version: 66.07
glider: 500
mission: 5
dive: 476
start: 3 22 111 2 18 38
data:
$ID,500
$MISSION,5
$DIVE,476
$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,-131065.42
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,220311,021037,2137.955,12831.706,35,1.0,35,-3.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-76.2
$GPS2,220311,021743,2137.946,12831.810,12,1.2,12,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.207,-0.078
$KALMAN_X,-488374.3,34.6,-142.8,1032651.5,6521.8
$KALMAN_Y,563447.8,20.1,-550.8,-510534.8,2527.5
$MHEAD_RNG_PITCHd_Wd,252.4,262201,-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,14752,-0.50,-155.7,831.5,-3.0,536,14756,0.00,2.35,0.00,0.000,6,0.000,0.038,2924,2088,3604,0,0,0,0,0,0
$GC,15067,-0.50,-155.7,843.7,-3.9,544,15071,0.00,2.47,0.00,0.000,4,0.000,0.055,2915,3678,3603,0,0,0,0,0,0
$GC,15150,-0.50,-155.7,847.0,-4.0,546,15155,0.00,2.38,0.00,0.000,6,0.000,0.038,2915,2089,3603,0,0,0,0,0,0
$GC,15477,-0.50,-155.7,858.5,-3.5,554,15481,0.00,2.47,0.00,0.000,4,0.000,0.054,2905,3679,3602,0,0,0,0,0,0
$GC,15538,-0.50,-155.7,860.6,-3.4,555,15542,0.00,2.38,0.00,0.000,6,0.000,0.037,2906,2088,3602,0,0,0,0,0,0
$GC,15882,-0.50,-155.7,874.1,-4.2,564,15887,0.00,2.47,0.00,0.000,4,0.000,0.054,2895,3682,3601,0,0,0,0,0,0
$GC,15915,-0.50,-155.7,875.7,-4.7,564,15921,0.10,2.38,0.00,0.000,6,0.117,0.036,2934,2083,3601,0,0,0,0,0,0
$GC,16249,-0.50,-155.7,889.3,-4.3,573,16253,0.00,2.47,0.00,0.000,4,0.000,0.056,2924,3681,3600,0,0,0,0,0,0
$GC,16399,-0.50,-155.7,896.2,-4.2,576,16404,0.00,2.38,0.00,0.000,6,0.000,0.036,2924,2089,3600,0,0,0,0,0,0
$GC,16745,-0.50,-155.7,911.4,-4.6,585,16749,0.00,2.45,0.00,0.000,4,0.000,0.054,2921,3679,3599,0,0,0,0,0,0
$GC,16897,-0.50,-155.7,918.6,-4.4,588,16901,0.00,2.38,0.00,0.000,6,0.000,0.036,2922,2086,3599,0,0,0,0,0,0
$GC,17240,-0.50,-155.7,933.3,-4.3,597,17244,0.00,2.47,0.00,0.000,4,0.000,0.055,2912,3682,3599,0,0,0,0,0,0
$GC,17318,-0.50,-155.7,936.7,-4.7,598,17323,0.00,2.38,0.00,0.000,6,0.000,0.036,2912,2083,3598,0,0,0,0,0,0
$GC,17649,-0.50,-155.7,948.8,-3.5,607,17654,0.00,2.50,0.00,0.000,4,0.000,0.055,2901,3681,3598,0,0,0,0,0,0
$GC,17722,-0.50,-155.7,951.3,-3.8,608,17726,0.00,2.38,0.00,0.000,6,0.000,0.036,2902,2086,3598,0,0,0,0,0,0
$GC,18054,-0.50,-155.7,962.4,-3.4,616,18058,0.00,2.47,0.00,0.000,4,0.000,0.054,2890,3677,3597,0,0,0,0,0,0
$GC,18126,-0.50,-155.7,964.8,-2.9,617,18131,0.12,2.38,0.00,0.000,6,0.107,0.036,2938,2082,3597,0,0,0,0,0,0
