version: 66.07
glider: 500
mission: 5
dive: 430
start: 3 5 111 18 27 20
data:
$ID,500
$MISSION,5
$DIVE,430
$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,-130123.98
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,050311,181937,2202.157,12857.660,25,1.2,25,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.5
$GPS2,050311,182625,2202.142,12857.710,9,1.3,13,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.173,-0.137
$KALMAN_X,-685638.9,-438.9,-99.0,1275060.0,7221.3
$KALMAN_Y,398613.6,-581.8,-147.2,-300676.6,4906.8
$MHEAD_RNG_PITCHd_Wd,234.6,314189,-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,14724,-0.50,-155.7,797.8,-4.1,541,14729,0.00,2.38,0.00,0.000,6,0.000,0.044,2913,2096,3603,0,0,0,0,0,0
$GC,15069,-0.50,-155.7,812.3,-4.5,550,15073,0.00,2.38,0.00,0.000,4,0.000,0.047,2913,504,3602,0,0,0,0,0,0
$GC,15129,-0.50,-155.7,815.3,-4.5,551,15134,0.00,2.38,0.00,0.000,6,0.000,0.044,2903,2085,3602,0,0,0,0,0,0
$GC,15474,-0.50,-155.7,831.5,-4.9,560,15478,0.00,2.38,0.00,0.000,4,0.000,0.046,2903,508,3601,0,0,0,0,0,0
$GC,15490,-0.50,-155.7,832.5,-4.9,560,15495,0.12,2.38,0.00,0.000,6,0.118,0.044,2937,2103,3601,0,0,0,0,0,0
$GC,15836,-0.50,-155.7,849.3,-5.1,569,15840,0.00,2.40,0.00,0.000,4,0.000,0.045,2937,513,3600,0,0,0,0,0,0
$GC,16042,-0.50,-155.7,860.2,-5.3,573,16047,0.00,2.38,0.00,0.000,6,0.000,0.044,2937,2100,3599,0,0,0,0,0,0
$GC,16374,-0.50,-155.7,875.7,-4.7,581,16378,0.00,2.40,0.00,0.000,4,0.000,0.046,2937,509,3599,0,0,0,0,0,0
$GC,16571,-0.50,-155.7,884.1,-4.4,585,16575,0.00,2.38,0.00,0.000,6,0.000,0.044,2934,2088,3598,0,0,0,0,0,0
$GC,16919,-0.50,-155.7,895.6,-3.1,594,16923,0.00,2.40,0.00,0.000,4,0.000,0.047,2934,506,3597,0,0,0,0,0,0
$GC,17092,-0.50,-155.7,901.0,-3.2,598,17096,0.00,2.40,0.00,0.000,6,0.000,0.044,2932,2099,3597,0,0,0,0,0,0
$GC,17416,-0.50,-155.7,910.7,-3.2,606,17420,0.00,2.40,0.00,0.000,4,0.000,0.047,2932,503,3597,0,0,0,0,0,0
$GC,17623,-0.50,-155.7,918.1,-3.6,610,17627,0.00,2.40,0.00,0.000,6,0.000,0.044,2924,2100,3597,0,0,0,0,0,0
$GC,17955,-0.50,-155.7,930.9,-4.1,618,17959,0.00,2.38,0.00,0.000,4,0.000,0.046,2923,513,3596,0,0,0,0,0,0
$GC,18117,-0.50,-155.7,938.1,-4.4,621,18122,0.00,2.38,0.00,0.000,6,0.000,0.044,2916,2087,3595,0,0,0,0,0,0
$GC,18449,-0.50,-155.7,953.0,-4.7,629,18453,0.00,2.38,0.00,0.000,4,0.000,0.048,2916,514,3595,0,0,0,0,0,0
