version: 66.07
glider: 500
mission: 5
dive: 481
start: 3 23 111 20 34 52
data:
$ID,500
$MISSION,5
$DIVE,481
$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,-131142.66
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,230311,202704,2132.172,12824.935,40,1.2,43,-3.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.8
$GPS2,230311,203357,2132.128,12824.959,10,1.5,11,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.218,0.033
$KALMAN_X,-465020.7,-900.3,308.5,997947.2,6185.1
$KALMAN_Y,559927.4,67.2,-296.2,-518089.3,-1162.3
$MHEAD_RNG_PITCHd_Wd,281.6,249405,-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,3981,-0.50,-155.7,333.8,-4.6,264,3985,0.00,2.45,0.00,0.000,4,0.000,0.049,2920,3670,3637,0,0,0,0,0,0
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$GC,14922,-0.50,-155.7,849.1,-4.2,529,14926,0.00,2.38,0.00,0.000,6,0.000,0.043,2931,2086,3601,0,0,0,0,0,0
$GC,15271,-0.50,-155.7,865.5,-4.9,538,15275,0.00,2.40,0.00,0.000,4,0.000,0.045,2931,516,3600,0,0,0,0,0,0
$GC,15410,-0.50,-155.7,872.4,-4.9,541,15414,0.00,2.35,0.00,0.000,6,0.000,0.042,2922,2101,3600,0,0,0,0,0,0
$GC,15730,-0.50,-155.7,885.8,-4.1,549,15734,0.00,2.40,0.00,0.000,4,0.000,0.044,2922,515,3599,0,0,0,0,0,0
$GC,15844,-0.50,-155.7,890.2,-3.8,551,15848,0.00,2.38,0.00,0.000,6,0.000,0.042,2915,2101,3599,0,0,0,0,0,0
$GC,16188,-0.50,-155.7,901.1,-3.2,560,16192,0.00,2.40,0.00,0.000,4,0.000,0.044,2914,509,3598,0,0,0,0,0,0
$GC,16288,-0.50,-155.7,904.1,-2.4,562,16292,0.00,2.35,0.00,0.000,6,0.000,0.042,2904,2091,3598,0,0,0,0,0,0
$GC,16603,-0.50,-155.7,913.5,-3.2,570,16608,0.00,2.40,0.00,0.000,4,0.000,0.045,2904,506,3597,0,0,0,0,0,0
$GC,16681,-0.50,-155.7,916.7,-4.5,571,16687,0.12,2.38,0.00,0.000,6,0.116,0.043,2939,2088,3597,0,0,0,0,0,0
$GC,17017,-0.50,-155.7,930.9,-4.8,580,17021,0.00,2.35,0.00,0.000,4,0.000,0.046,2939,516,3597,0,0,0,0,0,0
$GC,17275,-0.50,-155.7,945.4,-5.2,585,17279,0.00,2.35,0.00,0.000,6,0.000,0.042,2938,2095,3597,0,0,0,0,0,0
$GC,17607,-0.50,-155.7,962.4,-5.0,594,17611,0.00,2.45,0.00,0.000,4,0.000,0.053,2930,3678,3596,0,0,0,0,0,0
$GC,17865,-0.50,-155.7,973.9,-5.1,599,17870,0.00,2.38,0.00,0.000,6,0.000,0.038,2930,2084,3596,0,0,0,0,0,0
$GC,18196,-0.50,-155.7,985.5,-3.4,608,18200,0.00,2.40,0.00,0.000,4,0.000,0.046,2930,501,3595,0,0,0,0,0,0
$STATE,18326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18326,begin apogee
$GC,18334,-0.23,0.0,990.2,3.1,611,18475,0.28,0.00,138.05,1.594,6,0.079,0.000,3027,1942,2995,0,0,0,0,0,0
$STATE,18476,end apogee,CONTROL_FINISHED_OK
$STATE,18476,begin climb
$GC,18479,0.50,155.7,991.3,0.0,614,18636,0.60,2.72,149.23,1.563,4,0.055,0.052,3258,3527,2360,0,0,0,0,0,0
$GC,18682,0.50,155.7,967.9,15.8,618,18686,0.00,2.53,0.00,0.000,6,0.000,0.041,3270,1955,2360,0,0,0,0,0,0
$GC,19013,0.50,155.7,923.3,13.4,627,19017,0.00,2.42,0.00,0.000,4,0.000,0.051,3283,350,2359,0,0,0,0,0,0
$GC,19090,0.50,155.7,912.3,13.9,628,19096,0.10,2.40,0.00,0.000,6,0.140,0.044,3251,1955,2359,0,0,0,0,0,0
$GC,19424,0.50,155.7,873.1,11.8,637,19428,0.00,2.40,0.00,0.000,4,0.000,0.052,3250,3525,2358,0,0,0,0,0,0
$GC,19456,0.50,155.7,868.4,13.7,637,19461,0.00,2.38,0.00,0.000,6,0.000,0.041,3262,1936,2358,0,0,0,0,0,0
