version: 66.07
glider: 500
mission: 5
dive: 200
start: 12 17 110 16 0 4
data:
$ID,500
$MISSION,5
$DIVE,200
$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,471
$T_MISSION,720
$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,500
$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,-124900.41
$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,3100
$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,2190
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$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
$GPS1,171210,153751,2052.232,12653.884,37,5.4,56,-2.8
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.5
$GPS2,171210,155908,2052.163,12653.811,14,1.5,14,-2.8
$SPEED_LIMITS,0.121,0.235
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,0.161
$KALMAN_X,-280130.6,2.5,-94.6,655111.8,-4994.8
$KALMAN_Y,111455.8,89.0,880.5,-144855.9,-3186.7
$MHEAD_RNG_PITCHd_Wd,51.0,252880,-11.1,-7.006
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,3370,-0.56,-155.7,332.3,-4.6,227,3374,0.00,2.30,0.00,0.000,4,0.000,0.045,2925,602,3551,0,0,0,0,0,0
$GC,3525,-0.56,-155.7,341.3,-6.1,230,3530,0.00,2.33,0.00,0.000,6,0.000,0.043,2914,2185,3550,0,0,0,0,0,0
$GC,3869,-0.56,-155.7,362.4,-6.4,239,3873,0.00,2.40,0.00,0.000,4,0.000,0.052,2901,3782,3548,0,0,0,0,0,0
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$GC,4344,-0.56,-155.7,391.3,-5.8,250,4348,0.00,2.30,0.00,0.000,6,0.000,0.042,2890,2210,3545,0,0,0,0,0,0
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$GC,4816,-0.56,-155.7,418.4,-6.6,262,4821,0.12,2.30,0.00,0.000,6,0.149,0.044,2916,2193,3543,0,0,0,0,0,0
$GC,5137,-0.56,-155.7,433.9,-4.8,270,5141,0.00,2.38,0.00,0.000,4,0.000,0.050,2906,3772,3541,0,0,0,0,0,0
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$GC,7446,-0.56,-155.7,540.0,-4.9,325,7453,0.00,2.33,0.00,0.000,6,0.000,0.035,2898,2176,3529,0,0,0,0,0,0
$GC,7778,-0.56,-155.7,554.6,-4.4,334,7782,0.00,2.30,0.00,0.000,4,0.000,0.044,2898,611,3528,0,0,0,0,0,0
$GC,7862,-0.56,-155.7,558.6,-4.7,336,7867,0.10,2.30,0.00,0.000,6,0.160,0.042,2916,2196,3527,0,0,0,0,0,0
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$GC,16405,-0.56,-155.7,847.4,-4.0,545,16409,0.00,2.33,0.00,0.000,4,0.000,0.045,2901,609,3501,0,0,0,0,0,0
$GC,16477,-0.56,-155.7,850.5,-4.4,546,16481,0.00,2.30,0.00,0.000,6,0.000,0.044,2889,2192,3501,0,0,0,0,0,0
$GC,16809,-0.56,-155.7,860.6,-2.7,554,16813,0.00,2.40,0.00,0.000,4,0.000,0.054,2877,3765,3501,0,0,0,0,0,0
$GC,16835,-0.56,-155.7,861.4,-2.3,554,16840,0.12,2.33,0.00,0.000,6,0.127,0.038,2917,2187,3500,0,0,0,0,0,0
