version: 66.07
glider: 500
mission: 5
dive: 473
start: 3 21 111 0 28 14
data:
$ID,500
$MISSION,5
$DIVE,473
$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,-131000.33
$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,46
$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
$GPS1,210311,002007,2141.104,12833.405,39,1.2,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-76.6
$GPS2,210311,002720,2141.136,12833.457,14,1.6,14,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.193,-0.107
$KALMAN_X,-504132.9,-369.5,112.6,1051402.0,6027.6
$KALMAN_Y,558272.2,309.3,-520.3,-499771.9,3477.0
$MHEAD_RNG_PITCHd_Wd,244.1,265757,-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,3214,-0.50,-155.7,275.6,-6.2,248,3218,0.00,2.45,0.00,0.000,4,0.000,0.056,2906,3681,3638,0,0,0,0,0,0
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$GC,14933,-0.50,-155.7,837.8,-2.6,543,14938,0.00,2.35,0.00,0.000,6,0.000,0.041,2903,2099,3598,0,0,0,0,0,0
$GC,15253,-0.50,-155.7,846.0,-2.6,551,15257,0.00,2.40,0.00,0.000,4,0.000,0.044,2903,501,3597,0,0,0,0,0,0
$GC,15298,-0.50,-155.7,847.4,-3.6,552,15303,0.12,2.35,0.00,0.000,6,0.120,0.041,2936,2097,3597,0,0,0,0,0,0
$GC,15617,-0.50,-155.7,856.4,-3.1,560,15621,0.00,2.38,0.00,0.000,4,0.000,0.046,2937,508,3596,0,0,0,0,0,0
$GC,15868,-0.50,-155.7,867.0,-4.4,565,15872,0.00,2.35,0.00,0.000,6,0.000,0.042,2937,2086,3595,0,0,0,0,0,0
$GC,16207,-0.50,-155.7,884.1,-5.4,574,16211,0.00,2.35,0.00,0.000,4,0.000,0.045,2937,503,3595,0,0,0,0,0,0
$GC,16443,-0.50,-155.7,895.6,-4.4,579,16447,0.00,2.38,0.00,0.000,6,0.000,0.042,2934,2093,3595,0,0,0,0,0,0
$GC,16793,-0.50,-155.7,906.9,-2.8,588,16797,0.00,2.38,0.00,0.000,4,0.000,0.046,2934,508,3594,0,0,0,0,0,0
$GC,16987,-0.50,-155.7,911.7,-2.6,592,16991,0.00,2.38,0.00,0.000,6,0.000,0.044,2932,2096,3593,0,0,0,0,0,0
$GC,17335,-0.50,-155.7,920.8,-3.0,601,17340,0.00,2.38,0.00,0.000,4,0.000,0.045,2932,508,3592,0,0,0,0,0,0
$GC,17503,-0.50,-155.7,926.6,-3.2,604,17507,0.00,2.38,0.00,0.000,6,0.000,0.043,2929,2099,3592,0,0,0,0,0,0
$GC,17834,-0.50,-155.7,938.4,-3.7,613,17838,0.00,2.38,0.00,0.000,4,0.000,0.045,2929,498,3592,0,0,0,0,0,0
$GC,18012,-0.50,-155.7,945.1,-3.5,617,18016,0.00,2.35,0.00,0.000,6,0.000,0.041,2920,2094,3592,0,0,0,0,0,0
$GC,18333,-0.50,-155.7,955.6,-3.3,625,18337,0.00,2.38,0.00,0.000,4,0.000,0.045,2920,508,3591,0,0,0,0,0,0
$GC,18439,-0.50,-155.7,958.8,-4.3,627,18444,0.00,2.35,0.00,0.000,6,0.000,0.043,2910,2096,3591,0,0,0,0,0,0
