version: 66.07
glider: 500
mission: 5
dive: 464
start: 3 17 111 19 29 49
data:
$ID,500
$MISSION,5
$DIVE,464
$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,-130847.65
$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,55
$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
$GPS1,170311,192206,2146.990,12836.593,39,0.9,39,-3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.0
$GPS2,170311,192855,2147.015,12836.602,12,1.2,12,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.217,-0.044
$KALMAN_X,-546399.1,-692.4,-231.4,1099764.0,3620.7
$KALMAN_Y,528746.4,-154.7,-668.2,-458742.0,8033.4
$MHEAD_RNG_PITCHd_Wd,261.6,272789,-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,14412,-0.50,-155.7,813.6,-4.3,509,14417,0.12,2.35,0.00,0.000,6,0.110,0.036,2934,2087,3601,0,0,0,0,0,0
$GC,14746,-0.50,-155.7,826.1,-3.7,517,14750,0.00,2.42,0.00,0.000,4,0.000,0.054,2924,3678,3600,0,0,0,0,0,0
$GC,14896,-0.50,-155.7,832.3,-3.6,520,14901,0.00,2.35,0.00,0.000,6,0.000,0.036,2924,2077,3600,0,0,0,0,0,0
$GC,15241,-0.50,-155.7,846.3,-4.3,529,15245,0.00,2.45,0.00,0.000,4,0.000,0.054,2912,3670,3599,0,0,0,0,0,0
$GC,15302,-0.50,-155.7,849.0,-4.1,530,15306,0.00,2.33,0.00,0.000,6,0.000,0.037,2912,2088,3599,0,0,0,0,0,0
$GC,15652,-0.50,-155.7,863.7,-4.1,539,15656,0.00,2.42,0.00,0.000,4,0.000,0.053,2901,3668,3599,0,0,0,0,0,0
$GC,15681,-0.50,-155.7,864.9,-3.8,539,15685,0.00,2.35,0.00,0.000,6,0.000,0.037,2901,2087,3598,0,0,0,0,0,0
$GC,16013,-0.50,-155.7,877.7,-3.8,547,16017,0.00,2.45,0.00,0.000,4,0.000,0.054,2889,3678,3597,0,0,0,0,0,0
$GC,16040,-0.50,-155.7,878.7,-3.8,547,16045,0.12,2.35,0.00,0.000,6,0.109,0.037,2936,2090,3597,0,0,0,0,0,0
$GC,16372,-0.50,-155.7,890.5,-3.8,555,16376,0.00,2.47,0.00,0.000,4,0.000,0.056,2926,3671,3597,0,0,0,0,0,0
$GC,16523,-0.50,-155.7,896.6,-4.1,558,16527,0.00,2.38,0.00,0.000,6,0.000,0.038,2926,2082,3597,0,0,0,0,0,0
$GC,16869,-0.50,-155.7,910.2,-4.0,567,16873,0.00,2.42,0.00,0.000,4,0.000,0.054,2924,3667,3596,0,0,0,0,0,0
$GC,16999,-0.50,-155.7,915.6,-4.4,570,17003,0.00,2.35,0.00,0.000,6,0.000,0.038,2924,2086,3596,0,0,0,0,0,0
$GC,17325,-0.50,-155.7,927.0,-3.5,578,17329,0.00,2.42,0.00,0.000,4,0.000,0.054,2913,3673,3595,0,0,0,0,0,0
$GC,17448,-0.50,-155.7,931.5,-3.9,580,17454,0.00,2.35,0.00,0.000,6,0.000,0.038,2913,2089,3595,0,0,0,0,0,0
$GC,17780,-0.50,-155.7,942.2,-3.3,589,17784,0.00,2.47,0.00,0.000,4,0.000,0.053,2902,3679,3594,0,0,0,0,0,0
