version: 66.07
glider: 500
mission: 5
dive: 410
start: 2 26 111 16 13 8
data:
$ID,500
$MISSION,5
$DIVE,410
$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,-129669.77
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,260211,160437,2215.226,12900.713,47,1.1,47,-3.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.1
$GPS2,260211,161214,2215.356,12900.681,9,1.2,9,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.103,-0.195
$KALMAN_X,-754132.1,729.6,-1440.2,1348895.5,2197.9
$KALMAN_Y,305885.6,-194.2,-380.0,-183658.6,8847.0
$MHEAD_RNG_PITCHd_Wd,211.1,177921,-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,15190,-0.51,-155.7,833.5,-4.8,531,15195,0.00,2.45,0.00,0.000,4,0.000,0.053,2905,3702,3597,0,0,0,0,0,0
$GC,15251,-0.51,-155.7,836.4,-4.5,532,15256,0.00,2.35,0.00,0.000,6,0.000,0.037,2905,2126,3597,0,0,0,0,0,0
$GC,15602,-0.51,-155.7,851.2,-4.2,541,15606,0.00,2.45,0.00,0.000,4,0.000,0.054,2893,3706,3596,0,0,0,0,0,0
$GC,15630,-0.51,-155.7,852.6,-4.4,541,15635,0.10,2.35,0.00,0.000,6,0.123,0.036,2930,2117,3596,0,0,0,0,0,0
$GC,15966,-0.51,-155.7,865.2,-3.7,549,15970,0.00,2.45,0.00,0.000,4,0.000,0.053,2920,3699,3595,0,0,0,0,0,0
$GC,16054,-0.51,-155.7,868.4,-3.4,551,16059,0.00,2.38,0.00,0.000,6,0.000,0.038,2920,2109,3595,0,0,0,0,0,0
$GC,16381,-0.51,-155.7,879.8,-3.5,559,16386,0.00,2.47,0.00,0.000,4,0.000,0.054,2909,3708,3594,0,0,0,0,0,0
$GC,16448,-0.51,-155.7,882.2,-4.1,560,16452,0.00,2.35,0.00,0.000,6,0.000,0.036,2909,2119,3594,0,0,0,0,0,0
$GC,16788,-0.51,-155.7,894.1,-3.6,569,16792,0.00,2.45,0.00,0.000,4,0.000,0.054,2898,3697,3594,0,0,0,0,0,0
$GC,16831,-0.51,-155.7,895.7,-3.4,570,16835,0.00,2.38,0.00,0.000,6,0.000,0.038,2898,2118,3593,0,0,0,0,0,0
$GC,17151,-0.51,-155.7,905.7,-3.1,578,17155,0.00,2.45,0.00,0.000,4,0.000,0.054,2886,3698,3593,0,0,0,0,0,0
$GC,17219,-0.51,-155.7,907.5,-2.5,579,17224,0.12,2.35,0.00,0.000,6,0.110,0.038,2932,2122,3593,0,0,0,0,0,0
$GC,17563,-0.51,-155.7,914.0,-1.8,588,17567,0.00,2.47,0.00,0.000,4,0.000,0.055,2922,3709,3593,0,0,0,0,0,0
$GC,17742,-0.51,-155.7,917.9,-2.8,592,17746,0.00,2.40,0.00,0.000,6,0.000,0.037,2922,2109,3593,0,0,0,0,0,0
$GC,18062,-0.51,-155.7,926.5,-3.0,600,18067,0.00,2.47,0.00,0.000,4,0.000,0.053,2911,3704,3592,0,0,0,0,0,0
$GC,18181,-0.51,-155.7,930.8,-2.6,602,18185,0.00,2.38,0.00,0.000,6,0.000,0.036,2911,2111,3592,0,0,0,0,0,0
$GC,18519,-0.51,-155.7,944.3,-4.1,611,18523,0.00,2.47,0.00,0.000,4,0.000,0.054,2900,3706,3591,0,0,0,0,0,0
