version: 66.07
glider: 500
mission: 5
dive: 453
start: 3 13 111 21 10 32
data:
$ID,500
$MISSION,5
$DIVE,453
$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,-130655.43
$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,36
$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
$GPS1,130311,210237,2152.523,12840.595,36,0.9,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.9
$GPS2,130311,210938,2152.557,12840.641,12,1.0,12,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.116,-0.188
$KALMAN_X,-577845.4,-51.9,233.0,1137080.6,4248.9
$KALMAN_Y,470799.6,-181.9,-340.0,-390850.7,6285.4
$MHEAD_RNG_PITCHd_Wd,214.8,281553,-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,14753,-0.50,-155.7,820.7,-4.1,530,14757,0.00,2.33,0.00,0.000,6,0.000,0.036,2926,2085,3606,0,0,0,0,0,0
$GC,15102,-0.50,-155.7,835.6,-4.4,539,15106,0.00,2.42,0.00,0.000,4,0.000,0.053,2915,3674,3605,0,0,0,0,0,0
$GC,15187,-0.50,-155.7,839.5,-4.4,541,15191,0.00,2.35,0.00,0.000,6,0.000,0.037,2915,2081,3604,0,0,0,0,0,0
$GC,15519,-0.50,-155.7,855.0,-4.6,549,15523,0.00,2.45,0.00,0.000,4,0.000,0.054,2904,3672,3604,0,0,0,0,0,0
$GC,15579,-0.50,-155.7,857.7,-4.2,550,15584,0.00,2.35,0.00,0.000,6,0.000,0.037,2904,2089,3604,0,0,0,0,0,0
$GC,15924,-0.50,-155.7,871.8,-4.1,559,15928,0.00,2.42,0.00,0.000,4,0.000,0.053,2893,3668,3604,0,0,0,0,0,0
$GC,15963,-0.50,-155.7,873.4,-3.6,560,15967,0.12,2.35,0.00,0.000,6,0.110,0.037,2939,2087,3603,0,0,0,0,0,0
$GC,16290,-0.50,-155.7,885.9,-4.1,568,16294,0.00,2.45,0.00,0.000,4,0.000,0.054,2929,3671,3603,0,0,0,0,0,0
$GC,16548,-0.50,-155.7,896.7,-3.4,573,16553,0.00,2.38,0.00,0.000,6,0.000,0.038,2929,2079,3602,0,0,0,0,0,0
$GC,16879,-0.50,-155.7,910.1,-4.0,582,16883,0.00,2.45,0.00,0.000,4,0.000,0.054,2928,3666,3601,0,0,0,0,0,0
$GC,17136,-0.50,-155.7,920.7,-3.8,587,17140,0.00,2.35,0.00,0.000,6,0.000,0.037,2928,2088,3601,0,0,0,0,0,0
$GC,17468,-0.50,-155.7,932.7,-3.6,596,17472,0.00,2.35,0.00,0.000,4,0.000,0.048,2927,516,3600,0,0,0,0,0,0
$GC,17658,-0.50,-155.7,939.9,-3.8,600,17662,0.00,2.35,0.00,0.000,6,0.000,0.044,2917,2088,3600,0,0,0,0,0,0
$GC,18007,-0.50,-155.7,952.0,-3.5,609,18012,0.00,2.40,0.00,0.000,4,0.000,0.048,2917,509,3598,0,0,0,0,0,0
$GC,18097,-0.50,-155.7,955.0,-2.8,611,18101,0.00,2.38,0.00,0.000,6,0.000,0.044,2907,2092,3598,0,0,0,0,0,0
$GC,18417,-0.50,-155.7,964.0,-2.7,619,18421,0.00,2.42,0.00,0.000,4,0.000,0.048,2906,507,3598,0,0,0,0,0,0
$GC,18502,-0.50,-155.7,966.4,-4.0,621,18506,0.00,2.40,0.00,0.000,6,0.000,0.045,2897,2101,3597,0,0,0,0,0,0
