version: 66.07
glider: 500
mission: 5
dive: 418
start: 3 1 111 12 30 43
data:
$ID,500
$MISSION,5
$DIVE,418
$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,-129791.74
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,010311,122301,2207.622,12901.357,40,1.5,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.9
$GPS2,010311,122949,2207.677,12901.379,9,1.6,14,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.150,-0.162
$KALMAN_X,-728089.3,-259.5,388.0,1323196.1,4111.0
$KALMAN_Y,341209.4,-352.1,169.1,-233574.7,5109.5
$MHEAD_RNG_PITCHd_Wd,226.0,322886,-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,15070,-0.50,-155.7,801.9,-4.3,556,15075,0.00,2.38,0.00,0.000,6,0.000,0.044,2902,2125,3619,0,0,0,0,0,0
$GC,15384,-0.50,-155.7,814.3,-3.9,564,15388,0.00,2.38,0.00,0.000,4,0.000,0.044,2902,540,3619,0,0,0,0,0,0
$GC,15424,-0.50,-155.7,815.8,-3.6,565,15429,0.12,2.35,0.00,0.000,6,0.119,0.042,2935,2120,3619,0,0,0,0,0,0
$GC,15748,-0.50,-155.7,826.0,-3.1,573,15753,0.00,2.42,0.00,0.000,4,0.000,0.046,2936,538,3618,0,0,0,0,0,0
$GC,16006,-0.50,-155.7,834.2,-3.6,578,16010,0.00,2.38,0.00,0.000,6,0.000,0.043,2934,2130,3618,0,0,0,0,0,0
$GC,16338,-0.50,-155.7,844.7,-3.3,587,16342,0.00,2.42,0.00,0.000,4,0.000,0.045,2935,532,3618,0,0,0,0,0,0
$GC,16550,-0.50,-155.7,851.6,-3.4,591,16554,0.00,2.40,0.00,0.000,6,0.000,0.043,2933,2126,3618,0,0,0,0,0,0
$GC,16882,-0.50,-155.7,861.5,-3.0,600,16886,0.00,2.42,0.00,0.000,4,0.000,0.045,2933,533,3617,0,0,0,0,0,0
$GC,17129,-0.50,-155.7,870.5,-3.4,605,17133,0.00,2.40,0.00,0.000,6,0.000,0.044,2928,2126,3617,0,0,0,0,0,0
$GC,17466,-0.50,-155.7,884.6,-4.5,614,17470,0.00,2.40,0.00,0.000,4,0.000,0.044,2928,542,3617,0,0,0,0,0,0
$GC,17644,-0.50,-155.7,892.4,-4.3,618,17648,0.00,2.38,0.00,0.000,6,0.000,0.043,2918,2131,3616,0,0,0,0,0,0
$GC,17964,-0.50,-155.7,904.5,-3.8,626,17968,0.00,2.42,0.00,0.000,4,0.000,0.045,2918,535,3616,0,0,0,0,0,0
$GC,18098,-0.50,-155.7,909.8,-3.7,629,18102,0.00,2.40,0.00,0.000,6,0.000,0.044,2908,2129,3616,0,0,0,0,0,0
$GC,18418,-0.50,-155.7,922.1,-4.1,637,18422,0.00,2.40,0.00,0.000,4,0.000,0.046,2908,539,3616,0,0,0,0,0,0
$GC,18491,-0.50,-155.7,925.4,-3.2,638,18495,0.00,2.38,0.00,0.000,6,0.000,0.043,2898,2124,3616,0,0,0,0,0,0
$GC,18822,-0.50,-155.7,939.4,-4.2,646,18827,0.00,2.38,0.00,0.000,4,0.000,0.045,2898,543,3616,0,0,0,0,0,0
$GC,18867,-0.50,-155.7,941.0,-3.3,647,18872,0.12,2.38,0.00,0.000,6,0.119,0.044,2932,2124,3615,0,0,0,0,0,0
