version: 66.07
glider: 500
mission: 5
dive: 478
start: 3 22 111 19 17 8
data:
$ID,500
$MISSION,5
$DIVE,478
$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,-131095.58
$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,41
$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
$GPS1,220311,190936,2134.314,12829.892,33,1.0,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.9
$GPS2,220311,191614,2134.264,12829.935,14,1.1,14,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.219,-0.027
$KALMAN_X,-477291.7,-1158.1,-214.5,1019592.4,8039.9
$KALMAN_Y,562719.1,-89.2,-342.0,-516707.8,974.1
$MHEAD_RNG_PITCHd_Wd,265.9,258288,-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,15726,-0.50,-155.7,863.8,-4.2,560,15731,0.00,2.38,0.00,0.000,6,0.000,0.044,2902,2094,3591,0,0,0,0,0,0
$GC,16058,-0.50,-155.7,877.8,-4.4,569,16062,0.00,2.40,0.00,0.000,4,0.000,0.047,2902,508,3590,0,0,0,0,0,0
$GC,16126,-0.50,-155.7,881.0,-4.8,570,16131,0.12,2.38,0.00,0.000,6,0.118,0.045,2935,2100,3590,0,0,0,0,0,0
$GC,16466,-0.50,-155.7,896.7,-4.9,579,16470,0.00,2.42,0.00,0.000,4,0.000,0.046,2936,502,3589,0,0,0,0,0,0
$GC,16650,-0.50,-155.7,906.6,-4.9,583,16655,0.00,2.40,0.00,0.000,6,0.000,0.044,2935,2102,3589,0,0,0,0,0,0
$GC,16966,-0.50,-155.7,922.4,-5.1,591,16970,0.00,2.40,0.00,0.000,4,0.000,0.045,2935,506,3588,0,0,0,0,0,0
$GC,17196,-0.50,-155.7,933.7,-4.6,596,17201,0.00,2.40,0.00,0.000,6,0.000,0.044,2934,2093,3588,0,0,0,0,0,0
$GC,17510,-0.50,-155.7,947.1,-4.3,604,17514,0.00,2.45,0.00,0.000,4,0.000,0.054,2923,3683,3587,0,0,0,0,0,0
$GC,17537,-0.50,-155.7,948.3,-4.1,604,17541,0.00,2.38,0.00,0.000,6,0.000,0.037,2923,2086,3587,0,0,0,0,0,0
$GC,17869,-0.50,-155.7,961.1,-3.9,612,17873,0.00,2.38,0.00,0.000,4,0.000,0.046,2923,500,3587,0,0,0,0,0,0
$GC,18015,-0.50,-155.7,967.0,-4.1,615,18019,0.00,2.40,0.00,0.000,6,0.000,0.045,2914,2097,3587,0,0,0,0,0,0
$GC,18328,-0.50,-155.7,979.1,-4.0,623,18332,0.00,2.40,0.00,0.000,4,0.000,0.047,2914,510,3586,0,0,0,0,0,0
$GC,18453,-0.50,-155.7,983.9,-3.8,625,18458,0.00,2.38,0.00,0.000,6,0.000,0.045,2904,2088,3586,0,0,0,0,0,0
$STATE,18618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18618,begin apogee
$GC,18625,-0.23,0.0,990.4,3.9,630,18763,0.30,0.00,135.25,1.582,6,0.080,0.000,3018,1933,2995,0,0,0,0,0,0
$STATE,18764,end apogee,CONTROL_FINISHED_OK
$STATE,18764,begin climb
$GC,18766,0.50,155.7,991.3,0.0,633,18923,0.62,2.70,148.75,1.555,4,0.056,0.052,3269,380,2360,0,0,0,0,0,0
$GC,19091,0.50,155.7,953.1,11.7,640,19095,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1949,2360,0,0,0,0,0,0
$GC,19433,0.50,155.7,907.3,13.4,649,19437,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,3527,2359,0,0,0,0,0,0
$GC,19472,0.50,155.7,901.9,13.6,650,19477,0.00,2.38,0.00,0.000,6,0.000,0.041,3282,1948,2359,0,0,0,0,0,0
$GC,19797,0.50,155.7,857.2,13.5,658,19801,0.00,2.45,0.00,0.000,4,0.000,0.052,3294,351,2358,0,0,0,0,0,0
$GC,19893,0.50,155.7,844.2,12.5,660,19898,0.15,2.40,0.00,0.000,6,0.124,0.044,3245,1940,2358,0,0,0,0,0,0
$GC,20206,0.50,155.7,812.3,10.0,668,20210,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,356,2357,0,0,0,0,0,0
