version: 66.07
glider: 500
mission: 5
dive: 437
start: 3 8 111 5 17 27
data:
$ID,500
$MISSION,5
$DIVE,437
$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,-130296.93
$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,2090
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,35
$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
$GPS1,080311,050931,2156.342,12853.052,35,1.5,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.2
$GPS2,080311,051634,2156.377,12853.072,13,2.8,32,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.209,-0.071
$KALMAN_X,-650742.7,-804.3,-573.2,1233012.8,7586.9
$KALMAN_Y,413626.5,375.2,-106.4,-327395.0,2499.4
$MHEAD_RNG_PITCHd_Wd,254.3,303995,-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,15255,-0.50,-155.7,848.5,-4.6,545,15259,0.00,2.45,0.00,0.000,4,0.000,0.052,2889,3677,3605,0,0,0,0,0,0
$GC,15276,-0.50,-155.7,849.5,-4.2,545,15281,0.12,2.38,0.00,0.000,6,0.111,0.037,2936,2088,3605,0,0,0,0,0,0
$GC,15615,-0.50,-155.7,860.5,-3.0,554,15619,0.00,2.50,0.00,0.000,4,0.000,0.054,2926,3679,3605,0,0,0,0,0,0
$GC,15692,-0.50,-155.7,862.7,-2.8,555,15697,0.00,2.40,0.00,0.000,6,0.000,0.038,2925,2089,3605,0,0,0,0,0,0
$GC,16024,-0.50,-155.7,871.4,-2.8,564,16028,0.00,2.45,0.00,0.000,4,0.000,0.053,2923,3674,3604,0,0,0,0,0,0
$GC,16174,-0.50,-155.7,876.3,-3.3,567,16179,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2078,3603,0,0,0,0,0,0
$GC,16519,-0.50,-155.7,888.8,-4.0,576,16524,0.00,2.47,0.00,0.000,4,0.000,0.054,2911,3670,3602,0,0,0,0,0,0
$GC,16592,-0.50,-155.7,892.1,-5.4,577,16596,0.00,2.38,0.00,0.000,6,0.000,0.038,2912,2086,3602,0,0,0,0,0,0
$GC,16924,-0.50,-155.7,906.2,-4.3,585,16928,0.00,2.47,0.00,0.000,4,0.000,0.054,2900,3678,3602,0,0,0,0,0,0
$GC,16967,-0.50,-155.7,908.1,-4.3,586,16972,0.00,2.38,0.00,0.000,6,0.000,0.038,2900,2085,3602,0,0,0,0,0,0
$GC,17288,-0.50,-155.7,919.0,-3.3,594,17292,0.00,2.47,0.00,0.000,4,0.000,0.054,2888,3679,3602,0,0,0,0,0,0
$GC,17332,-0.50,-155.7,920.4,-2.6,595,17337,0.12,2.40,0.00,0.000,6,0.112,0.038,2935,2085,3601,0,0,0,0,0,0
$GC,17652,-0.50,-155.7,928.8,-2.6,603,17656,0.00,2.47,0.00,0.000,4,0.000,0.054,2925,3677,3601,0,0,0,0,0,0
$GC,17900,-0.50,-155.7,936.4,-3.0,608,17904,0.00,2.38,0.00,0.000,6,0.000,0.038,2925,2088,3600,0,0,0,0,0,0
$GC,18243,-0.50,-155.7,947.3,-3.3,617,18247,0.00,2.47,0.00,0.000,4,0.000,0.054,2923,3670,3600,0,0,0,0,0,0
$GC,18499,-0.50,-155.7,957.3,-3.4,622,18504,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2084,3599,0,0,0,0,0,0
$GC,18830,-0.50,-155.7,969.9,-3.9,631,18834,0.00,2.47,0.00,0.000,4,0.000,0.055,2911,3667,3599,0,0,0,0,0,0
$GC,18974,-0.50,-155.7,975.7,-3.9,634,18979,0.00,2.38,0.00,0.000,6,0.000,0.038,2911,2082,3598,0,0,0,0,0,0
$GC,19325,-0.50,-155.7,988.8,-3.8,643,19329,0.00,2.47,0.00,0.000,4,0.000,0.054,2901,3667,3598,0,0,0,0,0,0
$STATE,19355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19355,begin apogee
$GC,19363,-0.23,0.0,990.0,3.4,643,19506,0.30,0.00,140.38,1.616,6,0.087,0.000,3017,1944,2995,0,0,0,0,0,0
