version: 66.07
glider: 500
mission: 5
dive: 433
start: 3 6 111 19 13 59
data:
$ID,500
$MISSION,5
$DIVE,433
$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,400
$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,-130180.02
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,060311,190630,2158.135,12857.981,38,1.2,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.8
$GPS2,060311,191306,2158.119,12858.011,9,1.2,25,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.189,-0.114
$KALMAN_X,-669758.9,158.8,-51.2,1259058.9,6253.6
$KALMAN_Y,405580.2,-666.1,-78.0,-315081.1,3748.5
$MHEAD_RNG_PITCHd_Wd,242.2,313004,-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
$STATE,14,begin dive
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$GC,14970,-0.50,-155.7,815.2,-3.4,540,14974,0.00,2.47,0.00,0.000,4,0.000,0.054,2901,3677,3617,0,0,0,0,0,0
$GC,15021,-0.50,-155.7,817.1,-3.7,541,15026,0.00,2.40,0.00,0.000,6,0.000,0.037,2901,2082,3618,0,0,0,0,0,0
$GC,15335,-0.50,-155.7,829.7,-4.2,549,15339,0.00,2.47,0.00,0.000,4,0.000,0.054,2890,3674,3617,0,0,0,0,0,0
$GC,15397,-0.50,-155.7,832.6,-5.3,550,15402,0.12,2.38,0.00,0.000,6,0.110,0.038,2937,2081,3617,0,0,0,0,0,0
$GC,15739,-0.50,-155.7,847.8,-4.8,559,15744,0.00,2.47,0.00,0.000,4,0.000,0.054,2926,3675,3617,0,0,0,0,0,0
$GC,15952,-0.50,-155.7,858.7,-5.6,563,15956,0.00,2.38,0.00,0.000,6,0.000,0.038,2926,2085,3616,0,0,0,0,0,0
$GC,16283,-0.50,-155.7,872.5,-3.9,572,16287,0.00,2.45,0.00,0.000,4,0.000,0.054,2925,3670,3616,0,0,0,0,0,0
$GC,16529,-0.50,-155.7,881.0,-2.9,577,16533,0.00,2.35,0.00,0.000,6,0.000,0.038,2925,2087,3616,0,0,0,0,0,0
$GC,16867,-0.50,-155.7,891.4,-3.3,586,16871,0.00,2.45,0.00,0.000,4,0.000,0.054,2924,3669,3616,0,0,0,0,0,0
$GC,17051,-0.50,-155.7,898.9,-4.0,590,17055,0.00,2.35,0.00,0.000,6,0.000,0.038,2924,2090,3615,0,0,0,0,0,0
$GC,17366,-0.50,-155.7,911.9,-4.3,598,17370,0.00,2.45,0.00,0.000,4,0.000,0.053,2913,3682,3616,0,0,0,0,0,0
$GC,17507,-0.50,-155.7,918.2,-3.9,601,17511,0.00,2.38,0.00,0.000,6,0.000,0.036,2913,2089,3615,0,0,0,0,0,0
$GC,17820,-0.50,-155.7,931.2,-4.1,609,17825,0.00,2.47,0.00,0.000,4,0.000,0.052,2902,3674,3614,0,0,0,0,0,0
$GC,17905,-0.50,-155.7,934.4,-3.0,611,17910,0.00,2.38,0.00,0.000,6,0.000,0.038,2902,2087,3614,0,0,0,0,0,0
$GC,18232,-0.50,-155.7,946.1,-3.5,619,18236,0.00,2.47,0.00,0.000,4,0.000,0.054,2891,3671,3614,0,0,0,0,0,0
$GC,18299,-0.50,-155.7,948.4,-1.9,620,18304,0.12,2.40,0.00,0.000,6,0.107,0.038,2939,2086,3614,0,0,0,0,0,0