$GC,18459,-0.50,-155.7,975.5,-3.3,625,18463,0.00,2.35,0.00,0.000,4,0.000,0.048,2939,517,3596,0,0,0,0,0,0
$GC,18719,-0.50,-155.7,984.7,-4.3,630,18723,0.00,2.38,0.00,0.000,6,0.000,0.044,2939,2097,3596,0,0,0,0,0,0
$STATE,18884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18884,begin apogee
$GC,18890,-0.23,0.0,990.7,3.6,635,19031,0.22,0.00,138.57,1.611,6,0.075,0.000,3034,1928,2995,0,0,0,0,0,0
$STATE,19032,end apogee,CONTROL_FINISHED_OK
$STATE,19032,begin climb
$GC,19036,0.50,155.7,991.8,0.0,638,19197,0.60,2.80,150.40,1.584,4,0.054,0.054,3261,3519,2359,0,0,0,0,0,0
$GC,19227,0.50,155.7,969.9,14.5,643,19231,0.00,2.55,0.00,0.000,6,0.000,0.041,3273,1946,2360,0,0,0,0,0,0
$GC,19575,0.50,155.7,920.3,14.1,652,19579,0.00,2.42,0.00,0.000,4,0.000,0.053,3285,351,2358,0,0,0,0,0,0
$GC,19649,0.50,155.7,909.8,13.7,653,19654,0.12,2.40,0.00,0.000,6,0.132,0.046,3244,1941,2358,0,0,0,0,0,0
$GC,19981,0.50,155.7,869.5,12.0,661,19985,0.00,2.45,0.00,0.000,4,0.000,0.056,3244,3531,2357,0,0,0,0,0,0
$GC,20042,0.50,155.7,861.5,11.4,662,20046,0.00,2.40,0.00,0.000,6,0.000,0.041,3255,1940,2357,0,0,0,0,0,0
$GC,20356,0.50,155.7,821.8,12.6,670,20360,0.00,2.42,0.00,0.000,4,0.000,0.054,3267,355,2357,0,0,0,0,0,0
$GC,20427,0.50,155.7,812.3,12.4,671,20431,0.00,2.40,0.00,0.000,6,0.000,0.046,3267,1944,2357,0,0,0,0,0,0
$GC,20765,0.50,155.7,767.9,13.3,680,20769,0.00,2.42,0.00,0.000,4,0.000,0.051,3280,348,2356,0,0,0,0,0,0
$GC,20797,0.50,155.7,763.2,15.5,680,20802,0.00,2.42,0.00,0.000,6,0.000,0.045,3280,1951,2356,0,0,0,0,0,0
$GC,21129,0.50,155.7,717.7,13.6,689,21133,0.00,2.50,0.00,0.000,4,0.000,0.057,3280,3533,2355,0,0,0,0,0,0
$GC,21168,0.50,155.7,712.2,14.1,690,21173,0.12,2.45,0.00,0.000,6,0.138,0.043,3252,1926,2355,0,0,0,0,0,0
$GC,21491,0.50,155.7,676.4,10.9,698,21495,0.00,2.40,0.00,0.000,4,0.000,0.052,3263,351,2355,0,0,0,0,0,0
$GC,21569,0.50,155.7,667.7,11.3,699,21574,0.00,2.42,0.00,0.000,6,0.000,0.045,3263,1955,2355,0,0,0,0,0,0
$GC,21899,0.50,155.7,629.6,11.2,708,21903,0.00,2.45,0.00,0.000,4,0.000,0.052,3276,353,2355,0,0,0,0,0,0
$GC,21928,0.50,155.7,626.5,9.7,708,21932,0.00,2.40,0.00,0.000,6,0.000,0.046,3275,1940,2355,0,0,0,0,0,0
$GC,22258,0.50,155.7,589.6,11.2,716,22262,0.00,2.47,0.00,0.000,4,0.000,0.056,3275,3523,2355,0,0,0,0,0,0
$GC,22298,0.50,155.7,584.8,14.1,717,22303,0.12,2.40,0.00,0.000,6,0.137,0.042,3247,1937,2355,0,0,0,0,0,0
