version: 66.07
glider: 500
mission: 5
dive: 278
start: 1 12 111 7 25 13
data:
$ID,500
$MISSION,5
$DIVE,278
$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,618.14594
$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,-126137.68
$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,2095
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,39
$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
$GPS1,120111,070437,2215.382,12703.126,37,1.0,37,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.2
$GPS2,120111,072419,2215.193,12702.758,7,1.3,12,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.192,0.261
$KALMAN_X,-600102.6,-654.2,673.9,990433.6,-6183.9
$KALMAN_Y,-188812.0,710.7,-300.0,309749.6,-1454.9
$MHEAD_RNG_PITCHd_Wd,39.5,98529,-2.8,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
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$GC,16713,-0.29,-155.7,831.6,-5.6,612,16719,0.00,2.35,0.00,0.000,6,0.000,0.038,2993,2093,3596,0,0,0,0,0,0
$GC,17045,-0.29,-155.7,850.7,-6.1,621,17049,0.00,2.45,0.00,0.000,4,0.000,0.054,2993,3674,3599,0,0,0,0,0,0
$GC,17302,-0.29,-155.7,867.0,-6.3,626,17306,0.00,2.40,0.00,0.000,6,0.000,0.038,2990,2092,3599,0,0,0,0,0,0
$GC,17640,-0.29,-155.7,887.0,-5.8,635,17644,0.00,2.47,0.00,0.000,4,0.000,0.054,2993,3684,3597,0,0,0,0,0,0
$GC,17897,-0.29,-155.7,898.6,-2.8,640,17903,0.00,2.38,0.00,0.000,6,0.000,0.036,2993,2088,3596,0,0,0,0,0,0
$GC,18228,-0.29,-155.7,909.1,-3.2,649,18232,0.00,2.47,0.00,0.000,4,0.000,0.054,2993,3679,3596,0,0,0,0,0,0
$GC,18486,-0.29,-155.7,917.2,-2.6,654,18492,0.00,2.38,0.00,0.000,6,0.000,0.037,2993,2089,3595,0,0,0,0,0,0
$GC,18817,-0.29,-155.7,930.3,-4.5,663,18821,0.00,2.47,0.00,0.000,4,0.000,0.054,2994,3679,3595,0,0,0,0,0,0
$GC,19074,-0.29,-155.7,942.5,-5.6,668,19080,0.00,2.35,0.00,0.000,6,0.000,0.038,2993,2090,3594,0,0,0,0,0,0
$GC,19405,-0.29,-155.7,960.2,-5.8,677,19409,0.00,2.45,0.00,0.000,4,0.000,0.054,2993,3683,3593,0,0,0,0,0,0
$GC,19662,-0.29,-155.7,974.6,-5.4,682,19668,0.00,2.38,0.00,0.000,6,0.000,0.036,2993,2083,3593,0,0,0,0,0,0
$STATE,19991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19991,begin apogee
$GC,19997,-0.23,0.0,991.9,5.3,691,20131,0.00,0.00,131.68,1.424,6,0.000,0.000,2993,1878,2995,0,0,0,0,0,0
$STATE,20134,end apogee,CONTROL_FINISHED_OK
$STATE,20134,begin climb
$GC,20136,0.29,155.7,993.9,0.0,694,20292,0.45,2.75,147.48,1.374,4,0.069,0.052,3169,310,2361,0,0,0,0,0,0
$GC,20309,0.29,155.7,981.9,7.4,698,20313,0.00,2.58,0.00,0.000,6,0.000,0.041,3170,1873,2356,0,0,0,0,0,0
$GC,20620,0.29,155.7,959.2,7.2,706,20625,0.00,2.53,0.00,0.000,4,0.000,0.053,3170,3477,2346,0,0,0,0,0,0
$GC,20715,0.29,155.7,951.6,7.9,708,20720,0.00,2.45,0.00,0.000,6,0.000,0.041,3180,1885,2344,0,0,0,0,0,0
$GC,21027,0.29,155.7,924.9,8.7,716,21029,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1885,2342,0,0,0,0,0,0
$GC,21352,0.29,155.7,895.8,9.1,724,21357,0.00,2.42,0.00,0.000,4,0.000,0.054,3179,3469,2341,0,0,0,0,0,0
$GC,21386,0.29,155.7,892.7,10.0,724,21391,0.00,2.42,0.00,0.000,6,0.000,0.043,3180,1883,2344,0,0,0,0,0,0