$GC,18586,-0.50,-155.7,959.4,-4.8,632,18590,0.00,2.38,0.00,0.000,6,0.000,0.044,2905,2093,3594,0,0,0,0,0,0
$GC,18911,-0.50,-155.7,973.8,-4.5,640,18915,0.00,2.40,0.00,0.000,4,0.000,0.047,2905,513,3594,0,0,0,0,0,0
$GC,19017,-0.50,-155.7,978.3,-4.5,642,19022,0.10,2.38,0.00,0.000,6,0.128,0.044,2931,2087,3594,0,0,0,0,0,0
$STATE,19359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19359,begin apogee
$GC,19365,-0.23,0.0,990.4,3.5,651,19507,0.22,0.00,139.38,1.628,6,0.076,0.000,3026,1929,2995,0,0,0,0,0,0
$STATE,19508,end apogee,CONTROL_FINISHED_OK
$STATE,19509,begin climb
$GC,19512,0.50,155.7,991.3,0.0,654,19674,0.60,2.78,152.38,1.596,4,0.053,0.054,3257,3521,2360,0,0,0,0,0,0
$GC,19847,0.50,155.7,946.5,15.9,661,19853,0.00,2.45,0.00,0.000,6,0.000,0.038,3269,1930,2359,0,0,0,0,0,0
$GC,20178,0.50,155.7,897.6,14.8,670,20182,0.00,2.42,0.00,0.000,4,0.000,0.052,3282,353,2358,0,0,0,0,0,0
$GC,20228,0.50,155.7,890.1,15.4,671,20232,0.00,2.42,0.00,0.000,6,0.000,0.045,3283,1949,2358,0,0,0,0,0,0
$GC,20541,0.50,155.7,842.3,15.2,679,20542,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1949,2357,0,0,0,0,0,0
$GC,20866,0.50,155.7,796.1,13.9,687,20870,0.00,2.45,0.00,0.000,4,0.000,0.055,3282,3535,2357,0,0,0,0,0,0
$GC,20909,0.50,155.7,789.7,13.9,688,20914,0.12,2.42,0.00,0.000,6,0.134,0.041,3254,1938,2357,0,0,0,0,0,0
$GC,21230,0.50,155.7,753.6,11.3,696,21234,0.00,2.42,0.00,0.000,4,0.000,0.053,3265,359,2357,0,0,0,0,0,0
$GC,21295,0.50,155.7,745.7,10.7,697,21299,0.00,2.38,0.00,0.000,6,0.000,0.045,3265,1941,2357,0,0,0,0,0,0
$GC,21637,0.50,155.7,704.3,12.1,706,21641,0.00,2.47,0.00,0.000,4,0.000,0.055,3265,3531,2357,0,0,0,0,0,0
$GC,21722,0.50,155.7,693.3,15.4,708,21726,0.00,2.42,0.00,0.000,6,0.000,0.041,3277,1942,2357,0,0,0,0,0,0
$GC,22046,0.50,155.7,650.3,13.3,716,22050,0.00,2.45,0.00,0.000,4,0.000,0.053,3290,357,2357,0,0,0,0,0,0
$GC,22118,0.50,155.7,640.6,12.7,717,22123,0.12,2.40,0.00,0.000,6,0.129,0.046,3248,1944,2357,0,0,0,0,0,0
$GC,22450,0.50,155.7,605.0,10.3,725,22454,0.00,2.45,0.00,0.000,4,0.000,0.054,3248,3525,2356,0,0,0,0,0,0
$GC,22495,0.50,155.7,599.9,12.1,726,22499,0.00,2.42,0.00,0.000,6,0.000,0.041,3259,1941,2356,0,0,0,0,0,0
$GC,22813,0.50,155.7,561.4,12.4,734,22817,0.00,2.42,0.00,0.000,4,0.000,0.054,3272,353,2356,0,0,0,0,0,0
$GC,22880,0.50,155.7,553.0,12.1,735,22885,0.00,2.42,0.00,0.000,6,0.000,0.046,3272,1949,2356,0,0,0,0,0,0
