version: 66.07
glider: 500
mission: 5
dive: 340
start: 2 2 111 3 59 1
data:
$ID,500
$MISSION,5
$DIVE,340
$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,550
$T_MISSION,1020
$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,400
$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,-127288.7
$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,3079
$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,2120
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2995
$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
$GPS1,020211,034907,2220.012,12806.903,30,0.8,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.2
$GPS2,020211,035807,2220.029,12806.992,7,1.0,12,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.144,-0.167
$KALMAN_X,-759403.3,262.1,632.5,1259784.0,-3888.2
$KALMAN_Y,-135006.5,-284.8,329.2,265277.1,4678.6
$MHEAD_RNG_PITCHd_Wd,142.5,240766,-9.4,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,15416,-0.51,-155.7,861.4,-5.4,542,15421,0.00,2.38,0.00,0.000,6,0.000,0.036,2908,2111,3599,0,0,0,0,0,0
$GC,15739,-0.51,-155.7,875.8,-4.5,550,15743,0.00,2.45,0.00,0.000,4,0.000,0.053,2897,3702,3598,0,0,0,0,0,0
$GC,15799,-0.51,-155.7,878.5,-3.9,551,15803,0.00,2.38,0.00,0.000,6,0.000,0.037,2897,2114,3598,0,0,0,0,0,0
$GC,16150,-0.51,-155.7,892.9,-4.0,560,16154,0.00,2.45,0.00,0.000,4,0.000,0.054,2884,3706,3597,0,0,0,0,0,0
$GC,16193,-0.51,-155.7,894.6,-4.1,561,16198,0.10,2.35,0.00,0.000,6,0.129,0.037,2920,2123,3597,0,0,0,0,0,0
$GC,16516,-0.51,-155.7,905.3,-3.3,569,16520,0.00,2.45,0.00,0.000,4,0.000,0.054,2909,3704,3596,0,0,0,0,0,0
$GC,16621,-0.51,-155.7,908.8,-3.3,571,16625,0.00,2.35,0.00,0.000,6,0.000,0.036,2909,2107,3596,0,0,0,0,0,0
$GC,16966,-0.51,-155.7,920.5,-3.6,580,16970,0.00,2.47,0.00,0.000,4,0.000,0.053,2898,3701,3596,0,0,0,0,0,0
$GC,17050,-0.51,-155.7,923.8,-3.8,582,17054,0.00,2.35,0.00,0.000,6,0.000,0.037,2898,2117,3596,0,0,0,0,0,0
$GC,17376,-0.51,-155.7,938.1,-4.4,590,17380,0.00,2.47,0.00,0.000,4,0.000,0.054,2886,3712,3596,0,0,0,0,0,0
$GC,17453,-0.51,-155.7,941.4,-4.4,591,17459,0.00,2.38,0.00,0.000,6,0.000,0.037,2886,2110,3595,0,0,0,0,0,0
$GC,17786,-0.51,-155.7,952.7,-3.4,600,17790,0.10,2.38,0.00,0.000,4,0.143,0.045,2921,535,3595,0,0,0,0,0,0
$GC,17825,-0.51,-155.7,953.9,-3.5,601,17829,0.00,2.35,0.00,0.000,6,0.000,0.044,2911,2121,3595,0,0,0,0,0,0
$GC,18151,-0.51,-155.7,962.5,-3.0,609,18155,0.00,2.45,0.00,0.000,4,0.000,0.054,2899,3706,3595,0,0,0,0,0,0
$GC,18295,-0.51,-155.7,967.3,-4.4,612,18299,0.00,2.35,0.00,0.000,6,0.000,0.035,2899,2114,3594,0,0,0,0,0,0
$GC,18611,-0.51,-155.7,978.9,-3.9,620,18615,0.00,2.47,0.00,0.000,4,0.000,0.054,2887,3698,3594,0,0,0,0,0,0
$GC,18699,-0.51,-155.7,982.6,-4.5,622,18703,0.00,2.35,0.00,0.000,6,0.000,0.038,2887,2126,3594,0,0,0,0,0,0
$STATE,18899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18899,begin apogee
$GC,18906,-0.23,0.0,990.8,4.2,627,19044,0.32,0.00,135.52,1.509,6,0.090,0.000,3005,1905,2995,0,0,0,0,0,0
$STATE,19045,end apogee,CONTROL_FINISHED_OK
$STATE,19045,begin climb
$GC,19047,0.51,155.7,991.6,0.0,630,19212,0.65,2.72,153.90,1.462,4,0.061,0.051,3258,348,2359,0,0,0,0,0,0
