version: 66.07
glider: 500
mission: 5
dive: 429
start: 3 5 111 9 58 44
data:
$ID,500
$MISSION,5
$DIVE,429
$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,-130108.3
$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,41
$R_STBD_OVSHOOT,63
$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
$GPS1,050311,094801,2204.065,12857.092,63,1.1,63,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.4
$GPS2,050311,095750,2204.069,12857.238,13,1.1,13,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.130,-0.179
$KALMAN_X,-690964.2,306.5,-616.6,1279347.6,4548.5
$KALMAN_Y,395835.8,-234.3,30.6,-294856.6,5970.1
$MHEAD_RNG_PITCHd_Wd,219.0,314269,-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,15097,-0.50,-155.7,831.7,-2.1,542,15101,0.00,2.35,0.00,0.000,6,0.000,0.041,2933,2096,3593,0,0,0,0,0,0
$GC,15446,-0.50,-155.7,838.8,-2.2,551,15450,0.00,2.35,0.00,0.000,4,0.000,0.045,2933,513,3592,0,0,0,0,0,0
$GC,15602,-0.50,-155.7,843.2,-2.8,554,15606,0.00,2.35,0.00,0.000,6,0.000,0.041,2926,2100,3592,0,0,0,0,0,0
$GC,15941,-0.50,-155.7,856.0,-4.3,563,15945,0.00,2.35,0.00,0.000,4,0.000,0.045,2926,514,3591,0,0,0,0,0,0
$GC,16074,-0.50,-155.7,862.3,-4.9,566,16079,0.00,2.35,0.00,0.000,6,0.000,0.048,2916,2084,3590,0,0,0,0,0,0
$GC,16402,-0.50,-155.7,876.1,-4.1,574,16406,0.00,2.33,0.00,0.000,4,0.000,0.044,2915,516,3590,0,0,0,0,0,0
$GC,16509,-0.50,-155.7,880.3,-3.5,576,16513,0.00,2.35,0.00,0.000,6,0.000,0.041,2905,2097,3589,0,0,0,0,0,0
$GC,16855,-0.50,-155.7,891.9,-3.4,585,16859,0.00,2.38,0.00,0.000,4,0.000,0.044,2905,514,3589,0,0,0,0,0,0
$GC,16911,-0.50,-155.7,893.9,-3.1,586,16916,0.10,2.35,0.00,0.000,6,0.130,0.042,2930,2093,3589,0,0,0,0,0,0
$GC,17261,-0.50,-155.7,904.7,-3.3,595,17265,0.00,2.38,0.00,0.000,4,0.000,0.046,2931,516,3588,0,0,0,0,0,0
$GC,17379,-0.50,-155.7,908.8,-3.3,597,17384,0.00,2.35,0.00,0.000,6,0.000,0.042,2923,2086,3588,0,0,0,0,0,0
$GC,17711,-0.50,-155.7,922.0,-4.4,605,17715,0.00,2.35,0.00,0.000,4,0.000,0.046,2923,509,3587,0,0,0,0,0,0
$GC,17867,-0.50,-155.7,929.0,-4.2,608,17871,0.00,2.38,0.00,0.000,6,0.000,0.043,2916,2097,3588,0,0,0,0,0,0
$GC,18207,-0.50,-155.7,943.9,-4.5,617,18211,0.00,2.38,0.00,0.000,4,0.000,0.045,2916,517,3587,0,0,0,0,0,0
$GC,18307,-0.50,-155.7,948.4,-4.6,619,18312,0.00,2.35,0.00,0.000,6,0.000,0.042,2905,2087,3587,0,0,0,0,0,0
$GC,18658,-0.50,-155.7,961.3,-3.5,628,18662,0.00,2.38,0.00,0.000,4,0.000,0.045,2905,509,3586,0,0,0,0,0,0
