version: 66.07
glider: 500
mission: 5
dive: 341
start: 2 2 111 12 27 50
data:
$ID,500
$MISSION,5
$DIVE,341
$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,-127303.91
$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,3079
$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,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,50
$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
$GPS1,020211,120531,2218.551,12808.564,37,1.1,37,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.9
$GPS2,020211,122656,2218.687,12808.411,11,1.3,11,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.185,-0.121
$KALMAN_X,-761971.2,616.1,604.5,1264478.9,-6144.4
$KALMAN_Y,-131754.7,-27.2,-199.2,259817.9,4051.5
$MHEAD_RNG_PITCHd_Wd,126.5,237273,-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,3033,-0.50,-155.6,261.6,-7.4,238,3038,0.00,2.35,0.00,0.000,4,0.000,0.048,2908,543,3637,0,0,0,0,0,0
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$GC,15569,-0.51,-155.7,861.5,-4.0,555,15573,0.00,2.45,0.00,0.000,4,0.000,0.056,2886,3696,3600,0,0,0,0,0,0
$GC,15613,-0.51,-155.7,863.3,-3.9,556,15618,0.10,2.38,0.00,0.000,6,0.127,0.038,2921,2112,3600,0,0,0,0,0,0
$GC,15933,-0.51,-155.7,876.2,-4.2,564,15937,0.00,2.47,0.00,0.000,4,0.000,0.056,2911,3702,3599,0,0,0,0,0,0
$GC,16028,-0.51,-155.7,880.4,-4.6,566,16032,0.00,2.38,0.00,0.000,6,0.000,0.037,2910,2114,3599,0,0,0,0,0,0
$GC,16341,-0.51,-155.7,895.4,-4.9,574,16346,0.00,2.47,0.00,0.000,4,0.000,0.057,2899,3701,3598,0,0,0,0,0,0
$GC,16420,-0.51,-155.7,899.3,-4.6,575,16426,0.00,2.38,0.00,0.000,6,0.000,0.038,2899,2117,3598,0,0,0,0,0,0
$GC,16751,-0.51,-155.7,915.3,-4.8,584,16756,0.00,2.47,0.00,0.000,4,0.000,0.057,2887,3705,3597,0,0,0,0,0,0
$GC,16847,-0.51,-155.7,919.6,-4.5,586,16852,0.00,2.35,0.00,0.000,6,0.000,0.035,2887,2112,3597,0,0,0,0,0,0
$GC,17161,-0.51,-155.7,933.0,-4.1,594,17166,0.00,2.47,0.00,0.000,4,0.000,0.055,2875,3705,3597,0,0,0,0,0,0
$GC,17323,-0.51,-155.7,940.1,-4.8,597,17328,0.12,2.38,0.00,0.000,6,0.117,0.035,2919,2096,3596,0,0,0,0,0,0
$GC,17663,-0.51,-155.7,954.3,-4.5,606,17667,0.00,2.47,0.00,0.000,4,0.000,0.057,2908,3696,3596,0,0,0,0,0,0
$GC,17847,-0.51,-155.7,962.8,-4.7,610,17851,0.00,2.38,0.00,0.000,6,0.000,0.038,2908,2112,3596,0,0,0,0,0,0
$GC,18168,-0.51,-155.7,977.2,-4.5,618,18172,0.00,2.47,0.00,0.000,4,0.000,0.055,2897,3698,3595,0,0,0,0,0,0
$GC,18274,-0.51,-155.7,981.9,-3.2,620,18278,0.00,2.40,0.00,0.000,6,0.000,0.037,2897,2110,3595,0,0,0,0,0,0
$STATE,18491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18491,begin apogee
$GC,18498,-0.23,0.0,990.9,4.2,626,18637,0.30,0.00,136.40,1.513,6,0.087,0.000,3008,1904,2994,0,0,0,0,0,0
$STATE,18638,end apogee,CONTROL_FINISHED_OK
$STATE,18638,begin climb
$GC,18640,0.51,155.7,991.9,0.0,629,18805,0.62,2.75,154.12,1.468,4,0.060,0.052,3255,340,2358,0,0,0,0,0,0
$GC,18888,0.51,155.7,963.9,11.4,634,18895,0.00,2.50,0.00,0.000,6,0.000,0.044,3255,1910,2349,0,0,0,0,0,0
$GC,19221,0.51,155.7,921.9,12.6,643,19225,0.00,2.50,0.00,0.000,4,0.000,0.054,3255,3501,2342,0,0,0,0,0,0