$GC,18596,-0.51,-155.7,947.7,-4.3,612,18602,0.00,2.35,0.00,0.000,6,0.000,0.037,2900,2120,3591,0,0,0,0,0,0
$GC,18928,-0.51,-155.7,961.1,-4.0,621,18933,0.00,2.50,0.00,0.000,4,0.000,0.055,2888,3705,3591,0,0,0,0,0,0
$GC,18978,-0.51,-155.7,963.1,-3.3,622,18983,0.12,2.40,0.00,0.000,6,0.110,0.036,2934,2107,3590,0,0,0,0,0,0
$GC,19294,-0.51,-155.7,971.9,-2.8,630,19298,0.00,2.47,0.00,0.000,4,0.000,0.054,2924,3698,3590,0,0,0,0,0,0
$GC,19540,-0.51,-155.7,978.2,-1.9,635,19544,0.00,2.38,0.00,0.000,6,0.000,0.038,2924,2122,3589,0,0,0,0,0,0
$GC,19878,-0.51,-155.7,985.3,-2.1,644,19883,0.00,2.47,0.00,0.000,4,0.000,0.054,2913,3708,3589,0,0,0,0,0,0
$GC,20024,-0.51,-155.7,988.8,-2.0,647,20028,0.00,2.40,0.00,0.000,6,0.000,0.036,2913,2108,3589,0,0,0,0,0,0
$STATE,20084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20084,begin apogee
$GC,20090,-0.23,0.0,990.3,2.3,649,20232,0.28,0.00,138.70,1.605,6,0.080,0.000,3019,1916,2995,0,0,0,0,0,0
$STATE,20233,end apogee,CONTROL_FINISHED_OK
$STATE,20233,begin climb
$GC,20235,0.51,155.7,989.8,0.0,652,20400,0.62,2.80,153.77,1.563,4,0.053,0.053,3258,3496,2360,0,0,0,0,0,0
$GC,20519,0.51,155.7,952.4,14.6,658,20523,0.00,2.47,0.00,0.000,6,0.000,0.041,3270,1937,2359,0,0,0,0,0,0
$GC,20855,0.51,155.7,901.9,15.1,667,20859,0.00,2.47,0.00,0.000,4,0.000,0.052,3283,332,2357,0,0,0,0,0,0
$GC,20887,0.51,155.7,896.8,17.7,667,20893,0.00,2.40,0.00,0.000,6,0.000,0.044,3283,1920,2357,0,0,0,0,0,0
$GC,21219,0.51,155.7,846.1,15.1,676,21223,0.00,2.45,0.00,0.000,4,0.000,0.053,3283,3517,2357,0,0,0,0,0,0
$GC,21304,0.51,155.7,832.7,16.1,678,21309,0.15,2.45,0.00,0.000,6,0.130,0.041,3247,1911,2357,0,0,0,0,0,0
$GC,21629,0.51,155.7,793.6,12.0,686,21633,0.00,2.40,0.00,0.000,4,0.000,0.052,3258,337,2356,0,0,0,0,0,0
$GC,21650,0.51,155.7,790.7,13.9,686,21654,0.00,2.38,0.00,0.000,6,0.000,0.044,3258,1934,2355,0,0,0,0,0,0
$GC,21993,0.51,155.7,746.5,13.2,695,21998,0.00,2.42,0.00,0.000,4,0.000,0.054,3258,3505,2354,0,0,0,0,0,0
$GC,22117,0.51,155.7,728.9,15.0,697,22123,0.00,2.42,0.00,0.000,6,0.000,0.041,3270,1916,2354,0,0,0,0,0,0
$GC,22449,0.51,155.7,681.9,14.2,706,22454,0.00,2.42,0.00,0.000,4,0.000,0.053,3283,341,2354,0,0,0,0,0,0
$GC,22471,0.51,155.7,678.6,14.8,706,22475,0.00,2.38,0.00,0.000,6,0.000,0.044,3283,1920,2354,0,0,0,0,0,0
$GC,22813,0.51,155.7,630.1,13.9,715,22817,0.00,2.47,0.00,0.000,4,0.000,0.057,3283,3517,2353,0,0,0,0,0,0
$GC,22892,0.51,155.7,618.5,13.8,716,22898,0.15,2.45,0.00,0.000,6,0.127,0.043,3247,1918,2353,0,0,0,0,0,0
