version: 66.07
glider: 500
mission: 5
dive: 402
start: 2 23 111 20 30 50
data:
$ID,500
$MISSION,5
$DIVE,402
$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,-129514.5
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,230211,201906,2216.300,12857.277,34,1.0,34,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.6
$GPS2,230211,202956,2216.346,12857.226,14,1.4,14,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.033,-0.218
$KALMAN_X,-771041.1,0.9,465.0,1358640.6,176.5
$KALMAN_Y,256846.9,-711.5,-80.5,-132535.4,8929.3
$MHEAD_RNG_PITCHd_Wd,191.8,182300,-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
$STATE,14,begin dive
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$GC,15145,-0.50,-155.7,829.8,-5.3,536,15152,0.12,2.40,0.00,0.000,6,0.110,0.038,2939,2151,3594,0,0,0,0,0,0
$GC,15480,-0.50,-155.7,846.8,-5.2,545,15484,0.00,2.45,0.00,0.000,4,0.000,0.055,2929,3732,3593,0,0,0,0,0,0
$GC,15663,-0.50,-155.7,856.2,-5.0,549,15667,0.00,2.38,0.00,0.000,6,0.000,0.037,2929,2138,3593,0,0,0,0,0,0
$GC,15985,-0.50,-155.7,868.8,-3.8,557,15989,0.00,2.45,0.00,0.000,4,0.000,0.054,2928,3734,3593,0,0,0,0,0,0
$GC,16175,-0.50,-155.7,875.6,-3.3,561,16179,0.00,2.38,0.00,0.000,6,0.000,0.038,2927,2147,3592,0,0,0,0,0,0
$GC,16487,-0.50,-155.7,885.1,-3.0,569,16491,0.00,2.45,0.00,0.000,4,0.000,0.055,2916,3737,3591,0,0,0,0,0,0
$GC,16667,-0.50,-155.7,890.2,-2.6,573,16671,0.00,2.35,0.00,0.000,6,0.000,0.038,2916,2153,3591,0,0,0,0,0,0
$GC,16992,-0.50,-155.7,898.2,-2.6,581,16996,0.00,2.42,0.00,0.000,4,0.000,0.055,2906,3732,3591,0,0,0,0,0,0
$GC,17099,-0.50,-155.7,901.0,-2.5,583,17103,0.00,2.35,0.00,0.000,6,0.000,0.037,2905,2142,3590,0,0,0,0,0,0
$GC,17442,-0.50,-155.7,912.4,-3.6,592,17446,0.00,2.47,0.00,0.000,4,0.000,0.055,2894,3732,3590,0,0,0,0,0,0
$GC,17475,-0.50,-155.7,913.8,-4.2,592,17482,0.10,2.35,0.00,0.000,6,0.120,0.038,2931,2152,3590,0,0,0,0,0,0
$GC,17808,-0.50,-155.7,927.0,-4.2,601,17812,0.00,2.45,0.00,0.000,4,0.000,0.056,2921,3743,3590,0,0,0,0,0,0
$GC,18020,-0.50,-155.7,936.0,-3.7,605,18026,0.00,2.38,0.00,0.000,6,0.000,0.038,2921,2148,3589,0,0,0,0,0,0
$GC,18352,-0.50,-155.7,949.9,-4.2,614,18356,0.00,2.45,0.00,0.000,4,0.000,0.056,2910,3735,3589,0,0,0,0,0,0
$GC,18447,-0.50,-155.7,954.2,-4.9,616,18451,0.00,2.38,0.00,0.000,6,0.000,0.039,2910,2145,3588,0,0,0,0,0,0
$GC,18761,-0.50,-155.7,968.4,-4.7,624,18765,0.00,2.47,0.00,0.000,4,0.000,0.056,2898,3738,3588,0,0,0,0,0,0
