version: 66.07
glider: 500
mission: 5
dive: 488
start: 3 26 111 8 40 13
data:
$ID,500
$MISSION,5
$DIVE,488
$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,-131252.98
$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,2090
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,48
$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
$GPS1,260311,082801,2130.201,12812.849,39,1.4,39,-2.9
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.9
$GPS2,260311,083919,2130.147,12812.745,9,1.6,14,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.192,-0.110
$KALMAN_X,-437186.7,-31.8,76.4,948384.8,3528.9
$KALMAN_Y,547646.0,-332.7,-888.8,-508481.2,-931.1
$MHEAD_RNG_PITCHd_Wd,122.8,179409,-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,15155,-0.50,-155.7,838.9,-5.1,547,15160,0.00,2.50,0.00,0.000,4,0.000,0.054,2894,3667,3605,0,0,0,0,0,0
$GC,15207,-0.50,-155.7,841.5,-4.8,548,15212,0.10,2.42,0.00,0.000,6,0.120,0.037,2931,2079,3605,0,0,0,0,0,0
$GC,15520,-0.50,-155.7,857.9,-5.3,556,15525,0.00,2.47,0.00,0.000,4,0.000,0.055,2922,3664,3604,0,0,0,0,0,0
$GC,15683,-0.50,-155.7,866.1,-4.6,559,15687,0.00,2.38,0.00,0.000,6,0.000,0.035,2922,2077,3604,0,0,0,0,0,0
$GC,16013,-0.50,-155.7,879.5,-3.8,567,16017,0.00,2.45,0.00,0.000,4,0.000,0.054,2911,3664,3603,0,0,0,0,0,0
$GC,16076,-0.50,-155.7,881.6,-3.4,568,16080,0.00,2.38,0.00,0.000,6,0.000,0.035,2911,2088,3603,0,0,0,0,0,0
$GC,16420,-0.50,-155.7,892.8,-3.2,577,16424,0.00,2.45,0.00,0.000,4,0.000,0.054,2900,3666,3603,0,0,0,0,0,0
$GC,16471,-0.50,-155.7,894.3,-3.0,578,16475,0.00,2.38,0.00,0.000,6,0.000,0.036,2900,2083,3602,0,0,0,0,0,0
$GC,16784,-0.50,-155.7,905.2,-3.7,586,16789,0.00,2.45,0.00,0.000,4,0.000,0.055,2889,3670,3602,0,0,0,0,0,0
$GC,16870,-0.50,-155.7,908.7,-3.8,588,16875,0.12,2.38,0.00,0.000,6,0.110,0.037,2936,2084,3602,0,0,0,0,0,0
$GC,17195,-0.50,-155.7,923.4,-4.9,596,17199,0.00,2.47,0.00,0.000,4,0.000,0.055,2926,3673,3601,0,0,0,0,0,0
$GC,17390,-0.50,-155.7,933.9,-5.5,600,17395,0.00,2.38,0.00,0.000,6,0.000,0.037,2926,2086,3601,0,0,0,0,0,0
$GC,17734,-0.50,-155.7,950.8,-4.8,609,17738,0.00,2.45,0.00,0.000,4,0.000,0.054,2924,3667,3600,0,0,0,0,0,0
$GC,17991,-0.50,-155.7,962.9,-4.3,614,17995,0.00,2.35,0.00,0.000,6,0.000,0.036,2924,2089,3600,0,0,0,0,0,0
$GC,18323,-0.50,-155.7,976.9,-4.2,622,18327,0.00,2.40,0.00,0.000,4,0.000,0.047,2923,513,3599,0,0,0,0,0,0
$GC,18362,-0.50,-155.7,978.7,-4.3,623,18366,0.00,2.35,0.00,0.000,6,0.000,0.044,2915,2091,3599,0,0,0,0,0,0
$STATE,18642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18642,begin apogee
$GC,18651,-0.23,0.0,991.8,4.8,630,18794,0.28,0.00,139.70,1.605,6,0.080,0.000,3022,1929,2995,0,0,0,0,0,0
$STATE,18795,end apogee,CONTROL_FINISHED_OK
$STATE,18795,begin climb
$GC,18797,0.50,155.7,994.4,0.0,633,18956,0.60,2.62,150.90,1.598,4,0.051,0.050,3270,381,2360,0,0,0,0,0,0
$GC,19051,0.50,155.7,967.5,10.8,638,19055,0.00,2.42,0.00,0.000,6,0.000,0.044,3270,1945,2359,0,0,0,0,0,0
$GC,19378,0.50,155.7,927.6,12.3,646,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1946,2358,0,0,0,0,0,0
$GC,19700,0.50,155.7,883.4,13.9,654,19704,0.00,2.38,0.00,0.000,4,0.000,0.050,3282,377,2357,0,0,0,0,0,0
