version: 66.07
glider: 500
mission: 5
dive: 451
start: 3 13 111 3 49 3
data:
$ID,500
$MISSION,5
$DIVE,451
$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,618.14594
$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,-130626.05
$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,33
$R_STBD_OVSHOOT,53
$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
$GPS1,130311,033237,2152.522,12842.677,38,0.9,38,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.0
$GPS2,130311,034808,2152.653,12842.732,12,1.2,12,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.180,-0.127
$KALMAN_X,-584851.6,-466.0,-659.4,1149007.4,6879.4
$KALMAN_Y,461934.8,-226.2,498.0,-382591.9,4394.4
$MHEAD_RNG_PITCHd_Wd,237.9,285123,-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,15115,-0.50,-155.7,826.7,-3.2,536,15119,0.00,2.38,0.00,0.000,6,0.000,0.044,2917,2095,3604,0,0,0,0,0,0
$GC,15459,-0.50,-155.7,840.7,-4.2,545,15463,0.00,2.38,0.00,0.000,4,0.000,0.047,2917,512,3604,0,0,0,0,0,0
$GC,15525,-0.50,-155.7,843.6,-4.0,546,15529,0.00,2.38,0.00,0.000,6,0.000,0.044,2907,2092,3604,0,0,0,0,0,0
$GC,15864,-0.50,-155.7,856.9,-3.9,555,15868,0.00,2.40,0.00,0.000,4,0.000,0.048,2907,506,3603,0,0,0,0,0,0
$GC,15941,-0.50,-155.7,859.8,-3.9,556,15946,0.00,2.38,0.00,0.000,6,0.000,0.045,2898,2095,3602,0,0,0,0,0,0
$GC,16272,-0.50,-155.7,869.9,-3.0,565,16276,0.00,2.40,0.00,0.000,4,0.000,0.048,2898,508,3602,0,0,0,0,0,0
$GC,16351,-0.50,-155.7,872.2,-3.0,566,16356,0.12,2.38,0.00,0.000,6,0.120,0.045,2932,2083,3601,0,0,0,0,0,0
$GC,16684,-0.50,-155.7,882.0,-3.3,575,16688,0.00,2.38,0.00,0.000,4,0.000,0.047,2933,509,3601,0,0,0,0,0,0
$GC,16857,-0.50,-155.7,888.9,-4.3,579,16861,0.00,2.38,0.00,0.000,6,0.000,0.046,2927,2103,3601,0,0,0,0,0,0
$GC,17183,-0.50,-155.7,903.0,-4.7,587,17187,0.00,2.38,0.00,0.000,4,0.000,0.046,2927,510,3600,0,0,0,0,0,0
$GC,17316,-0.50,-155.7,909.5,-4.1,590,17320,0.00,2.38,0.00,0.000,6,0.000,0.045,2918,2097,3600,0,0,0,0,0,0
$GC,17644,-0.50,-155.7,923.4,-4.1,598,17648,0.00,2.38,0.00,0.000,4,0.000,0.048,2918,510,3599,0,0,0,0,0,0
$GC,17751,-0.50,-155.7,927.4,-3.6,600,17755,0.00,2.38,0.00,0.000,6,0.000,0.045,2908,2084,3598,0,0,0,0,0,0
$GC,18096,-0.50,-155.7,937.7,-2.9,609,18100,0.00,2.35,0.00,0.000,4,0.000,0.048,2907,513,3597,0,0,0,0,0,0
$GC,18168,-0.50,-155.7,939.9,-2.7,610,18172,0.00,2.38,0.00,0.000,6,0.000,0.045,2899,2095,3597,0,0,0,0,0,0
$GC,18500,-0.50,-155.7,947.9,-2.4,618,18504,0.00,2.40,0.00,0.000,4,0.000,0.048,2899,508,3597,0,0,0,0,0,0