$GC,18637,-0.50,-155.7,958.6,-3.2,629,18641,0.00,2.45,0.00,0.000,4,0.000,0.055,2929,3667,3614,0,0,0,0,0,0
$GC,18894,-0.50,-155.7,967.9,-4.6,634,18899,0.00,2.38,0.00,0.000,6,0.000,0.038,2929,2078,3613,0,0,0,0,0,0
$GC,19224,-0.50,-155.7,980.6,-3.9,643,19229,0.00,2.38,0.00,0.000,4,0.000,0.051,2929,510,3614,0,0,0,0,0,0
$GC,19392,-0.50,-155.7,987.6,-4.1,646,19396,0.00,2.38,0.00,0.000,6,0.000,0.046,2922,2083,3613,0,0,0,0,0,0
$STATE,19476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19476,begin apogee
$GC,19483,-0.23,0.0,990.9,3.8,649,19630,0.25,0.00,143.80,1.618,6,0.076,0.000,3023,1929,2995,0,0,0,0,0,0
$STATE,19631,end apogee,CONTROL_FINISHED_OK
$STATE,19631,begin climb
$GC,19633,0.50,155.7,992.7,0.0,652,19795,0.62,2.67,152.48,1.596,4,0.052,0.054,3276,378,2360,0,0,0,0,0,0
$GC,19867,0.50,155.7,964.1,13.9,657,19872,0.00,2.50,0.00,0.000,6,0.000,0.048,3276,1945,2360,0,0,0,0,0,0
$GC,20211,0.50,155.7,913.6,14.8,666,20215,0.00,2.47,0.00,0.000,4,0.000,0.055,3276,3532,2358,0,0,0,0,0,0
$GC,20249,0.50,155.7,907.3,15.8,667,20254,0.12,2.42,0.00,0.000,6,0.140,0.042,3248,1946,2358,0,0,0,0,0,0
$GC,20574,0.50,155.7,865.4,12.7,675,20578,0.00,2.42,0.00,0.000,4,0.000,0.054,3260,352,2358,0,0,0,0,0,0
$GC,20623,0.50,155.7,858.9,13.0,676,20627,0.00,2.40,0.00,0.000,6,0.000,0.048,3260,1944,2357,0,0,0,0,0,0
$GC,20941,0.50,155.7,816.9,13.3,684,20945,0.00,2.45,0.00,0.000,4,0.000,0.054,3260,3528,2357,0,0,0,0,0,0
$GC,21031,0.50,155.7,804.0,13.7,686,21035,0.00,2.42,0.00,0.000,6,0.000,0.041,3272,1929,2357,0,0,0,0,0,0
$GC,21349,0.50,155.7,759.0,14.4,694,21354,0.00,2.40,0.00,0.000,4,0.000,0.052,3285,352,2357,0,0,0,0,0,0
$GC,21423,0.50,155.7,748.3,14.6,695,21428,0.12,2.40,0.00,0.000,6,0.129,0.047,3243,1942,2357,0,0,0,0,0,0
$GC,21754,0.50,155.7,709.5,11.5,703,21758,0.00,2.42,0.00,0.000,4,0.000,0.053,3243,3525,2356,0,0,0,0,0,0
$GC,21804,0.50,155.7,703.4,11.6,704,21809,0.00,2.40,0.00,0.000,6,0.000,0.041,3254,1934,2356,0,0,0,0,0,0
$GC,22118,0.50,155.7,668.1,11.2,712,22119,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1934,2356,0,0,0,0,0,0
$GC,22441,0.50,155.7,631.9,11.1,720,22442,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1933,2356,0,0,0,0,0,0
$GC,22767,0.50,155.7,597.6,10.3,728,22772,0.00,2.42,0.00,0.000,4,0.000,0.054,3266,348,2355,0,0,0,0,0,0
$GC,22811,0.50,155.7,592.8,9.1,729,22815,0.00,2.42,0.00,0.000,6,0.000,0.047,3266,1950,2356,0,0,0,0,0,0
$GC,23138,0.50,155.7,555.3,11.9,737,23142,0.00,2.42,0.00,0.000,4,0.000,0.054,3266,3525,2356,0,0,0,0,0,0
