version: 66.07
glider: 500
mission: 5
dive: 477
start: 3 22 111 10 42 38
data:
$ID,500
$MISSION,5
$DIVE,477
$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,-131078.95
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,220311,103506,2136.454,12831.680,37,1.0,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-75.8
$GPS2,220311,104144,2136.429,12831.729,11,1.1,11,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.190,-0.113
$KALMAN_X,-482517.0,690.5,16.1,1025824.4,4825.9
$KALMAN_Y,563825.9,-847.6,-344.9,-513053.1,3579.0
$MHEAD_RNG_PITCHd_Wd,242.2,261756,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,15121,-0.50,-155.7,831.4,-3.8,549,15126,0.00,2.47,0.00,0.000,4,0.000,0.053,2927,3681,3596,0,0,0,0,0,0
$GC,15351,-0.50,-155.7,840.5,-3.9,554,15355,0.00,2.38,0.00,0.000,6,0.000,0.036,2927,2089,3595,0,0,0,0,0,0
$GC,15667,-0.50,-155.7,852.7,-4.0,562,15671,0.00,2.47,0.00,0.000,4,0.000,0.053,2916,3688,3595,0,0,0,0,0,0
$GC,15734,-0.50,-155.7,855.7,-4.2,563,15739,0.00,2.40,0.00,0.000,6,0.000,0.037,2916,2086,3595,0,0,0,0,0,0
$GC,16073,-0.50,-155.7,871.0,-4.5,572,16078,0.00,2.45,0.00,0.000,4,0.000,0.053,2905,3685,3595,0,0,0,0,0,0
$GC,16129,-0.50,-155.7,873.6,-4.4,573,16134,0.00,2.38,0.00,0.000,6,0.000,0.036,2905,2088,3594,0,0,0,0,0,0
$GC,16480,-0.50,-155.7,889.3,-4.6,582,16485,0.00,2.45,0.00,0.000,4,0.000,0.054,2895,3677,3593,0,0,0,0,0,0
$GC,16525,-0.50,-155.7,891.5,-5.8,583,16530,0.10,2.40,0.00,0.000,6,0.118,0.038,2933,2082,3593,0,0,0,0,0,0
$GC,16845,-0.50,-155.7,905.3,-4.4,591,16850,0.00,2.50,0.00,0.000,4,0.000,0.055,2923,3686,3593,0,0,0,0,0,0
$GC,17002,-0.50,-155.7,912.5,-4.6,594,17006,0.00,2.40,0.00,0.000,6,0.000,0.037,2923,2081,3592,0,0,0,0,0,0
$GC,17341,-0.50,-155.7,925.5,-3.7,603,17346,0.00,2.45,0.00,0.000,4,0.000,0.054,2913,3678,3592,0,0,0,0,0,0
$GC,17460,-0.50,-155.7,929.5,-3.5,605,17464,0.00,2.38,0.00,0.000,6,0.000,0.038,2913,2089,3591,0,0,0,0,0,0
$GC,17793,-0.50,-155.7,940.8,-3.5,613,17797,0.00,2.45,0.00,0.000,4,0.000,0.054,2902,3681,3591,0,0,0,0,0,0
$GC,17905,-0.50,-155.7,945.0,-4.1,615,17910,0.00,2.40,0.00,0.000,6,0.000,0.036,2902,2087,3590,0,0,0,0,0,0
$GC,18245,-0.50,-155.7,958.4,-4.1,624,18249,0.00,2.47,0.00,0.000,4,0.000,0.053,2891,3679,3590,0,0,0,0,0,0
$GC,18305,-0.50,-155.7,960.9,-4.0,625,18310,0.12,2.40,0.00,0.000,6,0.107,0.037,2939,2083,3590,0,0,0,0,0,0
$GC,18650,-0.50,-155.7,974.5,-4.0,634,18654,0.00,2.42,0.00,0.000,4,0.000,0.048,2939,501,3589,0,0,0,0,0,0
