version: 66.07
glider: 500
mission: 5
dive: 472
start: 3 20 111 15 32 56
data:
$ID,500
$MISSION,5
$DIVE,472
$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,-130983.59
$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,44
$R_STBD_OVSHOOT,58
$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
$GPS1,200311,152525,2141.875,12833.845,44,1.4,44,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.6
$GPS2,200311,153202,2141.890,12833.863,12,1.2,12,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.170,-0.141
$KALMAN_X,-508602.0,-913.3,242.0,1056983.2,6769.7
$KALMAN_Y,555592.0,-348.1,-384.8,-495165.1,4802.7
$MHEAD_RNG_PITCHd_Wd,233.5,266644,-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,15171,-0.50,-155.7,801.8,-3.2,547,15176,0.00,2.35,0.00,0.000,6,0.000,0.041,2935,2096,3599,0,0,0,0,0,0
$GC,15509,-0.50,-155.7,811.5,-2.8,556,15513,0.00,2.35,0.00,0.000,4,0.000,0.044,2935,515,3599,0,0,0,0,0,0
$GC,15693,-0.50,-155.7,816.5,-2.7,560,15697,0.00,2.35,0.00,0.000,6,0.000,0.041,2935,2098,3597,0,0,0,0,0,0
$GC,16013,-0.50,-155.7,825.9,-3.2,568,16017,0.00,2.38,0.00,0.000,4,0.000,0.044,2935,512,3597,0,0,0,0,0,0
$GC,16231,-0.50,-155.7,834.7,-4.7,573,16235,0.00,2.35,0.00,0.000,6,0.000,0.041,2935,2089,3596,0,0,0,0,0,0
$GC,16557,-0.50,-155.7,849.6,-4.9,581,16561,0.00,2.35,0.00,0.000,4,0.000,0.045,2935,513,3596,0,0,0,0,0,0
$GC,16793,-0.50,-155.7,862.0,-6.1,586,16797,0.00,2.38,0.00,0.000,6,0.000,0.042,2935,2101,3596,0,0,0,0,0,0
$GC,17142,-0.50,-155.7,878.5,-4.6,595,17146,0.00,2.38,0.00,0.000,4,0.000,0.043,2935,509,3595,0,0,0,0,0,0
$GC,17348,-0.50,-155.7,886.9,-3.1,599,17353,0.00,2.38,0.00,0.000,6,0.000,0.041,2935,2102,3594,0,0,0,0,0,0
$GC,17679,-0.50,-155.7,898.8,-3.7,607,17683,0.00,2.40,0.00,0.000,4,0.000,0.043,2935,507,3594,0,0,0,0,0,0
$GC,17936,-0.50,-155.7,909.2,-3.2,612,17941,0.00,2.38,0.00,0.000,6,0.000,0.042,2935,2084,3593,0,0,0,0,0,0
$GC,18268,-0.50,-155.7,923.2,-4.6,620,18272,0.00,2.35,0.00,0.000,4,0.000,0.044,2935,513,3593,0,0,0,0,0,0
$GC,18459,-0.50,-155.7,931.9,-4.2,624,18463,0.00,2.38,0.00,0.000,6,0.000,0.042,2935,2102,3593,0,0,0,0,0,0
$GC,18808,-0.50,-155.7,946.8,-4.2,633,18813,0.00,2.40,0.00,0.000,4,0.000,0.044,2935,510,3592,0,0,0,0,0,0
$GC,19058,-0.50,-155.7,956.8,-4.5,638,19062,0.00,2.38,0.00,0.000,6,0.000,0.043,2935,2096,3591,0,0,0,0,0,0
$GC,19395,-0.50,-155.7,967.4,-2.9,647,19399,0.00,2.38,0.00,0.000,4,0.000,0.045,2935,516,3591,0,0,0,0,0,0
