version: 66.07
glider: 500
mission: 5
dive: 447
start: 3 11 111 17 33 8
data:
$ID,500
$MISSION,5
$DIVE,447
$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,-130546.86
$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,39
$R_STBD_OVSHOOT,53
$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
$GPS1,110311,172106,2153.389,12846.011,31,1.3,31,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.8
$GPS2,110311,173215,2153.457,12846.031,12,2.6,31,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.184,-0.123
$KALMAN_X,-602824.1,5.4,-583.4,1172126.5,6228.9
$KALMAN_Y,446296.8,-122.2,262.8,-365337.6,4091.9
$MHEAD_RNG_PITCHd_Wd,239.3,290995,-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
$STATE,13,begin dive
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$GC,14747,-0.50,-155.7,786.1,-5.0,542,14751,0.00,2.40,0.00,0.000,4,0.000,0.043,2901,509,3594,0,0,0,0,0,0
$GC,14781,-0.50,-155.7,788.0,-5.6,542,14786,0.12,2.35,0.00,0.000,6,0.121,0.041,2935,2096,3594,0,0,0,0,0,0
$GC,15113,-0.50,-155.7,804.1,-4.9,551,15117,0.00,2.35,0.00,0.000,4,0.000,0.044,2935,516,3594,0,0,0,0,0,0
$GC,15297,-0.50,-155.7,811.7,-3.6,555,15301,0.00,2.35,0.00,0.000,6,0.000,0.041,2930,2101,3594,0,0,0,0,0,0
$GC,15616,-0.50,-155.7,822.9,-3.6,563,15620,0.00,2.38,0.00,0.000,4,0.000,0.044,2930,514,3592,0,0,0,0,0,0
$GC,15750,-0.50,-155.7,827.5,-3.9,566,15754,0.00,2.33,0.00,0.000,6,0.000,0.041,2920,2095,3592,0,0,0,0,0,0
$GC,16069,-0.50,-155.7,839.6,-4.0,574,16074,0.00,2.35,0.00,0.000,4,0.000,0.045,2920,515,3591,0,0,0,0,0,0
$GC,16184,-0.50,-155.7,844.3,-4.1,576,16188,0.00,2.33,0.00,0.000,6,0.000,0.041,2910,2092,3591,0,0,0,0,0,0
$GC,16522,-0.50,-155.7,859.1,-4.5,585,16526,0.00,2.35,0.00,0.000,4,0.000,0.045,2910,513,3590,0,0,0,0,0,0
$GC,16573,-0.50,-155.7,861.4,-3.6,586,16577,0.00,2.35,0.00,0.000,6,0.000,0.042,2900,2087,3589,0,0,0,0,0,0
$GC,16886,-0.50,-155.7,875.6,-4.6,594,16890,0.00,2.35,0.00,0.000,4,0.000,0.045,2900,509,3589,0,0,0,0,0,0
$GC,16965,-0.50,-155.7,879.2,-3.8,595,16970,0.12,2.38,0.00,0.000,6,0.120,0.042,2933,2102,3589,0,0,0,0,0,0
$GC,17297,-0.50,-155.7,892.8,-4.1,604,17301,0.00,2.38,0.00,0.000,4,0.000,0.044,2933,504,3588,0,0,0,0,0,0
$GC,17503,-0.50,-155.7,901.2,-3.7,608,17507,0.00,2.35,0.00,0.000,6,0.000,0.042,2927,2094,3588,0,0,0,0,0,0
$GC,17835,-0.50,-155.7,913.0,-3.6,616,17839,0.00,2.38,0.00,0.000,4,0.000,0.045,2927,512,3587,0,0,0,0,0,0
$GC,17948,-0.50,-155.7,916.8,-3.5,618,17952,0.00,2.35,0.00,0.000,6,0.000,0.042,2917,2098,3587,0,0,0,0,0,0
$GC,18292,-0.50,-155.7,927.4,-3.2,627,18296,0.00,2.38,0.00,0.000,4,0.000,0.045,2917,515,3587,0,0,0,0,0,0
