version: 66.07
glider: 500
mission: 5
dive: 484
start: 3 24 111 22 9 39
data:
$ID,500
$MISSION,5
$DIVE,484
$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,-131190.34
$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,40
$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
$GPS1,240311,220130,2131.123,12820.217,37,1.7,42,-3.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.6
$GPS2,240311,220844,2131.098,12820.199,14,1.8,14,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.212,0.063
$KALMAN_X,-452850.4,-341.9,866.6,976431.4,4517.3
$KALMAN_Y,555258.2,-47.4,-7.9,-515509.0,-2254.7
$MHEAD_RNG_PITCHd_Wd,289.6,241076,-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,15075,-0.50,-155.7,817.7,-4.3,556,15079,0.00,2.38,0.00,0.000,4,0.000,0.044,2916,514,3600,0,0,0,0,0,0
$GC,15152,-0.50,-155.7,821.3,-4.5,557,15157,0.00,2.33,0.00,0.000,6,0.000,0.041,2906,2085,3599,0,0,0,0,0,0
$GC,15484,-0.50,-155.7,835.7,-4.6,566,15489,0.00,2.38,0.00,0.000,4,0.000,0.044,2906,501,3599,0,0,0,0,0,0
$GC,15546,-0.50,-155.7,838.8,-5.0,567,15551,0.10,2.38,0.00,0.000,6,0.131,0.041,2931,2103,3598,0,0,0,0,0,0
$GC,15897,-0.50,-155.7,855.8,-5.3,576,15901,0.00,2.38,0.00,0.000,4,0.000,0.044,2931,513,3598,0,0,0,0,0,0
$GC,16065,-0.50,-155.7,865.0,-5.4,579,16070,0.00,2.35,0.00,0.000,6,0.000,0.042,2927,2083,3597,0,0,0,0,0,0
$GC,16397,-0.50,-155.7,881.0,-4.7,588,16401,0.00,2.35,0.00,0.000,4,0.000,0.045,2927,515,3596,0,0,0,0,0,0
$GC,16543,-0.50,-155.7,886.9,-3.7,591,16547,0.00,2.38,0.00,0.000,6,0.000,0.043,2917,2102,3596,0,0,0,0,0,0
$GC,16858,-0.50,-155.7,897.1,-3.2,599,16862,0.00,2.40,0.00,0.000,4,0.000,0.044,2917,509,3596,0,0,0,0,0,0
$GC,16982,-0.50,-155.7,901.2,-3.3,601,16987,0.00,2.38,0.00,0.000,6,0.000,0.042,2906,2100,3595,0,0,0,0,0,0
$GC,17314,-0.50,-155.7,911.8,-3.4,610,17318,0.00,2.38,0.00,0.000,4,0.000,0.044,2906,513,3594,0,0,0,0,0,0
$GC,17397,-0.50,-155.7,915.1,-3.7,612,17402,0.10,2.35,0.00,0.000,6,0.130,0.042,2932,2083,3594,0,0,0,0,0,0
$GC,17721,-0.50,-155.7,928.7,-4.5,620,17725,0.00,2.38,0.00,0.000,4,0.000,0.044,2932,514,3593,0,0,0,0,0,0
$GC,17906,-0.50,-155.7,938.0,-5.5,624,17911,0.00,2.38,0.00,0.000,6,0.000,0.043,2932,2096,3593,0,0,0,0,0,0
$GC,18220,-0.50,-155.7,953.8,-5.1,632,18225,0.00,2.40,0.00,0.000,4,0.000,0.044,2932,509,3593,0,0,0,0,0,0
$GC,18412,-0.50,-155.7,963.5,-5.0,636,18416,0.00,2.38,0.00,0.000,6,0.000,0.042,2931,2094,3592,0,0,0,0,0,0
$GC,18761,-0.50,-155.7,977.9,-4.1,645,18765,0.00,2.38,0.00,0.000,4,0.000,0.045,2931,513,3592,0,0,0,0,0,0
$GC,18962,-0.50,-155.7,985.3,-2.4,649,18966,0.00,2.35,0.00,0.000,6,0.000,0.042,2925,2087,3592,0,0,0,0,0,0
$STATE,19098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19098,begin apogee
$GC,19105,-0.23,0.0,990.0,3.4,653,19246,0.25,0.00,137.65,1.598,6,0.079,0.000,3025,1927,2995,0,0,0,0,0,0
$STATE,19247,end apogee,CONTROL_FINISHED_OK
$STATE,19247,begin climb
$GC,19249,0.50,155.7,991.2,0.0,656,19407,0.60,2.67,148.93,1.560,4,0.054,0.048,3271,382,2360,0,0,0,0,0,0
$GC,19490,0.50,155.7,962.8,13.1,661,19494,0.00,2.40,0.00,0.000,6,0.000,0.041,3271,1940,2360,0,0,0,0,0,0
$GC,19828,0.50,155.7,918.3,13.0,670,19832,0.00,2.45,0.00,0.000,4,0.000,0.051,3271,3527,2360,0,0,0,0,0,0
