version: 66.07
glider: 500
mission: 5
dive: 431
start: 3 6 111 2 51 51
data:
$ID,500
$MISSION,5
$DIVE,431
$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,400
$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,-130140.55
$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,30
$R_STBD_OVSHOOT,48
$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
$GPS1,060311,024354,2201.042,12856.688,39,1.0,39,-3.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.7
$GPS2,060311,025056,2201.062,12856.707,14,1.2,14,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.134,-0.176
$KALMAN_X,-682258.2,-30.8,38.5,1269428.1,4653.1
$KALMAN_Y,401480.7,-271.6,-852.8,-305157.1,5848.2
$MHEAD_RNG_PITCHd_Wd,220.5,312036,-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,7264,-0.50,-155.7,494.5,-2.9,347,7268,0.00,2.47,0.00,0.000,4,0.000,0.056,2911,3671,3631,0,0,0,0,0,0
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$GC,15051,-0.50,-155.7,855.0,-3.4,534,15056,0.00,2.40,0.00,0.000,6,0.000,0.045,2911,2097,3610,0,0,0,0,0,0
$GC,15394,-0.50,-155.7,867.4,-3.7,543,15399,0.00,2.40,0.00,0.000,4,0.000,0.048,2911,508,3609,0,0,0,0,0,0
$GC,15446,-0.50,-155.7,869.3,-3.4,544,15450,0.00,2.40,0.00,0.000,6,0.000,0.046,2900,2092,3609,0,0,0,0,0,0
$GC,15759,-0.50,-155.7,880.8,-3.7,552,15763,0.00,2.42,0.00,0.000,4,0.000,0.048,2900,507,3608,0,0,0,0,0,0
$GC,15805,-0.50,-155.7,882.6,-3.6,553,15810,0.12,2.40,0.00,0.000,6,0.119,0.046,2935,2093,3608,0,0,0,0,0,0
$GC,16124,-0.50,-155.7,895.0,-4.2,561,16128,0.00,2.47,0.00,0.000,4,0.000,0.056,2925,3676,3608,0,0,0,0,0,0
$GC,16135,-0.50,-155.7,895.5,-4.1,561,16140,0.00,2.40,0.00,0.000,6,0.000,0.039,2925,2088,3608,0,0,0,0,0,0
$GC,16485,-0.50,-155.7,910.5,-4.4,570,16489,0.00,2.47,0.00,0.000,4,0.000,0.056,2914,3674,3607,0,0,0,0,0,0
$GC,16528,-0.50,-155.7,912.3,-4.3,571,16532,0.00,2.38,0.00,0.000,6,0.000,0.039,2914,2089,3607,0,0,0,0,0,0
$GC,16849,-0.50,-155.7,925.4,-4.2,579,16854,0.00,2.47,0.00,0.000,4,0.000,0.054,2903,3677,3607,0,0,0,0,0,0
$GC,16916,-0.50,-155.7,928.0,-3.6,580,16920,0.00,2.38,0.00,0.000,6,0.000,0.037,2903,2087,3606,0,0,0,0,0,0
$GC,17255,-0.50,-155.7,941.7,-4.1,589,17259,0.00,2.47,0.00,0.000,4,0.000,0.056,2892,3670,3606,0,0,0,0,0,0
$GC,17294,-0.50,-155.7,943.1,-3.0,590,17299,0.12,2.38,0.00,0.000,6,0.107,0.038,2940,2091,3606,0,0,0,0,0,0
$GC,17620,-0.50,-155.7,955.6,-4.0,598,17624,0.00,2.42,0.00,0.000,4,0.000,0.050,2940,511,3606,0,0,0,0,0,0
