version: 66.07
glider: 500
mission: 5
dive: 407
start: 2 25 111 14 39 37
data:
$ID,500
$MISSION,5
$DIVE,407
$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,-129610.21
$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,38
$R_STBD_OVSHOOT,48
$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
$GPS1,250211,143131,2215.588,12855.764,36,1.9,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.0
$GPS2,250211,143843,2215.686,12855.897,9,1.2,14,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.098,-0.198
$KALMAN_X,-759045.8,762.0,-245.0,1344267.5,4350.0
$KALMAN_Y,286842.6,-327.0,-642.2,-163593.6,9086.9
$MHEAD_RNG_PITCHd_Wd,156.8,182324,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,3411,-0.50,-155.7,286.1,-7.2,249,3415,0.00,2.40,0.00,0.000,4,0.000,0.051,2908,3736,3637,0,0,0,0,0,0
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$GC,7477,-0.50,-155.7,506.5,-5.1,353,7481,0.00,2.33,0.00,0.000,6,0.000,0.041,2913,2162,3624,0,0,0,0,0,0
$GC,7792,-0.50,-155.7,519.9,-4.2,361,7796,0.00,2.40,0.00,0.000,4,0.000,0.051,2900,3729,3622,0,0,0,0,0,0
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$GC,15410,-0.50,-155.7,842.7,-3.4,546,15414,0.00,2.35,0.00,0.000,6,0.000,0.042,2897,2160,3595,0,0,0,0,0,0
$GC,15761,-0.50,-155.7,856.5,-4.0,555,15765,0.00,2.38,0.00,0.000,4,0.000,0.046,2897,562,3594,0,0,0,0,0,0
$GC,15879,-0.50,-155.7,861.4,-3.8,557,15884,0.12,2.38,0.00,0.000,6,0.123,0.043,2930,2160,3593,0,0,0,0,0,0
$GC,16213,-0.50,-155.7,873.2,-3.7,565,16217,0.00,2.42,0.00,0.000,4,0.000,0.054,2920,3729,3593,0,0,0,0,0,0
$GC,16442,-0.50,-155.7,882.4,-4.7,570,16446,0.00,2.35,0.00,0.000,6,0.000,0.036,2920,2150,3592,0,0,0,0,0,0
$GC,16762,-0.50,-155.7,895.5,-4.3,578,16767,0.00,2.47,0.00,0.000,4,0.000,0.054,2909,3740,3592,0,0,0,0,0,0
$GC,16858,-0.50,-155.7,899.9,-4.2,580,16862,0.00,2.38,0.00,0.000,6,0.000,0.038,2909,2150,3591,0,0,0,0,0,0
$GC,17173,-0.50,-155.7,915.4,-5.1,588,17177,0.00,2.50,0.00,0.000,4,0.000,0.055,2898,3737,3591,0,0,0,0,0,0
$GC,17239,-0.50,-155.7,919.0,-5.0,589,17243,0.00,2.38,0.00,0.000,6,0.000,0.038,2898,2151,3591,0,0,0,0,0,0
$GC,17583,-0.50,-155.7,937.3,-5.3,598,17588,0.00,2.45,0.00,0.000,4,0.000,0.054,2886,3731,3590,0,0,0,0,0,0
$GC,17616,-0.50,-155.7,939.2,-5.4,598,17623,0.12,2.38,0.00,0.000,6,0.110,0.037,2932,2148,3590,0,0,0,0,0,0
$GC,17950,-0.50,-155.7,954.1,-4.4,607,17955,0.00,2.47,0.00,0.000,4,0.000,0.055,2922,3734,3590,0,0,0,0,0,0
