version: 66.07
glider: 500
mission: 5
dive: 468
start: 3 19 111 5 30 14
data:
$ID,500
$MISSION,5
$DIVE,468
$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,-130924.62
$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,45
$R_STBD_OVSHOOT,67
$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
$GPS1,190311,052230,2145.948,12835.350,36,1.4,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.9
$GPS2,190311,052920,2145.989,12835.405,12,1.7,12,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.164,-0.148
$KALMAN_X,-527730.6,921.1,-532.7,1077713.0,5305.2
$KALMAN_Y,542685.8,-416.8,159.5,-475162.5,4850.0
$MHEAD_RNG_PITCHd_Wd,231.1,270434,-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,16257,-0.50,-155.7,869.6,-4.1,588,16261,0.00,2.38,0.00,0.000,4,0.000,0.047,2935,509,3597,0,0,0,0,0,0
$GC,16504,-0.50,-155.7,880.5,-5.0,593,16508,0.00,2.38,0.00,0.000,6,0.000,0.043,2932,2095,3596,0,0,0,0,0,0
$GC,16842,-0.50,-155.7,895.8,-4.6,602,16846,0.00,2.42,0.00,0.000,4,0.000,0.054,2922,3667,3596,0,0,0,0,0,0
$GC,16875,-0.50,-155.7,897.5,-4.6,602,16880,0.00,2.35,0.00,0.000,6,0.000,0.037,2922,2081,3596,0,0,0,0,0,0
$GC,17207,-0.50,-155.7,913.1,-4.9,610,17211,0.00,2.35,0.00,0.000,4,0.000,0.048,2922,511,3595,0,0,0,0,0,0
$GC,17392,-0.50,-155.7,921.9,-4.8,614,17396,0.00,2.38,0.00,0.000,6,0.000,0.044,2913,2100,3595,0,0,0,0,0,0
$GC,17708,-0.50,-155.7,935.0,-4.2,622,17712,0.00,2.40,0.00,0.000,4,0.000,0.045,2913,512,3594,0,0,0,0,0,0
$GC,17808,-0.50,-155.7,939.4,-4.1,624,17812,0.00,2.38,0.00,0.000,6,0.000,0.044,2902,2098,3594,0,0,0,0,0,0
$GC,18158,-0.50,-155.7,953.1,-4.0,633,18162,0.00,2.38,0.00,0.000,4,0.000,0.046,2902,512,3593,0,0,0,0,0,0
$GC,18213,-0.50,-155.7,955.4,-3.2,634,18218,0.12,2.38,0.00,0.000,6,0.115,0.043,2937,2096,3593,0,0,0,0,0,0
$GC,18563,-0.50,-155.7,969.4,-4.2,643,18567,0.00,2.45,0.00,0.000,4,0.000,0.054,2927,3674,3593,0,0,0,0,0,0
$GC,18822,-0.50,-155.7,981.1,-5.3,648,18826,0.00,2.40,0.00,0.000,6,0.000,0.037,2927,2080,3592,0,0,0,0,0,0
$STATE,19068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19068,begin apogee
$GC,19074,-0.23,0.0,990.8,3.7,655,19216,0.25,0.00,139.27,1.656,6,0.069,0.000,3031,1940,2995,0,0,0,0,0,0
$STATE,19217,end apogee,CONTROL_FINISHED_OK
$STATE,19217,begin climb
$GC,19221,0.50,155.7,991.4,0.0,658,19383,0.60,2.78,151.43,1.627,4,0.052,0.054,3266,3517,2360,0,0,0,0,0,0
$GC,19512,0.50,155.7,952.7,17.2,664,19517,0.00,2.42,0.00,0.000,6,0.000,0.040,3278,1950,2360,0,0,0,0,0,0
$GC,19842,0.50,155.7,903.3,15.0,673,19846,0.00,2.42,0.00,0.000,4,0.000,0.051,3290,348,2359,0,0,0,0,0,0
$GC,19949,0.50,155.7,887.2,15.5,675,19954,0.12,2.38,0.00,0.000,6,0.131,0.044,3249,1941,2359,0,0,0,0,0,0
$GC,20292,0.50,155.7,845.2,12.2,684,20296,0.00,2.40,0.00,0.000,4,0.000,0.052,3249,3525,2359,0,0,0,0,0,0
$GC,20361,0.50,155.7,836.4,13.8,685,20365,0.00,2.40,0.00,0.000,6,0.000,0.040,3260,1929,2358,0,0,0,0,0,0