$GC,18828,-0.50,-155.7,978.2,-4.0,629,18832,0.00,2.45,0.00,0.000,4,0.000,0.046,2897,508,3597,0,0,0,0,0,0
$GC,18946,-0.50,-155.7,983.7,-4.4,631,18951,0.12,2.40,0.00,0.000,6,0.123,0.044,2931,2101,3597,0,0,0,0,0,0
$STATE,19112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19112,begin apogee
$GC,19119,-0.23,0.0,990.0,3.8,635,19262,0.22,0.00,139.73,1.607,6,0.078,0.000,3026,1929,2994,0,0,0,0,0,0
$STATE,19263,end apogee,CONTROL_FINISHED_OK
$STATE,19263,begin climb
$GC,19265,0.50,155.7,991.9,0.0,638,19424,0.60,2.67,150.30,1.590,4,0.054,0.051,3270,374,2362,0,0,0,0,0,0
$GC,19554,0.50,155.7,957.2,12.7,643,19558,0.00,2.42,0.00,0.000,6,0.000,0.045,3269,1941,2362,0,0,0,0,0,0
$GC,19884,0.50,155.7,909.8,14.6,652,19888,0.00,2.45,0.00,0.000,4,0.000,0.053,3269,3533,2362,0,0,0,0,0,0
$GC,19922,0.50,155.7,904.0,15.3,653,19926,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1951,2362,0,0,0,0,0,0
$GC,20247,0.50,155.7,855.5,14.9,661,20252,0.00,2.45,0.00,0.000,4,0.000,0.054,3295,347,2362,0,0,0,0,0,0
$GC,20280,0.50,155.7,850.1,15.4,661,20286,0.15,2.40,0.00,0.000,6,0.125,0.047,3245,1938,2362,0,0,0,0,0,0
$GC,20613,0.50,155.7,811.7,11.4,670,20618,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3537,2361,0,0,0,0,0,0
$GC,20657,0.50,155.7,805.9,12.6,671,20661,0.00,2.42,0.00,0.000,6,0.000,0.043,3256,1936,2362,0,0,0,0,0,0
$GC,20984,0.50,155.7,765.5,12.6,679,20988,0.00,2.45,0.00,0.000,4,0.000,0.054,3269,358,2362,0,0,0,0,0,0
$GC,21027,0.50,155.7,759.8,11.0,680,21031,0.00,2.40,0.00,0.000,6,0.000,0.047,3268,1941,2362,0,0,0,0,0,0
$GC,21354,0.50,155.7,717.9,13.1,688,21358,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,3535,2362,0,0,0,0,0,0
$GC,21380,0.50,155.7,713.8,13.4,688,21384,0.00,2.42,0.00,0.000,6,0.000,0.043,3281,1940,2362,0,0,0,0,0,0
$GC,21717,0.50,155.7,666.6,13.9,697,21721,0.00,2.47,0.00,0.000,4,0.000,0.055,3293,350,2362,0,0,0,0,0,0
$GC,21778,0.50,155.7,658.4,12.4,698,21783,0.12,2.42,0.00,0.000,6,0.132,0.047,3252,1952,2362,0,0,0,0,0,0
$GC,22121,0.50,155.7,620.9,10.9,707,22125,0.00,2.42,0.00,0.000,4,0.000,0.054,3252,3528,2362,0,0,0,0,0,0
$GC,22182,0.50,155.7,613.3,13.5,708,22187,0.00,2.40,0.00,0.000,6,0.000,0.042,3263,1947,2362,0,0,0,0,0,0
$GC,22525,0.50,155.7,572.7,11.9,717,22529,0.00,2.42,0.00,0.000,4,0.000,0.054,3276,352,2362,0,0,0,0,0,0
$GC,22616,0.50,155.7,562.4,11.1,719,22620,0.00,2.40,0.00,0.000,6,0.000,0.045,3275,1938,2362,0,0,0,0,0,0