$GC,17853,-0.50,-155.7,944.7,-3.4,590,17857,0.00,2.35,0.00,0.000,6,0.000,0.035,2902,2086,3594,0,0,0,0,0,0
$GC,18185,-0.50,-155.7,955.8,-3.4,598,18189,0.00,2.45,0.00,0.000,4,0.000,0.053,2890,3675,3594,0,0,0,0,0,0
$GC,18223,-0.50,-155.7,957.2,-2.9,599,18228,0.12,2.38,0.00,0.000,6,0.109,0.037,2937,2081,3594,0,0,0,0,0,0
$GC,18550,-0.50,-155.7,968.7,-3.8,607,18554,0.00,2.47,0.00,0.000,4,0.000,0.054,2926,3670,3594,0,0,0,0,0,0
$GC,18768,-0.50,-155.7,978.7,-4.0,612,18772,0.00,2.35,0.00,0.000,6,0.000,0.038,2927,2089,3594,0,0,0,0,0,0
$STATE,19008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19008,begin apogee
$GC,19015,-0.23,0.0,990.5,4.9,618,19157,0.25,0.00,139.05,1.654,6,0.068,0.000,3030,1927,2995,0,0,0,0,0,0
$STATE,19158,end apogee,CONTROL_FINISHED_OK
$STATE,19158,begin climb
$GC,19161,0.50,155.7,993.6,0.0,621,19323,0.60,2.75,152.55,1.630,4,0.052,0.053,3264,3508,2360,0,0,0,0,0,0
$GC,19532,0.50,155.7,950.5,13.2,629,19536,0.00,2.38,0.00,0.000,6,0.000,0.040,3275,1947,2359,0,0,0,0,0,0
$GC,19867,0.50,155.7,905.3,13.5,638,19872,0.00,2.40,0.00,0.000,4,0.000,0.052,3287,356,2358,0,0,0,0,0,0
$GC,19941,0.50,155.7,895.7,11.9,639,19946,0.12,2.38,0.00,0.000,6,0.129,0.044,3246,1947,2358,0,0,0,0,0,0
$GC,20272,0.50,155.7,858.3,11.2,647,20273,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1948,2358,0,0,0,0,0,0
$GC,20597,0.50,155.7,823.5,10.7,655,20601,0.00,2.40,0.00,0.000,4,0.000,0.052,3245,3534,2357,0,0,0,0,0,0
$GC,20635,0.50,155.7,818.8,12.5,656,20640,0.00,2.38,0.00,0.000,6,0.000,0.041,3256,1949,2356,0,0,0,0,0,0
$GC,20960,0.50,155.7,779.2,12.5,664,20964,0.00,2.40,0.00,0.000,4,0.000,0.051,3269,351,2356,0,0,0,0,0,0
$GC,21016,0.50,155.7,771.9,12.6,665,21020,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1935,2356,0,0,0,0,0,0
$GC,21327,0.50,155.7,731.5,12.8,673,21332,0.00,2.45,0.00,0.000,4,0.000,0.054,3269,3526,2356,0,0,0,0,0,0
$GC,21388,0.50,155.7,723.5,13.4,674,21393,0.00,2.40,0.00,0.000,6,0.000,0.041,3281,1925,2356,0,0,0,0,0,0
$GC,21737,0.50,155.7,679.0,12.8,683,21741,0.00,2.40,0.00,0.000,4,0.000,0.053,3294,352,2356,0,0,0,0,0,0
$GC,21806,0.50,155.7,670.1,11.9,684,21811,0.12,2.38,0.00,0.000,6,0.129,0.045,3252,1950,2355,0,0,0,0,0,0
$GC,22144,0.50,155.7,634.7,10.2,693,22148,0.00,2.40,0.00,0.000,4,0.000,0.053,3252,3533,2356,0,0,0,0,0,0
$GC,22222,0.50,155.7,625.7,12.2,694,22227,0.00,2.42,0.00,0.000,6,0.000,0.041,3263,1942,2356,0,0,0,0,0,0
