version: 66.07
glider: 500
mission: 5
dive: 475
start: 3 21 111 17 49 37
data:
$ID,500
$MISSION,5
$DIVE,475
$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,-131050.61
$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,34
$R_STBD_OVSHOOT,37
$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
$GPS1,210311,173831,2138.804,12832.315,40,1.0,40,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-74.5
$GPS2,210311,174843,2138.807,12832.422,13,1.2,13,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.205,-0.082
$KALMAN_X,-492965.9,-1115.1,-94.4,1039390.3,7789.6
$KALMAN_Y,562050.5,-56.4,-160.2,-507853.4,2828.6
$MHEAD_RNG_PITCHd_Wd,251.2,263436,-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,14786,-0.50,-155.7,808.4,-4.9,549,14790,0.00,2.47,0.00,0.000,4,0.000,0.055,2892,3671,3624,0,0,0,0,0,0
$GC,14818,-0.50,-155.7,810.1,-5.0,549,14823,0.12,2.35,0.00,0.000,6,0.106,0.037,2940,2091,3624,0,0,0,0,0,0
$GC,15152,-0.50,-155.7,824.7,-4.5,558,15156,0.00,2.47,0.00,0.000,4,0.000,0.057,2929,3681,3624,0,0,0,0,0,0
$GC,15404,-0.50,-155.7,836.2,-4.7,563,15408,0.00,2.38,0.00,0.000,6,0.000,0.035,2929,2078,3623,0,0,0,0,0,0
$GC,15736,-0.50,-155.7,850.0,-4.2,571,15740,0.00,2.38,0.00,0.000,4,0.000,0.049,2929,517,3624,0,0,0,0,0,0
$GC,15956,-0.50,-155.7,859.4,-4.8,576,15961,0.00,2.35,0.00,0.000,6,0.000,0.044,2919,2094,3623,0,0,0,0,0,0
$GC,16282,-0.50,-155.7,873.8,-4.7,584,16286,0.00,2.40,0.00,0.000,4,0.000,0.048,2919,517,3623,0,0,0,0,0,0
$GC,16407,-0.50,-155.7,879.6,-4.5,586,16412,0.00,2.35,0.00,0.000,6,0.000,0.045,2909,2085,3623,0,0,0,0,0,0
$GC,16737,-0.50,-155.7,896.1,-5.0,595,16742,0.00,2.38,0.00,0.000,4,0.000,0.047,2908,516,3623,0,0,0,0,0,0
$GC,16807,-0.50,-155.7,899.5,-5.6,596,16812,0.00,2.35,0.00,0.000,6,0.000,0.045,2900,2095,3623,0,0,0,0,0,0
$GC,17145,-0.50,-155.7,916.4,-5.0,605,17149,0.00,2.42,0.00,0.000,4,0.000,0.048,2900,508,3623,0,0,0,0,0,0
$GC,17197,-0.50,-155.7,918.9,-4.7,606,17202,0.12,2.40,0.00,0.000,6,0.118,0.046,2934,2083,3623,0,0,0,0,0,0
$GC,17517,-0.50,-155.7,932.9,-4.4,614,17521,0.00,2.40,0.00,0.000,4,0.000,0.048,2934,517,3623,0,0,0,0,0,0
$GC,17768,-0.50,-155.7,943.7,-4.5,619,17773,0.00,2.38,0.00,0.000,6,0.000,0.045,2934,2100,3623,0,0,0,0,0,0
$GC,18100,-0.50,-155.7,957.3,-4.3,627,18104,0.00,2.40,0.00,0.000,4,0.000,0.048,2934,516,3623,0,0,0,0,0,0
$GC,18358,-0.50,-155.7,969.9,-3.8,632,18363,0.00,2.35,0.00,0.000,6,0.000,0.045,2934,2084,3623,0,0,0,0,0,0
