version: 66.07
glider: 500
mission: 5
dive: 372
start: 2 13 111 6 27 32
data:
$ID,500
$MISSION,5
$DIVE,372
$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,-128857.45
$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,2150
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,45
$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
$GPS1,130211,061407,2202.511,12819.988,36,1.0,36,-3.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.4
$GPS2,130211,062638,2202.685,12819.916,16,1.2,16,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.021,-0.220
$KALMAN_X,-787125.0,36.6,359.8,1310345.8,-275.1
$KALMAN_Y,39302.0,94.2,-601.4,59408.6,8134.5
$MHEAD_RNG_PITCHd_Wd,188.6,202482,-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,16142,-0.50,-155.7,860.0,-3.9,572,16146,0.00,2.38,0.00,0.000,4,0.000,0.044,2931,577,3595,0,0,0,0,0,0
$GC,16281,-0.50,-155.7,866.3,-4.7,575,16285,0.00,2.35,0.00,0.000,6,0.000,0.043,2926,2155,3595,0,0,0,0,0,0
$GC,16602,-0.50,-155.7,881.1,-4.8,583,16607,0.00,2.35,0.00,0.000,4,0.000,0.045,2926,574,3595,0,0,0,0,0,0
$GC,16782,-0.50,-155.7,889.5,-4.1,587,16786,0.00,2.35,0.00,0.000,6,0.000,0.044,2917,2151,3594,0,0,0,0,0,0
$GC,17102,-0.50,-155.7,901.8,-3.7,595,17106,0.00,2.33,0.00,0.000,4,0.000,0.044,2917,577,3594,0,0,0,0,0,0
$GC,17238,-0.50,-155.7,906.4,-3.2,598,17242,0.00,2.33,0.00,0.000,6,0.000,0.044,2907,2152,3594,0,0,0,0,0,0
$GC,17558,-0.50,-155.7,916.6,-3.3,606,17563,0.00,2.35,0.00,0.000,4,0.000,0.044,2907,569,3593,0,0,0,0,0,0
$GC,17677,-0.50,-155.7,920.8,-4.1,608,17681,0.00,2.35,0.00,0.000,6,0.000,0.043,2898,2158,3593,0,0,0,0,0,0
$GC,18009,-0.50,-155.7,933.4,-4.0,616,18014,0.00,2.35,0.00,0.000,4,0.000,0.046,2898,580,3593,0,0,0,0,0,0
$GC,18134,-0.50,-155.7,938.6,-3.7,618,18140,0.12,2.35,0.00,0.000,6,0.124,0.044,2931,2150,3592,0,0,0,0,0,0
$GC,18467,-0.50,-155.7,950.2,-3.6,627,18471,0.00,2.47,0.00,0.000,4,0.000,0.054,2922,3737,3592,0,0,0,0,0,0
$GC,18702,-0.50,-155.7,958.8,-3.6,632,18706,0.00,2.35,0.00,0.000,6,0.000,0.038,2922,2156,3591,0,0,0,0,0,0
$GC,19016,-0.50,-155.7,970.4,-3.8,640,19021,0.00,2.45,0.00,0.000,4,0.000,0.054,2911,3741,3591,0,0,0,0,0,0
$GC,19136,-0.50,-155.7,975.0,-3.6,642,19140,0.00,2.40,0.00,0.000,6,0.000,0.038,2911,2151,3591,0,0,0,0,0,0
$STATE,19471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19471,begin apogee
$GC,19479,-0.23,0.0,990.0,4.7,651,19619,0.30,0.00,137.43,1.586,6,0.080,0.000,3026,1910,2995,0,0,0,0,0,0
$STATE,19620,end apogee,CONTROL_FINISHED_OK
$STATE,19620,begin climb
$GC,19622,0.50,155.7,992.4,0.0,654,19787,0.60,2.75,156.25,1.540,4,0.051,0.052,3272,350,2360,0,0,0,0,0,0
$GC,19811,0.50,155.7,972.8,12.5,658,19815,0.00,2.55,0.00,0.000,6,0.000,0.043,3272,1918,2358,0,0,0,0,0,0
$GC,20154,0.50,155.7,926.5,13.8,667,20158,0.00,2.45,0.00,0.000,4,0.000,0.052,3272,3523,2349,0,0,0,0,0,0
$GC,20243,0.50,155.7,913.0,16.1,669,20248,0.10,2.45,0.00,0.000,6,0.153,0.040,3253,1920,2347,0,0,0,0,0,0
$GC,20562,0.50,155.7,872.1,12.9,677,20563,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1919,2345,0,0,0,0,0,0
