version: 66.07
glider: 500
mission: 5
dive: 414
start: 2 28 111 2 30 7
data:
$ID,500
$MISSION,5
$DIVE,414
$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,-129730.78
$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,2120
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,43
$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
$GPS1,280211,022136,2212.079,12900.689,37,1.3,42,-3.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-76.4
$GPS2,280211,022913,2212.156,12900.849,9,1.5,14,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.095,-0.200
$KALMAN_X,-743821.9,-40.2,559.6,1337583.1,3774.8
$KALMAN_Y,324498.0,-131.7,279.2,-208901.4,5329.1
$MHEAD_RNG_PITCHd_Wd,208.6,172512,-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,15359,-0.50,-155.7,842.8,-3.7,547,15363,0.00,2.40,0.00,0.000,6,0.000,0.045,2900,2124,3593,0,0,0,0,0,0
$GC,15702,-0.50,-155.7,855.5,-3.8,556,15706,0.00,2.40,0.00,0.000,4,0.000,0.046,2899,530,3592,0,0,0,0,0,0
$GC,15787,-0.50,-155.7,858.9,-3.9,558,15792,0.12,2.40,0.00,0.000,6,0.122,0.045,2933,2126,3592,0,0,0,0,0,0
$GC,16113,-0.50,-155.7,872.2,-4.3,566,16117,0.00,2.38,0.00,0.000,4,0.000,0.047,2934,537,3592,0,0,0,0,0,0
$GC,16263,-0.50,-155.7,878.6,-3.5,569,16267,0.00,2.40,0.00,0.000,6,0.000,0.047,2932,2125,3591,0,0,0,0,0,0
$GC,16608,-0.50,-155.7,891.2,-3.6,578,16612,0.00,2.38,0.00,0.000,4,0.000,0.045,2933,530,3591,0,0,0,0,0,0
$GC,16770,-0.50,-155.7,896.2,-2.8,581,16775,0.00,2.40,0.00,0.000,6,0.000,0.045,2927,2124,3590,0,0,0,0,0,0
$GC,17103,-0.50,-155.7,904.4,-2.5,589,17107,0.00,2.38,0.00,0.000,4,0.000,0.046,2927,538,3590,0,0,0,0,0,0
$GC,17265,-0.50,-155.7,908.3,-2.7,592,17269,0.00,2.38,0.00,0.000,6,0.000,0.045,2919,2124,3589,0,0,0,0,0,0
$GC,17597,-0.50,-155.7,917.1,-2.8,600,17602,0.00,2.40,0.00,0.000,4,0.000,0.047,2919,529,3589,0,0,0,0,0,0
$GC,17730,-0.50,-155.7,920.9,-3.1,603,17734,0.00,2.40,0.00,0.000,6,0.000,0.047,2909,2125,3588,0,0,0,0,0,0
$GC,18055,-0.50,-155.7,931.3,-3.4,611,18059,0.00,2.40,0.00,0.000,4,0.000,0.045,2909,527,3588,0,0,0,0,0,0
$GC,18145,-0.50,-155.7,934.7,-4.3,613,18149,0.00,2.40,0.00,0.000,6,0.000,0.045,2899,2124,3588,0,0,0,0,0,0
$GC,18464,-0.50,-155.7,947.1,-4.1,621,18468,0.00,2.40,0.00,0.000,4,0.000,0.046,2899,526,3587,0,0,0,0,0,0
$GC,18572,-0.50,-155.7,951.8,-3.9,623,18577,0.12,2.40,0.00,0.000,6,0.122,0.045,2933,2122,3587,0,0,0,0,0,0
$GC,18915,-0.50,-155.7,964.4,-3.7,632,18919,0.00,2.45,0.00,0.000,4,0.000,0.054,2923,3714,3587,0,0,0,0,0,0
$GC,19173,-0.50,-155.7,974.2,-5.2,637,19179,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2115,3586,0,0,0,0,0,0
$GC,19506,-0.50,-155.7,986.5,-4.0,646,19510,0.00,2.42,0.00,0.000,4,0.000,0.050,2923,538,3585,0,0,0,0,0,0
$STATE,19592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19592,begin apogee
$GC,19600,-0.23,0.0,990.3,4.4,648,19740,0.25,0.00,137.68,1.605,6,0.087,0.000,3015,1922,2995,0,0,0,0,0,0
$STATE,19741,end apogee,CONTROL_FINISHED_OK
$STATE,19741,begin climb
$GC,19745,0.50,155.7,991.1,0.0,651,19909,0.62,2.78,153.10,1.565,4,0.054,0.052,3255,3513,2360,0,0,0,0,0,0