$GC,18690,-0.50,-155.7,985.2,-4.7,641,18694,0.00,2.45,0.00,0.000,4,0.000,0.055,2924,3676,3623,0,0,0,0,0,0
$STATE,18804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18806,begin apogee
$GC,18816,-0.23,0.0,990.3,4.6,643,18964,0.25,0.00,145.68,1.634,6,0.071,0.000,3030,1936,2995,0,0,0,0,0,0
$STATE,18965,end apogee,CONTROL_FINISHED_OK
$STATE,18965,begin climb
$GC,18968,0.50,155.7,991.9,0.0,647,19130,0.57,2.75,151.50,1.627,4,0.048,0.054,3274,371,2359,0,0,0,0,0,0
$GC,19241,0.50,155.7,959.2,13.4,653,19246,0.00,2.40,0.00,0.000,6,0.000,0.044,3274,1942,2360,0,0,0,0,0,0
$GC,19591,0.50,155.7,911.5,13.7,662,19595,0.00,2.42,0.00,0.000,4,0.000,0.053,3274,3527,2358,0,0,0,0,0,0
$GC,19613,0.50,155.7,907.8,14.2,662,19618,0.12,2.40,0.00,0.000,6,0.139,0.040,3246,1934,2358,0,0,0,0,0,0
$GC,19957,0.50,155.7,867.5,11.6,671,19961,0.00,2.40,0.00,0.000,4,0.000,0.053,3258,363,2357,0,0,0,0,0,0
$GC,20040,0.50,155.7,857.4,13.8,673,20044,0.00,2.38,0.00,0.000,6,0.000,0.045,3258,1944,2357,0,0,0,0,0,0
$GC,20365,0.50,155.7,818.1,11.9,681,20370,0.00,2.40,0.00,0.000,4,0.000,0.051,3269,363,2356,0,0,0,0,0,0
$GC,20409,0.50,155.7,812.5,12.4,682,20413,0.00,2.38,0.00,0.000,6,0.000,0.045,3269,1940,2357,0,0,0,0,0,0
$GC,20733,0.50,155.7,773.0,12.2,690,20734,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1940,2356,0,0,0,0,0,0
$GC,21059,0.50,155.7,732.4,12.5,698,21061,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1940,2356,0,0,0,0,0,0
$GC,21383,0.50,155.7,689.7,13.1,706,21387,0.00,2.45,0.00,0.000,4,0.000,0.052,3282,362,2355,0,0,0,0,0,0
$GC,21438,0.50,155.7,682.3,12.9,707,21442,0.00,2.38,0.00,0.000,6,0.000,0.045,3282,1941,2356,0,0,0,0,0,0
$GC,21752,0.50,155.7,642.3,12.4,715,21753,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1941,2355,0,0,0,0,0,0
$GC,22075,0.50,155.7,602.5,12.2,723,22079,0.00,2.47,0.00,0.000,4,0.000,0.054,3282,3524,2355,0,0,0,0,0,0
$GC,22103,0.50,155.7,598.9,13.1,723,22108,0.12,2.42,0.00,0.000,6,0.133,0.041,3254,1929,2355,0,0,0,0,0,0
$GC,22435,0.50,155.7,564.3,10.2,731,22439,0.00,2.42,0.00,0.000,4,0.000,0.052,3265,353,2355,0,0,0,0,0,0
$GC,22547,0.50,155.7,553.3,10.3,733,22551,0.00,2.42,0.00,0.000,6,0.000,0.048,3265,1939,2355,0,0,0,0,0,0
$GC,22883,0.50,155.7,521.8,9.3,742,22887,0.00,2.47,0.00,0.000,4,0.000,0.056,3265,3524,2355,0,0,0,0,0,0
$GC,22921,0.50,155.7,517.8,9.8,743,22925,0.00,2.42,0.00,0.000,6,0.000,0.041,3277,1936,2355,0,0,0,0,0,0
