version: 66.07
glider: 511
mission: 5
dive: 363
start: 2 8 111 18 36 44
data:
$ID,511
$MISSION,5
$DIVE,363
$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,-50287.723
$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,2579
$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,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,23
$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,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,0.004356245
$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
$GPS1,080211,181337,1831.139,12515.383,64,1.3,64,-2.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-72.4
$GPS2,080211,183549,1831.251,12515.121,10,1.5,10,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.214,0.018
$KALMAN_X,-531016.0,192.5,-672.5,287400.7,4066.8
$KALMAN_Y,595622.1,-154.2,222.8,-827569.3,-1161.4
$MHEAD_RNG_PITCHd_Wd,277.0,103269,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.58,-146.0,0.0,0.0,0,86,0.00,0.00,-60.20,0.000,2,0.000,0.000,36,2035,2628,0,0,0,0,0,0
$GC,90,-0.58,-146.0,3.3,-3.2,6,125,10.35,2.30,-18.77,0.000,4,0.252,0.073,2376,3457,3488,0,0,0,0,0,0
$GC,358,-0.58,-146.0,63.5,-22.6,35,362,0.00,2.17,0.00,0.000,6,0.000,0.047,2376,2057,3487,0,0,0,0,0,0
$GC,618,-0.58,-146.0,121.0,-22.1,59,622,0.00,2.25,0.00,0.000,4,0.000,0.058,2376,628,3492,0,0,0,0,0,0
$GC,670,-0.58,-146.0,131.9,-18.9,64,674,0.00,2.25,0.00,0.000,6,0.000,0.052,2365,2048,3489,0,0,0,0,0,0
$GC,932,-0.58,-146.0,183.1,-19.1,88,936,0.00,2.25,0.00,0.000,4,0.000,0.060,2366,638,3490,0,0,0,0,0,0
$GC,956,-0.58,-146.0,187.7,-17.1,90,961,0.12,2.25,0.00,0.000,6,0.169,0.052,2389,2059,3490,0,0,0,0,0,0
$GC,1212,-0.58,-146.0,222.5,-12.7,106,1217,0.00,2.22,0.00,0.000,4,0.000,0.067,2380,3460,3490,0,0,0,0,0,0
$GC,1232,-0.58,-146.0,225.3,-13.8,107,1236,0.00,2.20,0.00,0.000,6,0.000,0.046,2380,2049,3490,0,0,0,0,0,0
$GC,1560,-0.58,-146.0,268.1,-12.8,123,1564,0.00,2.22,0.00,0.000,4,0.000,0.058,2380,627,3493,0,0,0,0,0,0
$GC,1630,-0.58,-146.0,277.4,-12.6,126,1634,0.00,2.25,0.00,0.000,6,0.000,0.054,2372,2046,3490,0,0,0,0,0,0
$GC,1973,-0.58,-146.0,322.1,-12.5,139,1977,0.00,2.28,0.00,0.000,4,0.000,0.064,2361,3466,3488,0,0,0,0,0,0
$GC,2007,-0.58,-146.0,326.4,-12.5,139,2012,0.12,2.20,0.00,0.000,6,0.151,0.048,2395,2045,3489,0,0,0,0,0,0
$GC,2338,-0.58,-146.0,359.9,-9.9,147,2342,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,634,3489,0,0,0,0,0,0
$GC,2402,-0.58,-146.0,366.4,-9.5,148,2406,0.00,2.28,0.00,0.000,6,0.000,0.057,2394,2052,3488,0,0,0,0,0,0
$GC,2747,-0.58,-146.0,395.5,-8.1,157,2751,0.00,2.25,0.00,0.000,4,0.000,0.064,2382,3463,3488,0,0,0,0,0,0