$GC,17878,-0.50,-155.7,966.8,-4.2,603,17883,0.00,2.38,0.00,0.000,6,0.000,0.048,2934,2088,3605,0,0,0,0,0,0
$GC,18209,-0.50,-155.7,980.5,-4.2,612,18213,0.00,2.50,0.00,0.000,4,0.000,0.058,2923,3682,3605,0,0,0,0,0,0
$STATE,18441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18442,begin apogee
$GC,18450,-0.23,0.0,990.1,3.9,617,18595,0.25,0.00,142.00,1.621,6,0.071,0.000,3030,1945,2995,0,0,0,0,0,0
$STATE,18596,end apogee,CONTROL_FINISHED_OK
$STATE,18596,begin climb
$GC,18600,0.50,155.7,990.2,0.0,621,18761,0.60,2.78,151.12,1.585,4,0.054,0.055,3262,3517,2360,0,0,0,0,0,0
$GC,18811,0.50,155.7,964.9,14.1,626,18815,0.00,2.55,0.00,0.000,6,0.000,0.041,3274,1951,2359,0,0,0,0,0,0
$GC,19138,0.50,155.7,915.9,15.1,634,19142,0.00,2.47,0.00,0.000,4,0.000,0.052,3286,347,2359,0,0,0,0,0,0
$GC,19199,0.50,155.7,906.4,13.7,635,19204,0.12,2.42,0.00,0.000,6,0.129,0.045,3246,1946,2358,0,0,0,0,0,0
$GC,19541,0.50,155.7,862.6,12.7,644,19546,0.00,2.42,0.00,0.000,4,0.000,0.055,3245,3528,2359,0,0,0,0,0,0
$GC,19628,0.50,155.7,851.5,13.4,646,19632,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1928,2359,0,0,0,0,0,0
$GC,19952,0.50,155.7,812.7,11.7,654,19956,0.00,2.40,0.00,0.000,4,0.000,0.052,3269,349,2359,0,0,0,0,0,0
$GC,19996,0.50,155.7,807.5,10.8,655,20000,0.00,2.40,0.00,0.000,6,0.000,0.048,3269,1942,2359,0,0,0,0,0,0
$GC,20315,0.50,155.7,767.4,12.8,663,20319,0.00,2.45,0.00,0.000,4,0.000,0.055,3269,3529,2359,0,0,0,0,0,0
$GC,20382,0.50,155.7,758.0,14.6,664,20386,0.00,2.42,0.00,0.000,6,0.000,0.041,3281,1948,2359,0,0,0,0,0,0
$GC,20724,0.50,155.7,712.1,13.4,673,20728,0.00,2.45,0.00,0.000,4,0.000,0.053,3294,351,2359,0,0,0,0,0,0
$GC,20779,0.50,155.7,704.5,12.9,674,20783,0.12,2.42,0.00,0.000,6,0.127,0.048,3253,1951,2359,0,0,0,0,0,0
$GC,21093,0.50,155.7,668.3,11.6,682,21097,0.00,2.45,0.00,0.000,4,0.000,0.056,3252,3529,2360,0,0,0,0,0,0
$GC,21142,0.50,155.7,661.6,12.5,683,21146,0.00,2.42,0.00,0.000,6,0.000,0.043,3263,1937,2360,0,0,0,0,0,0
$GC,21461,0.50,155.7,621.7,12.4,691,21465,0.00,2.42,0.00,0.000,4,0.000,0.055,3276,352,2360,0,0,0,0,0,0
$GC,21516,0.50,155.7,614.1,13.6,692,21520,0.00,2.42,0.00,0.000,6,0.000,0.048,3276,1943,2360,0,0,0,0,0,0
$GC,21829,0.50,155.7,569.5,14.4,700,21833,0.00,2.47,0.00,0.000,4,0.000,0.058,3276,3529,2361,0,0,0,0,0,0
$GC,21885,0.50,155.7,561.6,14.7,701,21890,0.12,2.45,0.00,0.000,6,0.134,0.044,3248,1934,2361,0,0,0,0,0,0
$GC,22234,0.50,155.7,526.4,9.2,710,22239,0.00,2.42,0.00,0.000,4,0.000,0.054,3259,348,2362,0,0,0,0,0,0
