version: 66.07
glider: 500
mission: 5
dive: 320
start: 1 26 111 8 43 32
data:
$ID,500
$MISSION,5
$DIVE,320
$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,-126857.91
$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,2120
$C_ROLL_CLIMB,1915
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,54
$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
$GPS1,260111,083507,2247.649,12728.825,32,1.1,32,-3.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.1
$GPS2,260111,084238,2247.672,12728.782,11,1.3,11,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.122,-0.184
$KALMAN_X,-710993.3,487.2,877.8,1144904.1,-2690.5
$KALMAN_Y,-132388.8,-600.1,-518.3,315042.9,4863.7
$MHEAD_RNG_PITCHd_Wd,149.8,324020,-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,14996,-0.50,-155.7,881.2,-3.8,513,15000,0.00,2.35,0.00,0.000,6,0.000,0.044,2888,2125,3621,0,0,0,0,0,0
$GC,15340,-0.50,-155.7,895.8,-4.7,522,15344,0.00,2.35,0.00,0.000,4,0.000,0.044,2888,541,3621,0,0,0,0,0,0
$GC,15479,-0.50,-155.7,903.4,-6.0,525,15484,0.10,2.35,0.00,0.000,6,0.139,0.043,2909,2126,3621,0,0,0,0,0,0
$GC,15799,-0.50,-155.7,918.2,-4.8,533,15800,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2126,3621,0,0,0,0,0,0
$GC,16123,-0.50,-155.7,932.5,-4.1,541,16128,0.00,2.38,0.00,0.000,4,0.000,0.045,2909,541,3621,0,0,0,0,0,0
$GC,16179,-0.50,-155.7,934.8,-3.4,542,16183,0.00,2.35,0.00,0.000,6,0.000,0.044,2900,2125,3622,0,0,0,0,0,0
$GC,16494,-0.50,-155.7,945.2,-3.3,550,16498,0.00,2.35,0.00,0.000,4,0.000,0.044,2900,536,3621,0,0,0,0,0,0
$GC,16565,-0.50,-155.7,947.7,-3.7,551,16569,0.00,2.35,0.00,0.000,6,0.000,0.044,2889,2120,3621,0,0,0,0,0,0
$GC,16902,-0.50,-155.7,959.4,-3.6,560,16906,0.00,2.38,0.00,0.000,4,0.000,0.046,2889,541,3621,0,0,0,0,0,0
$GC,17033,-0.50,-155.7,964.6,-3.8,563,17038,0.00,2.35,0.00,0.000,6,0.000,0.044,2877,2125,3621,0,0,0,0,0,0
$GC,17361,-0.50,-155.7,976.0,-3.4,571,17363,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2124,3621,0,0,0,0,0,0
$GC,17682,-0.50,-155.7,986.2,-3.1,579,17684,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2125,3621,0,0,0,0,0,0
$STATE,17802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17802,begin apogee
$GC,17807,-0.23,0.0,990.3,3.4,582,17951,0.32,0.00,140.70,1.483,6,0.092,0.000,2995,1902,2995,0,0,0,0,0,0
$STATE,17952,end apogee,CONTROL_FINISHED_OK
$STATE,17952,begin climb
$GC,17955,0.50,155.7,990.4,0.0,585,18118,0.65,0.00,153.12,1.424,6,0.072,0.000,3229,1902,2359,0,0,0,0,0,0
$GC,18442,0.50,155.7,935.4,11.8,597,18446,0.00,2.50,0.00,0.000,4,0.000,0.052,3229,3501,2344,0,0,0,0,0,0
$GC,18541,0.50,155.7,922.8,13.3,599,18546,0.00,2.42,0.00,0.000,6,0.000,0.040,3239,1920,2342,0,0,0,0,0,0
$GC,18855,0.50,155.7,884.5,12.4,607,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1920,2340,0,0,0,0,0,0
$GC,19179,0.50,155.7,844.7,12.3,615,19180,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1920,2339,0,0,0,0,0,0