$GC,23224,0.51,155.7,580.4,11.4,725,23228,0.00,2.42,0.00,0.000,4,0.000,0.054,3259,333,2353,0,0,0,0,0,0
$GC,23285,0.51,155.7,573.2,11.2,726,23289,0.00,2.40,0.00,0.000,6,0.000,0.044,3259,1924,2353,0,0,0,0,0,0
$GC,23627,0.51,155.7,533.7,11.6,735,23632,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,3508,2352,0,0,0,0,0,0
$GC,23678,0.51,155.7,527.1,12.5,736,23682,0.00,2.45,0.00,0.000,6,0.000,0.043,3271,1905,2352,0,0,0,0,0,0
$GC,23991,0.51,155.7,486.8,12.7,744,23996,0.00,2.40,0.00,0.000,4,0.000,0.051,3283,340,2352,0,0,0,0,0,0
$GC,24052,0.51,155.7,479.4,11.7,745,24057,0.08,2.40,0.00,0.000,6,0.100,0.043,3250,1920,2352,0,0,0,0,0,0
$GC,24402,0.51,155.7,448.1,9.0,754,24407,0.00,2.45,0.00,0.000,4,0.000,0.054,3250,3509,2353,0,0,0,0,0,0
$GC,24435,0.51,155.7,444.2,9.1,754,24441,0.00,2.42,0.00,0.000,6,0.000,0.043,3261,1927,2352,0,0,0,0,0,0
$GC,24768,0.51,155.7,407.4,11.4,763,24772,0.00,2.45,0.00,0.000,4,0.000,0.051,3274,330,2353,0,0,0,0,0,0
$GC,24811,0.51,155.7,402.4,9.1,764,24815,0.00,2.40,0.00,0.000,6,0.000,0.043,3274,1925,2353,0,0,0,0,0,0
$GC,25136,0.51,155.7,369.9,9.5,772,25141,0.00,2.45,0.00,0.000,4,0.000,0.052,3274,3509,2353,0,0,0,0,0,0
$GC,25176,0.51,155.7,365.3,10.9,773,25181,0.12,2.45,0.00,0.000,6,0.126,0.041,3244,1904,2353,0,0,0,0,0,0
$GC,25501,0.51,155.7,337.1,9.0,781,25505,0.00,2.40,0.00,0.000,4,0.000,0.050,3255,335,2354,0,0,0,0,0,0
$GC,25521,0.51,155.7,334.9,10.7,781,25526,0.00,2.38,0.00,0.000,6,0.000,0.043,3255,1932,2354,0,0,0,0,0,0
$GC,25871,0.51,155.7,303.0,8.8,790,25872,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1933,2355,0,0,0,0,0,0
$GC,26179,0.51,155.7,275.0,8.5,804,26184,0.00,2.42,0.00,0.000,4,0.000,0.050,3255,3517,2356,0,0,0,0,0,0
$GC,26223,0.51,155.7,270.7,9.1,806,26228,0.00,2.42,0.00,0.000,6,0.000,0.039,3268,1928,2356,0,0,0,0,0,0
$GC,26550,0.51,155.7,244.1,8.1,822,26551,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1928,2358,0,0,0,0,0,0
$GC,26859,0.51,155.7,218.4,8.4,837,26864,0.00,2.45,0.00,0.000,4,0.000,0.048,3280,323,2359,0,0,0,0,0,0
$GC,26969,0.51,155.7,208.8,7.9,842,26973,0.00,2.35,0.00,0.000,6,0.000,0.041,3280,1923,2359,0,0,0,0,0,0
$GC,27291,0.51,155.7,180.8,8.0,868,27295,0.00,2.42,0.00,0.000,4,0.000,0.048,3280,3513,2361,0,0,0,0,0,0
$GC,27319,0.51,155.7,178.3,9.4,870,27324,0.12,2.42,0.00,0.000,6,0.121,0.039,3249,1913,2362,0,0,0,0,0,0
$GC,27579,0.52,169.6,162.2,5.6,894,27601,0.00,2.47,13.90,0.852,4,0.000,0.049,3260,331,2303,0,0,0,0,0,0
