version: 66.07
glider: 511
mission: 5
dive: 341
start: 2 2 111 8 9 10
data:
$ID,511
$MISSION,5
$DIVE,341
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-49616.684
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2589
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$GPS1,020211,075705,1807.790,12611.360,35,0.9,40,-2.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,7
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-73.3
$GPS2,020211,080813,1807.762,12611.313,8,1.1,14,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.149,0.155
$KALMAN_X,-555508.6,-440.2,-357.7,409612.8,1898.5
$KALMAN_Y,619016.2,54.6,368.4,-894825.6,-4730.6
$MHEAD_RNG_PITCHd_Wd,318.1,201825,-9.9,-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,13,begin dive
$GC,15,-0.58,-146.0,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,49,2047,2934,0,0,0,0,0,0
$GC,91,-0.58,-146.0,4.3,-5.2,7,119,10.20,2.33,-10.60,0.000,4,0.249,0.074,2386,3475,3488,0,0,0,0,0,0
$GC,250,-0.58,-146.0,48.2,-19.4,24,254,0.00,2.20,0.00,0.000,6,0.000,0.044,2386,2066,3490,0,0,0,0,0,0
$GC,511,-0.58,-146.0,105.0,-21.7,48,515,0.00,2.25,0.00,0.000,4,0.000,0.060,2387,646,3490,0,0,0,0,0,0
$GC,575,-0.58,-146.0,118.8,-19.3,54,581,0.00,2.25,0.00,0.000,6,0.000,0.051,2377,2065,3490,0,0,0,0,0,0
$GC,836,-0.58,-146.0,171.1,-18.2,79,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3490,0,0,0,0,0,0
$GC,1099,-0.58,-146.0,214.8,-17.1,100,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3492,0,0,0,0,0,0
$GC,1408,-0.58,-146.0,258.5,-13.3,115,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3491,0,0,0,0,0,0
$GC,1718,-0.58,-146.0,295.0,-11.9,130,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3492,0,0,0,0,0,0
$GC,2023,-0.58,-146.0,332.2,-12.2,139,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3492,0,0,0,0,0,0
$GC,2349,-0.58,-146.0,367.9,-10.3,147,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3491,0,0,0,0,0,0
$GC,2673,-0.58,-146.0,400.6,-10.5,155,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2065,3490,0,0,0,0,0,0
$GC,2998,-0.58,-146.0,432.2,-9.4,163,3002,0.00,2.28,0.00,0.000,4,0.000,0.065,2366,3474,3488,0,0,0,0,0,0
$GC,3031,-0.58,-146.0,435.2,-9.0,163,3036,0.12,2.20,0.00,0.000,6,0.146,0.044,2402,2054,3487,0,0,0,0,0,0
$GC,3363,-0.58,-146.0,460.0,-7.6,171,3367,0.00,2.17,0.00,0.000,4,0.000,0.054,2402,651,3485,0,0,0,0,0,0
$GC,3406,-0.58,-146.0,463.6,-8.6,172,3410,0.00,2.25,0.00,0.000,6,0.000,0.052,2402,2063,3485,0,0,0,0,0,0
$GC,3734,-0.58,-146.0,490.5,-8.3,180,3738,0.00,2.25,0.00,0.000,4,0.000,0.065,2393,3472,3482,0,0,0,0,0,0
$GC,3817,-0.58,-146.0,497.5,-7.9,181,3822,0.00,2.20,0.00,0.000,6,0.000,0.044,2393,2054,3481,0,0,0,0,0,0
$GC,4147,-0.58,-146.0,521.5,-7.0,190,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2054,3479,0,0,0,0,0,0
$GC,4472,-0.58,-146.0,545.8,-7.7,198,4476,0.00,2.20,0.00,0.000,4,0.000,0.053,2393,649,3476,0,0,0,0,0,0
$GC,4506,-0.58,-146.0,548.5,-8.5,198,4510,0.00,2.28,0.00,0.000,6,0.000,0.055,2390,2062,3476,0,0,0,0,0,0
$GC,4837,-0.58,-146.0,572.8,-7.1,206,4841,0.00,2.28,0.00,0.000,4,0.000,0.066,2382,3478,3474,0,0,0,0,0,0
$GC,4883,-0.58,-146.0,576.1,-7.5,207,4887,0.00,2.22,0.00,0.000,6,0.000,0.046,2382,2061,3473,0,0,0,0,0,0
$GC,5206,-0.58,-146.0,602.8,-8.7,215,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2061,3470,0,0,0,0,0,0
