version: 66.07
glider: 511
mission: 5
dive: 315
start: 1 25 111 20 6 27
data:
$ID,511
$MISSION,5
$DIVE,315
$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,550
$T_MISSION,1100
$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,150
$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,586.50275
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48785.852
$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,2589
$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,2040
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$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,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,0.004356245
$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
$GPS1,250111,193542,1739.509,12707.849,24,1.7,28,-1.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-64.5
$GPS2,250111,200532,1739.576,12707.687,11,1.8,11,-1.9
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.189,-0.102
$KALMAN_X,-580949.6,-296.3,156.3,532114.8,3648.4
$KALMAN_Y,662047.6,436.8,-1350.1,-988704.5,4048.4
$MHEAD_RNG_PITCHd_Wd,243.5,309114,-9.9,-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,13,begin dive
$GC,16,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-80.55,0.000,2,0.000,0.000,34,2038,2666,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.1,-2.8,8,138,10.27,2.20,-19.10,0.000,4,0.249,0.064,2390,633,3489,0,0,0,0,0,0
$GC,306,-0.58,-146.0,41.1,-18.9,30,311,0.00,2.22,0.00,0.000,6,0.000,0.051,2382,2039,3489,0,0,0,0,0,0
$GC,567,-0.58,-146.0,104.6,-22.6,54,571,0.00,2.28,0.00,0.000,4,0.000,0.059,2371,3458,3489,0,0,0,0,0,0
$GC,610,-0.58,-146.0,112.8,-19.3,58,615,0.12,2.15,0.00,0.000,6,0.162,0.041,2405,2042,3489,0,0,0,0,0,0
$GC,876,-0.58,-146.0,158.1,-15.2,83,880,0.00,2.20,0.00,0.000,4,0.000,0.054,2405,626,3489,0,0,0,0,0,0
$GC,913,-0.58,-146.0,163.9,-14.2,86,918,0.00,2.20,0.00,0.000,6,0.000,0.050,2405,2049,3489,0,0,0,0,0,0
$GC,1173,-0.58,-146.0,200.5,-12.9,111,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2049,3489,0,0,0,0,0,0
$GC,1483,-0.58,-146.0,235.5,-11.0,126,1487,0.00,2.20,0.00,0.000,4,0.000,0.060,2395,3453,3490,0,0,0,0,0,0
$GC,1519,-0.58,-146.0,239.5,-11.0,127,1523,0.00,2.15,0.00,0.000,6,0.000,0.040,2396,2039,3490,0,0,0,0,0,0
$GC,1839,-0.58,-146.0,275.6,-10.6,143,1843,0.00,2.17,0.00,0.000,4,0.000,0.050,2396,625,3489,0,0,0,0,0,0
$GC,1871,-0.58,-146.0,279.3,-10.0,144,1875,0.00,2.22,0.00,0.000,6,0.000,0.051,2395,2041,3489,0,0,0,0,0,0
$GC,2186,-0.58,-146.0,309.6,-10.1,157,2190,0.00,2.25,0.00,0.000,4,0.000,0.060,2385,3459,3488,0,0,0,0,0,0
$GC,2242,-0.58,-146.0,315.8,-10.5,158,2245,0.00,2.17,0.00,0.000,6,0.000,0.041,2385,2040,3488,0,0,0,0,0,0