$GC,22553,0.50,155.7,589.4,11.1,703,22557,0.00,2.42,0.00,0.000,4,0.000,0.054,3275,353,2356,0,0,0,0,0,0
$GC,22642,0.50,155.7,579.0,12.1,705,22647,0.00,2.40,0.00,0.000,6,0.000,0.044,3275,1947,2356,0,0,0,0,0,0
$GC,22963,0.50,155.7,540.9,11.9,713,22964,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1947,2356,0,0,0,0,0,0
$GC,23285,0.50,155.7,503.3,11.7,721,23289,0.00,2.45,0.00,0.000,4,0.000,0.052,3276,3537,2356,0,0,0,0,0,0
$GC,23335,0.50,155.7,497.1,12.7,722,23340,0.12,2.42,0.00,0.000,6,0.133,0.040,3247,1936,2356,0,0,0,0,0,0
$GC,23649,0.50,155.7,467.5,8.9,730,23653,0.00,2.40,0.00,0.000,4,0.000,0.052,3258,357,2356,0,0,0,0,0,0
$GC,23733,0.50,155.7,460.0,7.6,732,23737,0.00,2.38,0.00,0.000,6,0.000,0.043,3258,1942,2356,0,0,0,0,0,0
$GC,24058,0.50,155.7,431.4,8.9,740,24062,0.00,2.40,0.00,0.000,4,0.000,0.048,3270,348,2357,0,0,0,0,0,0
$GC,24115,0.50,155.7,426.1,9.5,741,24119,0.00,2.38,0.00,0.000,6,0.000,0.041,3270,1967,2357,0,0,0,0,0,0
$GC,24463,0.50,155.7,395.3,8.8,750,24467,0.00,2.33,0.00,0.000,4,0.000,0.050,3270,3521,2359,0,0,0,0,0,0
$GC,24536,0.50,155.7,387.7,8.9,751,24540,0.00,2.35,0.00,0.000,6,0.000,0.038,3283,1936,2359,0,0,0,0,0,0
$GC,24866,0.50,155.7,354.1,10.1,759,24870,0.00,2.42,0.00,0.000,4,0.000,0.050,3283,3522,2360,0,0,0,0,0,0
$GC,24934,0.50,155.7,347.0,9.7,760,24939,0.15,2.38,0.00,0.000,6,0.117,0.037,3245,1937,2361,0,0,0,0,0,0
$GC,25273,0.50,155.7,323.9,6.9,769,25277,0.00,2.38,0.00,0.000,4,0.000,0.050,3256,360,2362,0,0,0,0,0,0
$GC,25417,0.50,155.7,312.9,6.7,772,25422,0.00,2.33,0.00,0.000,6,0.000,0.040,3256,1924,2363,0,0,0,0,0,0
$GC,25732,0.50,155.7,289.9,7.0,783,25736,0.00,2.42,0.00,0.000,4,0.000,0.048,3256,3534,2364,0,0,0,0,0,0
$GC,25783,0.50,155.7,285.9,7.6,785,25787,0.00,2.35,0.00,0.000,6,0.000,0.037,3268,1939,2365,0,0,0,0,0,0
$GC,26102,0.50,155.7,263.3,6.7,801,26106,0.00,2.40,0.00,0.000,4,0.000,0.048,3280,360,2366,0,0,0,0,0,0
$GC,26151,0.50,155.7,259.5,7.8,803,26155,0.00,2.33,0.00,0.000,6,0.000,0.039,3280,1959,2367,0,0,0,0,0,0
$GC,26472,0.50,155.7,234.3,7.6,819,26476,0.00,2.35,0.00,0.000,4,0.000,0.049,3280,3521,2369,0,0,0,0,0,0
$GC,26545,0.50,155.7,228.7,7.6,822,26555,0.12,2.35,3.78,0.588,6,0.121,0.035,3249,1929,2360,0,0,0,0,0,0
$GC,26871,0.58,215.8,214.0,4.4,838,26925,0.00,0.00,51.17,1.008,6,0.000,0.000,3249,1928,2115,0,0,0,0,0,0
$GC,27221,0.58,215.8,194.6,6.7,858,27225,0.00,2.40,0.00,0.000,4,0.000,0.052,3248,3523,2117,0,0,0,0,0,0