$GC,27641,0.52,169.6,158.3,8.1,899,27646,0.00,2.35,0.00,0.000,6,0.000,0.039,3259,1922,2303,0,0,0,0,0,0
$GC,27903,0.52,169.6,139.0,6.8,924,27907,0.00,2.45,0.00,0.000,4,0.000,0.051,3260,3519,2305,0,0,0,0,0,0
$GC,27957,0.52,169.6,134.9,7.0,928,27963,0.00,2.42,0.00,0.000,6,0.000,0.038,3271,1916,2306,0,0,0,0,0,0
$GC,28218,0.52,169.6,118.6,6.2,953,28222,0.00,2.42,0.00,0.000,4,0.000,0.048,3283,323,2307,0,0,0,0,0,0
$GC,28275,0.52,169.6,115.2,6.9,957,28280,0.00,2.38,0.00,0.000,6,0.000,0.038,3283,1946,2307,0,0,0,0,0,0
$GC,28535,0.52,169.6,98.1,7.2,982,28536,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1946,2307,0,0,0,0,0,0
$GC,28790,0.52,169.6,81.1,6.2,1006,28794,0.00,2.38,0.00,0.000,4,0.000,0.048,3283,3501,2308,0,0,0,0,0,0
$GC,28831,0.53,175.0,78.4,5.9,1009,28847,0.12,2.38,7.32,0.659,6,0.117,0.035,3249,1910,2281,0,0,0,0,0,0
$GC,29108,0.58,213.0,67.2,5.0,1035,29149,0.00,2.50,31.85,0.821,4,0.000,0.047,3260,330,2125,0,0,0,0,0,0
$GC,29200,0.58,213.0,61.3,6.4,1043,29206,0.00,2.33,0.00,0.000,6,0.000,0.037,3259,1920,2126,0,0,0,0,0,0
$GC,29461,0.58,213.0,44.0,7.3,1068,29465,0.00,2.40,0.00,0.000,4,0.000,0.044,3268,326,2126,0,0,0,0,0,0
$GC,29572,0.58,217.3,36.5,5.9,1077,29583,0.00,2.30,5.53,0.584,6,0.000,0.035,3267,1922,2109,0,0,0,0,0,0
$GC,29840,0.58,217.3,16.4,8.7,1102,29844,0.00,2.42,0.00,0.000,4,0.000,0.046,3267,3505,2110,0,0,0,0,0,0
$GC,29926,0.58,217.3,9.4,8.8,1109,29930,0.00,2.38,0.00,0.000,6,0.000,0.035,3274,1905,2111,0,0,0,0,0,0
$STATE,30025,end climb,SURFACE_DEPTH_REACHED
$STATE,30025,begin surface coast
$FINISH,1.3,1.023358
$STATE,30080,end surface coast,CONTROL_FINISHED_OK
$STATE,30080,begin surface
$SM_CCo,30097,84.97,0.816,0,0,1363,400.08
$SM_GC,1.04,0.00,0.00,84.97,0.000,0.000,0.816,105,2153,1363,-9.33,0.90,400.08
$IRIDIUM_FIX,2206.70,12900.32,210812,010100
$TT8_MAMPS,0.028379
$HUMID,1078709023
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.6,72.406
$10V_AH,9.6,59.166
$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,21.450,331.650,351.075,84.975,0.000,31.182,35.581,243.549,0.000,0.000,12.993,2504.169,23726.781,691.528,3113.191,582.408,33.384,2274.670,0.000,2773.922,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,60.593,1605.331,816.088,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,766.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,39998,1123
$CAP_FILE_SIZE,328959,0
$CFSIZE,260165632,185192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270211,003731,2214.994,12859.912,38,1.2,38,-3.2