version: 66.07
glider: 500
mission: 5
dive: 400
start: 2 23 111 3 59 20
data:
$ID,500
$MISSION,5
$DIVE,400
$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,-129480.27
$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,3090
$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,2150
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,51
$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
$GPS1,230211,034836,2215.800,12851.175,39,0.8,39,-3.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.3
$GPS2,230211,035826,2215.900,12851.256,11,1.1,11,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.104,-0.195
$KALMAN_X,-772233.4,-740.8,-1025.8,1351790.8,4687.4
$KALMAN_Y,243932.5,-205.4,-1235.9,-119797.9,11009.5
$MHEAD_RNG_PITCHd_Wd,155.1,186681,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,14633,-0.50,-155.7,801.4,-4.9,525,14637,0.00,2.45,0.00,0.000,4,0.000,0.057,2893,3728,3606,0,0,0,0,0,0
$GC,14648,-0.50,-155.7,802.3,-4.8,525,14653,0.10,2.35,0.00,0.000,6,0.121,0.036,2930,2140,3606,0,0,0,0,0,0
$GC,14993,-0.50,-155.7,818.2,-4.6,534,14997,0.00,2.47,0.00,0.000,4,0.000,0.057,2919,3731,3606,0,0,0,0,0,0
$GC,15107,-0.50,-155.7,823.2,-4.0,536,15111,0.00,2.38,0.00,0.000,6,0.000,0.037,2919,2141,3605,0,0,0,0,0,0
$GC,15445,-0.50,-155.7,837.6,-4.3,545,15449,0.00,2.47,0.00,0.000,4,0.000,0.057,2908,3729,3604,0,0,0,0,0,0
$GC,15505,-0.50,-155.7,840.4,-4.5,546,15509,0.00,2.35,0.00,0.000,6,0.000,0.037,2908,2149,3604,0,0,0,0,0,0
$GC,15856,-0.50,-155.7,857.9,-5.2,555,15860,0.00,2.45,0.00,0.000,4,0.000,0.057,2897,3734,3604,0,0,0,0,0,0
$GC,15896,-0.50,-155.7,860.0,-4.8,556,15900,0.00,2.38,0.00,0.000,6,0.000,0.038,2897,2146,3603,0,0,0,0,0,0
$GC,16222,-0.50,-155.7,875.4,-4.5,564,16226,0.00,2.45,0.00,0.000,4,0.000,0.058,2886,3728,3603,0,0,0,0,0,0
$GC,16272,-0.50,-155.7,877.8,-4.3,565,16277,0.12,2.35,0.00,0.000,6,0.114,0.036,2932,2148,3603,0,0,0,0,0,0
$GC,16587,-0.50,-155.7,889.6,-3.9,573,16592,0.00,2.47,0.00,0.000,4,0.000,0.058,2922,3728,3602,0,0,0,0,0,0
$GC,16712,-0.50,-155.7,895.0,-4.0,575,16718,0.00,2.35,0.00,0.000,6,0.000,0.036,2922,2149,3602,0,0,0,0,0,0
$GC,17044,-0.50,-155.7,910.3,-4.8,584,17048,0.00,2.47,0.00,0.000,4,0.000,0.058,2911,3728,3602,0,0,0,0,0,0
$GC,17139,-0.50,-155.7,915.1,-4.5,586,17143,0.00,2.35,0.00,0.000,6,0.000,0.036,2911,2141,3601,0,0,0,0,0,0
$GC,17455,-0.50,-155.7,930.8,-5.0,594,17459,0.00,2.47,0.00,0.000,4,0.000,0.058,2900,3726,3601,0,0,0,0,0,0
$GC,17539,-0.50,-155.7,934.9,-4.9,596,17543,0.00,2.35,0.00,0.000,6,0.000,0.036,2900,2149,3600,0,0,0,0,0,0
$GC,17865,-0.50,-155.7,948.7,-4.1,604,17869,0.00,2.45,0.00,0.000,4,0.000,0.058,2889,3731,3600,0,0,0,0,0,0
$GC,17915,-0.50,-155.7,950.8,-3.6,605,17920,0.12,2.35,0.00,0.000,6,0.112,0.037,2934,2144,3600,0,0,0,0,0,0
$GC,18230,-0.50,-155.7,960.2,-3.0,613,18235,0.00,2.45,0.00,0.000,4,0.000,0.058,2925,3725,3600,0,0,0,0,0,0
$GC,18489,-0.50,-155.7,968.2,-4.0,618,18494,0.00,2.35,0.00,0.000,6,0.000,0.037,2925,2138,3599,0,0,0,0,0,0
$GC,18820,-0.50,-155.7,979.0,-3.4,627,18824,0.00,2.45,0.00,0.000,4,0.000,0.057,2922,3727,3599,0,0,0,0,0,0
$GC,19077,-0.50,-155.7,988.8,-3.8,632,19083,0.00,2.33,0.00,0.000,6,0.000,0.036,2922,2148,3598,0,0,0,0,0,0