$GC,23215,0.50,155.7,544.7,13.7,738,23220,0.00,2.42,0.00,0.000,6,0.000,0.041,3279,1926,2356,0,0,0,0,0,0
$GC,23546,0.50,155.7,505.9,11.1,747,23551,0.00,2.45,0.00,0.000,4,0.000,0.054,3290,362,2356,0,0,0,0,0,0
$GC,23573,0.50,155.7,502.8,11.6,747,23578,0.12,2.40,0.00,0.000,6,0.130,0.046,3249,1955,2356,0,0,0,0,0,0
$GC,23911,0.50,155.7,473.7,8.8,756,23915,0.00,2.45,0.00,0.000,4,0.000,0.054,3249,3522,2356,0,0,0,0,0,0
$GC,23967,0.50,155.7,467.7,11.2,757,23971,0.00,2.40,0.00,0.000,6,0.000,0.041,3260,1929,2356,0,0,0,0,0,0
$GC,24315,0.50,155.7,432.0,10.4,766,24316,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1929,2357,0,0,0,0,0,0
$GC,24640,0.50,155.7,402.0,8.9,774,24644,0.00,2.42,0.00,0.000,4,0.000,0.051,3273,361,2357,0,0,0,0,0,0
$GC,24694,0.50,155.7,396.8,9.1,775,24699,0.00,2.38,0.00,0.000,6,0.000,0.043,3273,1941,2358,0,0,0,0,0,0
$GC,25045,0.50,155.7,364.7,9.0,784,25049,0.00,2.47,0.00,0.000,4,0.000,0.051,3273,3532,2359,0,0,0,0,0,0
$GC,25110,0.50,155.7,357.5,9.4,785,25116,0.10,2.42,0.00,0.000,6,0.137,0.041,3252,1945,2360,0,0,0,0,0,0
$GC,25449,0.50,155.7,331.2,7.6,794,25453,0.00,2.45,0.00,0.000,4,0.000,0.052,3263,355,2361,0,0,0,0,0,0
$GC,25481,0.50,155.7,328.3,7.9,794,25486,0.00,2.38,0.00,0.000,6,0.000,0.042,3263,1933,2361,0,0,0,0,0,0
$GC,25812,0.50,155.7,304.4,6.8,803,25816,0.00,2.47,0.00,0.000,4,0.000,0.051,3263,3541,2362,0,0,0,0,0,0
$GC,25919,0.50,155.7,296.4,7.9,806,25924,0.00,2.45,0.00,0.000,6,0.000,0.038,3275,1923,2363,0,0,0,0,0,0
$GC,26244,0.50,155.7,270.7,8.5,822,26248,0.00,2.42,0.00,0.000,4,0.000,0.051,3287,349,2364,0,0,0,0,0,0
$GC,26346,0.50,155.7,261.4,9.5,826,26351,0.12,2.38,0.00,0.000,6,0.118,0.041,3242,1952,2365,0,0,0,0,0,0
$GC,26660,0.50,155.7,238.9,6.7,842,26664,0.00,2.42,0.00,0.000,4,0.000,0.051,3242,3522,2367,0,0,0,0,0,0
$GC,26726,0.50,155.7,234.0,8.3,845,26731,0.00,2.40,0.00,0.000,6,0.000,0.037,3253,1932,2367,0,0,0,0,0,0
$GC,27052,0.51,159.5,213.8,5.9,861,27061,0.00,0.00,6.85,0.753,6,0.000,0.000,3252,1932,2344,0,0,0,0,0,0
$GC,27365,0.55,193.7,196.4,5.1,879,27397,0.00,0.00,30.00,0.941,6,0.000,0.000,3252,1932,2205,0,0,0,0,0,0
$GC,27651,0.58,216.6,181.8,5.4,906,27677,0.00,2.45,21.02,0.923,4,0.000,0.050,3262,350,2110,0,0,0,0,0,0
$GC,27700,0.58,216.6,178.8,6.4,910,27704,0.00,2.38,0.00,0.000,6,0.000,0.041,3262,1935,2110,0,0,0,0,0,0
$GC,27960,0.58,216.6,159.6,7.8,934,27964,0.00,2.47,0.00,0.000,4,0.000,0.049,3262,3528,2111,0,0,0,0,0,0
$GC,28046,0.58,216.6,153.3,6.7,941,28050,0.00,2.38,0.00,0.000,6,0.000,0.037,3273,1935,2112,0,0,0,0,0,0
