version: 66.07
glider: 500
mission: 5
dive: 456
start: 3 14 111 22 39 50
data:
$ID,500
$MISSION,5
$DIVE,456
$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,-130701.36
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,140311,223207,2151.919,12838.079,34,0.9,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.3
$GPS2,140311,223856,2151.955,12838.122,11,1.1,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.123,-0.183
$KALMAN_X,-566832.1,-407.7,-367.8,1122681.8,5743.2
$KALMAN_Y,485621.3,17.7,-346.0,-406978.9,6394.2
$MHEAD_RNG_PITCHd_Wd,217.0,277073,-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,16031,-0.50,-155.7,857.1,-3.0,560,16036,0.00,2.38,0.00,0.000,6,0.000,0.041,2900,2105,3589,0,0,0,0,0,0
$GC,16362,-0.50,-155.7,866.5,-2.8,569,16366,0.00,2.40,0.00,0.000,4,0.000,0.044,2900,516,3589,0,0,0,0,0,0
$GC,16441,-0.50,-155.7,868.9,-3.2,570,16446,0.12,2.38,0.00,0.000,6,0.120,0.041,2933,2100,3588,0,0,0,0,0,0
$GC,16773,-0.50,-155.7,877.7,-3.0,578,16777,0.00,2.40,0.00,0.000,4,0.000,0.045,2934,517,3588,0,0,0,0,0,0
$GC,16957,-0.50,-155.7,884.6,-4.2,582,16961,0.00,2.33,0.00,0.000,6,0.000,0.041,2933,2083,3587,0,0,0,0,0,0
$GC,17270,-0.50,-155.7,896.5,-3.9,590,17275,0.00,2.40,0.00,0.000,4,0.000,0.044,2933,516,3587,0,0,0,0,0,0
$GC,17466,-0.50,-155.7,904.1,-3.7,594,17471,0.00,2.38,0.00,0.000,6,0.000,0.043,2931,2094,3586,0,0,0,0,0,0
$GC,17811,-0.50,-155.7,915.5,-3.3,603,17815,0.00,2.42,0.00,0.000,4,0.000,0.046,2931,517,3586,0,0,0,0,0,0
$GC,17951,-0.50,-155.7,920.5,-3.6,606,17955,0.00,2.35,0.00,0.000,6,0.000,0.043,2925,2089,3586,0,0,0,0,0,0
$GC,18272,-0.50,-155.7,932.0,-3.8,614,18276,0.00,2.40,0.00,0.000,4,0.000,0.046,2924,517,3585,0,0,0,0,0,0
$GC,18434,-0.50,-155.7,938.8,-3.2,617,18438,0.00,2.38,0.00,0.000,6,0.000,0.042,2916,2104,3585,0,0,0,0,0,0
$GC,18778,-0.50,-155.7,954.2,-4.7,626,18782,0.00,2.40,0.00,0.000,4,0.000,0.044,2916,515,3584,0,0,0,0,0,0
$GC,18872,-0.50,-155.7,958.7,-5.5,628,18876,0.00,2.38,0.00,0.000,6,0.000,0.042,2906,2102,3584,0,0,0,0,0,0
$GC,19193,-0.50,-155.7,973.6,-4.7,636,19197,0.00,2.40,0.00,0.000,4,0.000,0.044,2906,507,3584,0,0,0,0,0,0
$GC,19318,-0.50,-155.7,979.2,-3.6,638,19324,0.10,2.38,0.00,0.000,6,0.131,0.043,2931,2086,3584,0,0,0,0,0,0
$STATE,19648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19648,begin apogee
$GC,19654,-0.23,0.0,991.1,3.5,647,19794,0.22,0.00,137.65,1.635,6,0.078,0.000,3025,1927,2995,0,0,0,0,0,0
$STATE,19795,end apogee,CONTROL_FINISHED_OK
$STATE,19795,begin climb
$GC,19799,0.50,155.7,991.6,0.0,650,19961,0.60,2.72,153.55,1.628,4,0.051,0.051,3261,3524,2360,0,0,0,0,0,0
$GC,20107,0.50,155.7,949.4,14.8,657,20111,0.00,2.42,0.00,0.000,6,0.000,0.039,3273,1949,2360,0,0,0,0,0,0
$GC,20424,0.50,155.7,901.1,15.0,665,20428,0.00,2.40,0.00,0.000,4,0.000,0.050,3285,356,2360,0,0,0,0,0,0
$GC,20492,0.50,155.7,891.4,14.4,666,20497,0.12,2.40,0.00,0.000,6,0.129,0.044,3243,1948,2359,0,0,0,0,0,0
$GC,20829,0.50,155.7,851.9,11.6,675,20833,0.00,2.42,0.00,0.000,4,0.000,0.053,3243,3528,2360,0,0,0,0,0,0
