version: 66.07
glider: 500
mission: 5
dive: 426
start: 3 4 111 8 32 19
data:
$ID,500
$MISSION,5
$DIVE,426
$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,-130019.06
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,040311,082337,2205.767,12855.628,36,1.9,36,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.2
$GPS2,040311,083125,2205.833,12855.699,58,1.6,58,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.107,-0.193
$KALMAN_X,-703765.1,226.7,-383.2,1289333.8,4096.2
$KALMAN_Y,383263.9,142.6,49.3,-279436.6,6527.6
$MHEAD_RNG_PITCHd_Wd,212.1,312536,-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,14779,-0.50,-155.7,806.1,-4.1,543,14783,0.00,2.47,0.00,0.000,4,0.000,0.056,2927,3669,3601,0,0,0,0,0,0
$GC,14946,-0.50,-155.7,813.1,-4.3,546,14950,0.00,2.38,0.00,0.000,6,0.000,0.038,2927,2079,3600,0,0,0,0,0,0
$GC,15278,-0.50,-155.7,826.3,-4.0,555,15282,0.00,2.50,0.00,0.000,4,0.000,0.056,2916,3681,3599,0,0,0,0,0,0
$GC,15378,-0.50,-155.7,830.1,-3.9,557,15382,0.00,2.38,0.00,0.000,6,0.000,0.036,2916,2087,3599,0,0,0,0,0,0
$GC,15727,-0.50,-155.7,842.0,-3.3,566,15731,0.00,2.47,0.00,0.000,4,0.000,0.055,2906,3671,3598,0,0,0,0,0,0
$GC,15783,-0.50,-155.7,843.8,-2.7,567,15787,0.00,2.35,0.00,0.000,6,0.000,0.038,2906,2089,3598,0,0,0,0,0,0
$GC,16133,-0.50,-155.7,854.9,-3.4,576,16134,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2089,3597,0,0,0,0,0,0
$GC,16455,-0.50,-155.7,868.4,-4.3,584,16460,0.00,2.47,0.00,0.000,4,0.000,0.057,2896,3674,3597,0,0,0,0,0,0
$GC,16484,-0.50,-155.7,869.6,-4.7,584,16489,0.10,2.38,0.00,0.000,6,0.117,0.038,2935,2081,3596,0,0,0,0,0,0
$GC,16816,-0.50,-155.7,883.8,-4.4,592,16820,0.00,2.47,0.00,0.000,4,0.000,0.058,2926,3675,3596,0,0,0,0,0,0
$GC,17016,-0.50,-155.7,893.2,-5.1,596,17021,0.00,2.38,0.00,0.000,6,0.000,0.038,2926,2084,3596,0,0,0,0,0,0
$GC,17354,-0.50,-155.7,907.4,-4.1,605,17358,0.00,2.47,0.00,0.000,4,0.000,0.056,2916,3674,3595,0,0,0,0,0,0
$GC,17460,-0.50,-155.7,911.6,-4.2,607,17465,0.00,2.38,0.00,0.000,6,0.000,0.038,2915,2086,3594,0,0,0,0,0,0
$GC,17803,-0.50,-155.7,924.6,-3.9,616,17808,0.00,2.47,0.00,0.000,4,0.000,0.056,2906,3677,3594,0,0,0,0,0,0
$GC,17888,-0.50,-155.7,928.0,-3.7,618,17893,0.00,2.40,0.00,0.000,6,0.000,0.038,2906,2079,3594,0,0,0,0,0,0
$GC,18213,-0.50,-155.7,941.4,-4.2,626,18217,0.00,2.50,0.00,0.000,4,0.000,0.057,2896,3670,3593,0,0,0,0,0,0
$GC,18299,-0.50,-155.7,944.7,-3.6,628,18303,0.10,2.35,0.00,0.000,6,0.117,0.038,2934,2089,3593,0,0,0,0,0,0