$GC,19504,0.50,155.7,805.2,12.3,623,19509,0.00,2.42,0.00,0.000,4,0.000,0.053,3252,332,2338,0,0,0,0,0,0
$GC,19555,0.50,155.7,798.8,12.6,624,19559,0.00,2.40,0.00,0.000,6,0.000,0.045,3252,1920,2337,0,0,0,0,0,0
$GC,19868,0.50,155.7,758.0,13.2,632,19872,0.00,2.45,0.00,0.000,4,0.000,0.055,3252,3509,2337,0,0,0,0,0,0
$GC,19962,0.50,155.7,744.9,13.5,634,19967,0.00,2.40,0.00,0.000,6,0.000,0.043,3263,1917,2336,0,0,0,0,0,0
$GC,20277,0.50,155.7,705.7,12.5,642,20281,0.00,2.42,0.00,0.000,4,0.000,0.054,3276,326,2336,0,0,0,0,0,0
$GC,20321,0.50,155.7,699.9,12.4,643,20326,0.15,2.40,0.00,0.000,6,0.119,0.045,3226,1917,2336,0,0,0,0,0,0
$GC,20640,0.50,155.7,668.7,9.8,651,20644,0.00,2.45,0.00,0.000,4,0.000,0.053,3226,3513,2335,0,0,0,0,0,0
$GC,20730,0.50,155.7,659.1,12.1,653,20735,0.00,2.42,0.00,0.000,6,0.000,0.043,3237,1913,2335,0,0,0,0,0,0
$GC,21057,0.50,155.7,625.2,10.6,661,21061,0.00,2.40,0.00,0.000,4,0.000,0.054,3249,336,2335,0,0,0,0,0,0
$GC,21106,0.50,155.7,619.4,12.1,662,21110,0.00,2.38,0.00,0.000,6,0.000,0.045,3249,1923,2335,0,0,0,0,0,0
$GC,21426,0.50,155.7,583.3,11.6,670,21430,0.00,2.45,0.00,0.000,4,0.000,0.055,3249,3516,2335,0,0,0,0,0,0
$GC,21542,0.50,155.7,568.0,13.4,672,21546,0.00,2.42,0.00,0.000,6,0.000,0.043,3261,1911,2335,0,0,0,0,0,0
$GC,21880,0.50,155.7,526.3,12.1,681,21884,0.00,2.42,0.00,0.000,4,0.000,0.054,3274,326,2335,0,0,0,0,0,0
$GC,21940,0.50,155.7,519.1,10.6,682,21945,0.10,2.42,0.00,0.000,6,0.092,0.045,3231,1917,2335,0,0,0,0,0,0
$GC,22290,0.50,155.7,489.4,8.1,691,22294,0.00,2.45,0.00,0.000,4,0.000,0.053,3231,3514,2334,0,0,0,0,0,0
$GC,22344,0.50,155.7,484.3,9.6,692,22348,0.00,2.42,0.00,0.000,6,0.000,0.042,3242,1907,2334,0,0,0,0,0,0
$GC,22658,0.50,155.7,453.6,10.2,700,22662,0.00,2.40,0.00,0.000,4,0.000,0.051,3254,332,2334,0,0,0,0,0,0
$GC,22713,0.50,155.7,447.5,11.0,701,22718,0.00,2.40,0.00,0.000,6,0.000,0.044,3255,1940,2334,0,0,0,0,0,0
$GC,23027,0.50,155.7,413.2,11.0,709,23032,0.00,2.40,0.00,0.000,4,0.000,0.053,3255,3503,2334,0,0,0,0,0,0
$GC,23088,0.50,155.7,405.9,10.0,710,23093,0.08,2.42,0.00,0.000,6,0.104,0.039,3234,1908,2334,0,0,0,0,0,0
$GC,23437,0.50,155.7,378.1,7.5,719,23438,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1908,2334,0,0,0,0,0,0
$GC,23761,0.50,155.7,353.6,7.6,727,23762,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1907,2335,0,0,0,0,0,0
$GC,24085,0.50,155.7,326.3,8.4,735,24087,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1908,2335,0,0,0,0,0,0
$GC,24411,0.50,155.7,302.0,7.0,743,24413,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1907,2336,0,0,0,0,0,0
$GC,24720,0.50,155.7,281.7,6.5,757,24725,0.00,2.40,0.00,0.000,4,0.000,0.048,3245,326,2337,0,0,0,0,0,0
$GC,24776,0.50,155.7,277.7,6.7,759,24782,0.00,2.35,0.00,0.000,6,0.000,0.040,3245,1923,2338,0,0,0,0,0,0
$GC,25091,0.50,155.7,252.9,8.0,775,25095,0.00,2.40,0.00,0.000,4,0.000,0.048,3245,3502,2339,0,0,0,0,0,0