$GC,20862,0.50,155.7,847.6,11.7,675,20867,0.00,2.42,0.00,0.000,6,0.000,0.041,3254,1936,2360,0,0,0,0,0,0
$GC,21193,0.50,155.7,806.7,12.2,684,21197,0.00,2.42,0.00,0.000,4,0.000,0.053,3267,358,2360,0,0,0,0,0,0
$GC,21219,0.50,155.7,803.4,10.7,684,21223,0.00,2.40,0.00,0.000,6,0.000,0.044,3267,1949,2360,0,0,0,0,0,0
$GC,21557,0.50,155.7,761.7,12.7,693,21558,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1950,2360,0,0,0,0,0,0
$GC,21880,0.50,155.7,719.6,12.5,701,21884,0.00,2.45,0.00,0.000,4,0.000,0.054,3267,3526,2360,0,0,0,0,0,0
$GC,21942,0.50,155.7,711.9,13.1,702,21947,0.00,2.42,0.00,0.000,6,0.000,0.042,3279,1930,2360,0,0,0,0,0,0
$GC,22291,0.50,155.7,667.7,13.0,711,22295,0.00,2.38,0.00,0.000,4,0.000,0.051,3292,362,2360,0,0,0,0,0,0
$GC,22348,0.50,155.7,660.0,12.6,712,22353,0.12,2.40,0.00,0.000,6,0.130,0.045,3250,1954,2360,0,0,0,0,0,0
$GC,22696,0.50,155.7,624.2,9.7,721,22700,0.00,2.40,0.00,0.000,4,0.000,0.054,3250,3523,2361,0,0,0,0,0,0
$GC,22797,0.50,155.7,613.9,9.1,723,22801,0.00,2.38,0.00,0.000,6,0.000,0.039,3261,1943,2360,0,0,0,0,0,0
$GC,23145,0.50,155.7,577.6,11.1,732,23149,0.00,2.42,0.00,0.000,4,0.000,0.051,3273,358,2360,0,0,0,0,0,0
$GC,23183,0.50,155.7,573.0,13.2,733,23187,0.00,2.38,0.00,0.000,6,0.000,0.043,3274,1941,2361,0,0,0,0,0,0
$GC,23508,0.50,155.7,536.3,11.1,741,23513,0.00,2.42,0.00,0.000,4,0.000,0.052,3273,3525,2362,0,0,0,0,0,0
$GC,23552,0.50,155.7,530.7,12.0,742,23557,0.12,2.40,0.00,0.000,6,0.130,0.040,3245,1938,2361,0,0,0,0,0,0
$GC,23873,0.50,155.7,500.9,9.7,750,23877,0.00,2.40,0.00,0.000,4,0.000,0.052,3256,359,2362,0,0,0,0,0,0
$GC,23944,0.50,155.7,493.6,8.7,751,23949,0.00,2.38,0.00,0.000,6,0.000,0.042,3256,1942,2363,0,0,0,0,0,0
$GC,24276,0.50,155.7,463.9,8.7,759,24280,0.00,2.45,0.00,0.000,4,0.000,0.054,3256,3520,2364,0,0,0,0,0,0
$GC,24314,0.50,155.7,460.1,8.7,760,24318,0.00,2.42,0.00,0.000,6,0.000,0.041,3267,1936,2364,0,0,0,0,0,0
$GC,24639,0.50,155.7,428.2,9.8,768,24644,0.00,2.45,0.00,0.000,4,0.000,0.051,3280,344,2365,0,0,0,0,0,0
$GC,24672,0.50,155.7,424.4,10.0,768,24677,0.00,2.40,0.00,0.000,6,0.000,0.041,3280,1944,2366,0,0,0,0,0,0
$GC,25003,0.50,155.7,390.9,10.2,777,25007,0.00,2.47,0.00,0.000,4,0.000,0.048,3292,346,2367,0,0,0,0,0,0
$GC,25031,0.50,155.7,388.2,8.9,777,25036,0.12,2.38,0.00,0.000,6,0.121,0.040,3249,1945,2367,0,0,0,0,0,0
$GC,25362,0.50,155.7,362.0,7.6,785,25366,0.00,2.42,0.00,0.000,4,0.000,0.049,3249,3525,2369,0,0,0,0,0,0
$GC,25401,0.50,155.7,358.6,7.4,786,25411,0.00,2.40,3.90,0.676,6,0.000,0.038,3260,1926,2359,0,0,0,0,0,0
$GC,25729,0.50,155.7,335.0,6.8,794,25734,0.00,2.47,0.00,0.000,4,0.000,0.049,3259,3524,2361,0,0,0,0,0,0
$GC,25780,0.50,155.7,331.1,7.1,795,25785,0.00,2.40,0.00,0.000,6,0.000,0.038,3271,1941,2361,0,0,0,0,0,0
$GC,26094,0.50,155.7,306.3,7.9,803,26098,0.00,2.42,0.00,0.000,4,0.000,0.048,3283,345,2363,0,0,0,0,0,0
$GC,26230,0.50,155.7,293.7,8.7,807,26234,0.00,2.38,0.00,0.000,6,0.000,0.039,3283,1944,2364,0,0,0,0,0,0
