version: 66.07
glider: 500
mission: 5
dive: 401
start: 2 23 111 12 15 14
data:
$ID,500
$MISSION,5
$DIVE,401
$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,-129497.28
$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,36
$R_STBD_OVSHOOT,48
$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
$GPS1,230211,120724,2216.757,12854.347,24,1.0,41,-3.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-77.0
$GPS2,230211,121419,2216.837,12854.458,9,1.3,14,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.100,-0.197
$KALMAN_X,-771551.7,-149.7,-299.2,1355290.1,3394.5
$KALMAN_Y,250905.5,-337.0,3.5,-126154.5,9888.6
$MHEAD_RNG_PITCHd_Wd,156.3,185398,-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,15952,-0.50,-155.7,878.2,-4.0,545,15957,0.00,2.47,0.00,0.000,4,0.000,0.055,2892,3745,3602,0,0,0,0,0,0
$GC,15996,-0.50,-155.7,880.1,-4.3,546,16001,0.10,2.38,0.00,0.000,6,0.120,0.038,2930,2147,3602,0,0,0,0,0,0
$GC,16316,-0.50,-155.7,891.7,-3.8,554,16320,0.00,2.45,0.00,0.000,4,0.000,0.055,2919,3733,3601,0,0,0,0,0,0
$GC,16455,-0.50,-155.7,897.1,-4.1,557,16459,0.00,2.38,0.00,0.000,6,0.000,0.038,2919,2149,3601,0,0,0,0,0,0
$GC,16771,-0.50,-155.7,909.3,-4.0,565,16775,0.00,2.47,0.00,0.000,4,0.000,0.055,2908,3741,3601,0,0,0,0,0,0
$GC,16872,-0.50,-155.7,914.0,-5.3,567,16876,0.00,2.40,0.00,0.000,6,0.000,0.038,2908,2142,3600,0,0,0,0,0,0
$GC,17222,-0.50,-155.7,930.5,-4.9,576,17226,0.00,2.47,0.00,0.000,4,0.000,0.056,2897,3735,3600,0,0,0,0,0,0
$GC,17255,-0.50,-155.7,932.3,-4.6,576,17259,0.00,2.38,0.00,0.000,6,0.000,0.039,2897,2141,3600,0,0,0,0,0,0
$GC,17587,-0.50,-155.7,948.2,-4.8,584,17592,0.10,2.53,0.00,0.000,4,0.130,0.057,2925,3740,3599,0,0,0,0,0,0
$GC,17660,-0.50,-155.7,951.3,-4.9,585,17664,0.00,2.40,0.00,0.000,6,0.000,0.040,2925,2140,3599,0,0,0,0,0,0
$GC,17991,-0.50,-155.7,964.5,-3.9,593,17995,0.00,2.50,0.00,0.000,4,0.000,0.056,2923,3742,3599,0,0,0,0,0,0
$GC,18249,-0.50,-155.7,973.9,-3.4,598,18255,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2151,3598,0,0,0,0,0,0
$GC,18581,-0.50,-155.7,984.5,-3.3,607,18585,0.00,2.45,0.00,0.000,4,0.000,0.055,2922,3738,3598,0,0,0,0,0,0
$STATE,18740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18740,begin apogee
$GC,18749,-0.23,0.0,990.0,3.9,610,18892,0.25,0.00,140.07,1.603,6,0.076,0.000,3028,1917,2995,0,0,0,0,0,0
$STATE,18893,end apogee,CONTROL_FINISHED_OK
$STATE,18893,begin climb
$GC,18896,0.50,155.7,990.3,0.0,614,19059,0.60,0.00,154.23,1.569,6,0.052,0.000,3262,1917,2359,0,0,0,0,0,0
$GC,19384,0.50,155.7,927.8,13.4,626,19388,0.00,2.45,0.00,0.000,4,0.000,0.055,3273,329,2355,0,0,0,0,0,0
$GC,19410,0.50,155.7,924.0,14.1,626,19415,0.00,2.40,0.00,0.000,6,0.000,0.048,3273,1919,2356,0,0,0,0,0,0
$GC,19748,0.50,155.7,876.1,14.4,635,19753,0.00,2.45,0.00,0.000,4,0.000,0.054,3273,3505,2353,0,0,0,0,0,0
$GC,19798,0.50,155.7,868.2,16.2,636,19803,0.12,2.40,0.00,0.000,6,0.143,0.041,3246,1916,2353,0,0,0,0,0,0