$GC,18623,-0.50,-155.7,955.0,-2.9,636,18627,0.00,2.47,0.00,0.000,4,0.000,0.057,2925,3679,3593,0,0,0,0,0,0
$GC,18841,-0.50,-155.7,960.2,-2.1,641,18845,0.00,2.38,0.00,0.000,6,0.000,0.037,2925,2079,3592,0,0,0,0,0,0
$GC,19167,-0.50,-155.7,966.2,-1.8,649,19171,0.00,2.47,0.00,0.000,4,0.000,0.057,2923,3669,3592,0,0,0,0,0,0
$GC,19427,-0.50,-155.7,972.2,-3.0,654,19431,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2089,3591,0,0,0,0,0,0
$GC,19757,-0.50,-155.7,983.1,-3.7,663,19761,0.00,2.47,0.00,0.000,4,0.000,0.055,2921,3681,3591,0,0,0,0,0,0
$STATE,19921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19922,begin apogee
$GC,19930,-0.23,0.0,990.2,3.8,666,20071,0.25,0.00,138.77,1.603,6,0.079,0.000,3023,1942,2995,0,0,0,0,0,0
$STATE,20072,end apogee,CONTROL_FINISHED_OK
$STATE,20072,begin climb
$GC,20075,0.50,155.7,991.7,0.0,670,20237,0.62,2.78,152.20,1.569,4,0.054,0.053,3275,371,2360,0,0,0,0,0,0
$GC,20255,0.50,155.7,971.9,13.3,674,20260,0.00,2.58,0.00,0.000,6,0.000,0.046,3275,1934,2360,0,0,0,0,0,0
$GC,20604,0.50,155.7,921.5,14.5,683,20608,0.00,2.47,0.00,0.000,4,0.000,0.056,3275,3528,2358,0,0,0,0,0,0
$GC,20642,0.50,155.7,915.2,15.9,684,20647,0.12,2.42,0.00,0.000,6,0.143,0.042,3248,1936,2358,0,0,0,0,0,0
$GC,20965,0.50,155.7,876.1,11.8,692,20969,0.00,2.42,0.00,0.000,4,0.000,0.054,3259,354,2357,0,0,0,0,0,0
$GC,21031,0.50,155.7,868.0,11.7,693,21035,0.00,2.42,0.00,0.000,6,0.000,0.047,3259,1966,2357,0,0,0,0,0,0
$GC,21374,0.50,155.7,824.1,13.0,702,21378,0.00,2.40,0.00,0.000,4,0.000,0.056,3259,3525,2357,0,0,0,0,0,0
$GC,21400,0.50,155.7,820.4,14.0,702,21404,0.00,2.42,0.00,0.000,6,0.000,0.042,3271,1931,2357,0,0,0,0,0,0
$GC,21737,0.50,155.7,773.5,14.0,711,21741,0.00,2.42,0.00,0.000,4,0.000,0.054,3283,361,2357,0,0,0,0,0,0
$GC,21787,0.50,155.7,766.3,14.3,712,21791,0.00,2.40,0.00,0.000,6,0.000,0.048,3283,1941,2357,0,0,0,0,0,0
$GC,22099,0.50,155.7,716.9,16.1,720,22103,0.00,2.45,0.00,0.000,4,0.000,0.052,3295,356,2356,0,0,0,0,0,0
$GC,22120,0.50,155.7,713.3,18.8,720,22126,0.15,2.40,0.00,0.000,6,0.121,0.048,3244,1938,2356,0,0,0,0,0,0
$GC,22457,0.50,155.7,671.7,11.9,729,22462,0.00,2.50,0.00,0.000,4,0.000,0.058,3244,3529,2356,0,0,0,0,0,0
$GC,22514,0.50,155.7,664.9,13.0,730,22518,0.00,2.42,0.00,0.000,6,0.000,0.043,3255,1948,2355,0,0,0,0,0,0
$GC,22861,0.50,155.7,628.1,10.4,739,22866,0.00,2.47,0.00,0.000,4,0.000,0.054,3267,345,2355,0,0,0,0,0,0
$GC,22929,0.50,155.7,620.8,10.3,740,22933,0.00,2.40,0.00,0.000,6,0.000,0.046,3267,1944,2355,0,0,0,0,0,0
