,0,0,1262,500.16
$SM_GC,2.72,0.00,0.00,44.97,0.000,0.000,0.565,51,2081,1262,-7.96,0.06,500.16
$IRIDIUM_FIX,2050.21,12719.90,180512,131339
$TT8_MAMPS,0.057525
$HUMID,1078985573
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.60
$XPDR_PINGS,77
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8441856000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59058913280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,13.542
$10V_AH,10.2,7.324
$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,20.125,133.325,469.750,44.975,0.000,0.000,0.000,0.000,19.250,0.000,36.325,1254.213,11562.543,576.540,1826.210,99.653,33.365,1580.785,0.000,1741.828,0.000,0.543,0.000
$DEVICE_MAMPS,260.013,132.691,1316.939,564.512,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,409.327,0.000,0.000,0.000,0.000,0.000,0.000,13912.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.508,0.000,0.000
$MEM,355176
$DATA_FILE_SIZE,23428,611
$CAP_FILE_SIZE,258848,0
$CFSIZE,260165632,253915136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,231110,235531,2059.292,12659.336,159,1.0,159,-2.8