$GC,20233,0.50,155.7,809.4,10.0,668,20237,0.00,2.38,0.00,0.000,6,0.000,0.046,3255,1945,2357,0,0,0,0,0,0
$GC,20571,0.50,155.7,771.8,11.3,677,20575,0.00,2.45,0.00,0.000,4,0.000,0.054,3255,3537,2357,0,0,0,0,0,0
$GC,20610,0.50,155.7,767.1,11.8,678,20615,0.00,2.40,0.00,0.000,6,0.000,0.042,3268,1944,2357,0,0,0,0,0,0
$GC,20937,0.50,155.7,726.5,12.8,686,20941,0.00,2.42,0.00,0.000,4,0.000,0.054,3281,350,2357,0,0,0,0,0,0
$GC,21027,0.50,155.7,714.6,11.5,688,21031,0.00,2.42,0.00,0.000,6,0.000,0.045,3281,1949,2357,0,0,0,0,0,0
$GC,21347,0.50,155.7,674.5,12.5,696,21348,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1949,2357,0,0,0,0,0,0
$GC,21669,0.50,155.7,634.0,12.2,704,21673,0.00,2.47,0.00,0.000,4,0.000,0.054,3281,3530,2357,0,0,0,0,0,0
$GC,21730,0.50,155.7,626.5,12.8,705,21735,0.12,2.42,0.00,0.000,6,0.133,0.041,3253,1941,2356,0,0,0,0,0,0
$GC,22073,0.50,155.7,592.3,9.8,714,22077,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,348,2357,0,0,0,0,0,0
$GC,22150,0.50,155.7,584.2,10.4,715,22155,0.00,2.40,0.00,0.000,6,0.000,0.045,3265,1956,2356,0,0,0,0,0,0
$GC,22482,0.50,155.7,548.7,10.8,724,22486,0.00,2.45,0.00,0.000,4,0.000,0.052,3277,353,2357,0,0,0,0,0,0
$GC,22503,0.50,155.7,546.1,13.0,724,22507,0.00,2.38,0.00,0.000,6,0.000,0.045,3277,1937,2357,0,0,0,0,0,0
$GC,22853,0.50,155.7,505.1,11.8,733,22857,0.00,2.45,0.00,0.000,4,0.000,0.053,3277,3530,2357,0,0,0,0,0,0
$GC,22886,0.50,155.7,500.6,12.9,733,22891,0.12,2.42,0.00,0.000,6,0.137,0.042,3249,1933,2357,0,0,0,0,0,0
$GC,23220,0.50,155.7,470.1,9.0,742,23224,0.00,2.40,0.00,0.000,4,0.000,0.052,3260,359,2357,0,0,0,0,0,0
$GC,23274,0.50,155.7,464.3,10.0,743,23278,0.00,2.38,0.00,0.000,6,0.000,0.044,3260,1948,2357,0,0,0,0,0,0
$GC,23587,0.50,155.7,434.3,9.3,751,23588,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1948,2357,0,0,0,0,0,0
$GC,23913,0.50,155.7,406.7,8.3,759,23917,0.00,2.47,0.00,0.000,4,0.000,0.052,3260,3532,2358,0,0,0,0,0,0
$GC,23973,0.50,155.7,401.3,8.4,760,23978,0.00,2.40,0.00,0.000,6,0.000,0.040,3272,1948,2358,0,0,0,0,0,0
$GC,24323,0.50,155.7,371.2,8.6,769,24328,0.00,2.45,0.00,0.000,4,0.000,0.050,3284,348,2359,0,0,0,0,0,0
$GC,24424,0.50,155.7,361.0,9.2,771,24429,0.10,2.40,0.00,0.000,6,0.131,0.041,3250,1949,2359,0,0,0,0,0,0
$GC,24772,0.50,155.7,332.6,8.0,780,24773,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1949,2362,0,0,0,0,0,0
$GC,25096,0.50,155.7,311.1,6.3,788,25100,0.00,2.42,0.00,0.000,4,0.000,0.051,3249,3528,2363,0,0,0,0,0,0
$GC,25135,0.50,155.7,308.2,7.4,789,25139,0.00,2.40,0.00,0.000,6,0.000,0.038,3259,1933,2363,0,0,0,0,0,0
$GC,25462,0.50,155.7,283.1,8.1,802,25466,0.00,2.42,0.00,0.000,4,0.000,0.050,3272,347,2365,0,0,0,0,0,0
$GC,25529,0.50,155.7,277.3,10.8,805,25534,0.00,2.38,0.00,0.000,6,0.000,0.040,3272,1963,2366,0,0,0,0,0,0
$GC,25849,0.50,155.7,249.2,8.7,821,25854,0.00,2.35,0.00,0.000,4,0.000,0.050,3272,3521,2367,0,0,0,0,0,0
$GC,25877,0.50,155.7,246.6,8.4,822,25882,0.10,2.40,0.00,0.000,6,0.134,0.038,3249,1927,2367,0,0,0,0,0,0
$GC,26191,0.50,155.7,224.6,6.4,837,26201,0.00,2.45,4.00,0.595,4,0.000,0.048,3260,355,2360,0,0,0,0,0,0
