version: 66.07
glider: 500
mission: 5
dive: 382
start: 2 16 111 19 38 44
data:
$ID,500
$MISSION,5
$DIVE,382
$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,-129131.24
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,160211,191554,2155.606,12813.787,32,1.4,50,-3.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.8
$GPS2,160211,193750,2156.086,12813.814,14,1.4,14,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.022,-0.220
$KALMAN_X,-795181.5,79.2,-630.7,1308799.8,246.1
$KALMAN_Y,96917.8,-59.0,210.0,-11104.1,6500.1
$MHEAD_RNG_PITCHd_Wd,177.3,202794,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,15104,-0.50,-155.7,807.3,-4.9,569,15108,0.00,2.45,0.00,0.000,4,0.000,0.053,2899,3728,3597,0,0,0,0,0,0
$GC,15147,-0.50,-155.7,809.7,-5.3,570,15152,0.00,2.35,0.00,0.000,6,0.000,0.035,2899,2137,3596,0,0,0,0,0,0
$GC,15470,-0.50,-155.7,826.1,-5.3,578,15474,0.00,2.47,0.00,0.000,4,0.000,0.054,2887,3731,3596,0,0,0,0,0,0
$GC,15530,-0.50,-155.7,829.4,-4.9,579,15535,0.12,2.35,0.00,0.000,6,0.114,0.036,2933,2148,3595,0,0,0,0,0,0
$GC,15875,-0.50,-155.7,844.1,-4.2,588,15879,0.00,2.45,0.00,0.000,4,0.000,0.054,2923,3738,3595,0,0,0,0,0,0
$GC,15987,-0.50,-155.7,848.8,-3.6,590,15991,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2141,3595,0,0,0,0,0,0
$GC,16332,-0.50,-155.7,861.4,-3.6,599,16336,0.00,2.45,0.00,0.000,4,0.000,0.054,2912,3728,3594,0,0,0,0,0,0
$GC,16463,-0.50,-155.7,865.6,-3.2,602,16468,0.00,2.35,0.00,0.000,6,0.000,0.036,2912,2141,3594,0,0,0,0,0,0
$GC,16792,-0.50,-155.7,875.1,-3.0,610,16796,0.00,2.50,0.00,0.000,4,0.000,0.054,2900,3729,3594,0,0,0,0,0,0
$GC,16831,-0.50,-155.7,876.5,-3.5,611,16836,0.00,2.38,0.00,0.000,6,0.000,0.037,2900,2146,3593,0,0,0,0,0,0
$GC,17158,-0.50,-155.7,887.3,-3.5,619,17162,0.00,2.45,0.00,0.000,4,0.000,0.054,2889,3727,3593,0,0,0,0,0,0
$GC,17190,-0.50,-155.7,888.7,-4.5,619,17197,0.12,2.38,0.00,0.000,6,0.113,0.036,2934,2144,3592,0,0,0,0,0,0
$GC,17524,-0.50,-155.7,900.5,-3.7,628,17529,0.00,2.50,0.00,0.000,4,0.000,0.055,2924,3730,3592,0,0,0,0,0,0
$GC,17703,-0.50,-155.7,907.4,-3.4,632,17707,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2150,3592,0,0,0,0,0,0
$GC,18029,-0.50,-155.7,917.6,-3.1,640,18034,0.00,2.45,0.00,0.000,4,0.000,0.055,2914,3728,3591,0,0,0,0,0,0
$GC,18155,-0.50,-155.7,921.6,-3.3,642,18162,0.00,2.35,0.00,0.000,6,0.000,0.037,2913,2150,3591,0,0,0,0,0,0
$GC,18486,-0.50,-155.7,932.4,-3.4,651,18490,0.00,2.50,0.00,0.000,4,0.000,0.055,2902,3736,3591,0,0,0,0,0,0
$GC,18587,-0.50,-155.7,936.0,-3.6,653,18591,0.00,2.38,0.00,0.000,6,0.000,0.038,2902,2149,3591,0,0,0,0,0,0
$GC,18937,-0.50,-155.7,949.4,-4.0,662,18941,0.00,2.45,0.00,0.000,4,0.000,0.055,2891,3733,3590,0,0,0,0,0,0
$GC,18964,-0.50,-155.7,950.8,-4.9,662,18969,0.12,2.40,0.00,0.000,6,0.111,0.038,2937,2139,3590,0,0,0,0,0,0
$GC,19298,-0.50,-155.7,963.7,-3.9,670,19302,0.00,2.47,0.00,0.000,4,0.000,0.054,2926,3727,3590,0,0,0,0,0,0
$GC,19556,-0.50,-155.7,973.9,-4.4,675,19561,0.00,2.38,0.00,0.000,6,0.000,0.036,2926,2141,3589,0,0,0,0,0,0
$GC,19887,-0.50,-155.7,985.5,-3.5,684,19891,0.00,2.47,0.00,0.000,4,0.000,0.055,2924,3731,3589,0,0,0,0,0,0
