version: 66.07
glider: 500
mission: 5
dive: 297
start: 1 18 111 19 31 19
data:
$ID,500
$MISSION,5
$DIVE,297
$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,-126453.89
$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,3070
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,46
$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,2
$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
$GPS1,180111,191900,2300.810,12706.082,41,1.6,47,-3.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.9
$GPS2,180111,193025,2300.826,12706.116,8,1.8,13,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.147,0.164
$KALMAN_X,-683170.1,1615.5,-388.2,1078070.2,-6010.9
$KALMAN_Y,-209110.5,871.0,-580.5,414693.3,-842.8
$MHEAD_RNG_PITCHd_Wd,45.2,14415,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
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$GC,16225,-0.50,-155.7,911.2,-4.8,546,16229,0.00,2.38,0.00,0.000,4,0.000,0.048,2889,518,3595,0,0,0,0,0,0
$GC,16417,-0.50,-155.7,919.9,-4.5,550,16421,0.00,2.35,0.00,0.000,6,0.000,0.043,2880,2111,3598,0,0,0,0,0,0
$GC,16765,-0.50,-155.7,934.9,-4.4,559,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2111,3595,0,0,0,0,0,0
$GC,17089,-0.50,-155.7,949.3,-4.5,567,17093,0.00,2.42,0.00,0.000,4,0.000,0.055,2865,3682,3594,0,0,0,0,0,0
$GC,17121,-0.50,-155.7,950.9,-4.8,567,17127,0.12,2.33,0.00,0.000,6,0.116,0.037,2909,2101,3594,0,0,0,0,0,0
$GC,17453,-0.50,-155.7,965.1,-4.7,576,17457,0.00,2.38,0.00,0.000,4,0.000,0.048,2909,523,3593,0,0,0,0,0,0
$GC,17543,-0.50,-155.7,969.2,-3.9,578,17547,0.00,2.35,0.00,0.000,6,0.000,0.044,2900,2110,3594,0,0,0,0,0,0
$GC,17866,-0.50,-155.7,982.8,-4.2,586,17870,0.00,2.42,0.00,0.000,4,0.000,0.054,2885,3683,3593,0,0,0,0,0,0
$GC,18091,-0.50,-155.7,990.0,-2.6,591,18095,0.00,2.08,0.00,0.000,3,0.000,0.037,2889,2255,3594,0,0,0,0,0,0
$STATE,18096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18096,begin apogee
$GC,18101,-0.23,0.0,990.2,2.7,591,18237,0.28,0.00,132.85,1.447,6,0.097,0.000,2991,1901,2996,0,0,0,0,0,0
$STATE,18240,end apogee,CONTROL_FINISHED_OK
$STATE,18240,begin climb
$GC,18243,0.50,155.7,989.2,0.0,594,18406,0.65,2.80,150.65,1.396,4,0.064,0.054,3234,3484,2363,0,0,0,0,0,0
$GC,18475,0.50,155.7,959.1,16.1,599,18479,0.00,2.53,0.00,0.000,6,0.000,0.041,3245,1909,2351,0,0,0,0,0,0
$GC,18816,0.50,155.7,907.1,15.2,608,18820,0.00,2.47,0.00,0.000,4,0.000,0.052,3258,312,2341,0,0,0,0,0,0
$GC,18865,0.50,155.7,899.6,13.9,609,18870,0.00,2.42,0.00,0.000,6,0.000,0.044,3258,1904,2341,0,0,0,0,0,0
$GC,19177,0.50,155.7,853.1,14.3,617,19182,0.00,2.45,0.00,0.000,4,0.000,0.054,3258,3491,2341,0,0,0,0,0,0
$GC,19277,0.50,155.7,838.3,15.4,619,19282,0.12,2.45,0.00,0.000,6,0.143,0.043,3232,1897,2340,0,0,0,0,0,0
$GC,19591,0.50,155.7,802.0,11.6,627,19595,0.00,2.40,0.00,0.000,4,0.000,0.054,3243,319,2337,0,0,0,0,0,0
$GC,19611,0.50,155.7,799.2,11.8,627,19615,0.00,2.40,0.00,0.000,6,0.000,0.044,3240,1899,2339,0,0,0,0,0,0