$GC,20697,0.50,155.7,792.9,12.9,694,20701,0.00,2.38,0.00,0.000,4,0.000,0.051,3272,363,2358,0,0,0,0,0,0
$GC,20748,0.50,155.7,786.2,12.1,695,20752,0.00,2.38,0.00,0.000,6,0.000,0.044,3272,1945,2358,0,0,0,0,0,0
$GC,21061,0.50,155.7,744.6,13.3,703,21062,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1946,2358,0,0,0,0,0,0
$GC,21386,0.50,155.7,704.4,12.3,711,21387,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1946,2358,0,0,0,0,0,0
$GC,21710,0.50,155.7,664.6,12.3,719,21711,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1946,2358,0,0,0,0,0,0
$GC,22034,0.50,155.7,624.8,12.2,727,22036,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1946,2358,0,0,0,0,0,0
$GC,22361,0.50,155.7,587.2,11.3,735,22365,0.00,2.42,0.00,0.000,4,0.000,0.051,3284,355,2358,0,0,0,0,0,0
$GC,22400,0.50,155.7,582.6,11.5,736,22405,0.10,2.40,0.00,0.000,6,0.135,0.044,3251,1943,2359,0,0,0,0,0,0
$GC,22726,0.50,155.7,549.3,10.4,744,22727,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1943,2359,0,0,0,0,0,0
$GC,23048,0.50,155.7,516.8,9.9,752,23052,0.00,2.42,0.00,0.000,4,0.000,0.055,3251,3522,2359,0,0,0,0,0,0
$GC,23097,0.50,155.7,511.7,8.7,753,23101,0.00,2.40,0.00,0.000,6,0.000,0.041,3262,1943,2359,0,0,0,0,0,0
$GC,23416,0.50,155.7,480.6,9.8,761,23420,0.00,2.42,0.00,0.000,4,0.000,0.052,3274,348,2359,0,0,0,0,0,0
$GC,23465,0.50,155.7,475.7,9.1,762,23469,0.00,2.40,0.00,0.000,6,0.000,0.044,3274,1951,2360,0,0,0,0,0,0
$GC,23784,0.50,155.7,448.3,8.6,770,23789,0.00,2.45,0.00,0.000,4,0.000,0.054,3274,3521,2361,0,0,0,0,0,0
$GC,23828,0.50,155.7,443.9,10.0,771,23833,0.12,2.42,0.00,0.000,6,0.133,0.040,3246,1925,2361,0,0,0,0,0,0
$GC,24149,0.50,155.7,422.1,7.0,779,24153,0.00,2.38,0.00,0.000,4,0.000,0.051,3257,360,2362,0,0,0,0,0,0
$GC,24272,0.50,155.7,411.6,8.9,781,24277,0.00,2.35,0.00,0.000,6,0.000,0.042,3257,1937,2363,0,0,0,0,0,0
$GC,24603,0.50,155.7,383.3,8.3,790,24604,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1937,2364,0,0,0,0,0,0
$GC,24928,0.50,155.7,358.2,7.7,798,24929,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1937,2365,0,0,0,0,0,0
$GC,25252,0.50,155.7,331.4,8.3,806,25257,0.00,2.42,0.00,0.000,4,0.000,0.051,3257,3529,2367,0,0,0,0,0,0
$GC,25343,0.50,155.7,323.0,10.5,808,25347,0.00,2.40,0.00,0.000,6,0.000,0.037,3269,1937,2368,0,0,0,0,0,0
$GC,25662,0.50,155.7,294.1,9.1,817,25667,0.00,2.40,0.00,0.000,4,0.000,0.050,3281,351,2369,0,0,0,0,0,0
$GC,25725,0.50,155.7,288.0,10.2,820,25735,0.00,2.38,4.10,0.670,6,0.000,0.041,3281,1947,2360,0,0,0,0,0,0
$GC,26056,0.50,155.7,258.7,8.0,836,26061,0.00,2.42,0.00,0.000,4,0.000,0.051,3281,3523,2362,0,0,0,0,0,0
$GC,26078,0.50,155.7,256.8,7.9,837,26083,0.12,2.40,0.00,0.000,6,0.123,0.038,3251,1944,2362,0,0,0,0,0,0
$GC,26405,0.53,172.6,238.7,5.6,853,26429,0.00,2.53,16.60,0.970,4,0.000,0.051,3261,346,2291,0,0,0,0,0,0
$GC,26508,0.53,172.6,231.9,7.6,857,26513,0.00,2.38,0.00,0.000,6,0.000,0.038,3262,1941,2291,0,0,0,0,0,0
$GC,26823,0.53,172.6,212.1,6.3,873,26827,0.00,2.45,0.00,0.000,4,0.000,0.055,3261,3532,2293,0,0,0,0,0,0