$GC,19653,-0.50,-155.7,974.1,-2.5,652,19657,0.00,2.33,0.00,0.000,6,0.000,0.041,2935,2084,3591,0,0,0,0,0,0
$GC,19985,-0.50,-155.7,982.4,-2.7,660,19989,0.00,2.45,0.00,0.000,4,0.000,0.052,2928,3684,3591,0,0,0,0,0,0
$STATE,20228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20228,begin apogee
$GC,20238,-0.23,0.0,990.1,3.9,665,20380,0.25,0.00,138.55,1.639,6,0.070,0.000,3035,1936,2995,0,0,0,0,0,0
$STATE,20381,end apogee,CONTROL_FINISHED_OK
$STATE,20381,begin climb
$GC,20383,0.50,155.7,990.6,0.0,669,20541,0.57,0.00,153.35,1.640,6,0.048,0.000,3266,1936,2360,0,0,0,0,0,0
$GC,20865,0.50,155.7,935.0,12.1,680,20867,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1936,2360,0,0,0,0,0,0
$GC,21192,0.50,155.7,896.0,12.1,688,21196,0.00,2.45,0.00,0.000,4,0.000,0.053,3267,3529,2359,0,0,0,0,0,0
$GC,21218,0.50,155.7,892.3,14.0,688,21222,0.00,2.40,0.00,0.000,6,0.000,0.041,3274,1947,2359,0,0,0,0,0,0
$GC,21555,0.50,155.7,848.3,13.2,697,21559,0.00,2.45,0.00,0.000,4,0.000,0.051,3286,346,2359,0,0,0,0,0,0
$GC,21605,0.50,155.7,841.6,12.6,698,21610,0.12,2.40,0.00,0.000,6,0.128,0.041,3245,1944,2360,0,0,0,0,0,0
$GC,21919,0.50,155.7,806.7,11.1,706,21923,0.00,2.42,0.00,0.000,4,0.000,0.052,3245,3526,2359,0,0,0,0,0,0
$GC,22020,0.50,155.7,794.5,12.5,708,22024,0.00,2.42,0.00,0.000,6,0.000,0.040,3255,1921,2359,0,0,0,0,0,0
$GC,22368,0.50,155.7,754.2,11.5,717,22372,0.00,2.38,0.00,0.000,4,0.000,0.056,3268,364,2359,0,0,0,0,0,0
$GC,22418,0.50,155.7,748.2,12.9,718,22423,0.00,2.38,0.00,0.000,6,0.000,0.043,3268,1943,2359,0,0,0,0,0,0
$GC,22730,0.50,155.7,710.5,11.8,726,22735,0.00,2.45,0.00,0.000,4,0.000,0.054,3268,3524,2359,0,0,0,0,0,0
$GC,22774,0.50,155.7,704.7,12.3,727,22778,0.00,2.40,0.00,0.000,6,0.000,0.042,3280,1933,2359,0,0,0,0,0,0
$GC,23099,0.50,155.7,662.7,13.2,735,23104,0.00,2.40,0.00,0.000,4,0.000,0.052,3293,355,2359,0,0,0,0,0,0
$GC,23171,0.50,155.7,652.6,14.4,736,23177,0.12,2.40,0.00,0.000,6,0.128,0.044,3251,1948,2359,0,0,0,0,0,0
$GC,23505,0.50,155.7,615.2,11.4,744,23506,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1948,2359,0,0,0,0,0,0
$GC,23827,0.50,155.7,584.7,9.0,752,23831,0.00,2.42,0.00,0.000,4,0.000,0.052,3251,3536,2360,0,0,0,0,0,0
$GC,23877,0.50,155.7,580.2,7.2,753,23882,0.00,2.45,0.00,0.000,6,0.000,0.041,3262,1936,2360,0,0,0,0,0,0
$GC,24191,0.50,155.7,550.1,9.8,761,24195,0.00,2.42,0.00,0.000,4,0.000,0.052,3274,348,2360,0,0,0,0,0,0
$GC,24247,0.50,155.7,544.1,10.9,762,24251,0.00,2.40,0.00,0.000,6,0.000,0.043,3274,1946,2360,0,0,0,0,0,0