$GC,18560,-0.50,-155.7,949.5,-1.6,619,18565,0.12,2.35,0.00,0.000,6,0.121,0.045,2933,2087,3597,0,0,0,0,0,0
$GC,18905,-0.50,-155.7,956.9,-2.3,628,18909,0.00,2.38,0.00,0.000,4,0.000,0.048,2934,504,3597,0,0,0,0,0,0
$GC,19107,-0.50,-155.7,961.5,-1.7,632,19111,0.00,2.40,0.00,0.000,6,0.000,0.045,2933,2097,3597,0,0,0,0,0,0
$GC,19444,-0.50,-155.7,970.3,-2.9,641,19448,0.00,2.42,0.00,0.000,4,0.000,0.048,2933,501,3595,0,0,0,0,0,0
$GC,19696,-0.50,-155.7,979.5,-2.9,646,19700,0.00,2.40,0.00,0.000,6,0.000,0.044,2933,2096,3596,0,0,0,0,0,0
$STATE,19988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19989,begin apogee
$GC,19996,-0.23,0.0,991.5,4.3,654,20139,0.22,0.00,139.85,1.620,6,0.077,0.000,3027,1928,2995,0,0,0,0,0,0
$STATE,20139,end apogee,CONTROL_FINISHED_OK
$STATE,20140,begin climb
$GC,20142,0.50,155.7,993.2,0.0,657,20303,0.60,2.78,152.23,1.599,4,0.050,0.052,3263,3515,2360,0,0,0,0,0,0
$GC,20471,0.50,155.7,951.4,14.2,664,20475,0.00,2.40,0.00,0.000,6,0.000,0.041,3275,1954,2359,0,0,0,0,0,0
$GC,20808,0.50,155.7,902.4,14.6,673,20813,0.00,2.42,0.00,0.000,4,0.000,0.054,3287,356,2358,0,0,0,0,0,0
$GC,20858,0.50,155.7,895.0,14.4,674,20863,0.12,2.40,0.00,0.000,6,0.131,0.047,3247,1941,2357,0,0,0,0,0,0
$GC,21179,0.50,155.7,856.1,12.2,682,21183,0.00,2.40,0.00,0.000,4,0.000,0.053,3246,3530,2357,0,0,0,0,0,0
$GC,21217,0.50,155.7,850.7,13.8,683,21221,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1945,2356,0,0,0,0,0,0
$GC,21542,0.50,155.7,808.2,13.4,691,21546,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,346,2356,0,0,0,0,0,0
$GC,21602,0.50,155.7,799.5,14.2,692,21607,0.00,2.42,0.00,0.000,6,0.000,0.046,3269,1934,2356,0,0,0,0,0,0
$GC,21951,0.50,155.7,749.9,14.2,701,21952,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1934,2355,0,0,0,0,0,0
$GC,22276,0.50,155.7,707.1,12.8,709,22277,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1934,2355,0,0,0,0,0,0
$GC,22600,0.50,155.7,667.9,11.9,717,22604,0.00,2.47,0.00,0.000,4,0.000,0.055,3270,3532,2355,0,0,0,0,0,0
$GC,22673,0.50,155.7,658.8,11.8,718,22677,0.00,2.45,0.00,0.000,6,0.000,0.042,3282,1930,2355,0,0,0,0,0,0
$GC,23003,0.50,155.7,615.7,13.2,726,23007,0.00,2.40,0.00,0.000,4,0.000,0.054,3294,363,2354,0,0,0,0,0,0
$GC,23074,0.50,155.7,605.6,14.3,727,23079,0.15,2.40,0.00,0.000,6,0.120,0.045,3244,1947,2354,0,0,0,0,0,0
$GC,23407,0.50,155.7,567.9,11.1,735,23412,0.00,2.45,0.00,0.000,4,0.000,0.054,3243,3531,2354,0,0,0,0,0,0
$GC,23458,0.50,155.7,562.3,10.2,736,23463,0.00,2.40,0.00,0.000,6,0.000,0.042,3255,1948,2354,0,0,0,0,0,0
