version: 66.07
glider: 500
mission: 5
dive: 434
start: 3 7 111 3 49 20
data:
$ID,500
$MISSION,5
$DIVE,434
$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,-130193.62
$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,33
$R_STBD_OVSHOOT,40
$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
$GPS1,070311,034155,2156.974,12856.291,40,1.0,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.6
$GPS2,070311,034826,2157.003,12856.341,11,1.7,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.196,-0.103
$KALMAN_X,-664844.6,-750.3,-754.2,1252893.1,8403.9
$KALMAN_Y,407210.1,-113.9,-650.4,-318766.1,3804.3
$MHEAD_RNG_PITCHd_Wd,245.4,309750,-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,15088,-0.50,-155.7,817.6,-3.7,537,15093,0.12,2.38,0.00,0.000,6,0.110,0.038,2933,2089,3598,0,0,0,0,0,0
$GC,15428,-0.50,-155.7,830.3,-4.1,546,15432,0.00,2.47,0.00,0.000,4,0.000,0.053,2922,3671,3597,0,0,0,0,0,0
$GC,15511,-0.50,-155.7,834.2,-4.3,548,15516,0.00,2.40,0.00,0.000,6,0.000,0.038,2922,2082,3597,0,0,0,0,0,0
$GC,15838,-0.50,-155.7,849.9,-5.1,556,15842,0.00,2.47,0.00,0.000,4,0.000,0.054,2911,3681,3596,0,0,0,0,0,0
$GC,15921,-0.50,-155.7,854.3,-5.5,558,15925,0.00,2.38,0.00,0.000,6,0.000,0.036,2911,2088,3596,0,0,0,0,0,0
$GC,16247,-0.50,-155.7,869.8,-4.6,566,16251,0.00,2.50,0.00,0.000,4,0.000,0.054,2899,3677,3596,0,0,0,0,0,0
$GC,16307,-0.50,-155.7,872.5,-4.4,567,16311,0.00,2.38,0.00,0.000,6,0.000,0.038,2899,2089,3595,0,0,0,0,0,0
$GC,16658,-0.50,-155.7,885.4,-3.6,576,16662,0.00,2.47,0.00,0.000,4,0.000,0.054,2887,3682,3595,0,0,0,0,0,0
$GC,16673,-0.50,-155.7,886.0,-3.6,576,16678,0.12,2.40,0.00,0.000,6,0.111,0.037,2933,2081,3594,0,0,0,0,0,0
$GC,17017,-0.50,-155.7,897.8,-3.7,585,17021,0.00,2.45,0.00,0.000,4,0.000,0.054,2923,3674,3594,0,0,0,0,0,0
$GC,17130,-0.50,-155.7,902.3,-3.7,587,17135,0.00,2.40,0.00,0.000,6,0.000,0.038,2923,2081,3594,0,0,0,0,0,0
$GC,17469,-0.50,-155.7,915.7,-3.9,596,17473,0.00,2.47,0.00,0.000,4,0.000,0.054,2911,3672,3593,0,0,0,0,0,0
$GC,17535,-0.50,-155.7,918.3,-3.6,597,17539,0.00,2.38,0.00,0.000,6,0.000,0.038,2911,2086,3592,0,0,0,0,0,0
$GC,17880,-0.50,-155.7,932.0,-4.2,606,17884,0.00,2.45,0.00,0.000,4,0.000,0.054,2899,3674,3592,0,0,0,0,0,0
$GC,17952,-0.50,-155.7,935.2,-4.6,607,17956,0.00,2.38,0.00,0.000,6,0.000,0.037,2899,2088,3592,0,0,0,0,0,0
$GC,18284,-0.50,-155.7,951.5,-5.1,615,18287,0.00,2.45,0.00,0.000,4,0.000,0.055,2887,3670,3591,0,0,0,0,0,0
$GC,18356,-0.50,-155.7,955.5,-5.1,616,18361,0.12,2.38,0.00,0.000,6,0.110,0.038,2935,2088,3591,0,0,0,0,0,0
$GC,18694,-0.50,-155.7,971.5,-4.8,625,18698,0.00,2.47,0.00,0.000,4,0.000,0.056,2924,3671,3591,0,0,0,0,0,0
$GC,18945,-0.50,-155.7,983.0,-4.0,630,18950,0.00,2.38,0.00,0.000,6,0.000,0.038,2924,2086,3590,0,0,0,0,0,0
$STATE,19151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19152,begin apogee
$GC,19159,-0.23,0.0,991.3,4.0,635,19300,0.25,0.00,138.07,1.605,6,0.077,0.000,3023,1927,2995,0,0,0,0,0,0
$STATE,19301,end apogee,CONTROL_FINISHED_OK
$STATE,19301,begin climb
$GC,19303,0.50,155.7,992.2,0.0,638,19465,0.60,2.67,151.35,1.584,4,0.051,0.051,3270,369,2360,0,0,0,0,0,0