$GC,26247,0.50,155.7,220.9,7.3,839,26252,0.00,2.38,0.00,0.000,6,0.000,0.043,3260,1933,2360,0,0,0,0,0,0
$GC,26562,0.50,155.7,200.6,6.0,854,26566,0.00,2.47,0.00,0.000,4,0.000,0.051,3260,3541,2363,0,0,0,0,0,0
$GC,26624,0.53,173.0,196.6,5.5,859,26648,0.00,2.42,16.60,0.890,6,0.000,0.038,3272,1935,2289,0,0,0,0,0,0
$GC,26909,0.53,173.0,179.1,6.3,886,26912,0.00,2.40,0.00,0.000,4,0.000,0.049,3285,351,2290,0,0,0,0,0,0
$GC,26965,0.53,173.0,175.3,6.3,891,26969,0.00,2.38,0.00,0.000,6,0.000,0.041,3285,1951,2290,0,0,0,0,0,0
$GC,27225,0.53,173.0,156.2,7.7,915,27229,0.00,2.45,0.00,0.000,4,0.000,0.051,3285,3528,2293,0,0,0,0,0,0
$GC,27264,0.53,173.0,152.7,8.6,918,27269,0.12,2.40,0.00,0.000,6,0.117,0.038,3251,1929,2293,0,0,0,0,0,0
$GC,27526,0.53,173.0,135.3,6.3,942,27530,0.00,2.38,0.00,0.000,4,0.000,0.048,3261,356,2295,0,0,0,0,0,0
$GC,27542,0.55,188.9,134.2,5.6,943,27563,0.00,2.33,15.90,0.835,6,0.000,0.041,3261,1936,2224,0,0,0,0,0,0
$GC,27823,0.56,202.1,116.3,5.7,970,27843,0.00,2.47,12.07,0.790,4,0.000,0.048,3269,353,2170,0,0,0,0,0,0
$GC,27904,0.60,230.8,111.9,5.2,977,27934,0.00,2.35,24.42,0.849,6,0.000,0.041,3269,1948,2053,0,0,0,0,0,0
$GC,28189,0.60,230.8,93.7,6.5,1004,28193,0.00,2.42,0.00,0.000,4,0.000,0.048,3271,354,2055,0,0,0,0,0,0
$GC,28289,0.60,230.8,86.9,6.4,1012,28294,0.00,2.33,0.00,0.000,6,0.000,0.040,3271,1941,2055,0,0,0,0,0,0
$GC,28550,0.60,230.8,70.1,7.0,1037,28554,0.00,2.40,0.00,0.000,4,0.000,0.049,3271,3538,2058,0,0,0,0,0,0
$GC,28582,0.60,230.8,67.9,6.6,1039,28587,0.00,2.38,0.00,0.000,6,0.000,0.038,3272,1931,2058,0,0,0,0,0,0
$GC,28843,0.60,230.8,51.2,6.4,1064,28847,0.00,2.40,0.00,0.000,4,0.000,0.049,3272,351,2059,0,0,0,0,0,0
$GC,28882,0.60,230.8,48.5,6.7,1067,28886,0.00,2.38,0.00,0.000,6,0.000,0.041,3272,1945,2059,0,0,0,0,0,0
$GC,29144,0.60,230.8,31.1,6.3,1091,29148,0.00,2.42,0.00,0.000,4,0.000,0.048,3278,351,2060,0,0,0,0,0,0
$GC,29187,0.60,230.8,28.2,7.1,1094,29192,0.00,2.35,0.00,0.000,6,0.000,0.041,3278,1942,2060,0,0,0,0,0,0
$GC,29384,0.67,289.6,16.5,4.4,1113,29439,0.00,2.47,49.28,0.808,4,0.000,0.049,3283,355,1814,0,0,0,0,0,0
$GC,29467,0.67,289.6,11.9,7.2,1121,29472,0.00,2.38,0.00,0.000,6,0.000,0.042,3283,1941,1814,0,0,0,0,0,0
$STATE,29590,end climb,SURFACE_DEPTH_REACHED
$STATE,29590,begin surface coast
$FINISH,0.3,NaN
$STATE,29630,end surface coast,CONTROL_FINISHED_OK
$STATE,29630,begin surface
$SM_CCo,29648,170.75,0.828,0,0,474,618.15
$SM_GC,0.97,0.00,0.00,170.75,0.000,0.000,0.828,107,2109,474,-9.32,0.54,618.15
$IRIDIUM_FIX,2129.53,12832.35,140912,040406
$TT8_MAMPS,0.03068
$HUMID,1078721926
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.60
$XPDR_PINGS,1029
$24V_AH,21.7,87.891
$10V_AH,8.0,65.747
$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,21.275,332.175,406.275,170.750,0.000,23.820,40.259,185.913,257.250,0.000,15.994,1742.411,23705.320,808.255,3319.811,621.739,33.385,2489.545,0.000,2978.432,0.000,0.542,0.000
$DEVICE_MAMPS,217.061,75.933,1582.321,827.593,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36647,1136
$CAP_FILE_SIZE,333107,0
$CFSIZE,260165632,177967104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230311,033530,2133.464,12828.218,33,1.0,39,-3.0