$GC,17174,-0.56,-155.7,865.8,-1.2,563,17178,0.00,2.35,0.00,0.000,4,0.000,0.048,2918,608,3500,0,0,0,0,0,0
$GC,17245,-0.56,-155.7,866.8,-1.5,564,17249,0.00,2.35,0.00,0.000,6,0.000,0.044,2907,2191,3500,0,0,0,0,0,0
$GC,17583,-0.56,-155.7,871.3,-1.6,573,17587,0.00,2.38,0.00,0.000,4,0.000,0.046,2907,610,3500,0,0,0,0,0,0
$GC,17610,-0.56,-155.7,871.9,-2.6,573,17614,0.00,2.35,0.00,0.000,6,0.000,0.044,2896,2195,3500,0,0,0,0,0,0
$GC,17947,-0.56,-155.7,880.2,-2.6,582,17948,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2195,3500,0,0,0,0,0,0
$GC,18272,-0.56,-155.7,890.0,-3.0,590,18276,0.00,2.45,0.00,0.000,4,0.000,0.056,2883,3782,3499,0,0,0,0,0,0
$GC,18326,-0.56,-155.7,891.7,-3.8,591,18331,0.12,2.38,0.00,0.000,6,0.127,0.041,2924,2182,3498,0,0,0,0,0,0
$GC,18641,-0.56,-155.7,898.4,-2.0,599,18645,0.00,2.35,0.00,0.000,4,0.000,0.048,2924,602,3498,0,0,0,0,0,0
$GC,18690,-0.56,-155.7,899.5,-2.5,600,18694,0.00,2.35,0.00,0.000,6,0.000,0.046,2914,2192,3498,0,0,0,0,0,0
$GC,19010,-0.56,-155.7,906.4,-2.3,608,19014,0.00,2.45,0.00,0.000,4,0.000,0.055,2902,3778,3498,0,0,0,0,0,0
$GC,19262,-0.56,-155.7,912.4,-2.2,613,19266,0.00,2.35,0.00,0.000,6,0.000,0.038,2902,2179,3497,0,0,0,0,0,0
$GC,19601,-0.56,-155.7,920.0,-2.4,622,19605,0.00,2.33,0.00,0.000,4,0.000,0.048,2902,611,3497,0,0,0,0,0,0
$GC,19666,-0.56,-155.7,922.1,-3.4,623,19671,0.00,2.33,0.00,0.000,6,0.000,0.044,2890,2193,3497,0,0,0,0,0,0
$GC,20011,-0.56,-155.7,931.8,-2.7,632,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2193,3497,0,0,0,0,0,0
$GC,20334,-0.56,-155.7,939.4,-2.2,640,20338,0.00,2.35,0.00,0.000,4,0.000,0.047,2890,613,3496,0,0,0,0,0,0
$GC,20451,-0.56,-155.7,942.2,-2.5,642,20455,0.12,2.35,0.00,0.000,6,0.144,0.044,2916,2195,3496,0,0,0,0,0,0
$GC,20782,-0.56,-155.7,947.2,-1.6,650,20786,0.00,2.42,0.00,0.000,4,0.000,0.054,2906,3771,3496,0,0,0,0,0,0
$GC,20815,-0.56,-155.7,947.9,-2.6,650,20821,0.00,2.35,0.00,0.000,6,0.000,0.038,2906,2179,3495,0,0,0,0,0,0
$GC,21145,-0.56,-155.7,956.3,-2.7,659,21147,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2179,3495,0,0,0,0,0,0
$GC,21471,-0.56,-155.7,966.9,-3.5,667,21476,0.00,2.35,0.00,0.000,4,0.000,0.048,2906,598,3495,0,0,0,0,0,0
$GC,21566,-0.56,-155.7,971.2,-5.1,669,21570,0.00,2.40,0.00,0.000,6,0.000,0.045,2894,2196,3495,0,0,0,0,0,0
$STATE,21635,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,21635,begin apogee
$GC,21640,-0.23,0.0,974.1,4.3,671,21769,0.38,0.00,125.93,1.420,6,0.098,0.000,3027,1862,2915,0,0,0,0,0,0
$STATE,21770,end apogee,CONTROL_FINISHED_OK
$STATE,21770,begin climb
$GC,21772,0.56,155.7,974.5,0.0,674,21927,0.73,2.75,146.75,1.408,4,0.061,0.054,3291,3447,2279,0,0,0,0,0,0
