version: 66.07
glider: 511
mission: 5
dive: 381
start: 2 13 111 19 56 2
data:
$ID,511
$MISSION,5
$DIVE,381
$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,-50783.086
$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,2579
$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,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,22
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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
$GPS1,130211,193351,1821.444,12416.466,162,2.4,181,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-73.5
$GPS2,130211,195506,1821.267,12416.245,33,1.1,33,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.038,0.211
$KALMAN_X,-526274.3,-190.8,-129.6,180428.7,-1531.4
$KALMAN_Y,584016.8,-228.3,1796.5,-835944.1,-3958.8
$MHEAD_RNG_PITCHd_Wd,12.4,335992,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.58,-145.0,0.0,0.0,0,97,0.00,0.00,-70.53,0.000,2,0.000,0.000,45,2035,2914,0,0,0,0,0,0
$GC,101,-0.58,-146.0,3.9,-4.2,7,128,10.20,2.30,-11.55,0.000,4,0.249,0.074,2377,3460,3487,0,0,0,0,0,0
$GC,196,-0.58,-146.0,30.3,-19.4,17,200,0.00,2.20,0.00,0.000,6,0.000,0.047,2377,2042,3488,0,0,0,0,0,0
$GC,457,-0.58,-146.0,87.2,-20.3,41,461,0.00,2.22,0.00,0.000,4,0.000,0.061,2377,639,3489,0,0,0,0,0,0
$GC,494,-0.58,-146.0,94.9,-18.7,44,499,0.00,2.22,0.00,0.000,6,0.000,0.054,2367,2054,3488,0,0,0,0,0,0
$GC,755,-0.58,-146.0,148.1,-20.5,69,759,0.00,2.28,0.00,0.000,4,0.000,0.073,2357,3455,3491,0,0,0,0,0,0
$GC,788,-0.58,-146.0,155.6,-22.2,72,793,0.12,2.17,0.00,0.000,6,0.165,0.045,2389,2042,3489,0,0,0,0,0,0
$GC,1050,-0.58,-146.0,195.5,-13.2,96,1054,0.00,2.33,0.00,0.000,4,0.000,0.072,2381,3458,3490,0,0,0,0,0,0
$GC,1139,-0.58,-146.0,206.1,-11.3,102,1143,0.00,2.17,0.00,0.000,6,0.000,0.045,2381,2045,3490,0,0,0,0,0,0
$GC,1468,-0.58,-146.0,251.0,-13.8,118,1472,0.00,2.22,0.00,0.000,4,0.000,0.059,2380,635,3489,0,0,0,0,0,0
$GC,1514,-0.58,-146.0,257.5,-12.4,120,1518,0.00,2.22,0.00,0.000,6,0.000,0.054,2378,2045,3490,0,0,0,0,0,0
$GC,1838,-0.58,-146.0,296.0,-11.2,136,1842,0.00,2.28,0.00,0.000,4,0.000,0.065,2368,3466,3489,0,0,0,0,0,0
$GC,1861,-0.58,-146.0,298.5,-10.7,137,1865,0.00,2.20,0.00,0.000,6,0.000,0.046,2368,2051,3492,0,0,0,0,0,0
$GC,2181,-0.58,-146.0,333.0,-10.6,146,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2051,3489,0,0,0,0,0,0
$GC,2505,-0.58,-146.0,369.6,-11.0,154,2509,0.00,2.30,0.00,0.000,4,0.000,0.070,2358,3463,3487,0,0,0,0,0,0
$GC,2611,-0.58,-146.0,380.8,-10.5,156,2616,0.12,2.20,0.00,0.000,6,0.151,0.048,2393,2052,3485,0,0,0,0,0,0
$GC,2961,-0.58,-146.0,410.5,-8.9,165,2965,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,635,3485,0,0,0,0,0,0