$GC,19275,0.51,155.7,914.1,12.4,644,19280,0.00,2.47,0.00,0.000,6,0.000,0.041,3268,1920,2340,0,0,0,0,0,0
$GC,19589,0.51,155.7,871.3,13.9,652,19593,0.00,2.45,0.00,0.000,4,0.000,0.054,3280,325,2339,0,0,0,0,0,0
$GC,19632,0.51,155.7,864.8,12.7,653,19637,0.10,2.42,0.00,0.000,6,0.101,0.045,3240,1909,2338,0,0,0,0,0,0
$GC,19957,0.51,155.7,824.3,12.5,661,19961,0.00,2.45,0.00,0.000,4,0.000,0.056,3240,3502,2338,0,0,0,0,0,0
$GC,20019,0.51,155.7,815.6,15.7,662,20023,0.00,2.45,0.00,0.000,6,0.000,0.041,3251,1896,2337,0,0,0,0,0,0
$GC,20361,0.51,155.7,769.7,13.2,671,20363,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1896,2337,0,0,0,0,0,0
$GC,20686,0.51,155.7,730.9,11.8,679,20690,0.00,2.40,0.00,0.000,4,0.000,0.054,3263,326,2337,0,0,0,0,0,0
$GC,20726,0.51,155.7,725.9,11.9,680,20730,0.00,2.40,0.00,0.000,6,0.000,0.046,3263,1917,2337,0,0,0,0,0,0
$GC,21053,0.51,155.7,683.6,13.1,688,21057,0.00,2.42,0.00,0.000,4,0.000,0.055,3263,3502,2336,0,0,0,0,0,0
$GC,21158,0.51,155.7,668.3,14.0,690,21163,0.12,2.42,0.00,0.000,6,0.140,0.041,3236,1907,2335,0,0,0,0,0,0
$GC,21508,0.51,155.7,631.5,10.1,699,21512,0.00,2.42,0.00,0.000,4,0.000,0.051,3247,321,2335,0,0,0,0,0,0
$GC,21580,0.51,155.7,624.2,10.4,700,21584,0.00,2.40,0.00,0.000,6,0.000,0.044,3247,1920,2335,0,0,0,0,0,0
$GC,21917,0.51,155.7,592.2,9.2,709,21921,0.00,2.42,0.00,0.000,4,0.000,0.057,3247,3488,2335,0,0,0,0,0,0
$GC,21972,0.51,155.7,586.6,9.2,710,21977,0.00,2.40,0.00,0.000,6,0.000,0.044,3259,1906,2335,0,0,0,0,0,0
$GC,22321,0.51,155.7,550.7,10.6,719,22325,0.00,2.42,0.00,0.000,4,0.000,0.054,3272,319,2335,0,0,0,0,0,0
$GC,22354,0.51,155.7,546.9,11.0,719,22360,0.00,2.42,0.00,0.000,6,0.000,0.046,3272,1919,2335,0,0,0,0,0,0
$GC,22685,0.51,155.7,505.8,12.7,728,22689,0.00,2.42,0.00,0.000,4,0.000,0.055,3271,3499,2335,0,0,0,0,0,0
$GC,22779,0.51,155.7,492.9,12.9,730,22784,0.15,2.40,0.00,0.000,6,0.130,0.041,3235,1907,2335,0,0,0,0,0,0
$GC,23093,0.51,155.7,462.3,9.5,738,23097,0.00,2.40,0.00,0.000,4,0.000,0.051,3247,328,2335,0,0,0,0,0,0
$GC,23136,0.51,155.7,457.8,9.3,739,23141,0.00,2.40,0.00,0.000,6,0.000,0.044,3246,1919,2335,0,0,0,0,0,0
$GC,23465,0.51,155.7,425.1,10.0,747,23469,0.00,2.42,0.00,0.000,4,0.000,0.054,3247,3501,2336,0,0,0,0,0,0
$GC,23548,0.51,155.7,415.6,11.3,749,23553,0.00,2.42,0.00,0.000,6,0.000,0.041,3258,1903,2336,0,0,0,0,0,0
$GC,23876,0.51,155.7,382.3,10.0,757,23880,0.00,2.45,0.00,0.000,4,0.000,0.051,3271,322,2336,0,0,0,0,0,0
$GC,23919,0.51,155.7,377.3,8.3,758,23924,0.00,2.40,0.00,0.000,6,0.000,0.044,3271,1918,2337,0,0,0,0,0,0
$GC,24240,0.51,155.7,345.4,10.0,766,24244,0.00,2.42,0.00,0.000,4,0.000,0.053,3271,3506,2337,0,0,0,0,0,0
$GC,24351,0.51,155.7,332.4,12.3,768,24356,0.15,2.42,0.00,0.000,6,0.124,0.040,3234,1908,2338,0,0,0,0,0,0
$GC,24696,0.51,155.7,303.3,9.0,777,24700,0.00,2.40,0.00,0.000,4,0.000,0.050,3245,329,2339,0,0,0,0,0,0
$GC,24745,0.51,155.7,298.5,8.7,778,24749,0.00,2.38,0.00,0.000,6,0.000,0.042,3246,1921,2339,0,0,0,0,0,0
$GC,25066,0.51,155.7,271.1,7.9,794,25070,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3496,2340,0,0,0,0,0,0