$GC,19640,0.50,155.7,948.6,16.3,645,19645,0.00,2.40,0.00,0.000,6,0.000,0.044,3270,1945,2359,0,0,0,0,0,0
$GC,19970,0.50,155.7,899.5,14.6,654,19974,0.00,2.47,0.00,0.000,4,0.000,0.053,3270,3535,2358,0,0,0,0,0,0
$GC,20020,0.50,155.7,891.9,14.6,655,20024,0.00,2.42,0.00,0.000,6,0.000,0.041,3282,1947,2358,0,0,0,0,0,0
$GC,20339,0.50,155.7,846.1,14.3,663,20343,0.00,2.42,0.00,0.000,4,0.000,0.054,3296,354,2358,0,0,0,0,0,0
$GC,20394,0.50,155.7,837.8,14.9,664,20399,0.15,2.40,0.00,0.000,6,0.127,0.046,3245,1944,2359,0,0,0,0,0,0
$GC,20744,0.50,155.7,798.6,11.1,673,20748,0.00,2.45,0.00,0.000,4,0.000,0.056,3245,3532,2359,0,0,0,0,0,0
$GC,20804,0.50,155.7,790.9,11.8,674,20809,0.00,2.45,0.00,0.000,6,0.000,0.044,3256,1948,2358,0,0,0,0,0,0
$GC,21155,0.50,155.7,748.1,12.5,683,21159,0.00,2.45,0.00,0.000,4,0.000,0.053,3269,346,2358,0,0,0,0,0,0
$GC,21232,0.50,155.7,737.7,13.5,684,21236,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1941,2359,0,0,0,0,0,0
$GC,21570,0.50,155.7,694.6,12.5,693,21571,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1941,2359,0,0,0,0,0,0
$GC,21893,0.50,155.7,657.5,11.2,701,21898,0.00,2.45,0.00,0.000,4,0.000,0.052,3281,347,2359,0,0,0,0,0,0
$GC,21920,0.50,155.7,654.4,12.2,701,21925,0.00,2.40,0.00,0.000,6,0.000,0.045,3281,1941,2359,0,0,0,0,0,0
$GC,22258,0.50,155.7,615.5,11.5,710,22262,0.00,2.47,0.00,0.000,4,0.000,0.052,3281,3536,2359,0,0,0,0,0,0
$GC,22342,0.50,155.7,604.8,11.6,712,22347,0.12,2.45,0.00,0.000,6,0.136,0.041,3253,1927,2360,0,0,0,0,0,0
$GC,22665,0.50,155.7,572.4,9.9,720,22669,0.00,2.42,0.00,0.000,4,0.000,0.053,3264,351,2359,0,0,0,0,0,0
$GC,22709,0.50,155.7,568.1,9.1,721,22713,0.00,2.42,0.00,0.000,6,0.000,0.047,3264,1957,2360,0,0,0,0,0,0
$GC,23040,0.50,155.7,534.3,10.3,729,23041,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1957,2360,0,0,0,0,0,0
$GC,23362,0.50,155.7,499.3,10.9,737,23363,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1957,2361,0,0,0,0,0,0
$GC,23687,0.50,155.7,466.1,10.1,745,23692,0.00,2.42,0.00,0.000,4,0.000,0.054,3264,3523,2362,0,0,0,0,0,0
$GC,23750,0.50,155.7,459.5,10.5,746,23754,0.00,2.40,0.00,0.000,6,0.000,0.039,3276,1934,2362,0,0,0,0,0,0
$GC,24092,0.50,155.7,424.0,10.3,755,24096,0.00,2.45,0.00,0.000,4,0.000,0.053,3289,351,2363,0,0,0,0,0,0
$GC,24187,0.50,155.7,413.8,10.6,757,24192,0.12,2.40,0.00,0.000,6,0.123,0.044,3245,1946,2364,0,0,0,0,0,0
$GC,24501,0.50,155.7,388.3,8.0,765,24502,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1946,2364,0,0,0,0,0,0
$GC,24825,0.50,155.7,361.3,8.2,773,24829,0.00,2.45,0.00,0.000,4,0.000,0.051,3245,3538,2366,0,0,0,0,0,0
$GC,24885,0.50,155.7,356.1,7.7,774,24890,0.00,2.45,0.00,0.000,6,0.000,0.039,3256,1937,2367,0,0,0,0,0,0
$GC,25233,0.50,155.7,330.7,7.2,783,25242,0.00,2.50,3.95,0.653,4,0.000,0.051,3268,365,2360,0,0,0,0,0,0
$GC,25326,0.50,155.7,323.8,7.3,785,25330,0.00,2.35,0.00,0.000,6,0.000,0.041,3268,1950,2360,0,0,0,0,0,0
$GC,25653,0.50,155.7,297.4,8.4,793,25657,0.00,2.45,0.00,0.000,4,0.000,0.051,3268,3525,2362,0,0,0,0,0,0
$GC,25718,0.50,155.7,291.1,8.5,796,25723,0.00,2.42,0.00,0.000,6,0.000,0.038,3280,1941,2362,0,0,0,0,0,0
$GC,26044,0.50,155.7,265.1,7.3,812,26048,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,348,2363,0,0,0,0,0,0