$GC,19739,0.50,155.7,877.8,13.9,655,19744,0.00,2.35,0.00,0.000,6,0.000,0.044,3282,1941,2357,0,0,0,0,0,0
$GC,20064,0.50,155.7,829.8,14.5,663,20069,0.00,2.45,0.00,0.000,4,0.000,0.052,3282,3533,2356,0,0,0,0,0,0
$GC,20097,0.50,155.7,824.4,14.7,663,20103,0.15,2.40,0.00,0.000,6,0.128,0.040,3245,1951,2357,0,0,0,0,0,0
$GC,20432,0.50,155.7,787.7,11.0,672,20436,0.00,2.40,0.00,0.000,4,0.000,0.051,3257,364,2356,0,0,0,0,0,0
$GC,20521,0.50,155.7,777.4,11.1,674,20525,0.00,2.38,0.00,0.000,6,0.000,0.044,3257,1953,2356,0,0,0,0,0,0
$GC,20847,0.50,155.7,742.4,10.5,682,20851,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,364,2356,0,0,0,0,0,0
$GC,20896,0.50,155.7,736.9,9.8,683,20901,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1943,2356,0,0,0,0,0,0
$GC,21211,0.50,155.7,701.1,11.6,691,21213,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1943,2355,0,0,0,0,0,0
$GC,21533,0.50,155.7,664.7,11.3,699,21538,0.00,2.45,0.00,0.000,4,0.000,0.057,3269,3524,2355,0,0,0,0,0,0
$GC,21590,0.50,155.7,658.1,11.8,700,21594,0.00,2.38,0.00,0.000,6,0.000,0.042,3281,1944,2355,0,0,0,0,0,0
$GC,21938,0.50,155.7,616.7,12.0,709,21942,0.00,2.45,0.00,0.000,4,0.000,0.053,3293,362,2354,0,0,0,0,0,0
$GC,22032,0.50,155.7,605.0,11.8,711,22037,0.12,2.40,0.00,0.000,6,0.130,0.045,3253,1951,2354,0,0,0,0,0,0
$GC,22347,0.50,155.7,575.8,9.0,719,22351,0.00,2.47,0.00,0.000,4,0.000,0.055,3252,3535,2354,0,0,0,0,0,0
$GC,22413,0.50,155.7,568.8,10.2,720,22417,0.00,2.42,0.00,0.000,6,0.000,0.041,3263,1943,2355,0,0,0,0,0,0
$GC,22750,0.50,155.7,533.1,10.8,729,22755,0.00,2.45,0.00,0.000,4,0.000,0.051,3276,348,2354,0,0,0,0,0,0
$GC,22845,0.50,155.7,522.5,11.4,731,22849,0.00,2.40,0.00,0.000,6,0.000,0.044,3276,1946,2355,0,0,0,0,0,0
$GC,23159,0.50,155.7,489.4,10.1,739,23160,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1945,2354,0,0,0,0,0,0
$GC,23482,0.50,155.7,457.9,9.6,747,23487,0.00,2.42,0.00,0.000,4,0.000,0.048,3288,355,2355,0,0,0,0,0,0
$GC,23539,0.50,155.7,452.4,10.2,748,23544,0.12,2.40,0.00,0.000,6,0.123,0.045,3246,1943,2355,0,0,0,0,0,0
$GC,23889,0.50,155.7,426.5,7.5,757,23890,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1944,2356,0,0,0,0,0,0
$GC,24212,0.50,155.7,400.0,8.4,765,24216,0.00,2.45,0.00,0.000,4,0.000,0.051,3245,3532,2357,0,0,0,0,0,0
$GC,24234,0.50,155.7,398.0,8.5,765,24238,0.00,2.45,0.00,0.000,6,0.000,0.039,3256,1938,2357,0,0,0,0,0,0
$GC,24570,0.50,155.7,369.0,8.5,774,24574,0.00,2.40,0.00,0.000,4,0.000,0.050,3268,354,2358,0,0,0,0,0,0
$GC,24611,0.50,155.7,365.8,8.7,775,24615,0.00,2.35,0.00,0.000,6,0.000,0.041,3268,1943,2358,0,0,0,0,0,0
$GC,24935,0.50,155.7,340.1,7.9,783,24939,0.00,2.50,0.00,0.000,4,0.000,0.053,3269,3524,2359,0,0,0,0,0,0
$GC,24974,0.50,155.7,336.4,10.7,784,24979,0.00,2.42,0.00,0.000,6,0.000,0.039,3280,1939,2359,0,0,0,0,0,0
$GC,25299,0.50,155.7,305.9,9.7,792,25303,0.00,2.42,0.00,0.000,4,0.000,0.049,3293,349,2360,0,0,0,0,0,0
$GC,25407,0.50,155.7,295.2,10.4,795,25412,0.12,2.40,0.00,0.000,6,0.119,0.043,3249,1945,2361,0,0,0,0,0,0
$GC,25733,0.50,155.7,271.5,6.9,811,25737,0.00,2.45,0.00,0.000,4,0.000,0.050,3249,3533,2363,0,0,0,0,0,0
$GC,25760,0.50,155.7,269.5,7.2,812,25765,0.00,2.42,0.00,0.000,6,0.000,0.038,3258,1928,2362,0,0,0,0,0,0
