version: 66.07
glider: 500
mission: 5
dive: 470
start: 3 19 111 22 33 14
data:
$ID,500
$MISSION,5
$DIVE,470
$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,-130957.97
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,190311,222530,2144.211,12834.374,36,1.1,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.0
$GPS2,190311,223220,2144.223,12834.414,13,1.2,13,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.177,-0.132
$KALMAN_X,-518535.1,-741.0,-130.8,1068066.2,6565.7
$KALMAN_Y,549829.4,481.2,-431.9,-485872.5,4460.3
$MHEAD_RNG_PITCHd_Wd,236.4,268220,-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,15080,-0.50,-155.7,847.8,-2.7,537,15084,0.00,2.40,0.00,0.000,4,0.000,0.045,2908,508,3592,0,0,0,0,0,0
$GC,15126,-0.50,-155.7,849.0,-3.0,538,15130,0.00,2.40,0.00,0.000,6,0.000,0.044,2899,2100,3592,0,0,0,0,0,0
$GC,15445,-0.50,-155.7,857.3,-2.6,546,15449,0.00,2.40,0.00,0.000,4,0.000,0.045,2898,509,3591,0,0,0,0,0,0
$GC,15496,-0.50,-155.7,858.8,-2.9,547,15501,0.12,2.38,0.00,0.000,6,0.121,0.044,2932,2084,3591,0,0,0,0,0,0
$GC,15809,-0.50,-155.7,868.5,-3.5,555,15813,0.00,2.38,0.00,0.000,4,0.000,0.046,2932,506,3591,0,0,0,0,0,0
$GC,16016,-0.50,-155.7,877.6,-4.3,559,16021,0.00,2.40,0.00,0.000,6,0.000,0.044,2926,2103,3590,0,0,0,0,0,0
$GC,16347,-0.50,-155.7,894.2,-5.2,567,16351,0.00,2.40,0.00,0.000,4,0.000,0.046,2926,515,3589,0,0,0,0,0,0
$GC,16461,-0.50,-155.7,899.9,-4.7,569,16466,0.00,2.38,0.00,0.000,6,0.000,0.044,2916,2100,3589,0,0,0,0,0,0
$GC,16805,-0.50,-155.7,915.5,-4.4,578,16809,0.00,2.38,0.00,0.000,4,0.000,0.046,2916,515,3588,0,0,0,0,0,0
$GC,16919,-0.50,-155.7,920.0,-3.7,580,16923,0.00,2.38,0.00,0.000,6,0.000,0.044,2906,2098,3588,0,0,0,0,0,0
$GC,17258,-0.50,-155.7,931.5,-3.3,589,17262,0.00,2.38,0.00,0.000,4,0.000,0.046,2906,515,3587,0,0,0,0,0,0
$GC,17319,-0.50,-155.7,933.7,-2.7,590,17324,0.10,2.38,0.00,0.000,6,0.132,0.044,2931,2094,3587,0,0,0,0,0,0
$GC,17663,-0.50,-155.7,944.7,-3.3,599,17667,0.00,2.42,0.00,0.000,4,0.000,0.048,2932,508,3587,0,0,0,0,0,0
$GC,17842,-0.50,-155.7,951.3,-3.6,603,17846,0.00,2.40,0.00,0.000,6,0.000,0.044,2926,2100,3587,0,0,0,0,0,0
$GC,18162,-0.50,-155.7,963.2,-3.9,611,18166,0.00,2.42,0.00,0.000,4,0.000,0.047,2926,504,3586,0,0,0,0,0,0
$GC,18307,-0.50,-155.7,968.9,-3.7,614,18311,0.00,2.40,0.00,0.000,6,0.000,0.044,2917,2099,3586,0,0,0,0,0,0
$GC,18657,-0.50,-155.7,983.4,-4.4,623,18661,0.00,2.38,0.00,0.000,4,0.000,0.046,2917,512,3585,0,0,0,0,0,0
