version: 66.07
glider: 500
mission: 5
dive: 474
start: 3 21 111 9 0 36
data:
$ID,500
$MISSION,5
$DIVE,474
$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,-131034.81
$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,33
$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
$GPS1,210311,085237,2140.121,12833.597,23,1.5,23,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.5
$GPS2,210311,085943,2140.129,12833.638,14,1.5,31,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.171,-0.140
$KALMAN_X,-498425.2,1032.1,-311.3,1045010.2,4203.0
$KALMAN_Y,560453.6,-792.0,31.0,-503266.2,4440.1
$MHEAD_RNG_PITCHd_Wd,233.6,265820,-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,15856,-0.50,-155.7,853.6,-4.7,569,15861,0.00,2.38,0.00,0.000,4,0.000,0.045,2908,503,3581,0,0,0,0,0,0
$GC,15936,-0.50,-155.7,857.2,-4.0,570,15940,0.00,2.40,0.00,0.000,6,0.000,0.044,2897,2101,3581,0,0,0,0,0,0
$GC,16266,-0.50,-155.7,869.6,-3.5,579,16271,0.00,2.40,0.00,0.000,4,0.000,0.044,2897,501,3580,0,0,0,0,0,0
$GC,16374,-0.50,-155.7,873.0,-3.0,581,16379,0.12,2.38,0.00,0.000,6,0.120,0.043,2930,2099,3580,0,0,0,0,0,0
$GC,16717,-0.50,-155.7,881.9,-2.8,590,16721,0.00,2.38,0.00,0.000,4,0.000,0.045,2931,505,3579,0,0,0,0,0,0
$GC,16873,-0.50,-155.7,886.8,-2.8,593,16877,0.00,2.38,0.00,0.000,6,0.000,0.044,2923,2085,3579,0,0,0,0,0,0
$GC,17211,-0.50,-155.7,899.3,-4.1,602,17215,0.00,2.38,0.00,0.000,4,0.000,0.046,2923,510,3578,0,0,0,0,0,0
$GC,17318,-0.50,-155.7,904.0,-4.4,604,17322,0.00,2.40,0.00,0.000,6,0.000,0.044,2913,2103,3578,0,0,0,0,0,0
$GC,17661,-0.50,-155.7,918.8,-4.2,613,17665,0.00,2.40,0.00,0.000,4,0.000,0.044,2913,509,3577,0,0,0,0,0,0
$GC,17775,-0.50,-155.7,923.1,-3.6,615,17779,0.00,2.38,0.00,0.000,6,0.000,0.044,2903,2089,3578,0,0,0,0,0,0
$GC,18112,-0.50,-155.7,933.4,-2.8,624,18116,0.00,2.35,0.00,0.000,4,0.000,0.046,2903,510,3576,0,0,0,0,0,0
$GC,18208,-0.50,-155.7,935.9,-1.7,626,18213,0.12,2.38,0.00,0.000,6,0.117,0.044,2937,2088,3576,0,0,0,0,0,0
$GC,18523,-0.50,-155.7,942.6,-2.2,634,18527,0.00,2.45,0.00,0.000,4,0.000,0.055,2927,3681,3577,0,0,0,0,0,0
$GC,18780,-0.50,-155.7,949.3,-2.6,639,18785,0.00,2.35,0.00,0.000,6,0.000,0.037,2927,2087,3575,0,0,0,0,0,0
$GC,19112,-0.50,-155.7,958.6,-3.0,648,19117,0.00,2.38,0.00,0.000,4,0.000,0.046,2927,511,3575,0,0,0,0,0,0
$GC,19349,-0.50,-155.7,966.5,-2.8,653,19353,0.00,2.38,0.00,0.000,6,0.000,0.044,2917,2092,3575,0,0,0,0,0,0
$GC,19697,-0.50,-155.7,979.0,-3.8,662,19702,0.00,2.40,0.00,0.000,4,0.000,0.047,2917,503,3575,0,0,0,0,0,0
$GC,19837,-0.50,-155.7,984.4,-4.1,665,19841,0.00,2.40,0.00,0.000,6,0.000,0.044,2906,2095,3574,0,0,0,0,0,0
$STATE,20024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20024,begin apogee
$GC,20030,-0.23,0.0,991.5,3.8,670,20168,0.30,0.00,134.30,1.623,6,0.077,0.000,3023,1928,2995,0,0,0,0,0,0
$STATE,20169,end apogee,CONTROL_FINISHED_OK
$STATE,20169,begin climb
$GC,20172,0.50,155.7,992.2,0.0,673,20334,0.60,2.78,150.93,1.593,4,0.050,0.054,3261,3518,2360,0,0,0,0,0,0
$GC,20535,0.50,155.7,946.5,15.5,681,20539,0.00,2.40,0.00,0.000,6,0.000,0.041,3273,1947,2360,0,0,0,0,0,0