$GC,2554,-0.58,-146.0,351.1,-11.0,166,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2039,3486,0,0,0,0,0,0
$GC,2880,-0.58,-146.0,382.4,-9.1,174,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2037,3484,0,0,0,0,0,0
$GC,3204,-0.58,-146.0,414.2,-9.7,182,3208,0.00,2.20,0.00,0.000,4,0.000,0.051,2385,620,3481,0,0,0,0,0,0
$GC,3231,-0.58,-146.0,417.0,-10.9,182,3235,0.00,2.22,0.00,0.000,6,0.000,0.050,2385,2041,3481,0,0,0,0,0,0
$GC,3571,-0.58,-146.0,445.9,-8.1,191,3575,0.00,2.25,0.00,0.000,4,0.000,0.062,2385,3457,3478,0,0,0,0,0,0
$GC,3663,-0.58,-146.0,453.1,-7.4,193,3667,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,2033,3477,0,0,0,0,0,0
$GC,3987,-0.58,-146.0,481.2,-9.2,201,3992,0.00,2.33,-0.10,0.000,4,0.000,0.082,2385,3453,3496,0,0,1,0,0,0
$GC,4033,-0.58,-146.0,485.6,-8.8,202,4037,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,2040,3496,0,0,0,0,0,0
$GC,4357,-0.58,-146.0,513.5,-8.4,210,4361,0.00,2.30,0.00,0.000,4,0.000,0.070,2385,3449,3494,0,0,1,0,0,0
$GC,4380,-0.58,-146.0,515.6,-8.5,210,4384,0.00,2.17,0.00,0.000,6,0.000,0.045,2385,2042,3493,0,0,0,0,0,0
$GC,4725,-0.58,-146.0,542.3,-7.8,219,4729,0.00,2.30,0.00,0.000,4,0.000,0.071,2385,3448,3490,0,0,1,0,0,0
$GC,4775,-0.58,-146.0,546.4,-7.6,220,4779,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,2024,3490,0,0,0,0,0,0
$GC,5094,-0.58,-146.0,571.6,-8.1,228,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2021,3488,0,0,0,0,0,0
$GC,5418,-0.58,-146.0,598.6,-8.3,236,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2021,3485,0,0,0,0,0,0
$GC,5743,-0.58,-146.0,623.9,-7.5,244,5747,0.00,2.35,0.00,0.000,4,0.000,0.070,2385,3450,3482,0,0,0,0,0,0
$GC,5794,-0.58,-146.0,627.6,-6.8,245,5798,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,2028,3482,0,0,0,0,0,0
$GC,6114,-0.58,-146.0,650.6,-7.2,253,6118,0.00,2.30,0.00,0.000,4,0.000,0.064,2385,3454,3480,0,0,0,0,0,0
$GC,6151,-0.58,-146.0,653.3,-6.2,253,6156,0.00,2.20,0.00,0.000,6,0.000,0.042,2385,2035,3479,0,0,0,0,0,0
$GC,6482,-0.58,-146.0,676.9,-7.3,262,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2030,3477,0,0,0,0,0,0
$GC,6806,-0.58,-146.0,700.4,-7.2,270,6810,0.00,2.30,0.00,0.000,4,0.000,0.064,2385,3451,3476,0,0,0,0,0,0
$GC,6834,-0.58,-146.0,702.2,-7.1,270,6838,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,2037,3476,0,0,0,0,0,0
$GC,7174,-0.58,-146.0,724.8,-6.6,279,7178,0.00,2.33,0.00,0.000,4,0.000,0.065,2385,3453,3474,0,0,0,0,0,0
$GC,7217,-0.58,-146.0,727.5,-5.9,280,7221,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,2039,3474,0,0,0,0,0,0
$GC,7545,-0.58,-146.0,750.2,-7.0,288,7549,0.00,2.30,0.00,0.000,4,0.000,0.066,2385,3451,3472,0,0,0,0,0,0
$GC,7573,-0.58,-146.0,752.4,-7.0,288,7577,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,2040,3471,0,0,0,0,0,0
