version: 66.07
glider: 500
mission: 5
dive: 479
start: 3 23 111 3 43 7
data:
$ID,500
$MISSION,5
$DIVE,479
$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,-131112.05
$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,35
$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
$GPS1,230311,033530,2133.464,12828.218,33,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.9
$GPS2,230311,034213,2133.372,12828.242,8,1.0,13,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.221,-0.008
$KALMAN_X,-473536.5,-23.8,-856.9,1012437.5,7197.8
$KALMAN_Y,561893.9,-135.6,-273.8,-517571.7,258.3
$MHEAD_RNG_PITCHd_Wd,270.9,255235,-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,6935,-0.50,-155.7,469.6,-5.0,355,6939,0.00,2.30,0.00,0.000,6,0.000,0.033,2910,2080,3626,0,0,0,0,0,0
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$GC,14661,-0.50,-155.7,796.1,-2.8,543,14666,0.00,2.38,0.00,0.000,6,0.000,0.043,2921,2096,3597,0,0,0,0,0,0
$GC,14992,-0.50,-155.7,808.7,-4.1,552,14996,0.00,2.40,0.00,0.000,4,0.000,0.046,2921,507,3596,0,0,0,0,0,0
$GC,15088,-0.50,-155.7,813.0,-4.7,554,15092,0.00,2.35,0.00,0.000,6,0.000,0.043,2911,2089,3596,0,0,0,0,0,0
$GC,15402,-0.50,-155.7,827.3,-4.6,562,15406,0.00,2.38,0.00,0.000,4,0.000,0.047,2911,518,3595,0,0,0,0,0,0
$GC,15470,-0.50,-155.7,830.4,-5.0,563,15474,0.00,2.33,0.00,0.000,6,0.000,0.042,2901,2094,3595,0,0,0,0,0,0
$GC,15807,-0.50,-155.7,845.2,-4.4,572,15811,0.00,2.40,0.00,0.000,4,0.000,0.046,2900,517,3594,0,0,0,0,0,0
$GC,15863,-0.50,-155.7,847.7,-4.1,573,15868,0.12,2.35,0.00,0.000,6,0.119,0.042,2935,2086,3594,0,0,0,0,0,0
$GC,16213,-0.50,-155.7,862.0,-4.3,582,16217,0.00,2.40,0.00,0.000,4,0.000,0.046,2935,509,3593,0,0,0,0,0,0
$GC,16420,-0.50,-155.7,870.9,-4.3,586,16424,0.00,2.38,0.00,0.000,6,0.000,0.043,2935,2099,3593,0,0,0,0,0,0
$GC,16751,-0.50,-155.7,883.9,-4.0,594,16755,0.00,2.40,0.00,0.000,4,0.000,0.046,2935,513,3592,0,0,0,0,0,0
$GC,16946,-0.50,-155.7,891.3,-3.5,598,16950,0.00,2.38,0.00,0.000,6,0.000,0.043,2934,2101,3592,0,0,0,0,0,0
$GC,17290,-0.50,-155.7,902.4,-3.3,607,17294,0.00,2.40,0.00,0.000,4,0.000,0.045,2934,508,3591,0,0,0,0,0,0
$GC,17519,-0.50,-155.7,909.8,-2.9,612,17524,0.00,2.38,0.00,0.000,6,0.000,0.043,2933,2098,3590,0,0,0,0,0,0
$GC,17835,-0.50,-155.7,919.8,-3.3,620,17839,0.00,2.40,0.00,0.000,4,0.000,0.046,2934,509,3589,0,0,0,0,0,0
$GC,18047,-0.50,-155.7,927.1,-3.1,624,18051,0.00,2.35,0.00,0.000,6,0.000,0.044,2928,2086,3589,0,0,0,0,0,0