$GC,20887,0.50,155.7,829.9,13.1,685,20888,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1919,2343,0,0,0,0,0,0
$GC,21211,0.50,155.7,785.7,13.6,693,21215,0.00,2.42,0.00,0.000,4,0.000,0.052,3264,343,2344,0,0,0,0,0,0
$GC,21251,0.50,155.7,780.3,14.2,694,21255,0.00,2.35,0.00,0.000,6,0.000,0.044,3264,1921,2343,0,0,0,0,0,0
$GC,21575,0.50,155.7,735.6,13.6,702,21580,0.00,2.42,0.00,0.000,4,0.000,0.054,3263,3512,2343,0,0,0,0,0,0
$GC,21661,0.50,155.7,723.1,14.8,704,21665,0.00,2.40,0.00,0.000,6,0.000,0.044,3276,1924,2342,0,0,0,0,0,0
$GC,21985,0.50,155.7,675.4,14.7,712,21990,0.00,2.42,0.00,0.000,4,0.000,0.054,3288,335,2342,0,0,0,0,0,0
$GC,22025,0.50,155.7,669.4,14.1,713,22030,0.12,2.40,0.00,0.000,6,0.129,0.046,3246,1925,2342,0,0,0,0,0,0
$GC,22352,0.50,155.7,631.6,11.6,721,22356,0.00,2.42,0.00,0.000,4,0.000,0.054,3246,3514,2341,0,0,0,0,0,0
$GC,22413,0.50,155.7,623.5,12.0,722,22417,0.00,2.42,0.00,0.000,6,0.000,0.044,3257,1910,2341,0,0,0,0,0,0
$GC,22762,0.50,155.7,581.9,12.1,731,22767,0.00,2.40,0.00,0.000,4,0.000,0.053,3270,336,2341,0,0,0,0,0,0
$GC,22789,0.50,155.7,578.3,11.8,731,22793,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1925,2341,0,0,0,0,0,0
$GC,23127,0.50,155.7,534.2,13.5,740,23132,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,3521,2341,0,0,0,0,0,0
$GC,23222,0.50,155.7,520.2,15.3,742,23226,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1909,2340,0,0,0,0,0,0
$GC,23542,0.50,155.7,476.2,13.4,750,23546,0.00,2.42,0.00,0.000,4,0.000,0.051,3295,333,2340,0,0,0,0,0,0
$GC,23574,0.50,155.7,471.9,13.3,750,23581,0.15,2.40,0.00,0.000,6,0.120,0.044,3244,1933,2341,0,0,0,0,0,0
$GC,23906,0.50,155.7,441.6,8.6,759,23910,0.00,2.40,0.00,0.000,4,0.000,0.053,3243,3515,2340,0,0,0,0,0,0
$GC,23996,0.50,155.7,433.0,9.8,761,24000,0.00,2.42,0.00,0.000,6,0.000,0.041,3255,1925,2341,0,0,0,0,0,0
$GC,24315,0.50,155.7,404.2,9.4,769,24319,0.00,2.45,0.00,0.000,4,0.000,0.051,3267,338,2341,0,0,0,0,0,0
$GC,24365,0.50,155.7,399.1,10.3,770,24369,0.00,2.35,0.00,0.000,6,0.000,0.043,3267,1918,2341,0,0,0,0,0,0
$GC,24678,0.50,155.7,366.0,10.4,778,24682,0.00,2.42,0.00,0.000,4,0.000,0.051,3267,3514,2341,0,0,0,0,0,0
$GC,24728,0.50,155.7,360.4,10.3,779,24732,0.00,2.42,0.00,0.000,6,0.000,0.041,3279,1905,2341,0,0,0,0,0,0
$GC,25041,0.50,155.7,325.6,11.1,787,25046,0.00,2.40,0.00,0.000,4,0.000,0.050,3291,330,2341,0,0,0,0,0,0
$GC,25108,0.50,155.7,317.7,10.9,788,25113,0.12,2.35,0.00,0.000,6,0.124,0.042,3249,1919,2341,0,0,0,0,0,0
$GC,25426,0.50,155.7,288.4,8.8,799,25430,0.00,2.42,0.00,0.000,4,0.000,0.050,3249,3514,2342,0,0,0,0,0,0
$GC,25475,0.50,155.7,283.7,9.3,801,25479,0.00,2.42,0.00,0.000,6,0.000,0.040,3260,1912,2342,0,0,0,0,0,0
$GC,25795,0.50,155.7,257.1,7.8,817,25800,0.00,2.40,0.00,0.000,4,0.000,0.050,3272,340,2342,0,0,0,0,0,0
$GC,25862,0.50,155.7,252.0,7.1,820,25866,0.00,2.33,0.00,0.000,6,0.000,0.041,3271,1923,2343,0,0,0,0,0,0
$GC,26184,0.50,155.7,228.1,7.7,836,26189,0.00,2.40,0.00,0.000,4,0.000,0.049,3272,3507,2344,0,0,0,0,0,0
$GC,26276,0.50,155.7,219.0,10.1,840,26281,0.10,2.38,0.00,0.000,6,0.137,0.038,3250,1916,2345,0,0,0,0,0,0