$GC,7908,-0.58,-146.0,779.1,-8.2,297,7912,0.00,2.30,0.00,0.000,4,0.000,0.066,2385,3452,3470,0,0,0,0,0,0
$GC,7945,-0.58,-146.0,782.3,-9.2,297,7950,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,2037,3469,0,0,0,0,0,0
$GC,8275,-0.58,-146.0,808.4,-7.8,306,8279,0.00,2.30,0.00,0.000,4,0.000,0.066,2385,3449,3468,0,0,0,0,0,0
$GC,8303,-0.58,-146.0,810.6,-8.1,306,8307,0.00,2.17,0.00,0.000,6,0.000,0.044,2384,2042,3467,0,0,0,0,0,0
$GC,8643,-0.58,-146.0,834.8,-6.9,315,8647,0.00,2.30,0.00,0.000,4,0.000,0.067,2384,3450,3466,0,0,0,0,0,0
$GC,8671,-0.58,-146.0,836.7,-6.5,315,8674,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,2032,3466,0,0,0,0,0,0
$GC,9011,-0.58,-146.0,857.2,-5.8,324,9015,0.00,2.33,0.00,0.000,4,0.000,0.066,2384,3451,3466,0,0,0,0,0,0
$GC,9048,-0.58,-146.0,859.4,-5.8,324,9052,0.00,2.20,0.00,0.000,6,0.000,0.045,2385,2039,3465,0,0,0,0,0,0
$GC,9384,-0.58,-146.0,877.7,-5.6,333,9388,0.00,2.33,0.00,0.000,4,0.000,0.067,2385,3450,3464,0,0,0,0,0,0
$GC,9416,-0.58,-146.0,879.7,-6.4,333,9420,0.00,2.20,0.00,0.000,6,0.000,0.045,2384,2039,3463,0,0,0,0,0,0
$GC,9750,-0.58,-146.0,900.5,-6.5,342,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2034,3462,0,0,0,0,0,0
$GC,10076,-0.58,-146.0,921.4,-6.3,350,10080,0.00,2.30,0.00,0.000,4,0.000,0.067,2376,3450,3461,0,0,0,0,0,0
$GC,10108,-0.58,-146.0,923.5,-5.9,350,10112,0.00,2.22,0.00,0.000,6,0.000,0.046,2376,2036,3462,0,0,0,0,0,0
$GC,10439,-0.58,-146.0,944.6,-6.5,358,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2032,3461,0,0,0,0,0,0
$GC,10764,-0.58,-146.0,965.4,-6.3,366,10768,0.00,2.33,0.00,0.000,4,0.000,0.066,2367,3450,3460,0,0,0,0,0,0
$GC,10800,-0.58,-146.0,967.9,-7.6,366,10805,0.12,2.22,0.00,0.000,6,0.147,0.047,2403,2036,3460,0,0,0,0,0,0
$GC,11140,-0.58,-146.0,985.2,-5.2,375,11144,0.00,2.33,0.00,0.000,4,0.000,0.068,2395,3450,3459,0,0,0,0,0,0
$GC,11167,-0.58,-146.0,987.0,-6.1,375,11171,0.00,2.22,0.00,0.000,6,0.000,0.048,2394,2032,3459,0,0,0,0,0,0
$STATE,11220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11220,begin apogee
$GC,11227,-0.28,0.0,990.1,5.7,377,11355,0.32,0.00,125.97,1.355,6,0.124,0.000,2499,2126,2890,0,0,0,0,0,0
$STATE,11356,end apogee,CONTROL_FINISHED_OK
$STATE,11357,begin climb
$GC,11359,0.58,146.0,995.2,0.0,380,11496,0.75,0.00,132.95,1.318,6,0.067,0.000,2774,2126,2294,0,0,0,0,0,0
$GC,11807,0.58,146.0,959.6,11.0,391,11811,0.00,2.33,0.00,0.000,4,0.000,0.070,2775,3514,2282,0,0,0,0,0,0
$GC,11849,0.58,146.0,954.7,12.0,392,11854,0.00,2.22,0.00,0.000,6,0.000,0.048,2785,2113,2281,0,0,1,0,0,0
$GC,12178,0.58,146.0,916.5,11.7,400,12182,0.00,2.28,0.00,0.000,4,0.000,0.058,2796,692,2278,0,0,0,0,0,0