$GC,18741,-0.50,-155.7,964.3,-3.4,630,18746,0.10,2.35,0.00,0.000,6,0.129,0.043,2931,2093,3586,0,0,0,0,0,0
$GC,19064,-0.50,-155.7,974.1,-3.2,638,19069,0.00,2.40,0.00,0.000,4,0.000,0.047,2932,505,3586,0,0,0,0,0,0
$GC,19277,-0.50,-155.7,981.1,-4.0,642,19282,0.00,2.38,0.00,0.000,6,0.000,0.044,2927,2087,3585,0,0,0,0,0,0
$STATE,19565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19565,begin apogee
$GC,19571,-0.23,0.0,990.8,3.5,649,19712,0.25,0.00,137.62,1.625,6,0.077,0.000,3028,1929,2994,0,0,0,0,0,0
$STATE,19713,end apogee,CONTROL_FINISHED_OK
$STATE,19713,begin climb
$GC,19716,0.50,155.7,991.4,0.0,652,19878,0.60,2.65,152.48,1.594,4,0.051,0.050,3275,379,2360,0,0,0,0,0,0
$GC,20058,0.50,155.7,946.9,14.7,660,20063,0.00,2.40,0.00,0.000,6,0.000,0.043,3275,1953,2359,0,0,0,0,0,0
$GC,20384,0.50,155.7,898.6,14.8,668,20389,0.00,2.42,0.00,0.000,4,0.000,0.055,3275,3523,2358,0,0,0,0,0,0
$GC,20440,0.50,155.7,889.7,17.1,669,20444,0.12,2.38,0.00,0.000,6,0.137,0.040,3247,1952,2357,0,0,0,0,0,0
$GC,20754,0.50,155.7,853.5,11.5,677,20758,0.00,2.42,0.00,0.000,4,0.000,0.051,3258,364,2357,0,0,0,0,0,0
$GC,20792,0.50,155.7,848.6,11.9,678,20796,0.00,2.38,0.00,0.000,6,0.000,0.043,3258,1944,2357,0,0,0,0,0,0
$GC,21117,0.50,155.7,806.9,13.1,686,21121,0.00,2.47,0.00,0.000,4,0.000,0.054,3258,3528,2356,0,0,0,0,0,0
$GC,21173,0.50,155.7,798.8,13.2,687,21177,0.00,2.40,0.00,0.000,6,0.000,0.041,3270,1950,2356,0,0,0,0,0,0
$GC,21520,0.50,155.7,750.2,14.0,696,21525,0.00,2.45,0.00,0.000,4,0.000,0.052,3283,353,2356,0,0,0,0,0,0
$GC,21577,0.50,155.7,742.0,14.2,697,21581,0.00,2.40,0.00,0.000,6,0.000,0.046,3283,1943,2356,0,0,0,0,0,0
$GC,21888,0.50,155.7,697.4,14.2,705,21892,0.00,2.50,0.00,0.000,4,0.000,0.058,3283,3528,2356,0,0,0,0,0,0
$GC,21921,0.50,155.7,692.4,15.7,705,21926,0.15,2.45,0.00,0.000,6,0.127,0.043,3247,1929,2355,0,0,0,0,0,0
$GC,22254,0.50,155.7,657.1,10.3,714,22259,0.00,2.42,0.00,0.000,4,0.000,0.054,3258,356,2355,0,0,0,0,0,0
$GC,22293,0.50,155.7,652.7,10.4,715,22297,0.00,2.42,0.00,0.000,6,0.000,0.048,3257,1949,2355,0,0,0,0,0,0
$GC,22619,0.50,155.7,616.9,11.2,723,22623,0.00,2.47,0.00,0.000,4,0.000,0.057,3257,3535,2354,0,0,0,0,0,0
$GC,22679,0.50,155.7,609.5,13.3,724,22683,0.00,2.45,0.00,0.000,6,0.000,0.043,3270,1934,2354,0,0,0,0,0,0
$GC,23029,0.50,155.7,568.3,12.1,733,23033,0.00,2.42,0.00,0.000,4,0.000,0.052,3283,348,2355,0,0,0,0,0,0
$GC,23056,0.50,155.7,564.8,10.5,733,23060,0.00,2.40,0.00,0.000,6,0.000,0.044,3283,1945,2355,0,0,0,0,0,0