$GC,20015,0.50,155.7,958.2,12.8,657,20020,0.00,2.53,0.00,0.000,6,0.000,0.041,3268,1909,2360,0,0,0,0,0,0
$GC,20328,0.50,155.7,913.8,14.1,665,20332,0.00,2.42,0.00,0.000,4,0.000,0.054,3280,333,2359,0,0,0,0,0,0
$GC,20369,0.50,155.7,908.1,13.8,666,20373,0.00,2.40,0.00,0.000,6,0.000,0.048,3280,1919,2359,0,0,0,0,0,0
$GC,20694,0.50,155.7,859.0,14.9,674,20698,0.00,2.45,0.00,0.000,4,0.000,0.054,3280,3517,2358,0,0,0,0,0,0
$GC,20766,0.50,155.7,847.7,14.7,675,20771,0.12,2.42,0.00,0.000,6,0.138,0.041,3253,1921,2358,0,0,0,0,0,0
$GC,21098,0.50,155.7,810.2,10.8,683,21102,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,340,2357,0,0,0,0,0,0
$GC,21138,0.50,155.7,805.6,11.0,684,21142,0.00,2.40,0.00,0.000,6,0.000,0.048,3264,1923,2357,0,0,0,0,0,0
$GC,21465,0.50,155.7,766.5,12.1,692,21469,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,3507,2357,0,0,0,0,0,0
$GC,21531,0.50,155.7,756.9,13.5,693,21535,0.00,2.42,0.00,0.000,6,0.000,0.043,3276,1916,2356,0,0,0,0,0,0
$GC,21875,0.50,155.7,707.9,14.5,702,21879,0.00,2.47,0.00,0.000,4,0.000,0.055,3289,333,2356,0,0,0,0,0,0
$GC,21929,0.50,155.7,699.8,13.7,703,21934,0.05,2.42,0.00,0.000,6,0.081,0.048,3248,1915,2355,0,0,0,0,0,0
$GC,22246,0.50,155.7,665.1,11.0,711,22250,0.00,2.45,0.00,0.000,4,0.000,0.054,3248,3518,2354,0,0,0,0,0,0
$GC,22356,0.50,155.7,651.5,11.6,713,22361,0.00,2.45,0.00,0.000,6,0.000,0.042,3259,1909,2354,0,0,0,0,0,0
$GC,22701,0.50,155.7,612.4,11.3,722,22705,0.00,2.40,0.00,0.000,4,0.000,0.054,3271,335,2354,0,0,0,0,0,0
$GC,22727,0.50,155.7,608.9,12.6,722,22731,0.00,2.40,0.00,0.000,6,0.000,0.048,3271,1926,2354,0,0,0,0,0,0
$GC,23064,0.50,155.7,566.6,12.7,731,23068,0.00,2.47,0.00,0.000,4,0.000,0.056,3271,3521,2354,0,0,0,0,0,0
$GC,23188,0.50,155.7,550.3,13.0,733,23195,0.00,2.42,0.00,0.000,6,0.000,0.040,3283,1915,2353,0,0,0,0,0,0
$GC,23519,0.50,155.7,507.7,12.6,742,23524,0.00,2.45,0.00,0.000,4,0.000,0.054,3296,330,2354,0,0,0,0,0,0
$GC,23609,0.50,155.7,496.4,13.8,744,23614,0.15,2.40,0.00,0.000,6,0.121,0.046,3245,1926,2353,0,0,0,0,0,0
$GC,23929,0.50,155.7,464.4,10.0,752,23933,0.00,2.47,0.00,0.000,4,0.000,0.054,3245,3517,2353,0,0,0,0,0,0
$GC,24007,0.50,155.7,456.3,9.9,753,24013,0.00,2.42,0.00,0.000,6,0.000,0.041,3256,1929,2354,0,0,0,0,0,0
$GC,24338,0.50,155.7,425.4,9.3,762,24342,0.00,2.45,0.00,0.000,4,0.000,0.051,3269,332,2354,0,0,0,0,0,0
$GC,24393,0.50,155.7,420.0,9.4,763,24398,0.00,2.38,0.00,0.000,6,0.000,0.044,3268,1928,2354,0,0,0,0,0,0
$GC,24744,0.50,155.7,383.1,10.6,772,24748,0.00,2.45,0.00,0.000,4,0.000,0.053,3268,3503,2355,0,0,0,0,0,0
$GC,24777,0.50,155.7,379.1,10.9,772,24783,0.00,2.42,0.00,0.000,6,0.000,0.040,3281,1906,2356,0,0,0,0,0,0
$GC,25108,0.50,155.7,342.0,11.3,781,25112,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,335,2356,0,0,0,0,0,0
$GC,25146,0.50,155.7,337.6,10.1,781,25152,0.12,2.38,0.00,0.000,6,0.123,0.043,3250,1922,2357,0,0,0,0,0,0
$GC,25480,0.50,155.7,312.0,7.5,790,25481,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1923,2357,0,0,0,0,0,0
$GC,25784,0.50,155.7,287.8,8.2,801,25788,0.00,2.45,0.00,0.000,4,0.000,0.050,3250,3519,2359,0,0,0,0,0,0