$GC,18377,-0.50,-155.7,939.3,-3.9,633,18382,0.00,2.38,0.00,0.000,4,0.000,0.047,2928,510,3588,0,0,0,0,0,0
$GC,18528,-0.50,-155.7,945.5,-4.0,636,18532,0.00,2.35,0.00,0.000,6,0.000,0.044,2919,2093,3587,0,0,0,0,0,0
$GC,18876,-0.50,-155.7,959.3,-4.0,645,18881,0.00,2.38,0.00,0.000,4,0.000,0.047,2919,514,3588,0,0,0,0,0,0
$GC,19011,-0.50,-155.7,964.3,-3.6,648,19015,0.00,2.35,0.00,0.000,6,0.000,0.044,2908,2086,3587,0,0,0,0,0,0
$GC,19331,-0.50,-155.7,974.4,-3.2,656,19336,0.00,2.40,0.00,0.000,4,0.000,0.047,2908,508,3587,0,0,0,0,0,0
$GC,19427,-0.50,-155.7,977.4,-3.2,658,19431,0.00,2.38,0.00,0.000,6,0.000,0.044,2900,2093,3587,0,0,0,0,0,0
$GC,19741,-0.50,-155.7,987.6,-3.5,666,19745,0.00,2.40,0.00,0.000,4,0.000,0.048,2899,517,3587,0,0,0,0,0,0
$STATE,19800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19800,begin apogee
$GC,19808,-0.23,0.0,990.0,3.3,667,19947,0.32,0.00,136.32,1.611,6,0.088,0.000,3014,1939,2995,0,0,0,0,0,0
$STATE,19948,end apogee,CONTROL_FINISHED_OK
$STATE,19948,begin climb
$GC,19952,0.50,155.7,990.6,0.0,670,20113,0.65,2.78,150.73,1.576,4,0.062,0.051,3257,3521,2360,0,0,0,0,0,0
$GC,20144,0.50,155.7,968.4,13.5,674,20148,0.00,2.53,0.00,0.000,6,0.000,0.039,3269,1954,2360,0,0,0,0,0,0
$GC,20479,0.50,155.7,920.7,14.3,683,20483,0.00,2.47,0.00,0.000,4,0.000,0.053,3282,353,2359,0,0,0,0,0,0
$GC,20534,0.50,155.7,912.7,14.2,684,20538,0.00,2.40,0.00,0.000,6,0.000,0.045,3282,1941,2359,0,0,0,0,0,0
$GC,20884,0.50,155.7,863.0,14.1,693,20888,0.00,2.42,0.00,0.000,4,0.000,0.051,3282,3527,2358,0,0,0,0,0,0
$GC,20927,0.50,155.7,856.2,14.9,694,20932,0.12,2.40,0.00,0.000,6,0.133,0.040,3254,1936,2358,0,0,0,0,0,0
$GC,21248,0.50,155.7,819.7,11.3,702,21252,0.00,2.42,0.00,0.000,4,0.000,0.054,3265,355,2357,0,0,0,0,0,0
$GC,21342,0.50,155.7,808.1,11.8,704,21346,0.00,2.40,0.00,0.000,6,0.000,0.045,3265,1946,2358,0,0,0,0,0,0
$GC,21661,0.50,155.7,765.8,13.8,712,21665,0.00,2.40,0.00,0.000,4,0.000,0.053,3265,3524,2357,0,0,0,0,0,0
$GC,21727,0.50,155.7,755.8,14.6,713,21731,0.00,2.38,0.00,0.000,6,0.000,0.041,3278,1943,2358,0,0,0,0,0,0
$GC,22069,0.50,155.7,705.7,14.5,722,22073,0.00,2.47,0.00,0.000,4,0.000,0.053,3291,347,2358,0,0,0,0,0,0
$GC,22118,0.50,155.7,698.4,13.7,723,22123,0.12,2.40,0.00,0.000,6,0.130,0.044,3249,1938,2358,0,0,0,0,0,0
$GC,22433,0.50,155.7,663.1,10.8,731,22434,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1938,2358,0,0,0,0,0,0
$GC,22755,0.50,155.7,629.2,10.3,739,22759,0.00,2.42,0.00,0.000,4,0.000,0.052,3248,3527,2358,0,0,0,0,0,0