$GC,19954,0.50,155.7,758.6,11.9,636,19958,0.00,2.42,0.00,0.000,4,0.000,0.054,3246,3487,2338,0,0,0,0,0,0
$GC,20021,0.50,155.7,749.8,12.6,637,20025,0.00,2.40,0.00,0.000,6,0.000,0.043,3255,1900,2338,0,0,0,0,0,0
$GC,20356,0.50,155.7,706.8,12.7,646,20358,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1900,2339,0,0,0,0,0,0
$GC,20681,0.50,155.7,663.6,13.4,654,20686,0.00,2.42,0.00,0.000,4,0.000,0.055,3255,3484,2337,0,0,0,0,0,0
$GC,20721,0.50,155.7,658.0,13.9,655,20726,0.12,2.40,0.00,0.000,6,0.137,0.044,3227,1900,2337,0,0,0,0,0,0
$GC,21045,0.50,155.7,623.5,10.2,663,21046,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1899,2335,0,0,0,0,0,0
$GC,21370,0.50,155.7,589.8,10.1,671,21374,0.00,2.42,0.00,0.000,4,0.000,0.054,3226,3484,2336,0,0,0,0,0,0
$GC,21403,0.50,155.7,586.2,10.8,671,21408,0.00,2.35,0.00,0.000,6,0.000,0.043,3238,1893,2336,0,0,0,0,0,0
$GC,21733,0.50,155.7,550.7,11.1,680,21737,0.00,2.40,0.00,0.000,4,0.000,0.054,3250,316,2336,0,0,0,0,0,0
$GC,21772,0.50,155.7,546.0,11.8,681,21776,0.00,2.35,0.00,0.000,6,0.000,0.045,3247,1900,2337,0,0,0,0,0,0
$GC,22096,0.50,155.7,504.4,12.6,689,22100,0.00,2.40,0.00,0.000,4,0.000,0.053,3250,3498,2336,0,0,0,0,0,0
$GC,22189,0.50,155.7,493.0,12.3,691,22194,0.00,2.42,0.00,0.000,6,0.000,0.043,3262,1891,2336,0,0,0,0,0,0
$GC,22508,0.50,155.7,457.1,11.3,699,22512,0.00,2.40,0.00,0.000,4,0.000,0.054,3275,318,2336,0,0,0,0,0,0
$GC,22558,0.50,155.7,451.2,12.7,700,22563,0.15,2.38,0.00,0.000,6,0.120,0.044,3225,1904,2336,0,0,0,0,0,0
$GC,22870,0.50,155.7,423.8,8.7,708,22874,0.00,2.40,0.00,0.000,4,0.000,0.053,3224,3494,2336,0,0,0,0,0,0
$GC,22931,0.50,155.7,417.6,10.4,709,22935,0.00,2.42,0.00,0.000,6,0.000,0.041,3234,1906,2334,0,0,0,0,0,0
$GC,23280,0.50,155.7,387.2,8.1,718,23281,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1906,2335,0,0,0,0,0,0
$GC,23604,0.50,155.7,363.9,7.1,726,23608,0.00,2.42,0.00,0.000,4,0.000,0.051,3235,3487,2334,0,0,0,0,0,0
$GC,23647,0.50,155.7,360.1,9.3,727,23651,0.00,2.42,0.00,0.000,6,0.000,0.041,3247,1900,2337,0,0,0,0,0,0
$GC,23972,0.50,155.7,327.6,10.4,735,23976,0.00,2.42,0.00,0.000,4,0.000,0.052,3259,308,2336,0,0,0,0,0,0
$GC,24010,0.50,155.7,323.6,9.1,736,24014,0.00,2.38,0.00,0.000,6,0.000,0.041,3259,1900,2336,0,0,0,0,0,0
$GC,24335,0.50,155.7,288.5,10.4,746,24339,0.00,2.40,0.00,0.000,4,0.000,0.054,3260,3488,2336,0,0,0,0,0,0
$GC,24374,0.50,155.7,284.1,10.4,748,24379,0.12,2.40,0.00,0.000,6,0.130,0.043,3230,1898,2337,0,0,0,0,0,0
$GC,24700,0.50,155.7,259.4,7.6,764,24701,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1897,2337,0,0,0,0,0,0
$GC,25012,0.50,155.7,234.8,7.5,779,25013,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1898,2338,0,0,0,0,0,0
$GC,25319,0.50,155.7,213.9,6.7,794,25323,0.00,2.40,0.00,0.000,4,0.000,0.051,3230,3488,2339,0,0,0,0,0,0
$GC,25357,0.50,155.7,210.9,9.1,796,25362,0.00,2.38,0.00,0.000,6,0.000,0.041,3241,1887,2340,0,0,0,0,0,0
