version: 66.07
glider: 500
mission: 5
dive: 471
start: 3 20 111 7 3 26
data:
$ID,500
$MISSION,5
$DIVE,471
$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,-130969.07
$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,44
$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
$GPS1,200311,065600,2143.214,12834.695,35,1.1,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.6
$GPS2,200311,070232,2143.354,12834.637,8,1.5,8,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.159,-0.153
$KALMAN_X,-513422.9,1017.7,-775.1,1062219.9,5172.8
$KALMAN_Y,553136.8,-673.8,117.5,-490182.7,5025.0
$MHEAD_RNG_PITCHd_Wd,229.2,268356,-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
$STATE,14,begin dive
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$GC,16026,-0.51,-155.7,881.1,-3.9,571,16030,0.00,2.38,0.00,0.000,4,0.000,0.046,2915,506,3607,0,0,0,0,0,0
$GC,16095,-0.51,-155.7,883.7,-4.1,572,16099,0.00,2.38,0.00,0.000,6,0.000,0.042,2905,2095,3607,0,0,0,0,0,0
$GC,16432,-0.51,-155.7,897.9,-4.4,581,16436,0.00,2.38,0.00,0.000,4,0.000,0.045,2905,517,3606,0,0,0,0,0,0
$GC,16500,-0.51,-155.7,901.1,-4.9,582,16504,0.10,2.35,0.00,0.000,6,0.130,0.042,2931,2090,3605,0,0,0,0,0,0
$GC,16842,-0.51,-155.7,915.9,-4.5,591,16847,0.00,2.40,0.00,0.000,4,0.000,0.047,2931,516,3605,0,0,0,0,0,0
$GC,16993,-0.51,-155.7,922.2,-3.9,594,16998,0.00,2.35,0.00,0.000,6,0.000,0.042,2931,2088,3605,0,0,0,0,0,0
$GC,17337,-0.51,-155.7,934.2,-3.4,603,17341,0.00,2.38,0.00,0.000,4,0.000,0.046,2931,514,3604,0,0,0,0,0,0
$GC,17521,-0.51,-155.7,940.5,-3.9,607,17525,0.00,2.38,0.00,0.000,6,0.000,0.043,2929,2104,3604,0,0,0,0,0,0
$GC,17836,-0.51,-155.7,952.0,-4.0,615,17840,0.00,2.40,0.00,0.000,4,0.000,0.044,2929,506,3603,0,0,0,0,0,0
$GC,18048,-0.51,-155.7,961.0,-4.3,619,18053,0.00,2.38,0.00,0.000,6,0.000,0.042,2919,2096,3603,0,0,0,0,0,0
$GC,18380,-0.51,-155.7,975.7,-4.5,628,18384,0.00,2.40,0.00,0.000,4,0.000,0.046,2919,503,3603,0,0,0,0,0,0
$GC,18504,-0.51,-155.7,981.2,-3.9,630,18509,0.00,2.38,0.00,0.000,6,0.000,0.043,2909,2083,3602,0,0,0,0,0,0
$STATE,18751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18751,begin apogee
$GC,18758,-0.23,0.0,991.6,4.2,636,18903,0.30,0.00,141.95,1.672,6,0.077,0.000,3026,1926,2995,0,0,0,0,0,0
$STATE,18904,end apogee,CONTROL_FINISHED_OK
$STATE,18904,begin climb
$GC,18907,0.51,155.7,993.0,0.0,639,19070,0.60,2.75,155.35,1.711,4,0.049,0.050,3263,3530,2360,0,0,0,0,0,0
$GC,19201,0.51,155.7,955.9,14.0,646,19205,0.00,2.42,0.00,0.000,6,0.000,0.039,3275,1953,2359,0,0,0,0,0,0
$GC,19525,0.51,155.7,910.0,14.5,654,19529,0.00,2.45,0.00,0.000,4,0.000,0.052,3288,364,2358,0,0,0,0,0,0
$GC,19598,0.51,155.7,899.3,14.9,655,19603,0.12,2.35,0.00,0.000,6,0.127,0.041,3246,1945,2358,0,0,0,0,0,0
$GC,19929,0.51,155.7,859.2,12.1,663,19934,0.00,2.40,0.00,0.000,4,0.000,0.052,3245,3528,2356,0,0,0,0,0,0
$GC,19990,0.51,155.7,851.1,12.5,664,19995,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1931,2356,0,0,0,0,0,0
$GC,20339,0.51,155.7,808.3,12.0,673,20343,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,356,2355,0,0,0,0,0,0