$GC,19866,0.50,155.7,912.8,14.9,671,19871,0.00,2.38,0.00,0.000,6,0.000,0.039,3283,1949,2359,0,0,0,0,0,0
$GC,20193,0.50,155.7,868.1,13.7,679,20197,0.00,2.42,0.00,0.000,4,0.000,0.050,3296,353,2359,0,0,0,0,0,0
$GC,20247,0.50,155.7,859.7,15.6,680,20252,0.15,2.38,0.00,0.000,6,0.126,0.044,3246,1944,2359,0,0,0,0,0,0
$GC,20596,0.50,155.7,820.3,11.1,689,20600,0.00,2.45,0.00,0.000,4,0.000,0.054,3246,3529,2358,0,0,0,0,0,0
$GC,20652,0.50,155.7,813.4,12.4,690,20656,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1945,2358,0,0,0,0,0,0
$GC,20963,0.50,155.7,776.4,11.8,698,20968,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,348,2358,0,0,0,0,0,0
$GC,21054,0.50,155.7,765.3,12.1,700,21058,0.00,2.38,0.00,0.000,6,0.000,0.042,3270,1941,2358,0,0,0,0,0,0
$GC,21373,0.50,155.7,725.3,12.6,708,21377,0.00,2.42,0.00,0.000,4,0.000,0.052,3270,3525,2357,0,0,0,0,0,0
$GC,21429,0.50,155.7,717.3,14.3,709,21433,0.00,2.40,0.00,0.000,6,0.000,0.040,3282,1930,2357,0,0,0,0,0,0
$GC,21777,0.50,155.7,670.2,13.2,718,21781,0.00,2.38,0.00,0.000,4,0.000,0.050,3294,359,2357,0,0,0,0,0,0
$GC,21867,0.50,155.7,658.7,11.7,720,21872,0.15,2.38,0.00,0.000,6,0.123,0.044,3244,1945,2357,0,0,0,0,0,0
$GC,22186,0.50,155.7,629.6,9.0,728,22190,0.00,2.42,0.00,0.000,4,0.000,0.052,3244,3536,2357,0,0,0,0,0,0
$GC,22236,0.50,155.7,624.4,9.8,729,22240,0.00,2.42,0.00,0.000,6,0.000,0.041,3254,1948,2357,0,0,0,0,0,0
$GC,22549,0.50,155.7,590.1,11.5,737,22553,0.00,2.45,0.00,0.000,4,0.000,0.050,3268,346,2357,0,0,0,0,0,0
$GC,22598,0.50,155.7,584.1,13.1,738,22602,0.00,2.40,0.00,0.000,6,0.000,0.042,3268,1954,2357,0,0,0,0,0,0
$GC,22913,0.50,155.7,550.3,10.4,746,22914,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1954,2357,0,0,0,0,0,0
$GC,23236,0.50,155.7,517.0,10.6,754,23240,0.00,2.45,0.00,0.000,4,0.000,0.052,3268,3530,2357,0,0,0,0,0,0
$GC,23264,0.50,155.7,513.9,11.1,754,23268,0.00,2.45,0.00,0.000,6,0.000,0.041,3280,1928,2357,0,0,0,0,0,0
$GC,23599,0.50,155.7,476.7,10.7,763,23600,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1928,2357,0,0,0,0,0,0
$GC,23924,0.50,155.7,444.8,9.8,771,23928,0.00,2.50,0.00,0.000,4,0.000,0.052,3280,3524,2358,0,0,0,0,0,0
$GC,23947,0.50,155.7,442.5,9.2,771,23952,0.12,2.45,0.00,0.000,6,0.127,0.041,3252,1935,2358,0,0,0,0,0,0
$GC,24284,0.50,155.7,415.7,7.8,780,24289,0.00,2.40,0.00,0.000,4,0.000,0.049,3263,353,2358,0,0,0,0,0,0
$GC,24345,0.50,155.7,410.3,8.4,781,24350,0.00,2.35,0.00,0.000,6,0.000,0.041,3263,1947,2359,0,0,0,0,0,0
$GC,24694,0.50,155.7,380.3,8.6,790,24698,0.00,2.42,0.00,0.000,4,0.000,0.050,3263,3533,2360,0,0,0,0,0,0
$GC,24746,0.50,155.7,375.3,8.9,791,24750,0.00,2.42,0.00,0.000,6,0.000,0.039,3275,1940,2361,0,0,0,0,0,0
$GC,25066,0.50,155.7,349.0,8.0,799,25070,0.00,2.42,0.00,0.000,4,0.000,0.049,3287,353,2362,0,0,0,0,0,0
$GC,25171,0.50,155.7,339.6,8.6,801,25176,0.12,2.35,0.00,0.000,6,0.120,0.040,3243,1944,2362,0,0,0,0,0,0
$GC,25516,0.50,155.7,315.2,7.3,810,25520,0.00,2.40,0.00,0.000,4,0.000,0.048,3243,3528,2364,0,0,0,0,0,0
$GC,25554,0.50,155.7,311.8,8.5,811,25558,0.00,2.40,0.00,0.000,6,0.000,0.037,3254,1928,2364,0,0,0,0,0,0