$GC,22285,0.50,155.7,521.5,9.7,711,22289,0.00,2.42,0.00,0.000,6,0.000,0.047,3259,1954,2361,0,0,0,0,0,0
$GC,22598,0.50,155.7,492.4,9.4,719,22602,0.00,2.47,0.00,0.000,4,0.000,0.052,3271,348,2363,0,0,0,0,0,0
$GC,22633,0.50,155.7,488.9,9.7,719,22638,0.00,2.42,0.00,0.000,6,0.000,0.046,3272,1944,2363,0,0,0,0,0,0
$GC,22963,0.50,155.7,452.2,11.7,728,22967,0.00,2.50,0.00,0.000,4,0.000,0.057,3271,3525,2364,0,0,0,0,0,0
$GC,23006,0.50,155.7,446.4,12.4,729,23011,0.00,2.42,0.00,0.000,6,0.000,0.041,3283,1948,2365,0,0,0,0,0,0
$GC,23333,0.50,155.7,405.7,12.7,737,23337,0.00,2.47,0.00,0.000,4,0.000,0.053,3296,348,2366,0,0,0,0,0,0
$GC,23450,0.50,155.7,390.6,11.6,739,23455,0.15,2.42,0.00,0.000,6,0.113,0.044,3244,1947,2366,0,0,0,0,0,0
$GC,23790,0.50,155.7,363.4,7.6,748,23794,0.00,2.47,0.00,0.000,4,0.000,0.053,3244,3524,2368,0,0,0,0,0,0
$GC,23822,0.50,155.7,360.6,7.3,748,23832,0.00,2.45,3.83,0.656,6,0.000,0.039,3254,1936,2360,0,0,0,0,0,0
$GC,24156,0.50,155.7,336.0,7.5,757,24161,0.00,2.42,0.00,0.000,4,0.000,0.051,3266,349,2360,0,0,0,0,0,0
$GC,24212,0.50,155.7,331.2,8.6,758,24216,0.00,2.40,0.00,0.000,6,0.000,0.047,3266,1945,2361,0,0,0,0,0,0
$GC,24561,0.50,155.7,299.3,9.2,767,24565,0.00,2.42,0.00,0.000,4,0.000,0.049,3278,348,2362,0,0,0,0,0,0
$GC,24611,0.50,155.7,294.4,8.5,769,24615,0.00,2.38,0.00,0.000,6,0.000,0.041,3278,1941,2362,0,0,0,0,0,0
$GC,24931,0.50,155.7,264.2,8.1,785,24936,0.00,2.47,0.00,0.000,4,0.000,0.052,3278,3529,2365,0,0,0,0,0,0
$GC,24975,0.50,155.7,260.4,8.4,787,24980,0.08,2.42,0.00,0.000,6,0.075,0.039,3246,1940,2365,0,0,0,0,0,0
$GC,25301,0.50,155.7,241.1,6.1,803,25305,0.00,2.45,0.00,0.000,4,0.000,0.051,3257,348,2366,0,0,0,0,0,0
$GC,25436,0.50,155.7,232.4,6.2,809,25440,0.00,2.38,0.00,0.000,6,0.000,0.041,3257,1943,2366,0,0,0,0,0,0
$GC,25756,0.55,191.9,215.1,5.0,825,25796,0.00,2.55,32.72,0.960,4,0.000,0.060,3257,3525,2212,0,0,0,0,0,0
$GC,25821,0.58,220.7,211.8,5.2,828,25852,0.00,2.45,24.95,0.954,6,0.000,0.048,3268,1936,2095,0,0,0,0,0,0
$GC,26174,0.61,244.4,190.7,5.4,852,26203,0.00,2.53,21.58,0.933,4,0.000,0.051,3280,351,1998,0,0,0,0,0,0
$GC,26265,0.61,244.4,184.8,7.8,860,26269,0.00,2.38,0.00,0.000,6,0.000,0.040,3280,1936,2000,0,0,0,0,0,0
$GC,26525,0.61,244.5,168.4,6.0,885,26529,0.00,2.47,0.00,0.000,4,0.000,0.052,3280,3535,2005,0,0,0,0,0,0
$GC,26569,0.61,244.5,165.2,7.5,888,26574,0.00,2.42,0.00,0.000,6,0.000,0.048,3291,1941,2006,0,0,0,0,0,0