$GC,22621,0.50,155.7,553.6,9.3,725,22625,0.00,2.40,0.00,0.000,4,0.000,0.053,3258,362,2355,0,0,0,0,0,0
$GC,22671,0.50,155.7,548.5,10.3,726,22675,0.00,2.38,0.00,0.000,6,0.000,0.045,3258,1941,2355,0,0,0,0,0,0
$GC,22990,0.50,155.7,516.8,10.1,734,22995,0.00,2.47,0.00,0.000,4,0.000,0.055,3259,3528,2355,0,0,0,0,0,0
$GC,23029,0.50,155.7,512.3,10.8,735,23034,0.00,2.40,0.00,0.000,6,0.000,0.041,3271,1949,2355,0,0,0,0,0,0
$GC,23356,0.50,155.7,477.5,11.3,743,23360,0.00,2.42,0.00,0.000,4,0.000,0.051,3284,351,2355,0,0,0,0,0,0
$GC,23382,0.50,155.7,473.9,12.6,743,23387,0.00,2.42,0.00,0.000,6,0.000,0.046,3283,1966,2355,0,0,0,0,0,0
$GC,23718,0.50,155.7,434.1,11.9,752,23722,0.00,2.45,0.00,0.000,4,0.000,0.054,3283,3536,2356,0,0,0,0,0,0
$GC,23769,0.50,155.7,427.7,13.4,753,23774,0.15,2.42,0.00,0.000,6,0.120,0.041,3246,1930,2356,0,0,0,0,0,0
$GC,24083,0.50,155.7,400.1,8.2,761,24087,0.00,2.38,0.00,0.000,4,0.000,0.049,3257,361,2356,0,0,0,0,0,0
$GC,24156,0.50,155.7,394.4,6.6,762,24160,0.00,2.40,0.00,0.000,6,0.000,0.044,3257,1952,2357,0,0,0,0,0,0
$GC,24486,0.50,155.7,369.1,7.5,770,24487,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1952,2357,0,0,0,0,0,0
$GC,24813,0.50,155.7,342.4,8.5,778,24817,0.00,2.47,0.00,0.000,4,0.000,0.060,3257,3522,2359,0,0,0,0,0,0
$GC,24856,0.50,155.7,337.8,11.3,779,24860,0.00,2.38,0.00,0.000,6,0.000,0.039,3269,1949,2359,0,0,0,0,0,0
$GC,25181,0.50,155.7,309.0,8.4,787,25185,0.00,2.42,0.00,0.000,4,0.000,0.048,3282,345,2361,0,0,0,0,0,0
$GC,25238,0.50,155.7,304.4,7.6,788,25242,0.00,2.40,0.00,0.000,6,0.000,0.041,3282,1944,2361,0,0,0,0,0,0
$GC,25569,0.50,155.7,277.1,8.2,803,25573,0.00,2.47,0.00,0.000,4,0.000,0.052,3282,3527,2362,0,0,0,0,0,0
$GC,25624,0.50,155.7,271.8,9.7,805,25629,0.12,2.40,0.00,0.000,6,0.122,0.039,3251,1938,2363,0,0,0,0,0,0
$GC,25940,0.50,155.7,250.0,6.9,821,25944,0.00,2.45,0.00,0.000,4,0.000,0.051,3262,348,2364,0,0,0,0,0,0
$GC,26011,0.50,155.7,244.6,6.3,824,26015,0.00,2.38,0.00,0.000,6,0.000,0.039,3262,1949,2364,0,0,0,0,0,0
$GC,26332,0.50,155.7,222.6,6.5,840,26336,0.00,2.42,0.00,0.000,4,0.000,0.053,3262,3523,2366,0,0,0,0,0,0
$GC,26359,0.50,155.7,220.6,7.3,841,26363,0.00,2.38,0.00,0.000,6,0.000,0.039,3274,1931,2366,0,0,0,0,0,0
$GC,26685,0.50,155.7,199.2,6.4,857,26689,0.00,2.40,0.00,0.000,4,0.000,0.049,3286,355,2368,0,0,0,0,0,0
$GC,26735,0.51,157.1,195.8,6.0,861,26746,0.10,2.33,4.80,0.655,6,0.127,0.041,3249,1942,2353,0,0,0,0,0,0