$GC,21716,0.29,155.7,863.3,8.6,733,21720,0.00,2.42,0.00,0.000,4,0.000,0.053,3192,288,2340,0,0,0,0,0,0
$GC,21731,0.29,155.7,862.0,8.7,733,21735,0.00,2.42,0.00,0.000,6,0.000,0.045,3193,1878,2340,0,0,0,0,0,0
$GC,22079,0.29,155.7,830.1,9.1,742,22083,0.00,2.45,0.00,0.000,4,0.000,0.056,3193,3475,2339,0,0,0,0,0,0
$GC,22190,0.29,155.7,818.2,10.3,744,22195,0.12,2.40,0.00,0.000,6,0.136,0.043,3161,1881,2338,0,0,0,0,0,0
$GC,22526,0.29,155.7,795.0,6.4,753,22530,0.00,2.45,0.00,0.000,4,0.000,0.055,3161,3477,2338,0,0,0,0,0,0
$GC,22553,0.29,155.7,793.1,7.6,753,22558,0.00,2.42,0.00,0.000,6,0.000,0.043,3171,1882,2338,0,0,0,0,0,0
$GC,22883,0.29,155.7,769.8,7.2,761,22885,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1886,2337,0,0,0,0,0,0
$GC,23208,0.29,155.7,744.4,8.0,769,23210,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1883,2337,0,0,0,0,0,0
$GC,23533,0.29,155.7,718.4,7.9,777,23538,0.00,2.47,0.00,0.000,4,0.000,0.054,3171,3481,2337,0,0,0,0,0,0
$GC,23585,0.29,155.7,713.9,9.6,778,23589,0.00,2.45,0.00,0.000,6,0.000,0.041,3183,1877,2336,0,0,0,0,0,0
$GC,23896,0.29,155.7,685.9,8.9,786,23901,0.00,2.42,0.00,0.000,4,0.000,0.054,3196,297,2336,0,0,0,0,0,0
$GC,23929,0.29,155.7,682.9,8.3,786,23936,0.08,2.42,0.00,0.000,6,0.090,0.046,3149,1890,2336,0,0,0,0,0,0
$GC,24261,0.29,155.7,661.2,6.4,795,24265,0.00,2.42,0.00,0.000,4,0.000,0.055,3149,3468,2336,0,0,0,0,0,0
$GC,24332,0.29,155.7,656.1,8.1,796,24336,0.00,2.45,0.00,0.000,6,0.000,0.043,3157,1884,2335,0,0,0,0,0,0
$GC,24670,0.34,203.3,636.7,5.5,805,24711,0.00,0.00,39.30,1.157,6,0.000,0.000,3157,1882,2166,0,0,0,0,0,0
$GC,25036,0.50,331.9,618.9,4.7,814,25155,0.20,0.00,112.68,1.149,6,0.067,0.000,3276,1882,1646,0,0,0,0,0,0
$GC,25480,0.50,331.9,554.4,15.7,825,25485,0.12,2.50,0.00,0.000,4,0.127,0.053,3241,282,1630,0,0,0,0,0,0
$GC,25506,0.50,331.9,550.9,12.7,825,25511,0.00,2.45,0.00,0.000,6,0.000,0.042,3241,1896,1629,0,0,0,0,0,0
$GC,25843,0.50,331.9,514.2,11.1,834,25847,0.00,2.42,0.00,0.000,4,0.000,0.055,3241,3473,1627,0,0,0,0,0,0
$GC,25893,0.50,331.9,508.1,11.2,835,25897,0.00,2.47,0.00,0.000,6,0.000,0.044,3253,1864,1626,0,0,0,0,0,0
$GC,26204,0.50,331.9,465.5,14.0,843,26208,0.00,2.42,0.00,0.000,4,0.000,0.055,3265,298,1625,0,0,0,0,0,0
$GC,26270,0.50,331.9,456.5,13.7,844,26275,0.12,2.38,0.00,0.000,6,0.118,0.044,3220,1893,1624,0,0,0,0,0,0
$GC,26613,0.52,342.3,432.4,5.9,853,26628,0.00,2.45,7.45,0.841,4,0.000,0.054,3220,3459,1599,0,0,0,0,0,0
$GC,26661,0.52,342.3,429.3,6.4,854,26666,0.00,2.42,0.00,0.000,6,0.000,0.041,3226,1884,1598,0,0,0,0,0,0
$GC,26987,0.52,342.3,409.5,6.3,862,26991,0.00,2.45,0.00,0.000,4,0.000,0.053,3238,286,1598,0,0,0,0,0,0
$GC,27037,0.52,342.3,406.0,7.0,863,27041,0.00,2.38,0.00,0.000,6,0.000,0.043,3234,1880,1596,0,0,0,0,0,0
$GC,27349,0.52,342.3,379.9,8.8,871,27353,0.00,2.45,0.00,0.000,4,0.000,0.053,3238,3474,1597,0,0,0,0,0,0
$GC,27393,0.52,342.3,375.4,10.6,872,27397,0.00,2.42,0.00,0.000,6,0.000,0.041,3246,1876,1597,0,0,0,0,0,0
$GC,27710,0.52,342.3,346.2,8.9,880,27714,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,292,1596,0,0,0,0,0,0
$GC,27764,0.52,342.3,340.8,7.2,881,27769,0.00,2.40,0.00,0.000,6,0.000,0.041,3258,1885,1596,0,0,0,0,0,0