$GC,5530,-0.58,-146.0,629.8,-8.1,223,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2061,3467,0,0,0,0,0,0
$GC,5856,-0.58,-146.0,654.7,-7.7,231,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2061,3466,0,0,0,0,0,0
$GC,6180,-0.58,-146.0,680.6,-8.0,239,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2061,3464,0,0,0,0,0,0
$GC,6506,-0.58,-146.0,705.1,-7.4,247,6510,0.00,2.25,0.00,0.000,4,0.000,0.055,2382,642,3462,0,0,0,0,0,0
$GC,6537,-0.58,-146.0,707.6,-7.9,247,6541,0.00,2.30,0.00,0.000,6,0.000,0.057,2378,2060,3461,0,0,0,0,0,0
$GC,6868,-0.58,-146.0,731.5,-7.3,255,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2062,3459,0,0,0,0,0,0
$GC,7194,-0.58,-146.0,755.2,-7.3,263,7198,0.00,2.30,0.00,0.000,4,0.000,0.067,2370,3472,3458,0,0,0,0,0,0
$GC,7244,-0.58,-146.0,759.2,-7.1,264,7249,0.12,2.22,0.00,0.000,6,0.147,0.043,2405,2049,3457,0,0,0,0,0,0
$GC,7567,-0.58,-146.0,777.4,-5.6,272,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2043,3456,0,0,0,0,0,0
$GC,7892,-0.58,-146.0,794.5,-5.2,280,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2043,3454,0,0,0,0,0,0
$GC,8217,-0.58,-146.0,810.5,-5.0,288,8221,0.00,2.35,0.00,0.000,4,0.000,0.066,2397,3472,3452,0,0,0,0,0,0
$GC,8247,-0.58,-146.0,811.9,-6.0,288,8251,0.00,2.20,0.00,0.000,6,0.000,0.045,2397,2056,3452,0,0,0,0,0,0
$GC,8582,-0.58,-146.0,831.7,-6.1,297,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2050,3451,0,0,0,0,0,0
$GC,8908,-0.58,-146.0,852.5,-6.5,305,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2050,3449,0,0,0,0,0,0
$GC,9232,-0.58,-146.0,873.5,-6.5,313,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2050,3448,0,0,0,0,0,0
$GC,9557,-0.58,-146.0,893.2,-6.0,321,9561,0.00,2.33,0.00,0.000,4,0.000,0.067,2387,3472,3447,0,0,0,0,0,0
$GC,9580,-0.58,-146.0,894.6,-7.5,321,9584,0.00,2.22,0.00,0.000,6,0.000,0.046,2387,2054,3447,0,0,0,0,0,0
$GC,9926,-0.58,-146.0,914.5,-5.6,330,9930,0.00,2.25,0.00,0.000,4,0.000,0.057,2387,648,3447,0,0,0,0,0,0
$GC,9956,-0.58,-146.0,916.4,-6.1,330,9960,0.00,2.28,0.00,0.000,6,0.000,0.051,2380,2066,3446,0,0,0,0,0,0
$GC,10292,-0.58,-146.0,935.6,-5.7,339,10296,0.00,2.28,0.00,0.000,4,0.000,0.068,2371,3468,3446,0,0,0,0,0,0
$GC,10348,-0.58,-146.0,939.1,-5.7,340,10353,0.12,2.20,0.00,0.000,6,0.146,0.047,2406,2058,3445,0,0,0,0,0,0
$GC,10664,-0.58,-146.0,954.3,-4.9,348,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2052,3445,0,0,0,0,0,0
$GC,10987,-0.58,-146.0,971.5,-5.5,356,10991,0.00,2.33,0.00,0.000,4,0.000,0.068,2398,3467,3444,0,0,0,0,0,0
$GC,11010,-0.58,-146.0,973.0,-6.9,356,11014,0.00,2.20,0.00,0.000,6,0.000,0.047,2398,2059,3444,0,0,0,0,0,0
$STATE,11307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11307,begin apogee
$GC,11313,-0.28,0.0,992.0,6.5,364,11440,0.30,0.00,123.80,1.357,6,0.127,0.000,2494,2135,2891,0,0,0,0,0,0
$STATE,11441,end apogee,CONTROL_FINISHED_OK
$STATE,11441,begin climb
$GC,11443,0.58,146.0,997.3,0.0,367,11588,0.82,2.53,135.57,1.318,4,0.079,0.069,2778,3536,2293,0,0,0,0,0,0
$GC,11636,0.58,146.0,989.3,12.9,371,11640,0.00,2.33,0.00,0.000,6,0.000,0.049,2788,2127,2288,0,0,1,0,0,0
$GC,11969,0.58,146.0,951.4,11.4,379,11973,0.00,2.25,0.00,0.000,4,0.000,0.061,2799,725,2281,0,0,0,0,0,0
$GC,12061,0.58,146.0,940.2,11.4,381,12065,0.00,2.28,0.00,0.000,6,0.000,0.055,2799,2123,2279,0,0,0,0,0,0
$GC,12386,0.58,146.0,901.8,11.9,389,12390,0.00,2.33,0.00,0.000,4,0.000,0.071,2799,3540,2277,0,0,0,0,0,0