$STATE,19123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19123,begin apogee
$GC,19129,-0.23,0.0,990.5,3.7,634,19273,0.25,0.00,140.57,1.623,6,0.081,0.000,3019,1928,2995,0,0,0,0,0,0
$STATE,19274,end apogee,CONTROL_FINISHED_OK
$STATE,19274,begin climb
$GC,19276,0.50,155.7,991.7,0.0,637,19440,0.62,2.72,154.32,1.582,4,0.054,0.055,3257,3499,2360,0,0,0,0,0,0
$GC,19546,0.50,155.7,959.1,13.2,643,19551,0.00,2.50,0.00,0.000,6,0.000,0.040,3268,1929,2360,0,0,0,0,0,0
$GC,19860,0.50,155.7,916.0,14.0,651,19865,0.00,2.45,0.00,0.000,4,0.000,0.052,3281,333,2356,0,0,0,0,0,0
$GC,19893,0.50,155.7,910.9,15.1,651,19899,0.00,2.40,0.00,0.000,6,0.000,0.047,3281,1919,2356,0,0,0,0,0,0
$GC,20224,0.50,155.7,861.9,14.8,660,20229,0.00,2.47,0.00,0.000,4,0.000,0.054,3281,3508,2353,0,0,0,0,0,0
$GC,20269,0.50,155.7,854.6,17.1,661,20274,0.12,2.42,0.00,0.000,6,0.140,0.041,3254,1903,2353,0,0,0,0,0,0
$GC,20589,0.50,155.7,813.1,13.0,669,20593,0.00,2.38,0.00,0.000,4,0.000,0.051,3264,340,2353,0,0,0,0,0,0
$GC,20650,0.50,155.7,804.8,13.3,670,20654,0.00,2.35,0.00,0.000,6,0.000,0.046,3264,1919,2352,0,0,0,0,0,0
$GC,20991,0.50,155.7,758.2,13.5,679,20993,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1920,2351,0,0,0,0,0,0
$GC,21317,0.50,155.7,716.4,12.7,687,21322,0.00,2.45,0.00,0.000,4,0.000,0.058,3264,3506,2350,0,0,0,0,0,0
$GC,21356,0.50,155.7,711.2,12.7,687,21362,0.00,2.40,0.00,0.000,6,0.000,0.044,3276,1924,2350,0,0,0,0,0,0
$GC,21687,0.50,155.7,669.5,12.6,696,21691,0.00,2.42,0.00,0.000,4,0.000,0.054,3289,330,2350,0,0,0,0,0,0
$GC,21720,0.50,155.7,665.3,13.9,696,21727,0.12,2.40,0.00,0.000,6,0.130,0.048,3247,1916,2349,0,0,0,0,0,0
$GC,22052,0.50,155.7,629.0,11.0,705,22056,0.00,2.42,0.00,0.000,4,0.000,0.055,3247,3504,2349,0,0,0,0,0,0
$GC,22147,0.50,155.7,617.5,12.0,707,22151,0.00,2.40,0.00,0.000,6,0.000,0.042,3258,1912,2349,0,0,0,0,0,0
$GC,22460,0.50,155.7,582.7,10.9,715,22465,0.00,2.42,0.00,0.000,4,0.000,0.054,3270,333,2348,0,0,0,0,0,0
$GC,22493,0.50,155.7,578.8,11.3,715,22499,0.00,2.40,0.00,0.000,6,0.000,0.047,3270,1922,2348,0,0,0,0,0,0
$GC,22825,0.50,155.7,541.5,11.2,724,22830,0.00,2.42,0.00,0.000,4,0.000,0.055,3270,3514,2348,0,0,0,0,0,0
$GC,22942,0.50,155.7,526.6,12.9,726,22947,0.00,2.42,0.00,0.000,6,0.000,0.041,3283,1926,2347,0,0,0,0,0,0
$GC,23280,0.50,155.7,482.8,13.3,735,23281,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1926,2347,0,0,0,0,0,0
$GC,23604,0.50,155.7,439.0,12.9,743,23608,0.00,2.42,0.00,0.000,4,0.000,0.051,3295,334,2347,0,0,0,0,0,0
$GC,23644,0.50,155.7,433.9,11.6,744,23650,0.15,2.38,0.00,0.000,6,0.117,0.044,3244,1931,2347,0,0,0,0,0,0
$GC,23968,0.50,155.7,401.7,9.5,752,23969,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1932,2347,0,0,0,0,0,0
$GC,24294,0.50,155.7,372.3,8.9,760,24298,0.00,2.38,0.00,0.000,4,0.000,0.053,3244,3503,2348,0,0,0,0,0,0
$GC,24383,0.50,155.7,363.3,9.5,762,24387,0.00,2.38,0.00,0.000,6,0.000,0.038,3255,1906,2348,0,0,0,0,0,0
$GC,24709,0.50,155.7,333.8,8.9,770,24710,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1906,2348,0,0,0,0,0,0
$GC,25034,0.50,155.7,306.8,8.2,778,25035,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1906,2349,0,0,0,0,0,0
