version: 66.07
glider: 500
mission: 5
dive: 417
start: 3 1 111 4 14 45
data:
$ID,500
$MISSION,5
$DIVE,417
$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,-129774.45
$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,2120
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,58
$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
$GPS1,010311,040637,2208.868,12901.409,28,0.8,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.6
$GPS2,010311,041350,2208.917,12901.521,10,1.4,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.119,-0.186
$KALMAN_X,-731620.5,-10.6,12.7,1327083.8,5408.9
$KALMAN_Y,337865.7,-374.8,-274.1,-227473.3,6566.8
$MHEAD_RNG_PITCHd_Wd,215.6,323734,-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,15104,-0.50,-155.7,848.0,-2.4,539,15109,0.00,2.38,0.00,0.000,6,0.000,0.036,2923,2113,3601,0,0,0,0,0,0
$GC,15443,-0.50,-155.7,859.1,-3.6,548,15447,0.00,2.47,0.00,0.000,4,0.000,0.053,2912,3702,3600,0,0,0,0,0,0
$GC,15543,-0.50,-155.7,863.1,-3.6,550,15547,0.00,2.38,0.00,0.000,6,0.000,0.036,2912,2120,3600,0,0,0,0,0,0
$GC,15893,-0.50,-155.7,878.4,-4.6,559,15897,0.00,2.50,0.00,0.000,4,0.000,0.054,2901,3706,3598,0,0,0,0,0,0
$GC,15937,-0.50,-155.7,880.6,-4.6,560,15941,0.00,2.38,0.00,0.000,6,0.000,0.036,2901,2119,3599,0,0,0,0,0,0
$GC,16257,-0.50,-155.7,896.0,-4.9,568,16261,0.00,2.50,0.00,0.000,4,0.000,0.054,2889,3712,3597,0,0,0,0,0,0
$GC,16301,-0.50,-155.7,898.4,-4.3,569,16306,0.12,2.38,0.00,0.000,6,0.114,0.037,2935,2123,3597,0,0,0,0,0,0
$GC,16620,-0.50,-155.7,912.7,-4.6,577,16625,0.00,2.45,0.00,0.000,4,0.000,0.055,2925,3706,3597,0,0,0,0,0,0
$GC,16799,-0.50,-155.7,921.1,-4.8,581,16803,0.00,2.38,0.00,0.000,6,0.000,0.036,2925,2112,3597,0,0,0,0,0,0
$GC,17120,-0.50,-155.7,934.9,-4.2,589,17124,0.00,2.47,0.00,0.000,4,0.000,0.053,2913,3709,3595,0,0,0,0,0,0
$GC,17233,-0.50,-155.7,939.5,-3.8,591,17237,0.00,2.38,0.00,0.000,6,0.000,0.036,2913,2122,3595,0,0,0,0,0,0
$GC,17571,-0.50,-155.7,951.6,-3.5,600,17575,0.00,2.47,0.00,0.000,4,0.000,0.054,2903,3713,3595,0,0,0,0,0,0
$GC,17644,-0.50,-155.7,954.2,-2.1,601,17648,0.00,2.40,0.00,0.000,6,0.000,0.038,2902,2117,3595,0,0,0,0,0,0
$GC,17976,-0.50,-155.7,965.5,-3.5,609,17980,0.00,2.47,0.00,0.000,4,0.000,0.055,2891,3705,3595,0,0,0,0,0,0
$GC,18030,-0.50,-155.7,967.5,-4.4,610,18036,0.12,2.38,0.00,0.000,6,0.109,0.036,2938,2113,3594,0,0,0,0,0,0
$GC,18380,-0.50,-155.7,979.3,-3.6,619,18385,0.00,2.45,0.00,0.000,4,0.000,0.054,2927,3705,3594,0,0,0,0,0,0
$GC,18582,-0.50,-155.7,987.8,-5.1,623,18586,0.00,2.35,0.00,0.000,6,0.000,0.035,2927,2112,3594,0,0,0,0,0,0
$STATE,18671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18671,begin apogee
$GC,18678,-0.23,0.0,991.5,4.1,626,18820,0.25,0.00,139.07,1.613,6,0.070,0.000,3030,1918,2994,0,0,0,0,0,0
$STATE,18821,end apogee,CONTROL_FINISHED_OK
$STATE,18821,begin climb
$GC,18823,0.50,155.7,993.2,0.0,629,18986,0.60,2.78,151.95,1.566,4,0.053,0.053,3263,3497,2360,0,0,0,0,0,0
$GC,19116,0.50,155.7,955.4,14.0,635,19121,0.00,2.45,0.00,0.000,6,0.000,0.041,3274,1926,2360,0,0,0,0,0,0
$GC,19446,0.50,155.7,907.4,14.4,644,19450,0.00,2.42,0.00,0.000,4,0.000,0.054,3287,336,2359,0,0,0,0,0,0