$GC,24559,0.50,155.7,509.2,11.1,770,24563,0.00,2.45,0.00,0.000,4,0.000,0.052,3274,3538,2361,0,0,0,0,0,0
$GC,24585,0.50,155.7,505.9,11.5,770,24590,0.12,2.45,0.00,0.000,6,0.133,0.041,3247,1926,2361,0,0,0,0,0,0
$GC,24919,0.50,155.7,474.7,9.4,778,24923,0.00,2.38,0.00,0.000,4,0.000,0.051,3258,361,2361,0,0,0,0,0,0
$GC,24951,0.50,155.7,471.1,10.1,778,24956,0.00,2.38,0.00,0.000,6,0.000,0.044,3257,1944,2361,0,0,0,0,0,0
$GC,25282,0.50,155.7,438.1,9.9,787,25286,0.00,2.45,0.00,0.000,4,0.000,0.058,3258,3532,2362,0,0,0,0,0,0
$GC,25354,0.50,155.7,431.0,9.3,788,25358,0.00,2.42,0.00,0.000,6,0.000,0.040,3270,1929,2363,0,0,0,0,0,0
$GC,25684,0.50,155.7,402.3,8.5,796,25688,0.00,2.38,0.00,0.000,4,0.000,0.048,3282,357,2363,0,0,0,0,0,0
$GC,25768,0.50,155.7,394.8,10.9,798,25773,0.00,2.38,0.00,0.000,6,0.000,0.041,3283,1945,2364,0,0,0,0,0,0
$GC,26093,0.50,155.7,364.2,9.4,806,26097,0.00,2.40,0.00,0.000,4,0.000,0.047,3294,360,2365,0,0,0,0,0,0
$GC,26155,0.50,155.7,358.1,9.5,807,26160,0.12,2.38,0.00,0.000,6,0.120,0.049,3251,1948,2366,0,0,0,0,0,0
$GC,26498,0.50,155.7,333.3,7.2,816,26502,0.00,2.42,0.00,0.000,4,0.000,0.049,3251,3538,2367,0,0,0,0,0,0
$GC,26560,0.50,155.7,327.9,8.0,817,26564,0.00,2.40,0.00,0.000,6,0.000,0.038,3261,1949,2368,0,0,0,0,0,0
$GC,26908,0.50,155.7,299.4,8.2,826,26918,0.00,2.50,4.03,0.674,4,0.000,0.047,3274,348,2360,0,0,0,0,0,0
$GC,27010,0.50,155.7,290.8,8.8,830,27014,0.00,2.38,0.00,0.000,6,0.000,0.040,3274,1952,2360,0,0,0,0,0,0
$GC,27325,0.50,155.7,263.4,8.6,845,27326,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1953,2361,0,0,0,0,0,0
$GC,27634,0.50,155.7,238.8,7.8,860,27638,0.00,2.42,0.00,0.000,4,0.000,0.049,3274,3531,2363,0,0,0,0,0,0
$GC,27666,0.50,155.7,236.3,8.9,861,27671,0.12,2.38,0.00,0.000,6,0.122,0.038,3242,1932,2363,0,0,0,0,0,0
$GC,27981,0.56,199.6,221.2,4.8,876,28025,0.00,2.47,38.40,1.020,4,0.000,0.054,3253,360,2181,0,0,0,0,0,0
$GC,28063,0.56,203.6,216.9,5.9,879,28073,0.00,2.35,5.50,0.764,6,0.000,0.038,3253,1940,2164,0,0,0,0,0,0
$GC,28385,0.56,203.6,196.0,6.7,898,28389,0.00,2.45,0.00,0.000,4,0.000,0.048,3253,3528,2167,0,0,0,0,0,0
$GC,28441,0.56,203.6,192.3,7.7,902,28446,0.00,2.38,0.00,0.000,6,0.000,0.038,3262,1928,2167,0,0,0,0,0,0
$GC,28702,0.56,203.6,175.0,7.0,927,28707,0.00,2.45,0.00,0.000,4,0.000,0.050,3262,3523,2169,0,0,0,0,0,0
$GC,28775,0.56,203.6,169.8,7.9,933,28779,0.00,2.35,0.00,0.000,6,0.000,0.042,3273,1941,2170,0,0,0,0,0,0