$GC,18101,-0.50,-155.7,960.3,-4.1,610,18105,0.00,2.38,0.00,0.000,6,0.000,0.038,2922,2150,3589,0,0,0,0,0,0
$GC,18445,-0.50,-155.7,970.4,-2.8,619,18450,0.00,2.50,0.00,0.000,4,0.000,0.054,2911,3734,3589,0,0,0,0,0,0
$GC,18535,-0.50,-155.7,972.4,-2.2,621,18539,0.00,2.35,0.00,0.000,6,0.000,0.038,2911,2150,3589,0,0,0,0,0,0
$GC,18856,-0.50,-155.7,980.3,-2.4,629,18860,0.00,2.50,0.00,0.000,4,0.000,0.055,2900,3734,3588,0,0,0,0,0,0
$GC,18945,-0.50,-155.7,982.7,-2.8,631,18949,0.00,2.38,0.00,0.000,6,0.000,0.038,2900,2142,3588,0,0,0,0,0,0
$STATE,19220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19220,begin apogee
$GC,19227,-0.23,0.0,990.9,3.1,638,19368,0.32,0.00,137.93,1.601,6,0.080,0.000,3024,1921,2995,0,0,0,0,0,0
$STATE,19369,end apogee,CONTROL_FINISHED_OK
$STATE,19369,begin climb
$GC,19372,0.50,155.7,991.0,0.0,641,19537,0.62,2.78,153.90,1.567,4,0.059,0.051,3268,343,2360,0,0,0,0,0,0
$GC,19605,0.50,155.7,962.4,14.0,646,19610,0.00,2.50,0.00,0.000,6,0.000,0.042,3268,1921,2360,0,0,0,0,0,0
$GC,19948,0.50,155.7,911.8,14.8,655,19952,0.00,2.45,0.00,0.000,4,0.000,0.054,3268,3512,2356,0,0,0,0,0,0
$GC,20044,0.50,155.7,896.4,15.2,657,20048,0.00,2.40,0.00,0.000,6,0.000,0.043,3280,1926,2355,0,0,0,0,0,0
$GC,20357,0.50,155.7,846.9,16.0,665,20361,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,326,2354,0,0,0,0,0,0
$GC,20397,0.50,155.7,840.2,17.0,666,20402,0.12,2.40,0.00,0.000,6,0.131,0.044,3252,1920,2354,0,0,0,0,0,0
$GC,20724,0.50,155.7,796.8,13.0,674,20729,0.00,2.42,0.00,0.000,4,0.000,0.053,3252,3503,2353,0,0,0,0,0,0
$GC,20809,0.50,155.7,785.1,12.1,676,20813,0.00,2.40,0.00,0.000,6,0.000,0.042,3263,1909,2353,0,0,0,0,0,0
$GC,21136,0.50,155.7,743.7,12.9,684,21140,0.00,2.40,0.00,0.000,4,0.000,0.052,3275,332,2352,0,0,0,0,0,0
$GC,21169,0.50,155.7,738.8,13.1,684,21175,0.00,2.40,0.00,0.000,6,0.000,0.044,3276,1921,2352,0,0,0,0,0,0
$GC,21501,0.50,155.7,692.0,14.4,693,21506,0.00,2.45,0.00,0.000,4,0.000,0.057,3275,3510,2352,0,0,0,0,0,0
$GC,21632,0.50,155.7,672.3,14.6,696,21637,0.12,2.40,0.00,0.000,6,0.133,0.044,3247,1923,2351,0,0,0,0,0,0
$GC,21957,0.50,155.7,635.8,10.8,704,21962,0.00,2.42,0.00,0.000,4,0.000,0.054,3259,333,2351,0,0,0,0,0,0
$GC,21998,0.50,155.7,631.4,10.8,705,22003,0.00,2.40,0.00,0.000,6,0.000,0.045,3259,1937,2351,0,0,0,0,0,0
$GC,22325,0.50,155.7,594.9,11.4,713,22329,0.00,2.42,0.00,0.000,4,0.000,0.054,3259,3505,2351,0,0,0,0,0,0