$STATE,20018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20018,begin apogee
$GC,20026,-0.23,0.0,990.1,3.6,687,20168,0.25,0.00,138.62,1.617,6,0.072,0.000,3028,1926,2995,0,0,0,0,0,0
$STATE,20169,end apogee,CONTROL_FINISHED_OK
$STATE,20169,begin climb
$GC,20171,0.50,155.7,990.5,0.0,690,20336,0.60,2.75,155.48,1.574,4,0.054,0.051,3269,336,2360,0,0,0,0,0,0
$GC,20360,0.50,155.7,968.0,13.0,694,20365,0.00,2.55,0.00,0.000,6,0.000,0.043,3269,1913,2360,0,0,0,0,0,0
$GC,20703,0.50,155.7,915.9,15.1,703,20707,0.00,2.47,0.00,0.000,4,0.000,0.053,3269,3511,2356,0,0,0,0,0,0
$GC,20791,0.50,155.7,901.1,16.5,705,20796,0.00,2.45,0.00,0.000,6,0.000,0.041,3281,1917,2354,0,0,0,0,0,0
$GC,21118,0.50,155.7,849.5,15.8,713,21123,0.00,2.45,0.00,0.000,4,0.000,0.053,3294,339,2352,0,0,0,0,0,0
$GC,21145,0.50,155.7,844.6,15.9,713,21150,0.15,2.38,0.00,0.000,6,0.127,0.044,3244,1924,2352,0,0,0,0,0,0
$GC,21484,0.50,155.7,803.0,12.1,722,21488,0.00,2.42,0.00,0.000,4,0.000,0.054,3244,3508,2351,0,0,0,0,0,0
$GC,21583,0.50,155.7,789.3,11.4,724,21588,0.00,2.40,0.00,0.000,6,0.000,0.042,3255,1918,2350,0,0,0,0,0,0
$GC,21897,0.50,155.7,749.2,12.6,732,21898,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1918,2349,0,0,0,0,0,0
$GC,22222,0.50,155.7,710.5,11.8,740,22223,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1918,2348,0,0,0,0,0,0
$GC,22548,0.50,155.7,671.9,12.1,748,22552,0.00,2.42,0.00,0.000,4,0.000,0.054,3268,331,2348,0,0,0,0,0,0
$GC,22591,0.50,155.7,666.1,12.6,749,22595,0.00,2.38,0.00,0.000,6,0.000,0.045,3269,1921,2347,0,0,0,0,0,0
$GC,22915,0.50,155.7,624.2,12.7,757,22920,0.00,2.47,0.00,0.000,4,0.000,0.056,3268,3518,2347,0,0,0,0,0,0
$GC,22988,0.50,155.7,614.3,13.8,758,22993,0.00,2.45,0.00,0.000,6,0.000,0.044,3281,1909,2347,0,0,0,0,0,0
$GC,23319,0.50,155.7,571.0,12.9,766,23323,0.00,2.40,0.00,0.000,4,0.000,0.051,3293,340,2347,0,0,0,0,0,0
$GC,23341,0.50,155.7,568.1,14.5,766,23346,0.12,2.40,0.00,0.000,6,0.133,0.044,3252,1933,2347,0,0,0,0,0,0
$GC,23678,0.50,155.7,531.9,10.7,775,23683,0.00,2.42,0.00,0.000,4,0.000,0.054,3252,3505,2346,0,0,0,0,0,0
$GC,23818,0.50,155.7,513.6,12.7,778,23822,0.00,2.40,0.00,0.000,6,0.000,0.041,3263,1918,2345,0,0,0,0,0,0
$GC,24137,0.50,155.7,471.4,13.0,786,24138,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1918,2345,0,0,0,0,0,0
$GC,24463,0.50,155.7,435.8,10.3,794,24464,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1918,2345,0,0,0,0,0,0
$GC,24787,0.50,155.7,401.9,10.8,802,24791,0.00,2.45,0.00,0.000,4,0.000,0.052,3263,3510,2345,0,0,0,0,0,0
$GC,24813,0.50,155.7,398.7,12.1,802,24817,0.00,2.47,0.00,0.000,6,0.000,0.043,3275,1910,2345,0,0,0,0,0,0
$GC,25151,0.50,155.7,362.0,10.7,811,25156,0.00,2.42,0.00,0.000,4,0.000,0.052,3288,334,2345,0,0,0,0,0,0
$GC,25229,0.50,155.7,352.6,12.4,812,25236,0.12,2.35,0.00,0.000,6,0.127,0.042,3246,1923,2345,0,0,0,0,0,0
$GC,25563,0.50,155.7,321.8,9.3,821,25567,0.00,2.45,0.00,0.000,4,0.000,0.051,3245,3516,2346,0,0,0,0,0,0
$GC,25606,0.50,155.7,317.2,12.6,822,25610,0.00,2.40,0.00,0.000,6,0.000,0.040,3256,1927,2346,0,0,0,0,0,0
$GC,25933,0.50,155.7,288.0,8.8,833,25938,0.00,2.45,0.00,0.000,4,0.000,0.051,3256,3513,2347,0,0,0,0,0,0