$GC,18775,-0.50,-155.7,989.1,-5.0,625,18779,0.00,2.38,0.00,0.000,6,0.000,0.044,2907,2086,3585,0,0,0,0,0,0
$STATE,18819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18819,begin apogee
$GC,18826,-0.23,0.0,991.0,4.2,626,18966,0.30,0.00,137.30,1.643,6,0.077,0.000,3024,1930,2995,0,0,0,0,0,0
$STATE,18967,end apogee,CONTROL_FINISHED_OK
$STATE,18967,begin climb
$GC,18970,0.50,155.7,993.0,0.0,629,19132,0.60,2.62,151.55,1.612,4,0.050,0.051,3273,380,2360,0,0,0,0,0,0
$GC,19210,0.50,155.7,965.2,13.6,634,19214,0.00,2.45,0.00,0.000,6,0.000,0.044,3273,1948,2360,0,0,0,0,0,0
$GC,19548,0.50,155.7,916.0,14.9,643,19552,0.00,2.45,0.00,0.000,4,0.000,0.052,3273,3536,2359,0,0,0,0,0,0
$GC,19570,0.50,155.7,912.3,16.8,643,19575,0.10,2.38,0.00,0.000,6,0.146,0.041,3253,1951,2359,0,0,0,0,0,0
$GC,19908,0.50,155.7,867.6,12.9,652,19912,0.00,2.42,0.00,0.000,4,0.000,0.053,3265,361,2358,0,0,0,0,0,0
$GC,19991,0.50,155.7,856.4,13.6,654,19996,0.00,2.40,0.00,0.000,6,0.000,0.046,3264,1950,2358,0,0,0,0,0,0
$GC,20317,0.50,155.7,815.9,12.3,662,20322,0.00,2.45,0.00,0.000,4,0.000,0.054,3265,3534,2358,0,0,0,0,0,0
$GC,20345,0.50,155.7,812.0,12.5,662,20349,0.00,2.40,0.00,0.000,6,0.000,0.043,3276,1939,2358,0,0,0,0,0,0
$GC,20675,0.50,155.7,770.6,12.6,670,20679,0.00,2.40,0.00,0.000,4,0.000,0.054,3288,355,2357,0,0,0,0,0,0
$GC,20744,0.50,155.7,762.2,12.4,671,20749,0.12,2.40,0.00,0.000,6,0.127,0.046,3247,1941,2357,0,0,0,0,0,0
$GC,21082,0.50,155.7,728.1,9.9,680,21086,0.00,2.42,0.00,0.000,4,0.000,0.053,3246,3531,2357,0,0,0,0,0,0
$GC,21144,0.50,155.7,721.4,11.7,681,21148,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1947,2357,0,0,0,0,0,0
$GC,21486,0.50,155.7,684.8,10.7,690,21490,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,349,2356,0,0,0,0,0,0
$GC,21531,0.50,155.7,679.8,11.9,691,21535,0.00,2.42,0.00,0.000,6,0.000,0.045,3270,1945,2356,0,0,0,0,0,0
$GC,21849,0.50,155.7,644.8,10.8,699,21853,0.00,2.45,0.00,0.000,4,0.000,0.053,3270,3534,2356,0,0,0,0,0,0
$GC,21961,0.50,155.7,631.6,11.9,701,21966,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1931,2356,0,0,0,0,0,0
$GC,22297,0.50,155.7,590.1,12.6,710,22301,0.00,2.40,0.00,0.000,4,0.000,0.054,3295,357,2356,0,0,0,0,0,0
$GC,22363,0.50,155.7,581.5,12.5,711,22368,0.15,2.40,0.00,0.000,6,0.118,0.045,3244,1944,2355,0,0,0,0,0,0
$GC,22701,0.50,155.7,550.5,8.5,720,22706,0.00,2.42,0.00,0.000,4,0.000,0.051,3244,3530,2355,0,0,0,0,0,0
$GC,22751,0.50,155.7,545.5,9.1,721,22755,0.00,2.40,0.00,0.000,6,0.000,0.039,3255,1947,2355,0,0,0,0,0,0