$GC,18910,-0.50,-155.7,985.1,-3.7,639,18915,0.00,2.40,0.00,0.000,6,0.000,0.044,2939,2101,3589,0,0,0,0,0,0
$STATE,19076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19076,begin apogee
$GC,19082,-0.23,0.0,991.0,3.5,644,19221,0.22,0.00,136.55,1.592,6,0.076,0.000,3034,1931,2995,0,0,0,0,0,0
$STATE,19222,end apogee,CONTROL_FINISHED_OK
$STATE,19222,begin climb
$GC,19226,0.50,155.7,991.7,0.0,647,19384,0.57,2.67,149.88,1.575,4,0.053,0.050,3271,378,2359,0,0,0,0,0,0
$GC,19415,0.50,155.7,970.2,12.5,650,19419,0.00,2.53,0.00,0.000,6,0.000,0.044,3271,1940,2360,0,0,0,0,0,0
$GC,19750,0.50,155.7,922.4,14.1,659,19754,0.00,2.40,0.00,0.000,4,0.000,0.051,3283,368,2359,0,0,0,0,0,0
$GC,19771,0.50,155.7,919.2,13.3,659,19776,0.10,2.40,0.00,0.000,6,0.143,0.044,3251,1942,2359,0,0,0,0,0,0
$GC,20115,0.50,155.7,875.6,12.8,668,20116,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1941,2358,0,0,0,0,0,0
$GC,20437,0.50,155.7,835.0,12.3,676,20438,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1941,2357,0,0,0,0,0,0
$GC,20762,0.50,155.7,798.6,11.0,684,20766,0.00,2.42,0.00,0.000,4,0.000,0.053,3251,3540,2356,0,0,0,0,0,0
$GC,20839,0.50,155.7,789.5,13.1,685,20844,0.00,2.38,0.00,0.000,6,0.000,0.041,3262,1955,2357,0,0,0,0,0,0
$GC,21171,0.50,155.7,752.3,11.3,694,21175,0.00,2.42,0.00,0.000,4,0.000,0.053,3275,356,2357,0,0,0,0,0,0
$GC,21306,0.50,155.7,736.1,12.4,697,21310,0.00,2.40,0.00,0.000,6,0.000,0.045,3275,1945,2356,0,0,0,0,0,0
$GC,21626,0.50,155.7,698.2,11.7,705,21630,0.00,2.47,0.00,0.000,4,0.000,0.054,3275,3539,2356,0,0,0,0,0,0
$GC,21658,0.50,155.7,693.9,11.8,705,21663,0.12,2.42,0.00,0.000,6,0.139,0.042,3247,1939,2356,0,0,0,0,0,0
$GC,21992,0.50,155.7,663.3,9.2,714,21996,0.00,2.40,0.00,0.000,4,0.000,0.053,3259,358,2356,0,0,0,0,0,0
$GC,22069,0.50,155.7,655.8,9.3,715,22074,0.00,2.40,0.00,0.000,6,0.000,0.045,3259,1952,2356,0,0,0,0,0,0
$GC,22399,0.50,155.7,622.9,10.1,724,22403,0.00,2.45,0.00,0.000,4,0.000,0.062,3259,3524,2356,0,0,0,0,0,0
$GC,22456,0.50,155.7,616.8,11.8,725,22460,0.00,2.40,0.00,0.000,6,0.000,0.041,3271,1928,2356,0,0,0,0,0,0
$GC,22804,0.50,155.7,578.4,11.3,734,22808,0.00,2.38,0.00,0.000,4,0.000,0.051,3283,360,2356,0,0,0,0,0,0
$GC,22860,0.50,155.7,571.8,11.9,735,22864,0.00,2.40,0.00,0.000,6,0.000,0.046,3283,1943,2356,0,0,0,0,0,0
$GC,23208,0.50,155.7,532.2,10.8,744,23212,0.00,2.50,0.00,0.000,4,0.000,0.058,3283,3531,2356,0,0,0,0,0,0