$GC,19788,0.50,155.7,826.2,12.8,646,19792,0.00,2.42,0.00,0.000,4,0.000,0.052,3274,353,2357,0,0,0,0,0,0
$GC,19848,0.50,155.7,817.8,14.9,647,19852,0.00,2.38,0.00,0.000,6,0.000,0.044,3274,1938,2357,0,0,0,0,0,0
$GC,20198,0.50,155.7,770.9,13.4,656,20203,0.00,2.42,0.00,0.000,4,0.000,0.053,3274,3525,2357,0,0,0,0,0,0
$GC,20253,0.50,155.7,762.8,13.8,657,20258,0.12,2.40,0.00,0.000,6,0.133,0.041,3246,1939,2356,0,0,0,0,0,0
$GC,20602,0.50,155.7,727.4,9.9,666,20606,0.00,2.40,0.00,0.000,4,0.000,0.052,3257,358,2356,0,0,0,0,0,0
$GC,20686,0.50,155.7,718.5,10.7,668,20691,0.00,2.38,0.00,0.000,6,0.000,0.044,3257,1938,2356,0,0,0,0,0,0
$GC,21011,0.50,155.7,684.2,10.6,676,21015,0.00,2.42,0.00,0.000,4,0.000,0.053,3257,3533,2356,0,0,0,0,0,0
$GC,21090,0.50,155.7,674.8,11.6,677,21095,0.00,2.40,0.00,0.000,6,0.000,0.043,3270,1931,2356,0,0,0,0,0,0
$GC,21421,0.50,155.7,636.2,11.5,686,21425,0.00,2.38,0.00,0.000,4,0.000,0.052,3282,363,2355,0,0,0,0,0,0
$GC,21510,0.50,155.7,626.0,11.1,688,21514,0.00,2.35,0.00,0.000,6,0.000,0.041,3282,1944,2355,0,0,0,0,0,0
$GC,21830,0.50,155.7,588.4,11.7,696,21834,0.00,2.42,0.00,0.000,4,0.000,0.051,3282,3526,2355,0,0,0,0,0,0
$GC,21904,0.50,155.7,579.1,13.4,697,21909,0.15,2.40,0.00,0.000,6,0.123,0.040,3245,1941,2355,0,0,0,0,0,0
$GC,22235,0.50,155.7,547.1,9.4,705,22240,0.00,2.42,0.00,0.000,4,0.000,0.051,3257,347,2355,0,0,0,0,0,0
$GC,22305,0.50,155.7,540.6,9.1,706,22309,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1948,2355,0,0,0,0,0,0
$GC,22640,0.50,155.7,507.4,9.9,715,22644,0.00,2.42,0.00,0.000,4,0.000,0.048,3269,355,2355,0,0,0,0,0,0
$GC,22683,0.50,155.7,503.0,9.7,716,22688,0.00,2.38,0.00,0.000,6,0.000,0.042,3269,1939,2355,0,0,0,0,0,0
$GC,23009,0.50,155.7,472.1,9.7,724,23013,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,3533,2356,0,0,0,0,0,0
$GC,23074,0.50,155.7,464.6,10.9,725,23079,0.00,2.45,0.00,0.000,6,0.000,0.041,3281,1931,2355,0,0,0,0,0,0
$GC,23412,0.50,155.7,428.6,10.3,734,23416,0.00,2.42,0.00,0.000,4,0.000,0.051,3294,351,2356,0,0,0,0,0,0
$GC,23489,0.50,155.7,420.7,9.1,735,23494,0.12,2.35,0.00,0.000,6,0.126,0.041,3252,1938,2356,0,0,0,0,0,0
$GC,23822,0.50,155.7,394.3,8.1,744,23826,0.00,2.40,0.00,0.000,4,0.000,0.051,3251,3525,2357,0,0,0,0,0,0
$GC,23861,0.50,155.7,390.6,8.2,745,23865,0.00,2.38,0.00,0.000,6,0.000,0.038,3262,1935,2357,0,0,0,0,0,0
$GC,24187,0.50,155.7,364.7,7.5,753,24188,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1934,2357,0,0,0,0,0,0
$GC,24509,0.50,155.7,338.6,8.5,761,24513,0.00,2.45,0.00,0.000,4,0.000,0.048,3274,348,2359,0,0,0,0,0,0
$GC,24582,0.50,155.7,331.9,8.5,762,24586,0.00,2.35,0.00,0.000,6,0.000,0.039,3274,1943,2360,0,0,0,0,0,0
$GC,24913,0.50,155.7,303.7,8.2,770,24917,0.00,2.47,0.00,0.000,4,0.000,0.058,3275,3525,2362,0,0,0,0,0,0
$GC,24945,0.50,155.7,300.9,7.3,770,24951,0.12,2.40,0.00,0.000,6,0.123,0.038,3243,1935,2362,0,0,0,0,0,0
$GC,25260,0.50,155.7,281.4,6.2,785,25263,0.00,2.40,0.00,0.000,4,0.000,0.048,3254,351,2363,0,0,0,0,0,0
$GC,25298,0.50,155.7,278.8,7.1,786,25303,0.00,2.35,0.00,0.000,6,0.000,0.040,3254,1957,2363,0,0,0,0,0,0
$GC,25613,0.50,155.7,257.7,6.6,802,25614,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1957,2365,0,0,0,0,0,0