$GC,18834,-0.50,-155.7,971.9,-4.0,625,18838,0.00,2.40,0.00,0.000,6,0.000,0.039,2898,2150,3588,0,0,0,0,0,0
$GC,19165,-0.50,-155.7,986.2,-4.2,633,19169,0.00,2.50,0.00,0.000,4,0.000,0.057,2886,3742,3587,0,0,0,0,0,0
$GC,19221,-0.50,-155.7,988.4,-3.4,634,19226,0.12,2.40,0.00,0.000,6,0.111,0.039,2932,2151,3587,0,0,0,0,0,0
$STATE,19283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19283,begin apogee
$GC,19289,-0.23,0.0,990.5,3.1,636,19430,0.22,0.00,137.82,1.592,6,0.078,0.000,3026,1921,2995,0,0,0,0,0,0
$STATE,19431,end apogee,CONTROL_FINISHED_OK
$STATE,19431,begin climb
$GC,19434,0.50,155.7,991.5,0.0,639,19598,0.60,2.72,153.70,1.559,4,0.053,0.055,3258,3498,2360,0,0,0,0,0,0
$GC,19716,0.50,155.7,955.9,13.7,645,19720,0.00,2.47,0.00,0.000,6,0.000,0.041,3271,1920,2360,0,0,0,0,0,0
$GC,20058,0.50,155.7,907.2,14.3,654,20063,0.00,2.42,0.00,0.000,4,0.000,0.055,3283,333,2356,0,0,0,0,0,0
$GC,20144,0.50,155.7,895.3,13.5,656,20148,0.00,2.40,0.00,0.000,6,0.000,0.048,3283,1919,2355,0,0,0,0,0,0
$GC,20469,0.50,155.7,847.2,14.7,664,20473,0.00,2.45,0.00,0.000,4,0.000,0.053,3283,3514,2353,0,0,0,0,0,0
$GC,20580,0.50,155.7,829.6,14.7,666,20586,0.15,2.42,0.00,0.000,6,0.140,0.042,3250,1903,2353,0,0,0,0,0,0
$GC,20920,0.50,155.7,790.7,11.3,675,20921,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1903,2352,0,0,0,0,0,0
$GC,21243,0.50,155.7,755.9,10.5,683,21247,0.00,2.45,0.00,0.000,4,0.000,0.054,3249,3517,2351,0,0,0,0,0,0
$GC,21292,0.50,155.7,750.2,11.3,684,21296,0.00,2.40,0.00,0.000,6,0.000,0.043,3260,1911,2352,0,0,0,0,0,0
$GC,21612,0.50,155.7,713.4,11.9,692,21616,0.00,2.45,0.00,0.000,4,0.000,0.055,3260,3503,2350,0,0,0,0,0,0
$GC,21632,0.50,155.7,710.4,13.0,692,21637,0.00,2.38,0.00,0.000,6,0.000,0.044,3272,1924,2350,0,0,0,0,0,0
$GC,21975,0.50,155.7,665.0,13.5,701,21979,0.00,2.45,0.00,0.000,4,0.000,0.056,3285,332,2350,0,0,0,0,0,0
$GC,21997,0.50,155.7,662.0,13.5,701,22002,0.10,2.42,0.00,0.000,6,0.140,0.048,3252,1922,2350,0,0,0,0,0,0
$GC,22334,0.50,155.7,621.6,11.7,710,22339,0.00,2.42,0.00,0.000,4,0.000,0.054,3252,3517,2350,0,0,0,0,0,0
$GC,22413,0.50,155.7,611.4,12.9,711,22419,0.00,2.45,0.00,0.000,6,0.000,0.043,3263,1906,2349,0,0,0,0,0,0
$GC,22744,0.50,155.7,571.3,11.9,720,22748,0.00,2.40,0.00,0.000,4,0.000,0.054,3276,334,2349,0,0,0,0,0,0
$GC,22787,0.50,155.7,566.1,12.4,721,22792,0.00,2.40,0.00,0.000,6,0.000,0.048,3276,1928,2349,0,0,0,0,0,0