$GC,23393,0.50,155.7,521.2,13.3,742,23394,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1945,2355,0,0,0,0,0,0
$GC,23719,0.50,155.7,475.8,14.2,750,23723,0.00,2.47,0.00,0.000,4,0.000,0.054,3283,3532,2355,0,0,0,0,0,0
$GC,23779,0.50,155.7,466.4,14.6,751,23784,0.15,2.45,0.00,0.000,6,0.124,0.041,3246,1928,2355,0,0,0,0,0,0
$GC,24130,0.50,155.7,432.1,9.3,760,24134,0.00,2.42,0.00,0.000,4,0.000,0.050,3257,348,2355,0,0,0,0,0,0
$GC,24162,0.50,155.7,428.7,8.0,760,24167,0.00,2.40,0.00,0.000,6,0.000,0.042,3257,1941,2355,0,0,0,0,0,0
$GC,24494,0.50,155.7,397.9,9.1,769,24498,0.00,2.47,0.00,0.000,4,0.000,0.054,3257,3527,2356,0,0,0,0,0,0
$GC,24526,0.50,155.7,394.6,8.8,769,24531,0.00,2.40,0.00,0.000,6,0.000,0.041,3269,1944,2355,0,0,0,0,0,0
$GC,24857,0.50,155.7,360.0,10.8,778,24861,0.00,2.42,0.00,0.000,4,0.000,0.051,3281,350,2356,0,0,0,0,0,0
$GC,24924,0.50,155.7,352.4,8.9,779,24928,0.00,2.38,0.00,0.000,6,0.000,0.041,3281,1937,2356,0,0,0,0,0,0
$GC,25259,0.50,155.7,315.8,10.5,788,25263,0.00,2.47,0.00,0.000,4,0.000,0.052,3281,3524,2357,0,0,0,0,0,0
$GC,25291,0.50,155.7,312.2,10.3,788,25297,0.12,2.42,0.00,0.000,6,0.125,0.038,3251,1926,2357,0,0,0,0,0,0
$GC,25604,0.50,155.7,289.8,6.7,800,25608,0.00,2.40,0.00,0.000,4,0.000,0.049,3262,356,2358,0,0,0,0,0,0
$GC,25676,0.50,155.7,284.5,6.7,803,25681,0.00,2.38,0.00,0.000,6,0.000,0.041,3262,1944,2358,0,0,0,0,0,0
$GC,25991,0.50,155.7,261.3,7.3,818,25994,0.00,2.47,0.00,0.000,4,0.000,0.051,3262,3529,2360,0,0,0,0,0,0
$GC,26086,0.50,155.7,252.9,8.9,822,26091,0.00,2.42,0.00,0.000,6,0.000,0.038,3275,1929,2360,0,0,0,0,0,0
$GC,26407,0.50,155.7,227.6,7.4,838,26411,0.00,2.40,0.00,0.000,4,0.000,0.046,3287,360,2362,0,0,0,0,0,0
$GC,26429,0.50,155.7,225.8,9.4,839,26434,0.12,2.35,0.00,0.000,6,0.115,0.039,3241,1944,2362,0,0,0,0,0,0
$GC,26749,0.53,177.4,208.0,5.4,855,26775,0.00,2.45,20.55,0.930,4,0.000,0.044,3252,356,2270,0,0,0,0,0,0
$GC,26792,0.54,184.2,205.6,5.8,857,26807,0.00,2.38,7.22,0.787,6,0.000,0.038,3252,1943,2244,0,0,0,0,0,0
$GC,27124,0.54,185.4,184.9,6.0,884,27128,0.00,2.47,0.00,0.000,4,0.000,0.051,3252,3536,2246,0,0,0,0,0,0
$GC,27156,0.54,185.4,182.5,7.2,886,27166,0.00,2.45,3.60,0.541,6,0.000,0.038,3261,1938,2238,0,0,0,0,0,0
$GC,27428,0.54,185.4,165.2,6.3,912,27432,0.00,2.42,0.00,0.000,4,0.000,0.048,3273,352,2241,0,0,0,0,0,0
$GC,27485,0.54,185.4,161.6,6.3,916,27490,0.00,2.35,0.00,0.000,6,0.000,0.038,3274,1956,2241,0,0,0,0,0,0