$GC,22402,0.50,155.7,585.2,13.2,714,22408,0.00,2.40,0.00,0.000,6,0.000,0.042,3271,1908,2351,0,0,0,0,0,0
$GC,22734,0.50,155.7,545.8,12.0,723,22738,0.00,2.40,0.00,0.000,4,0.000,0.051,3284,343,2350,0,0,0,0,0,0
$GC,22845,0.50,155.7,531.9,11.6,725,22850,0.10,2.35,0.00,0.000,6,0.137,0.044,3251,1920,2351,0,0,0,0,0,0
$GC,23190,0.50,155.7,498.0,9.7,734,23194,0.00,2.45,0.00,0.000,4,0.000,0.052,3250,3518,2350,0,0,0,0,0,0
$GC,23256,0.50,155.7,490.9,10.8,735,23261,0.00,2.40,0.00,0.000,6,0.000,0.042,3261,1926,2350,0,0,0,0,0,0
$GC,23594,0.50,155.7,457.5,9.9,744,23598,0.00,2.42,0.00,0.000,4,0.000,0.051,3274,329,2350,0,0,0,0,0,0
$GC,23649,0.50,155.7,451.6,11.0,745,23653,0.00,2.38,0.00,0.000,6,0.000,0.043,3274,1922,2350,0,0,0,0,0,0
$GC,23962,0.50,155.7,417.7,11.0,753,23966,0.00,2.45,0.00,0.000,4,0.000,0.052,3274,3519,2351,0,0,0,0,0,0
$GC,24057,0.50,155.7,406.9,12.7,755,24062,0.12,2.40,0.00,0.000,6,0.128,0.041,3245,1914,2351,0,0,0,0,0,0
$GC,24371,0.50,155.7,381.3,8.0,763,24375,0.00,2.42,0.00,0.000,4,0.000,0.051,3256,341,2352,0,0,0,0,0,0
$GC,24438,0.50,155.7,375.7,7.9,764,24442,0.00,2.38,0.00,0.000,6,0.000,0.041,3256,1928,2352,0,0,0,0,0,0
$GC,24775,0.50,155.7,346.7,8.8,773,24776,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1928,2353,0,0,0,0,0,0
$GC,25101,0.50,155.7,317.1,9.3,781,25105,0.00,2.42,0.00,0.000,4,0.000,0.051,3256,3507,2355,0,0,0,0,0,0
$GC,25156,0.50,155.7,311.4,9.0,782,25160,0.00,2.38,0.00,0.000,6,0.000,0.039,3269,1929,2355,0,0,0,0,0,0
$GC,25472,0.50,155.7,282.1,8.7,794,25476,0.00,2.42,0.00,0.000,4,0.000,0.048,3281,329,2356,0,0,0,0,0,0
$GC,25511,0.50,155.7,278.4,8.0,796,25515,0.00,2.38,0.00,0.000,6,0.000,0.040,3281,1929,2356,0,0,0,0,0,0
$GC,25838,0.50,155.7,249.3,8.3,812,25842,0.00,2.45,0.00,0.000,4,0.000,0.050,3281,3514,2358,0,0,0,0,0,0
$GC,25967,0.50,155.7,238.2,6.8,818,25972,0.12,2.40,0.00,0.000,6,0.126,0.038,3250,1917,2358,0,0,0,0,0,0
$GC,26293,0.50,155.7,219.8,6.3,834,26297,0.00,2.40,0.00,0.000,4,0.000,0.048,3261,333,2360,0,0,0,0,0,0
$GC,26314,0.50,155.7,218.4,6.2,835,26318,0.00,2.38,0.00,0.000,6,0.000,0.040,3261,1917,2360,0,0,0,0,0,0
$GC,26632,0.50,155.7,194.6,8.1,853,26636,0.00,2.42,0.00,0.000,4,0.000,0.049,3261,3508,2362,0,0,0,0,0,0
$GC,26738,0.50,155.7,185.4,8.9,862,26743,0.00,2.38,0.00,0.000,6,0.000,0.038,3273,1913,2362,0,0,0,0,0,0
$GC,27000,0.50,155.7,164.9,7.4,886,27001,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1913,2363,0,0,0,0,0,0