$GC,19478,0.50,155.7,902.7,15.0,644,19484,0.12,2.40,0.00,0.000,6,0.137,0.046,3247,1927,2359,0,0,0,0,0,0
$GC,19811,0.50,155.7,863.5,11.6,653,19815,0.00,2.42,0.00,0.000,4,0.000,0.053,3247,3511,2358,0,0,0,0,0,0
$GC,19872,0.50,155.7,855.5,11.4,654,19876,0.00,2.42,0.00,0.000,6,0.000,0.042,3258,1907,2359,0,0,0,0,0,0
$GC,20222,0.50,155.7,812.9,12.7,663,20223,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1907,2358,0,0,0,0,0,0
$GC,20545,0.50,155.7,769.9,13.5,671,20549,0.00,2.38,0.00,0.000,4,0.000,0.053,3270,341,2357,0,0,0,0,0,0
$GC,20593,0.50,155.7,762.9,14.4,672,20598,0.00,2.40,0.00,0.000,6,0.000,0.046,3271,1928,2358,0,0,0,0,0,0
$GC,20913,0.50,155.7,717.3,13.9,680,20914,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1928,2357,0,0,0,0,0,0
$GC,21237,0.50,155.7,674.1,12.9,688,21241,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,3519,2356,0,0,0,0,0,0
$GC,21287,0.50,155.7,667.7,12.8,689,21291,0.00,2.45,0.00,0.000,6,0.000,0.042,3283,1908,2356,0,0,0,0,0,0
$GC,21598,0.50,155.7,628.4,12.6,697,21603,0.00,2.50,0.00,0.000,4,0.000,0.054,3283,3512,2355,0,0,0,0,0,0
$GC,21631,0.50,155.7,623.9,13.9,697,21637,0.15,2.42,0.00,0.000,6,0.135,0.044,3248,1926,2355,0,0,0,0,0,0
$GC,21965,0.50,155.7,590.0,9.8,706,21966,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1926,2355,0,0,0,0,0,0
$GC,22287,0.50,155.7,558.3,9.7,714,22288,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1925,2354,0,0,0,0,0,0
$GC,22613,0.50,155.7,524.8,10.2,722,22617,0.00,2.45,0.00,0.000,4,0.000,0.054,3261,328,2355,0,0,0,0,0,0
$GC,22667,0.50,155.7,518.7,10.2,723,22672,0.00,2.40,0.00,0.000,6,0.000,0.045,3261,1923,2354,0,0,0,0,0,0
$GC,22981,0.50,155.7,482.7,11.7,731,22985,0.00,2.42,0.00,0.000,4,0.000,0.052,3261,3508,2354,0,0,0,0,0,0
$GC,23020,0.50,155.7,477.9,11.3,732,23024,0.00,2.42,0.00,0.000,6,0.000,0.041,3273,1912,2354,0,0,0,0,0,0
$GC,23344,0.50,155.7,439.9,11.5,740,23348,0.00,2.45,0.00,0.000,4,0.000,0.054,3285,345,2354,0,0,0,0,0,0
$GC,23388,0.50,155.7,434.6,11.0,741,23393,0.10,2.38,0.00,0.000,6,0.137,0.044,3252,1920,2354,0,0,0,0,0,0
$GC,23707,0.50,155.7,406.1,8.5,749,23711,0.00,2.45,0.00,0.000,4,0.000,0.051,3251,3514,2354,0,0,0,0,0,0
$GC,23802,0.50,155.7,397.5,9.9,751,23806,0.00,2.40,0.00,0.000,6,0.000,0.040,3262,1915,2355,0,0,0,0,0,0
$GC,24113,0.50,155.7,370.0,9.0,759,24118,0.00,2.42,0.00,0.000,4,0.000,0.053,3274,345,2355,0,0,0,0,0,0
$GC,24209,0.50,155.7,360.6,8.2,761,24214,0.00,2.38,0.00,0.000,6,0.000,0.042,3274,1933,2355,0,0,0,0,0,0
$GC,24523,0.50,155.7,329.0,10.1,769,24527,0.00,2.42,0.00,0.000,4,0.000,0.051,3274,3517,2356,0,0,0,0,0,0
$GC,24580,0.50,155.7,322.8,9.3,770,24585,0.12,2.40,0.00,0.000,6,0.133,0.039,3246,1911,2357,0,0,0,0,0,0
$GC,24908,0.50,155.7,297.1,7.5,779,24912,0.00,2.40,0.00,0.000,4,0.000,0.051,3256,346,2358,0,0,0,0,0,0
$GC,24958,0.50,155.7,293.3,6.2,781,24962,0.00,2.35,0.00,0.000,6,0.000,0.041,3257,1919,2358,0,0,0,0,0,0
$GC,25272,0.50,155.7,268.7,7.8,796,25276,0.00,2.45,0.00,0.000,4,0.000,0.050,3257,3514,2360,0,0,0,0,0,0
$GC,25312,0.50,155.7,265.1,9.4,797,25316,0.00,2.40,0.00,0.000,6,0.000,0.039,3268,1930,2360,0,0,0,0,0,0
