version: 66.07
glider: 500
mission: 5
dive: 440
start: 3 9 111 6 24 20
data:
$ID,500
$MISSION,5
$DIVE,440
$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,-130361.32
$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,37
$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
$GPS1,090311,061207,2156.621,12850.766,39,1.3,39,-3.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.1
$GPS2,090311,062328,2156.639,12850.786,9,4.4,28,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.190,-0.112
$KALMAN_X,-635996.6,-547.3,-138.8,1213621.1,6755.3
$KALMAN_Y,423544.2,424.4,-168.9,-336810.6,3804.8
$MHEAD_RNG_PITCHd_Wd,242.6,300246,-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,15124,-0.50,-155.7,820.0,-4.1,536,15129,0.12,2.38,0.00,0.000,6,0.110,0.036,2932,2082,3593,0,0,0,0,0,0
$GC,15474,-0.50,-155.7,834.1,-4.4,545,15478,0.00,2.42,0.00,0.000,4,0.000,0.053,2922,3671,3592,0,0,0,0,0,0
$GC,15605,-0.50,-155.7,840.4,-5.0,548,15609,0.00,2.38,0.00,0.000,6,0.000,0.038,2922,2087,3592,0,0,0,0,0,0
$GC,15931,-0.50,-155.7,856.4,-4.9,556,15935,0.00,2.45,0.00,0.000,4,0.000,0.053,2911,3670,3591,0,0,0,0,0,0
$GC,15992,-0.50,-155.7,859.5,-4.6,557,15996,0.00,2.38,0.00,0.000,6,0.000,0.038,2911,2088,3591,0,0,0,0,0,0
$GC,16336,-0.50,-155.7,873.8,-3.9,566,16340,0.00,2.45,0.00,0.000,4,0.000,0.053,2899,3675,3590,0,0,0,0,0,0
$GC,16420,-0.50,-155.7,877.0,-3.7,568,16424,0.00,2.38,0.00,0.000,6,0.000,0.038,2899,2086,3590,0,0,0,0,0,0
$GC,16746,-0.50,-155.7,888.4,-3.5,576,16750,0.00,2.45,0.00,0.000,4,0.000,0.053,2887,3675,3589,0,0,0,0,0,0
$GC,16830,-0.50,-155.7,891.5,-4.4,578,16835,0.12,2.38,0.00,0.000,6,0.110,0.038,2934,2086,3589,0,0,0,0,0,0
$GC,17156,-0.50,-155.7,903.8,-4.0,586,17161,0.00,2.42,0.00,0.000,4,0.000,0.054,2924,3669,3588,0,0,0,0,0,0
$GC,17324,-0.50,-155.7,911.1,-4.2,589,17329,0.00,2.38,0.00,0.000,6,0.000,0.039,2924,2087,3588,0,0,0,0,0,0
$GC,17656,-0.50,-155.7,924.0,-3.8,598,17661,0.00,2.45,0.00,0.000,4,0.000,0.054,2913,3672,3587,0,0,0,0,0,0
$GC,17796,-0.50,-155.7,929.4,-3.6,601,17800,0.00,2.40,0.00,0.000,6,0.000,0.039,2913,2089,3586,0,0,0,0,0,0
$GC,18112,-0.50,-155.7,940.9,-3.7,609,18116,0.00,2.47,0.00,0.000,4,0.000,0.053,2902,3677,3586,0,0,0,0,0,0
$GC,18200,-0.50,-155.7,944.4,-4.9,611,18204,0.00,2.40,0.00,0.000,6,0.000,0.038,2902,2086,3586,0,0,0,0,0,0
$GC,18521,-0.50,-155.7,956.8,-4.0,619,18525,0.00,2.42,0.00,0.000,4,0.000,0.052,2890,3669,3585,0,0,0,0,0,0