$GC,23247,0.50,155.7,483.2,11.0,751,23251,0.00,2.45,0.00,0.000,4,0.000,0.053,3290,357,2355,0,0,0,0,0,0
$GC,23383,0.50,155.7,468.7,9.0,754,23388,0.12,2.42,0.00,0.000,6,0.123,0.044,3247,1948,2355,0,0,0,0,0,0
$GC,23702,0.50,155.7,445.0,7.1,762,23706,0.00,2.45,0.00,0.000,4,0.000,0.050,3258,352,2356,0,0,0,0,0,0
$GC,23723,0.50,155.7,443.2,6.8,762,23727,0.00,2.40,0.00,0.000,6,0.000,0.044,3258,1945,2355,0,0,0,0,0,0
$GC,24066,0.50,155.7,412.9,9.4,771,24071,0.00,2.42,0.00,0.000,4,0.000,0.049,3269,358,2357,0,0,0,0,0,0
$GC,24099,0.50,155.7,409.6,9.9,771,24104,0.00,2.42,0.00,0.000,6,0.000,0.046,3269,1936,2357,0,0,0,0,0,0
$GC,24431,0.50,155.7,380.5,8.6,780,24435,0.00,2.50,0.00,0.000,4,0.000,0.054,3269,3527,2357,0,0,0,0,0,0
$GC,24463,0.50,155.7,377.5,7.8,780,24468,0.00,2.40,0.00,0.000,6,0.000,0.040,3282,1940,2358,0,0,0,0,0,0
$GC,24794,0.50,155.7,347.5,9.3,789,24798,0.00,2.42,0.00,0.000,4,0.000,0.051,3294,352,2358,0,0,0,0,0,0
$GC,24850,0.50,155.7,341.8,8.9,790,24855,0.12,2.38,0.00,0.000,6,0.120,0.042,3251,1940,2358,0,0,0,0,0,0
$GC,25198,0.50,155.7,311.4,8.8,799,25202,0.00,2.45,0.00,0.000,4,0.000,0.053,3250,3522,2359,0,0,0,0,0,0
$GC,25226,0.50,155.7,308.6,10.7,799,25231,0.00,2.38,0.00,0.000,6,0.000,0.038,3261,1931,2360,0,0,0,0,0,0
$GC,25539,0.50,155.7,282.0,7.8,811,25543,0.00,2.38,0.00,0.000,4,0.000,0.051,3274,355,2361,0,0,0,0,0,0
$GC,25612,0.50,155.7,276.1,7.8,814,25616,0.00,2.38,0.00,0.000,6,0.000,0.041,3273,1954,2361,0,0,0,0,0,0
$GC,25926,0.50,155.7,253.5,6.8,829,25930,0.00,2.42,0.00,0.000,4,0.000,0.054,3274,3524,2363,0,0,0,0,0,0
$GC,25966,0.50,155.7,250.5,9.4,830,25971,0.10,2.38,0.00,0.000,6,0.133,0.038,3250,1943,2364,0,0,0,0,0,0
$GC,26281,0.52,167.9,231.6,5.7,846,26301,0.00,2.47,13.02,0.933,4,0.000,0.050,3261,352,2310,0,0,0,0,0,0
$GC,26371,0.52,167.9,225.6,6.2,850,26376,0.00,2.38,0.00,0.000,6,0.000,0.041,3261,1942,2309,0,0,0,0,0,0
$GC,26698,0.52,167.9,203.1,6.6,866,26703,0.00,2.42,0.00,0.000,4,0.000,0.051,3261,3526,2310,0,0,0,0,0,0
$GC,26737,0.52,167.9,200.0,6.9,868,26742,0.00,2.38,0.00,0.000,6,0.000,0.038,3272,1933,2311,0,0,0,0,0,0
$GC,26999,0.52,167.9,180.6,7.0,892,27003,0.00,2.38,0.00,0.000,4,0.000,0.049,3284,350,2312,0,0,0,0,0,0
$GC,27048,0.52,167.9,176.5,7.3,896,27052,0.00,2.38,0.00,0.000,6,0.000,0.041,3284,1958,2312,0,0,0,0,0,0
$GC,27308,0.52,167.9,156.3,7.1,920,27312,0.00,2.45,0.00,0.000,4,0.000,0.054,3284,3513,2313,0,0,0,0,0,0
