version: 66.07
glider: 511
mission: 5
dive: 342
start: 2 2 111 14 55 50
data:
$ID,511
$MISSION,5
$DIVE,342
$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,450
$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,-49631.574
$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,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,18
$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
$GPS1,020211,144353,1810.184,12609.224,34,1.2,50,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-70.7
$GPS2,020211,145455,1810.158,12609.275,11,1.5,11,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.134,0.168
$KALMAN_X,-554879.5,237.6,-309.1,404719.7,2118.1
$KALMAN_Y,617856.6,720.2,450.4,-889981.8,-5305.8
$MHEAD_RNG_PITCHd_Wd,323.5,197766,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-60.70,0.000,2,0.000,0.000,39,2048,2650,0,0,0,0,0,0
$GC,81,-0.58,-146.0,3.2,-3.0,6,118,10.30,2.30,-19.42,0.000,4,0.251,0.074,2385,3474,3485,0,0,0,0,0,0
$GC,193,-0.58,-146.0,26.2,-20.2,18,198,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,2061,3487,0,0,0,0,0,0
$GC,390,-0.58,-146.0,71.1,-21.2,36,394,0.00,2.22,0.00,0.000,4,0.000,0.058,2385,656,3487,0,0,0,0,0,0
$GC,415,-0.58,-146.0,76.2,-21.0,38,419,0.00,2.22,0.00,0.000,6,0.000,0.051,2375,2061,3488,0,0,0,0,0,0
$GC,675,-0.58,-146.0,134.9,-22.5,62,679,0.00,2.22,0.00,0.000,4,0.000,0.054,2375,652,3487,0,0,0,0,0,0
$GC,722,-0.58,-146.0,144.4,-18.7,66,728,0.12,2.22,0.00,0.000,6,0.168,0.050,2398,2068,3487,0,0,0,0,0,0
$GC,983,-0.58,-146.0,182.1,-13.6,91,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2068,3488,0,0,0,0,0,0
$GC,1244,-0.58,-146.0,215.8,-11.8,110,1248,0.00,2.22,0.00,0.000,4,0.000,0.057,2399,647,3488,0,0,0,0,0,0
$GC,1295,-0.58,-146.0,222.0,-11.1,112,1299,0.00,2.22,0.00,0.000,6,0.000,0.050,2391,2061,3488,0,0,0,0,0,0
$GC,1614,-0.58,-146.0,259.9,-11.5,128,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2061,3489,0,0,0,0,0,0
$GC,1924,-0.58,-146.0,294.8,-11.2,143,1928,0.00,2.28,0.00,0.000,4,0.000,0.068,2382,3479,3489,0,0,0,0,0,0
$GC,1979,-0.58,-146.0,300.8,-10.0,145,1983,0.00,2.17,0.00,0.000,6,0.000,0.042,2382,2061,3488,0,0,0,0,0,0
$GC,2310,-0.58,-146.0,337.1,-10.9,153,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2060,3488,0,0,0,0,0,0
$GC,2634,-0.58,-146.0,372.6,-11.2,161,2638,0.00,2.30,0.00,0.000,4,0.000,0.069,2373,3476,3486,0,0,1,0,0,0
$GC,2658,-0.58,-146.0,375.2,-11.0,161,2663,0.10,2.20,0.00,0.000,6,0.153,0.043,2399,2057,3486,0,0,0,0,0,0
$GC,3000,-0.58,-146.0,406.5,-9.1,170,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2057,3484,0,0,0,0,0,0