$GC,18593,-0.50,-155.7,960.0,-4.7,620,18598,0.12,2.38,0.00,0.000,6,0.110,0.038,2937,2089,3585,0,0,0,0,0,0
$GC,18926,-0.50,-155.7,972.3,-3.8,628,18930,0.00,2.42,0.00,0.000,4,0.000,0.052,2926,3670,3585,0,0,0,0,0,0
$GC,19169,-0.50,-155.7,982.5,-4.5,633,19173,0.00,2.38,0.00,0.000,6,0.000,0.038,2926,2089,3585,0,0,0,0,0,0
$STATE,19345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19345,begin apogee
$GC,19351,-0.23,0.0,990.6,4.5,638,19492,0.25,0.00,138.05,1.645,6,0.068,0.000,3030,1928,2994,0,0,0,0,0,0
$STATE,19493,end apogee,CONTROL_FINISHED_OK
$STATE,19493,begin climb
$GC,19497,0.50,155.7,993.4,0.0,641,19658,0.60,2.75,152.60,1.628,4,0.056,0.051,3256,3525,2360,0,0,0,0,0,0
$GC,19820,0.50,155.7,959.6,12.2,648,19824,0.00,2.42,0.00,0.000,6,0.000,0.038,3268,1948,2359,0,0,0,0,0,0
$GC,20162,0.50,155.7,917.0,13.0,657,20166,0.00,2.40,0.00,0.000,4,0.000,0.049,3281,360,2358,0,0,0,0,0,0
$GC,20207,0.50,155.7,911.2,14.3,658,20211,0.00,2.38,0.00,0.000,6,0.000,0.042,3281,1944,2358,0,0,0,0,0,0
$GC,20525,0.50,155.7,867.8,13.8,666,20529,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,3529,2357,0,0,0,0,0,0
$GC,20586,0.50,155.7,858.8,13.2,667,20592,0.12,2.40,0.00,0.000,6,0.135,0.041,3253,1944,2357,0,0,0,0,0,0
$GC,20929,0.50,155.7,819.0,11.4,676,20933,0.00,2.40,0.00,0.000,4,0.000,0.051,3265,354,2356,0,0,0,0,0,0
$GC,21002,0.50,155.7,810.2,11.8,677,21006,0.00,2.40,0.00,0.000,6,0.000,0.044,3265,1947,2356,0,0,0,0,0,0
$GC,21332,0.50,155.7,769.5,12.4,685,21336,0.00,2.45,0.00,0.000,4,0.000,0.054,3265,3530,2356,0,0,0,0,0,0
$GC,21381,0.50,155.7,762.9,13.2,686,21385,0.00,2.42,0.00,0.000,6,0.000,0.042,3277,1929,2356,0,0,0,0,0,0
$GC,21700,0.50,155.7,721.2,13.2,694,21705,0.00,2.38,0.00,0.000,4,0.000,0.050,3290,359,2356,0,0,0,0,0,0
$GC,21773,0.50,155.7,711.3,13.0,695,21778,0.12,2.38,0.00,0.000,6,0.127,0.043,3247,1944,2355,0,0,0,0,0,0
$GC,22106,0.50,155.7,674.7,10.9,703,22110,0.00,2.45,0.00,0.000,4,0.000,0.055,3247,3533,2355,0,0,0,0,0,0
$GC,22150,0.50,155.7,669.2,11.2,704,22154,0.00,2.42,0.00,0.000,6,0.000,0.044,3258,1943,2355,0,0,0,0,0,0
$GC,22477,0.50,155.7,631.5,11.6,712,22481,0.00,2.45,0.00,0.000,4,0.000,0.052,3271,344,2355,0,0,0,0,0,0
$GC,22526,0.50,155.7,625.4,11.8,713,22530,0.00,2.40,0.00,0.000,6,0.000,0.044,3271,1940,2354,0,0,0,0,0,0
$GC,22845,0.50,155.7,587.9,11.8,721,22847,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1940,2354,0,0,0,0,0,0
$GC,23169,0.50,155.7,549.3,11.7,729,23173,0.00,2.50,0.00,0.000,4,0.000,0.053,3271,3534,2355,0,0,0,0,0,0