$GC,23234,0.50,155.7,529.0,9.9,744,23239,0.15,2.42,0.00,0.000,6,0.125,0.044,3247,1940,2356,0,0,0,0,0,0
$GC,23568,0.50,155.7,502.4,7.8,752,23572,0.00,2.42,0.00,0.000,4,0.000,0.053,3259,356,2356,0,0,0,0,0,0
$GC,23628,0.50,155.7,497.2,9.4,753,23632,0.00,2.40,0.00,0.000,6,0.000,0.045,3258,1944,2356,0,0,0,0,0,0
$GC,23977,0.50,155.7,467.4,8.8,762,23981,0.00,2.47,0.00,0.000,4,0.000,0.054,3258,3534,2357,0,0,0,0,0,0
$GC,24032,0.50,155.7,461.8,10.4,763,24036,0.00,2.42,0.00,0.000,6,0.000,0.041,3271,1935,2357,0,0,0,0,0,0
$GC,24345,0.50,155.7,429.9,10.4,771,24350,0.00,2.40,0.00,0.000,4,0.000,0.051,3283,349,2358,0,0,0,0,0,0
$GC,24373,0.50,155.7,426.6,8.8,771,24378,0.10,2.40,0.00,0.000,6,0.135,0.044,3249,1944,2358,0,0,0,0,0,0
$GC,24705,0.50,155.7,394.7,9.3,779,24709,0.00,2.42,0.00,0.000,4,0.000,0.052,3250,3536,2359,0,0,0,0,0,0
$GC,24784,0.50,155.7,387.2,8.7,780,24789,0.00,2.42,0.00,0.000,6,0.000,0.040,3260,1932,2359,0,0,0,0,0,0
$GC,25114,0.50,155.7,358.6,8.6,789,25119,0.00,2.40,0.00,0.000,4,0.000,0.050,3273,359,2360,0,0,0,0,0,0
$GC,25199,0.50,155.7,350.9,7.8,791,25204,0.00,2.38,0.00,0.000,6,0.000,0.041,3273,1960,2360,0,0,0,0,0,0
$GC,25530,0.50,155.7,321.9,8.4,799,25534,0.00,2.42,0.00,0.000,4,0.000,0.052,3273,3525,2361,0,0,0,0,0,0
$GC,25581,0.50,155.7,316.8,10.2,800,25586,0.10,2.40,0.00,0.000,6,0.134,0.038,3250,1933,2361,0,0,0,0,0,0
$GC,25895,0.50,155.7,295.2,6.6,809,25896,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1933,2363,0,0,0,0,0,0
$GC,26203,0.53,173.5,276.6,5.5,824,26227,0.00,2.50,17.50,0.971,4,0.000,0.050,3261,350,2287,0,0,0,0,0,0
$GC,26272,0.53,173.5,272.3,6.3,827,26276,0.00,2.40,0.00,0.000,6,0.000,0.040,3261,1941,2287,0,0,0,0,0,0
$GC,26598,0.53,173.5,248.5,7.8,843,26602,0.00,2.45,0.00,0.000,4,0.000,0.051,3261,3535,2288,0,0,0,0,0,0
$GC,26660,0.53,173.5,243.2,9.3,846,26664,0.00,2.42,0.00,0.000,6,0.000,0.039,3273,1943,2289,0,0,0,0,0,0
$GC,26985,0.53,173.5,217.0,7.6,862,26989,0.00,2.42,0.00,0.000,4,0.000,0.049,3286,353,2291,0,0,0,0,0,0
$GC,27025,0.53,173.5,214.0,8.4,864,27029,0.00,2.38,0.00,0.000,6,0.000,0.041,3286,1958,2292,0,0,0,0,0,0
$GC,27344,0.53,173.5,189.4,7.2,886,27348,0.00,2.42,0.00,0.000,4,0.000,0.051,3285,3521,2294,0,0,0,0,0,0
$GC,27377,0.53,173.5,186.5,9.1,888,27382,0.12,2.42,0.00,0.000,6,0.120,0.047,3253,1931,2294,0,0,0,0,0,0
$GC,27639,0.55,196.6,171.5,5.4,913,27669,0.00,2.50,22.20,0.904,4,0.000,0.048,3264,345,2192,0,0,0,0,0,0