$GC,18398,-0.50,-155.7,930.7,-3.1,629,18402,0.00,2.35,0.00,0.000,6,0.000,0.042,2906,2092,3586,0,0,0,0,0,0
$GC,18712,-0.50,-155.7,941.2,-3.5,637,18716,0.00,2.38,0.00,0.000,4,0.000,0.046,2906,503,3586,0,0,0,0,0,0
$GC,18796,-0.50,-155.7,944.4,-2.9,639,18801,0.10,2.35,0.00,0.000,6,0.132,0.042,2932,2083,3585,0,0,0,0,0,0
$GC,19119,-0.50,-155.7,956.4,-3.8,647,19123,0.00,2.38,0.00,0.000,4,0.000,0.045,2932,509,3585,0,0,0,0,0,0
$GC,19303,-0.50,-155.7,963.6,-4.9,651,19308,0.00,2.38,0.00,0.000,6,0.000,0.042,2932,2098,3584,0,0,0,0,0,0
$GC,19618,-0.50,-155.7,974.4,-3.5,659,19623,0.00,2.45,0.00,0.000,4,0.000,0.054,2925,3670,3584,0,0,0,0,0,0
$GC,19878,-0.50,-155.7,982.9,-3.6,664,19882,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2091,3583,0,0,0,0,0,0
$STATE,20124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20124,begin apogee
$GC,20130,-0.23,0.0,990.4,2.9,671,20270,0.25,0.00,137.15,1.621,6,0.078,0.000,3023,1927,2995,0,0,0,0,0,0
$STATE,20271,end apogee,CONTROL_FINISHED_OK
$STATE,20271,begin climb
$GC,20275,0.50,155.7,990.1,0.0,674,20437,0.60,2.78,151.50,1.592,4,0.052,0.051,3258,3520,2360,0,0,0,0,0,0
$GC,20643,0.50,155.7,939.5,14.0,682,20648,0.00,2.40,0.00,0.000,6,0.000,0.039,3268,1952,2358,0,0,0,0,0,0
$GC,20987,0.50,155.7,891.5,13.9,691,20991,0.00,2.40,0.00,0.000,4,0.000,0.050,3281,364,2357,0,0,0,0,0,0
$GC,21030,0.50,155.7,885.3,14.1,692,21034,0.00,2.35,0.00,0.000,6,0.000,0.041,3281,1940,2357,0,0,0,0,0,0
$GC,21355,0.50,155.7,839.3,14.3,700,21359,0.00,2.45,0.00,0.000,4,0.000,0.053,3281,3529,2356,0,0,0,0,0,0
$GC,21398,0.50,155.7,832.5,15.0,701,21403,0.12,2.40,0.00,0.000,6,0.138,0.040,3254,1937,2356,0,0,0,0,0,0
$GC,21723,0.50,155.7,794.9,11.3,709,21727,0.00,2.40,0.00,0.000,4,0.000,0.052,3265,364,2356,0,0,0,0,0,0
$GC,21773,0.50,155.7,789.1,11.5,710,21777,0.00,2.35,0.00,0.000,6,0.000,0.043,3265,1937,2356,0,0,0,0,0,0
$GC,22086,0.50,155.7,753.0,11.5,718,22090,0.00,2.45,0.00,0.000,4,0.000,0.053,3265,3524,2355,0,0,0,0,0,0
$GC,22114,0.50,155.7,749.5,12.8,718,22118,0.00,2.40,0.00,0.000,6,0.000,0.041,3277,1933,2355,0,0,0,0,0,0
$GC,22444,0.50,155.7,706.4,13.2,726,22448,0.00,2.40,0.00,0.000,4,0.000,0.052,3289,364,2356,0,0,0,0,0,0
$GC,22527,0.50,155.7,695.4,12.5,728,22532,0.12,2.35,0.00,0.000,6,0.129,0.043,3247,1936,2355,0,0,0,0,0,0
$GC,22850,0.50,155.7,658.1,11.4,736,22854,0.00,2.45,0.00,0.000,4,0.000,0.054,3247,3525,2355,0,0,0,0,0,0
$GC,22928,0.50,155.7,648.3,12.4,737,22932,0.00,2.40,0.00,0.000,6,0.000,0.040,3258,1938,2355,0,0,0,0,0,0
$GC,23265,0.50,155.7,608.4,11.8,746,23270,0.00,2.40,0.00,0.000,4,0.000,0.052,3271,356,2355,0,0,0,0,0,0