$GC,22934,0.50,155.7,527.6,10.9,727,22938,0.00,2.47,0.00,0.000,4,0.000,0.054,3276,3532,2363,0,0,0,0,0,0
$GC,23084,0.50,155.7,509.2,12.3,730,23089,0.12,2.42,0.00,0.000,6,0.134,0.041,3247,1929,2363,0,0,0,0,0,0
$GC,23427,0.50,155.7,477.1,9.3,739,23431,0.00,2.42,0.00,0.000,4,0.000,0.051,3258,360,2364,0,0,0,0,0,0
$GC,23477,0.50,155.7,472.2,8.8,740,23482,0.00,2.40,0.00,0.000,6,0.000,0.044,3258,1952,2364,0,0,0,0,0,0
$GC,23791,0.50,155.7,441.2,9.5,748,23795,0.00,2.45,0.00,0.000,4,0.000,0.053,3258,3530,2366,0,0,0,0,0,0
$GC,23877,0.50,155.7,432.5,9.3,750,23881,0.00,2.40,0.00,0.000,6,0.000,0.040,3270,1950,2366,0,0,0,0,0,0
$GC,24201,0.50,155.7,399.3,10.2,758,24205,0.00,2.47,0.00,0.000,4,0.000,0.051,3282,348,2367,0,0,0,0,0,0
$GC,24245,0.50,155.7,394.7,9.6,759,24249,0.00,2.40,0.00,0.000,6,0.000,0.043,3282,1943,2367,0,0,0,0,0,0
$GC,24572,0.50,155.7,361.5,10.1,767,24576,0.00,2.47,0.00,0.000,4,0.000,0.051,3294,348,2369,0,0,0,0,0,0
$GC,24615,0.50,155.7,356.8,10.7,768,24625,0.12,2.42,4.03,0.689,6,0.123,0.044,3252,1953,2359,0,0,0,0,0,0
$GC,24938,0.50,155.7,332.5,7.4,776,24939,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1954,2360,0,0,0,0,0,0
$GC,25263,0.50,155.7,307.2,7.8,784,25267,0.00,2.40,0.00,0.000,4,0.000,0.051,3251,3533,2361,0,0,0,0,0,0
$GC,25304,0.50,155.7,303.9,6.7,785,25309,0.00,2.42,0.00,0.000,6,0.000,0.039,3262,1933,2362,0,0,0,0,0,0
$GC,25630,0.50,155.7,280.1,7.0,799,25634,0.00,2.40,0.00,0.000,4,0.000,0.051,3274,358,2363,0,0,0,0,0,0
$GC,25676,0.50,155.7,276.9,6.8,801,25680,0.00,2.35,0.00,0.000,6,0.000,0.041,3274,1956,2363,0,0,0,0,0,0
$GC,26007,0.50,155.7,253.7,7.5,817,26011,0.00,2.40,0.00,0.000,4,0.000,0.050,3274,3521,2365,0,0,0,0,0,0
$GC,26080,0.50,155.7,247.5,6.9,820,26085,0.12,2.38,0.00,0.000,6,0.121,0.037,3242,1935,2365,0,0,0,0,0,0
$GC,26394,0.54,187.1,229.9,5.2,835,26429,0.00,2.50,28.52,0.979,4,0.000,0.051,3253,359,2232,0,0,0,0,0,0
$GC,26508,0.57,208.9,223.6,5.4,840,26532,0.00,2.33,19.52,0.951,6,0.000,0.040,3253,1937,2143,0,0,0,0,0,0
$GC,26853,0.57,208.9,202.4,6.9,857,26857,0.00,2.42,0.00,0.000,4,0.000,0.048,3258,359,2145,0,0,0,0,0,0
$GC,26919,0.57,208.9,197.5,7.5,861,26924,0.00,2.33,0.00,0.000,6,0.000,0.038,3258,1942,2145,0,0,0,0,0,0
$GC,27179,0.57,208.9,178.8,7.0,886,27184,0.00,2.45,0.00,0.000,4,0.000,0.051,3258,3529,2148,0,0,0,0,0,0
$GC,27271,0.57,208.9,172.7,6.4,893,27276,0.00,2.40,0.00,0.000,6,0.000,0.037,3267,1930,2148,0,0,0,0,0,0
$GC,27533,0.57,208.9,156.7,6.1,918,27537,0.00,2.47,0.00,0.000,4,0.000,0.048,3266,3533,2151,0,0,0,0,0,0