$GC,2806,-0.58,-146.0,400.5,-8.5,158,2810,0.00,2.20,0.00,0.000,6,0.000,0.048,2382,2050,3486,0,0,0,0,0,0
$GC,3119,-0.58,-146.0,427.4,-8.8,166,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2049,3484,0,0,0,0,0,0
$GC,3444,-0.58,-146.0,454.6,-8.3,174,3448,0.00,2.22,0.00,0.000,4,0.000,0.054,2382,626,3480,0,0,0,0,0,0
$GC,3495,-0.58,-146.0,459.3,-8.8,175,3499,0.00,2.28,0.00,0.000,6,0.000,0.058,2376,2050,3484,0,0,0,0,0,0
$GC,3812,-0.58,-146.0,487.2,-8.8,183,3816,0.00,2.25,0.00,0.000,4,0.000,0.064,2365,3463,3478,0,0,0,0,0,0
$GC,3835,-0.58,-146.0,489.4,-9.3,183,3839,0.00,2.22,0.00,0.000,6,0.000,0.050,2365,2042,3481,0,0,0,0,0,0
$GC,4175,-0.58,-146.0,519.3,-8.5,192,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2043,3476,0,0,0,0,0,0
$GC,4500,-0.58,-146.0,546.6,-8.9,200,4504,0.00,2.22,0.00,0.000,4,0.000,0.055,2365,626,3475,0,0,0,0,0,0
$GC,4527,-0.58,-146.0,549.3,-9.7,200,4532,0.12,2.25,0.00,0.000,6,0.153,0.052,2392,2057,3474,0,0,0,0,0,0
$GC,4868,-0.58,-146.0,575.2,-7.4,209,4872,0.00,2.28,0.00,0.000,4,0.000,0.067,2385,3459,3474,0,0,0,0,0,0
$GC,4923,-0.58,-146.0,579.4,-7.5,210,4927,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,2039,3470,0,0,0,0,0,0
$GC,5237,-0.58,-146.0,603.1,-7.5,218,5240,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,642,3467,0,0,0,0,0,0
$GC,5264,-0.58,-146.0,605.3,-7.3,218,5268,0.00,2.20,0.00,0.000,6,0.000,0.050,2384,2046,3470,0,0,0,0,0,0
$GC,5599,-0.58,-146.0,627.6,-6.4,227,5603,0.00,2.28,0.00,0.000,4,0.000,0.067,2385,3459,3466,0,0,0,0,0,0
$GC,5664,-0.58,-146.0,631.9,-6.6,228,5668,0.00,2.20,0.00,0.000,6,0.000,0.048,2385,2043,3465,0,0,0,0,0,0
$GC,6008,-0.58,-146.0,656.6,-7.4,237,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2042,3462,0,0,0,0,0,0
$GC,6333,-0.58,-146.0,681.3,-7.7,245,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2041,3460,0,0,0,0,0,0
$GC,6659,-0.58,-146.0,707.0,-7.8,253,6663,0.00,2.22,0.00,0.000,4,0.000,0.056,2384,640,3461,0,0,0,0,0,0
$GC,6701,-0.58,-146.0,710.3,-8.8,254,6705,0.00,2.22,0.00,0.000,6,0.000,0.049,2385,2055,3458,0,0,0,0,0,0
$GC,7028,-0.58,-146.0,734.2,-7.2,262,7032,0.00,2.30,0.00,0.000,4,0.000,0.068,2388,3456,3455,0,0,0,0,0,0
$GC,7070,-0.58,-146.0,737.0,-6.7,263,7074,0.00,2.17,0.00,0.000,6,0.000,0.045,2384,2049,3456,0,0,0,0,0,0
$GC,7397,-0.58,-146.0,759.2,-6.6,271,7401,0.00,2.33,0.00,0.000,4,0.000,0.067,2384,3462,3456,0,0,0,0,0,0
$GC,7434,-0.58,-146.0,761.7,-6.9,271,7440,0.00,2.17,0.00,0.000,6,0.000,0.043,2384,2044,3456,0,0,0,0,0,0
$GC,7765,-0.58,-146.0,782.2,-6.1,280,7769,0.00,2.33,0.00,0.000,4,0.000,0.067,2384,3455,3452,0,0,0,0,0,0
