version: 66.07
glider: 500
mission: 5
dive: 483
start: 3 24 111 13 39 14
data:
$ID,500
$MISSION,5
$DIVE,483
$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,-131173.62
$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,41
$R_STBD_OVSHOOT,49
$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
$GPS1,240311,133131,2131.573,12821.331,35,1.6,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-67.0
$GPS2,240311,133820,2131.523,12821.305,13,1.3,13,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.216,0.046
$KALMAN_X,-457335.9,-74.7,-116.5,983540.5,5829.3
$KALMAN_Y,557125.4,71.8,335.1,-517053.7,-1626.0
$MHEAD_RNG_PITCHd_Wd,285.1,243035,-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,14463,-0.51,-155.7,811.9,-3.5,536,14467,0.00,2.38,0.00,0.000,6,0.000,0.036,2903,2078,3611,0,0,0,0,0,0
$GC,14779,-0.51,-155.7,823.7,-3.8,544,14783,0.00,2.45,0.00,0.000,4,0.000,0.052,2891,3675,3611,0,0,0,0,0,0
$GC,14828,-0.51,-155.7,825.8,-4.5,545,14833,0.12,2.40,0.00,0.000,6,0.109,0.036,2939,2078,3611,0,0,0,0,0,0
$GC,15143,-0.51,-155.7,838.2,-4.3,553,15147,0.00,2.42,0.00,0.000,4,0.000,0.052,2929,3664,3610,0,0,0,0,0,0
$GC,15344,-0.51,-155.7,847.7,-4.3,557,15348,0.00,2.33,0.00,0.000,6,0.000,0.035,2929,2087,3610,0,0,0,0,0,0
$GC,15684,-0.51,-155.7,864.1,-4.9,566,15688,0.00,2.42,0.00,0.000,4,0.000,0.051,2927,3666,3609,0,0,0,0,0,0
$GC,15880,-0.51,-155.7,873.9,-4.9,570,15884,0.00,2.35,0.00,0.000,6,0.000,0.035,2927,2076,3608,0,0,0,0,0,0
$GC,16229,-0.51,-155.7,889.4,-4.2,579,16233,0.00,2.45,0.00,0.000,4,0.000,0.053,2917,3668,3607,0,0,0,0,0,0
$GC,16372,-0.51,-155.7,894.9,-3.0,582,16377,0.00,2.38,0.00,0.000,6,0.000,0.037,2916,2084,3608,0,0,0,0,0,0
$GC,16692,-0.51,-155.7,906.7,-3.7,590,16696,0.00,2.45,0.00,0.000,4,0.000,0.051,2906,3665,3607,0,0,0,0,0,0
$GC,16782,-0.51,-155.7,910.1,-4.2,592,16786,0.00,2.35,0.00,0.000,6,0.000,0.036,2906,2087,3607,0,0,0,0,0,0
$GC,17101,-0.51,-155.7,924.1,-4.5,600,17105,0.00,2.45,0.00,0.000,4,0.000,0.051,2895,3666,3606,0,0,0,0,0,0
$GC,17168,-0.51,-155.7,927.2,-4.1,601,17173,0.10,2.35,0.00,0.000,6,0.120,0.036,2933,2089,3606,0,0,0,0,0,0
$GC,17506,-0.51,-155.7,940.7,-4.0,610,17510,0.00,2.42,0.00,0.000,4,0.000,0.051,2924,3675,3605,0,0,0,0,0,0
$GC,17718,-0.51,-155.7,948.2,-3.4,614,17722,0.00,2.38,0.00,0.000,6,0.000,0.036,2923,2079,3605,0,0,0,0,0,0
$GC,18050,-0.51,-155.7,959.0,-3.4,623,18054,0.00,2.45,0.00,0.000,4,0.000,0.053,2921,3671,3604,0,0,0,0,0,0
$GC,18257,-0.51,-155.7,966.2,-2.5,627,18261,0.00,2.38,0.00,0.000,6,0.000,0.037,2921,2086,3604,0,0,0,0,0,0