$GC,23070,0.50,155.7,516.0,9.4,729,23075,0.00,2.42,0.00,0.000,4,0.000,0.052,3267,352,2355,0,0,0,0,0,0
$GC,23138,0.50,155.7,509.0,11.1,730,23143,0.00,2.40,0.00,0.000,6,0.000,0.044,3267,1942,2355,0,0,0,0,0,0
$GC,23476,0.50,155.7,472.1,10.8,739,23479,0.00,2.45,0.00,0.000,4,0.000,0.051,3267,3532,2356,0,0,0,0,0,0
$GC,23514,0.50,155.7,467.5,11.4,739,23519,0.00,2.40,0.00,0.000,6,0.000,0.040,3279,1937,2356,0,0,0,0,0,0
$GC,23844,0.50,155.7,432.6,10.2,748,23849,0.00,2.42,0.00,0.000,4,0.000,0.052,3291,353,2356,0,0,0,0,0,0
$GC,23874,0.50,155.7,429.9,10.4,748,23879,0.12,2.40,0.00,0.000,6,0.121,0.051,3250,1940,2356,0,0,0,0,0,0
$GC,24206,0.50,155.7,403.7,7.9,756,24210,0.00,2.45,0.00,0.000,4,0.000,0.051,3250,3529,2357,0,0,0,0,0,0
$GC,24296,0.50,155.7,395.7,11.6,758,24300,0.00,2.42,0.00,0.000,6,0.000,0.038,3260,1926,2358,0,0,0,0,0,0
$GC,24614,0.50,155.7,369.8,7.8,766,24619,0.00,2.38,0.00,0.000,4,0.000,0.050,3272,360,2359,0,0,0,0,0,0
$GC,24748,0.50,155.7,358.8,9.5,769,24752,0.00,2.38,0.00,0.000,6,0.000,0.044,3273,1951,2359,0,0,0,0,0,0
$GC,25072,0.50,155.7,329.9,9.3,777,25076,0.00,2.42,0.00,0.000,4,0.000,0.051,3272,3525,2361,0,0,0,0,0,0
$GC,25127,0.50,155.7,323.9,13.2,778,25132,0.10,2.38,0.00,0.000,6,0.291,0.036,3251,1946,2361,0,0,0,0,0,0
$GC,25455,0.50,155.7,296.7,8.2,787,25459,0.00,2.42,0.00,0.000,4,0.000,0.050,3262,347,2362,0,0,0,0,0,0
$GC,25489,0.50,155.7,293.8,7.1,788,25493,0.00,2.40,0.00,0.000,6,0.000,0.046,3262,1952,2363,0,0,0,0,0,0
$GC,25803,0.50,155.7,267.6,8.3,804,25807,0.00,2.45,0.00,0.000,4,0.000,0.050,3262,3525,2364,0,0,0,0,0,0
$GC,25859,0.50,155.7,262.8,8.3,806,25864,0.00,2.38,0.00,0.000,6,0.000,0.036,3274,1934,2365,0,0,0,0,0,0
$GC,26173,0.50,155.7,237.3,7.8,822,26178,0.00,2.40,0.00,0.000,4,0.000,0.049,3286,348,2366,0,0,0,0,0,0
$GC,26275,0.50,155.7,229.4,6.4,826,26280,0.12,2.40,0.00,0.000,6,0.114,0.048,3240,1950,2367,0,0,0,0,0,0
$GC,26591,0.53,177.1,212.1,5.4,842,26617,0.00,2.45,20.80,0.956,4,0.000,0.048,3240,3523,2273,0,0,0,0,0,0
$GC,26650,0.53,177.1,208.4,6.4,845,26655,0.00,2.40,0.00,0.000,6,0.000,0.042,3250,1930,2272,0,0,0,0,0,0
$GC,26972,0.53,177.1,188.9,6.4,869,26977,0.00,2.38,0.00,0.000,4,0.000,0.049,3261,352,2276,0,0,0,0,0,0
$GC,27028,0.53,178.8,185.2,6.0,873,27037,0.00,2.35,4.30,0.637,6,0.000,0.041,3261,1926,2266,0,0,0,0,0,0
$GC,27300,0.53,178.8,166.8,6.2,899,27304,0.00,2.45,0.00,0.000,4,0.000,0.048,3261,3542,2267,0,0,0,0,0,0
$GC,27339,0.53,178.8,163.9,6.8,902,27344,0.00,2.40,0.00,0.000,6,0.000,0.036,3272,1938,2268,0,0,0,0,0,0