$GC,3324,-0.58,-146.0,434.3,-7.9,178,3328,0.00,2.22,0.00,0.000,4,0.000,0.057,2400,640,3482,0,0,0,0,0,0
$GC,3360,-0.58,-146.0,437.6,-8.6,178,3366,0.00,2.28,0.00,0.000,6,0.000,0.052,2400,2067,3482,0,0,0,0,0,0
$GC,3691,-0.58,-146.0,464.4,-8.4,187,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2067,3480,0,0,0,0,0,0
$GC,4016,-0.58,-146.0,488.1,-6.9,195,4020,0.00,2.25,0.00,0.000,4,0.000,0.067,2401,3472,3478,0,0,0,0,0,0
$GC,4044,-0.58,-146.0,490.0,-6.5,195,4048,0.00,2.20,0.00,0.000,6,0.000,0.044,2400,2059,3477,0,0,0,0,0,0
$GC,4379,-0.58,-146.0,513.5,-7.5,204,4383,0.00,2.33,0.00,0.000,4,0.000,0.071,2401,3480,3475,0,0,0,0,0,0
$GC,4425,-0.58,-146.0,517.0,-6.8,205,4429,0.00,2.22,0.00,0.000,6,0.000,0.044,2400,2056,3475,0,0,0,0,0,0
$GC,4750,-0.58,-146.0,545.1,-8.8,213,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2055,3473,0,0,0,0,0,0
$GC,5073,-0.58,-146.0,570.5,-7.3,221,5077,0.00,2.35,0.00,0.000,4,0.000,0.071,2400,3476,3470,0,0,0,0,0,0
$GC,5100,-0.58,-146.0,572.4,-6.4,221,5104,0.00,2.20,0.00,0.000,6,0.000,0.046,2400,2058,3469,0,0,0,0,0,0
$GC,5435,-0.58,-146.0,593.7,-6.4,230,5439,0.00,2.22,0.00,0.000,4,0.000,0.054,2400,642,3467,0,0,0,0,0,0
$GC,5463,-0.58,-146.0,595.5,-7.0,230,5467,0.00,2.28,0.00,0.000,6,0.000,0.054,2400,2061,3467,0,0,0,0,0,0
$GC,5798,-0.58,-146.0,618.7,-7.0,239,5802,0.00,2.30,0.00,0.000,4,0.000,0.066,2400,3476,3466,0,0,0,0,0,0
$GC,5858,-0.58,-146.0,622.8,-6.8,240,5862,0.00,2.20,0.00,0.000,6,0.000,0.046,2400,2052,3465,0,0,0,0,0,0
$GC,6210,-0.58,-146.0,644.7,-6.1,249,6214,0.00,2.17,0.00,0.000,4,0.000,0.053,2400,655,3463,0,0,0,0,0,0
$GC,6260,-0.58,-146.0,648.2,-6.4,250,6264,0.00,2.28,0.00,0.000,6,0.000,0.055,2401,2066,3462,0,0,0,0,0,0
$GC,6580,-0.58,-146.0,667.0,-6.0,258,6584,0.00,2.25,0.00,0.000,4,0.000,0.067,2400,3468,3461,0,0,0,0,0,0
$GC,6607,-0.58,-146.0,668.7,-5.7,258,6611,0.00,2.20,0.00,0.000,6,0.000,0.042,2401,2052,3461,0,0,0,0,0,0
$GC,6943,-0.58,-146.0,689.6,-6.5,267,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2048,3459,0,0,0,0,0,0
$GC,7268,-0.58,-146.0,713.9,-7.7,275,7272,0.00,2.33,0.00,0.000,4,0.000,0.066,2401,3467,3457,0,0,0,0,0,0
$GC,7314,-0.58,-146.0,717.8,-7.5,276,7318,0.00,2.20,0.00,0.000,6,0.000,0.043,2400,2055,3456,0,0,0,0,0,0
$GC,7639,-0.58,-146.0,739.2,-6.1,284,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2051,3455,0,0,0,0,0,0
$GC,7962,-0.58,-146.0,754.2,-4.5,292,7966,0.00,2.33,0.00,0.000,4,0.000,0.066,2400,3468,3453,0,0,0,0,0,0
$GC,7990,-0.58,-146.0,755.6,-5.0,292,7994,0.00,2.17,0.00,0.000,6,0.000,0.044,2401,2060,3452,0,0,0,0,0,0
