version: 66.07
glider: 500
mission: 5
dive: 467
start: 3 18 111 21 10 50
data:
$ID,500
$MISSION,5
$DIVE,467
$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,-130909.63
$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,40
$R_STBD_OVSHOOT,56
$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
$GPS1,180311,210307,2145.878,12835.417,34,1.0,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.9
$GPS2,180311,210956,2145.895,12835.450,11,1.4,11,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.195,-0.104
$KALMAN_X,-532033.7,-1059.8,-589.9,1084126.4,7338.2
$KALMAN_Y,538305.8,673.1,-147.2,-471733.2,3580.8
$MHEAD_RNG_PITCHd_Wd,244.9,270481,-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,14744,-0.50,-155.7,840.5,-3.9,533,14748,0.00,2.33,0.00,0.000,4,0.000,0.044,2928,518,3597,0,0,0,0,0,0
$GC,14888,-0.50,-155.7,846.6,-4.1,536,14893,0.00,2.30,0.00,0.000,6,0.000,0.041,2918,2086,3597,0,0,0,0,0,0
$GC,15239,-0.50,-155.7,861.9,-4.7,545,15243,0.00,2.33,0.00,0.000,4,0.000,0.044,2918,513,3596,0,0,0,0,0,0
$GC,15328,-0.50,-155.7,866.3,-4.8,547,15333,0.00,2.33,0.00,0.000,6,0.000,0.041,2907,2094,3595,0,0,0,0,0,0
$GC,15650,-0.50,-155.7,880.2,-4.3,555,15654,0.00,2.33,0.00,0.000,4,0.000,0.044,2908,519,3595,0,0,0,0,0,0
$GC,15705,-0.50,-155.7,882.6,-4.0,556,15709,0.00,2.30,0.00,0.000,6,0.000,0.041,2899,2087,3595,0,0,0,0,0,0
$GC,16053,-0.50,-155.7,895.1,-3.5,565,16058,0.00,2.35,0.00,0.000,4,0.000,0.044,2899,516,3594,0,0,0,0,0,0
$GC,16083,-0.50,-155.7,896.2,-3.4,565,16088,0.12,2.33,0.00,0.000,6,0.120,0.041,2933,2093,3594,0,0,0,0,0,0
$GC,16415,-0.50,-155.7,908.0,-3.9,573,16419,0.00,2.35,0.00,0.000,4,0.000,0.045,2933,519,3593,0,0,0,0,0,0
$GC,16548,-0.50,-155.7,913.8,-4.5,576,16552,0.00,2.33,0.00,0.000,6,0.000,0.040,2931,2089,3593,0,0,0,0,0,0
$GC,16873,-0.50,-155.7,929.1,-4.9,584,16877,0.00,2.35,0.00,0.000,4,0.000,0.045,2931,519,3592,0,0,0,0,0,0
$GC,17035,-0.50,-155.7,937.5,-5.2,587,17039,0.00,2.35,0.00,0.000,6,0.000,0.041,2922,2101,3592,0,0,0,0,0,0
$GC,17367,-0.50,-155.7,953.7,-5.0,595,17371,0.00,2.38,0.00,0.000,4,0.000,0.044,2922,513,3591,0,0,0,0,0,0
$GC,17457,-0.50,-155.7,958.1,-4.6,597,17461,0.00,2.33,0.00,0.000,6,0.000,0.042,2914,2083,3592,0,0,0,0,0,0
$GC,17783,-0.50,-155.7,972.0,-4.2,605,17787,0.00,2.35,0.00,0.000,4,0.000,0.044,2914,510,3591,0,0,0,0,0,0
$GC,17877,-0.50,-155.7,975.5,-3.2,607,17882,0.00,2.38,0.00,0.000,6,0.000,0.041,2904,2103,3590,0,0,0,0,0,0
$GC,18198,-0.50,-155.7,986.6,-3.3,615,18203,0.00,2.38,0.00,0.000,4,0.000,0.044,2904,518,3590,0,0,0,0,0,0