$GC,26555,0.50,155.7,260.4,9.8,823,26556,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1944,2367,0,0,0,0,0,0
$GC,26864,0.50,155.7,235.3,7.9,838,26868,0.00,2.45,0.00,0.000,4,0.000,0.048,3283,3525,2368,0,0,0,0,0,0
$GC,26914,0.50,155.7,230.7,10.9,840,26925,0.15,2.40,3.92,0.617,6,0.114,0.035,3243,1929,2360,0,0,0,0,0,0
$GC,27236,0.56,203.7,212.2,4.7,856,27284,0.00,2.47,41.33,0.997,4,0.000,0.044,3253,359,2163,0,0,0,0,0,0
$GC,27344,0.57,210.9,206.6,5.8,861,27358,0.00,2.38,7.95,0.848,6,0.000,0.041,3253,1943,2134,0,0,0,0,0,0
$GC,27683,0.57,210.9,182.8,7.6,887,27687,0.00,2.42,0.00,0.000,4,0.000,0.045,3258,349,2136,0,0,0,0,0,0
$GC,27780,0.57,210.9,175.7,7.3,895,27784,0.00,2.33,0.00,0.000,6,0.000,0.038,3259,1941,2137,0,0,0,0,0,0
$GC,28040,0.57,210.9,158.3,6.0,919,28045,0.00,2.47,0.00,0.000,4,0.000,0.048,3259,3535,2139,0,0,0,0,0,0
$GC,28138,0.57,210.9,152.6,6.9,927,28142,0.00,2.38,0.00,0.000,6,0.000,0.035,3263,1937,2140,0,0,0,0,0,0
$GC,28400,0.61,240.7,137.4,5.2,951,28434,0.00,2.47,27.30,0.924,4,0.000,0.054,3269,361,2013,0,0,0,0,0,0
$GC,28479,0.61,240.7,132.5,6.8,958,28484,0.00,2.35,0.00,0.000,6,0.000,0.043,3269,1945,2013,0,0,0,0,0,0
$GC,28739,0.61,240.7,114.6,7.4,983,28744,0.00,2.40,0.00,0.000,4,0.000,0.048,3269,3533,2015,0,0,0,0,0,0
$GC,28935,0.61,240.7,99.9,8.8,1000,28939,0.00,2.40,0.00,0.000,6,0.000,0.035,3269,1929,2016,0,0,0,0,0,0
$GC,29195,0.61,240.7,79.9,7.5,1024,29200,0.00,2.47,0.00,0.000,4,0.000,0.048,3261,3530,2018,0,0,0,0,0,0
$GC,29297,0.61,240.7,72.2,7.4,1032,29301,0.00,2.38,0.00,0.000,6,0.000,0.036,3261,1945,2019,0,0,0,0,0,0
$GC,29558,0.61,240.7,53.4,6.8,1057,29562,0.00,2.40,0.00,0.000,4,0.000,0.046,3261,355,2020,0,0,0,0,0,0
$GC,29737,0.61,240.7,39.3,10.0,1072,29741,0.00,2.35,0.00,0.000,6,0.000,0.044,3253,1960,2021,0,0,0,0,0,0
$GC,29997,0.61,240.7,17.5,8.1,1097,30007,0.00,2.47,3.72,0.486,4,0.000,0.045,3253,363,2013,0,0,0,0,0,0
$GC,30053,0.61,240.7,12.7,9.6,1102,30058,0.10,2.28,0.00,0.000,6,0.116,0.038,3298,1941,2013,0,0,0,0,0,0
$STATE,30183,end climb,SURFACE_DEPTH_REACHED
$STATE,30183,begin surface coast
$FINISH,0.2,NaN
$STATE,30226,end surface coast,CONTROL_FINISHED_OK
$STATE,30226,begin surface
$SM_CCo,30246,193.00,0.898,0,0,475,618.15
$SM_GC,0.89,0.00,0.00,193.00,0.000,0.000,0.898,115,2105,475,-9.30,0.42,618.15
$IRIDIUM_FIX,2143.45,12839.95,060912,080806
$TT8_MAMPS,0.029913
$HUMID,1078709023
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.50
$XPDR_PINGS,936
$24V_AH,21.6,82.404
$10V_AH,8.0,63.613
$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,21.125,310.550,379.325,193.000,0.000,31.320,51.781,181.255,234.000,0.000,13.712,1726.126,24379.791,801.070,3315.750,604.400,33.383,2457.490,0.000,2963.074,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,70.564,1635.244,898.157,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355508
$DATA_FILE_SIZE,36683,1118
$CAP_FILE_SIZE,326520,0
$CFSIZE,260165632,180318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150311,070824,2151.273,12838.119,34,1.4,34,-3.1