$GC,8325,-0.58,-146.0,773.0,-5.4,301,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2055,3451,0,0,0,0,0,0
$GC,8650,-0.58,-146.0,792.7,-6.1,309,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2054,3450,0,0,0,0,0,0
$GC,8975,-0.58,-146.0,813.0,-6.2,317,8979,0.00,2.33,0.00,0.000,4,0.000,0.068,2400,3468,3448,0,0,0,0,0,0
$GC,8998,-0.58,-146.0,814.5,-6.6,317,9002,0.00,2.20,0.00,0.000,6,0.000,0.045,2401,2060,3448,0,0,0,0,0,0
$GC,9344,-0.58,-146.0,834.4,-5.5,326,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2054,3447,0,0,0,0,0,0
$GC,9667,-0.58,-146.0,849.4,-4.2,334,9672,0.00,2.35,0.00,0.000,4,0.000,0.069,2400,3474,3446,0,0,0,0,0,0
$GC,9705,-0.58,-146.0,850.9,-4.5,334,9710,0.00,2.22,0.00,0.000,6,0.000,0.045,2401,2059,3446,0,0,0,0,0,0
$GC,10036,-0.58,-146.0,865.0,-4.6,343,10040,0.00,2.25,0.00,0.000,4,0.000,0.058,2400,654,3445,0,0,0,0,0,0
$GC,10059,-0.58,-146.0,866.2,-5.9,343,10063,0.00,2.25,0.00,0.000,6,0.000,0.052,2400,2067,3445,0,0,0,0,0,0
$GC,10399,-0.58,-146.0,887.1,-6.7,352,10403,0.00,2.28,0.00,0.000,4,0.000,0.068,2400,3468,3444,0,0,0,0,0,0
$GC,10426,-0.58,-146.0,889.0,-6.8,352,10430,0.00,2.22,0.00,0.000,6,0.000,0.047,2400,2055,3444,0,0,0,0,0,0
$GC,10762,-0.58,-146.0,911.4,-6.6,361,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2050,3443,0,0,0,0,0,0
$GC,11086,-0.58,-146.0,931.3,-6.0,369,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2050,3442,0,0,0,0,0,0
$GC,11412,-0.58,-146.0,949.3,-5.5,377,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2050,3441,0,0,0,0,0,0
$GC,11737,-0.58,-146.0,967.0,-5.5,385,11741,0.00,2.33,0.00,0.000,4,0.000,0.068,2400,3468,3440,0,0,0,0,0,0
$GC,11766,-0.58,-146.0,968.7,-6.2,385,11770,0.00,2.22,0.00,0.000,6,0.000,0.048,2401,2062,3440,0,0,0,0,0,0
$STATE,12101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12101,begin apogee
$GC,12107,-0.28,0.0,990.6,6.7,394,12233,0.30,0.00,123.10,1.356,6,0.117,0.000,2500,2132,2890,0,0,0,0,0,0
$STATE,12234,end apogee,CONTROL_FINISHED_OK
$STATE,12234,begin climb
$GC,12236,0.58,146.0,997.9,0.0,397,12379,0.75,2.50,133.88,1.321,4,0.068,0.058,2782,729,2293,0,0,1,0,0,0
$GC,12407,0.58,146.0,993.6,9.4,401,12412,0.00,2.35,0.00,0.000,6,0.000,0.052,2783,2126,2288,0,0,1,0,0,0
$GC,12733,0.58,146.0,958.5,10.9,409,12737,0.00,2.35,0.00,0.000,4,0.000,0.070,2783,3544,2280,0,0,0,0,0,0
$GC,12784,0.58,146.0,952.1,13.0,410,12788,0.00,2.25,0.00,0.000,6,0.000,0.049,2794,2126,2280,0,0,1,0,0,0
$GC,13103,0.58,146.0,917.9,10.4,418,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2119,2278,0,0,0,0,0,0