$GC,18299,-0.50,-155.7,989.9,-3.2,617,18303,0.00,2.15,0.00,0.000,3,0.000,0.041,2894,1972,3590,0,0,0,0,0,0
$STATE,18304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18304,begin apogee
$GC,18309,-0.23,0.0,990.1,3.5,617,18450,0.32,0.00,137.65,1.648,6,0.089,0.000,3018,1973,2995,0,0,0,0,0,0
$STATE,18451,end apogee,CONTROL_FINISHED_OK
$STATE,18451,begin climb
$GC,18455,0.50,155.7,988.7,0.0,621,18616,0.62,2.75,151.68,1.623,4,0.054,0.050,3269,386,2360,0,0,0,0,0,0
$GC,18652,0.50,155.7,966.4,13.0,625,18656,0.00,2.47,0.00,0.000,6,0.000,0.041,3269,1941,2360,0,0,0,0,0,0
$GC,18982,0.50,155.7,919.3,14.0,633,18986,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,3524,2360,0,0,0,0,0,0
$GC,19011,0.50,155.7,915.2,14.1,633,19016,0.00,2.38,0.00,0.000,6,0.000,0.039,3282,1952,2360,0,0,0,0,0,0
$GC,19341,0.50,155.7,866.1,14.7,641,19346,0.00,2.40,0.00,0.000,4,0.000,0.051,3294,362,2359,0,0,0,0,0,0
$GC,19443,0.50,155.7,850.9,15.0,643,19448,0.12,2.38,0.00,0.000,6,0.130,0.042,3252,1949,2359,0,0,0,0,0,0
$GC,19791,0.50,155.7,806.3,12.5,652,19795,0.00,2.40,0.00,0.000,4,0.000,0.052,3253,3523,2358,0,0,0,0,0,0
$GC,19841,0.50,155.7,799.4,13.4,653,19845,0.00,2.35,0.00,0.000,6,0.000,0.040,3264,1941,2358,0,0,0,0,0,0
$GC,20153,0.50,155.7,760.7,12.3,661,20157,0.00,2.40,0.00,0.000,4,0.000,0.051,3276,363,2358,0,0,0,0,0,0
$GC,20214,0.50,155.7,753.0,12.5,662,20219,0.00,2.38,0.00,0.000,6,0.000,0.042,3276,1938,2358,0,0,0,0,0,0
$GC,20564,0.50,155.7,710.6,12.0,671,20569,0.00,2.45,0.00,0.000,4,0.000,0.054,3276,3534,2357,0,0,0,0,0,0
$GC,20603,0.50,155.7,705.3,12.4,672,20608,0.12,2.40,0.00,0.000,6,0.134,0.041,3249,1942,2357,0,0,0,0,0,0
$GC,20926,0.50,155.7,674.7,9.4,680,20930,0.00,2.40,0.00,0.000,4,0.000,0.051,3261,360,2357,0,0,0,0,0,0
$GC,21020,0.50,155.7,664.6,10.8,682,21024,0.00,2.38,0.00,0.000,6,0.000,0.043,3260,1945,2357,0,0,0,0,0,0
$GC,21339,0.50,155.7,629.3,11.4,690,21344,0.00,2.45,0.00,0.000,4,0.000,0.053,3260,3532,2357,0,0,0,0,0,0
$GC,21423,0.50,155.7,618.0,13.7,692,21428,0.00,2.42,0.00,0.000,6,0.000,0.041,3273,1930,2357,0,0,0,0,0,0
$GC,21749,0.50,155.7,575.5,13.0,700,21753,0.00,2.40,0.00,0.000,4,0.000,0.051,3285,361,2356,0,0,0,0,0,0
$GC,21844,0.50,155.7,563.1,11.8,702,21849,0.10,2.40,0.00,0.000,6,0.135,0.043,3252,1944,2356,0,0,0,0,0,0
$GC,22159,0.50,155.7,532.7,9.4,710,22164,0.00,2.40,0.00,0.000,4,0.000,0.049,3262,355,2356,0,0,0,0,0,0
$GC,22186,0.50,155.7,529.9,8.4,710,22191,0.00,2.40,0.00,0.000,6,0.000,0.043,3262,1941,2356,0,0,0,0,0,0