$GC,23217,0.50,155.7,512.9,11.6,744,23221,0.00,2.47,0.00,0.000,4,0.000,0.055,3271,3528,2357,0,0,0,0,0,0
$GC,23273,0.50,155.7,505.7,12.0,745,23278,0.10,2.42,0.00,0.000,6,0.141,0.041,3251,1933,2356,0,0,0,0,0,0
$GC,23589,0.50,155.7,474.9,10.0,753,23593,0.00,2.42,0.00,0.000,4,0.000,0.051,3262,352,2356,0,0,0,0,0,0
$GC,23638,0.50,155.7,469.1,11.4,754,23642,0.00,2.40,0.00,0.000,6,0.000,0.044,3262,1943,2356,0,0,0,0,0,0
$GC,23957,0.50,155.7,434.6,10.8,762,23962,0.00,2.47,0.00,0.000,4,0.000,0.057,3262,3523,2357,0,0,0,0,0,0
$GC,24007,0.50,155.7,428.8,13.2,763,24011,0.00,2.42,0.00,0.000,6,0.000,0.042,3275,1935,2357,0,0,0,0,0,0
$GC,24326,0.50,155.7,396.2,9.9,771,24331,0.00,2.42,0.00,0.000,4,0.000,0.051,3287,353,2358,0,0,0,0,0,0
$GC,24365,0.50,155.7,392.0,12.1,772,24370,0.12,2.40,0.00,0.000,6,0.120,0.044,3244,1942,2358,0,0,0,0,0,0
$GC,24691,0.50,155.7,366.0,7.9,780,24695,0.00,2.42,0.00,0.000,4,0.000,0.051,3243,3533,2359,0,0,0,0,0,0
$GC,24730,0.50,155.7,362.5,9.0,781,24735,0.00,2.40,0.00,0.000,6,0.000,0.039,3254,1941,2359,0,0,0,0,0,0
$GC,25055,0.50,155.7,336.2,8.2,789,25059,0.00,2.45,0.00,0.000,4,0.000,0.051,3266,347,2361,0,0,0,0,0,0
$GC,25124,0.50,155.7,330.3,9.3,790,25128,0.00,2.40,0.00,0.000,6,0.000,0.040,3266,1960,2361,0,0,0,0,0,0
$GC,25459,0.50,155.7,302.7,7.7,799,25463,0.00,2.42,0.00,0.000,4,0.000,0.051,3266,3523,2363,0,0,0,0,0,0
$GC,25504,0.50,155.7,298.8,9.0,800,25508,0.00,2.40,0.00,0.000,6,0.000,0.038,3278,1937,2363,0,0,0,0,0,0
$GC,25835,0.50,155.7,267.8,8.8,816,25839,0.00,2.42,0.00,0.000,4,0.000,0.051,3292,348,2365,0,0,0,0,0,0
$GC,25902,0.50,155.7,261.7,10.5,819,25907,0.12,2.35,0.00,0.000,6,0.117,0.040,3246,1937,2364,0,0,0,0,0,0
$GC,26221,0.50,155.7,240.3,6.5,835,26226,0.00,2.42,0.00,0.000,4,0.000,0.050,3246,3521,2366,0,0,0,0,0,0
$GC,26317,0.50,155.7,233.6,6.9,839,26322,0.00,2.38,0.00,0.000,6,0.000,0.036,3255,1930,2366,0,0,0,0,0,0
$GC,26633,0.55,195.2,216.4,5.0,854,26674,0.00,2.45,35.65,0.971,4,0.000,0.048,3268,355,2198,0,0,0,0,0,0
$GC,26746,0.55,195.2,209.2,6.1,859,26751,0.00,2.38,0.00,0.000,6,0.000,0.040,3268,1943,2198,0,0,0,0,0,0
$GC,27072,0.55,195.2,186.5,7.0,883,27076,0.00,2.42,0.00,0.000,4,0.000,0.051,3268,3525,2199,0,0,0,0,0,0
$GC,27128,0.55,195.2,182.0,8.1,887,27133,0.00,2.40,0.00,0.000,6,0.000,0.037,3279,1935,2200,0,0,0,0,0,0
$GC,27389,0.55,195.2,163.5,7.1,912,27393,0.00,2.40,0.00,0.000,4,0.000,0.049,3291,352,2201,0,0,0,0,0,0