$GC,18784,-0.50,-155.7,969.4,-3.0,636,18788,0.00,2.38,0.00,0.000,4,0.000,0.045,2910,498,3590,0,0,0,0,0,0
$GC,18874,-0.50,-155.7,972.0,-2.4,638,18878,0.00,2.38,0.00,0.000,6,0.000,0.041,2900,2093,3590,0,0,0,0,0,0
$GC,19194,-0.50,-155.7,981.5,-3.1,646,19199,0.00,2.35,0.00,0.000,4,0.000,0.045,2900,509,3589,0,0,0,0,0,0
$GC,19289,-0.50,-155.7,985.0,-3.2,648,19294,0.12,2.38,0.00,0.000,6,0.119,0.043,2934,2095,3589,0,0,0,0,0,0
$STATE,19477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19477,begin apogee
$GC,19485,-0.23,0.0,991.2,3.4,653,19625,0.22,0.00,138.02,1.631,6,0.077,0.000,3029,1925,2995,0,0,0,0,0,0
$STATE,19626,end apogee,CONTROL_FINISHED_OK
$STATE,19626,begin climb
$GC,19629,0.50,155.7,992.3,0.0,656,19791,0.60,2.67,151.77,1.603,4,0.054,0.049,3273,370,2360,0,0,0,0,0,0
$GC,19903,0.50,155.7,959.9,12.5,662,19908,0.00,2.40,0.00,0.000,6,0.000,0.041,3273,1954,2360,0,0,0,0,0,0
$GC,20253,0.50,155.7,910.3,14.3,671,20258,0.00,2.42,0.00,0.000,4,0.000,0.055,3273,3529,2359,0,0,0,0,0,0
$GC,20304,0.50,155.7,902.4,14.8,672,20310,0.12,2.40,0.00,0.000,6,0.138,0.041,3246,1941,2360,0,0,0,0,0,0
$GC,20621,0.50,155.7,864.2,12.0,680,20625,0.00,2.38,0.00,0.000,4,0.000,0.051,3257,361,2359,0,0,0,0,0,0
$GC,20660,0.50,155.7,859.1,12.4,681,20665,0.00,2.38,0.00,0.000,6,0.000,0.043,3257,1947,2359,0,0,0,0,0,0
$GC,20987,0.50,155.7,819.1,12.5,689,20991,0.00,2.42,0.00,0.000,4,0.000,0.054,3257,3527,2358,0,0,0,0,0,0
$GC,21041,0.50,155.7,811.4,13.1,690,21046,0.00,2.40,0.00,0.000,6,0.000,0.042,3269,1930,2358,0,0,0,0,0,0
$GC,21354,0.50,155.7,772.5,12.5,698,21358,0.00,2.38,0.00,0.000,4,0.000,0.051,3281,351,2358,0,0,0,0,0,0
$GC,21460,0.50,155.7,758.9,12.3,700,21465,0.00,2.40,0.00,0.000,6,0.000,0.045,3281,1945,2358,0,0,0,0,0,0
$GC,21803,0.50,155.7,711.8,13.8,709,21804,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1945,2357,0,0,0,0,0,0
$GC,22128,0.50,155.7,667.3,13.7,717,22132,0.00,2.45,0.00,0.000,4,0.000,0.055,3281,3529,2357,0,0,0,0,0,0
$GC,22177,0.50,155.7,660.1,13.2,718,22182,0.12,2.40,0.00,0.000,6,0.132,0.041,3253,1930,2357,0,0,0,0,0,0
$GC,22492,0.50,155.7,626.7,10.8,726,22496,0.00,2.38,0.00,0.000,4,0.000,0.051,3265,364,2357,0,0,0,0,0,0
$GC,22597,0.50,155.7,615.0,11.3,728,22601,0.00,2.38,0.00,0.000,6,0.000,0.044,3264,1948,2357,0,0,0,0,0,0
$GC,22947,0.50,155.7,576.2,11.3,737,22951,0.00,2.45,0.00,0.000,4,0.000,0.055,3264,3523,2357,0,0,0,0,0,0