$GC,2998,-0.58,-146.0,414.3,-10.3,165,3002,0.00,2.25,0.00,0.000,6,0.000,0.054,2391,2057,3484,0,0,0,0,0,0
$GC,3333,-0.58,-146.0,446.5,-9.2,174,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2057,3482,0,0,0,0,0,0
$GC,3659,-0.58,-146.0,472.6,-7.6,182,3663,0.00,2.25,0.00,0.000,4,0.000,0.065,2382,3462,3479,0,0,0,0,0,0
$GC,3709,-0.58,-146.0,476.5,-7.4,183,3713,0.00,2.20,0.00,0.000,6,0.000,0.048,2382,2039,3479,0,0,0,0,0,0
$GC,4032,-0.58,-146.0,501.7,-8.0,191,4036,0.00,2.17,0.00,0.000,4,0.000,0.054,2384,640,3478,0,0,0,0,0,0
$GC,4055,-0.58,-146.0,503.9,-8.9,191,4060,0.00,2.22,0.00,0.000,6,0.000,0.055,2378,2046,3477,0,0,0,0,0,0
$GC,4395,-0.58,-146.0,537.6,-10.1,200,4400,0.00,2.28,0.00,0.000,4,0.000,0.064,2369,3468,3475,0,0,0,0,0,0
$GC,4492,-0.58,-146.0,547.8,-9.2,202,4497,0.00,2.20,0.00,0.000,6,0.000,0.044,2369,2038,3475,0,0,0,0,0,0
$GC,4810,-0.58,-146.0,578.4,-9.1,210,4814,0.00,2.33,0.00,0.000,4,0.000,0.071,2361,3464,3471,0,0,0,0,0,0
$GC,4852,-0.58,-146.0,582.1,-8.3,211,4857,0.12,2.17,0.00,0.000,6,0.146,0.042,2396,2049,3471,0,0,0,0,0,0
$GC,5181,-0.58,-146.0,603.2,-6.4,219,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2048,3468,0,0,0,0,0,0
$GC,5504,-0.58,-146.0,625.4,-7.1,227,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2048,3466,0,0,0,0,0,0
$GC,5830,-0.58,-146.0,648.3,-6.7,235,5834,0.00,2.30,0.00,0.000,4,0.000,0.067,2384,3459,3464,0,0,0,0,0,0
$GC,5862,-0.58,-146.0,650.5,-6.7,235,5866,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2048,3463,0,0,0,0,0,0
$GC,6194,-0.58,-146.0,670.1,-5.7,243,6198,0.00,2.30,0.00,0.000,4,0.000,0.064,2379,3465,3464,0,0,0,0,0,0
$GC,6222,-0.58,-146.0,671.9,-6.7,243,6226,0.00,2.17,0.00,0.000,6,0.000,0.043,2380,2051,3461,0,0,0,0,0,0
$GC,6561,-0.58,-146.0,694.9,-7.3,252,6565,0.00,2.22,0.00,0.000,4,0.000,0.055,2380,642,3458,0,0,0,0,0,0
$GC,6598,-0.58,-146.0,698.0,-8.3,252,6603,0.00,2.25,0.00,0.000,6,0.000,0.049,2372,2062,3459,0,0,0,0,0,0
$GC,6929,-0.58,-146.0,726.9,-8.9,261,6933,0.00,2.25,0.00,0.000,4,0.000,0.065,2362,3457,3458,0,0,0,0,0,0
$GC,6965,-0.58,-146.0,730.4,-8.9,261,6971,0.00,2.17,0.00,0.000,6,0.000,0.044,2361,2052,3457,0,0,0,0,0,0
$GC,7296,-0.58,-146.0,758.5,-8.2,270,7300,0.10,2.30,0.00,0.000,4,0.167,0.064,2380,3455,3455,0,0,0,0,0,0
$GC,7357,-0.58,-146.0,762.9,-7.4,271,7361,0.00,2.20,0.00,0.000,6,0.000,0.044,2380,2046,3453,0,0,0,0,0,0
$GC,7669,-0.58,-146.0,784.8,-7.0,279,7673,0.00,2.22,0.00,0.000,4,0.000,0.056,2381,644,3453,0,0,0,0,0,0
$GC,7697,-0.58,-146.0,786.9,-7.6,279,7701,0.00,2.22,0.00,0.000,6,0.000,0.049,2377,2053,3453,0,0,0,0,0,0
$GC,8038,-0.58,-146.0,811.5,-7.3,288,8042,0.00,2.28,0.00,0.000,4,0.000,0.066,2369,3458,3451,0,0,0,0,0,0