$GC,23114,0.50,155.7,528.3,11.5,729,23119,0.00,2.45,0.00,0.000,4,0.000,0.055,3276,3518,2349,0,0,0,0,0,0
$GC,23231,0.50,155.7,513.3,12.2,731,23236,0.12,2.45,0.00,0.000,6,0.140,0.042,3248,1922,2348,0,0,0,0,0,0
$GC,23572,0.50,155.7,481.9,9.3,740,23576,0.00,2.42,0.00,0.000,4,0.000,0.055,3260,334,2348,0,0,0,0,0,0
$GC,23643,0.50,155.7,474.2,9.9,741,23647,0.00,2.38,0.00,0.000,6,0.000,0.046,3260,1921,2348,0,0,0,0,0,0
$GC,23981,0.50,155.7,439.4,10.2,750,23985,0.00,2.42,0.00,0.000,4,0.000,0.055,3260,3511,2348,0,0,0,0,0,0
$GC,24105,0.50,155.7,425.5,11.4,752,24110,0.00,2.40,0.00,0.000,6,0.000,0.043,3273,1920,2348,0,0,0,0,0,0
$GC,24436,0.50,155.7,391.6,10.1,761,24441,0.00,2.42,0.00,0.000,4,0.000,0.054,3285,329,2348,0,0,0,0,0,0
$GC,24486,0.50,155.7,386.2,11.2,762,24491,0.10,2.40,0.00,0.000,6,0.134,0.044,3251,1925,2348,0,0,0,0,0,0
$GC,24807,0.50,155.7,358.1,9.0,770,24811,0.00,2.45,0.00,0.000,4,0.000,0.052,3251,3514,2348,0,0,0,0,0,0
$GC,24878,0.50,155.7,351.0,9.9,771,24882,0.00,2.42,0.00,0.000,6,0.000,0.041,3261,1919,2349,0,0,0,0,0,0
$GC,25216,0.50,155.7,319.8,9.2,780,25220,0.00,2.45,0.00,0.000,4,0.000,0.053,3274,336,2349,0,0,0,0,0,0
$GC,25277,0.50,155.7,314.0,8.6,781,25281,0.00,2.38,0.00,0.000,6,0.000,0.043,3274,1938,2350,0,0,0,0,0,0
$GC,25608,0.50,155.7,282.2,9.6,793,25612,0.00,2.40,0.00,0.000,4,0.000,0.051,3274,3501,2351,0,0,0,0,0,0
$GC,25657,0.50,155.7,277.0,9.3,795,25662,0.12,2.38,0.00,0.000,6,0.126,0.039,3244,1916,2351,0,0,0,0,0,0
$GC,25979,0.50,155.7,254.2,6.7,811,25983,0.00,2.42,0.00,0.000,4,0.000,0.052,3256,333,2352,0,0,0,0,0,0
$GC,26067,0.50,155.7,248.1,6.7,815,26071,0.00,2.35,0.00,0.000,6,0.000,0.041,3255,1910,2353,0,0,0,0,0,0
$GC,26394,0.50,155.7,226.1,6.5,831,26398,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,3520,2354,0,0,0,0,0,0
$GC,26448,0.50,155.7,221.8,8.0,833,26454,0.00,2.40,0.00,0.000,6,0.000,0.039,3267,1917,2355,0,0,0,0,0,0
$GC,26764,0.50,155.7,199.0,7.6,849,26768,0.00,2.42,0.00,0.000,4,0.000,0.051,3280,326,2356,0,0,0,0,0,0
$GC,26860,0.50,155.7,191.2,7.3,857,26865,0.00,2.35,0.00,0.000,6,0.000,0.041,3280,1926,2356,0,0,0,0,0,0
$GC,27121,0.50,155.7,169.8,8.4,881,27125,0.00,2.45,0.00,0.000,4,0.000,0.049,3291,332,2357,0,0,0,0,0,0
$GC,27172,0.50,155.7,165.7,7.5,885,27177,0.12,2.35,0.00,0.000,6,0.115,0.042,3246,1930,2357,0,0,0,0,0,0
$GC,27434,0.60,230.2,153.0,4.0,909,27508,0.10,2.55,61.85,0.912,4,0.098,0.049,3350,3517,2056,0,0,0,0,0,0