$GC,27746,0.54,185.4,145.5,6.4,941,27750,0.00,2.40,0.00,0.000,4,0.000,0.051,3273,3518,2243,0,0,0,0,0,0
$GC,27801,0.54,185.4,141.5,8.2,946,27806,0.00,2.35,0.00,0.000,6,0.000,0.037,3285,1928,2244,0,0,0,0,0,0
$GC,28061,0.54,185.4,124.2,7.2,970,28065,0.00,2.47,0.00,0.000,4,0.000,0.051,3285,3520,2246,0,0,0,0,0,0
$GC,28100,0.54,185.4,121.1,8.2,973,28105,0.10,2.35,0.00,0.000,6,0.130,0.038,3259,1933,2247,0,0,0,0,0,0
$GC,28360,0.54,185.4,104.9,6.1,997,28370,0.00,2.42,4.00,0.527,4,0.000,0.047,3269,360,2239,0,0,0,0,0,0
$GC,28410,0.54,185.4,101.9,6.4,1001,28415,0.00,2.33,0.00,0.000,6,0.000,0.038,3269,1942,2239,0,0,0,0,0,0
$GC,28671,0.54,185.4,85.9,6.4,1026,28675,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,3527,2240,0,0,0,0,0,0
$GC,28698,0.54,185.4,83.8,6.7,1028,28702,0.00,2.40,0.00,0.000,6,0.000,0.039,3281,1930,2240,0,0,0,0,0,0
$GC,28958,0.54,185.4,66.1,6.7,1052,28962,0.00,2.38,0.00,0.000,4,0.000,0.045,3293,349,2242,0,0,0,0,0,0
$GC,29019,0.54,185.4,61.6,7.0,1057,29024,0.00,2.33,0.00,0.000,6,0.000,0.038,3293,1953,2242,0,0,0,0,0,0
$GC,29285,0.54,185.4,43.9,6.3,1082,29290,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,3522,2244,0,0,0,0,0,0
$GC,29319,0.54,185.4,41.4,8.3,1084,29325,0.12,2.35,0.00,0.000,6,0.119,0.035,3258,1925,2244,0,0,0,0,0,0
$GC,29581,0.64,265.3,27.1,3.9,1109,29654,0.10,2.40,65.38,0.841,4,0.098,0.045,3374,364,1912,0,0,0,0,0,0
$GC,29706,0.64,265.3,12.4,13.2,1121,29711,0.25,2.33,0.00,0.000,6,0.103,0.037,3288,1945,1916,0,0,0,0,0,0
$STATE,29847,end climb,SURFACE_DEPTH_REACHED
$STATE,29847,begin surface coast
$FINISH,0.3,NaN
$STATE,29900,end surface coast,CONTROL_FINISHED_OK
$STATE,29900,begin surface
$SM_CCo,29919,66.40,0.831,0,0,1363,400.08
$SM_GC,1.10,0.00,0.00,66.40,0.000,0.000,0.831,122,2108,1363,-9.28,0.51,400.08
$IRIDIUM_FIX,2157.39,13147.48,280812,040443
$TT8_MAMPS,0.029146
$HUMID,1078718055
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.80
$XPDR_PINGS,356
$24V_AH,21.6,76.072
$10V_AH,8.5,61.028
$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,21.900,343.300,390.850,66.400,0.000,58.738,129.467,196.854,89.000,0.000,16.381,1759.045,24071.977,673.998,3456.704,592.606,33.382,2356.905,0.000,2977.725,0.000,0.542,0.000
$DEVICE_MAMPS,216.294,66.729,1625.273,830.661,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355568
$DATA_FILE_SIZE,36705,1139
$CAP_FILE_SIZE,337749,0
$CFSIZE,260165632,183152640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050311,181937,2202.157,12857.660,25,1.2,25,-3.1