$GC,18589,-0.51,-155.7,977.0,-3.2,635,18593,0.00,2.45,0.00,0.000,4,0.000,0.052,2911,3677,3604,0,0,0,0,0,0
$GC,18695,-0.51,-155.7,980.5,-3.3,637,18699,0.00,2.38,0.00,0.000,6,0.000,0.037,2911,2083,3603,0,0,0,0,0,0
$STATE,19036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19036,begin apogee
$GC,19042,-0.23,0.0,990.8,3.0,646,19185,0.30,0.00,139.52,1.576,6,0.078,0.000,3026,1931,2995,0,0,0,0,0,0
$STATE,19186,end apogee,CONTROL_FINISHED_OK
$STATE,19186,begin climb
$GC,19188,0.51,155.7,990.9,0.0,649,19346,0.60,2.65,149.00,1.552,4,0.054,0.051,3272,369,2360,0,0,0,0,0,0
$GC,19386,0.51,155.7,966.2,13.5,653,19390,0.00,2.47,0.00,0.000,6,0.000,0.041,3272,1929,2360,0,0,0,0,0,0
$GC,19717,0.51,155.7,919.3,14.0,661,19722,0.00,2.45,0.00,0.000,4,0.000,0.051,3272,3536,2359,0,0,0,0,0,0
$GC,19795,0.51,155.7,907.4,13.5,662,19801,0.10,2.40,0.00,0.000,6,0.148,0.040,3253,1948,2360,0,0,0,0,0,0
$GC,20129,0.51,155.7,863.9,13.3,671,20133,0.00,2.40,0.00,0.000,4,0.000,0.049,3264,354,2359,0,0,0,0,0,0
$GC,20223,0.51,155.7,850.6,12.0,673,20227,0.00,2.38,0.00,0.000,6,0.000,0.043,3264,1949,2358,0,0,0,0,0,0
$GC,20542,0.51,155.7,807.6,13.3,681,20547,0.00,2.40,0.00,0.000,4,0.000,0.052,3264,3524,2358,0,0,0,0,0,0
$GC,20581,0.51,155.7,802.2,13.0,682,20586,0.00,2.40,0.00,0.000,6,0.000,0.040,3276,1928,2358,0,0,0,0,0,0
$GC,20907,0.51,155.7,760.2,12.8,690,20911,0.00,2.38,0.00,0.000,4,0.000,0.050,3288,361,2358,0,0,0,0,0,0
$GC,20939,0.51,155.7,755.4,13.3,690,20945,0.12,2.35,0.00,0.000,6,0.127,0.044,3246,1944,2358,0,0,0,0,0,0
$GC,21271,0.51,155.7,718.1,11.1,699,21276,0.00,2.42,0.00,0.000,4,0.000,0.053,3246,3528,2357,0,0,0,0,0,0
$GC,21300,0.51,155.7,714.7,12.3,699,21304,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1936,2357,0,0,0,0,0,0
$GC,21635,0.51,155.7,675.2,11.6,708,21639,0.00,2.40,0.00,0.000,4,0.000,0.052,3270,356,2357,0,0,0,0,0,0
$GC,21704,0.51,155.7,667.1,11.7,709,21708,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1948,2357,0,0,0,0,0,0
$GC,22039,0.51,155.7,627.0,12.0,718,22043,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,3528,2357,0,0,0,0,0,0
$GC,22135,0.51,155.7,615.1,11.7,720,22139,0.00,2.40,0.00,0.000,6,0.000,0.040,3282,1935,2357,0,0,0,0,0,0
$GC,22453,0.51,155.7,575.1,12.7,728,22458,0.00,2.38,0.00,0.000,4,0.000,0.051,3294,362,2357,0,0,0,0,0,0
$GC,22542,0.51,155.7,563.2,12.5,730,22547,0.15,2.35,0.00,0.000,6,0.117,0.042,3243,1943,2357,0,0,0,0,0,0
$GC,22863,0.51,155.7,534.1,8.6,738,22867,0.00,2.42,0.00,0.000,4,0.000,0.054,3243,3526,2357,0,0,0,0,0,0
