version: 66.07
glider: 500
mission: 5
dive: 435
start: 3 7 111 12 28 34
data:
$ID,500
$MISSION,5
$DIVE,435
$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,-130229.36
$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,34
$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
$GPS1,070311,120926,2156.954,12855.984,23,2.1,42,-3.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.6
$GPS2,070311,122740,2156.766,12856.227,13,3.4,32,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.208,-0.073
$KALMAN_X,-659873.8,-40.7,-241.5,1246496.8,7407.4
$KALMAN_Y,409215.7,147.6,-5.3,-322126.6,2519.4
$MHEAD_RNG_PITCHd_Wd,253.8,309464,-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,15551,-0.50,-155.7,844.8,-3.0,545,15555,0.00,2.35,0.00,0.000,4,0.000,0.046,2925,510,3595,0,0,0,0,0,0
$GC,15671,-0.50,-155.7,848.6,-2.7,547,15675,0.00,2.35,0.00,0.000,6,0.000,0.044,2916,2095,3595,0,0,0,0,0,0
$GC,16008,-0.50,-155.7,860.8,-3.8,556,16012,0.00,2.38,0.00,0.000,4,0.000,0.047,2916,505,3594,0,0,0,0,0,0
$GC,16109,-0.50,-155.7,864.9,-4.3,558,16113,0.00,2.38,0.00,0.000,6,0.000,0.044,2906,2091,3594,0,0,0,0,0,0
$GC,16457,-0.50,-155.7,879.2,-4.3,567,16462,0.00,2.38,0.00,0.000,4,0.000,0.048,2906,504,3593,0,0,0,0,0,0
$GC,16527,-0.50,-155.7,882.4,-4.9,568,16532,0.10,2.38,0.00,0.000,6,0.130,0.044,2931,2090,3593,0,0,0,0,0,0
$GC,16866,-0.50,-155.7,896.2,-4.1,577,16870,0.00,2.42,0.00,0.000,4,0.000,0.048,2932,504,3592,0,0,0,0,0,0
$GC,16999,-0.50,-155.7,901.5,-4.4,580,17004,0.00,2.35,0.00,0.000,6,0.000,0.044,2926,2088,3592,0,0,0,0,0,0
$GC,17319,-0.50,-155.7,913.5,-3.9,588,17323,0.00,2.40,0.00,0.000,4,0.000,0.048,2926,504,3591,0,0,0,0,0,0
$GC,17486,-0.50,-155.7,920.1,-3.6,591,17490,0.00,2.38,0.00,0.000,6,0.000,0.044,2919,2095,3591,0,0,0,0,0,0
$GC,17817,-0.50,-155.7,933.1,-4.1,600,17822,0.00,2.42,0.00,0.000,4,0.000,0.048,2918,508,3590,0,0,0,0,0,0
$GC,17931,-0.50,-155.7,937.8,-4.2,602,17935,0.00,2.35,0.00,0.000,6,0.000,0.044,2909,2085,3590,0,0,0,0,0,0
$GC,18269,-0.50,-155.7,952.9,-4.7,611,18273,0.00,2.35,0.00,0.000,4,0.000,0.047,2909,515,3589,0,0,0,0,0,0
$GC,18354,-0.50,-155.7,956.9,-4.0,613,18358,0.00,2.35,0.00,0.000,6,0.000,0.044,2900,2101,3589,0,0,0,0,0,0
$GC,18680,-0.50,-155.7,971.9,-4.6,621,18684,0.00,2.38,0.00,0.000,4,0.000,0.047,2900,516,3588,0,0,0,0,0,0
$GC,18785,-0.50,-155.7,976.9,-5.8,623,18790,0.12,2.38,0.00,0.000,6,0.119,0.044,2934,2099,3588,0,0,0,0,0,0
$GC,19130,-0.50,-155.7,989.9,-3.9,632,19134,0.00,2.08,0.00,0.000,3,0.000,0.047,2934,711,3588,0,0,0,0,0,0