$GC,25626,0.50,155.7,237.4,8.5,813,25630,0.00,2.45,0.00,0.000,4,0.000,0.049,3282,325,2360,0,0,0,0,0,0
$GC,25715,0.50,155.7,229.9,9.1,817,25720,0.00,2.38,0.00,0.000,6,0.000,0.040,3282,1929,2361,0,0,0,0,0,0
$GC,26035,0.50,155.7,204.1,7.4,833,26039,0.00,2.45,0.00,0.000,4,0.000,0.048,3293,327,2362,0,0,0,0,0,0
$GC,26063,0.50,155.7,202.2,6.0,834,26068,0.12,2.35,0.00,0.000,6,0.118,0.041,3248,1924,2362,0,0,0,0,0,0
$GC,26386,0.58,215.9,185.1,4.4,862,26446,0.00,2.55,51.28,0.935,4,0.000,0.048,3248,3508,2113,0,0,0,0,0,0
$GC,26476,0.59,225.1,180.6,5.8,870,26491,0.00,2.42,9.45,0.818,6,0.000,0.037,3258,1916,2077,0,0,0,0,0,0
$GC,26749,0.60,233.3,165.5,5.8,896,26763,0.00,2.47,8.77,0.795,4,0.000,0.051,3269,334,2043,0,0,0,0,0,0
$GC,26803,0.60,233.3,161.9,7.2,901,26807,0.00,2.35,0.00,0.000,6,0.000,0.040,3269,1924,2043,0,0,0,0,0,0
$GC,27063,0.61,244.8,146.0,5.7,925,27076,0.00,0.00,11.27,0.820,6,0.000,0.000,3269,1924,1997,0,0,0,0,0,0
$GC,27329,0.63,256.7,130.2,5.7,950,27349,0.00,2.50,12.38,0.818,4,0.000,0.048,3269,3518,1948,0,0,0,0,0,0
$GC,27383,0.63,256.7,126.6,7.9,955,27387,0.00,2.42,0.00,0.000,6,0.000,0.036,3280,1909,1949,0,0,0,0,0,0
$GC,27643,0.63,256.7,109.1,6.4,979,27647,0.00,2.38,0.00,0.000,4,0.000,0.048,3291,333,1953,0,0,0,0,0,0
$GC,27705,0.63,256.7,104.6,6.4,984,27709,0.00,2.33,0.00,0.000,6,0.000,0.041,3291,1923,1954,0,0,0,0,0,0
$GC,27971,0.63,256.7,84.0,7.1,1009,27975,0.00,2.40,0.00,0.000,4,0.000,0.047,3291,3516,1956,0,0,0,0,0,0
$GC,28022,0.63,256.7,80.1,6.9,1013,28026,0.00,2.40,0.00,0.000,6,0.000,0.036,3301,1913,1956,0,0,0,0,0,0
$GC,28282,0.63,256.7,61.9,6.4,1037,28292,0.00,2.47,3.78,0.482,4,0.000,0.051,3313,334,1948,0,0,0,0,0,0
$GC,28343,0.63,256.7,57.5,7.1,1042,28348,0.00,2.33,0.00,0.000,6,0.000,0.042,3313,1921,1948,0,0,0,0,0,0
$GC,28603,0.63,256.7,37.3,7.3,1067,28607,0.00,2.40,0.00,0.000,4,0.000,0.048,3313,3505,1950,0,0,0,0,0,0
$GC,28642,0.63,256.7,33.7,8.4,1070,28647,0.10,2.35,0.00,0.000,6,0.133,0.037,3289,1925,1950,0,0,0,0,0,0
$GC,28903,0.63,258.1,16.3,6.0,1095,28913,0.00,2.47,3.72,0.426,4,0.000,0.051,3299,334,1942,0,0,0,0,0,0
$GC,28952,0.63,258.1,13.0,7.1,1099,28957,0.00,2.35,0.00,0.000,6,0.000,0.044,3299,1920,1942,0,0,0,0,0,0
$STATE,29093,end climb,SURFACE_DEPTH_REACHED
$STATE,29093,begin surface coast
$FINISH,0.7,NaN
$STATE,29126,end surface coast,CONTROL_FINISHED_OK
$STATE,29126,begin surface
$SM_CCo,29143,69.70,0.804,0,0,1364,400.08
$SM_GC,0.92,0.00,0.00,69.70,0.000,0.000,0.804,120,2147,1364,-9.28,0.76,400.08
$IRIDIUM_FIX,2159.71,12902.47,230812,131304
$TT8_MAMPS,0.028379
$HUMID,1078721926
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,21.7,73.741
$10V_AH,9.7,59.882
$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,21.200,318.250,391.675,69.700,0.000,28.695,39.480,220.492,0.000,0.000,12.105,1687.954,23539.568,670.639,3159.030,568.728,33.383,2261.712,0.000,2793.738,0.000,0.541,0.000
$DEVICE_MAMPS,217.061,62.127,1613.001,803.816,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355220
$DATA_FILE_SIZE,36665,1116
$CAP_FILE_SIZE,323774,0
$CFSIZE,260165632,184434688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010311,122301,2207.622,12901.357,40,1.5,40,-3.1