$GC,26075,0.50,155.7,247.3,6.7,827,26079,0.00,2.38,0.00,0.000,4,0.000,0.048,3270,359,2364,0,0,0,0,0,0
$GC,26167,0.53,172.7,241.3,5.6,831,26190,0.00,2.38,16.55,0.942,6,0.000,0.041,3270,1961,2291,0,0,0,0,0,0
$GC,26513,0.53,172.7,218.8,6.2,848,26517,0.00,2.38,0.00,0.000,4,0.000,0.051,3270,3517,2292,0,0,0,0,0,0
$GC,26562,0.53,172.7,215.3,6.4,850,26566,0.00,2.35,0.00,0.000,6,0.000,0.037,3282,1940,2293,0,0,0,0,0,0
$GC,26887,0.53,172.7,191.5,7.3,871,26891,0.00,2.45,0.00,0.000,4,0.000,0.049,3294,357,2295,0,0,0,0,0,0
$GC,26979,0.53,172.7,184.4,7.6,878,26984,0.12,2.33,0.00,0.000,6,0.110,0.039,3247,1951,2296,0,0,0,0,0,0
$GC,27239,0.58,219.9,170.5,4.8,903,27285,0.00,2.45,40.90,0.935,4,0.000,0.050,3247,3524,2097,0,0,0,0,0,0
$GC,27313,0.59,226.6,166.7,5.8,909,27328,0.00,2.40,7.62,0.775,6,0.000,0.035,3256,1940,2070,0,0,0,0,0,0
$GC,27586,0.59,226.6,148.6,7.6,935,27590,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,3525,2071,0,0,0,0,0,0
$GC,27659,0.59,226.6,143.0,7.1,941,27663,0.00,2.35,0.00,0.000,6,0.000,0.035,3257,1932,2071,0,0,0,0,0,0
$GC,27919,0.59,226.6,124.0,7.3,965,27923,0.00,2.42,0.00,0.000,4,0.000,0.049,3257,3524,2072,0,0,0,0,0,0
$GC,27998,0.59,226.6,118.2,6.3,971,28003,0.00,2.35,0.00,0.000,6,0.000,0.035,3258,1939,2073,0,0,0,0,0,0
$GC,28259,0.59,226.6,99.6,6.8,996,28263,0.00,2.38,0.00,0.000,4,0.000,0.049,3258,362,2075,0,0,0,0,0,0
$GC,28342,0.59,226.6,93.7,8.2,1003,28347,0.00,2.33,0.00,0.000,6,0.000,0.041,3259,1943,2075,0,0,0,0,0,0
$GC,28602,0.59,226.6,76.2,6.4,1028,28607,0.00,2.38,0.00,0.000,4,0.000,0.052,3253,3519,2076,0,0,0,0,0,0
$GC,28731,0.61,242.2,67.4,5.6,1039,28752,0.00,2.35,15.38,0.795,6,0.000,0.035,3254,1933,2007,0,0,0,0,0,0
$GC,29010,0.65,274.0,48.8,5.2,1065,29044,0.12,2.53,26.77,0.827,4,0.096,0.050,3310,356,1878,0,0,0,0,0,0
$GC,29064,0.65,274.0,45.5,6.3,1070,29068,0.00,2.35,0.00,0.000,6,0.000,0.048,3310,1941,1878,0,0,0,0,0,0
$GC,29326,0.65,274.0,29.3,8.4,1094,29330,0.00,2.45,0.00,0.000,4,0.000,0.051,3310,3523,1880,0,0,0,0,0,0
$GC,29411,0.65,274.0,21.2,9.6,1101,29415,0.00,2.35,0.00,0.000,6,0.000,0.035,3321,1943,1881,0,0,0,0,0,0
$GC,29607,0.65,274.0,4.1,6.6,1119,29611,0.00,2.40,0.00,0.000,4,0.000,0.049,3331,353,1882,0,0,0,0,0,0
$STATE,29626,end climb,SURFACE_DEPTH_REACHED
$STATE,29626,begin surface coast
$FINISH,0.3,NaN
$STATE,29684,end surface coast,CONTROL_FINISHED_OK
$STATE,29684,begin surface
$SM_CCo,29705,178.52,0.841,0,0,474,618.15
$SM_GC,0.95,0.00,0.00,178.52,0.000,0.000,0.841,106,2104,474,-9.33,0.40,618.15
$IRIDIUM_FIX,2124.90,12811.00,180912,020209
$TT8_MAMPS,0.03068
$HUMID,1078751603
$INTERNAL_PRESSURE,9.12999
$TCM_TEMP,24.10
$XPDR_PINGS,682
$24V_AH,21.6,90.317
$10V_AH,8.0,66.710
$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,21.375,322.100,397.825,178.525,0.000,56.383,85.690,308.567,170.500,0.000,16.615,1699.599,24011.533,811.168,3363.774,654.738,33.383,2421.220,0.000,2829.665,0.000,0.542,0.000
$DEVICE_MAMPS,331.344,66.729,1605.331,840.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,36683,1125
$CAP_FILE_SIZE,329573,0
$CFSIZE,260165632,176910336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260311,165937,2128.664,12813.722,37,0.9,37,-2.9