$GC,8099,-0.58,-146.0,816.2,-7.9,289,8103,0.00,2.17,0.00,0.000,6,0.000,0.044,2368,2056,3451,0,0,0,0,0,0
$GC,8450,-0.58,-146.0,843.1,-7.7,298,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2047,3449,0,0,0,0,0,0
$GC,8774,-0.58,-146.0,867.2,-7.5,306,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2047,3448,0,0,0,0,0,0
$GC,9099,-0.58,-146.0,893.6,-8.4,314,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2047,3448,0,0,0,0,0,0
$GC,9425,-0.58,-146.0,920.4,-8.2,322,9429,0.00,2.25,0.00,0.000,4,0.000,0.056,2369,630,3446,0,0,0,0,0,0
$GC,9467,-0.58,-146.0,924.3,-8.7,323,9472,0.00,2.25,0.00,0.000,6,0.000,0.050,2365,2052,3446,0,0,0,0,0,0
$GC,9796,-0.58,-146.0,950.5,-7.9,331,9800,0.00,2.30,0.00,0.000,4,0.000,0.066,2355,3458,3445,0,0,0,0,0,0
$GC,9851,-0.58,-146.0,955.3,-7.2,332,9856,0.12,2.22,0.00,0.000,6,0.151,0.045,2390,2039,3445,0,0,0,0,0,0
$GC,10165,-0.58,-146.0,975.7,-6.5,340,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2033,3444,0,0,0,0,0,0
$STATE,10409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10409,begin apogee
$GC,10415,-0.28,0.0,991.2,6.3,346,10541,0.30,0.00,123.28,1.352,6,0.128,0.000,2483,2113,2890,0,0,0,0,0,0
$STATE,10544,end apogee,CONTROL_FINISHED_OK
$STATE,10544,begin climb
$GC,10547,0.58,146.0,996.3,0.0,349,10689,0.80,2.50,132.85,1.313,4,0.087,0.067,2763,3499,2293,0,0,0,0,0,0
$GC,10763,0.58,146.0,984.4,12.6,354,10768,0.00,2.25,0.00,0.000,6,0.000,0.048,2773,2101,2290,0,0,1,0,0,0
$GC,11086,0.58,146.0,947.5,11.7,362,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2097,2281,0,0,0,0,0,0
$GC,11410,0.58,146.0,909.1,12.0,370,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2093,2279,0,0,0,0,0,0
$GC,11735,0.58,146.0,873.2,10.9,378,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2093,2275,0,0,0,0,0,0
$GC,12061,0.58,146.0,839.9,9.9,386,12065,0.00,2.28,0.00,0.000,4,0.000,0.061,2785,692,2276,0,0,0,0,0,0
$GC,12144,0.58,146.0,831.4,11.0,387,12149,0.00,2.28,0.00,0.000,6,0.000,0.054,2785,2104,2273,0,0,0,0,0,0
$GC,12474,0.58,146.0,799.5,9.6,396,12478,0.00,2.33,0.00,0.000,4,0.000,0.069,2784,3506,2274,0,0,0,0,0,0
$GC,12601,0.58,146.0,785.6,10.7,398,12605,0.00,2.22,0.00,0.000,6,0.000,0.051,2794,2099,2275,0,0,0,0,0,0
$GC,12931,0.58,146.0,751.7,10.3,406,12932,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2091,2277,0,0,0,0,0,0
$GC,13256,0.58,146.0,717.3,10.8,414,13260,0.00,2.35,0.00,0.000,4,0.000,0.067,2794,3515,2273,0,0,0,0,0,0
$GC,13335,0.58,146.0,707.3,13.0,415,13340,0.15,2.25,0.00,0.000,6,0.199,0.051,2770,2096,2273,0,0,0,0,0,0