$GC,21990,0.56,155.7,945.3,15.8,679,21994,0.00,2.55,0.00,0.000,6,0.000,0.044,3302,1879,2269,0,0,0,0,0,0
$GC,22320,0.56,155.7,886.1,18.1,687,22324,0.00,2.55,0.00,0.000,4,0.000,0.054,3315,261,2261,0,0,0,0,0,0
$GC,22364,0.56,155.7,878.0,15.8,688,22369,0.12,2.47,0.00,0.000,6,0.142,0.046,3279,1855,2259,0,0,0,0,0,0
$GC,22682,0.56,155.7,828.6,15.6,696,22687,0.00,2.50,0.00,0.000,4,0.000,0.057,3279,3455,2257,0,0,0,0,0,0
$GC,22771,0.56,155.7,813.2,17.4,698,22776,0.00,2.47,0.00,0.000,6,0.000,0.044,3290,1854,2256,0,0,0,0,0,0
$GC,23090,0.56,155.7,760.3,16.6,706,23094,0.00,2.47,0.00,0.000,4,0.000,0.055,3289,3453,2255,0,0,0,0,0,0
$GC,23129,0.56,155.7,753.3,20.9,707,23133,0.00,2.42,0.00,0.000,6,0.000,0.045,3301,1861,2254,0,0,0,0,0,0
$GC,23453,0.56,155.7,695.7,17.8,715,23457,0.00,2.47,0.00,0.000,4,0.000,0.057,3301,3449,2254,0,0,0,0,0,0
$GC,23484,0.56,155.7,689.5,16.7,715,23492,0.08,2.47,0.00,0.000,6,0.129,0.046,3285,1858,2253,0,0,0,0,0,0
$GC,23817,0.56,155.7,635.2,16.2,724,23822,0.00,2.47,0.00,0.000,4,0.000,0.056,3285,3459,2253,0,0,0,0,0,0
$GC,23861,0.56,155.7,627.5,12.5,725,23865,0.00,2.47,0.00,0.000,6,0.000,0.045,3296,1861,2252,0,0,0,0,0,0
$GC,24186,0.56,155.7,573.9,16.5,733,24190,0.00,2.47,0.00,0.000,4,0.000,0.058,3296,3458,2252,0,0,0,0,0,0
$GC,24224,0.56,155.7,567.0,19.9,734,24229,0.00,2.45,0.00,0.000,6,0.000,0.045,3308,1858,2252,0,0,0,0,0,0
$GC,24551,0.56,155.7,509.4,18.0,742,24555,0.00,2.45,0.00,0.000,4,0.000,0.055,3308,3454,2251,0,0,0,0,0,0
$GC,24566,0.56,155.7,505.8,18.0,742,24571,0.10,2.47,0.00,0.000,6,0.128,0.046,3284,1852,2251,0,0,0,0,0,0
$GC,24914,0.56,155.7,454.4,13.9,751,24919,0.00,2.47,0.00,0.000,4,0.000,0.055,3284,3457,2251,0,0,0,0,0,0
$GC,24981,0.56,155.7,444.4,14.1,752,24985,0.00,2.40,0.00,0.000,6,0.000,0.044,3295,1858,2250,0,0,0,0,0,0
$GC,25317,0.56,155.7,400.4,12.8,761,25321,0.00,2.40,0.00,0.000,4,0.000,0.053,3307,275,2250,0,0,0,0,0,0
$GC,25360,0.56,155.7,394.5,13.5,762,25365,0.00,2.38,0.00,0.000,6,0.000,0.044,3307,1876,2250,0,0,0,0,0,0
$GC,25679,0.56,155.7,345.0,16.4,770,25683,0.00,2.38,0.00,0.000,4,0.000,0.052,3308,3451,2250,0,0,0,0,0,0
$GC,25773,0.56,155.7,327.4,19.9,772,25778,0.12,2.40,0.00,0.000,6,0.149,0.042,3283,1857,2249,0,0,0,0,0,0
$GC,26087,0.56,155.7,283.2,14.1,782,26090,0.00,2.42,0.00,0.000,4,0.000,0.051,3282,3451,2249,0,0,0,0,0,0
$GC,26137,0.56,155.7,275.9,15.9,784,26141,0.00,2.40,0.00,0.000,6,0.000,0.043,3293,1860,2249,0,0,0,0,0,0
$GC,26456,0.56,155.7,234.7,11.8,800,26461,0.00,2.40,0.00,0.000,4,0.000,0.051,3293,3448,2249,0,0,0,0,0,0
$GC,26512,0.56,155.7,227.6,12.5,802,26518,0.00,2.40,0.00,0.000,6,0.000,0.042,3305,1844,2250,0,0,0,0,0,0