$GC,25977,0.50,155.7,283.4,9.3,835,25981,0.00,2.42,0.00,0.000,6,0.000,0.041,3269,1902,2347,0,0,0,0,0,0
$GC,26305,0.50,155.7,254.3,8.7,851,26309,0.00,2.45,0.00,0.000,4,0.000,0.050,3269,3513,2348,0,0,0,0,0,0
$GC,26345,0.50,155.7,250.5,8.8,853,26349,0.00,2.40,0.00,0.000,6,0.000,0.041,3281,1917,2349,0,0,0,0,0,0
$GC,26672,0.50,155.7,217.7,10.9,869,26676,0.00,2.42,0.00,0.000,4,0.000,0.050,3294,327,2350,0,0,0,0,0,0
$GC,26726,0.50,155.7,211.1,12.4,871,26733,0.12,2.35,0.00,0.000,6,0.123,0.039,3250,1930,2349,0,0,0,0,0,0
$GC,27051,0.50,155.7,183.3,8.5,896,27055,0.00,2.42,0.00,0.000,4,0.000,0.050,3250,3517,2351,0,0,0,0,0,0
$GC,27101,0.50,155.7,178.4,8.1,900,27105,0.00,2.40,0.00,0.000,6,0.000,0.038,3261,1926,2351,0,0,0,0,0,0
$GC,27361,0.50,155.7,155.2,9.0,924,27366,0.00,2.45,0.00,0.000,4,0.000,0.048,3273,328,2352,0,0,0,0,0,0
$GC,27424,0.50,155.7,149.4,7.4,929,27429,0.00,2.35,0.00,0.000,6,0.000,0.039,3273,1936,2352,0,0,0,0,0,0
$GC,27686,0.50,155.7,125.5,7.7,953,27691,0.00,2.42,0.00,0.000,4,0.000,0.049,3273,3501,2353,0,0,0,0,0,0
$GC,27759,0.50,155.7,118.4,9.9,959,27765,0.10,2.38,0.00,0.000,6,0.136,0.036,3251,1900,2353,0,0,0,0,0,0
$GC,28020,0.50,155.7,99.6,7.0,983,28021,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1901,2354,0,0,0,0,0,0
$GC,28275,0.51,160.3,84.3,5.9,1007,28287,0.00,2.42,5.15,0.581,4,0.000,0.046,3261,326,2341,0,0,0,0,0,0
$GC,28326,0.55,192.4,81.5,5.2,1011,28362,0.00,2.33,28.27,0.834,6,0.000,0.038,3261,1919,2209,0,0,0,0,0,0
$GC,28617,0.55,192.4,61.4,7.1,1039,28618,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1919,2210,0,0,0,0,0,0
$GC,28873,0.55,192.4,43.4,7.0,1063,28877,0.00,2.40,0.00,0.000,4,0.000,0.048,3261,3503,2211,0,0,0,0,0,0
$GC,28916,0.55,192.4,39.7,8.6,1066,28922,0.00,2.38,0.00,0.000,6,0.000,0.036,3273,1907,2211,0,0,0,0,0,0
$GC,29179,0.55,192.4,20.9,7.1,1091,29183,0.00,2.35,0.00,0.000,4,0.000,0.046,3284,333,2212,0,0,0,0,0,0
$GC,29211,0.55,192.4,18.3,8.3,1093,29217,0.00,2.30,0.00,0.000,6,0.000,0.038,3284,1928,2212,0,0,0,0,0,0
$GC,29409,0.55,192.4,3.0,7.2,1112,29413,0.00,2.10,0.00,0.000,3,0.000,0.048,3284,3304,2212,0,0,0,0,0,0
$STATE,29413,end climb,SURFACE_DEPTH_REACHED
$STATE,29413,begin surface coast
$FINISH,0.3,1.023729
$STATE,29450,end surface coast,CONTROL_FINISHED_OK
$STATE,29451,begin surface
$SM_CCo,29470,100.40,0.827,0,0,1363,400.08
$SM_GC,1.15,0.00,0.00,100.40,0.000,0.000,0.827,106,2133,1363,-9.33,-0.48,400.08
$IRIDIUM_FIX,2143.45,13030.54,110812,131356
$TT8_MAMPS,0.028379
$HUMID,1078739990
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,21.6,66.996
$10V_AH,9.8,56.177
$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,21.450,314.700,327.525,100.400,0.000,112.965,177.752,669.126,0.000,0.000,16.050,2479.480,23379.436,671.890,3652.456,680.863,33.376,2229.468,0.000,2750.866,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,55.991,1616.836,826.826,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,764.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,39914,1116
$CAP_FILE_SIZE,333088,0
$CFSIZE,260165632,188264448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,035255,2155.881,12815.319,38,1.3,38,-3.1