$GC,23371,0.50,155.7,596.5,10.2,748,23375,0.00,2.38,0.00,0.000,6,0.000,0.043,3271,1940,2354,0,0,0,0,0,0
$GC,23720,0.50,155.7,559.1,11.1,757,23724,0.00,2.42,0.00,0.000,4,0.000,0.053,3270,3534,2354,0,0,0,0,0,0
$GC,23741,0.50,155.7,556.4,12.5,757,23745,0.00,2.45,0.00,0.000,6,0.000,0.042,3283,1941,2354,0,0,0,0,0,0
$GC,24084,0.50,155.7,515.6,11.8,766,24088,0.00,2.40,0.00,0.000,4,0.000,0.051,3296,355,2354,0,0,0,0,0,0
$GC,24152,0.50,155.7,507.5,10.6,767,24157,0.15,2.38,0.00,0.000,6,0.119,0.043,3245,1941,2355,0,0,0,0,0,0
$GC,24492,0.50,155.7,476.9,9.0,776,24496,0.00,2.47,0.00,0.000,4,0.000,0.059,3245,3525,2355,0,0,0,0,0,0
$GC,24563,0.50,155.7,469.2,9.5,777,24568,0.00,2.38,0.00,0.000,6,0.000,0.038,3256,1941,2355,0,0,0,0,0,0
$GC,24900,0.50,155.7,436.0,9.6,786,24904,0.00,2.40,0.00,0.000,4,0.000,0.051,3268,355,2356,0,0,0,0,0,0
$GC,24950,0.50,155.7,431.1,9.1,787,24954,0.00,2.38,0.00,0.000,6,0.000,0.041,3268,1942,2356,0,0,0,0,0,0
$GC,25261,0.50,155.7,400.8,9.3,795,25265,0.00,2.47,0.00,0.000,4,0.000,0.054,3268,3527,2357,0,0,0,0,0,0
$GC,25335,0.50,155.7,393.7,10.4,796,25339,0.00,2.42,0.00,0.000,6,0.000,0.039,3281,1938,2358,0,0,0,0,0,0
$GC,25665,0.50,155.7,361.5,10.3,804,25669,0.00,2.42,0.00,0.000,4,0.000,0.050,3293,348,2358,0,0,0,0,0,0
$GC,25725,0.50,155.7,354.7,12.5,805,25730,0.12,2.40,0.00,0.000,6,0.122,0.043,3250,1956,2359,0,0,0,0,0,0
$GC,26076,0.50,155.7,325.7,8.1,814,26080,0.00,2.45,0.00,0.000,4,0.000,0.048,3260,349,2360,0,0,0,0,0,0
$GC,26137,0.50,155.7,320.5,8.2,815,26141,0.00,2.38,0.00,0.000,6,0.000,0.040,3261,1951,2360,0,0,0,0,0,0
$GC,26467,0.50,155.7,295.5,7.7,824,26471,0.00,2.40,0.00,0.000,4,0.000,0.050,3260,3524,2362,0,0,0,0,0,0
$GC,26489,0.50,155.7,293.3,9.8,825,26494,0.00,2.42,0.00,0.000,6,0.000,0.038,3272,1926,2362,0,0,0,0,0,0
$GC,26809,0.50,155.7,265.6,8.2,841,26813,0.00,2.38,0.00,0.000,4,0.000,0.048,3284,357,2364,0,0,0,0,0,0
$GC,26852,0.50,155.7,261.6,9.0,843,26857,0.10,2.35,0.00,0.000,6,0.128,0.041,3248,1942,2364,0,0,0,0,0,0
$GC,27178,0.50,155.7,239.8,6.4,859,27182,0.00,2.47,0.00,0.000,4,0.000,0.054,3248,3524,2366,0,0,0,0,0,0
$GC,27255,0.50,155.7,233.6,7.9,862,27260,0.00,2.40,0.00,0.000,6,0.000,0.038,3258,1936,2367,0,0,0,0,0,0
$GC,27571,0.50,155.7,212.7,6.6,878,27575,0.00,2.38,0.00,0.000,4,0.000,0.048,3270,353,2368,0,0,0,0,0,0
$GC,27604,0.50,155.7,210.1,7.1,879,27614,0.00,2.38,3.97,0.591,6,0.000,0.039,3270,1954,2359,0,0,0,0,0,0
$GC,27937,0.50,155.7,186.7,6.6,904,27941,0.00,2.40,0.00,0.000,4,0.000,0.049,3270,3523,2361,0,0,0,0,0,0
$GC,28010,0.50,155.7,181.4,7.8,910,28015,0.00,2.38,0.00,0.000,6,0.000,0.035,3282,1931,2361,0,0,0,0,0,0