$GC,27348,0.52,167.9,153.3,8.1,923,27353,0.12,2.38,0.00,0.000,6,0.116,0.038,3251,1942,2314,0,0,0,0,0,0
$GC,27610,0.56,200.1,139.9,5.1,947,27644,0.00,2.50,28.15,0.902,4,0.000,0.050,3261,351,2179,0,0,0,0,0,0
$GC,27723,0.57,208.7,133.5,5.8,957,27738,0.00,2.38,9.18,0.803,6,0.000,0.041,3261,1941,2143,0,0,0,0,0,0
$GC,27995,0.59,225.4,116.3,5.6,983,28015,0.00,2.45,15.32,0.857,4,0.000,0.051,3262,3524,2075,0,0,0,0,0,0
$GC,28077,0.59,225.4,110.9,6.9,990,28081,0.00,2.38,0.00,0.000,6,0.000,0.037,3270,1938,2075,0,0,0,0,0,0
$GC,28339,0.59,225.4,95.2,6.3,1015,28343,0.00,2.47,0.00,0.000,4,0.000,0.053,3270,3527,2076,0,0,0,0,0,0
$GC,28372,0.59,225.4,93.0,6.2,1017,28377,0.00,2.38,0.00,0.000,6,0.000,0.038,3271,1930,2076,0,0,0,0,0,0
$GC,28632,0.59,225.4,75.9,7.2,1042,28636,0.00,2.40,0.00,0.000,4,0.000,0.049,3273,359,2078,0,0,0,0,0,0
$GC,28676,0.60,229.9,72.9,5.9,1045,28688,0.00,2.38,6.15,0.677,6,0.000,0.047,3273,1947,2057,0,0,0,0,0,0
$GC,28945,0.60,229.9,55.2,7.1,1070,28949,0.00,2.42,0.00,0.000,4,0.000,0.048,3273,353,2057,0,0,0,0,0,0
$GC,28988,0.61,238.0,52.3,5.8,1073,29003,0.00,2.35,8.73,0.719,6,0.000,0.043,3273,1942,2023,0,0,0,0,0,0
$GC,29261,0.61,238.0,34.7,6.3,1099,29262,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1942,2024,0,0,0,0,0,0
$GC,29515,0.61,238.0,17.0,6.7,1123,29519,0.00,2.45,0.00,0.000,4,0.000,0.052,3273,3523,2025,0,0,0,0,0,0
$GC,29553,0.61,238.0,14.2,6.1,1126,29557,0.00,2.38,0.00,0.000,6,0.000,0.038,3273,1935,2025,0,0,0,0,0,0
$STATE,29726,end climb,SURFACE_DEPTH_REACHED
$STATE,29726,begin surface coast
$FINISH,0.2,NaN
$STATE,29769,end surface coast,CONTROL_FINISHED_OK
$STATE,29769,begin surface
$SM_CCo,29787,194.62,0.857,0,0,474,618.15
$SM_GC,0.96,0.00,0.00,194.62,0.000,0.000,0.857,112,2099,474,-9.31,0.25,618.15
$IRIDIUM_FIX,2129.53,12832.35,130912,121232
$TT8_MAMPS,0.03068
$HUMID,1078728377
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.60
$XPDR_PINGS,929
$24V_AH,21.6,87.171
$10V_AH,8.0,65.462
$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,21.175,342.425,377.725,194.625,0.000,59.292,66.603,268.106,232.250,0.000,15.169,1733.108,24002.521,820.664,3372.106,645.054,33.382,2469.092,0.000,2899.160,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,65.962,1633.710,856.739,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36708,1146
$CAP_FILE_SIZE,336673,0
$CFSIZE,260165632,178282496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220311,021037,2137.955,12831.706,35,1.0,35,-3.0