$GC,22895,0.51,155.7,531.0,9.2,738,22900,0.00,2.42,0.00,0.000,6,0.000,0.041,3253,1947,2357,0,0,0,0,0,0
$GC,23227,0.51,155.7,501.2,9.2,747,23231,0.00,2.45,0.00,0.000,4,0.000,0.051,3266,349,2358,0,0,0,0,0,0
$GC,23287,0.51,155.7,494.9,9.9,748,23291,0.00,2.40,0.00,0.000,6,0.000,0.042,3266,1944,2357,0,0,0,0,0,0
$GC,23638,0.51,155.7,462.8,8.9,757,23642,0.00,2.47,0.00,0.000,4,0.000,0.051,3278,348,2358,0,0,0,0,0,0
$GC,23659,0.51,155.7,460.8,7.7,757,23663,0.00,2.42,0.00,0.000,6,0.000,0.041,3278,1976,2358,0,0,0,0,0,0
$GC,24000,0.51,155.7,428.7,9.6,766,24004,0.00,2.40,0.00,0.000,4,0.000,0.051,3278,3527,2359,0,0,0,0,0,0
$GC,24023,0.51,155.7,426.5,10.2,766,24028,0.12,2.42,0.00,0.000,6,0.129,0.040,3249,1935,2358,0,0,0,0,0,0
$GC,24361,0.51,155.7,400.5,7.6,775,24365,0.00,2.40,0.00,0.000,4,0.000,0.049,3260,350,2359,0,0,0,0,0,0
$GC,24444,0.51,155.7,393.2,7.7,777,24449,0.00,2.38,0.00,0.000,6,0.000,0.041,3260,1940,2359,0,0,0,0,0,0
$GC,24775,0.51,155.7,363.9,9.0,785,24779,0.00,2.40,0.00,0.000,4,0.000,0.050,3260,3527,2360,0,0,0,0,0,0
$GC,24804,0.51,155.7,361.1,8.1,785,24808,0.00,2.40,0.00,0.000,6,0.000,0.038,3272,1941,2360,0,0,0,0,0,0
$GC,25134,0.51,155.7,329.0,9.6,793,25138,0.00,2.42,0.00,0.000,4,0.000,0.048,3285,349,2361,0,0,0,0,0,0
$GC,25266,0.51,155.7,316.7,9.4,796,25271,0.10,2.35,0.00,0.000,6,0.129,0.039,3249,1947,2362,0,0,0,0,0,0
$GC,25591,0.51,155.7,293.2,7.2,806,25595,0.00,2.40,0.00,0.000,4,0.000,0.048,3249,3528,2364,0,0,0,0,0,0
$GC,25629,0.51,155.7,290.2,6.9,808,25633,0.00,2.40,0.00,0.000,6,0.000,0.037,3259,1937,2364,0,0,0,0,0,0
$GC,25954,0.51,155.7,266.1,7.4,824,25958,0.00,2.40,0.00,0.000,4,0.000,0.048,3271,348,2365,0,0,0,0,0,0
$GC,25992,0.51,155.7,263.1,7.5,825,25997,0.00,2.38,0.00,0.000,6,0.000,0.039,3271,1950,2366,0,0,0,0,0,0
$GC,26307,0.51,155.7,239.7,7.6,841,26311,0.00,2.40,0.00,0.000,4,0.000,0.048,3271,3527,2368,0,0,0,0,0,0
$GC,26345,0.51,155.7,236.5,8.8,842,26350,0.00,2.40,0.00,0.000,6,0.000,0.037,3283,1937,2368,0,0,0,0,0,0
$GC,26660,0.51,155.7,213.1,7.3,858,26669,0.00,2.47,3.85,0.573,4,0.000,0.048,3295,352,2360,0,0,0,0,0,0
$GC,26715,0.51,155.7,208.9,7.5,860,26720,0.15,2.33,0.00,0.000,6,0.104,0.038,3240,1943,2360,0,0,0,0,0,0
$GC,27036,0.56,196.8,191.7,4.9,882,27076,0.00,2.45,35.33,0.927,4,0.000,0.046,3239,3523,2192,0,0,0,0,0,0
$GC,27104,0.58,217.6,187.9,5.5,888,27130,0.00,2.42,18.23,0.884,6,0.000,0.035,3248,1927,2108,0,0,0,0,0,0
$GC,27385,0.58,217.6,170.9,6.7,915,27389,0.00,2.45,0.00,0.000,4,0.000,0.049,3248,3531,2110,0,0,0,0,0,0
