version: 66.07
glider: 500
mission: 5
dive: 428
start: 3 5 111 1 28 59
data:
$ID,500
$MISSION,5
$DIVE,428
$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,-130091.3
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,050311,011406,2205.261,12854.818,36,1.1,36,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.0
$GPS2,050311,012806,2205.314,12854.881,10,1.6,26,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.017,-0.220
$KALMAN_X,-695448.8,127.1,545.3,1278763.9,3811.4
$KALMAN_Y,392270.5,-500.7,-1010.2,-287667.2,8444.1
$MHEAD_RNG_PITCHd_Wd,178.6,310925,-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
$STATE,13,begin dive
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$GC,14862,-0.50,-155.7,829.1,-3.1,540,14867,0.00,2.38,0.00,0.000,6,0.000,0.037,2912,2087,3606,0,0,0,0,0,0
$GC,15176,-0.50,-155.7,840.7,-3.9,548,15180,0.00,2.47,0.00,0.000,4,0.000,0.053,2901,3672,3606,0,0,0,0,0,0
$GC,15262,-0.50,-155.7,844.0,-4.0,550,15267,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2086,3605,0,0,0,0,0,0
$GC,15587,-0.50,-155.7,857.7,-4.3,558,15592,0.00,2.47,0.00,0.000,4,0.000,0.052,2889,3679,3605,0,0,0,0,0,0
$GC,15639,-0.50,-155.7,860.1,-4.6,559,15644,0.12,2.38,0.00,0.000,6,0.110,0.036,2935,2081,3605,0,0,0,0,0,0
$GC,15953,-0.50,-155.7,874.3,-4.7,567,15958,0.00,2.47,0.00,0.000,4,0.000,0.054,2925,3671,3604,0,0,0,0,0,0
$GC,16160,-0.50,-155.7,884.0,-4.1,571,16164,0.00,2.35,0.00,0.000,6,0.000,0.038,2925,2089,3604,0,0,0,0,0,0
$GC,16491,-0.50,-155.7,897.3,-3.8,579,16495,0.00,2.45,0.00,0.000,4,0.000,0.052,2914,3681,3603,0,0,0,0,0,0
$GC,16553,-0.50,-155.7,899.4,-4.5,580,16557,0.00,2.38,0.00,0.000,6,0.000,0.036,2914,2079,3603,0,0,0,0,0,0
$GC,16896,-0.50,-155.7,909.8,-2.9,589,16900,0.00,2.47,0.00,0.000,4,0.000,0.053,2902,3671,3602,0,0,0,0,0,0
$GC,16940,-0.50,-155.7,911.1,-2.7,590,16945,0.00,2.35,0.00,0.000,6,0.000,0.038,2902,2091,3602,0,0,0,0,0,0
$GC,17260,-0.50,-155.7,921.1,-3.3,598,17264,0.00,2.45,0.00,0.000,4,0.000,0.054,2891,3668,3602,0,0,0,0,0,0
$GC,17327,-0.50,-155.7,923.5,-4.4,599,17332,0.12,2.35,0.00,0.000,6,0.108,0.038,2938,2091,3601,0,0,0,0,0,0
$GC,17664,-0.50,-155.7,935.5,-3.7,608,17669,0.00,2.47,0.00,0.000,4,0.000,0.054,2928,3668,3601,0,0,0,0,0,0
$GC,17871,-0.50,-155.7,943.7,-4.2,612,17876,0.00,2.38,0.00,0.000,6,0.000,0.038,2928,2086,3601,0,0,0,0,0,0
$GC,18202,-0.50,-155.7,954.9,-3.3,620,18206,0.00,2.47,0.00,0.000,4,0.000,0.053,2926,3680,3600,0,0,0,0,0,0