$GC,25159,0.50,155.7,246.9,7.9,778,25163,0.00,2.38,0.00,0.000,6,0.000,0.036,3257,1899,2339,0,0,0,0,0,0
$GC,25479,0.50,155.7,220.0,8.1,794,25480,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1899,2341,0,0,0,0,0,0
$GC,25789,0.50,155.7,196.2,7.7,811,25790,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1899,2341,0,0,0,0,0,0
$GC,26044,0.50,155.7,179.1,6.3,835,26048,0.00,2.42,0.00,0.000,4,0.000,0.048,3257,3496,2342,0,0,0,0,0,0
$GC,26106,0.50,155.7,174.5,6.5,840,26111,0.12,2.38,0.00,0.000,6,0.120,0.038,3224,1914,2342,0,0,0,0,0,0
$GC,26367,0.62,250.1,164.1,3.5,864,26453,0.12,2.50,77.75,0.793,4,0.081,0.049,3318,3494,1975,0,0,0,0,0,0
$GC,26509,0.62,250.1,149.6,12.5,877,26516,0.20,2.42,0.00,0.000,6,0.111,0.038,3263,1916,1970,0,0,0,0,0,0
$GC,26770,0.62,250.1,130.0,6.8,902,26774,0.00,2.42,0.00,0.000,4,0.000,0.049,3274,332,1966,0,0,0,0,0,0
$GC,26817,0.62,250.1,126.7,8.8,906,26821,0.00,2.33,0.00,0.000,6,0.000,0.039,3274,1911,1964,0,0,0,0,0,0
$GC,27078,0.62,250.1,106.6,7.1,930,27083,0.00,2.45,0.00,0.000,4,0.000,0.050,3274,3513,1964,0,0,0,0,0,0
$GC,27124,0.62,250.1,102.9,8.2,933,27129,0.00,2.40,0.00,0.000,6,0.000,0.038,3285,1912,1964,0,0,0,0,0,0
$GC,27385,0.62,250.1,80.7,9.0,958,27389,0.00,2.40,0.00,0.000,4,0.000,0.048,3298,332,1964,0,0,0,0,0,0
$GC,27446,0.62,250.1,74.5,9.3,963,27452,0.00,2.35,0.00,0.000,6,0.000,0.038,3298,1922,1964,0,0,0,0,0,0
$GC,27707,0.62,250.1,47.6,11.0,988,27711,0.00,2.40,0.00,0.000,4,0.000,0.049,3298,3494,1964,0,0,0,0,0,0
$GC,27758,0.62,250.1,41.9,12.9,992,27763,0.12,2.35,0.00,0.000,6,0.123,0.038,3267,1908,1964,0,0,0,0,0,0
$GC,28020,0.62,250.1,23.6,6.2,1016,28024,0.00,2.35,0.00,0.000,4,0.000,0.047,3278,340,1964,0,0,0,0,0,0
$GC,28070,0.62,250.1,20.2,6.0,1020,28074,0.00,2.30,0.00,0.000,6,0.000,0.038,3277,1906,1964,0,0,0,0,0,0
$GC,28267,0.62,250.1,4.3,9.7,1038,28272,0.00,2.42,0.00,0.000,4,0.000,0.051,3278,3504,1964,0,0,0,0,0,0
$STATE,28275,end climb,SURFACE_DEPTH_REACHED
$STATE,28276,begin surface coast
$FINISH,0.4,1.023986
$STATE,28299,end surface coast,CONTROL_FINISHED_OK
$STATE,28299,begin surface
$SM_CCo,28318,74.12,0.674,0,0,1363,400.08
$SM_GC,1.28,0.00,0.00,74.12,0.000,0.000,0.674,105,2106,1363,-9.27,-0.40,400.08
$IRIDIUM_FIX,2241.69,12727.27,200712,181801
$TT8_MAMPS,0.028379
$HUMID,1078728377
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,22.0,54.766
$10V_AH,9.8,46.631
$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,21.375,281.500,371.575,74.125,0.000,30.370,35.429,249.630,0.250,0.000,12.947,2295.552,22578.664,680.862,2802.823,468.363,33.385,2082.792,0.000,2470.682,0.000,0.542,0.000
$DEVICE_MAMPS,217.828,55.224,1483.378,674.193,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,712.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,36749,1040
$CAP_FILE_SIZE,295378,0
$CFSIZE,260165632,194809856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260111,163806,2245.210,12729.895,34,1.0,34,-3.3