$GC,13426,0.58,146.0,879.8,12.4,426,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2119,2276,0,0,0,0,0,0
$GC,13752,0.58,146.0,836.9,13.1,434,13756,0.00,2.35,0.00,0.000,4,0.000,0.068,2794,3545,2276,0,0,0,0,0,0
$GC,13798,0.58,146.0,830.2,14.9,435,13802,0.00,2.22,0.00,0.000,6,0.000,0.049,2804,2129,2276,0,0,1,0,0,0
$GC,14121,0.58,146.0,790.7,11.7,443,14125,0.00,2.35,0.00,0.000,4,0.000,0.069,2804,3544,2275,0,0,0,0,0,0
$GC,14178,0.58,146.0,783.6,13.2,444,14183,0.15,2.22,0.00,0.000,6,0.208,0.050,2780,2131,2275,0,0,1,0,0,0
$GC,14493,0.58,146.0,754.9,9.0,452,14497,0.00,2.25,0.00,0.000,4,0.000,0.061,2789,723,2273,0,0,0,0,0,0
$GC,14536,0.58,146.0,750.8,9.9,453,14540,0.00,2.25,0.00,0.000,6,0.000,0.055,2789,2131,2272,0,0,0,0,0,0
$GC,14864,0.58,146.0,717.8,10.2,461,14868,0.00,2.30,0.00,0.000,4,0.000,0.071,2789,3540,2272,0,0,0,0,0,0
$GC,14981,0.58,146.0,704.1,11.5,463,14985,0.00,2.22,0.00,0.000,6,0.000,0.050,2800,2121,2273,0,0,1,0,0,0
$GC,15326,0.58,146.0,667.5,10.4,472,15331,0.00,2.35,0.00,0.000,4,0.000,0.068,2799,3540,2272,0,0,0,0,0,0
$GC,15369,0.58,146.0,662.7,11.7,473,15374,0.15,2.25,0.00,0.000,6,0.202,0.048,2774,2124,2272,0,0,0,0,0,0
$GC,15697,0.58,146.0,633.4,8.7,481,15701,0.00,2.28,0.00,0.000,4,0.000,0.061,2784,717,2271,0,0,0,0,0,0
$GC,15748,0.58,146.0,628.9,8.7,482,15752,0.00,2.25,0.00,0.000,6,0.000,0.055,2784,2131,2271,0,0,1,0,0,0
$GC,16071,0.58,146.0,601.7,8.3,490,16075,0.00,2.28,0.00,0.000,4,0.000,0.063,2794,723,2270,0,0,0,0,0,0
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$STATE,24120,end climb,SURFACE_DEPTH_REACHED
$STATE,24120,begin surface coast
$FINISH,0.9,1.022805
$STATE,24162,end surface coast,CONTROL_FINISHED_OK
$STATE,24162,begin surface
$SM_CCo,24179,91.20,0.552,0,0,1054,450.12
$SM_GC,1.77,0.00,0.00,91.20,0.000,0.000,0.552,46,2054,1054,-7.94,-0.20,450.12
$IRIDIUM_FIX,1803.24,12611.82,280712,090937
$TT8_MAMPS,0.026078
$HUMID,1078719345
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.50
$XPDR_PINGS,3
$24V_AH,22.5,69.454
$10V_AH,9.9,47.548
$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,19.825,217.025,362.125,91.200,0.000,55.173,80.546,314.594,0.750,0.000,14.261,2015.018,19155.451,598.885,2739.951,413.903,33.364,1887.923,0.000,2266.750,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,112.749,1356.056,552.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,624.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354500
$DATA_FILE_SIZE,33352,923
$CAP_FILE_SIZE,261584,0
$CFSIZE,260165632,228442112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,020211,214427,1811.553,12607.998,187,2.7,206,-2.1