version: 66.07
glider: 500
mission: 5
dive: 420
start: 3 2 111 5 55 39
data:
$ID,500
$MISSION,5
$DIVE,420
$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,-129822.28
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,020311,054725,2206.579,12859.240,38,1.0,38,-3.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.6
$GPS2,020311,055444,2206.583,12859.214,10,1.3,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.148,-0.164
$KALMAN_X,-720732.4,-62.4,-502.7,1312791.1,5513.4
$KALMAN_Y,349366.3,-113.3,-180.0,-243666.7,5583.7
$MHEAD_RNG_PITCHd_Wd,225.1,318751,-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,15038,-0.51,-155.7,834.9,-3.6,539,15042,0.00,2.38,0.00,0.000,6,0.000,0.037,2910,2109,3613,0,0,0,0,0,0
$GC,15376,-0.51,-155.7,848.0,-4.2,548,15380,0.00,2.47,0.00,0.000,4,0.000,0.052,2898,3702,3612,0,0,0,0,0,0
$GC,15420,-0.51,-155.7,849.9,-4.0,549,15424,0.00,2.38,0.00,0.000,6,0.000,0.036,2898,2111,3612,0,0,0,0,0,0
$GC,15740,-0.51,-155.7,864.6,-4.6,557,15744,0.00,2.45,0.00,0.000,4,0.000,0.052,2886,3698,3612,0,0,0,0,0,0
$GC,15761,-0.51,-155.7,865.7,-4.8,557,15766,0.12,2.35,0.00,0.000,6,0.111,0.037,2932,2121,3611,0,0,0,0,0,0
$GC,16098,-0.51,-155.7,878.8,-3.9,566,16103,0.00,2.47,0.00,0.000,4,0.000,0.055,2922,3699,3611,0,0,0,0,0,0
$GC,16266,-0.51,-155.7,885.3,-3.7,569,16270,0.00,2.38,0.00,0.000,6,0.000,0.037,2922,2112,3611,0,0,0,0,0,0
$GC,16598,-0.51,-155.7,897.6,-3.8,578,16602,0.00,2.45,0.00,0.000,4,0.000,0.052,2920,3702,3610,0,0,0,0,0,0
$GC,16748,-0.51,-155.7,903.7,-3.9,581,16752,0.00,2.35,0.00,0.000,6,0.000,0.036,2920,2120,3610,0,0,0,0,0,0
$GC,17092,-0.51,-155.7,917.6,-4.0,590,17096,0.00,2.42,0.00,0.000,4,0.000,0.054,2909,3696,3610,0,0,0,0,0,0
$GC,17192,-0.51,-155.7,921.9,-4.6,592,17196,0.00,2.38,0.00,0.000,6,0.000,0.038,2909,2111,3609,0,0,0,0,0,0
$GC,17541,-0.51,-155.7,935.3,-3.9,601,17546,0.00,2.47,0.00,0.000,4,0.000,0.054,2897,3706,3609,0,0,0,0,0,0
$GC,17580,-0.51,-155.7,936.7,-3.2,602,17585,0.00,2.38,0.00,0.000,6,0.000,0.037,2897,2116,3609,0,0,0,0,0,0
$GC,17907,-0.51,-155.7,947.8,-3.3,610,17911,0.00,2.47,0.00,0.000,4,0.000,0.055,2886,3706,3608,0,0,0,0,0,0
$GC,17956,-0.51,-155.7,949.5,-3.7,611,17961,0.12,2.38,0.00,0.000,6,0.110,0.036,2932,2114,3608,0,0,0,0,0,0
$GC,18271,-0.51,-155.7,957.5,-2.6,619,18275,0.00,2.45,0.00,0.000,4,0.000,0.054,2922,3699,3607,0,0,0,0,0,0
$GC,18438,-0.51,-155.7,962.4,-3.2,622,18442,0.00,2.38,0.00,0.000,6,0.000,0.038,2922,2111,3607,0,0,0,0,0,0
$GC,18770,-0.51,-155.7,972.8,-3.4,631,18774,0.00,2.45,0.00,0.000,4,0.000,0.053,2920,3704,3607,0,0,0,0,0,0
$GC,18954,-0.51,-155.7,980.1,-3.8,635,18958,0.00,2.38,0.00,0.000,6,0.000,0.036,2920,2113,3607,0,0,0,0,0,0
$STATE,19222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19223,begin apogee
$GC,19230,-0.23,0.0,991.1,4.1,642,19374,0.28,0.00,141.57,1.594,6,0.077,0.000,3028,1918,2995,0,0,0,0,0,0
$STATE,19375,end apogee,CONTROL_FINISHED_OK
$STATE,19375,begin climb
$GC,19377,0.51,155.7,992.5,0.0,645,19540,0.60,2.78,151.55,1.552,4,0.050,0.053,3276,350,2360,0,0,0,0,0,0