$GC,20119,0.50,155.7,827.6,12.8,644,20123,0.00,2.42,0.00,0.000,4,0.000,0.055,3257,334,2351,0,0,0,0,0,0
$GC,20145,0.50,155.7,823.6,13.1,644,20149,0.00,2.40,0.00,0.000,6,0.000,0.048,3257,1921,2351,0,0,0,0,0,0
$GC,20482,0.50,155.7,777.5,13.9,653,20486,0.00,2.42,0.00,0.000,4,0.000,0.057,3257,3505,2350,0,0,0,0,0,0
$GC,20571,0.50,155.7,764.4,14.3,655,20576,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1915,2350,0,0,0,0,0,0
$GC,20891,0.50,155.7,718.5,14.4,663,20895,0.00,2.42,0.00,0.000,4,0.000,0.056,3282,334,2349,0,0,0,0,0,0
$GC,20969,0.50,155.7,707.1,14.8,664,20975,0.00,2.38,0.00,0.000,6,0.000,0.049,3282,1917,2349,0,0,0,0,0,0
$GC,21300,0.50,155.7,660.1,14.2,673,21304,0.00,2.47,0.00,0.000,4,0.000,0.055,3281,3522,2349,0,0,0,0,0,0
$GC,21361,0.50,155.7,651.0,13.8,674,21366,0.15,2.42,0.00,0.000,6,0.136,0.041,3246,1910,2348,0,0,0,0,0,0
$GC,21704,0.50,155.7,613.7,10.8,683,21705,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1910,2348,0,0,0,0,0,0
$GC,22029,0.50,155.7,576.3,11.7,691,22033,0.00,2.40,0.00,0.000,4,0.000,0.054,3257,336,2348,0,0,0,0,0,0
$GC,22100,0.50,155.7,567.5,11.5,692,22105,0.00,2.38,0.00,0.000,6,0.000,0.047,3257,1923,2347,0,0,0,0,0,0
$GC,22438,0.50,155.7,526.6,12.4,701,22443,0.00,2.45,0.00,0.000,4,0.000,0.054,3257,3508,2347,0,0,0,0,0,0
$GC,22533,0.50,155.7,513.7,12.8,703,22537,0.00,2.40,0.00,0.000,6,0.000,0.041,3269,1922,2347,0,0,0,0,0,0
$GC,22848,0.50,155.7,476.7,11.1,711,22853,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,336,2347,0,0,0,0,0,0
$GC,22898,0.50,155.7,470.9,10.8,712,22902,0.00,2.38,0.00,0.000,6,0.000,0.047,3282,1919,2347,0,0,0,0,0,0
$GC,23217,0.50,155.7,436.7,11.0,720,23221,0.00,2.45,0.00,0.000,4,0.000,0.053,3282,3510,2347,0,0,0,0,0,0
$GC,23295,0.50,155.7,426.7,13.0,721,23303,0.15,2.40,0.00,0.000,6,0.132,0.042,3242,1922,2347,0,0,0,0,0,0
$GC,23627,0.50,155.7,396.0,9.1,730,23631,0.00,2.42,0.00,0.000,4,0.000,0.053,3253,330,2347,0,0,0,0,0,0
$GC,23705,0.50,155.7,388.5,11.5,731,23711,0.00,2.40,0.00,0.000,6,0.000,0.044,3253,1922,2347,0,0,0,0,0,0
$GC,24036,0.50,155.7,357.7,9.0,740,24040,0.00,2.42,0.00,0.000,4,0.000,0.052,3253,3514,2348,0,0,0,0,0,0
$GC,24097,0.50,155.7,351.6,8.1,741,24102,0.00,2.42,0.00,0.000,6,0.000,0.041,3265,1908,2348,0,0,0,0,0,0
$GC,24441,0.50,155.7,317.2,10.1,750,24445,0.00,2.40,0.00,0.000,4,0.000,0.051,3278,333,2348,0,0,0,0,0,0
$GC,24490,0.50,155.7,312.1,9.1,751,24494,0.00,2.40,0.00,0.000,6,0.000,0.045,3278,1928,2349,0,0,0,0,0,0
$GC,24810,0.50,155.7,281.8,9.8,763,24814,0.00,2.42,0.00,0.000,4,0.000,0.052,3278,3514,2349,0,0,0,0,0,0
$GC,24899,0.50,155.7,272.0,10.6,767,24904,0.12,2.40,0.00,0.000,6,0.128,0.041,3249,1916,2350,0,0,0,0,0,0
$GC,25226,0.50,155.7,246.6,7.5,783,25230,0.00,2.40,0.00,0.000,4,0.000,0.052,3259,340,2351,0,0,0,0,0,0
$GC,25282,0.50,155.7,242.4,7.3,785,25288,0.00,2.38,0.00,0.000,6,0.000,0.042,3259,1927,2351,0,0,0,0,0,0
$GC,25597,0.50,155.7,219.2,7.7,801,25601,0.00,2.45,0.00,0.000,4,0.000,0.052,3259,3517,2352,0,0,0,0,0,0