$GC,25879,0.50,155.7,287.8,6.9,823,25883,0.00,2.35,0.00,0.000,4,0.000,0.046,3266,356,2366,0,0,0,0,0,0
$GC,25947,0.50,155.7,283.0,7.0,826,25952,0.00,2.38,0.00,0.000,6,0.000,0.041,3266,1953,2366,0,0,0,0,0,0
$GC,26267,0.50,155.7,262.0,6.5,842,26272,0.00,2.45,0.00,0.000,4,0.000,0.049,3266,3524,2367,0,0,0,0,0,0
$GC,26323,0.50,155.7,257.8,8.2,844,26327,0.00,2.35,0.00,0.000,6,0.000,0.036,3277,1938,2368,0,0,0,0,0,0
$GC,26639,0.50,155.7,234.5,7.6,860,26648,0.00,2.45,4.15,0.619,4,0.000,0.047,3290,356,2359,0,0,0,0,0,0
$GC,26730,0.50,155.7,227.4,8.5,864,26735,0.12,2.33,0.00,0.000,6,0.117,0.038,3245,1947,2360,0,0,0,0,0,0
$GC,27056,0.58,215.6,210.2,4.4,880,27112,0.00,2.45,50.50,0.945,4,0.000,0.046,3244,3525,2116,0,0,0,0,0,0
$GC,27168,0.63,259.3,204.9,4.8,884,27213,0.12,2.40,37.35,0.938,6,0.080,0.034,3342,1930,1937,0,0,0,0,0,0
$GC,27538,0.63,259.3,168.7,11.1,916,27543,0.15,2.42,0.00,0.000,4,0.110,0.044,3304,351,1941,0,0,0,0,0,0
$GC,27627,0.63,259.3,161.0,8.1,923,27632,0.00,2.30,0.00,0.000,6,0.000,0.037,3304,1934,1941,0,0,0,0,0,0
$GC,27887,0.63,259.3,137.3,8.7,948,27892,0.00,2.45,0.00,0.000,4,0.000,0.048,3304,3534,1943,0,0,0,0,0,0
$GC,27915,0.63,259.3,134.7,8.7,950,27919,0.00,2.38,0.00,0.000,6,0.000,0.036,3316,1949,1944,0,0,0,0,0,0
$GC,28175,0.63,259.3,110.6,8.0,974,28179,0.00,2.40,0.00,0.000,4,0.000,0.044,3328,349,1945,0,0,0,0,0,0
$GC,28247,0.63,259.3,104.4,8.0,980,28252,0.12,2.35,0.00,0.000,6,0.108,0.044,3279,1959,1945,0,0,0,0,0,0
$GC,28508,0.67,287.5,89.0,5.3,1004,28537,0.00,0.00,26.10,0.829,6,0.000,0.000,3279,1959,1822,0,0,0,0,0,0
$GC,28795,0.67,287.5,70.4,7.1,1031,28799,0.00,2.38,0.00,0.000,4,0.000,0.047,3270,3522,1823,0,0,0,0,0,0
$GC,28816,0.67,287.5,68.3,8.1,1032,28821,0.10,2.38,0.00,0.000,6,0.101,0.035,3319,1928,1823,0,0,0,0,0,0
$GC,29076,0.67,287.5,45.6,8.1,1057,29080,0.00,2.40,0.00,0.000,4,0.000,0.048,3319,3521,1824,0,0,0,0,0,0
$GC,29138,0.67,287.5,40.2,7.5,1062,29142,0.00,2.35,0.00,0.000,6,0.000,0.036,3327,1941,1825,0,0,0,0,0,0
$GC,29398,0.67,287.5,19.2,7.1,1086,29402,0.00,2.40,0.00,0.000,4,0.000,0.046,3337,361,1826,0,0,0,0,0,0
$GC,29471,0.67,287.5,13.0,6.7,1092,29476,0.10,2.28,0.00,0.000,6,0.119,0.035,3299,1944,1826,0,0,0,0,0,0
$STATE,29644,end climb,SURFACE_DEPTH_REACHED
$STATE,29644,begin surface coast
$FINISH,0.2,NaN
$STATE,29697,end surface coast,CONTROL_FINISHED_OK
$STATE,29698,begin surface
$SM_CCo,29717,170.60,0.805,0,0,475,618.15
$SM_GC,0.82,0.00,0.00,170.60,0.000,0.000,0.805,107,2106,475,-9.32,0.45,618.15
$IRIDIUM_FIX,2122.58,12821.14,160912,070734
$TT8_MAMPS,0.029913
$HUMID,1078745152
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.60
$XPDR_PINGS,940
$24V_AH,21.7,89.332
$10V_AH,8.0,66.319
$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,21.850,328.000,404.675,170.600,0.000,23.298,42.050,218.531,235.000,0.000,16.089,1737.467,23794.947,798.765,3330.147,639.969,33.386,2472.631,0.000,2956.003,0.000,0.542,0.000
$DEVICE_MAMPS,214.760,68.263,1597.661,804.583,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36680,1113
$CAP_FILE_SIZE,331594,0
$CFSIZE,260165632,177336320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250311,062907,2131.278,12818.209,38,0.9,38,-3.0