$GC,22980,0.50,155.7,572.0,12.8,737,22985,0.00,2.38,0.00,0.000,6,0.000,0.041,3277,1935,2357,0,0,0,0,0,0
$GC,23311,0.50,155.7,533.9,11.5,746,23315,0.00,2.40,0.00,0.000,4,0.000,0.051,3289,363,2357,0,0,0,0,0,0
$GC,23356,0.50,155.7,529.0,9.7,747,23361,0.12,2.38,0.00,0.000,6,0.127,0.041,3247,1946,2357,0,0,0,0,0,0
$GC,23675,0.50,155.7,502.3,8.2,755,23679,0.00,2.42,0.00,0.000,4,0.000,0.054,3246,3539,2358,0,0,0,0,0,0
$GC,23703,0.50,155.7,499.6,9.6,755,23707,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1947,2358,0,0,0,0,0,0
$GC,24038,0.50,155.7,469.9,9.1,764,24039,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1946,2358,0,0,0,0,0,0
$GC,24365,0.50,155.7,441.9,8.5,772,24369,0.00,2.40,0.00,0.000,4,0.000,0.050,3269,352,2359,0,0,0,0,0,0
$GC,24408,0.50,155.7,438.0,10.7,773,24412,0.00,2.38,0.00,0.000,6,0.000,0.041,3269,1945,2359,0,0,0,0,0,0
$GC,24733,0.50,155.7,409.3,8.8,781,24737,0.00,2.45,0.00,0.000,4,0.000,0.053,3269,3529,2360,0,0,0,0,0,0
$GC,24819,0.50,155.7,400.6,8.7,783,24824,0.00,2.38,0.00,0.000,6,0.000,0.039,3282,1929,2360,0,0,0,0,0,0
$GC,25144,0.50,155.7,369.6,9.6,791,25148,0.00,2.35,0.00,0.000,4,0.000,0.047,3294,352,2360,0,0,0,0,0,0
$GC,25234,0.50,155.7,360.3,10.4,793,25239,0.12,2.38,0.00,0.000,6,0.121,0.040,3252,1948,2361,0,0,0,0,0,0
$GC,25553,0.50,155.7,335.6,7.3,801,25557,0.00,2.40,0.00,0.000,4,0.000,0.051,3251,3535,2362,0,0,0,0,0,0
$GC,25615,0.50,155.7,330.5,8.2,802,25620,0.00,2.38,0.00,0.000,6,0.000,0.039,3262,1938,2363,0,0,0,0,0,0
$GC,25958,0.50,155.7,303.0,8.1,811,25962,0.00,2.38,0.00,0.000,4,0.000,0.048,3274,353,2364,0,0,0,0,0,0
$GC,26054,0.50,155.7,294.4,8.0,814,26058,0.00,2.38,0.00,0.000,6,0.000,0.040,3274,1945,2365,0,0,0,0,0,0
$GC,26369,0.50,155.7,268.6,7.7,829,26370,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1945,2366,0,0,0,0,0,0
$GC,26678,0.50,155.7,246.2,7.1,844,26679,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1945,2368,0,0,0,0,0,0
$GC,26989,0.50,155.7,223.5,7.7,859,26998,0.00,2.47,3.90,0.595,4,0.000,0.051,3274,3522,2360,0,0,0,0,0,0
$GC,27020,0.50,155.7,220.7,9.3,860,27025,0.12,2.38,0.00,0.000,6,0.120,0.040,3241,1936,2360,0,0,0,0,0,0
$GC,27337,0.50,155.7,201.1,6.1,875,27341,0.00,2.38,0.00,0.000,4,0.000,0.046,3252,352,2363,0,0,0,0,0,0
$GC,27403,0.50,155.7,196.7,6.1,879,27408,0.00,2.35,0.00,0.000,6,0.000,0.038,3252,1942,2363,0,0,0,0,0,0
$GC,27663,0.50,155.7,178.8,6.8,904,27668,0.00,2.42,0.00,0.000,4,0.000,0.050,3252,3532,2366,0,0,0,0,0,0