$GC,27428,0.55,195.2,160.4,8.2,915,27432,0.00,2.35,0.00,0.000,6,0.000,0.041,3291,1942,2201,0,0,0,0,0,0
$GC,27689,0.55,195.2,141.5,7.5,939,27690,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1942,2203,0,0,0,0,0,0
$GC,27944,0.55,195.2,122.3,7.5,963,27948,0.00,2.45,0.00,0.000,4,0.000,0.051,3291,3521,2204,0,0,0,0,0,0
$GC,27972,0.55,195.2,119.9,8.6,965,27977,0.12,2.38,0.00,0.000,6,0.117,0.037,3257,1940,2205,0,0,0,0,0,0
$GC,28234,0.63,255.2,106.8,4.4,989,28293,0.10,2.50,50.83,0.894,4,0.097,0.049,3374,348,1953,0,0,0,0,0,0
$GC,28366,0.63,255.2,91.4,13.4,1000,28372,0.25,2.40,0.00,0.000,6,0.108,0.041,3290,1955,1959,0,0,0,0,0,0
$GC,28628,0.63,255.2,73.4,7.1,1025,28632,0.00,2.45,0.00,0.000,4,0.000,0.052,3290,3527,1962,0,0,0,0,0,0
$GC,28649,0.63,255.2,71.8,7.9,1026,28654,0.00,2.40,0.00,0.000,6,0.000,0.038,3300,1941,1962,0,0,0,0,0,0
$GC,28909,0.63,255.2,53.8,6.9,1051,28919,0.00,2.47,3.92,0.515,4,0.000,0.051,3312,353,1953,0,0,0,0,0,0
$GC,28983,0.63,255.2,48.5,6.7,1057,28988,0.00,2.35,0.00,0.000,6,0.000,0.041,3312,1940,1953,0,0,0,0,0,0
$GC,29243,0.63,255.2,27.5,8.2,1082,29245,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1940,1954,0,0,0,0,0,0
$GC,29434,0.63,255.2,12.8,7.4,1100,29439,0.00,2.38,0.00,0.000,4,0.000,0.050,3323,351,1956,0,0,0,0,0,0
$GC,29462,0.63,255.2,10.6,6.7,1102,29467,0.10,2.35,0.00,0.000,6,0.119,0.043,3282,1941,1956,0,0,0,0,0,0
$STATE,29582,end climb,SURFACE_DEPTH_REACHED
$STATE,29582,begin surface coast
$FINISH,0.3,NaN
$STATE,29625,end surface coast,CONTROL_FINISHED_OK
$STATE,29625,begin surface
$SM_CCo,29642,69.18,0.829,0,0,1364,400.08
$SM_GC,1.11,0.00,0.00,69.18,0.000,0.000,0.829,115,2117,1364,-9.30,0.76,400.08
$IRIDIUM_FIX,2152.74,12731.71,280812,040402
$TT8_MAMPS,0.029913
$HUMID,1078716764
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.90
$XPDR_PINGS,332
$24V_AH,21.6,76.271
$10V_AH,8.4,61.124
$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,21.575,341.125,382.150,69.175,0.000,23.844,34.862,201.819,83.000,0.000,15.043,1767.236,23634.658,667.711,3431.688,600.349,33.383,2382.947,0.000,3073.290,0.000,0.542,0.000
$DEVICE_MAMPS,214.760,67.496,1627.574,829.127,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355580
$DATA_FILE_SIZE,36622,1117
$CAP_FILE_SIZE,336993,0
$CFSIZE,260165632,183046144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060311,024354,2201.042,12856.688,39,1.0,39,-3.1