$GC,25922,0.50,155.7,237.6,6.3,817,25926,0.00,2.40,0.00,0.000,4,0.000,0.048,3254,3522,2366,0,0,0,0,0,0
$GC,25967,0.50,155.7,234.5,8.2,819,25971,0.00,2.40,0.00,0.000,6,0.000,0.036,3265,1926,2367,0,0,0,0,0,0
$GC,26299,0.50,155.7,212.2,6.7,835,26303,0.00,2.42,0.00,0.000,4,0.000,0.046,3278,350,2368,0,0,0,0,0,0
$GC,26384,0.50,155.7,205.8,8.7,839,26388,0.00,2.35,0.00,0.000,6,0.000,0.038,3278,1943,2368,0,0,0,0,0,0
$GC,26709,0.50,155.7,182.5,7.1,866,26719,0.00,2.50,3.97,0.578,4,0.000,0.049,3278,3527,2360,0,0,0,0,0,0
$GC,26758,0.50,155.7,178.7,7.5,870,26763,0.12,2.38,0.00,0.000,6,0.120,0.035,3246,1933,2360,0,0,0,0,0,0
$GC,27019,0.52,167.9,165.2,5.7,895,27038,0.00,2.47,12.30,0.839,4,0.000,0.046,3256,354,2310,0,0,0,0,0,0
$GC,27068,0.56,201.3,162.5,5.1,899,27103,0.00,2.35,28.20,0.888,6,0.000,0.038,3256,1940,2173,0,0,0,0,0,0
$GC,27358,0.62,251.5,147.3,4.7,927,27409,0.10,2.55,42.22,0.897,4,0.097,0.048,3353,3543,1969,0,0,0,0,0,0
$GC,27434,0.62,251.5,140.0,10.5,934,27440,0.22,2.42,0.00,0.000,6,0.115,0.036,3294,1944,1971,0,0,0,0,0,0
$GC,27696,0.62,251.5,120.3,7.3,958,27700,0.00,2.40,0.00,0.000,4,0.000,0.046,3305,352,1972,0,0,0,0,0,0
$GC,27739,0.62,251.5,116.8,7.0,961,27744,0.00,2.35,0.00,0.000,6,0.000,0.037,3305,1942,1972,0,0,0,0,0,0
$GC,28001,0.62,251.5,96.4,8.6,986,28002,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1942,1973,0,0,0,0,0,0
$GC,28256,0.62,251.5,75.1,7.4,1010,28257,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1942,1975,0,0,0,0,0,0
$GC,28511,0.62,251.5,55.2,7.2,1034,28515,0.00,2.42,0.00,0.000,4,0.000,0.046,3304,3533,1976,0,0,0,0,0,0
$GC,28538,0.62,251.5,53.0,7.0,1036,28543,0.00,2.40,0.00,0.000,6,0.000,0.036,3316,1926,1976,0,0,0,0,0,0
$GC,28800,0.62,251.5,34.1,6.6,1060,28810,0.00,2.40,3.67,0.454,4,0.000,0.045,3328,363,1969,0,0,0,0,0,0
$GC,28849,0.62,251.5,30.2,8.1,1064,28854,0.12,2.30,0.00,0.000,6,0.205,0.037,3278,1953,1969,0,0,0,0,0,0
$GC,29109,0.62,251.5,12.2,6.4,1089,29114,0.00,2.40,0.00,0.000,4,0.000,0.048,3278,3525,1970,0,0,0,0,0,0
$GC,29207,0.62,251.5,4.9,6.8,1097,29212,0.00,2.35,0.00,0.000,6,0.000,0.034,3289,1928,1971,0,0,0,0,0,0
$STATE,29231,end climb,SURFACE_DEPTH_REACHED
$STATE,29232,begin surface coast
$FINISH,0.4,NaN
$STATE,29275,end surface coast,CONTROL_FINISHED_OK
$STATE,29275,begin surface
$SM_CCo,29295,186.18,0.805,0,0,475,618.15
$SM_GC,0.83,0.00,0.00,186.18,0.000,0.000,0.805,106,2090,475,-9.33,0.00,618.15
$IRIDIUM_FIX,2124.90,12829.09,150912,060600
$TT8_MAMPS,0.03068
$HUMID,1078703861
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.70
$XPDR_PINGS,968
$24V_AH,21.7,88.612
$10V_AH,8.0,66.031
$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,21.675,327.875,377.650,186.175,0.000,29.561,37.768,201.041,242.000,0.000,13.405,1694.650,23565.436,800.649,3196.072,619.265,33.407,2420.313,0.000,2844.116,0.000,0.542,0.000
$DEVICE_MAMPS,213.226,70.564,1593.826,805.350,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355572
$DATA_FILE_SIZE,36653,1103
$CAP_FILE_SIZE,325422,0
$CFSIZE,260165632,177659904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240311,044736,2131.877,12822.512,35,0.9,40,-3.0