$GC,27002,0.57,207.0,182.5,4.7,886,27050,0.00,2.50,42.12,0.931,4,0.000,0.057,3249,3517,2151,0,0,0,0,0,0
$GC,27069,0.60,233.3,179.2,5.3,892,27099,0.00,2.42,23.42,0.910,6,0.000,0.041,3258,1940,2042,0,0,0,0,0,0
$GC,27360,0.60,233.3,160.6,7.0,920,27363,0.00,2.42,0.00,0.000,4,0.000,0.050,3267,353,2044,0,0,0,0,0,0
$GC,27462,0.60,233.3,153.6,6.4,929,27466,0.00,2.35,0.00,0.000,6,0.000,0.039,3267,1942,2044,0,0,0,0,0,0
$GC,27727,0.60,233.3,134.8,6.9,954,27732,0.00,2.47,0.00,0.000,4,0.000,0.054,3265,3532,2047,0,0,0,0,0,0
$GC,27779,0.60,233.3,131.0,7.1,958,27783,0.00,2.40,0.00,0.000,6,0.000,0.039,3265,1932,2048,0,0,0,0,0,0
$GC,28040,0.60,233.3,111.6,7.5,982,28044,0.00,2.47,0.00,0.000,4,0.000,0.054,3265,3523,2049,0,0,0,0,0,0
$GC,28158,0.60,233.3,102.7,6.5,992,28162,0.00,2.38,0.00,0.000,6,0.000,0.038,3265,1930,2050,0,0,0,0,0,0
$GC,28418,0.60,233.7,86.3,6.0,1016,28429,0.00,2.42,4.20,0.554,4,0.000,0.049,3268,366,2042,0,0,0,0,0,0
$GC,28446,0.63,256.0,84.5,5.4,1018,28472,0.00,2.35,19.50,0.821,6,0.000,0.041,3268,1945,1951,0,0,0,0,0,0
$GC,28727,0.63,256.0,65.6,6.9,1045,28731,0.00,2.47,0.00,0.000,4,0.000,0.053,3262,3530,1952,0,0,0,0,0,0
$GC,28770,0.63,256.0,62.1,7.0,1048,28775,0.00,2.40,0.00,0.000,6,0.000,0.039,3262,1934,1952,0,0,0,0,0,0
$GC,29031,0.63,256.0,40.1,9.3,1073,29035,0.00,2.38,0.00,0.000,4,0.000,0.048,3262,360,1953,0,0,0,0,0,0
$GC,29288,0.63,256.0,15.1,9.3,1095,29293,0.12,2.35,0.00,0.000,6,0.100,0.045,3311,1941,1955,0,0,0,0,0,0
$STATE,29461,end climb,SURFACE_DEPTH_REACHED
$STATE,29461,begin surface coast
$FINISH,0.2,NaN
$STATE,29504,end surface coast,CONTROL_FINISHED_OK
$STATE,29504,begin surface
$SM_CCo,29522,185.57,0.836,0,0,474,618.15
$SM_GC,0.91,0.00,0.00,185.57,0.000,0.000,0.836,109,2108,474,-9.32,0.54,618.15
$IRIDIUM_FIX,2131.85,12830.54,130912,121253
$TT8_MAMPS,0.03068
$HUMID,1078745152
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.30
$XPDR_PINGS,920
$24V_AH,21.7,87.413
$10V_AH,8.0,65.556
$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,21.500,343.575,383.025,185.575,0.000,25.012,43.694,210.404,230.000,0.000,14.186,1711.789,23737.551,814.502,3226.563,624.734,33.411,2444.273,0.000,2861.930,0.000,0.543,0.000
$DEVICE_MAMPS,217.828,72.865,1610.700,836.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36646,1116
$CAP_FILE_SIZE,328926,0
$CFSIZE,260165632,178184192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220311,103506,2136.454,12831.680,37,1.0,37,-3.0