$GC,20884,0.50,155.7,898.2,13.9,690,20888,0.00,2.40,0.00,0.000,4,0.000,0.052,3286,359,2359,0,0,0,0,0,0
$GC,20956,0.50,155.7,887.7,13.7,691,20961,0.12,2.38,0.00,0.000,6,0.130,0.044,3245,1940,2359,0,0,0,0,0,0
$GC,21294,0.50,155.7,848.7,11.5,700,21298,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,353,2358,0,0,0,0,0,0
$GC,21332,0.50,155.7,843.8,12.1,701,21337,0.00,2.40,0.00,0.000,6,0.000,0.044,3255,1946,2358,0,0,0,0,0,0
$GC,21658,0.50,155.7,805.3,11.7,709,21660,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1947,2358,0,0,0,0,0,0
$GC,21981,0.50,155.7,768.7,11.0,717,21982,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1947,2357,0,0,0,0,0,0
$GC,22306,0.50,155.7,732.0,11.6,725,22310,0.00,2.40,0.00,0.000,4,0.000,0.054,3256,3525,2357,0,0,0,0,0,0
$GC,22333,0.50,155.7,728.5,14.1,725,22338,0.00,2.40,0.00,0.000,6,0.000,0.042,3268,1938,2357,0,0,0,0,0,0
$GC,22664,0.50,155.7,688.5,12.0,733,22668,0.00,2.40,0.00,0.000,4,0.000,0.054,3281,359,2357,0,0,0,0,0,0
$GC,22718,0.50,155.7,681.9,12.2,734,22723,0.00,2.40,0.00,0.000,6,0.000,0.044,3281,1945,2357,0,0,0,0,0,0
$GC,23032,0.50,155.7,645.8,11.4,742,23037,0.00,2.47,0.00,0.000,4,0.000,0.055,3281,3539,2357,0,0,0,0,0,0
$GC,23071,0.50,155.7,640.8,11.5,743,23076,0.12,2.42,0.00,0.000,6,0.135,0.043,3253,1934,2357,0,0,0,0,0,0
$GC,23394,0.50,155.7,609.6,9.6,751,23399,0.00,2.40,0.00,0.000,4,0.000,0.052,3264,361,2357,0,0,0,0,0,0
$GC,23461,0.50,155.7,602.6,9.3,752,23465,0.00,2.38,0.00,0.000,6,0.000,0.044,3264,1958,2357,0,0,0,0,0,0
$GC,23804,0.50,155.7,563.7,11.7,761,23808,0.00,2.42,0.00,0.000,4,0.000,0.051,3277,359,2357,0,0,0,0,0,0
$GC,23842,0.50,155.7,558.7,10.8,762,23847,0.00,2.38,0.00,0.000,6,0.000,0.044,3277,1938,2357,0,0,0,0,0,0
$GC,24168,0.50,155.7,518.9,12.1,770,24173,0.00,2.47,0.00,0.000,4,0.000,0.055,3277,3527,2357,0,0,0,0,0,0
$GC,24212,0.50,155.7,513.2,11.0,771,24217,0.12,2.40,0.00,0.000,6,0.130,0.041,3248,1938,2357,0,0,0,0,0,0
$GC,24531,0.50,155.7,488.2,7.2,779,24536,0.00,2.40,0.00,0.000,4,0.000,0.052,3259,352,2358,0,0,0,0,0,0
$GC,24665,0.50,155.7,477.7,8.3,782,24669,0.00,2.40,0.00,0.000,6,0.000,0.044,3259,1951,2358,0,0,0,0,0,0
$GC,24990,0.50,155.7,448.9,9.1,790,24995,0.00,2.40,0.00,0.000,4,0.000,0.050,3271,360,2358,0,0,0,0,0,0
$GC,25029,0.50,155.7,444.8,9.1,791,25033,0.00,2.38,0.00,0.000,6,0.000,0.042,3272,1943,2358,0,0,0,0,0,0
$GC,25353,0.50,155.7,413.7,9.5,799,25358,0.00,2.45,0.00,0.000,4,0.000,0.057,3272,3525,2359,0,0,0,0,0,0
$GC,25410,0.50,155.7,407.9,11.3,800,25414,0.00,2.40,0.00,0.000,6,0.000,0.041,3284,1939,2359,0,0,0,0,0,0
$GC,25758,0.50,155.7,374.1,9.6,809,25763,0.10,2.42,0.00,0.000,4,0.151,0.051,3261,348,2361,0,0,0,0,0,0
$GC,25878,0.50,155.7,364.6,6.7,811,25882,0.00,2.40,0.00,0.000,6,0.000,0.044,3261,1944,2361,0,0,0,0,0,0
$GC,26213,0.50,155.7,339.2,7.6,820,26214,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1944,2363,0,0,0,0,0,0
$GC,26540,0.50,155.7,312.0,8.6,828,26541,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1944,2364,0,0,0,0,0,0
$GC,26845,0.50,155.7,287.3,7.7,839,26846,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1944,2366,0,0,0,0,0,0
$GC,27154,0.50,155.7,265.5,7.1,854,27158,0.00,2.45,0.00,0.000,4,0.000,0.051,3261,3529,2368,0,0,0,0,0,0