$GC,26829,0.56,155.7,186.7,12.7,822,26833,0.00,2.42,0.00,0.000,4,0.000,0.051,3306,3448,2250,0,0,0,0,0,0
$GC,26857,0.56,155.7,183.1,13.9,824,26862,0.12,2.38,0.00,0.000,6,0.144,0.043,3279,1859,2250,0,0,0,0,0,0
$GC,27118,0.56,155.7,160.0,8.8,848,27122,0.00,2.40,0.00,0.000,4,0.000,0.051,3279,3453,2250,0,0,0,0,0,0
$GC,27157,0.56,155.7,155.9,9.7,851,27161,0.00,2.38,0.00,0.000,6,0.000,0.042,3290,1857,2251,0,0,0,0,0,0
$GC,27418,0.60,190.2,134.1,6.0,875,27449,0.00,2.42,25.35,0.753,4,0.000,0.048,3289,3455,2138,0,0,0,0,0,0
$GC,27612,0.60,190.2,120.9,7.7,892,27619,0.00,2.40,0.00,0.000,6,0.000,0.038,3301,1852,2135,0,0,0,0,0,0
$GC,27873,0.61,193.2,102.1,6.9,917,27878,0.00,2.40,0.00,0.000,4,0.000,0.050,3313,275,2135,0,0,0,0,0,0
$GC,27894,0.61,193.2,100.4,7.5,918,27901,0.00,2.38,0.00,0.000,6,0.000,0.039,3313,1873,2135,0,0,0,0,0,0
$GC,28156,0.61,193.2,77.6,8.8,943,28160,0.00,2.38,0.00,0.000,4,0.000,0.049,3313,3455,2135,0,0,0,0,0,0
$GC,28229,0.61,193.2,71.1,7.9,949,28233,0.00,2.38,0.00,0.000,6,0.000,0.039,3324,1859,2135,0,0,0,0,0,0
$GC,28489,0.61,193.2,56.4,10.9,973,28499,0.00,0.00,3.85,0.366,6,0.000,0.000,3324,1858,2127,0,0,0,0,0,0
$GC,28754,0.61,193.2,32.2,7.9,998,28758,0.00,2.38,0.00,0.000,4,0.000,0.048,3324,3447,2128,0,0,0,0,0,0
$GC,28782,0.61,193.2,29.5,9.5,1000,28789,0.12,2.33,0.00,0.000,6,0.133,0.042,3296,1863,2128,0,0,0,0,0,0
$GC,28991,0.61,193.2,14.5,9.4,1037,28996,0.00,2.38,0.00,0.000,4,0.000,0.050,3307,276,2128,0,0,0,0,0,0
$GC,29013,0.61,197.9,13.1,6.9,1041,29025,0.00,2.33,6.10,0.438,6,0.000,0.041,3307,1856,2107,0,0,0,0,0,0
$STATE,29159,end climb,SURFACE_DEPTH_REACHED
$STATE,29160,begin surface coast
$FINISH,0.6,1.022632
$STATE,29201,end surface coast,CONTROL_FINISHED_OK
$STATE,29201,begin surface
$SM_CCo,29218,144.25,0.618,0,0,875,500.16
$SM_GC,1.10,0.00,0.00,144.25,0.000,0.000,0.618,106,2207,875,-9.36,0.48,500.16
$IRIDIUM_FIX,2043.29,12654.04,110612,101054
$TT8_MAMPS,0.028379
$HUMID,1078561926
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.5,33.207
$10V_AH,10.1,25.650
$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,21.750,299.750,307.975,144.250,0.000,137.773,186.111,558.907,0.000,0.000,16.021,2389.234,23499.646,698.066,3609.728,437.121,33.364,2219.125,0.000,2690.625,0.000,0.542,0.000
$DEVICE_MAMPS,221.663,61.360,1420.484,618.202,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,733.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,36660,1074
$CAP_FILE_SIZE,326716,0
$CFSIZE,260165632,207724544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181210,001037,2054.150,12654.904,33,1.2,33,-2.8