$GC,23265,0.50,155.7,582.7,11.2,749,23266,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1945,2355,0,0,0,0,0,0
$GC,23589,0.50,155.7,546.7,11.0,757,23593,0.00,2.50,0.00,0.000,4,0.000,0.056,3267,3528,2355,0,0,0,0,0,0
$GC,23695,0.50,155.7,534.0,9.9,759,23699,0.00,2.42,0.00,0.000,6,0.000,0.042,3280,1929,2354,0,0,0,0,0,0
$GC,24038,0.50,155.7,494.1,11.8,768,24042,0.00,2.40,0.00,0.000,4,0.000,0.051,3292,363,2354,0,0,0,0,0,0
$GC,24122,0.50,155.7,483.4,12.1,770,24127,0.12,2.38,0.00,0.000,6,0.127,0.044,3250,1953,2354,0,0,0,0,0,0
$GC,24447,0.50,155.7,449.9,10.1,778,24451,0.00,2.47,0.00,0.000,4,0.000,0.056,3250,3532,2355,0,0,0,0,0,0
$GC,24519,0.50,155.7,442.0,12.0,779,24524,0.00,2.42,0.00,0.000,6,0.000,0.043,3261,1948,2355,0,0,0,0,0,0
$GC,24849,0.50,155.7,407.8,10.2,787,24854,0.00,2.45,0.00,0.000,4,0.000,0.052,3274,348,2355,0,0,0,0,0,0
$GC,24934,0.50,155.7,399.3,10.2,789,24938,0.00,2.38,0.00,0.000,6,0.000,0.043,3274,1944,2355,0,0,0,0,0,0
$GC,25260,0.50,155.7,366.4,10.0,797,25264,0.00,2.47,0.00,0.000,4,0.000,0.051,3285,353,2357,0,0,0,0,0,0
$GC,25293,0.50,155.7,362.9,11.0,797,25299,0.05,2.40,0.00,0.000,6,0.107,0.044,3245,1940,2356,0,0,0,0,0,0
$GC,25626,0.50,155.7,339.6,6.7,806,25630,0.00,2.47,0.00,0.000,4,0.000,0.054,3245,3530,2357,0,0,0,0,0,0
$GC,25686,0.50,155.7,334.4,9.1,807,25691,0.00,2.45,0.00,0.000,6,0.000,0.041,3255,1944,2358,0,0,0,0,0,0
$GC,26036,0.50,155.7,305.3,8.4,816,26040,0.00,2.45,0.00,0.000,4,0.000,0.052,3268,341,2359,0,0,0,0,0,0
$GC,26155,0.50,155.7,294.9,7.9,819,26159,0.00,2.40,0.00,0.000,6,0.000,0.041,3268,1951,2359,0,0,0,0,0,0
$GC,26469,0.50,155.7,267.9,8.5,834,26473,0.00,2.45,0.00,0.000,4,0.000,0.054,3268,3521,2360,0,0,0,0,0,0
$GC,26496,0.50,155.7,265.4,8.7,835,26500,0.00,2.42,0.00,0.000,6,0.000,0.041,3280,1930,2360,0,0,0,0,0,0
$GC,26817,0.50,155.7,237.0,8.8,851,26821,0.00,2.42,0.00,0.000,4,0.000,0.050,3293,353,2361,0,0,0,0,0,0
$GC,26837,0.50,155.7,235.1,8.3,852,26842,0.12,2.38,0.00,0.000,6,0.117,0.043,3249,1941,2361,0,0,0,0,0,0
$GC,27163,0.51,159.1,213.7,5.9,868,27174,0.00,2.47,5.28,0.698,4,0.000,0.052,3248,3524,2346,0,0,0,0,0,0
$GC,27212,0.51,159.1,210.6,7.7,870,27216,0.00,2.42,0.00,0.000,6,0.000,0.039,3258,1930,2346,0,0,0,0,0,0
$GC,27537,0.52,164.1,191.0,5.9,893,27551,0.00,2.50,6.95,0.757,4,0.000,0.050,3270,348,2325,0,0,0,0,0,0
$GC,27624,0.52,164.1,185.0,6.8,901,27628,0.00,2.38,0.00,0.000,6,0.000,0.042,3270,1936,2325,0,0,0,0,0,0