$GC,26144,0.50,155.7,256.5,9.1,816,26149,0.12,2.35,0.00,0.000,6,0.119,0.040,3248,1944,2364,0,0,0,0,0,0
$GC,26458,0.50,155.7,235.5,6.4,832,26463,0.00,2.45,0.00,0.000,4,0.000,0.048,3248,3525,2365,0,0,0,0,0,0
$GC,26520,0.50,155.7,231.0,7.8,835,26524,0.00,2.38,0.00,0.000,6,0.000,0.036,3257,1929,2365,0,0,0,0,0,0
$GC,26850,0.50,155.7,207.5,7.0,851,26855,0.00,2.40,0.00,0.000,4,0.000,0.048,3269,367,2367,0,0,0,0,0,0
$GC,26894,0.50,155.7,204.4,6.9,853,26898,0.00,2.35,0.00,0.000,6,0.000,0.040,3270,1946,2367,0,0,0,0,0,0
$GC,27221,0.58,214.4,186.2,4.5,880,27277,0.00,0.00,50.95,0.943,6,0.000,0.000,3270,1947,2121,0,0,0,0,0,0
$GC,27533,0.62,250.4,171.5,5.1,910,27567,0.00,0.00,31.27,0.924,6,0.000,0.000,3270,1947,1974,0,0,0,0,0,0
$GC,27820,0.62,250.8,154.0,6.0,937,27824,0.00,2.45,0.00,0.000,4,0.000,0.048,3269,3527,1978,0,0,0,0,0,0
$GC,27840,0.62,250.8,152.3,7.2,938,27845,0.00,2.38,0.00,0.000,6,0.000,0.037,3280,1948,1979,0,0,0,0,0,0
$GC,28102,0.62,250.8,134.2,6.2,963,28106,0.00,2.40,0.00,0.000,4,0.000,0.050,3292,353,1979,0,0,0,0,0,0
$GC,28146,0.62,250.8,131.0,8.0,966,28151,0.00,2.35,0.00,0.000,6,0.000,0.041,3292,1943,1980,0,0,0,0,0,0
$GC,28407,0.62,250.8,113.6,6.7,991,28415,0.00,0.00,4.07,0.549,6,0.000,0.000,3292,1943,1972,0,0,0,0,0,0
$GC,28671,0.62,250.8,95.9,7.2,1016,28672,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1943,1973,0,0,0,0,0,0
$GC,28926,0.63,261.4,79.5,5.7,1040,28942,0.00,2.40,11.00,0.775,4,0.000,0.048,3301,352,1928,0,0,0,0,0,0
$GC,28959,0.67,286.5,77.4,5.3,1042,28985,0.00,2.38,21.42,0.833,6,0.000,0.042,3302,1955,1826,0,0,0,0,0,0
$GC,29247,0.67,286.5,57.9,7.5,1070,29251,0.00,2.45,0.00,0.000,4,0.000,0.051,3312,350,1835,0,0,0,0,0,0
$GC,29269,0.67,286.5,55.9,8.2,1072,29279,0.00,2.38,3.97,0.531,6,0.000,0.044,3312,1943,1825,0,0,0,0,0,0
$GC,29535,0.67,286.5,32.7,8.7,1097,29539,0.00,2.42,0.00,0.000,4,0.000,0.048,3311,3532,1828,0,0,0,0,0,0
$GC,29556,0.67,286.5,31.1,6.8,1098,29561,0.00,2.40,0.00,0.000,6,0.000,0.041,3323,1936,1828,0,0,0,0,0,0
$GC,29816,0.67,286.5,3.4,13.0,1123,29820,0.00,2.05,0.00,0.000,3,0.000,0.052,3332,572,1830,0,0,0,0,0,0
$STATE,29821,end climb,SURFACE_DEPTH_REACHED
$STATE,29821,begin surface coast
$FINISH,0.3,NaN
$STATE,29847,end surface coast,CONTROL_FINISHED_OK
$STATE,29847,begin surface
$SM_CCo,29868,53.70,0.826,0,0,1363,400.08
$SM_GC,0.99,0.00,0.00,53.70,0.000,0.000,0.826,106,2106,1363,-9.33,0.48,400.08
$IRIDIUM_FIX,2150.42,12856.28,290812,131323
$TT8_MAMPS,0.03068
$HUMID,1078734829
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.90
$XPDR_PINGS,1097
$24V_AH,21.7,77.128
$10V_AH,8.0,61.492
$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,21.200,317.000,416.075,53.700,0.000,27.802,35.677,183.148,274.250,0.000,12.967,1710.584,24111.316,678.369,3197.970,593.788,33.386,2297.361,0.000,2862.365,0.000,0.543,0.000
$DEVICE_MAMPS,215.527,65.962,1604.564,826.059,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355452
$DATA_FILE_SIZE,36716,1126
$CAP_FILE_SIZE,325084,0
$CFSIZE,260165632,182636544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070311,120926,2156.954,12855.984,23,2.1,42,-3.1