$GC,27537,0.60,230.2,143.1,11.6,918,27543,0.25,2.47,0.00,0.000,6,0.115,0.039,3282,1908,2056,0,0,0,0,0,0
$GC,27799,0.60,230.2,124.9,6.9,943,27803,0.00,2.40,0.00,0.000,4,0.000,0.050,3293,333,2057,0,0,0,0,0,0
$GC,27842,0.60,230.2,121.5,7.0,946,27849,0.00,2.38,0.00,0.000,6,0.000,0.041,3293,1924,2057,0,0,0,0,0,0
$GC,28105,0.60,230.2,101.3,7.6,971,28109,0.00,2.42,0.00,0.000,4,0.000,0.049,3293,3521,2059,0,0,0,0,0,0
$GC,28137,0.60,230.2,98.6,8.4,973,28143,0.00,2.40,0.00,0.000,6,0.000,0.037,3305,1918,2060,0,0,0,0,0,0
$GC,28398,0.60,230.2,78.9,7.8,998,28402,0.00,2.40,0.00,0.000,4,0.000,0.051,3316,327,2062,0,0,0,0,0,0
$GC,28472,0.60,230.2,73.2,8.2,1004,28477,0.12,2.35,0.00,0.000,6,0.107,0.042,3267,1929,2062,0,0,0,0,0,0
$GC,28734,0.62,245.5,58.5,5.6,1028,28755,0.00,2.40,15.50,0.777,4,0.000,0.048,3267,3510,1993,0,0,0,0,0,0
$GC,28779,0.63,256.8,55.7,5.7,1032,28795,0.00,2.40,10.77,0.743,6,0.000,0.039,3276,1921,1947,0,0,0,0,0,0
$GC,29051,0.63,256.8,39.1,6.0,1057,29055,0.00,2.40,0.00,0.000,4,0.000,0.051,3286,332,1952,0,0,0,0,0,0
$GC,29125,0.63,256.8,33.9,6.9,1063,29129,0.00,2.35,0.00,0.000,6,0.000,0.043,3286,1920,1952,0,0,0,0,0,0
$GC,29386,0.63,256.8,14.0,7.2,1087,29390,0.00,2.42,0.00,0.000,4,0.000,0.050,3287,333,1953,0,0,0,0,0,0
$GC,29515,0.63,256.8,4.1,7.3,1098,29519,0.00,2.35,0.00,0.000,6,0.000,0.044,3287,1925,1953,0,0,0,0,0,0
$STATE,29534,end climb,SURFACE_DEPTH_REACHED
$STATE,29534,begin surface coast
$FINISH,0.3,0.998478
$STATE,29580,end surface coast,CONTROL_FINISHED_OK
$STATE,29580,begin surface
$SM_CCo,29598,70.15,0.808,0,0,1364,400.08
$SM_GC,0.90,0.00,0.00,70.15,0.000,0.000,0.808,103,2172,1364,-9.34,0.62,400.08
$IRIDIUM_FIX,2209.02,12857.05,180812,141410
$TT8_MAMPS,0.028379
$HUMID,1078684506
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.6,70.914
$10V_AH,9.8,58.347
$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,21.725,328.000,379.650,70.150,0.000,54.056,85.323,300.069,0.000,0.000,16.592,2495.712,23195.201,686.976,3342.480,578.896,33.383,2308.311,0.000,2873.774,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,59.059,1591.525,808.418,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,753.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,39969,1104
$CAP_FILE_SIZE,330175,0
$CFSIZE,260165632,186073088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240211,044637,2215.340,12855.928,37,0.8,37,-3.2