$GC,19186,-0.50,-155.7,950.6,-2.9,655,19190,0.00,2.42,0.00,0.000,4,0.000,0.053,2923,3706,3616,0,0,0,0,0,0
$GC,19443,-0.50,-155.7,958.5,-3.7,660,19448,0.00,2.38,0.00,0.000,6,0.000,0.036,2923,2105,3616,0,0,0,0,0,0
$GC,19775,-0.50,-155.7,969.8,-3.6,669,19779,0.00,2.38,0.00,0.000,4,0.000,0.048,2923,545,3616,0,0,0,0,0,0
$GC,19943,-0.50,-155.7,976.6,-3.5,672,19948,0.00,2.38,0.00,0.000,6,0.000,0.043,2919,2127,3615,0,0,0,0,0,0
$GC,20274,-0.50,-155.7,989.5,-4.0,681,20278,0.00,2.40,0.00,0.000,4,0.000,0.045,2919,545,3615,0,0,0,0,0,0
$STATE,20287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20287,begin apogee
$GC,20295,-0.23,0.0,990.1,3.7,681,20442,0.28,0.00,144.90,1.616,6,0.083,0.000,3021,1917,2995,0,0,0,0,0,0
$STATE,20443,end apogee,CONTROL_FINISHED_OK
$STATE,20444,begin climb
$GC,20447,0.50,155.7,990.1,0.0,685,20609,0.62,2.72,152.70,1.581,4,0.057,0.052,3256,3504,2360,0,0,0,0,0,0
$GC,20789,0.50,155.7,945.4,13.7,693,20793,0.00,2.42,0.00,0.000,6,0.000,0.039,3268,1937,2359,0,0,0,0,0,0
$GC,21114,0.50,155.7,899.9,13.8,701,21118,0.00,2.45,0.00,0.000,4,0.000,0.054,3280,335,2358,0,0,0,0,0,0
$GC,21163,0.50,155.7,892.7,14.5,702,21167,0.00,2.40,0.00,0.000,6,0.000,0.046,3280,1920,2358,0,0,0,0,0,0
$GC,21482,0.50,155.7,845.9,14.8,710,21487,0.00,2.50,0.00,0.000,4,0.000,0.055,3280,3516,2358,0,0,0,0,0,0
$GC,21567,0.50,155.7,832.6,15.8,712,21573,0.12,2.45,0.00,0.000,6,0.134,0.041,3253,1905,2358,0,0,0,0,0,0
$GC,21891,0.50,155.7,793.9,11.6,720,21892,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1905,2357,0,0,0,0,0,0
$GC,22215,0.50,155.7,757.1,11.3,728,22217,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1905,2357,0,0,0,0,0,0
$GC,22542,0.50,155.7,719.3,11.8,736,22543,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1905,2357,0,0,0,0,0,0
$GC,22865,0.50,155.7,679.6,12.6,744,22870,0.00,2.42,0.00,0.000,4,0.000,0.053,3264,333,2356,0,0,0,0,0,0
$GC,22892,0.50,155.7,676.0,13.5,744,22896,0.00,2.40,0.00,0.000,6,0.000,0.045,3264,1920,2356,0,0,0,0,0,0
$GC,23230,0.50,155.7,632.5,12.8,753,23234,0.00,2.47,0.00,0.000,4,0.000,0.054,3264,3514,2356,0,0,0,0,0,0
$GC,23318,0.50,155.7,620.6,12.0,755,23323,0.00,2.45,0.00,0.000,6,0.000,0.043,3276,1893,2356,0,0,0,0,0,0
$GC,23643,0.50,155.7,581.6,11.7,763,23644,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1893,2356,0,0,0,0,0,0
$GC,23967,0.50,155.7,543.4,11.8,771,23971,0.00,2.53,0.00,0.000,4,0.000,0.054,3276,3517,2355,0,0,0,0,0,0