$GC,20433,0.51,155.7,796.3,11.5,675,20437,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1948,2356,0,0,0,0,0,0
$GC,20752,0.51,155.7,757.1,12.2,683,20757,0.00,2.47,0.00,0.000,4,0.000,0.053,3269,3530,2355,0,0,0,0,0,0
$GC,20785,0.51,155.7,752.6,12.0,683,20790,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1930,2355,0,0,0,0,0,0
$GC,21117,0.51,155.7,709.0,13.3,692,21121,0.00,2.40,0.00,0.000,4,0.000,0.052,3294,364,2355,0,0,0,0,0,0
$GC,21166,0.51,155.7,702.1,13.1,693,21171,0.12,2.38,0.00,0.000,6,0.127,0.043,3252,1942,2355,0,0,0,0,0,0
$GC,21481,0.51,155.7,668.4,10.7,701,21485,0.00,2.45,0.00,0.000,4,0.000,0.055,3252,3528,2354,0,0,0,0,0,0
$GC,21530,0.51,155.7,662.3,12.1,702,21535,0.00,2.40,0.00,0.000,6,0.000,0.042,3263,1942,2355,0,0,0,0,0,0
$GC,21844,0.51,155.7,627.2,11.1,710,21848,0.00,2.42,0.00,0.000,4,0.000,0.053,3275,357,2355,0,0,0,0,0,0
$GC,21889,0.51,155.7,621.9,10.9,711,21893,0.00,2.40,0.00,0.000,6,0.000,0.045,3276,1943,2354,0,0,0,0,0,0
$GC,22207,0.51,155.7,583.7,11.8,719,22212,0.00,2.47,0.00,0.000,4,0.000,0.056,3275,3533,2354,0,0,0,0,0,0
$GC,22303,0.51,155.7,572.1,10.4,721,22308,0.12,2.45,0.00,0.000,6,0.136,0.042,3248,1928,2355,0,0,0,0,0,0
$GC,22617,0.51,155.7,545.2,8.7,729,22621,0.00,2.40,0.00,0.000,4,0.000,0.050,3258,360,2355,0,0,0,0,0,0
$GC,22707,0.51,155.7,536.8,9.0,731,22711,0.00,2.38,0.00,0.000,6,0.000,0.043,3258,1946,2355,0,0,0,0,0,0
$GC,23026,0.51,155.7,504.5,10.6,739,23030,0.00,2.42,0.00,0.000,4,0.000,0.052,3258,3525,2355,0,0,0,0,0,0
$GC,23076,0.51,155.7,498.6,11.2,740,23081,0.00,2.40,0.00,0.000,6,0.000,0.039,3270,1941,2355,0,0,0,0,0,0
$GC,23390,0.51,155.7,461.5,11.8,748,23394,0.00,2.42,0.00,0.000,4,0.000,0.051,3283,348,2355,0,0,0,0,0,0
$GC,23502,0.51,155.7,448.7,11.9,750,23506,0.00,2.35,0.00,0.000,6,0.000,0.041,3283,1938,2355,0,0,0,0,0,0
$GC,23837,0.51,155.7,415.0,9.6,759,23841,0.00,2.40,0.00,0.000,4,0.000,0.048,3295,355,2356,0,0,0,0,0,0
$GC,23881,0.51,155.7,410.2,10.1,760,23886,0.15,2.38,0.00,0.000,6,0.112,0.041,3243,1941,2356,0,0,0,0,0,0
$GC,24201,0.51,155.7,385.4,7.9,768,24206,0.00,2.42,0.00,0.000,4,0.000,0.049,3243,3528,2357,0,0,0,0,0,0
$GC,24229,0.51,155.7,382.7,8.4,768,24233,0.00,2.42,0.00,0.000,6,0.000,0.038,3253,1928,2357,0,0,0,0,0,0
$GC,24560,0.51,155.7,353.9,8.7,776,24562,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1928,2358,0,0,0,0,0,0
$GC,24884,0.51,155.7,329.6,6.9,784,24888,0.00,2.38,0.00,0.000,4,0.000,0.047,3266,355,2359,0,0,0,0,0,0
$GC,24957,0.51,155.7,324.2,7.7,785,24961,0.00,2.38,0.00,0.000,6,0.000,0.040,3266,1960,2359,0,0,0,0,0,0
$GC,25287,0.51,155.7,300.5,6.9,793,25288,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1960,2360,0,0,0,0,0,0
$GC,25598,0.51,155.7,278.9,7.2,807,25603,0.00,2.42,0.00,0.000,4,0.000,0.047,3278,352,2362,0,0,0,0,0,0
$GC,25626,0.51,155.7,276.7,7.1,808,25630,0.00,2.35,0.00,0.000,6,0.000,0.040,3277,1933,2362,0,0,0,0,0,0
$GC,25942,0.51,155.7,252.9,7.9,823,25946,0.00,2.45,0.00,0.000,4,0.000,0.049,3278,3523,2364,0,0,0,0,0,0
$GC,26019,0.51,155.7,245.9,8.8,826,26025,0.12,2.40,0.00,0.000,6,0.252,0.036,3249,1929,2365,0,0,0,0,0,0