$GC,27186,0.50,155.7,262.9,9.5,855,27190,0.00,2.40,0.00,0.000,6,0.000,0.038,3273,1942,2368,0,0,0,0,0,0
$GC,27507,0.50,155.7,238.1,7.7,871,27516,0.00,2.45,4.12,0.640,4,0.000,0.048,3285,348,2359,0,0,0,0,0,0
$GC,27555,0.50,155.7,234.1,7.7,873,27560,0.12,2.35,0.00,0.000,6,0.115,0.039,3244,1944,2359,0,0,0,0,0,0
$GC,27876,0.52,168.5,214.2,5.7,889,27896,0.00,2.47,12.73,0.903,4,0.000,0.054,3243,3519,2307,0,0,0,0,0,0
$GC,27919,0.53,174.3,211.7,5.8,891,27930,0.00,2.40,6.43,0.772,6,0.000,0.038,3253,1931,2284,0,0,0,0,0,0
$GC,28249,0.59,222.1,194.5,4.7,912,28295,0.00,2.45,40.58,0.963,4,0.000,0.046,3263,350,2088,0,0,0,0,0,0
$GC,28322,0.63,260.4,190.8,5.0,918,28362,0.00,2.38,33.30,0.963,6,0.000,0.038,3263,1936,1932,0,0,0,0,0,0
$GC,28623,0.68,300.5,175.6,4.9,947,28664,0.12,2.47,34.10,0.952,4,0.081,0.057,3363,3525,1770,0,0,0,0,0,0
$GC,28697,0.68,300.5,167.6,11.6,954,28703,0.20,2.42,0.00,0.000,6,0.113,0.039,3310,1930,1771,0,0,0,0,0,0
$GC,28959,0.68,300.5,145.4,7.8,978,28963,0.00,2.35,0.00,0.000,4,0.000,0.047,3321,361,1773,0,0,0,0,0,0
$GC,29025,0.68,300.5,139.5,8.9,983,29030,0.00,2.35,0.00,0.000,6,0.000,0.039,3321,1948,1774,0,0,0,0,0,0
$GC,29285,0.68,300.5,117.9,8.2,1008,29286,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1948,1774,0,0,0,0,0,0
$GC,29541,0.68,300.5,97.7,7.8,1032,29545,0.00,2.38,0.00,0.000,4,0.000,0.047,3332,359,1776,0,0,0,0,0,0
$GC,29580,0.68,300.5,94.5,8.0,1035,29585,0.00,2.33,0.00,0.000,6,0.000,0.040,3332,1950,1776,0,0,0,0,0,0
$GC,29840,0.68,300.5,71.2,9.7,1059,29845,0.00,2.42,0.00,0.000,4,0.000,0.048,3343,350,1778,0,0,0,0,0,0
$GC,29869,0.68,300.5,68.6,9.5,1061,29874,0.12,2.35,0.00,0.000,6,0.112,0.041,3296,1944,1778,0,0,0,0,0,0
$GC,30131,0.68,300.5,51.2,6.5,1085,30139,0.00,0.00,3.90,0.529,6,0.000,0.000,3296,1943,1769,0,0,0,0,0,0
$GC,30396,0.68,300.5,33.7,6.9,1110,30397,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1944,1770,0,0,0,0,0,0
$GC,30649,0.68,300.5,13.6,7.6,1134,30653,0.00,2.45,0.00,0.000,4,0.000,0.051,3295,3525,1771,0,0,0,0,0,0
$GC,30689,0.68,300.5,10.5,8.0,1137,30694,0.00,2.38,0.00,0.000,6,0.000,0.043,3296,1944,1772,0,0,0,0,0,0
$STATE,30777,end climb,SURFACE_DEPTH_REACHED
$STATE,30777,begin surface coast
$FINISH,0.2,NaN
$STATE,30810,end surface coast,CONTROL_FINISHED_OK
$STATE,30810,begin surface
$SM_CCo,30829,163.27,0.851,0,0,475,618.15
$SM_GC,0.95,0.00,0.00,163.27,0.000,0.000,0.851,128,2103,475,-9.26,0.37,618.15
$IRIDIUM_FIX,2134.17,12833.79,120912,181816
$TT8_MAMPS,0.03068
$HUMID,1078703861
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.80
$XPDR_PINGS,935
$24V_AH,21.6,86.917
$10V_AH,8.0,65.365
$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,21.575,316.225,420.375,163.275,0.000,27.553,35.673,196.359,233.750,0.000,33.860,1775.709,24722.564,806.804,3468.381,622.836,33.383,2530.877,0.000,3094.785,0.000,0.542,0.000
$DEVICE_MAMPS,211.692,69.030,1622.972,851.370,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36701,1148
$CAP_FILE_SIZE,337807,0
$CFSIZE,260165632,178388992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210311,173831,2138.804,12832.315,40,1.0,40,-3.0