$GC,18459,-0.50,-155.7,963.8,-2.8,625,18464,0.00,2.40,0.00,0.000,6,0.000,0.037,2926,2081,3600,0,0,0,0,0,0
$GC,18791,-0.50,-155.7,973.9,-3.0,634,18795,0.00,2.38,0.00,0.000,4,0.000,0.047,2926,515,3600,0,0,0,0,0,0
$GC,18993,-0.50,-155.7,980.3,-2.6,638,18998,0.00,2.35,0.00,0.000,6,0.000,0.044,2917,2085,3599,0,0,0,0,0,0
$STATE,19333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19334,begin apogee
$GC,19340,-0.23,0.0,991.2,3.4,647,19484,0.28,0.00,140.50,1.619,6,0.078,0.000,3026,1927,2994,0,0,0,0,0,0
$STATE,19484,end apogee,CONTROL_FINISHED_OK
$STATE,19485,begin climb
$GC,19488,0.50,155.7,992.3,0.0,650,19650,0.60,2.80,152.80,1.585,4,0.058,0.051,3252,3525,2360,0,0,0,0,0,0
$GC,19733,0.50,155.7,963.4,11.9,655,19739,0.00,2.47,0.00,0.000,6,0.000,0.038,3264,1949,2360,0,0,0,0,0,0
$GC,20064,0.50,155.7,919.8,13.2,664,20069,0.00,2.45,0.00,0.000,4,0.000,0.049,3277,354,2360,0,0,0,0,0,0
$GC,20149,0.50,155.7,908.6,13.2,666,20154,0.00,2.38,0.00,0.000,6,0.000,0.044,3277,1938,2359,0,0,0,0,0,0
$GC,20474,0.50,155.7,863.1,14.1,674,20478,0.00,2.47,0.00,0.000,4,0.000,0.054,3276,3532,2360,0,0,0,0,0,0
$GC,20542,0.50,155.7,852.9,14.4,675,20547,0.12,2.40,0.00,0.000,6,0.141,0.041,3249,1933,2360,0,0,0,0,0,0
$GC,20881,0.50,155.7,812.3,11.7,684,20885,0.00,2.40,0.00,0.000,4,0.000,0.052,3259,362,2360,0,0,0,0,0,0
$GC,20953,0.50,155.7,803.2,10.1,685,20958,0.00,2.40,0.00,0.000,6,0.000,0.044,3260,1947,2360,0,0,0,0,0,0
$GC,21284,0.50,155.7,762.9,12.3,693,21285,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1948,2360,0,0,0,0,0,0
$GC,21609,0.50,155.7,721.9,12.9,701,21610,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1948,2360,0,0,0,0,0,0
$GC,21935,0.50,155.7,681.3,12.1,709,21939,0.00,2.42,0.00,0.000,4,0.000,0.053,3260,3536,2360,0,0,0,0,0,0
$GC,21984,0.50,155.7,675.0,12.6,710,21988,0.00,2.42,0.00,0.000,6,0.000,0.042,3273,1930,2360,0,0,0,0,0,0
$GC,22303,0.50,155.7,637.0,11.8,718,22304,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1930,2360,0,0,0,0,0,0
$GC,22627,0.50,155.7,598.6,11.9,726,22631,0.00,2.47,0.00,0.000,4,0.000,0.053,3273,3526,2361,0,0,0,0,0,0
$GC,22677,0.50,155.7,592.1,13.9,727,22682,0.10,2.40,0.00,0.000,6,0.145,0.042,3253,1940,2361,0,0,0,0,0,0
$GC,22993,0.50,155.7,558.2,10.8,735,22997,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,360,2361,0,0,0,0,0,0
$GC,23076,0.50,155.7,548.4,11.2,737,23080,0.00,2.38,0.00,0.000,6,0.000,0.044,3265,1948,2361,0,0,0,0,0,0