$GC,25341,0.50,155.7,283.1,7.7,790,25346,0.00,2.40,0.00,0.000,4,0.000,0.050,3267,329,2350,0,0,0,0,0,0
$GC,25427,0.50,155.7,276.1,7.1,794,25431,0.00,2.35,0.00,0.000,6,0.000,0.041,3267,1935,2350,0,0,0,0,0,0
$GC,25754,0.50,155.7,246.5,9.0,810,25758,0.00,2.38,0.00,0.000,4,0.000,0.051,3268,3498,2352,0,0,0,0,0,0
$GC,25786,0.50,155.7,243.1,9.7,811,25792,0.00,2.38,0.00,0.000,6,0.000,0.038,3279,1906,2352,0,0,0,0,0,0
$GC,26103,0.50,155.7,216.2,7.9,827,26104,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1906,2353,0,0,0,0,0,0
$GC,26413,0.50,155.7,194.4,7.3,845,26417,0.00,2.47,0.00,0.000,4,0.000,0.050,3279,3509,2354,0,0,0,0,0,0
$GC,26525,0.50,155.7,184.5,8.9,854,26531,0.12,2.38,0.00,0.000,6,0.120,0.038,3248,1923,2355,0,0,0,0,0,0
$GC,26787,0.53,172.8,170.0,5.5,879,26808,0.00,2.45,15.52,0.851,4,0.000,0.048,3258,325,2289,0,0,0,0,0,0
$GC,26832,0.55,190.9,167.6,5.5,883,26853,0.00,2.35,16.77,0.881,6,0.000,0.039,3258,1924,2216,0,0,0,0,0,0
$GC,27109,0.58,218.3,152.3,5.3,909,27141,0.00,2.47,24.23,0.899,4,0.000,0.051,3258,3502,2104,0,0,0,0,0,0
$GC,27171,0.60,235.3,149.0,5.6,914,27192,0.00,2.40,15.50,0.870,6,0.000,0.035,3268,1904,2034,0,0,0,0,0,0
$GC,27447,0.60,235.3,130.1,6.8,940,27451,0.00,2.47,0.00,0.000,4,0.000,0.051,3268,3505,2037,0,0,0,0,0,0
$GC,27625,0.63,254.9,118.3,5.5,955,27652,0.00,2.35,18.50,0.860,6,0.000,0.037,3268,1912,1954,0,0,0,0,0,0
$GC,27906,0.63,254.9,100.4,6.8,982,27910,0.00,2.40,0.00,0.000,4,0.000,0.050,3268,339,1958,0,0,0,0,0,0
$GC,28004,0.63,254.9,92.7,9.2,990,28009,0.00,2.33,0.00,0.000,6,0.000,0.041,3268,1923,1958,0,0,0,0,0,0
$GC,28265,0.63,254.9,71.3,7.8,1014,28266,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1923,1960,0,0,0,0,0,0
$GC,28520,0.63,254.9,49.8,8.6,1038,28524,0.00,2.40,0.00,0.000,4,0.000,0.047,3268,336,1962,0,0,0,0,0,0
$GC,28565,0.63,254.9,45.9,9.0,1041,28571,0.00,2.35,0.00,0.000,6,0.000,0.042,3263,1923,1962,0,0,0,0,0,0
$GC,28827,0.63,254.9,22.0,8.6,1066,28831,0.00,2.45,0.00,0.000,4,0.000,0.051,3252,3521,1963,0,0,0,0,0,0
$GC,28881,0.63,254.9,16.9,9.8,1070,28892,0.12,2.35,3.67,0.444,6,0.093,0.037,3310,1921,1954,0,0,0,0,0,0
$STATE,29077,end climb,SURFACE_DEPTH_REACHED
$STATE,29077,begin surface coast
$FINISH,0.6,1.023320
$STATE,29113,end surface coast,CONTROL_FINISHED_OK
$STATE,29113,begin surface
$SM_CCo,29130,70.50,0.818,0,0,1363,400.08
$SM_GC,0.99,0.00,0.00,70.50,0.000,0.000,0.818,104,2178,1363,-9.33,0.79,400.08
$IRIDIUM_FIX,2204.37,12850.50,170812,141453
$TT8_MAMPS,0.028379
$HUMID,1078736119
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,21.7,70.532
$10V_AH,9.7,58.145
$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,21.375,316.925,389.100,70.500,0.000,54.353,123.537,208.614,0.000,0.000,13.484,2427.889,22934.344,698.537,3154.940,556.697,33.385,2257.274,0.000,2733.429,0.000,0.541,0.000
$DEVICE_MAMPS,216.294,59.826,1622.972,817.622,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,744.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,40023,1092
$CAP_FILE_SIZE,319882,0
$CFSIZE,260165632,186294272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230211,120724,2216.757,12854.347,24,1.0,41,-3.2