$GC,27885,0.52,164.1,165.5,7.1,925,27890,0.00,2.50,0.00,0.000,4,0.000,0.054,3270,3537,2327,0,0,0,0,0,0
$GC,27918,0.52,164.1,162.7,7.2,927,27923,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1939,2327,0,0,0,0,0,0
$GC,28179,0.52,164.1,141.5,7.5,952,28183,0.00,2.42,0.00,0.000,4,0.000,0.051,3294,354,2329,0,0,0,0,0,0
$GC,28223,0.52,164.1,138.2,6.9,955,28228,0.12,2.38,0.00,0.000,6,0.110,0.042,3248,1960,2330,0,0,0,0,0,0
$GC,28483,0.54,181.7,123.6,5.5,980,28503,0.00,0.00,16.98,0.848,6,0.000,0.000,3248,1960,2254,0,0,0,0,0,0
$GC,28760,0.60,233.5,109.4,4.6,1006,28810,0.10,2.55,42.65,0.885,4,0.097,0.050,3352,363,2042,0,0,0,0,0,0
$GC,28834,0.60,233.5,102.5,10.1,1013,28840,0.22,2.38,0.00,0.000,6,0.103,0.042,3274,1938,2042,0,0,0,0,0,0
$GC,29094,0.60,233.5,87.0,6.1,1037,29099,0.00,2.45,0.00,0.000,4,0.000,0.053,3273,3528,2044,0,0,0,0,0,0
$GC,29116,0.60,233.5,85.6,7.1,1038,29121,0.00,2.42,0.00,0.000,6,0.000,0.040,3284,1929,2044,0,0,0,0,0,0
$GC,29376,0.60,233.5,67.2,6.6,1063,29381,0.00,2.38,0.00,0.000,4,0.000,0.050,3295,358,2045,0,0,0,0,0,0
$GC,29444,0.60,233.5,62.6,6.4,1068,29449,0.00,2.33,0.00,0.000,6,0.000,0.042,3296,1935,2045,0,0,0,0,0,0
$GC,29705,0.60,233.5,44.3,7.4,1093,29709,0.00,2.40,0.00,0.000,4,0.000,0.050,3307,360,2047,0,0,0,0,0,0
$GC,29755,0.60,233.5,39.7,7.3,1097,29760,0.00,2.35,0.00,0.000,6,0.000,0.042,3306,1944,2047,0,0,0,0,0,0
$GC,30015,0.60,233.5,19.9,9.0,1121,30016,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1944,2049,0,0,0,0,0,0
$STATE,30204,end climb,SURFACE_DEPTH_REACHED
$STATE,30205,begin surface coast
$FINISH,0.5,NaN
$STATE,30237,end surface coast,CONTROL_FINISHED_OK
$STATE,30237,begin surface
$SM_CCo,30254,82.28,0.819,0,0,1363,400.08
$SM_GC,1.09,0.00,0.00,82.28,0.000,0.000,0.819,109,2111,1363,-9.32,0.62,400.08
$IRIDIUM_FIX,2155.06,12855.93,260812,181802
$TT8_MAMPS,0.028379
$HUMID,1078732248
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,24.60
$XPDR_PINGS,110
$24V_AH,21.7,75.457
$10V_AH,9.2,60.739
$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,21.650,344.550,362.825,82.275,0.000,29.805,40.380,205.840,27.500,0.000,62.749,1746.141,24452.062,672.173,3336.097,577.698,33.385,2326.093,0.000,2919.736,0.000,0.543,0.000
$DEVICE_MAMPS,218.595,72.098,1603.030,819.156,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355544
$DATA_FILE_SIZE,36693,1142
$CAP_FILE_SIZE,335779,0
$CFSIZE,260165632,183476224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,040311,165927,2204.465,12855.865,29,2.1,48,-3.1