$GC,28078,0.52,342.3,309.7,10.1,889,28082,0.00,2.40,0.00,0.000,4,0.000,0.052,3259,3466,1596,0,0,0,0,0,0
$GC,28128,0.52,342.3,304.1,11.0,890,28133,0.12,2.40,0.00,0.000,6,0.117,0.042,3220,1870,1596,0,0,0,0,0,0
$GC,28444,0.52,342.3,280.0,8.0,904,28448,0.00,2.45,0.00,0.000,4,0.000,0.053,3233,285,1594,0,0,0,0,0,0
$GC,28489,0.52,342.3,276.2,9.1,906,28493,0.00,2.38,0.00,0.000,6,0.000,0.041,3234,1896,1596,0,0,0,0,0,0
$GC,28820,0.52,342.3,235.6,12.5,922,28824,0.00,2.38,0.00,0.000,4,0.000,0.051,3232,3459,1596,0,0,0,0,0,0
$GC,28892,0.52,342.3,226.3,13.0,925,28896,0.00,2.40,0.00,0.000,6,0.000,0.038,3231,1864,1596,0,0,0,0,0,0
$GC,29215,0.52,342.3,187.1,11.6,946,29219,0.00,2.40,0.00,0.000,4,0.000,0.051,3232,297,1596,0,0,0,0,0,0
$GC,29294,0.52,342.3,178.0,13.6,953,29298,0.00,2.30,0.00,0.000,6,0.000,0.038,3231,1875,1596,0,0,0,0,0,0
$GC,29555,0.52,342.3,147.8,11.9,977,29560,0.00,2.40,0.00,0.000,4,0.000,0.049,3223,3481,1598,0,0,0,0,0,0
$GC,29606,0.52,342.3,141.5,11.6,981,29610,0.00,2.40,0.00,0.000,6,0.000,0.036,3223,1859,1599,0,0,0,0,0,0
$GC,29868,0.52,342.3,110.2,14.3,1005,29872,0.00,2.35,0.00,0.000,4,0.000,0.048,3223,304,1598,0,0,0,0,0,0
$GC,29929,0.52,342.3,102.6,12.7,1010,29933,0.00,2.30,0.00,0.000,6,0.000,0.038,3223,1881,1599,0,0,0,0,0,0
$GC,30196,0.52,342.3,72.8,11.9,1035,30200,0.00,2.40,0.00,0.000,4,0.000,0.048,3223,299,1599,0,0,0,0,0,0
$GC,30240,0.52,342.3,67.3,10.7,1038,30246,0.00,2.33,0.00,0.000,6,0.000,0.037,3222,1877,1599,0,0,0,0,0,0
$GC,30503,0.52,342.3,35.3,12.7,1063,30507,0.00,2.40,0.00,0.000,4,0.000,0.048,3213,3468,1600,0,0,0,0,0,0
$GC,30565,0.52,342.3,27.0,13.0,1068,30569,0.00,2.38,0.00,0.000,6,0.000,0.038,3213,1880,1601,0,0,0,0,0,0
$GC,30761,0.52,342.3,4.8,9.0,1086,30765,0.00,2.40,0.00,0.000,4,0.000,0.048,3210,3465,1604,0,0,0,0,0,0
$STATE,30782,end climb,SURFACE_DEPTH_REACHED
$STATE,30782,begin surface coast
$FINISH,0.4,0.999695
$STATE,30817,end surface coast,CONTROL_FINISHED_OK
$STATE,30817,begin surface
$SM_CCo,30838,150.07,0.629,0,0,474,618.15
$SM_GC,1.09,0.00,0.00,150.07,0.000,0.000,0.629,113,2070,474,-9.24,-0.71,618.15
$IRIDIUM_FIX,2206.70,12701.04,070712,010146
$TT8_MAMPS,0.058292
$HUMID,1078745152
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,22.90
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8320614400
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52034666496
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.2,46.903
$10V_AH,9.8,40.392
$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,20.375,310.150,438.575,150.075,0.000,140.079,322.947,330.709,0.750,0.000,14.765,2366.702,24476.051,816.195,4122.490,423.236,33.378,2576.136,0.000,3212.567,0.000,0.541,0.000
$DEVICE_MAMPS,219.362,59.826,1423.552,628.940,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,746.766,0.000,0.000,0.000,0.000,0.000,0.000,30985.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.032,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,40028,1091
$CAP_FILE_SIZE,262149,0
$CFSIZE,260165632,198905856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120111,160336,2216.225,12701.521,26,1.1,26,-3.1