$GC,22782,0.50,155.7,626.1,10.7,739,22787,0.00,2.40,0.00,0.000,6,0.000,0.041,3259,1942,2358,0,0,0,0,0,0
$GC,23114,0.50,155.7,591.6,10.5,747,23118,0.00,2.47,0.00,0.000,4,0.000,0.054,3272,345,2358,0,0,0,0,0,0
$GC,23153,0.50,155.7,587.3,10.5,748,23157,0.00,2.42,0.00,0.000,6,0.000,0.044,3272,1943,2358,0,0,0,0,0,0
$GC,23479,0.50,155.7,551.1,11.2,756,23480,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1944,2358,0,0,0,0,0,0
$GC,23801,0.50,155.7,515.5,10.9,764,23805,0.00,2.47,0.00,0.000,4,0.000,0.051,3272,3536,2359,0,0,0,0,0,0
$GC,23844,0.50,155.7,510.2,9.7,765,23849,0.10,2.42,0.00,0.000,6,0.141,0.041,3252,1930,2359,0,0,0,0,0,0
$GC,24165,0.50,155.7,478.4,10.0,773,24169,0.00,2.40,0.00,0.000,4,0.000,0.052,3263,354,2359,0,0,0,0,0,0
$GC,24186,0.50,155.7,475.8,9.7,773,24190,0.00,2.40,0.00,0.000,6,0.000,0.046,3263,1954,2359,0,0,0,0,0,0
$GC,24530,0.50,155.7,439.9,10.1,782,24531,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1954,2359,0,0,0,0,0,0
$GC,24853,0.50,155.7,411.0,8.5,790,24857,0.00,2.40,0.00,0.000,4,0.000,0.051,3263,3523,2360,0,0,0,0,0,0
$GC,24885,0.50,155.7,408.0,8.9,790,24890,0.00,2.38,0.00,0.000,6,0.000,0.038,3275,1931,2360,0,0,0,0,0,0
$GC,25218,0.50,155.7,379.4,8.7,799,25222,0.00,2.40,0.00,0.000,4,0.000,0.052,3287,362,2361,0,0,0,0,0,0
$GC,25273,0.50,155.7,374.0,10.2,800,25278,0.12,2.38,0.00,0.000,6,0.125,0.041,3245,1948,2361,0,0,0,0,0,0
$GC,25622,0.50,155.7,344.3,8.7,809,25627,0.00,2.42,0.00,0.000,4,0.000,0.049,3244,3533,2363,0,0,0,0,0,0
$GC,25655,0.50,155.7,340.9,9.6,809,25660,0.00,2.38,0.00,0.000,6,0.000,0.038,3254,1947,2363,0,0,0,0,0,0
$GC,25987,0.50,155.7,315.5,7.0,818,25991,0.00,2.42,0.00,0.000,4,0.000,0.049,3267,351,2365,0,0,0,0,0,0
$GC,26053,0.50,155.7,310.6,6.5,819,26057,0.00,2.40,0.00,0.000,6,0.000,0.042,3266,1956,2365,0,0,0,0,0,0
$GC,26377,0.50,155.7,287.3,7.3,831,26381,0.00,2.42,0.00,0.000,4,0.000,0.050,3267,3521,2367,0,0,0,0,0,0
$GC,26416,0.50,155.7,284.2,8.8,833,26421,0.00,2.40,0.00,0.000,6,0.000,0.036,3279,1927,2367,0,0,0,0,0,0
$GC,26743,0.50,155.7,256.8,8.5,849,26752,0.00,2.45,3.78,0.584,4,0.000,0.048,3291,358,2360,0,0,0,0,0,0
$GC,26833,0.50,155.7,248.4,9.1,853,26838,0.12,2.35,0.00,0.000,6,0.120,0.040,3246,1939,2360,0,0,0,0,0,0
$GC,27158,0.50,155.7,225.0,7.0,869,27160,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1939,2362,0,0,0,0,0,0
$GC,27470,0.57,207.1,207.8,4.6,884,27519,0.00,2.50,44.25,0.946,4,0.000,0.048,3256,354,2150,0,0,0,0,0,0