$GC,22523,0.50,155.7,499.0,9.2,719,22527,0.00,2.45,0.00,0.000,4,0.000,0.051,3262,3529,2357,0,0,0,0,0,0
$GC,22573,0.50,155.7,494.0,9.8,720,22577,0.00,2.38,0.00,0.000,6,0.000,0.039,3274,1935,2357,0,0,0,0,0,0
$GC,22884,0.50,155.7,463.6,9.6,728,22889,0.00,2.38,0.00,0.000,4,0.000,0.050,3287,360,2357,0,0,0,0,0,0
$GC,22969,0.50,155.7,455.1,11.3,730,22974,0.12,2.38,0.00,0.000,6,0.122,0.041,3244,1945,2357,0,0,0,0,0,0
$GC,23294,0.50,155.7,431.7,6.6,738,23298,0.00,2.42,0.00,0.000,4,0.000,0.051,3244,3531,2358,0,0,0,0,0,0
$GC,23322,0.50,155.7,429.8,7.6,738,23326,0.00,2.40,0.00,0.000,6,0.000,0.039,3255,1942,2358,0,0,0,0,0,0
$GC,23652,0.50,155.7,406.3,7.6,746,23656,0.00,2.45,0.00,0.000,4,0.000,0.051,3254,3529,2359,0,0,0,0,0,0
$GC,23679,0.50,155.7,403.9,8.3,746,23683,0.00,2.40,0.00,0.000,6,0.000,0.040,3267,1938,2359,0,0,0,0,0,0
$GC,24016,0.50,155.7,373.0,9.3,755,24020,0.00,2.42,0.00,0.000,4,0.000,0.051,3267,3528,2360,0,0,0,0,0,0
$GC,24099,0.50,155.7,364.5,9.9,757,24104,0.00,2.38,0.00,0.000,6,0.000,0.038,3279,1930,2360,0,0,0,0,0,0
$GC,24425,0.50,155.7,335.5,8.8,765,24430,0.00,2.35,0.00,0.000,4,0.000,0.047,3291,362,2361,0,0,0,0,0,0
$GC,24537,0.50,155.7,325.0,7.5,767,24542,0.12,2.38,0.00,0.000,6,0.118,0.041,3247,1952,2362,0,0,0,0,0,0
$GC,24875,0.50,155.7,301.9,7.0,776,24879,0.00,2.42,0.00,0.000,4,0.000,0.050,3246,3525,2363,0,0,0,0,0,0
$GC,24930,0.50,155.7,297.1,7.9,777,24937,0.00,2.35,0.00,0.000,6,0.000,0.036,3257,1932,2364,0,0,0,0,0,0
$GC,25245,0.50,155.7,271.2,7.6,793,25249,0.00,2.35,0.00,0.000,4,0.000,0.047,3269,364,2365,0,0,0,0,0,0
$GC,25301,0.50,155.7,267.0,6.7,795,25305,0.00,2.33,0.00,0.000,6,0.000,0.038,3269,1950,2365,0,0,0,0,0,0
$GC,25615,0.50,155.7,245.3,6.5,810,25620,0.00,2.40,0.00,0.000,4,0.000,0.050,3269,3526,2367,0,0,0,0,0,0
$GC,25642,0.50,155.7,243.5,6.2,811,25647,0.00,2.35,0.00,0.000,6,0.000,0.037,3281,1933,2367,0,0,0,0,0,0
$GC,25963,0.50,155.7,221.1,6.7,827,25967,0.00,2.40,0.00,0.000,4,0.000,0.046,3293,353,2368,0,0,0,0,0,0
$GC,26012,0.50,155.7,217.5,6.7,829,26023,0.12,2.33,3.67,0.577,6,0.112,0.042,3251,1934,2361,0,0,0,0,0,0
$GC,26333,0.51,157.7,197.1,5.9,847,26343,0.00,2.47,4.28,0.645,4,0.000,0.050,3250,3527,2352,0,0,0,0,0,0
$GC,26408,0.51,157.7,192.0,6.9,853,26412,0.00,2.38,0.00,0.000,6,0.000,0.035,3260,1931,2352,0,0,0,0,0,0
$GC,26669,0.55,194.6,177.9,5.0,878,26709,0.00,2.47,32.15,0.965,4,0.000,0.047,3272,357,2200,0,0,0,0,0,0
$GC,26767,0.55,194.6,172.1,7.1,887,26771,0.00,2.35,0.00,0.000,6,0.000,0.037,3272,1942,2201,0,0,0,0,0,0