$GC,27266,0.62,245.8,191.6,5.2,861,27302,0.10,2.33,26.50,0.973,6,0.097,0.034,3347,1930,1993,0,0,0,0,0,0
$GC,27555,0.62,245.8,161.6,11.8,889,27560,0.17,2.35,0.00,0.000,4,0.114,0.048,3297,363,1996,0,0,0,0,0,0
$GC,27661,0.62,245.8,153.0,8.3,898,27665,0.00,2.30,0.00,0.000,6,0.000,0.038,3297,1942,1996,0,0,0,0,0,0
$GC,27921,0.62,247.4,135.6,6.0,922,27931,0.00,0.00,4.38,0.620,6,0.000,0.000,3297,1943,1986,0,0,0,0,0,0
$GC,28186,0.62,247.4,115.3,7.1,947,28187,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1943,1987,0,0,0,0,0,0
$GC,28441,0.62,252.3,99.7,5.9,971,28450,0.00,0.00,6.47,0.723,6,0.000,0.000,3298,1943,1965,0,0,0,0,0,0
$GC,28706,0.62,252.3,81.1,7.6,996,28707,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1943,1967,0,0,0,0,0,0
$GC,28961,0.62,252.3,61.8,7.6,1020,28962,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1943,1969,0,0,0,0,0,0
$GC,29217,0.62,252.3,44.1,6.5,1044,29221,0.00,2.33,0.00,0.000,4,0.000,0.046,3309,365,1970,0,0,0,0,0,0
$GC,29244,0.62,252.3,42.2,6.6,1046,29248,0.00,2.30,0.00,0.000,6,0.000,0.040,3309,1941,1970,0,0,0,0,0,0
$GC,29504,0.63,254.5,27.0,5.9,1070,29515,0.00,2.38,5.00,0.594,4,0.000,0.048,3309,3525,1957,0,0,0,0,0,0
$GC,29537,0.69,310.1,25.3,4.5,1073,29588,0.00,2.33,45.20,0.870,6,0.000,0.036,3321,1946,1730,0,0,0,0,0,0
$GC,29782,0.69,310.1,4.6,6.9,1096,29786,0.00,2.40,0.00,0.000,4,0.000,0.056,3332,348,1731,0,0,0,0,0,0
$STATE,29801,end climb,SURFACE_DEPTH_REACHED
$STATE,29802,begin surface coast
$FINISH,0.3,NaN
$STATE,29848,end surface coast,CONTROL_FINISHED_OK
$STATE,29848,begin surface
$SM_CCo,29868,163.82,0.892,0,0,474,618.15
$SM_GC,0.97,0.00,0.00,163.82,0.000,0.000,0.892,109,2089,474,-9.32,-0.03,618.15
$IRIDIUM_FIX,2138.81,12838.50,090912,050506
$TT8_MAMPS,0.029913
$HUMID,1078678055
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.80
$XPDR_PINGS,772
$24V_AH,21.6,84.435
$10V_AH,8.0,64.390
$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,21.725,327.025,434.100,163.825,0.000,30.674,34.080,197.807,193.000,0.000,14.272,1715.869,24040.115,832.384,3215.817,618.115,33.378,2463.457,0.000,2867.652,0.000,0.543,0.000
$DEVICE_MAMPS,216.294,65.962,1654.419,892.021,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355548
$DATA_FILE_SIZE,36631,1101
$CAP_FILE_SIZE,328314,0
$CFSIZE,260165632,179462144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180311,035137,2147.763,12836.475,32,1.0,32,-3.0