$GC,27601,0.55,188.9,147.8,5.7,926,27617,0.00,2.42,10.98,0.843,4,0.000,0.049,3283,355,2224,0,0,0,0,0,0
$GC,27685,0.57,207.4,142.5,5.5,933,27708,0.00,2.38,16.40,0.888,6,0.000,0.041,3283,1952,2149,0,0,0,0,0,0
$GC,27969,0.57,207.4,124.0,6.6,960,27973,0.00,2.45,0.00,0.000,4,0.000,0.049,3283,3529,2150,0,0,0,0,0,0
$GC,28042,0.57,207.4,118.6,7.8,966,28047,0.00,2.38,0.00,0.000,6,0.000,0.035,3294,1935,2151,0,0,0,0,0,0
$GC,28304,0.57,207.4,101.7,6.0,991,28308,0.00,2.38,0.00,0.000,4,0.000,0.050,3306,359,2152,0,0,0,0,0,0
$GC,28358,0.57,207.4,97.5,7.6,995,28364,0.12,2.35,0.00,0.000,6,0.242,0.042,3259,1944,2153,0,0,0,0,0,0
$GC,28619,0.57,207.4,81.7,6.1,1020,28623,0.00,2.45,0.00,0.000,4,0.000,0.049,3259,3533,2155,0,0,0,0,0,0
$GC,28718,0.57,208.6,75.4,6.0,1028,28728,0.00,2.35,4.50,0.603,6,0.000,0.035,3266,1936,2143,0,0,0,0,0,0
$GC,28992,0.57,208.6,58.4,6.7,1054,28996,0.00,2.38,0.00,0.000,4,0.000,0.050,3270,363,2144,0,0,0,0,0,0
$GC,29109,0.57,212.1,50.4,5.9,1064,29118,0.00,2.33,4.82,0.577,6,0.000,0.041,3270,1943,2130,0,0,0,0,0,0
$GC,29374,0.57,212.1,32.6,6.3,1089,29378,0.00,2.40,0.00,0.000,4,0.000,0.051,3270,3532,2131,0,0,0,0,0,0
$GC,29491,0.57,212.1,24.5,8.0,1099,29495,0.00,2.33,0.00,0.000,6,0.000,0.036,3280,1941,2132,0,0,0,0,0,0
$GC,29687,0.57,212.1,11.2,6.4,1117,29692,0.00,2.45,0.00,0.000,4,0.000,0.049,3280,3527,2133,0,0,0,0,0,0
$GC,29743,0.57,212.1,7.1,7.5,1121,29747,0.00,2.35,0.00,0.000,6,0.000,0.036,3291,1929,2133,0,0,0,0,0,0
$STATE,29810,end climb,SURFACE_DEPTH_REACHED
$STATE,29810,begin surface coast
$FINISH,0.3,NaN
$STATE,29856,end surface coast,CONTROL_FINISHED_OK
$STATE,29856,begin surface
$SM_CCo,29874,206.57,0.895,0,0,475,618.15
$SM_GC,0.86,0.00,0.00,206.57,0.000,0.000,0.895,121,2109,475,-9.28,0.54,618.15
$IRIDIUM_FIX,2138.81,12835.24,110912,080800
$TT8_MAMPS,0.03068
$HUMID,1078694829
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,24.80
$XPDR_PINGS,840
$24V_AH,21.6,85.924
$10V_AH,8.0,64.968
$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,21.425,353.600,350.650,206.575,0.000,29.805,35.878,196.393,210.000,0.000,15.393,1771.812,23900.447,813.592,3353.041,632.530,33.383,2509.771,0.000,2998.522,0.000,0.543,0.000
$DEVICE_MAMPS,290.693,65.962,1642.914,895.089,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36683,1132
$CAP_FILE_SIZE,340129,0
$CFSIZE,260165632,178814976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200311,065600,2143.214,12834.695,35,1.1,41,-3.0