$GC,23218,0.50,155.7,543.0,13.8,730,23222,0.00,2.47,0.00,0.000,6,0.000,0.042,3283,1929,2354,0,0,0,0,0,0
$GC,23537,0.50,155.7,500.1,13.9,738,23541,0.00,2.40,0.00,0.000,4,0.000,0.049,3296,351,2355,0,0,0,0,0,0
$GC,23576,0.50,155.7,494.5,13.1,739,23581,0.15,2.40,0.00,0.000,6,0.117,0.042,3245,1951,2354,0,0,0,0,0,0
$GC,23902,0.50,155.7,461.2,9.8,747,23906,0.00,2.47,0.00,0.000,4,0.000,0.052,3244,3530,2355,0,0,0,0,0,0
$GC,23951,0.50,155.7,455.9,10.7,748,23955,0.00,2.42,0.00,0.000,6,0.000,0.041,3255,1942,2355,0,0,0,0,0,0
$GC,24269,0.50,155.7,424.9,9.8,756,24274,0.00,2.42,0.00,0.000,4,0.000,0.051,3267,352,2355,0,0,0,0,0,0
$GC,24401,0.50,155.7,412.5,9.8,759,24406,0.00,2.38,0.00,0.000,6,0.000,0.041,3268,1943,2355,0,0,0,0,0,0
$GC,24727,0.50,155.7,382.2,9.3,767,24731,0.00,2.47,0.00,0.000,4,0.000,0.050,3268,3529,2357,0,0,0,0,0,0
$GC,24765,0.50,155.7,377.8,8.9,768,24770,0.00,2.42,0.00,0.000,6,0.000,0.040,3280,1927,2357,0,0,0,0,0,0
$GC,25091,0.50,155.7,343.3,10.6,776,25095,0.00,2.38,0.00,0.000,4,0.000,0.049,3292,357,2358,0,0,0,0,0,0
$GC,25163,0.50,155.7,335.5,9.2,777,25168,0.08,2.40,0.00,0.000,6,0.096,0.041,3244,1941,2358,0,0,0,0,0,0
$GC,25500,0.50,155.7,311.3,6.8,786,25505,0.00,2.45,0.00,0.000,4,0.000,0.049,3244,3529,2360,0,0,0,0,0,0
$GC,25585,0.50,155.7,304.6,6.2,788,25590,0.00,2.40,0.00,0.000,6,0.000,0.038,3255,1944,2360,0,0,0,0,0,0
$GC,25914,0.50,155.7,280.9,6.7,802,25918,0.00,2.40,0.00,0.000,4,0.000,0.048,3267,351,2362,0,0,0,0,0,0
$GC,25935,0.51,158.6,279.3,5.9,803,25945,0.00,2.38,4.85,0.734,6,0.000,0.040,3267,1952,2348,0,0,0,0,0,0
$GC,26261,0.51,158.6,252.0,8.1,819,26265,0.00,2.47,0.00,0.000,4,0.000,0.049,3267,3533,2351,0,0,0,0,0,0
$GC,26339,0.51,158.6,244.4,9.1,822,26344,0.00,2.42,0.00,0.000,6,0.000,0.038,3279,1938,2352,0,0,0,0,0,0
$GC,26654,0.51,158.6,219.2,7.3,838,26658,0.00,2.42,0.00,0.000,4,0.000,0.048,3291,347,2354,0,0,0,0,0,0
$GC,26726,0.51,158.6,213.7,7.2,841,26730,0.12,2.35,0.00,0.000,6,0.113,0.038,3244,1947,2355,0,0,0,0,0,0
$GC,27044,0.51,158.6,195.7,6.1,859,27054,0.00,2.47,4.45,0.650,4,0.000,0.048,3244,3525,2348,0,0,0,0,0,0
$GC,27081,0.51,158.6,193.5,6.6,862,27086,0.00,2.42,0.00,0.000,6,0.000,0.037,3254,1929,2348,0,0,0,0,0,0
$GC,27342,0.52,164.9,178.0,5.8,887,27356,0.00,2.50,7.68,0.802,4,0.000,0.047,3254,3523,2322,0,0,0,0,0,0
$GC,27380,0.52,164.9,175.5,7.9,890,27384,0.00,2.40,0.00,0.000,6,0.000,0.037,3264,1933,2322,0,0,0,0,0,0