$GC,25680,0.50,155.7,187.9,7.4,819,25684,0.00,2.40,0.00,0.000,4,0.000,0.050,3250,311,2341,0,0,0,0,0,0
$GC,25745,0.50,155.7,182.9,7.7,824,25752,0.00,2.33,0.00,0.000,6,0.000,0.039,3254,1914,2341,0,0,0,0,0,0
$GC,26008,0.50,155.7,163.3,7.2,849,26012,0.00,2.35,0.00,0.000,4,0.000,0.049,3253,3484,2342,0,0,0,0,0,0
$GC,26030,0.50,155.7,161.4,7.2,851,26035,0.10,2.38,0.00,0.000,6,0.136,0.040,3230,1902,2342,0,0,0,0,0,0
$GC,26292,0.50,155.7,145.8,6.0,875,26296,0.00,2.40,0.00,0.000,4,0.000,0.049,3242,300,2342,0,0,0,0,0,0
$GC,26331,0.52,167.9,143.4,5.7,878,26345,0.00,2.33,9.10,0.624,6,0.000,0.038,3242,1897,2311,0,0,0,0,0,0
$GC,26607,0.57,204.9,129.5,5.0,904,26645,0.00,0.00,32.67,0.721,6,0.000,0.000,3242,1897,2159,0,0,0,0,0,0
$GC,26901,0.60,235.5,113.9,5.2,932,26932,0.00,2.42,26.12,0.714,4,0.000,0.047,3242,3499,2035,0,0,0,0,0,0
$GC,26972,0.62,249.4,109.8,5.6,938,26991,0.00,2.42,13.20,0.671,6,0.000,0.037,3253,1884,1980,0,0,0,0,0,0
$GC,27252,0.62,249.4,90.2,6.8,965,27256,0.00,2.35,0.00,0.000,4,0.000,0.048,3264,320,1971,0,0,0,0,0,0
$GC,27291,0.62,249.4,87.7,6.3,968,27295,0.00,2.33,0.00,0.000,6,0.000,0.037,3264,1899,1972,0,0,0,0,0,0
$GC,27553,0.62,249.4,68.3,6.5,992,27557,0.00,2.38,0.00,0.000,4,0.000,0.048,3264,3499,1971,0,0,0,0,0,0
$GC,27596,0.62,249.4,65.1,8.1,995,27602,0.00,2.38,0.00,0.000,6,0.000,0.037,3276,1901,1971,0,0,0,0,0,0
$GC,27859,0.62,249.4,42.5,10.4,1020,27863,0.00,2.40,0.00,0.000,4,0.000,0.050,3288,317,1971,0,0,0,0,0,0
$GC,27902,0.62,249.4,38.7,8.1,1023,27908,0.00,2.35,0.00,0.000,6,0.000,0.039,3288,1912,1969,0,0,0,0,0,0
$GC,28165,0.62,249.4,17.9,8.2,1048,28169,0.00,2.35,0.00,0.000,4,0.000,0.050,3288,3477,1971,0,0,0,0,0,0
$GC,28239,0.62,249.4,10.8,11.8,1054,28243,0.00,2.30,0.00,0.000,6,0.000,0.036,3299,1902,1974,0,0,0,0,0,0
$STATE,28327,end climb,SURFACE_DEPTH_REACHED
$STATE,28327,begin surface coast
$FINISH,0.4,1.016645
$STATE,28360,end surface coast,CONTROL_FINISHED_OK
$STATE,28360,begin surface
$SM_CCo,28380,74.62,0.644,0,0,1363,400.08
$SM_GC,1.21,0.00,0.00,74.62,0.000,0.000,0.644,106,2113,1363,-9.26,0.25,400.08
$IRIDIUM_FIX,2251.04,12703.43,130712,131349
$TT8_MAMPS,0.059059
$HUMID,1078665152
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8320122880
$AR_CDRIVE_SIZE,8453062656
$24V_AH,22.0,50.798
$10V_AH,9.9,43.230
$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,21.000,267.100,364.600,74.625,0.000,61.278,75.153,339.993,0.000,0.000,14.855,2144.473,22966.643,644.144,3018.053,397.795,33.386,2058.429,0.000,2467.249,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,62.894,1446.562,644.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,728.865,0.000,0.000,0.000,0.000,0.000,0.000,28444.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.006,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,36614,1065
$CAP_FILE_SIZE,227768,0
$CFSIZE,260165632,197017600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190111,032736,2303.365,12707.465,35,1.1,35,-3.4