$GC,19613,0.51,155.7,963.1,14.3,650,19618,0.00,2.47,0.00,0.000,6,0.000,0.044,3276,1919,2360,0,0,0,0,0,0
$GC,19949,0.51,155.7,909.4,16.0,659,19954,0.00,2.42,0.00,0.000,4,0.000,0.051,3276,3501,2360,0,0,0,0,0,0
$GC,20034,0.51,155.7,895.7,13.8,661,20039,0.12,2.40,0.00,0.000,6,0.139,0.040,3249,1923,2361,0,0,0,0,0,0
$GC,20357,0.51,155.7,852.7,13.0,669,20361,0.00,2.45,0.00,0.000,4,0.000,0.054,3261,334,2361,0,0,0,0,0,0
$GC,20401,0.51,155.7,847.0,13.0,670,20405,0.00,2.40,0.00,0.000,6,0.000,0.046,3261,1923,2360,0,0,0,0,0,0
$GC,20727,0.51,155.7,804.5,13.1,678,20732,0.00,2.42,0.00,0.000,4,0.000,0.053,3261,3506,2361,0,0,0,0,0,0
$GC,20749,0.51,155.7,801.1,13.7,678,20753,0.00,2.42,0.00,0.000,6,0.000,0.043,3273,1920,2361,0,0,0,0,0,0
$GC,21092,0.51,155.7,752.6,14.3,687,21096,0.00,2.45,0.00,0.000,4,0.000,0.055,3285,333,2361,0,0,0,0,0,0
$GC,21152,0.51,155.7,743.8,14.7,688,21157,0.12,2.40,0.00,0.000,6,0.129,0.046,3244,1921,2360,0,0,0,0,0,0
$GC,21501,0.51,155.7,704.3,11.0,697,21506,0.00,2.47,0.00,0.000,4,0.000,0.056,3244,3516,2361,0,0,0,0,0,0
$GC,21601,0.51,155.7,692.5,10.6,699,21606,0.00,2.45,0.00,0.000,6,0.000,0.043,3255,1919,2360,0,0,0,0,0,0
$GC,21915,0.51,155.7,657.8,11.0,707,21919,0.00,2.47,0.00,0.000,4,0.000,0.054,3267,329,2361,0,0,0,0,0,0
$GC,21969,0.51,155.7,651.6,11.0,708,21974,0.00,2.42,0.00,0.000,6,0.000,0.046,3267,1923,2361,0,0,0,0,0,0
$GC,22282,0.51,155.7,615.2,12.2,716,22286,0.00,2.45,0.00,0.000,4,0.000,0.054,3267,3512,2361,0,0,0,0,0,0
$GC,22338,0.51,155.7,608.0,13.1,717,22342,0.00,2.45,0.00,0.000,6,0.000,0.044,3280,1906,2361,0,0,0,0,0,0
$GC,22685,0.51,155.7,561.3,13.4,726,22689,0.00,2.40,0.00,0.000,4,0.000,0.054,3292,340,2360,0,0,0,0,0,0
$GC,22730,0.51,155.7,555.0,13.0,727,22735,0.12,2.40,0.00,0.000,6,0.131,0.046,3250,1922,2361,0,0,0,0,0,0
$GC,23049,0.51,155.7,518.8,11.2,735,23050,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1922,2360,0,0,0,0,0,0
$GC,23374,0.51,155.7,489.5,8.5,743,23375,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1922,2360,0,0,0,0,0,0
$GC,23698,0.51,155.7,458.0,9.7,751,23702,0.00,2.45,0.00,0.000,4,0.000,0.051,3250,3513,2361,0,0,0,0,0,0
$GC,23730,0.51,155.7,454.8,10.8,751,23735,0.00,2.42,0.00,0.000,6,0.000,0.041,3261,1923,2361,0,0,0,0,0,0
$GC,24062,0.51,155.7,424.0,9.0,760,24066,0.00,2.45,0.00,0.000,4,0.000,0.051,3261,3516,2362,0,0,0,0,0,0
$GC,24122,0.51,155.7,417.6,10.8,761,24126,0.00,2.45,0.00,0.000,6,0.000,0.041,3273,1905,2363,0,0,0,0,0,0
$GC,24472,0.51,155.7,381.6,11.1,770,24473,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1905,2363,0,0,0,0,0,0
$GC,24796,0.51,155.7,345.7,11.1,778,24797,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1905,2364,0,0,0,0,0,0
$GC,25119,0.51,155.7,310.6,10.8,786,25123,0.00,2.42,0.00,0.000,4,0.000,0.050,3286,332,2366,0,0,0,0,0,0
$GC,25220,0.51,155.7,300.1,9.9,788,25225,0.12,2.38,0.00,0.000,6,0.121,0.041,3242,1929,2366,0,0,0,0,0,0
$GC,25553,0.51,155.7,275.3,7.0,804,25557,0.00,2.42,0.00,0.000,4,0.000,0.050,3242,3501,2368,0,0,0,0,0,0
$GC,25613,0.51,155.7,270.7,8.4,807,25618,0.00,2.38,0.00,0.000,6,0.000,0.036,3252,1927,2368,0,0,0,0,0,0