$GC,12214,0.58,146.0,911.8,13.2,400,12220,0.00,2.28,0.00,0.000,6,0.000,0.054,2796,2102,2276,0,0,0,0,0,0
$GC,12546,0.58,146.0,870.6,12.5,409,12550,0.00,2.33,0.00,0.000,4,0.000,0.070,2796,3517,2276,0,0,0,0,0,0
$GC,12605,0.58,146.0,862.1,13.9,410,12610,0.12,2.22,0.00,0.000,6,0.215,0.049,2779,2106,2275,0,0,1,0,0,0
$GC,12958,0.58,146.0,823.7,10.7,419,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2100,2275,0,0,0,0,0,0
$GC,13280,0.58,146.0,791.1,9.9,427,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2100,2274,0,0,0,0,0,0
$GC,13605,0.58,146.0,760.0,9.7,435,13609,0.00,2.35,0.00,0.000,4,0.000,0.071,2778,3517,2274,0,0,0,0,0,0
$GC,13633,0.58,146.0,757.0,9.9,435,13637,0.00,2.22,0.00,0.000,6,0.000,0.051,2787,2110,2274,0,0,1,0,0,0
$GC,13968,0.58,146.0,723.0,10.1,444,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2104,2273,0,0,0,0,0,0
$GC,14293,0.58,146.0,689.8,10.2,452,14297,0.00,2.33,0.00,0.000,4,0.000,0.071,2787,3518,2273,0,0,0,0,0,0
$GC,14353,0.58,146.0,682.8,10.6,453,14357,0.00,2.22,0.00,0.000,6,0.000,0.050,2797,2111,2273,0,0,1,0,0,0
$GC,14704,0.58,146.0,648.9,9.6,462,14705,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2105,2272,0,0,0,0,0,0
$GC,15027,0.58,146.0,618.3,9.5,470,15031,0.00,2.35,0.00,0.000,4,0.000,0.070,2797,3518,2272,0,0,0,0,0,0
$GC,15050,0.58,146.0,615.7,10.4,470,15054,0.12,2.25,0.00,0.000,6,0.209,0.049,2779,2105,2272,0,0,0,0,0,0
$GC,15396,0.58,146.0,585.8,8.4,479,15400,0.00,2.35,0.00,0.000,4,0.000,0.070,2779,3517,2272,0,0,0,0,0,0
$GC,15424,0.58,146.0,583.1,9.0,479,15428,0.00,2.22,0.00,0.000,6,0.000,0.050,2788,2109,2272,0,0,1,0,0,0
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$STATE,23133,end climb,SURFACE_DEPTH_REACHED
$STATE,23133,begin surface coast
$FINISH,0.9,1.008800
$STATE,23155,end surface coast,CONTROL_FINISHED_OK
$STATE,23155,begin surface
$SM_CCo,23172,125.07,0.548,0,0,498,586.50
$SM_GC,1.68,0.00,0.00,125.07,0.000,0.000,0.548,54,2018,498,-7.91,-0.62,586.50
$IRIDIUM_FIX,1731.53,12708.47,200712,141449
$TT8_MAMPS,0.025311
$HUMID,1078674184
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,22.7,64.807
$10V_AH,9.7,44.213
$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,20.050,216.575,430.425,125.075,0.000,140.652,229.612,955.786,0.500,0.000,13.928,1904.624,18531.025,687.965,3473.841,475.320,33.367,1940.182,0.000,2142.049,0.000,0.544,0.000
$DEVICE_MAMPS,248.508,92.040,1354.522,548.405,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,594.855,0.000,0.000,0.000,0.000,0.000,0.000,1703.910,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,30080,882
$CAP_FILE_SIZE,270852,0
$CFSIZE,260165632,230744064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,260111,023926,1738.557,12705.221,221,2.2,240,-1.9