$GC,7801,-0.58,-146.0,784.5,-6.3,280,7807,0.00,2.17,0.00,0.000,6,0.000,0.044,2384,2045,3453,0,0,0,0,0,0
$GC,8132,-0.58,-146.0,804.3,-6.1,289,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2042,3450,0,0,0,0,0,0
$GC,8457,-0.58,-146.0,823.5,-5.7,297,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2041,3451,0,0,0,0,0,0
$GC,8783,-0.58,-146.0,839.9,-4.8,305,8787,0.00,2.33,0.00,0.000,4,0.000,0.067,2385,3456,3448,0,0,0,0,0,0
$GC,8816,-0.58,-146.0,841.5,-4.4,305,8820,0.00,2.17,0.00,0.000,6,0.000,0.044,2384,2052,3447,0,0,0,0,0,0
$GC,9146,-0.58,-146.0,856.7,-4.8,313,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2046,3448,0,0,0,0,0,0
$GC,9472,-0.58,-146.0,875.3,-6.0,321,9476,0.00,2.30,0.00,0.000,4,0.000,0.065,2384,3460,3445,0,0,0,0,0,0
$GC,9501,-0.58,-146.0,877.0,-6.2,321,9505,0.00,2.20,0.00,0.000,6,0.000,0.045,2381,2043,3444,0,0,0,0,0,0
$GC,9835,-0.58,-146.0,899.3,-6.7,330,9840,0.00,2.33,0.00,0.000,4,0.000,0.067,2384,3460,3443,0,0,0,0,0,0
$GC,9878,-0.58,-146.0,902.2,-6.4,331,9882,0.00,2.22,0.00,0.000,6,0.000,0.046,2388,2045,3444,0,0,0,0,0,0
$GC,10205,-0.58,-146.0,924.2,-6.6,339,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2040,3443,0,0,0,0,0,0
$GC,10530,-0.58,-146.0,944.2,-6.1,347,10534,0.00,2.35,0.00,0.000,4,0.000,0.067,2384,3462,3442,0,0,0,0,0,0
$GC,10573,-0.58,-146.0,946.6,-5.5,348,10578,0.00,2.22,0.00,0.000,6,0.000,0.046,2385,2048,3442,0,0,0,0,0,0
$GC,10901,-0.58,-146.0,965.1,-5.5,356,10905,0.00,2.25,0.00,0.000,4,0.000,0.058,2384,642,3441,0,0,0,0,0,0
$GC,10932,-0.58,-146.0,967.1,-6.2,356,10937,0.00,2.25,0.00,0.000,6,0.000,0.051,2384,2049,3440,0,0,0,0,0,0
$GC,11268,-0.58,-146.0,984.9,-5.4,365,11273,0.00,2.33,0.00,0.000,4,0.000,0.068,2384,3458,3440,0,0,0,0,0,0
$GC,11319,-0.58,-146.0,987.8,-5.8,366,11323,0.00,2.20,0.00,0.000,6,0.000,0.046,2389,2047,3440,0,0,0,0,0,0
$STATE,11396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11396,begin apogee
$GC,11402,-0.28,0.0,992.2,5.6,368,11528,0.32,0.00,122.57,1.355,6,0.129,0.000,2487,2108,2892,0,0,0,0,0,0
$STATE,11529,end apogee,CONTROL_FINISHED_OK
$STATE,11529,begin climb
$GC,11531,0.58,146.0,995.8,0.0,371,11674,0.82,2.50,134.50,1.316,4,0.087,0.060,2776,701,2295,0,0,1,0,0,0
$GC,11698,0.58,146.0,988.9,10.2,375,11703,0.00,2.35,0.00,0.000,6,0.000,0.054,2775,2103,2289,0,0,1,0,0,0
$GC,12047,0.58,146.0,949.3,11.4,384,12051,0.00,2.33,0.00,0.000,4,0.000,0.069,2776,3513,2279,0,0,0,0,0,0
$GC,12117,0.58,146.0,940.6,13.0,385,12121,0.00,2.22,0.00,0.000,6,0.000,0.049,2786,2109,2281,0,0,0,0,0,0
$GC,12461,0.58,146.0,902.1,11.0,394,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2103,2279,0,0,0,0,0,0