$GC,25939,0.51,155.7,248.9,6.6,823,25948,0.00,2.50,4.25,0.636,4,0.000,0.049,3265,328,2359,0,0,0,0,0,0
$GC,26055,0.51,155.7,240.6,8.0,828,26059,0.00,2.38,0.00,0.000,6,0.000,0.039,3265,1929,2360,0,0,0,0,0,0
$GC,26381,0.51,155.7,214.7,8.3,844,26385,0.00,2.42,0.00,0.000,4,0.000,0.049,3265,3513,2361,0,0,0,0,0,0
$GC,26443,0.51,155.7,210.0,8.6,847,26447,0.00,2.42,0.00,0.000,6,0.000,0.038,3277,1904,2361,0,0,0,0,0,0
$GC,26763,0.51,155.7,187.2,6.5,871,26767,0.00,2.38,0.00,0.000,4,0.000,0.049,3289,344,2363,0,0,0,0,0,0
$GC,26848,0.51,155.7,181.5,6.6,878,26853,0.12,2.33,0.00,0.000,6,0.116,0.040,3243,1924,2363,0,0,0,0,0,0
$GC,27110,0.60,234.3,170.1,3.9,902,27183,0.12,2.50,65.47,0.929,4,0.082,0.047,3341,3501,2039,0,0,0,0,0,0
$GC,27257,0.60,234.3,152.7,13.9,916,27263,0.22,2.42,0.00,0.000,6,0.114,0.036,3280,1920,2042,0,0,0,0,0,0
$GC,27519,0.60,234.3,133.6,7.1,940,27523,0.00,2.45,0.00,0.000,4,0.000,0.049,3291,338,2044,0,0,0,0,0,0
$GC,27573,0.63,253.6,129.4,5.5,944,27599,0.00,2.33,18.27,0.855,6,0.000,0.038,3291,1918,1960,0,0,0,0,0,0
$GC,27854,0.63,253.6,107.9,8.3,971,27858,0.00,2.40,0.00,0.000,4,0.000,0.047,3291,3504,1964,0,0,0,0,0,0
$GC,27903,0.63,253.6,103.6,7.2,975,27907,0.00,2.38,0.00,0.000,6,0.000,0.035,3302,1918,1965,0,0,0,0,0,0
$GC,28165,0.63,253.6,83.4,8.4,999,28169,0.00,2.40,0.00,0.000,4,0.000,0.050,3314,337,1968,0,0,0,0,0,0
$GC,28203,0.63,253.6,80.4,7.4,1002,28207,0.00,2.33,0.00,0.000,6,0.000,0.039,3314,1915,1968,0,0,0,0,0,0
$GC,28463,0.63,253.6,60.7,7.0,1026,28468,0.00,2.47,0.00,0.000,4,0.000,0.048,3314,3519,1969,0,0,0,0,0,0
$GC,28496,0.63,253.6,58.1,7.8,1028,28502,0.12,2.40,0.00,0.000,6,0.117,0.036,3279,1920,1969,0,0,0,0,0,0
$GC,28756,0.63,253.6,43.2,6.0,1053,28766,0.00,2.47,4.00,0.496,4,0.000,0.050,3289,333,1961,0,0,0,0,0,0
$GC,28830,0.63,253.6,38.3,8.7,1059,28835,0.00,2.35,0.00,0.000,6,0.000,0.041,3289,1924,1961,0,0,0,0,0,0
$GC,29092,0.69,304.9,20.8,4.6,1084,29142,0.00,2.53,42.15,0.805,4,0.000,0.048,3289,3517,1751,0,0,0,0,0,0
$GC,29165,0.80,394.3,17.9,3.6,1091,29245,0.15,2.42,70.75,0.823,6,0.071,0.037,3402,1920,1387,0,0,0,0,0,0
$STATE,29270,end climb,SURFACE_DEPTH_REACHED
$STATE,29270,begin surface coast
$FINISH,1.4,NaN
$STATE,29281,end surface coast,CONTROL_FINISHED_OK
$STATE,29281,begin surface
$SM_CCo,29301,5.30,0.570,0,0,1364,400.08
$SM_GC,0.67,0.00,0.00,5.30,0.000,0.000,0.570,106,2136,1364,-9.33,0.45,400.08
$IRIDIUM_FIX,2157.39,12902.47,240812,151505
$TT8_MAMPS,0.028379
$HUMID,1078721926
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,21.7,74.325
$10V_AH,9.3,60.167
$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,22.225,317.675,498.025,5.300,0.000,22.094,38.462,226.757,0.250,0.000,12.008,1652.841,23697.586,678.808,3129.619,565.440,33.386,2267.262,0.000,2755.658,0.000,0.541,0.000
$DEVICE_MAMPS,214.760,61.360,1593.826,569.881,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36639,1102
$CAP_FILE_SIZE,320678,0
$CFSIZE,260165632,184127488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020311,140507,2206.232,12858.416,22,1.9,22,-3.1