$GC,25850,0.50,155.7,281.8,7.7,804,25854,0.00,2.42,0.00,0.000,6,0.000,0.038,3261,1925,2360,0,0,0,0,0,0
$GC,26170,0.50,155.7,253.4,9.1,820,26171,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1925,2361,0,0,0,0,0,0
$GC,26480,0.50,155.7,228.0,7.8,835,26484,0.00,2.45,0.00,0.000,4,0.000,0.051,3261,3503,2362,0,0,0,0,0,0
$GC,26523,0.50,155.7,224.3,7.9,837,26527,0.00,2.42,0.00,0.000,6,0.000,0.039,3273,1908,2363,0,0,0,0,0,0
$GC,26850,0.50,155.7,198.6,8.1,853,26854,0.00,2.40,0.00,0.000,4,0.000,0.049,3285,330,2365,0,0,0,0,0,0
$GC,26889,0.50,155.7,195.4,7.4,856,26893,0.10,2.38,0.00,0.000,6,0.132,0.043,3249,1923,2365,0,0,0,0,0,0
$GC,27149,0.50,155.7,179.6,6.3,880,27154,0.00,2.45,0.00,0.000,4,0.000,0.050,3249,3518,2366,0,0,0,0,0,0
$GC,27206,0.50,155.7,175.7,6.8,884,27211,0.00,2.42,0.00,0.000,6,0.000,0.038,3258,1909,2366,0,0,0,0,0,0
$GC,27468,0.53,174.0,160.6,5.5,909,27488,0.00,0.00,18.33,0.854,6,0.000,0.000,3258,1909,2285,0,0,0,0,0,0
$GC,27743,0.54,184.7,144.1,5.7,935,27756,0.00,0.00,11.27,0.818,6,0.000,0.000,3258,1909,2241,0,0,0,0,0,0
$GC,28008,0.55,193.6,128.7,5.8,960,28019,0.00,0.00,9.40,0.782,6,0.000,0.000,3258,1909,2205,0,0,0,0,0,0
$GC,28273,0.61,241.2,113.6,4.7,985,28318,0.00,2.45,39.47,0.890,4,0.000,0.050,3269,333,2011,0,0,0,0,0,0
$GC,28356,0.62,246.9,108.9,5.8,992,28368,0.00,2.40,6.80,0.718,6,0.000,0.041,3269,1929,1988,0,0,0,0,0,0
$GC,28623,0.62,246.9,90.0,7.5,1017,28628,0.00,2.45,0.00,0.000,4,0.000,0.050,3270,330,1991,0,0,0,0,0,0
$GC,28657,0.62,246.9,87.5,7.1,1019,28663,0.00,2.38,0.00,0.000,6,0.000,0.042,3270,1921,1991,0,0,0,0,0,0
$GC,28919,0.62,246.9,69.1,7.0,1044,28923,0.00,2.42,0.00,0.000,4,0.000,0.048,3270,330,1993,0,0,0,0,0,0
$GC,29029,0.62,246.9,60.1,7.5,1053,29036,0.00,2.38,0.00,0.000,6,0.000,0.043,3267,1929,1993,0,0,0,0,0,0
$GC,29291,0.62,246.9,38.3,8.0,1078,29295,0.00,2.47,0.00,0.000,4,0.000,0.051,3267,323,1996,0,0,0,0,0,0
$GC,29548,0.62,246.9,15.6,9.4,1100,29558,0.00,2.38,3.70,0.443,6,0.000,0.043,3263,1931,1988,0,0,0,0,0,0
$STATE,29701,end climb,SURFACE_DEPTH_REACHED
$STATE,29701,begin surface coast
$FINISH,0.4,1.023174
$STATE,29734,end surface coast,CONTROL_FINISHED_OK
$STATE,29734,begin surface
$SM_CCo,29752,73.60,0.806,0,0,1364,400.08
$SM_GC,1.06,0.00,0.00,73.60,0.000,0.000,0.806,127,2138,1364,-9.26,0.51,400.08
$IRIDIUM_FIX,2204.37,12857.05,220812,121221
$TT8_MAMPS,0.027612
$HUMID,1078694829
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,21.6,73.172
$10V_AH,9.5,59.584
$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,21.050,318.175,379.750,73.600,0.000,29.518,40.248,238.943,0.000,0.000,16.354,2523.397,23138.682,680.706,3352.450,565.453,33.386,2345.388,0.000,2995.145,0.000,0.542,0.000
$DEVICE_MAMPS,217.828,64.428,1605.331,806.117,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,763.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,40050,1118
$CAP_FILE_SIZE,328275,0
$CFSIZE,260165632,184758272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280211,104831,2210.919,12901.001,37,1.0,37,-3.2