$GC,23773,0.50,155.7,531.8,9.7,744,23777,0.00,2.45,0.00,0.000,4,0.000,0.052,3267,348,2354,0,0,0,0,0,0
$GC,23839,0.50,155.7,524.4,8.5,745,23843,0.00,2.40,0.00,0.000,6,0.000,0.045,3267,1947,2354,0,0,0,0,0,0
$GC,24182,0.50,155.7,486.0,11.5,754,24186,0.00,2.42,0.00,0.000,4,0.000,0.053,3267,3527,2355,0,0,0,0,0,0
$GC,24278,0.50,155.7,475.0,11.0,756,24283,0.00,2.42,0.00,0.000,6,0.000,0.041,3279,1927,2354,0,0,0,0,0,0
$GC,24592,0.50,155.7,440.8,10.8,764,24596,0.00,2.38,0.00,0.000,4,0.000,0.051,3292,362,2355,0,0,0,0,0,0
$GC,24653,0.50,155.7,433.2,12.9,765,24658,0.12,2.40,0.00,0.000,6,0.125,0.044,3250,1943,2355,0,0,0,0,0,0
$GC,25004,0.50,155.7,400.1,9.5,774,25008,0.00,2.45,0.00,0.000,4,0.000,0.056,3250,3529,2356,0,0,0,0,0,0
$GC,25081,0.50,155.7,392.2,10.3,775,25086,0.00,2.42,0.00,0.000,6,0.000,0.041,3260,1918,2356,0,0,0,0,0,0
$GC,25411,0.50,155.7,364.3,7.6,784,25415,0.00,2.38,0.00,0.000,4,0.000,0.052,3272,349,2357,0,0,0,0,0,0
$GC,25468,0.50,155.7,359.9,8.3,785,25472,0.00,2.38,0.00,0.000,6,0.000,0.043,3272,1945,2357,0,0,0,0,0,0
$GC,25780,0.50,155.7,330.1,9.8,793,25784,0.00,2.42,0.00,0.000,4,0.000,0.052,3272,3531,2359,0,0,0,0,0,0
$GC,25841,0.50,155.7,323.9,8.5,794,25846,0.10,2.40,0.00,0.000,6,0.137,0.040,3251,1946,2359,0,0,0,0,0,0
$GC,26184,0.50,155.7,300.2,6.3,803,26188,0.00,2.42,0.00,0.000,4,0.000,0.054,3262,348,2361,0,0,0,0,0,0
$GC,26273,0.50,155.7,294.4,7.0,806,26277,0.00,2.40,0.00,0.000,6,0.000,0.048,3262,1941,2361,0,0,0,0,0,0
$GC,26592,0.50,155.7,271.5,7.9,822,26597,0.00,2.45,0.00,0.000,4,0.000,0.051,3262,3537,2363,0,0,0,0,0,0
$GC,26638,0.50,155.7,267.5,10.1,824,26642,0.00,2.45,0.00,0.000,6,0.000,0.039,3274,1929,2363,0,0,0,0,0,0
$GC,26957,0.50,155.7,241.3,6.9,840,26959,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1929,2364,0,0,0,0,0,0
$GC,27267,0.50,155.7,222.7,6.3,855,27271,0.00,2.42,0.00,0.000,4,0.000,0.049,3286,349,2366,0,0,0,0,0,0
$GC,27306,0.50,155.7,219.9,7.2,857,27311,0.12,2.38,0.00,0.000,6,0.114,0.041,3241,1947,2366,0,0,0,0,0,0
$GC,27632,0.50,155.7,199.7,6.7,873,27636,0.00,2.47,0.00,0.000,4,0.000,0.050,3240,3535,2368,0,0,0,0,0,0
$GC,27664,0.50,155.7,197.2,8.2,875,27674,0.00,2.42,3.85,0.542,6,0.000,0.039,3250,1935,2359,0,0,0,0,0,0
$GC,27938,0.52,164.2,178.4,5.8,901,27952,0.00,2.47,9.27,0.814,4,0.000,0.051,3262,357,2324,0,0,0,0,0,0
$GC,27974,0.52,164.2,175.9,6.9,904,27979,0.00,2.38,0.00,0.000,6,0.000,0.042,3262,1942,2324,0,0,0,0,0,0
$GC,28236,0.54,185.9,161.3,5.4,929,28261,0.00,2.47,19.60,0.893,4,0.000,0.050,3262,3533,2237,0,0,0,0,0,0