$GC,24033,0.50,155.7,535.1,12.7,772,24038,0.12,2.42,0.00,0.000,6,0.130,0.041,3248,1921,2355,0,0,0,0,0,0
$GC,24377,0.50,155.7,503.3,9.0,781,24381,0.00,2.42,0.00,0.000,4,0.000,0.054,3259,338,2355,0,0,0,0,0,0
$GC,24482,0.50,155.7,494.0,7.6,783,24486,0.00,2.40,0.00,0.000,6,0.000,0.044,3259,1936,2355,0,0,0,0,0,0
$GC,24832,0.50,155.7,462.8,9.1,792,24836,0.00,2.42,0.00,0.000,4,0.000,0.052,3259,3501,2355,0,0,0,0,0,0
$GC,24968,0.50,155.7,448.8,10.6,795,24972,0.00,2.40,0.00,0.000,6,0.000,0.038,3271,1915,2355,0,0,0,0,0,0
$GC,25288,0.50,155.7,416.1,10.1,803,25292,0.00,2.42,0.00,0.000,4,0.000,0.053,3284,330,2355,0,0,0,0,0,0
$GC,25321,0.50,155.7,412.3,11.6,803,25326,0.10,2.38,0.00,0.000,6,0.136,0.043,3250,1919,2355,0,0,0,0,0,0
$GC,25654,0.50,155.7,383.7,8.5,812,25657,0.00,2.42,0.00,0.000,4,0.000,0.051,3250,3502,2356,0,0,0,0,0,0
$GC,25737,0.50,155.7,375.6,9.8,813,25742,0.00,2.40,0.00,0.000,6,0.000,0.037,3260,1906,2357,0,0,0,0,0,0
$GC,26069,0.50,155.7,349.5,7.3,822,26073,0.00,2.40,0.00,0.000,4,0.000,0.051,3273,333,2357,0,0,0,0,0,0
$GC,26112,0.50,155.7,345.9,7.8,823,26116,0.00,2.38,0.00,0.000,6,0.000,0.042,3273,1922,2358,0,0,0,0,0,0
$GC,26437,0.50,155.7,316.7,9.3,831,26442,0.00,2.45,0.00,0.000,4,0.000,0.049,3273,3514,2359,0,0,0,0,0,0
$GC,26498,0.50,155.7,310.2,9.0,832,26503,0.10,2.42,0.00,0.000,6,0.134,0.038,3252,1913,2359,0,0,0,0,0,0
$GC,26829,0.50,155.7,284.4,7.7,845,26833,0.00,2.42,0.00,0.000,4,0.000,0.051,3263,338,2360,0,0,0,0,0,0
$GC,26867,0.50,155.7,281.4,7.3,847,26872,0.00,2.35,0.00,0.000,6,0.000,0.041,3263,1918,2360,0,0,0,0,0,0
$GC,27194,0.50,155.7,257.5,7.6,863,27198,0.00,2.45,0.00,0.000,4,0.000,0.049,3262,3510,2362,0,0,0,0,0,0
$GC,27266,0.50,155.7,251.2,7.6,866,27270,0.00,2.40,0.00,0.000,6,0.000,0.038,3274,1926,2362,0,0,0,0,0,0
$GC,27580,0.50,155.7,224.4,8.2,881,27585,0.00,2.42,0.00,0.000,4,0.000,0.048,3287,330,2363,0,0,0,0,0,0
$GC,27669,0.50,155.7,217.7,7.1,885,27674,0.12,2.35,0.00,0.000,6,0.117,0.040,3241,1937,2363,0,0,0,0,0,0
$GC,27995,0.55,196.3,201.7,4.9,901,28034,0.00,0.00,36.17,0.936,6,0.000,0.000,3242,1937,2193,0,0,0,0,0,0
$GC,28354,0.57,206.6,180.8,5.7,933,28367,0.00,0.00,10.98,0.841,6,0.000,0.000,3241,1937,2152,0,0,0,0,0,0
$GC,28619,0.58,218.2,165.8,5.7,958,28639,0.10,2.47,11.68,0.838,4,0.100,0.048,3333,3512,2104,0,0,0,0,0,0
$GC,28680,0.58,218.2,161.0,9.5,963,28686,0.20,2.42,0.00,0.000,6,0.113,0.038,3278,1911,2105,0,0,0,0,0,0