$GC,28272,0.50,155.7,163.9,6.3,934,28276,0.00,2.38,0.00,0.000,4,0.000,0.045,3293,354,2363,0,0,0,0,0,0
$GC,28362,0.50,155.7,157.6,7.4,941,28367,0.12,2.35,0.00,0.000,6,0.112,0.042,3247,1945,2363,0,0,0,0,0,0
$GC,28622,0.61,237.2,146.0,3.8,966,28701,0.10,2.50,67.88,0.925,4,0.095,0.048,3344,3509,2028,0,0,0,0,0,0
$GC,28717,0.61,237.2,137.5,11.3,975,28723,0.22,2.40,0.00,0.000,6,0.114,0.038,3283,1945,2028,0,0,0,0,0,0
$GC,28978,0.61,237.2,118.8,7.5,999,28982,0.00,2.40,0.00,0.000,4,0.000,0.046,3294,356,2029,0,0,0,0,0,0
$GC,29045,0.61,237.2,113.8,7.3,1004,29050,0.00,2.33,0.00,0.000,6,0.000,0.037,3294,1941,2029,0,0,0,0,0,0
$GC,29306,0.61,237.2,91.1,8.0,1029,29308,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1942,2032,0,0,0,0,0,0
$GC,29560,0.61,237.2,70.0,7.3,1053,29564,0.00,2.42,0.00,0.000,4,0.000,0.049,3293,3525,2033,0,0,0,0,0,0
$GC,29588,0.61,237.2,68.2,6.8,1055,29593,0.00,2.38,0.00,0.000,6,0.000,0.035,3305,1931,2034,0,0,0,0,0,0
$GC,29850,0.61,237.2,49.0,6.4,1079,29854,0.00,2.40,0.00,0.000,4,0.000,0.045,3317,363,2035,0,0,0,0,0,0
$GC,29915,0.61,237.2,42.9,8.4,1084,29921,0.08,2.33,0.00,0.000,6,0.079,0.036,3275,1953,2035,0,0,0,0,0,0
$GC,30176,0.63,255.6,27.5,5.5,1109,30200,0.00,2.47,18.10,0.786,4,0.000,0.054,3275,3516,1951,0,0,0,0,0,0
$GC,30220,0.63,255.6,24.6,6.6,1113,30224,0.00,2.40,0.00,0.000,6,0.000,0.038,3283,1936,1952,0,0,0,0,0,0
$GC,30416,0.63,255.6,12.4,6.3,1131,30420,0.00,2.38,0.00,0.000,4,0.000,0.046,3294,348,1953,0,0,0,0,0,0
$GC,30483,0.63,255.6,8.1,8.0,1136,30488,0.00,2.33,0.00,0.000,6,0.000,0.036,3294,1936,1953,0,0,0,0,0,0
$STATE,30550,end climb,SURFACE_DEPTH_REACHED
$STATE,30550,begin surface coast
$FINISH,0.6,NaN
$STATE,30584,end surface coast,CONTROL_FINISHED_OK
$STATE,30584,begin surface
$SM_CCo,30603,73.30,0.848,0,0,1364,400.08
$SM_GC,1.13,0.00,0.00,73.30,0.000,0.000,0.848,112,2119,1364,-9.31,0.82,400.08
$IRIDIUM_FIX,2143.45,12848.29,030912,111118
$TT8_MAMPS,0.03068
$HUMID,1078714184
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,1057
$24V_AH,21.6,80.189
$10V_AH,8.0,62.734
$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,21.850,357.050,378.600,73.300,0.000,66.728,80.698,292.948,264.250,0.000,34.141,1814.343,24530.609,682.529,3663.856,636.016,33.379,2439.989,0.000,3117.957,0.000,0.542,0.000
$DEVICE_MAMPS,215.527,66.729,1621.438,848.302,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355572
$DATA_FILE_SIZE,36732,1146
$CAP_FILE_SIZE,349510,0
$CFSIZE,260165632,181248000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120311,020537,2153.027,12844.952,31,1.8,31,-3.1