$GC,26831,0.61,244.5,147.1,6.8,913,26841,0.00,2.47,4.07,0.581,4,0.000,0.051,3303,337,1998,0,0,0,0,0,0
$GC,26874,0.61,244.5,143.8,7.1,917,26878,0.00,2.38,0.00,0.000,6,0.000,0.041,3303,1941,1998,0,0,0,0,0,0
$GC,27134,0.61,244.5,125.5,6.5,941,27138,0.00,2.47,0.00,0.000,4,0.000,0.051,3303,3529,2000,0,0,0,0,0,0
$GC,27156,0.61,244.5,123.9,6.5,942,27161,0.00,2.40,0.00,0.000,6,0.000,0.039,3315,1937,2001,0,0,0,0,0,0
$GC,27416,0.61,244.5,104.6,7.3,967,27420,0.00,2.40,0.00,0.000,4,0.000,0.051,3327,348,2002,0,0,0,0,0,0
$GC,27495,0.61,244.5,98.2,7.2,973,27501,0.12,2.35,0.00,0.000,6,0.112,0.041,3278,1943,2002,0,0,0,0,0,0
$GC,27756,0.62,245.5,82.4,6.0,998,27766,0.00,2.47,3.95,0.509,4,0.000,0.054,3278,3522,1994,0,0,0,0,0,0
$GC,27783,0.62,245.5,80.4,7.4,1000,27787,0.00,2.38,0.00,0.000,6,0.000,0.039,3287,1940,1994,0,0,0,0,0,0
$GC,28043,0.62,245.5,62.5,6.8,1025,28047,0.00,2.45,0.00,0.000,4,0.000,0.052,3299,350,1996,0,0,0,0,0,0
$GC,28104,0.62,245.5,58.0,8.3,1030,28108,0.00,2.35,0.00,0.000,6,0.000,0.043,3299,1938,1997,0,0,0,0,0,0
$GC,28364,0.62,245.5,38.8,7.7,1054,28368,0.00,2.47,0.00,0.000,4,0.000,0.053,3299,3532,1997,0,0,0,0,0,0
$GC,28392,0.62,245.5,36.5,9.6,1056,28396,0.00,2.40,0.00,0.000,6,0.000,0.041,3310,1944,1997,0,0,0,0,0,0
$GC,28653,0.62,245.5,14.0,9.1,1080,28658,0.00,2.45,0.00,0.000,4,0.000,0.059,3322,352,1999,0,0,0,0,0,0
$GC,28739,0.62,245.5,6.9,7.3,1087,28744,0.12,2.38,0.00,0.000,6,0.108,0.044,3272,1957,1999,0,0,0,0,0,0
$STATE,28805,end climb,SURFACE_DEPTH_REACHED
$STATE,28805,begin surface coast
$FINISH,0.4,NaN
$STATE,28859,end surface coast,CONTROL_FINISHED_OK
$STATE,28859,begin surface
$SM_CCo,28877,74.00,0.822,0,0,1363,400.08
$SM_GC,1.16,0.00,0.00,74.00,0.000,0.000,0.822,109,2107,1363,-9.32,0.48,400.08
$IRIDIUM_FIX,2155.06,12859.20,280812,121231
$TT8_MAMPS,0.031447
$HUMID,1078711603
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,305
$24V_AH,21.7,76.470
$10V_AH,8.1,61.216
$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,21.300,344.175,384.225,74.000,0.000,27.402,45.503,203.546,76.250,0.000,15.935,1702.376,23179.803,679.109,3209.780,581.818,33.380,2299.576,0.000,2844.025,0.000,0.541,0.000
$DEVICE_MAMPS,270.751,74.399,1621.438,822.224,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355520
$DATA_FILE_SIZE,36723,1098
$CAP_FILE_SIZE,326782,0
$CFSIZE,260165632,182951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060311,105536,2159.893,12857.935,32,0.8,32,-3.1