$GC,12786,0.58,146.0,864.8,11.6,402,12790,0.00,2.33,0.00,0.000,4,0.000,0.070,2786,3507,2278,0,0,0,0,0,0
$GC,12870,0.58,146.0,853.7,13.4,403,12876,0.12,2.22,0.00,0.000,6,0.207,0.050,2769,2101,2277,0,0,1,0,0,0
$GC,13200,0.58,146.0,815.1,11.8,412,13201,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2096,2276,0,0,0,0,0,0
$GC,13525,0.58,146.0,775.2,12.3,420,13529,0.00,2.33,0.00,0.000,4,0.000,0.068,2768,3507,2279,0,0,0,0,0,0
$GC,13606,0.58,146.0,764.7,12.6,421,13610,0.00,2.22,0.00,0.000,6,0.000,0.050,2776,2098,2276,0,0,0,0,0,0
$GC,13936,0.58,146.0,728.8,9.9,429,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2091,2274,0,0,0,0,0,0
$GC,14261,0.58,146.0,702.0,7.7,437,14265,0.00,2.35,0.00,0.000,4,0.000,0.067,2777,3509,2274,0,0,0,0,0,0
$GC,14350,0.58,146.0,693.9,9.1,439,14355,0.00,2.25,0.00,0.000,6,0.000,0.050,2787,2101,2274,0,0,0,0,0,0
$GC,14677,0.58,146.0,664.2,9.6,447,14681,0.00,2.28,0.00,0.000,4,0.000,0.061,2798,685,2272,0,0,0,0,0,0
$GC,14761,0.58,146.0,655.9,10.0,448,14767,0.12,2.28,0.00,0.000,6,0.198,0.054,2770,2097,2272,0,0,0,0,0,0
$GC,15091,0.58,146.0,625.3,8.8,457,15096,0.00,2.30,0.00,0.000,4,0.000,0.068,2769,3511,2272,0,0,0,0,0,0
$GC,15234,0.58,146.0,612.5,7.7,460,15238,0.00,2.25,0.00,0.000,6,0.000,0.051,2778,2099,2272,0,0,0,0,0,0
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$GC,15876,0.58,146.0,563.9,8.4,476,15880,0.00,2.35,0.00,0.000,4,0.000,0.067,2778,3513,2272,0,0,0,0,0,0
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$STATE,23679,end climb,SURFACE_DEPTH_REACHED
$STATE,23679,begin surface coast
$FINISH,0.9,1.001990
$STATE,23702,end surface coast,CONTROL_FINISHED_OK
$STATE,23702,begin surface
$SM_CCo,23731,21.60,0.528,0,0,1053,450.36
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$IRIDIUM_FIX,1823.67,12520.37,030812,121256
$TT8_MAMPS,0.057525
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$TCM_TEMP,25.30
$XPDR_PINGS,2
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$AR_CDRIVE_FREE,8432582656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52099416064
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,73.827
$10V_AH,9.8,50.453
$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
$DEVICE_SECS,20.350,225.650,471.275,21.600,0.000,99.143,161.374,724.838,0.500,0.000,12.264,1848.598,18864.766,602.855,3325.512,482.877,33.361,1955.050,0.000,2342.080,0.000,0.543,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.736,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,33392,896
$CAP_FILE_SIZE,217178,0
$CFSIZE,260165632,226603008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,090211,011707,1830.996,12512.143,179,1.3,179,-2.2