$GC,25129,0.51,155.7,265.8,10.6,797,25133,0.00,2.40,0.00,0.000,6,0.000,0.040,3258,1904,2340,0,0,0,0,0,0
$GC,25454,0.51,155.7,240.3,7.4,813,25459,0.00,2.40,0.00,0.000,4,0.000,0.051,3270,326,2341,0,0,0,0,0,0
$GC,25509,0.51,155.7,236.0,6.8,815,25516,0.00,2.38,0.00,0.000,6,0.000,0.044,3270,1916,2342,0,0,0,0,0,0
$GC,25825,0.51,155.7,207.6,9.8,831,25829,0.00,2.45,0.00,0.000,4,0.000,0.051,3270,3502,2343,0,0,0,0,0,0
$GC,25927,0.51,155.7,196.3,10.6,836,25933,0.12,2.42,0.00,0.000,6,0.126,0.037,3239,1898,2344,0,0,0,0,0,0
$GC,26188,0.51,155.7,176.4,6.1,861,26193,0.00,2.45,0.00,0.000,4,0.000,0.051,3239,3494,2344,0,0,0,0,0,0
$GC,26216,0.51,155.7,174.4,7.0,863,26221,0.00,2.40,0.00,0.000,6,0.000,0.039,3250,1905,2345,0,0,0,0,0,0
$GC,26478,0.51,159.8,158.1,5.9,887,26479,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1905,2346,0,0,0,0,0,0
$GC,26733,0.51,159.8,142.7,6.9,911,26737,0.00,2.42,0.00,0.000,4,0.000,0.048,3261,322,2346,0,0,0,0,0,0
$GC,26776,0.51,159.8,139.2,9.1,914,26782,0.00,2.35,0.00,0.000,6,0.000,0.040,3262,1920,2347,0,0,0,0,0,0
$GC,27037,0.51,159.8,115.6,8.7,939,27041,0.00,2.42,0.00,0.000,4,0.000,0.050,3262,3493,2348,0,0,0,0,0,0
$GC,27081,0.51,159.8,111.5,8.1,942,27087,0.00,2.38,0.00,0.000,6,0.000,0.038,3274,1907,2348,0,0,0,0,0,0
$GC,27342,0.51,159.8,88.2,8.5,967,27346,0.00,2.42,0.00,0.000,4,0.000,0.048,3286,316,2349,0,0,0,0,0,0
$GC,27416,0.51,159.8,83.0,7.6,973,27420,0.12,2.35,0.00,0.000,6,0.112,0.041,3239,1917,2350,0,0,0,0,0,0
$GC,27677,0.60,230.1,72.3,4.1,997,27750,0.00,2.53,61.83,0.756,4,0.000,0.051,3239,3485,2055,0,0,0,0,0,0
$GC,27801,0.60,230.1,66.2,6.2,1008,27807,0.00,2.42,0.00,0.000,6,0.000,0.037,3246,1900,2051,0,0,0,0,0,0
$GC,28062,0.60,230.1,47.0,7.1,1033,28066,0.00,2.42,0.00,0.000,4,0.000,0.051,3251,314,2049,0,0,0,0,0,0
$GC,28298,0.60,230.1,24.4,9.3,1053,28304,0.00,2.33,0.00,0.000,6,0.000,0.041,3249,1901,2047,0,0,0,0,0,0
$GC,28495,0.60,230.1,6.3,7.9,1072,28496,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1902,2048,0,0,0,0,0,0
$STATE,28535,end climb,SURFACE_DEPTH_REACHED
$STATE,28535,begin surface coast
$FINISH,0.4,1.009794
$STATE,28568,end surface coast,CONTROL_FINISHED_OK
$STATE,28569,begin surface
$SM_CCo,28587,82.90,0.713,0,0,1364,400.08
$SM_GC,1.04,0.00,0.00,82.90,0.000,0.000,0.713,106,2151,1364,-9.29,0.88,400.08
$IRIDIUM_FIX,2209.02,12807.21,280712,060648
$TT8_MAMPS,0.028379
$HUMID,1078703861
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,21.8,58.782
$10V_AH,9.8,49.897
$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,21.400,308.475,352.350,82.900,0.000,79.465,106.599,828.671,0.000,0.000,14.587,2409.286,22498.408,684.276,3651.724,692.255,33.378,2245.785,0.000,2775.943,0.000,0.541,0.000
$DEVICE_MAMPS,217.061,68.263,1513.291,713.310,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,737.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355000
$DATA_FILE_SIZE,40008,1079
$CAP_FILE_SIZE,326559,0
$CFSIZE,260165632,192647168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020211,202700,2218.639,12809.253,36,1.4,41,-3.2