$GC,27617,0.57,208.9,151.0,7.0,925,27627,0.00,2.38,3.83,0.558,6,0.000,0.036,3277,1935,2143,0,0,0,0,0,0
$GC,27882,0.57,208.9,132.8,6.7,950,27887,0.00,2.40,0.00,0.000,4,0.000,0.048,3277,3523,2145,0,0,0,0,0,0
$GC,27956,0.57,208.9,127.5,7.2,956,27960,0.00,2.35,0.00,0.000,6,0.000,0.034,3286,1929,2146,0,0,0,0,0,0
$GC,28218,0.57,208.9,109.6,7.3,980,28222,0.00,2.38,0.00,0.000,4,0.000,0.048,3298,360,2148,0,0,0,0,0,0
$GC,28278,0.57,208.9,105.1,8.5,985,28283,0.00,2.33,0.00,0.000,6,0.000,0.041,3298,1930,2149,0,0,0,0,0,0
$GC,28538,0.57,208.9,85.3,7.5,1009,28543,0.00,2.45,0.00,0.000,4,0.000,0.048,3298,3535,2151,0,0,0,0,0,0
$GC,28571,0.57,208.9,82.6,8.9,1011,28577,0.12,2.40,0.00,0.000,6,0.119,0.037,3264,1931,2151,0,0,0,0,0,0
$GC,28832,0.58,220.0,66.9,5.7,1036,28852,0.00,2.42,12.75,0.771,4,0.000,0.051,3273,370,2098,0,0,0,0,0,0
$GC,28892,0.58,220.0,63.3,6.1,1041,28897,0.00,2.35,0.00,0.000,6,0.000,0.041,3273,1945,2098,0,0,0,0,0,0
$GC,29153,0.58,220.0,45.8,6.4,1066,29158,0.00,2.40,0.00,0.000,4,0.000,0.048,3273,3533,2098,0,0,0,0,0,0
$GC,29186,0.60,230.6,43.4,5.7,1068,29202,0.00,2.38,10.35,0.738,6,0.000,0.037,3283,1944,2055,0,0,0,0,0,0
$GC,29458,0.60,230.6,24.4,7.5,1094,29462,0.00,2.42,0.00,0.000,4,0.000,0.049,3283,3531,2055,0,0,0,0,0,0
$GC,29526,0.60,230.6,19.4,7.5,1099,29530,0.00,2.40,0.00,0.000,6,0.000,0.037,3294,1928,2056,0,0,0,0,0,0
$GC,29722,0.60,230.6,5.1,7.1,1118,29726,0.00,2.45,0.00,0.000,4,0.000,0.048,3294,3532,2056,0,0,0,0,0,0
$STATE,29752,end climb,SURFACE_DEPTH_REACHED
$STATE,29752,begin surface coast
$FINISH,0.2,NaN
$STATE,29784,end surface coast,CONTROL_FINISHED_OK
$STATE,29784,begin surface
$SM_CCo,29803,197.48,0.867,0,0,474,618.15
$SM_GC,0.90,0.00,0.00,197.48,0.000,0.000,0.867,136,2080,474,-9.23,-0.28,618.15
$IRIDIUM_FIX,2143.45,12839.95,050912,070701
$TT8_MAMPS,0.029913
$HUMID,1078699990
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.80
$XPDR_PINGS,1008
$24V_AH,21.7,81.676
$10V_AH,8.0,63.323
$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,21.250,340.700,369.025,197.475,0.000,30.604,50.419,191.553,252.000,0.000,14.703,1739.457,23970.883,815.587,3267.514,608.079,33.383,2462.284,0.000,2905.007,0.000,0.542,0.000
$DEVICE_MAMPS,214.760,60.593,1606.865,866.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36706,1123
$CAP_FILE_SIZE,332143,0
$CFSIZE,260165632,180629504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140311,053200,2151.870,12840.893,39,1.2,44,-3.1