$GC,28941,0.59,228.5,145.4,5.7,988,28956,0.00,2.40,10.52,0.807,4,0.000,0.048,3289,337,2062,0,0,0,0,0,0
$GC,28984,0.59,228.5,142.8,7.4,991,28989,0.00,2.35,0.00,0.000,6,0.000,0.040,3289,1923,2062,0,0,0,0,0,0
$GC,29244,0.59,228.5,125.5,6.8,1016,29248,0.00,2.40,0.00,0.000,4,0.000,0.048,3290,3515,2064,0,0,0,0,0,0
$GC,29294,0.59,228.5,121.5,8.7,1020,29298,0.00,2.38,0.00,0.000,6,0.000,0.035,3301,1927,2065,0,0,0,0,0,0
$GC,29554,0.59,228.5,101.2,7.2,1044,29558,0.00,2.40,0.00,0.000,4,0.000,0.048,3313,331,2068,0,0,0,0,0,0
$GC,29609,0.59,228.5,97.1,7.3,1048,29615,0.10,2.35,0.00,0.000,6,0.117,0.041,3270,1927,2068,0,0,0,0,0,0
$GC,29871,0.62,247.1,83.3,5.5,1073,29895,0.00,2.47,17.85,0.816,4,0.000,0.048,3270,3510,1987,0,0,0,0,0,0
$GC,29929,0.62,247.1,80.0,6.9,1078,29934,0.00,2.40,0.00,0.000,6,0.000,0.037,3280,1908,1988,0,0,0,0,0,0
$GC,30189,0.62,247.1,63.0,7.2,1103,30193,0.00,2.40,0.00,0.000,4,0.000,0.049,3284,327,1991,0,0,0,0,0,0
$GC,30289,0.62,247.1,56.0,7.3,1111,30294,0.00,2.35,0.00,0.000,6,0.000,0.039,3284,1928,1991,0,0,0,0,0,0
$GC,30550,0.62,247.1,37.0,7.5,1136,30555,0.00,2.40,0.00,0.000,4,0.000,0.048,3284,336,1993,0,0,0,0,0,0
$GC,30606,0.62,247.1,31.9,7.8,1140,30611,0.00,2.35,0.00,0.000,6,0.000,0.041,3284,1920,1994,0,0,0,0,0,0
$GC,30866,0.62,247.1,13.2,6.7,1165,30870,0.00,2.42,0.00,0.000,4,0.000,0.048,3284,3505,1995,0,0,0,0,0,0
$GC,30899,0.62,247.1,11.2,7.1,1168,30903,0.00,2.38,0.00,0.000,6,0.000,0.037,3284,1909,1995,0,0,0,0,0,0
$STATE,31021,end climb,SURFACE_DEPTH_REACHED
$STATE,31021,begin surface coast
$FINISH,0.3,NaN
$STATE,31061,end surface coast,CONTROL_FINISHED_OK
$STATE,31062,begin surface
$SM_CCo,31079,74.15,0.811,0,0,1364,400.08
$SM_GC,0.91,0.00,0.00,74.15,0.000,0.000,0.811,106,2135,1364,-9.33,0.42,400.08
$IRIDIUM_FIX,2159.71,12903.94,230812,222245
$TT8_MAMPS,0.028379
$HUMID,1078690958
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,21.6,73.931
$10V_AH,9.5,59.980
$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,21.525,324.950,384.800,74.150,0.000,25.872,34.575,203.529,0.000,0.000,16.672,1793.855,25067.318,684.540,3405.617,591.670,33.381,2383.232,0.000,3050.333,0.000,0.541,0.000
$DEVICE_MAMPS,219.362,65.962,1616.069,810.719,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355572
$DATA_FILE_SIZE,36701,1183
$CAP_FILE_SIZE,340345,0
$CFSIZE,260165632,184315904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010311,211107,2206.704,12900.214,28,1.2,28,-3.1