$GC,27534,0.66,285.3,204.9,3.9,887,27608,0.12,2.40,65.82,0.963,6,0.081,0.039,3351,1942,1831,0,0,0,0,0,0
$GC,27868,0.66,285.3,164.6,12.6,916,27873,0.15,2.42,0.00,0.000,4,0.120,0.047,3312,355,1834,0,0,0,0,0,0
$GC,27886,0.66,285.3,162.8,12.0,917,27890,0.00,2.35,0.00,0.000,6,0.000,0.039,3312,1956,1834,0,0,0,0,0,0
$GC,28147,0.66,285.3,138.6,8.8,941,28151,0.00,2.42,0.00,0.000,4,0.000,0.048,3324,350,1835,0,0,0,0,0,0
$GC,28197,0.66,285.3,133.7,7.4,945,28201,0.00,2.35,0.00,0.000,6,0.000,0.038,3324,1948,1835,0,0,0,0,0,0
$GC,28457,0.66,285.3,111.4,7.8,969,28461,0.00,2.45,0.00,0.000,4,0.000,0.048,3335,357,1836,0,0,0,0,0,0
$GC,28489,0.66,285.3,108.7,9.2,971,28494,0.10,2.33,0.00,0.000,6,0.125,0.038,3299,1942,1837,0,0,0,0,0,0
$GC,28749,0.66,285.3,91.0,7.3,996,28751,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1942,1838,0,0,0,0,0,0
$GC,29004,0.66,285.3,72.8,7.3,1020,29009,0.00,2.40,0.00,0.000,4,0.000,0.047,3309,348,1840,0,0,0,0,0,0
$GC,29026,0.66,285.3,71.1,7.1,1021,29031,0.00,2.35,0.00,0.000,6,0.000,0.040,3309,1939,1840,0,0,0,0,0,0
$GC,29286,0.66,285.3,51.1,8.4,1046,29296,0.00,2.42,4.12,0.534,4,0.000,0.048,3309,3525,1831,0,0,0,0,0,0
$GC,29320,0.66,285.3,48.3,9.2,1049,29324,0.00,2.33,0.00,0.000,6,0.000,0.035,3320,1933,1831,0,0,0,0,0,0
$GC,29582,0.66,285.3,27.3,7.8,1073,29586,0.00,2.38,0.00,0.000,4,0.000,0.049,3332,366,1832,0,0,0,0,0,0
$GC,29654,0.66,285.3,20.6,8.7,1079,29658,0.00,2.33,0.00,0.000,6,0.000,0.039,3332,1944,1833,0,0,0,0,0,0
$STATE,29853,end climb,SURFACE_DEPTH_REACHED
$STATE,29853,begin surface coast
$FINISH,0.4,NaN
$STATE,29896,end surface coast,CONTROL_FINISHED_OK
$STATE,29896,begin surface
$SM_CCo,29914,171.38,0.815,0,0,475,618.15
$SM_GC,0.93,0.00,0.00,171.38,0.000,0.000,0.815,107,2102,475,-9.32,0.34,618.15
$IRIDIUM_FIX,2127.21,12830.90,140912,131338
$TT8_MAMPS,0.03068
$HUMID,1078724506
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.70
$XPDR_PINGS,1001
$24V_AH,21.7,88.135
$10V_AH,8.0,65.842
$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,21.750,338.175,405.025,171.375,0.000,27.870,34.137,191.075,250.250,0.000,15.845,1719.548,24044.799,806.005,3282.286,615.845,33.385,2475.261,0.000,2935.616,0.000,0.542,0.000
$DEVICE_MAMPS,215.527,72.098,1610.700,815.321,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355512
$DATA_FILE_SIZE,36697,1102
$CAP_FILE_SIZE,332590,0
$CFSIZE,260165632,177860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230311,120555,2133.203,12827.071,39,1.2,39,-3.0