$GC,26334,0.54,180.6,228.3,5.3,842,26363,0.00,2.47,23.58,1.023,4,0.000,0.048,3259,363,2258,0,0,0,0,0,0
$GC,26410,0.54,180.6,224.2,6.0,845,26415,0.00,2.35,0.00,0.000,6,0.000,0.043,3259,1932,2258,0,0,0,0,0,0
$GC,26725,0.54,185.1,206.3,5.9,860,26736,0.00,2.45,6.12,0.805,4,0.000,0.047,3259,3533,2240,0,0,0,0,0,0
$GC,26769,0.54,185.1,203.4,7.3,862,26773,0.00,2.40,0.00,0.000,6,0.000,0.036,3270,1930,2239,0,0,0,0,0,0
$GC,27094,0.54,185.1,182.6,6.2,890,27099,0.00,2.40,0.00,0.000,4,0.000,0.046,3282,357,2242,0,0,0,0,0,0
$GC,27168,0.54,185.1,177.5,6.4,896,27173,0.00,2.35,0.00,0.000,6,0.000,0.038,3282,1956,2242,0,0,0,0,0,0
$GC,27430,0.54,185.1,159.3,7.2,920,27434,0.00,2.40,0.00,0.000,4,0.000,0.048,3282,3525,2244,0,0,0,0,0,0
$GC,27473,0.54,185.1,155.6,8.7,923,27478,0.00,2.38,0.00,0.000,6,0.000,0.035,3294,1928,2245,0,0,0,0,0,0
$GC,27734,0.54,185.1,136.5,6.6,948,27738,0.00,2.35,0.00,0.000,4,0.000,0.044,3306,362,2246,0,0,0,0,0,0
$GC,27796,0.54,185.1,131.9,8.3,953,27800,0.12,2.30,0.00,0.000,6,0.108,0.037,3258,1948,2247,0,0,0,0,0,0
$GC,28064,0.58,218.5,117.6,5.1,978,28096,0.00,0.00,30.15,0.957,6,0.000,0.000,3258,1948,2104,0,0,0,0,0,0
$GC,28349,0.59,224.7,102.4,5.8,1005,28363,0.00,2.47,7.22,0.792,4,0.000,0.048,3257,3528,2078,0,0,0,0,0,0
$GC,28382,0.59,228.2,100.3,5.9,1008,28392,0.00,2.38,4.70,0.661,6,0.000,0.035,3258,1929,2064,0,0,0,0,0,0
$GC,28647,0.59,228.2,84.0,6.1,1033,28651,0.00,2.35,0.00,0.000,4,0.000,0.045,3263,367,2066,0,0,0,0,0,0
$GC,28701,0.59,228.2,80.4,7.7,1037,28707,0.00,2.30,0.00,0.000,6,0.000,0.037,3263,1924,2066,0,0,0,0,0,0
$GC,28962,0.61,238.4,64.8,5.7,1062,28978,0.00,2.45,11.02,0.836,4,0.000,0.050,3258,3539,2022,0,0,0,0,0,0
$GC,29158,0.61,238.4,51.1,7.1,1079,29162,0.00,2.35,0.00,0.000,6,0.000,0.035,3258,1941,2024,0,0,0,0,0,0
$GC,29418,0.61,238.4,32.9,8.1,1103,29422,0.00,2.38,0.00,0.000,4,0.000,0.047,3258,356,2025,0,0,0,0,0,0
$GC,29451,0.61,238.4,30.3,7.0,1105,29456,0.00,2.33,0.00,0.000,6,0.000,0.040,3257,1952,2025,0,0,0,0,0,0
$GC,29713,0.61,238.4,9.0,8.2,1130,29714,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1952,2026,0,0,0,0,0,0
$STATE,29784,end climb,SURFACE_DEPTH_REACHED
$STATE,29784,begin surface coast
$FINISH,0.4,NaN
$STATE,29817,end surface coast,CONTROL_FINISHED_OK
$STATE,29817,begin surface
$SM_CCo,29835,193.32,0.956,0,0,475,618.15
$SM_GC,0.89,0.00,0.00,193.32,0.000,0.000,0.956,137,2123,475,-9.23,0.93,618.15
$IRIDIUM_FIX,2138.81,12835.24,110912,161632
$TT8_MAMPS,0.029913
$HUMID,1078716764
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.50
$XPDR_PINGS,848
$24V_AH,21.5,86.179
$10V_AH,8.0,65.063
$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,21.025,314.775,380.100,193.325,0.000,30.053,33.446,185.732,212.000,0.000,10.465,1726.549,23993.111,803.115,3260.618,617.484,33.383,2451.427,0.000,2925.707,0.000,0.544,0.000
$DEVICE_MAMPS,251.576,70.564,1711.177,956.449,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36695,1140
$CAP_FILE_SIZE,328708,0
$CFSIZE,260165632,178724864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200311,152525,2141.875,12833.845,44,1.4,44,-3.0