$GC,27710,0.59,228.7,167.5,5.2,919,27745,0.00,2.38,27.17,0.915,6,0.000,0.039,3264,1935,2062,0,0,0,0,0,0
$GC,28000,0.60,233.1,149.6,5.9,947,28011,0.00,2.45,6.25,0.722,4,0.000,0.050,3264,3527,2044,0,0,0,0,0,0
$GC,28078,0.60,235.9,144.6,5.9,954,28088,0.00,2.40,4.35,0.609,6,0.000,0.037,3272,1926,2033,0,0,0,0,0,0
$GC,28350,0.60,235.9,127.5,6.8,980,28354,0.00,2.38,0.00,0.000,4,0.000,0.048,3273,347,2034,0,0,0,0,0,0
$GC,28448,0.60,235.9,120.5,7.0,988,28453,0.00,2.35,0.00,0.000,6,0.000,0.039,3273,1943,2034,0,0,0,0,0,0
$GC,28710,0.60,235.9,100.5,7.2,1012,28714,0.00,2.45,0.00,0.000,4,0.000,0.052,3273,3523,2037,0,0,0,0,0,0
$GC,28806,0.60,235.9,93.6,6.1,1020,28810,0.00,2.38,0.00,0.000,6,0.000,0.039,3273,1938,2037,0,0,0,0,0,0
$GC,29066,0.60,235.9,76.0,6.9,1044,29070,0.00,2.38,0.00,0.000,4,0.000,0.050,3273,356,2038,0,0,0,0,0,0
$GC,29152,0.62,251.5,70.6,5.6,1051,29173,0.00,2.33,15.60,0.800,6,0.000,0.042,3273,1941,1969,0,0,0,0,0,0
$GC,29433,0.62,251.5,50.3,6.8,1078,29437,0.00,2.45,0.00,0.000,4,0.000,0.050,3273,3531,1969,0,0,0,0,0,0
$GC,29505,0.62,251.5,45.1,6.7,1084,29510,0.00,2.38,0.00,0.000,6,0.000,0.038,3273,1939,1969,0,0,0,0,0,0
$GC,29766,0.62,251.5,26.5,8.4,1109,29767,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1938,1970,0,0,0,0,0,0
$GC,29957,0.62,251.5,11.7,6.7,1127,29961,0.00,2.47,0.00,0.000,4,0.000,0.052,3273,3536,1971,0,0,0,0,0,0
$GC,30007,0.62,251.5,8.4,6.9,1131,30011,0.00,2.40,0.00,0.000,6,0.000,0.039,3273,1929,1972,0,0,0,0,0,0
$STATE,30094,end climb,SURFACE_DEPTH_REACHED
$STATE,30094,begin surface coast
$FINISH,0.1,NaN
$STATE,30137,end surface coast,CONTROL_FINISHED_OK
$STATE,30137,begin surface
$SM_CCo,30155,187.80,0.836,0,0,475,618.15
$SM_GC,0.95,0.00,0.00,187.80,0.000,0.000,0.836,105,2111,475,-9.33,0.59,618.15
$IRIDIUM_FIX,2131.85,12832.35,130912,202043
$TT8_MAMPS,0.029913
$HUMID,1078725797
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.30
$XPDR_PINGS,916
$24V_AH,21.7,87.651
$10V_AH,8.0,65.650
$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,21.200,334.225,379.500,187.800,0.000,24.461,39.901,187.999,229.000,0.000,12.899,1721.823,24388.857,814.508,3174.224,621.280,33.383,2429.779,0.000,2837.203,0.000,0.542,0.000
$DEVICE_MAMPS,217.061,70.564,1592.292,836.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36667,1143
$CAP_FILE_SIZE,331535,0
$CFSIZE,260165632,178077696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220311,190936,2134.314,12829.892,33,1.0,33,-3.0