$GC,13671,0.58,146.0,676.7,8.7,424,13675,0.00,2.28,0.00,0.000,4,0.000,0.063,2776,687,2271,0,0,0,0,0,0
$GC,13694,0.58,146.0,674.7,7.9,424,13698,0.00,2.25,0.00,0.000,6,0.000,0.054,2783,2100,2270,0,0,0,0,0,0
$GC,14033,0.58,146.0,645.6,8.4,433,14037,0.00,2.30,0.00,0.000,4,0.000,0.068,2776,3504,2271,0,0,0,0,0,0
$GC,14084,0.58,146.0,640.8,9.4,434,14088,0.00,2.22,0.00,0.000,6,0.000,0.051,2790,2088,2271,0,0,1,0,0,0
$GC,14402,0.58,146.0,612.0,9.3,442,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2082,2270,0,0,0,0,0,0
$GC,14726,0.58,146.0,578.6,10.4,450,14731,0.00,2.35,0.00,0.000,4,0.000,0.069,2790,3508,2271,0,0,0,0,0,0
$GC,14852,0.58,146.0,564.1,11.4,452,14857,0.12,2.22,0.00,0.000,6,0.201,0.051,2772,2104,2271,0,0,1,0,0,0
$GC,15184,0.58,146.0,536.1,8.0,460,15188,0.00,2.33,0.00,0.000,4,0.000,0.067,2771,3505,2269,0,0,0,0,0,0
$GC,15300,0.58,146.0,525.9,8.8,462,15304,0.00,2.22,0.00,0.000,6,0.000,0.051,2780,2099,2271,0,0,0,0,0,0
$GC,15645,0.58,146.0,497.9,8.1,471,15649,0.00,2.28,0.00,0.000,4,0.000,0.061,2790,689,2270,0,0,0,0,0,0
$GC,15815,0.58,146.0,484.0,7.5,474,15819,0.00,2.25,0.00,0.000,6,0.000,0.051,2791,2104,2270,0,0,0,0,0,0
$GC,16147,0.58,146.0,458.1,8.3,482,16151,0.00,2.28,0.00,0.000,4,0.000,0.067,2791,3504,2273,0,0,0,0,0,0
$GC,16192,0.58,146.0,453.5,9.7,483,16197,0.15,2.20,0.00,0.000,6,0.193,0.051,2765,2092,2270,0,0,1,0,0,0
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$STATE,22745,end climb,SURFACE_DEPTH_REACHED
$STATE,22746,begin surface coast
$FINISH,0.8,1.009261
$STATE,22791,end surface coast,CONTROL_FINISHED_OK
$STATE,22791,begin surface
$SM_CCo,22810,186.95,0.548,0,0,499,586.75
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$IRIDIUM_FIX,1812.31,12417.30,080812,141445
$TT8_MAMPS,0.062894
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$TCM_TEMP,25.00
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8432123904
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51907526656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,77.069
$10V_AH,9.8,52.837
$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,19.900,202.350,347.200,186.950,0.000,145.175,215.282,487.534,13.000,0.000,35.328,1838.636,18135.352,670.877,3171.014,466.855,33.366,1960.490,0.000,2299.873,0.000,93.136,0.000
$DEVICE_MAMPS,248.508,99.710,1352.221,547.638,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,599.418,0.000,0.000,0.000,0.000,0.000,0.000,20870.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.591,0.000,0.000
$MEM,354852
$DATA_FILE_SIZE,30064,887
$CAP_FILE_SIZE,202874,0
$CFSIZE,260165632,225013760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,140211,022100,1823.662,12415.990,36,1.0,42,-2.1