$STATE,19507,end apogee,CONTROL_FINISHED_OK
$STATE,19507,begin climb
$GC,19509,0.50,155.7,990.1,0.0,647,19666,0.62,0.00,152.27,1.594,6,0.052,0.000,3259,1944,2360,0,0,0,0,0,0
$GC,19958,0.50,155.7,931.8,14.0,658,19962,0.00,2.53,0.00,0.000,4,0.000,0.054,3259,3522,2359,0,0,0,0,0,0
$GC,19986,0.50,155.7,927.6,13.0,658,19990,0.00,2.42,0.00,0.000,6,0.000,0.041,3270,1944,2359,0,0,0,0,0,0
$GC,20316,0.50,155.7,877.7,15.3,666,20320,0.00,2.42,0.00,0.000,4,0.000,0.053,3283,354,2358,0,0,0,0,0,0
$GC,20377,0.50,155.7,868.6,16.1,667,20381,0.00,2.38,0.00,0.000,6,0.000,0.045,3283,1941,2358,0,0,0,0,0,0
$GC,20719,0.50,155.7,815.7,15.4,676,20723,0.00,2.45,0.00,0.000,4,0.000,0.053,3283,3534,2358,0,0,0,0,0,0
$GC,20787,0.50,155.7,804.7,15.0,677,20793,0.15,2.42,0.00,0.000,6,0.130,0.042,3247,1931,2358,0,0,0,0,0,0
$GC,21126,0.50,155.7,762.9,11.9,686,21130,0.00,2.40,0.00,0.000,4,0.000,0.054,3258,364,2358,0,0,0,0,0,0
$GC,21186,0.50,155.7,755.1,11.8,687,21191,0.00,2.38,0.00,0.000,6,0.000,0.044,3258,1944,2358,0,0,0,0,0,0
$GC,21536,0.50,155.7,712.0,12.3,696,21538,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1945,2357,0,0,0,0,0,0
$GC,21859,0.50,155.7,675.1,11.0,704,21863,0.00,2.45,0.00,0.000,4,0.000,0.052,3270,364,2357,0,0,0,0,0,0
$GC,21892,0.50,155.7,671.5,10.7,704,21896,0.00,2.38,0.00,0.000,6,0.000,0.045,3270,1939,2357,0,0,0,0,0,0
$GC,22222,0.50,155.7,635.6,10.6,713,22227,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,3527,2357,0,0,0,0,0,0
$GC,22318,0.50,155.7,624.1,11.4,715,22322,0.00,2.42,0.00,0.000,6,0.000,0.042,3282,1930,2357,0,0,0,0,0,0
$GC,22636,0.50,155.7,584.7,12.4,723,22640,0.00,2.40,0.00,0.000,4,0.000,0.054,3294,362,2357,0,0,0,0,0,0
$GC,22742,0.50,155.7,570.2,14.6,725,22747,0.15,2.38,0.00,0.000,6,0.120,0.044,3244,1941,2357,0,0,0,0,0,0
$GC,23085,0.50,155.7,531.4,11.2,734,23089,0.00,2.42,0.00,0.000,4,0.000,0.053,3244,3524,2357,0,0,0,0,0,0
$GC,23117,0.50,155.7,527.3,12.8,734,23122,0.00,2.40,0.00,0.000,6,0.000,0.041,3254,1951,2357,0,0,0,0,0,0
$GC,23449,0.50,155.7,493.7,9.6,743,23450,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1951,2357,0,0,0,0,0,0
$GC,23772,0.50,155.7,460.9,10.0,751,23777,0.00,2.47,0.00,0.000,4,0.000,0.053,3267,348,2358,0,0,0,0,0,0
$GC,23868,0.50,155.7,450.7,11.1,753,23872,0.00,2.38,0.00,0.000,6,0.000,0.044,3267,1941,2359,0,0,0,0,0,0
$GC,24179,0.50,155.7,419.5,9.5,761,24181,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1941,2359,0,0,0,0,0,0
$GC,24506,0.50,155.7,390.2,8.8,769,24510,0.00,2.45,0.00,0.000,4,0.000,0.051,3279,351,2360,0,0,0,0,0,0
$GC,24538,0.50,155.7,387.1,8.2,769,24542,0.00,2.38,0.00,0.000,6,0.000,0.042,3280,1955,2361,0,0,0,0,0,0
$GC,24874,0.50,155.7,353.9,9.9,778,24878,0.00,2.42,0.00,0.000,4,0.000,0.053,3280,3521,2362,0,0,0,0,0,0
$GC,24902,0.50,155.7,350.9,10.2,778,24908,0.12,2.42,0.00,0.000,6,0.126,0.040,3249,1927,2362,0,0,0,0,0,0
$GC,25236,0.50,155.7,323.0,8.3,786,25240,0.00,2.40,0.00,0.000,4,0.000,0.051,3260,361,2363,0,0,0,0,0,0
$GC,25280,0.50,155.7,318.8,8.4,787,25284,0.00,2.35,0.00,0.000,6,0.000,0.043,3260,1934,2364,0,0,0,0,0,0