$GC,27254,0.50,155.7,143.8,7.1,910,27258,0.00,2.38,0.00,0.000,4,0.000,0.048,3285,332,2364,0,0,0,0,0,0
$GC,27283,0.50,155.7,141.7,6.7,912,27288,0.10,2.35,0.00,0.000,6,0.127,0.039,3248,1931,2364,0,0,0,0,0,0
$GC,27545,0.52,171.1,126.9,5.6,936,27566,0.00,2.40,15.80,0.808,4,0.000,0.047,3247,3503,2297,0,0,0,0,0,0
$GC,27634,0.52,171.1,121.2,7.2,944,27639,0.00,2.38,0.00,0.000,6,0.000,0.035,3256,1908,2299,0,0,0,0,0,0
$GC,27895,0.56,203.3,106.4,5.1,968,27930,0.00,2.45,27.95,0.862,4,0.000,0.046,3267,342,2165,0,0,0,0,0,0
$GC,27977,0.57,208.1,102.2,5.9,975,27988,0.00,2.35,6.30,0.685,6,0.000,0.038,3267,1921,2146,0,0,0,0,0,0
$GC,28245,0.60,234.3,88.2,5.3,1000,28277,0.00,2.50,22.83,0.848,4,0.000,0.051,3267,3499,2039,0,0,0,0,0,0
$GC,28323,0.60,234.3,83.2,7.2,1007,28327,0.00,2.40,0.00,0.000,6,0.000,0.037,3277,1910,2039,0,0,0,0,0,0
$GC,28590,0.60,234.3,65.4,6.5,1032,28594,0.00,2.38,0.00,0.000,4,0.000,0.047,3289,338,2039,0,0,0,0,0,0
$GC,28652,0.60,234.3,61.1,7.1,1037,28656,0.00,2.33,0.00,0.000,6,0.000,0.038,3288,1922,2040,0,0,0,0,0,0
$GC,28914,0.60,234.3,43.1,6.5,1061,28918,0.00,2.40,0.00,0.000,4,0.000,0.046,3289,3519,2041,0,0,0,0,0,0
$GC,28948,0.60,234.3,40.8,6.7,1064,28952,0.00,2.38,0.00,0.000,6,0.000,0.036,3299,1909,2041,0,0,0,0,0,0
$GC,29209,0.60,234.3,21.8,6.8,1088,29213,0.00,2.35,0.00,0.000,4,0.000,0.046,3310,327,2042,0,0,0,0,0,0
$GC,29272,0.60,234.3,16.9,7.3,1093,29276,0.00,2.33,0.00,0.000,6,0.000,0.038,3310,1922,2043,0,0,0,0,0,0
$STATE,29456,end climb,SURFACE_DEPTH_REACHED
$STATE,29456,begin surface coast
$FINISH,0.5,1.023364
$STATE,29489,end surface coast,CONTROL_FINISHED_OK
$STATE,29489,begin surface
$SM_CCo,29508,79.88,0.818,0,0,1363,400.08
$SM_GC,1.13,0.00,0.00,79.88,0.000,0.000,0.818,132,2184,1363,-9.24,0.96,400.08
$IRIDIUM_FIX,2204.37,12855.58,200812,000054
$TT8_MAMPS,0.028379
$HUMID,1078701281
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.7,71.838
$10V_AH,9.7,58.855
$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,21.275,319.350,364.700,79.875,0.000,31.074,48.635,200.932,0.000,0.000,16.798,2510.985,23038.209,668.238,3205.479,574.572,33.374,2286.847,0.000,2881.742,0.000,0.543,0.000
$DEVICE_MAMPS,214.760,58.292,1601.496,817.622,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,760.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,40049,1113
$CAP_FILE_SIZE,325215,0
$CFSIZE,260165632,185536512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250211,225401,2215.821,12858.965,35,1.7,35,-3.2