$GC,27641,0.52,164.9,158.7,6.1,915,27645,0.00,2.40,0.00,0.000,4,0.000,0.047,3277,351,2323,0,0,0,0,0,0
$GC,27731,0.54,184.9,152.7,5.5,922,27756,0.00,2.35,18.15,0.890,6,0.000,0.038,3277,1942,2240,0,0,0,0,0,0
$GC,28011,0.54,184.9,135.4,6.2,949,28012,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1942,2242,0,0,0,0,0,0
$GC,28266,0.54,184.9,120.0,7.1,973,28267,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1942,2244,0,0,0,0,0,0
$GC,28521,0.54,184.9,102.2,6.9,997,28522,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1942,2246,0,0,0,0,0,0
$GC,28777,0.54,184.9,85.6,6.2,1021,28778,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1942,2248,0,0,0,0,0,0
$GC,29032,0.55,196.1,69.9,5.7,1045,29052,0.00,2.47,12.57,0.777,4,0.000,0.048,3277,3522,2195,0,0,0,0,0,0
$GC,29075,0.55,196.1,67.4,6.5,1049,29079,0.00,2.40,0.00,0.000,6,0.000,0.035,3286,1930,2195,0,0,0,0,0,0
$GC,29335,0.55,196.1,49.7,6.2,1073,29339,0.00,2.40,0.00,0.000,4,0.000,0.045,3298,354,2196,0,0,0,0,0,0
$GC,29391,0.73,337.3,48.2,2.3,1077,29511,0.00,2.35,113.30,0.891,6,0.000,0.038,3299,1946,1618,0,0,0,0,0,0
$GC,29772,0.73,337.3,31.3,8.5,1114,29773,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1945,1618,0,0,0,0,0,0
$GC,30027,0.73,337.3,14.9,6.7,1138,30031,0.00,2.42,0.00,0.000,4,0.000,0.047,3309,356,1619,0,0,0,0,0,0
$GC,30048,0.84,425.1,14.1,3.7,1139,30127,0.15,2.33,69.68,0.844,6,0.070,0.038,3417,1939,1260,0,0,0,0,0,0
$STATE,30132,end climb,SURFACE_DEPTH_REACHED
$STATE,30132,begin surface coast
$FINISH,0.4,NaN
$STATE,30143,end surface coast,CONTROL_FINISHED_OK
$STATE,30143,begin surface
$SM_CCo,30221,0.00,0.000,0,0,1262,425.10
$SM_GC,1.19,8.18,0.00,0.00,0.025,0.000,0.000,106,2120,1262,-9.12,0.82,425.10
$IRIDIUM_FIX,2148.09,12849.75,010912,000003
$TT8_MAMPS,0.03068
$HUMID,1078702571
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.90
$XPDR_PINGS,1015
$24V_AH,21.6,78.540
$10V_AH,8.0,62.066
$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,21.850,330.475,521.325,0.000,0.000,57.451,71.204,322.782,253.750,0.000,31.429,1753.144,24247.404,691.509,3560.180,626.443,33.381,2405.271,0.000,3006.550,0.000,0.543,0.000
$DEVICE_MAMPS,216.294,67.496,1645.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355500
$DATA_FILE_SIZE,36661,1149
$CAP_FILE_SIZE,339941,0
$CFSIZE,260165632,181997568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090311,144909,2156.844,12850.096,29,1.2,29,-3.1