$GC,27685,0.50,155.7,177.1,7.6,905,27690,0.00,2.38,0.00,0.000,6,0.000,0.038,3264,1930,2367,0,0,0,0,0,0
$GC,27945,0.50,155.7,157.0,7.4,930,27955,0.00,2.40,3.85,0.558,4,0.000,0.044,3276,365,2360,0,0,0,0,0,0
$GC,28002,0.50,155.7,152.8,7.2,935,28006,0.00,2.33,0.00,0.000,6,0.000,0.037,3276,1953,2360,0,0,0,0,0,0
$GC,28263,0.50,155.7,134.3,6.8,959,28264,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1954,2362,0,0,0,0,0,0
$GC,28518,0.58,215.7,120.0,4.4,983,28574,0.00,2.45,50.20,0.910,4,0.000,0.051,3276,3526,2114,0,0,0,0,0,0
$GC,28610,0.60,234.5,115.7,5.5,991,28633,0.00,2.40,16.88,0.863,6,0.000,0.038,3286,1947,2038,0,0,0,0,0,0
$GC,28894,0.67,291.0,101.6,4.5,1018,28949,0.00,2.53,47.28,0.910,4,0.000,0.046,3297,346,1807,0,0,0,0,0,0
$GC,28985,0.70,316.4,96.3,5.3,1026,29015,0.00,2.38,22.40,0.880,6,0.000,0.038,3297,1943,1704,0,0,0,0,0,0
$GC,29276,0.70,316.4,74.6,8.0,1054,29280,0.00,2.40,0.00,0.000,4,0.000,0.051,3287,3526,1705,0,0,0,0,0,0
$GC,29404,0.70,316.4,61.9,11.3,1065,29408,0.00,2.38,0.00,0.000,6,0.000,0.038,3286,1928,1706,0,0,0,0,0,0
$GC,29665,0.70,316.4,35.2,10.4,1089,29669,0.00,2.33,0.00,0.000,4,0.000,0.044,3286,348,1707,0,0,0,0,0,0
$GC,29772,0.70,316.4,23.1,9.8,1098,29776,0.10,2.33,0.00,0.000,6,0.110,0.037,3331,1939,1707,0,0,0,0,0,0
$GC,29968,0.70,316.4,4.8,7.4,1116,29973,0.00,2.45,0.00,0.000,4,0.000,0.053,3332,3531,1709,0,0,0,0,0,0
$STATE,29988,end climb,SURFACE_DEPTH_REACHED
$STATE,29988,begin surface coast
$FINISH,0.2,NaN
$STATE,30022,end surface coast,CONTROL_FINISHED_OK
$STATE,30022,begin surface
$SM_CCo,30043,154.73,0.850,0,0,475,618.15
$SM_GC,1.02,0.00,0.00,154.73,0.000,0.000,0.850,108,2084,475,-9.32,-0.17,618.15
$IRIDIUM_FIX,2131.85,12835.61,120912,090925
$TT8_MAMPS,0.03068
$HUMID,1078719345
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.50
$XPDR_PINGS,886
$24V_AH,21.6,86.670
$10V_AH,8.0,65.266
$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,21.300,333.175,434.300,154.725,0.000,30.944,39.730,210.207,221.500,0.000,16.110,1750.684,23985.393,813.141,3421.779,636.521,33.381,2530.799,0.000,3044.740,0.000,0.541,0.000
$DEVICE_MAMPS,213.993,62.894,1630.642,849.836,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355536
$DATA_FILE_SIZE,36633,1120
$CAP_FILE_SIZE,335055,0
$CFSIZE,260165632,178499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210311,085237,2140.121,12833.597,23,1.5,23,-3.0