$GC,19341,0.51,155.7,956.4,13.6,636,19347,0.00,2.42,0.00,0.000,6,0.000,0.041,3258,1906,2348,0,0,0,0,0,0
$GC,19673,0.51,155.7,910.7,13.8,645,19677,0.00,2.47,0.00,0.000,4,0.000,0.053,3258,3502,2343,0,0,0,0,0,0
$GC,19757,0.51,155.7,898.1,14.7,647,19761,0.00,2.42,0.00,0.000,6,0.000,0.040,3269,1916,2341,0,0,0,0,0,0
$GC,20082,0.51,155.7,850.8,14.6,655,20086,0.00,2.42,0.00,0.000,4,0.000,0.053,3282,330,2339,0,0,0,0,0,0
$GC,20109,0.51,155.7,846.1,15.0,655,20114,0.12,2.40,0.00,0.000,6,0.133,0.044,3241,1919,2339,0,0,0,0,0,0
$GC,20448,0.51,155.7,806.4,11.6,664,20452,0.00,2.40,0.00,0.000,4,0.000,0.053,3241,3501,2338,0,0,0,0,0,0
$GC,20514,0.51,155.7,798.0,12.0,665,20518,0.00,2.40,0.00,0.000,6,0.000,0.041,3252,1905,2337,0,0,0,0,0,0
$GC,20851,0.51,155.7,759.2,11.5,674,20855,0.00,2.40,0.00,0.000,4,0.000,0.052,3265,324,2337,0,0,0,0,0,0
$GC,20922,0.51,155.7,750.3,12.1,675,20926,0.00,2.35,0.00,0.000,6,0.000,0.043,3265,1911,2336,0,0,0,0,0,0
$GC,21259,0.51,155.7,705.7,13.6,684,21263,0.00,2.40,0.00,0.000,4,0.000,0.054,3265,3495,2336,0,0,0,0,0,0
$GC,21359,0.51,155.7,690.9,13.7,686,21365,0.12,2.42,0.00,0.000,6,0.143,0.043,3238,1902,2335,0,0,0,0,0,0
$GC,21708,0.51,155.7,650.5,11.2,695,21709,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1902,2335,0,0,0,0,0,0
$GC,22033,0.51,155.7,614.2,11.0,703,22037,0.00,2.47,0.00,0.000,4,0.000,0.053,3238,3506,2335,0,0,0,0,0,0
$GC,22076,0.51,155.7,608.8,11.7,704,22080,0.00,2.45,0.00,0.000,6,0.000,0.043,3248,1902,2334,0,0,0,0,0,0
$GC,22402,0.51,155.7,573.2,10.8,712,22403,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1902,2334,0,0,0,0,0,0
$GC,22725,0.51,155.7,535.7,11.9,720,22730,0.00,2.40,0.00,0.000,4,0.000,0.054,3261,325,2334,0,0,0,0,0,0
$GC,22765,0.51,155.7,531.1,11.1,721,22769,0.00,2.35,0.00,0.000,6,0.000,0.044,3261,1910,2334,0,0,0,0,0,0
$GC,23091,0.51,155.7,490.6,12.3,729,23095,0.00,2.42,0.00,0.000,4,0.000,0.054,3261,3498,2334,0,0,0,0,0,0
$GC,23207,0.51,155.7,475.5,12.4,731,23212,0.08,2.45,0.00,0.000,6,0.112,0.042,3242,1903,2333,0,0,0,0,0,0
$GC,23547,0.51,155.7,443.2,9.4,740,23551,0.00,2.40,0.00,0.000,4,0.000,0.052,3253,326,2333,0,0,0,0,0,0
$GC,23587,0.51,155.7,439.1,10.4,741,23591,0.00,2.38,0.00,0.000,6,0.000,0.044,3253,1922,2333,0,0,0,0,0,0
$GC,23913,0.51,155.7,405.5,10.5,749,23917,0.00,2.42,0.00,0.000,4,0.000,0.055,3253,3501,2333,0,0,0,0,0,0
$GC,23979,0.51,155.7,397.5,11.5,750,23984,0.00,2.45,0.00,0.000,6,0.000,0.043,3265,1909,2333,0,0,0,0,0,0
$GC,24323,0.51,155.7,357.9,12.0,759,24327,0.00,2.42,0.00,0.000,4,0.000,0.050,3277,322,2333,0,0,0,0,0,0
$GC,24411,0.51,155.7,347.0,10.4,761,24416,0.12,2.38,0.00,0.000,6,0.123,0.041,3234,1917,2333,0,0,0,0,0,0
$GC,24739,0.51,155.7,322.7,6.8,769,24743,0.00,2.40,0.00,0.000,4,0.000,0.051,3234,3501,2333,0,0,0,0,0,0
$GC,24839,0.51,155.7,315.0,9.1,771,24843,0.00,2.38,0.00,0.000,6,0.000,0.038,3245,1906,2333,0,0,0,0,0,0
$GC,25155,0.51,155.7,289.4,9.0,781,25156,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,2333,0,0,0,0,0,0
$GC,25462,0.51,155.7,260.7,9.1,796,25466,0.00,2.42,0.00,0.000,4,0.000,0.048,3258,321,2334,0,0,0,0,0,0