$GC,26598,0.50,155.7,194.3,6.5,859,26602,0.00,2.40,0.00,0.000,4,0.000,0.049,3260,336,2346,0,0,0,0,0,0
$GC,26642,0.50,155.7,191.1,7.9,862,26648,0.00,2.33,0.00,0.000,6,0.000,0.040,3260,1924,2346,0,0,0,0,0,0
$GC,26904,0.50,155.7,172.4,6.7,887,26905,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1924,2346,0,0,0,0,0,0
$GC,27159,0.50,155.7,153.9,7.2,911,27163,0.00,2.38,0.00,0.000,4,0.000,0.048,3260,3503,2348,0,0,0,0,0,0
$GC,27245,0.50,155.7,146.6,7.9,918,27249,0.00,2.38,0.00,0.000,6,0.000,0.035,3272,1917,2348,0,0,0,0,0,0
$GC,27506,0.51,159.8,129.4,5.9,942,27510,0.00,2.38,0.00,0.000,4,0.000,0.048,3284,334,2349,0,0,0,0,0,0
$GC,27552,0.51,159.8,126.5,6.4,946,27557,0.00,2.33,0.00,0.000,6,0.000,0.039,3284,1927,2350,0,0,0,0,0,0
$GC,27813,0.52,166.7,110.9,5.8,970,27828,0.00,2.42,9.82,0.715,4,0.000,0.049,3285,3514,2315,0,0,0,0,0,0
$GC,27892,0.52,166.7,104.9,9.1,976,27898,0.12,2.38,0.00,0.000,6,0.119,0.038,3252,1925,2315,0,0,0,0,0,0
$GC,28153,0.52,166.7,91.5,6.6,1001,28158,0.00,2.40,0.00,0.000,4,0.000,0.047,3263,326,2315,0,0,0,0,0,0
$GC,28197,0.52,166.7,88.2,6.5,1004,28203,0.00,2.35,0.00,0.000,6,0.000,0.038,3263,1922,2315,0,0,0,0,0,0
$GC,28459,0.60,232.4,73.4,4.3,1029,28521,0.00,2.53,56.35,0.836,4,0.000,0.047,3263,3517,2047,0,0,0,0,0,0
$GC,28584,0.60,232.4,67.2,6.3,1040,28591,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,1910,2047,0,0,0,0,0,0
$GC,28846,0.62,246.5,52.4,5.6,1065,28867,0.00,2.42,12.80,0.736,4,0.000,0.048,3283,346,1990,0,0,0,0,0,0
$GC,28915,0.62,246.5,48.2,6.1,1071,28919,0.00,2.30,0.00,0.000,6,0.000,0.037,3283,1918,1990,0,0,0,0,0,0
$GC,29182,0.62,246.5,27.0,7.3,1096,29186,0.00,2.40,0.00,0.000,4,0.000,0.048,3283,3508,1990,0,0,0,0,0,0
$GC,29233,0.62,246.5,23.0,6.7,1100,29237,0.00,2.35,0.00,0.000,6,0.000,0.036,3293,1923,1990,0,0,0,0,0,0
$GC,29437,0.62,246.5,9.5,7.3,1119,29441,0.00,2.40,0.00,0.000,4,0.000,0.048,3304,329,1990,0,0,0,0,0,0
$GC,29497,0.62,246.5,5.1,6.8,1124,29504,0.00,2.33,0.00,0.000,6,0.000,0.039,3304,1929,1990,0,0,0,0,0,0
$STATE,29534,end climb,SURFACE_DEPTH_REACHED
$STATE,29534,begin surface coast
$FINISH,0.4,1.020747
$STATE,29567,end surface coast,CONTROL_FINISHED_OK
$STATE,29567,begin surface
$SM_CCo,29587,73.53,0.799,0,0,1363,400.08
$SM_GC,1.08,0.00,0.00,73.53,0.000,0.000,0.799,103,2176,1363,-9.33,0.74,400.08
$IRIDIUM_FIX,2155.06,12711.72,070812,161613
$TT8_MAMPS,0.028379
$HUMID,1078683216
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.7,64.913
$10V_AH,9.9,55.128
$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,21.350,308.550,372.650,73.525,0.000,55.536,114.156,363.272,0.000,0.000,18.016,2542.791,23045.182,673.468,3513.654,610.213,33.383,2328.146,0.000,2980.264,0.000,0.542,0.000
$DEVICE_MAMPS,217.061,58.292,1586.156,799.214,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,772.876,0.000,0.000,0.000,0.000,0.000,0.000,797.329,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354968
$DATA_FILE_SIZE,40107,1131
$CAP_FILE_SIZE,329964,0
$CFSIZE,260165632,189358080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130211,144307,2201.615,12820.132,35,1.0,35,-3.1