$GC,26884,0.53,172.6,207.9,7.1,876,26888,0.00,2.38,0.00,0.000,6,0.000,0.037,3273,1933,2293,0,0,0,0,0,0
$GC,27209,0.53,172.6,188.8,6.2,900,27214,0.00,2.38,0.00,0.000,4,0.000,0.048,3285,356,2297,0,0,0,0,0,0
$GC,27261,0.53,172.6,185.7,6.8,904,27265,0.00,2.35,0.00,0.000,6,0.000,0.040,3285,1949,2297,0,0,0,0,0,0
$GC,27522,0.53,172.6,168.4,6.2,928,27527,0.00,2.42,0.00,0.000,4,0.000,0.051,3285,3520,2299,0,0,0,0,0,0
$GC,27634,0.53,172.6,160.3,7.9,937,27645,0.12,2.35,3.83,0.578,6,0.118,0.036,3252,1933,2291,0,0,0,0,0,0
$GC,27905,0.57,209.1,147.2,5.0,963,27942,0.00,2.42,31.15,0.939,4,0.000,0.048,3261,355,2141,0,0,0,0,0,0
$GC,27986,0.57,209.1,142.8,6.2,970,27990,0.00,2.35,0.00,0.000,6,0.000,0.040,3261,1941,2142,0,0,0,0,0,0
$GC,28254,0.57,209.1,125.6,6.6,995,28258,0.00,2.42,0.00,0.000,4,0.000,0.050,3261,3524,2144,0,0,0,0,0,0
$GC,28331,0.57,209.1,120.2,6.3,1001,28336,0.00,2.35,0.00,0.000,6,0.000,0.035,3269,1929,2146,0,0,0,0,0,0
$GC,28591,0.57,209.1,102.1,6.6,1026,28596,0.00,2.42,0.00,0.000,4,0.000,0.049,3269,3531,2147,0,0,0,0,0,0
$GC,28678,0.57,209.8,96.4,6.0,1033,28688,0.00,2.35,4.00,0.568,6,0.000,0.036,3280,1940,2138,0,0,0,0,0,0
$GC,28945,0.57,209.8,78.5,6.3,1058,28949,0.00,2.45,0.00,0.000,4,0.000,0.051,3280,3524,2140,0,0,0,0,0,0
$GC,29035,0.57,209.8,72.2,6.9,1065,29039,0.00,2.35,0.00,0.000,6,0.000,0.035,3291,1929,2140,0,0,0,0,0,0
$GC,29295,0.57,209.8,54.5,6.1,1090,29299,0.00,2.38,0.00,0.000,4,0.000,0.049,3301,354,2142,0,0,0,0,0,0
$GC,29346,0.57,209.8,51.2,6.4,1094,29350,0.00,2.35,0.00,0.000,6,0.000,0.042,3301,1941,2142,0,0,0,0,0,0
$GC,29607,0.57,209.8,33.1,8.4,1118,29608,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1941,2143,0,0,0,0,0,0
$GC,29861,0.57,209.8,11.9,6.2,1142,29865,0.00,2.45,0.00,0.000,4,0.000,0.051,3301,3535,2145,0,0,0,0,0,0
$GC,29883,0.57,209.8,10.3,6.8,1143,29888,0.12,2.38,0.00,0.000,6,0.118,0.039,3268,1947,2145,0,0,0,0,0,0
$STATE,30003,end climb,SURFACE_DEPTH_REACHED
$STATE,30003,begin surface coast
$FINISH,0.6,NaN
$STATE,30046,end surface coast,CONTROL_FINISHED_OK
$STATE,30046,begin surface
$SM_CCo,30065,209.75,0.890,0,0,475,618.15
$SM_GC,0.92,0.00,0.00,209.75,0.000,0.000,0.890,106,2107,475,-9.33,0.48,618.15
$IRIDIUM_FIX,2136.49,12838.50,100912,151509
$TT8_MAMPS,0.03068
$HUMID,1078681926
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.80
$XPDR_PINGS,928
$24V_AH,21.6,85.437
$10V_AH,8.0,64.775
$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,20.775,281.775,350.375,209.750,0.000,27.486,35.224,200.848,232.000,0.000,14.354,1719.416,24312.070,780.416,3254.391,597.676,33.383,2396.686,0.000,2903.711,0.000,0.543,0.000
$DEVICE_MAMPS,213.226,71.331,1655.953,889.720,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355512
$DATA_FILE_SIZE,36657,1159
$CAP_FILE_SIZE,322482,0
$CFSIZE,260165632,179048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190311,135606,2144.917,12834.918,36,1.0,36,-3.0