$GC,23402,0.50,155.7,511.5,11.2,745,23406,0.00,2.47,0.00,0.000,4,0.000,0.054,3265,3534,2361,0,0,0,0,0,0
$GC,23453,0.50,155.7,505.5,10.8,746,23458,0.00,2.42,0.00,0.000,6,0.000,0.042,3276,1931,2362,0,0,0,0,0,0
$GC,23773,0.50,155.7,469.9,11.0,754,23777,0.00,2.40,0.00,0.000,4,0.000,0.051,3289,357,2362,0,0,0,0,0,0
$GC,23806,0.50,155.7,466.0,12.4,754,23812,0.12,2.38,0.00,0.000,6,0.126,0.044,3247,1947,2362,0,0,0,0,0,0
$GC,24139,0.50,155.7,437.7,8.4,763,24143,0.00,2.47,0.00,0.000,4,0.000,0.052,3246,3532,2364,0,0,0,0,0,0
$GC,24195,0.50,155.7,432.2,9.3,764,24199,0.00,2.40,0.00,0.000,6,0.000,0.041,3257,1950,2364,0,0,0,0,0,0
$GC,24509,0.50,155.7,402.1,9.6,772,24512,0.00,2.45,0.00,0.000,4,0.000,0.049,3270,349,2364,0,0,0,0,0,0
$GC,24570,0.50,155.7,395.7,9.8,773,24575,0.00,2.38,0.00,0.000,6,0.000,0.043,3270,1941,2365,0,0,0,0,0,0
$GC,24919,0.50,155.7,361.5,9.7,782,24923,0.00,2.45,0.00,0.000,4,0.000,0.051,3270,3528,2366,0,0,0,0,0,0
$GC,24981,0.50,155.7,354.7,10.7,783,24986,0.00,2.40,0.00,0.000,6,0.000,0.039,3282,1929,2366,0,0,0,0,0,0
$GC,25324,0.50,155.7,318.0,10.9,792,25325,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1929,2367,0,0,0,0,0,0
$GC,25630,0.50,155.7,286.7,9.6,802,25640,0.00,2.45,3.92,0.630,4,0.000,0.048,3295,365,2360,0,0,0,0,0,0
$GC,25726,0.50,155.7,276.9,8.8,806,25731,0.12,2.33,0.00,0.000,6,0.120,0.039,3251,1943,2361,0,0,0,0,0,0
$GC,26045,0.50,155.7,252.5,7.0,822,26050,0.00,2.42,0.00,0.000,4,0.000,0.053,3251,3526,2364,0,0,0,0,0,0
$GC,26123,0.50,155.7,247.0,7.1,825,26128,0.00,2.38,0.00,0.000,6,0.000,0.038,3261,1944,2365,0,0,0,0,0,0
$GC,26438,0.50,155.7,227.7,6.1,841,26442,0.00,2.45,0.00,0.000,4,0.000,0.049,3260,3532,2367,0,0,0,0,0,0
$GC,26470,0.50,155.7,225.5,8.0,842,26475,0.00,2.42,0.00,0.000,6,0.000,0.039,3272,1934,2367,0,0,0,0,0,0
$GC,26785,0.50,155.7,200.6,7.9,858,26794,0.00,2.45,4.18,0.615,4,0.000,0.048,3285,351,2359,0,0,0,0,0,0
$GC,26833,0.50,155.7,196.8,9.2,861,26839,0.10,2.38,0.00,0.000,6,0.127,0.039,3248,1961,2360,0,0,0,0,0,0
$GC,27094,0.55,189.3,181.2,5.1,886,27129,0.00,2.47,29.30,0.927,4,0.000,0.049,3248,3536,2223,0,0,0,0,0,0
$GC,27173,0.57,209.0,176.2,5.5,893,27198,0.00,2.45,17.55,0.904,6,0.000,0.038,3256,1933,2142,0,0,0,0,0,0
$GC,27453,0.57,212.6,159.2,5.9,920,27464,0.00,2.42,5.25,0.680,4,0.000,0.046,3268,357,2127,0,0,0,0,0,0
$GC,27515,0.58,213.3,155.2,6.0,925,27520,0.00,2.33,0.00,0.000,6,0.000,0.038,3268,1937,2127,0,0,0,0,0,0