$GC,27027,0.55,194.6,156.2,6.0,911,27031,0.00,2.42,0.00,0.000,4,0.000,0.051,3272,3525,2202,0,0,0,0,0,0
$GC,27072,0.57,207.6,153.2,5.7,914,27091,0.00,2.35,12.93,0.887,6,0.000,0.035,3283,1930,2147,0,0,0,0,0,0
$GC,27352,0.57,207.6,135.3,7.1,941,27356,0.00,2.35,0.00,0.000,4,0.000,0.044,3295,353,2148,0,0,0,0,0,0
$GC,27408,0.57,207.6,131.4,6.0,946,27412,0.00,2.33,0.00,0.000,6,0.000,0.038,3295,1941,2148,0,0,0,0,0,0
$GC,27668,0.57,207.6,113.3,6.9,970,27672,0.00,2.45,0.00,0.000,4,0.000,0.048,3295,3525,2150,0,0,0,0,0,0
$GC,27700,0.57,207.6,110.9,7.3,972,27706,0.12,2.35,0.00,0.000,6,0.115,0.035,3259,1936,2151,0,0,0,0,0,0
$GC,27961,0.63,254.4,97.7,4.8,997,28006,0.00,2.40,39.95,0.925,4,0.000,0.046,3259,360,1957,0,0,0,0,0,0
$GC,28028,0.63,254.4,93.4,6.2,1003,28032,0.00,2.33,0.00,0.000,6,0.000,0.037,3259,1942,1958,0,0,0,0,0,0
$GC,28290,0.63,254.4,73.2,7.8,1027,28294,0.00,2.40,0.00,0.000,4,0.000,0.048,3252,3530,1960,0,0,0,0,0,0
$GC,28480,0.63,254.4,57.0,8.5,1043,28486,0.12,2.33,0.00,0.000,6,0.087,0.035,3317,1936,1962,0,0,0,0,0,0
$GC,28742,0.63,254.4,36.9,7.7,1068,28746,0.00,2.38,0.00,0.000,4,0.000,0.045,3317,367,1964,0,0,0,0,0,0
$GC,28791,0.63,254.4,32.6,7.8,1072,28796,0.00,2.28,0.00,0.000,6,0.000,0.035,3317,1944,1965,0,0,0,0,0,0
$GC,29051,0.63,254.4,11.1,8.2,1096,29055,0.00,2.38,0.00,0.000,4,0.000,0.044,3327,365,1965,0,0,0,0,0,0
$GC,29084,0.63,254.4,8.4,7.3,1098,29090,0.12,2.30,0.00,0.000,6,0.107,0.035,3278,1953,1965,0,0,0,0,0,0
$STATE,29175,end climb,SURFACE_DEPTH_REACHED
$STATE,29175,begin surface coast
$FINISH,0.4,NaN
$STATE,29216,end surface coast,CONTROL_FINISHED_OK
$STATE,29216,begin surface
$SM_CCo,29233,187.35,0.914,0,0,474,618.15
$SM_GC,0.85,0.00,0.00,187.35,0.000,0.000,0.914,107,2133,474,-9.32,1.22,618.15
$IRIDIUM_FIX,2138.81,12835.24,100912,060608
$TT8_MAMPS,0.03068
$HUMID,1078719345
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.60
$XPDR_PINGS,947
$24V_AH,21.6,85.192
$10V_AH,8.0,64.680
$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,21.600,354.375,382.300,187.350,0.000,28.115,34.595,199.344,236.750,0.000,13.686,1740.587,23314.309,813.169,3316.160,625.467,33.381,2506.355,0.000,2964.302,0.000,0.543,0.000
$DEVICE_MAMPS,214.760,65.195,1648.283,914.264,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36666,1111
$CAP_FILE_SIZE,336511,0
$CFSIZE,260165632,179134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190311,052230,2145.948,12835.350,36,1.4,36,-3.0