$GC,29035,0.56,203.6,151.2,7.0,957,29039,0.00,2.42,0.00,0.000,4,0.000,0.048,3273,3529,2172,0,0,0,0,0,0
$GC,29134,0.56,203.6,143.7,7.4,965,29139,0.00,2.33,0.00,0.000,6,0.000,0.035,3283,1936,2172,0,0,0,0,0,0
$GC,29396,0.56,203.6,126.8,6.8,990,29407,0.00,2.40,4.03,0.592,4,0.000,0.046,3295,365,2164,0,0,0,0,0,0
$GC,29451,0.56,203.6,122.7,6.9,995,29456,0.00,2.33,0.00,0.000,6,0.000,0.037,3295,1953,2164,0,0,0,0,0,0
$GC,29712,0.56,203.6,105.2,6.0,1019,29716,0.00,2.40,0.00,0.000,4,0.000,0.048,3295,3522,2166,0,0,0,0,0,0
$GC,29790,0.56,203.6,99.6,6.2,1025,29795,0.12,2.33,0.00,0.000,6,0.119,0.033,3260,1935,2167,0,0,0,0,0,0
$GC,30051,0.56,203.6,84.0,6.1,1050,30056,0.00,2.42,0.00,0.000,4,0.000,0.047,3259,3527,2168,0,0,0,0,0,0
$GC,30107,0.57,209.8,80.2,5.8,1054,30123,0.00,2.33,8.05,0.766,6,0.000,0.035,3268,1941,2138,0,0,0,0,0,0
$GC,30379,0.57,209.8,62.3,6.0,1080,30383,0.00,2.40,0.00,0.000,4,0.000,0.054,3268,3526,2139,0,0,0,0,0,0
$GC,30441,0.57,209.8,58.3,7.6,1085,30445,0.00,2.33,0.00,0.000,6,0.000,0.035,3278,1931,2140,0,0,0,0,0,0
$GC,30706,0.57,209.8,40.8,6.3,1110,30710,0.00,2.45,0.00,0.000,4,0.000,0.047,3278,3530,2141,0,0,0,0,0,0
$GC,30774,0.57,209.8,35.8,7.2,1116,30778,0.00,2.35,0.00,0.000,6,0.000,0.035,3289,1935,2142,0,0,0,0,0,0
$GC,31035,0.59,224.1,20.6,5.6,1140,31056,0.00,2.40,13.80,0.785,4,0.000,0.047,3300,367,2081,0,0,0,0,0,0
$GC,31102,0.59,224.1,16.0,6.2,1146,31106,0.00,2.30,0.00,0.000,6,0.000,0.036,3300,1941,2081,0,0,0,0,0,0
$STATE,31286,end climb,SURFACE_DEPTH_REACHED
$STATE,31286,begin surface coast
$FINISH,0.2,NaN
$STATE,31329,end surface coast,CONTROL_FINISHED_OK
$STATE,31329,begin surface
$SM_CCo,31347,201.48,0.865,0,0,474,618.15
$SM_GC,0.94,0.00,0.00,201.48,0.000,0.000,0.865,118,2112,474,-9.29,0.62,618.15
$IRIDIUM_FIX,2136.49,12837.05,120912,010103
$TT8_MAMPS,0.03068
$HUMID,1078676764
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.80
$XPDR_PINGS,820
$24V_AH,21.5,86.422
$10V_AH,8.0,65.167
$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,20.950,337.650,365.700,201.475,0.000,24.988,37.997,188.713,205.000,0.000,13.886,1852.272,24956.344,799.899,3667.950,649.637,33.382,2631.484,0.000,3314.734,0.000,0.543,0.000
$DEVICE_MAMPS,213.993,64.428,1639.846,865.176,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355544
$DATA_FILE_SIZE,36650,1167
$CAP_FILE_SIZE,349950,0
$CFSIZE,260165632,178593792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210311,002007,2141.104,12833.405,39,1.2,39,-3.0