$GC,27777,0.58,213.3,138.5,6.2,950,27780,0.00,2.45,0.00,0.000,4,0.000,0.049,3268,3525,2130,0,0,0,0,0,0
$GC,27821,0.58,213.3,135.2,8.1,954,27825,0.00,2.38,0.00,0.000,6,0.000,0.036,3278,1940,2130,0,0,0,0,0,0
$GC,28089,0.58,213.3,116.4,6.5,979,28093,0.00,2.42,0.00,0.000,4,0.000,0.048,3291,349,2132,0,0,0,0,0,0
$GC,28127,0.58,213.3,113.5,7.5,982,28132,0.00,2.33,0.00,0.000,6,0.000,0.038,3291,1942,2132,0,0,0,0,0,0
$GC,28388,0.58,213.3,95.5,6.2,1006,28397,0.00,2.47,3.85,0.532,4,0.000,0.047,3291,3532,2125,0,0,0,0,0,0
$GC,28432,0.58,213.3,92.2,8.0,1010,28437,0.00,2.40,0.00,0.000,6,0.000,0.037,3302,1932,2125,0,0,0,0,0,0
$GC,28692,0.58,213.3,72.7,7.2,1034,28696,0.00,2.40,0.00,0.000,4,0.000,0.047,3314,354,2126,0,0,0,0,0,0
$GC,28779,0.58,213.3,66.3,6.7,1041,28784,0.12,2.33,0.00,0.000,6,0.106,0.038,3266,1959,2127,0,0,0,0,0,0
$GC,29039,0.59,226.6,50.8,5.6,1065,29059,0.00,2.42,12.88,0.760,4,0.000,0.048,3266,3520,2070,0,0,0,0,0,0
$GC,29082,0.63,256.2,48.5,5.2,1069,29112,0.00,2.35,25.23,0.833,6,0.000,0.037,3274,1942,1950,0,0,0,0,0,0
$GC,29368,0.63,256.2,32.2,6.0,1096,29372,0.00,2.45,0.00,0.000,4,0.000,0.047,3285,349,1957,0,0,0,0,0,0
$GC,29428,0.63,256.2,27.3,7.4,1101,29433,0.00,2.33,0.00,0.000,6,0.000,0.037,3285,1942,1958,0,0,0,0,0,0
$GC,29626,0.63,256.2,9.4,8.5,1120,29636,0.00,2.47,3.60,0.449,4,0.000,0.050,3285,3524,1950,0,0,0,0,0,0
$GC,29670,0.63,256.2,5.4,7.9,1124,29674,0.00,2.35,0.00,0.000,6,0.000,0.036,3288,1933,1951,0,0,0,0,0,0
$STATE,29705,end climb,SURFACE_DEPTH_REACHED
$STATE,29705,begin surface coast
$FINISH,0.4,NaN
$STATE,29750,end surface coast,CONTROL_FINISHED_OK
$STATE,29751,begin surface
$SM_CCo,29768,68.72,0.829,0,0,1363,400.08
$SM_GC,0.99,0.00,0.00,68.72,0.000,0.000,0.829,113,2124,1363,-9.31,0.96,400.08
$IRIDIUM_FIX,2157.39,13036.58,270812,191949
$TT8_MAMPS,0.029913
$HUMID,1078711603
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.90
$XPDR_PINGS,465
$24V_AH,21.6,75.868
$10V_AH,8.7,60.931
$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,21.275,336.425,399.050,68.725,0.000,75.717,118.436,354.146,116.250,0.000,27.987,1739.786,24081.107,680.191,3514.065,641.409,33.381,2323.655,0.000,2885.513,0.000,0.543,0.000
$DEVICE_MAMPS,213.993,65.195,1619.137,829.127,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355504
$DATA_FILE_SIZE,36679,1131
$CAP_FILE_SIZE,338725,0
$CFSIZE,260165632,183259136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050311,094801,2204.065,12857.092,63,1.1,63,-3.1