$GC,25669,0.50,155.7,213.3,7.0,804,25674,0.00,2.40,0.00,0.000,6,0.000,0.040,3272,1921,2353,0,0,0,0,0,0
$GC,25989,0.50,155.7,189.6,7.5,825,25993,0.00,2.40,0.00,0.000,4,0.000,0.051,3284,328,2354,0,0,0,0,0,0
$GC,26021,0.50,155.7,186.7,7.5,827,26028,0.10,2.38,0.00,0.000,6,0.132,0.041,3248,1925,2354,0,0,0,0,0,0
$GC,26283,0.50,155.7,169.7,6.5,852,26288,0.00,2.42,0.00,0.000,4,0.000,0.051,3248,3504,2355,0,0,0,0,0,0
$GC,26369,0.50,155.7,163.1,6.6,859,26374,0.00,2.40,0.00,0.000,6,0.000,0.038,3258,1906,2356,0,0,0,0,0,0
$GC,26630,0.57,212.8,149.1,4.5,883,26685,0.00,2.53,47.60,0.910,4,0.000,0.051,3270,328,2127,0,0,0,0,0,0
$GC,26721,0.59,227.3,144.5,5.6,891,26740,0.00,2.40,13.80,0.860,6,0.000,0.041,3270,1920,2067,0,0,0,0,0,0
$GC,27002,0.59,227.3,126.4,6.9,918,27006,0.00,2.47,0.00,0.000,4,0.000,0.049,3273,322,2068,0,0,0,0,0,0
$GC,27069,0.59,227.3,121.6,7.5,923,27074,0.00,2.38,0.00,0.000,6,0.000,0.041,3273,1920,2068,0,0,0,0,0,0
$GC,27329,0.59,227.3,104.3,6.2,948,27334,0.00,2.42,0.00,0.000,4,0.000,0.049,3273,3518,2070,0,0,0,0,0,0
$GC,27381,0.59,227.3,101.2,6.2,952,27386,0.00,2.40,0.00,0.000,6,0.000,0.037,3283,1908,2070,0,0,0,0,0,0
$GC,27643,0.59,227.3,83.5,6.5,976,27647,0.00,2.42,0.00,0.000,4,0.000,0.050,3283,3510,2073,0,0,0,0,0,0
$GC,27733,0.59,227.3,76.8,7.8,983,27738,0.00,2.35,0.00,0.000,6,0.000,0.038,3294,1926,2074,0,0,0,0,0,0
$GC,27993,0.59,227.3,58.2,7.5,1008,27998,0.00,2.42,0.00,0.000,4,0.000,0.051,3305,323,2076,0,0,0,0,0,0
$GC,28034,0.59,227.3,55.1,8.0,1011,28038,0.00,2.38,0.00,0.000,6,0.000,0.042,3305,1925,2076,0,0,0,0,0,0
$GC,28296,0.59,227.3,35.6,8.6,1035,28307,0.00,2.47,3.90,0.479,4,0.000,0.050,3306,3521,2068,0,0,0,0,0,0
$GC,28346,0.59,227.3,30.9,8.8,1039,28352,0.12,2.40,0.00,0.000,6,0.121,0.038,3272,1920,2068,0,0,0,0,0,0
$GC,28608,0.61,240.4,15.1,5.7,1064,28630,0.00,2.50,12.52,0.713,4,0.000,0.053,3281,325,2014,0,0,0,0,0,0
$GC,28670,0.65,273.5,11.7,5.1,1069,28706,0.00,2.38,27.90,0.797,6,0.000,0.042,3281,1926,1879,0,0,0,0,0,0
$STATE,28820,end climb,SURFACE_DEPTH_REACHED
$STATE,28821,begin surface coast
$FINISH,0.3,1.001949
$STATE,28875,end surface coast,CONTROL_FINISHED_OK
$STATE,28875,begin surface
$SM_CCo,28895,63.20,0.827,0,0,1363,400.08
$SM_GC,1.05,0.00,0.00,63.20,0.000,0.000,0.827,108,2177,1363,-9.32,0.79,400.08
$IRIDIUM_FIX,2206.70,12853.77,170812,222223
$TT8_MAMPS,0.027612
$HUMID,1078689668
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.7,70.720
$10V_AH,9.8,58.244
$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,21.200,308.950,400.025,63.200,0.000,29.209,33.342,210.003,0.000,0.000,16.386,2428.024,22573.729,684.791,3119.083,549.629,33.405,2269.579,0.000,2810.184,0.000,0.541,0.000
$DEVICE_MAMPS,214.760,62.127,1603.030,826.826,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,742.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,40032,1089
$CAP_FILE_SIZE,317257,0
$CFSIZE,260165632,186191872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230211,201906,2216.300,12857.277,34,1.0,34,-3.2