$GC,28319,0.54,185.9,156.3,6.0,936,28323,0.00,2.42,0.00,0.000,6,0.000,0.038,3274,1939,2237,0,0,0,0,0,0
$GC,28579,0.57,209.6,140.9,5.4,960,28605,0.00,2.47,21.15,0.883,4,0.000,0.050,3285,357,2140,0,0,0,0,0,0
$GC,28672,0.63,255.0,135.5,4.8,968,28717,0.00,2.38,38.28,0.920,6,0.000,0.041,3285,1941,1954,0,0,0,0,0,0
$GC,28978,0.66,283.4,119.4,5.3,997,29008,0.00,0.00,24.98,0.894,6,0.000,0.000,3285,1941,1838,0,0,0,0,0,0
$GC,29265,0.66,283.4,102.0,6.3,1024,29269,0.00,2.45,0.00,0.000,4,0.000,0.050,3294,348,1841,0,0,0,0,0,0
$GC,29298,0.66,283.4,99.8,6.9,1026,29303,0.00,2.40,0.00,0.000,6,0.000,0.046,3294,1950,1841,0,0,0,0,0,0
$GC,29559,0.66,283.4,81.2,6.5,1051,29561,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1950,1843,0,0,0,0,0,0
$GC,29813,0.66,283.4,63.8,6.5,1075,29817,0.00,2.42,0.00,0.000,4,0.000,0.053,3303,355,1844,0,0,0,0,0,0
$GC,29847,0.70,316.5,61.5,5.1,1077,29882,0.00,2.38,28.52,0.845,6,0.000,0.044,3303,1941,1703,0,0,0,0,0,0
$GC,30137,0.70,316.5,41.7,7.3,1105,30138,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1941,1704,0,0,0,0,0,0
$GC,30393,0.70,316.5,24.2,6.6,1129,30397,0.00,2.45,0.00,0.000,4,0.000,0.060,3312,361,1705,0,0,0,0,0,0
$GC,30420,0.70,316.5,22.2,6.3,1131,30424,0.00,2.38,0.00,0.000,6,0.000,0.051,3312,1941,1705,0,0,0,0,0,0
$GC,30616,0.70,316.5,6.6,8.2,1149,30620,0.00,2.40,0.00,0.000,4,0.000,0.049,3312,3538,1706,0,0,0,0,0,0
$GC,30638,0.70,316.5,4.7,9.1,1150,30642,0.00,2.42,0.00,0.000,6,0.000,0.042,3323,1929,1706,0,0,0,0,0,0
$STATE,30662,end climb,SURFACE_DEPTH_REACHED
$STATE,30663,begin surface coast
$FINISH,0.3,NaN
$STATE,30695,end surface coast,CONTROL_FINISHED_OK
$STATE,30695,begin surface
$SM_CCo,30714,156.90,0.844,0,0,475,618.15
$SM_GC,1.03,0.00,0.00,156.90,0.000,0.000,0.844,106,2105,475,-9.33,0.42,618.15
$IRIDIUM_FIX,2145.77,12843.22,040912,222203
$TT8_MAMPS,0.031447
$HUMID,1078680635
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.80
$XPDR_PINGS,983
$24V_AH,21.6,81.152
$10V_AH,8.0,63.124
$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,21.275,337.600,437.725,156.900,0.000,140.847,402.952,0.000,245.750,0.000,14.704,1773.198,24917.070,826.790,3674.129,590.296,33.382,2533.453,0.000,3015.495,0.000,0.543,0.000
$DEVICE_MAMPS,217.061,65.962,1619.904,844.467,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355528
$DATA_FILE_SIZE,36680,1156
$CAP_FILE_SIZE,338736,0
$CFSIZE,260165632,180789248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130311,122455,2152.213,12841.492,39,1.0,39,-3.1