$GC,25598,0.50,155.7,290.9,8.2,797,25602,0.00,2.42,0.00,0.000,4,0.000,0.050,3260,3525,2365,0,0,0,0,0,0
$GC,25625,0.50,155.7,288.5,7.9,798,25629,0.00,2.42,0.00,0.000,6,0.000,0.038,3272,1935,2365,0,0,0,0,0,0
$GC,25939,0.50,155.7,259.0,9.0,813,25944,0.00,2.47,0.00,0.000,4,0.000,0.050,3272,3526,2368,0,0,0,0,0,0
$GC,26013,0.50,155.7,251.8,9.9,816,26018,0.10,2.42,0.00,0.000,6,0.136,0.038,3249,1928,2368,0,0,0,0,0,0
$GC,26327,0.50,155.7,227.0,7.8,831,26336,0.00,2.47,4.00,0.606,4,0.000,0.048,3260,348,2360,0,0,0,0,0,0
$GC,26423,0.50,155.7,219.4,6.2,835,26427,0.00,2.38,0.00,0.000,6,0.000,0.039,3260,1960,2360,0,0,0,0,0,0
$GC,26745,0.51,159.7,198.5,5.9,852,26753,0.00,0.00,5.80,0.735,6,0.000,0.000,3260,1961,2344,0,0,0,0,0,0
$GC,27008,0.54,182.1,183.3,5.4,877,27034,0.00,2.40,20.40,0.917,4,0.000,0.047,3260,3524,2252,0,0,0,0,0,0
$GC,27057,0.54,182.1,180.1,7.3,881,27062,0.00,2.42,0.00,0.000,6,0.000,0.037,3272,1934,2252,0,0,0,0,0,0
$GC,27319,0.55,194.3,164.0,5.7,905,27339,0.00,2.50,12.02,0.861,4,0.000,0.050,3284,351,2201,0,0,0,0,0,0
$GC,27361,0.55,194.3,161.1,7.4,909,27365,0.00,2.35,0.00,0.000,6,0.000,0.039,3284,1930,2201,0,0,0,0,0,0
$GC,27621,0.55,194.3,144.2,6.6,933,27625,0.00,2.40,0.00,0.000,4,0.000,0.048,3295,348,2205,0,0,0,0,0,0
$GC,27649,0.61,243.7,142.6,4.7,935,27699,0.00,2.35,41.38,0.932,6,0.000,0.038,3296,1941,2001,0,0,0,0,0,0
$GC,27954,0.61,243.7,120.0,6.6,964,27955,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1941,2006,0,0,0,0,0,0
$GC,28210,0.65,272.2,102.1,5.2,988,28238,0.00,0.00,25.75,0.885,6,0.000,0.000,3296,1941,1885,0,0,0,0,0,0
$GC,28497,0.83,420.7,99.8,2.1,1015,28624,0.17,2.58,120.00,0.922,4,0.062,0.049,3420,353,1278,0,0,0,0,0,0
$GC,28654,0.83,420.7,69.5,21.3,1029,28660,0.20,2.42,0.00,0.000,6,0.116,0.041,3356,1945,1280,0,0,0,0,0,0
$GC,28916,0.83,420.7,34.4,11.7,1054,28920,0.00,2.45,0.00,0.000,4,0.000,0.050,3365,357,1283,0,0,0,0,0,0
$GC,28942,0.83,420.7,31.6,9.7,1056,28947,0.00,2.35,0.00,0.000,6,0.000,0.042,3366,1943,1284,0,0,0,0,0,0
$STATE,29190,end climb,SURFACE_DEPTH_REACHED
$STATE,29190,begin surface coast
$FINISH,0.4,NaN
$STATE,29214,end surface coast,CONTROL_FINISHED_OK
$STATE,29214,begin surface
$SM_CCo,29292,0.00,0.000,0,0,1281,420.19
$SM_GC,0.99,7.85,0.00,0.00,0.022,0.000,0.000,106,2121,1281,-9.12,0.85,420.19
$IRIDIUM_FIX,2145.77,12856.28,300812,151501
$TT8_MAMPS,0.03068
$HUMID,1078758055
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.80
$XPDR_PINGS,931
$24V_AH,21.7,77.847
$10V_AH,8.0,61.780
$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,21.600,303.575,522.000,0.000,0.000,22.823,41.904,192.554,232.750,0.000,34.892,1609.165,23813.225,694.980,3002.981,570.367,33.385,2223.549,0.000,2644.781,0.000,0.541,0.000
$DEVICE_MAMPS,214.760,64.428,1616.069,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,36631,1081
$CAP_FILE_SIZE,310711,0
$CFSIZE,260165632,182337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080311,132654,2157.111,12852.279,38,1.3,38,-3.1