$GC,28306,0.58,216.6,135.9,6.6,965,28310,0.00,2.45,0.00,0.000,4,0.000,0.048,3273,3525,2113,0,0,0,0,0,0
$GC,28379,0.58,216.6,130.9,6.6,971,28383,0.00,2.38,0.00,0.000,6,0.000,0.036,3283,1930,2114,0,0,0,0,0,0
$GC,28645,0.58,216.6,111.8,7.2,996,28649,0.00,2.47,0.00,0.000,4,0.000,0.050,3284,3529,2116,0,0,0,0,0,0
$GC,28701,0.58,216.6,107.6,6.5,1001,28706,0.00,2.38,0.00,0.000,6,0.000,0.037,3295,1942,2116,0,0,0,0,0,0
$GC,28961,0.58,216.6,90.0,6.1,1025,28965,0.00,2.42,0.00,0.000,4,0.000,0.051,3305,348,2118,0,0,0,0,0,0
$GC,29029,0.59,223.2,85.5,5.8,1030,29044,0.00,2.38,8.65,0.719,6,0.000,0.041,3305,1944,2083,0,0,0,0,0,0
$GC,29302,0.59,223.2,66.0,6.7,1056,29306,0.00,2.45,0.00,0.000,4,0.000,0.048,3305,3538,2084,0,0,0,0,0,0
$GC,29334,0.59,223.2,62.7,9.3,1058,29340,0.12,2.38,0.00,0.000,6,0.121,0.037,3272,1942,2084,0,0,0,0,0,0
$GC,29594,0.59,223.2,46.6,6.5,1083,29599,0.00,2.42,0.00,0.000,4,0.000,0.052,3282,348,2086,0,0,0,0,0,0
$GC,29644,0.59,223.2,43.2,7.9,1087,29649,0.00,2.38,0.00,0.000,6,0.000,0.044,3282,1947,2086,0,0,0,0,0,0
$GC,29905,0.59,223.2,26.5,7.0,1111,29909,0.00,2.42,0.00,0.000,4,0.000,0.049,3282,3528,2088,0,0,0,0,0,0
$GC,29933,0.59,223.2,24.6,6.2,1113,29937,0.00,2.40,0.00,0.000,6,0.000,0.038,3294,1933,2088,0,0,0,0,0,0
$GC,30129,0.59,223.2,11.9,6.3,1131,30133,0.00,2.40,0.00,0.000,4,0.000,0.052,3304,358,2089,0,0,0,0,0,0
$GC,30180,0.59,223.2,8.0,7.3,1135,30184,0.00,2.38,0.00,0.000,6,0.000,0.047,3304,1954,2089,0,0,0,0,0,0
$STATE,30246,end climb,SURFACE_DEPTH_REACHED
$STATE,30246,begin surface coast
$FINISH,0.5,NaN
$STATE,30290,end surface coast,CONTROL_FINISHED_OK
$STATE,30290,begin surface
$SM_CCo,30309,85.45,0.835,0,0,1363,400.08
$SM_GC,1.03,0.00,0.00,85.45,0.000,0.000,0.835,108,2107,1363,-9.32,0.48,400.08
$IRIDIUM_FIX,2150.42,12856.28,290812,050533
$TT8_MAMPS,0.03068
$HUMID,1078727087
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,971
$24V_AH,21.7,76.906
$10V_AH,8.0,61.400
$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,21.375,333.175,362.800,85.450,0.000,25.687,33.600,183.331,242.750,0.000,27.097,1742.085,24501.369,683.219,3263.396,580.586,33.381,2322.115,0.000,2916.936,0.000,0.542,0.000
$DEVICE_MAMPS,215.527,78.234,1617.603,835.263,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355548
$DATA_FILE_SIZE,36713,1145
$CAP_FILE_SIZE,333690,0
$CFSIZE,260165632,182734848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070311,034155,2156.974,12856.291,40,1.0,40,-3.1