$GC,27453,0.58,217.6,166.0,7.0,920,27457,0.00,2.40,0.00,0.000,6,0.000,0.036,3248,1929,2111,0,0,0,0,0,0
$GC,27714,0.58,217.6,148.1,6.6,945,27719,0.00,2.45,0.00,0.000,4,0.000,0.046,3248,3532,2113,0,0,0,0,0,0
$GC,27754,0.58,217.6,145.4,6.9,948,27758,0.00,2.38,0.00,0.000,6,0.000,0.035,3249,1930,2113,0,0,0,0,0,0
$GC,28015,0.58,217.6,127.7,7.2,972,28019,0.00,2.42,0.00,0.000,4,0.000,0.047,3249,3525,2115,0,0,0,0,0,0
$GC,28082,0.58,217.6,123.2,7.6,977,28087,0.00,2.35,0.00,0.000,6,0.000,0.034,3249,1936,2116,0,0,0,0,0,0
$GC,28343,0.58,220.4,108.0,5.9,1002,28354,0.00,2.42,6.25,0.665,4,0.000,0.046,3248,3528,2096,0,0,0,0,0,0
$GC,28377,0.58,220.4,105.9,6.9,1005,28382,0.00,2.38,0.00,0.000,6,0.000,0.035,3249,1930,2096,0,0,0,0,0,0
$GC,28639,0.63,254.8,92.1,5.1,1030,28671,0.12,0.00,29.27,0.832,6,0.086,0.000,3325,1930,1955,0,0,0,0,0,0
$GC,28925,0.63,257.5,75.5,5.9,1057,28936,0.10,2.38,4.60,0.575,4,0.115,0.045,3287,360,1945,0,0,0,0,0,0
$GC,28983,0.63,257.5,71.6,6.4,1062,28987,0.00,2.30,0.00,0.000,6,0.000,0.036,3287,1944,1945,0,0,0,0,0,0
$GC,29243,0.63,257.5,51.5,8.5,1086,29247,0.00,2.40,0.00,0.000,4,0.000,0.048,3282,3527,1946,0,0,0,0,0,0
$GC,29294,0.63,257.5,47.1,8.8,1090,29298,0.00,2.35,0.00,0.000,6,0.000,0.035,3282,1944,1947,0,0,0,0,0,0
$GC,29554,0.63,257.5,26.0,6.8,1114,29558,0.00,2.38,0.00,0.000,4,0.000,0.046,3282,362,1948,0,0,0,0,0,0
$GC,29621,0.63,257.5,20.9,7.5,1119,29626,0.00,2.33,0.00,0.000,6,0.000,0.045,3282,1940,1948,0,0,0,0,0,0
$STATE,29815,end climb,SURFACE_DEPTH_REACHED
$STATE,29815,begin surface coast
$FINISH,0.2,NaN
$STATE,29848,end surface coast,CONTROL_FINISHED_OK
$STATE,29848,begin surface
$SM_CCo,29867,184.77,0.808,0,0,475,618.15
$SM_GC,0.95,0.00,0.00,184.77,0.000,0.000,0.808,106,2107,475,-9.33,0.48,618.15
$IRIDIUM_FIX,2124.90,12824.40,150912,232331
$TT8_MAMPS,0.03068
$HUMID,1078763216
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.40
$XPDR_PINGS,1056
$24V_AH,21.7,89.090
$10V_AH,8.0,66.223
$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,21.450,339.325,386.050,184.775,0.000,28.015,34.041,197.673,264.000,0.000,15.399,1717.562,24109.750,817.165,3167.444,626.863,33.383,2431.961,0.000,2821.145,0.000,0.541,0.000
$DEVICE_MAMPS,213.226,72.098,1576.185,808.418,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36709,1141
$CAP_FILE_SIZE,331771,0
$CFSIZE,260165632,177442816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240311,220130,2131.123,12820.217,37,1.7,42,-3.0