$GC,12471,0.58,146.0,889.8,13.7,390,12477,0.12,2.25,0.00,0.000,6,0.211,0.055,2781,2132,2277,0,0,1,0,0,0
$GC,12803,0.58,146.0,850.2,11.8,399,12807,0.00,2.25,0.00,0.000,4,0.000,0.061,2789,724,2276,0,0,0,0,0,0
$GC,12895,0.58,146.0,838.6,12.2,401,12899,0.00,2.30,0.00,0.000,6,0.000,0.058,2790,2137,2275,0,0,0,0,0,0
$GC,13219,0.58,146.0,800.0,11.7,409,13223,0.00,2.30,0.00,0.000,4,0.000,0.070,2790,3545,2275,0,0,0,0,0,0
$GC,13336,0.58,146.0,784.9,13.0,411,13340,0.00,2.28,0.00,0.000,6,0.000,0.051,2800,2122,2275,0,0,0,0,0,0
$GC,13677,0.58,146.0,746.2,11.1,420,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2117,2274,0,0,0,0,0,0
$GC,14001,0.58,146.0,711.5,10.6,428,14005,0.00,2.25,0.00,0.000,4,0.000,0.059,2811,712,2274,0,0,0,0,0,0
$GC,14047,0.58,146.0,706.4,10.9,429,14052,0.12,2.28,0.00,0.000,6,0.202,0.054,2781,2133,2272,0,0,0,0,0,0
$GC,14371,0.58,146.0,675.1,9.6,437,14372,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2133,2272,0,0,0,0,0,0
$GC,14695,0.58,146.0,644.8,9.4,445,14699,0.00,2.33,0.00,0.000,4,0.000,0.070,2780,3540,2272,0,0,0,0,0,0
$GC,14764,0.58,146.0,637.0,11.5,446,14768,0.00,2.25,0.00,0.000,6,0.000,0.051,2789,2120,2272,0,0,1,0,0,0
$GC,15105,0.58,146.0,603.7,9.5,455,15109,0.00,2.25,0.00,0.000,4,0.000,0.059,2800,714,2272,0,0,0,0,0,0
$GC,15142,0.58,146.0,600.1,9.4,455,15148,0.00,2.30,0.00,0.000,6,0.000,0.055,2800,2134,2271,0,0,0,0,0,0
$GC,15473,0.58,146.0,571.7,8.2,464,15474,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2133,2271,0,0,0,0,0,0
$GC,15797,0.58,146.0,543.5,9.0,472,15801,0.00,2.30,0.00,0.000,4,0.000,0.066,2810,724,2271,0,0,0,0,0,0
$GC,15872,0.58,146.0,536.5,8.4,473,15876,0.15,2.28,0.00,0.000,6,0.191,0.056,2774,2137,2271,0,0,0,0,0,0
$GC,16209,0.58,146.0,509.7,7.8,482,16213,0.00,2.33,0.00,0.000,4,0.000,0.069,2774,3544,2271,0,0,0,0,0,0
$GC,16356,0.58,146.0,497.1,8.4,485,16360,0.00,2.25,0.00,0.000,6,0.000,0.051,2783,2125,2271,0,0,1,0,0,0
$GC,16670,0.58,146.0,472.4,8.1,493,16674,0.00,2.35,0.00,0.000,4,0.000,0.069,2783,3541,2271,0,0,0,0,0,0
$GC,16763,0.58,146.0,462.6,10.3,495,16767,0.00,2.25,0.00,0.000,6,0.000,0.050,2793,2131,2271,0,0,0,0,0,0
$GC,17088,0.58,146.0,430.8,9.5,503,17092,0.00,2.35,0.00,0.000,4,0.000,0.068,2793,3542,2270,0,0,0,0,0,0
$GC,17107,0.58,146.0,428.7,8.9,503,17111,0.00,2.25,0.00,0.000,6,0.000,0.049,2803,2130,2271,0,0,0,0,0,0
$GC,17452,0.58,146.0,403.9,6.6,512,17456,0.00,2.28,0.00,0.000,4,0.000,0.061,2815,717,2271,0,0,0,0,0,0
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$STATE,23503,end climb,SURFACE_DEPTH_REACHED
$STATE,23503,begin surface coast
$FINISH,1.2,1.022804
$STATE,23525,end surface coast,CONTROL_FINISHED_OK
$STATE,23525,begin surface
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$HUMID,1078718055
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.40
$XPDR_PINGS,2
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$10V_AH,9.9,47.464
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.050,181.625,430.000,50.050,0.000,24.025,33.448,474.986,0.500,0.000,16.375,1935.885,18587.217,613.935,2686.800,430.827,33.368,1849.720,0.000,2193.570,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354804
$DATA_FILE_SIZE,33412,911
$CAP_FILE_SIZE,247742,0
$CFSIZE,260165632,228540416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020211,144353,1810.184,12609.224,34,1.2,50,-2.1