$GC,25507,0.51,155.7,256.7,9.6,798,25511,0.00,2.35,0.00,0.000,6,0.000,0.040,3258,1919,2334,0,0,0,0,0,0
$GC,25839,0.51,155.7,229.0,7.7,814,25843,0.00,2.40,0.00,0.000,4,0.000,0.049,3258,3498,2334,0,0,0,0,0,0
$GC,25961,0.51,155.7,218.5,8.5,819,25967,0.00,2.40,0.00,0.000,6,0.000,0.038,3270,1910,2335,0,0,0,0,0,0
$GC,26281,0.51,155.7,189.7,9.5,840,26284,0.00,2.40,0.00,0.000,4,0.000,0.047,3282,325,2336,0,0,0,0,0,0
$GC,26337,0.51,155.7,184.1,9.1,845,26342,0.12,2.33,0.00,0.000,6,0.121,0.039,3239,1917,2336,0,0,0,0,0,0
$GC,26597,0.51,155.7,164.4,6.8,869,26602,0.00,2.40,0.00,0.000,4,0.000,0.048,3238,3499,2337,0,0,0,0,0,0
$GC,26642,0.51,155.7,160.8,8.5,872,26648,0.00,2.40,0.00,0.000,6,0.000,0.038,3248,1911,2337,0,0,0,0,0,0
$GC,26903,0.51,155.7,141.7,7.1,897,26907,0.00,2.40,0.00,0.000,4,0.000,0.048,3260,329,2338,0,0,0,0,0,0
$GC,26949,0.51,155.7,138.4,6.7,900,26954,0.00,2.35,0.00,0.000,6,0.000,0.039,3260,1922,2339,0,0,0,0,0,0
$GC,27210,0.51,155.7,116.9,8.1,925,27214,0.00,2.40,0.00,0.000,4,0.000,0.048,3260,3499,2339,0,0,0,0,0,0
$GC,27255,0.51,155.7,112.6,9.4,928,27261,0.00,2.38,0.00,0.000,6,0.000,0.037,3272,1908,2340,0,0,0,0,0,0
$GC,27516,0.51,155.7,93.0,7.1,953,27520,0.00,2.40,0.00,0.000,4,0.000,0.047,3284,323,2340,0,0,0,0,0,0
$GC,27605,0.51,155.7,87.1,6.5,960,27612,0.15,2.33,0.00,0.000,6,0.110,0.040,3230,1920,2341,0,0,0,0,0,0
$GC,27866,0.56,200.1,75.3,4.8,985,27908,0.00,2.42,35.65,0.739,4,0.000,0.046,3229,3494,2178,0,0,0,0,0,0
$GC,27958,0.56,200.1,69.4,7.5,993,27964,0.00,2.42,0.00,0.000,6,0.000,0.037,3229,1903,2175,0,0,0,0,0,0
$GC,28219,0.56,200.1,51.5,6.2,1018,28220,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1903,2174,0,0,0,0,0,0
$GC,28474,0.59,224.9,35.6,5.3,1042,28498,0.12,0.00,21.50,0.687,6,0.089,0.000,3296,1903,2077,0,0,0,0,0,0
$GC,28759,0.59,224.9,15.1,8.6,1069,28764,0.00,2.38,0.00,0.000,4,0.000,0.046,3306,324,2075,0,0,0,0,0,0
$GC,28792,0.59,224.9,12.4,8.7,1071,28799,0.08,2.33,0.00,0.000,6,0.058,0.036,3260,1901,2074,0,0,0,0,0,0
$STATE,28966,end climb,SURFACE_DEPTH_REACHED
$STATE,28966,begin surface coast
$FINISH,1.0,1.023533
$STATE,29010,end surface coast,CONTROL_FINISHED_OK
$STATE,29010,begin surface
$SM_CCo,29027,85.50,0.715,0,0,1363,400.08
$SM_GC,1.16,0.00,0.00,85.50,0.000,0.000,0.715,104,2150,1363,-9.30,0.85,400.08
$IRIDIUM_FIX,2209.02,12803.94,270712,141404
$TT8_MAMPS,0.027612
$HUMID,1078728377
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,21.8,58.569
$10V_AH,9.7,49.790
$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,21.775,310.000,346.575,85.500,0.000,24.361,37.730,331.555,0.250,0.000,15.538,2469.482,22666.994,668.553,3264.218,561.173,33.381,2271.445,0.000,2865.552,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,57.525,1509.456,714.844,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,747.052,0.000,0.000,0.000,0.000,0.000,0.000,574.482,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354928
$DATA_FILE_SIZE,40056,1092
$CAP_FILE_SIZE,320732,0
$CFSIZE,260165632,192757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020211,120531,2218.551,12808.564,37,1.1,37,-3.2