$STATE,19134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19135,begin apogee
$GC,19142,-0.23,0.0,990.2,3.9,632,19283,0.22,0.00,137.80,1.636,6,0.085,0.000,3024,1938,2995,0,0,0,0,0,0
$STATE,19284,end apogee,CONTROL_FINISHED_OK
$STATE,19284,begin climb
$GC,19288,0.50,155.7,991.1,0.0,635,19449,0.60,2.72,151.88,1.614,4,0.051,0.052,3260,3516,2360,0,0,0,0,0,0
$GC,19589,0.50,155.7,951.5,14.0,642,19593,0.00,2.42,0.00,0.000,6,0.000,0.041,3272,1949,2359,0,0,0,0,0,0
$GC,19914,0.50,155.7,903.3,14.7,650,19918,0.00,2.45,0.00,0.000,4,0.000,0.052,3284,348,2358,0,0,0,0,0,0
$GC,19981,0.50,155.7,893.5,13.1,651,19986,0.10,2.38,0.00,0.000,6,0.142,0.045,3252,1933,2358,0,0,0,0,0,0
$GC,20318,0.50,155.7,852.3,12.2,660,20322,0.00,2.42,0.00,0.000,4,0.000,0.054,3251,3527,2357,0,0,0,0,0,0
$GC,20340,0.50,155.7,849.2,13.5,660,20344,0.00,2.40,0.00,0.000,6,0.000,0.041,3262,1941,2358,0,0,0,0,0,0
$GC,20675,0.50,155.7,805.2,13.2,669,20680,0.00,2.45,0.00,0.000,4,0.000,0.055,3275,347,2357,0,0,0,0,0,0
$GC,20743,0.50,155.7,796.3,11.8,670,20747,0.00,2.40,0.00,0.000,6,0.000,0.044,3275,1941,2357,0,0,0,0,0,0
$GC,21078,0.50,155.7,749.7,13.9,679,21082,0.00,2.45,0.00,0.000,4,0.000,0.053,3275,3527,2356,0,0,0,0,0,0
$GC,21128,0.50,155.7,742.3,15.4,680,21133,0.12,2.42,0.00,0.000,6,0.138,0.041,3248,1926,2356,0,0,0,0,0,0
$GC,21442,0.50,155.7,705.3,11.7,688,21447,0.00,2.42,0.00,0.000,4,0.000,0.053,3258,357,2356,0,0,0,0,0,0
$GC,21492,0.50,155.7,699.1,10.6,689,21496,0.00,2.40,0.00,0.000,6,0.000,0.046,3258,1951,2355,0,0,0,0,0,0
$GC,21811,0.50,155.7,661.4,11.8,697,21812,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1951,2355,0,0,0,0,0,0
$GC,22135,0.50,155.7,625.0,10.6,705,22139,0.00,2.45,0.00,0.000,4,0.000,0.052,3270,362,2355,0,0,0,0,0,0
$GC,22161,0.50,155.7,621.9,11.9,705,22165,0.00,2.35,0.00,0.000,6,0.000,0.045,3271,1941,2355,0,0,0,0,0,0
$GC,22499,0.50,155.7,583.5,11.4,714,22500,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1941,2354,0,0,0,0,0,0
$GC,22822,0.50,155.7,545.8,11.5,722,22826,0.00,2.45,0.00,0.000,4,0.000,0.052,3270,3523,2355,0,0,0,0,0,0
$GC,22868,0.50,155.7,540.4,12.2,723,22872,0.00,2.40,0.00,0.000,6,0.000,0.041,3283,1936,2354,0,0,0,0,0,0
$GC,23198,0.50,155.7,500.5,12.1,731,23202,0.00,2.42,0.00,0.000,4,0.000,0.054,3295,360,2354,0,0,0,0,0,0
$GC,23232,0.50,155.7,496.2,11.7,731,23237,0.15,2.40,0.00,0.000,6,0.118,0.045,3244,1939,2354,0,0,0,0,0,0
$GC,23564,0.50,155.7,465.0,9.3,740,23568,0.00,2.45,0.00,0.000,4,0.000,0.052,3254,355,2354,0,0,0,0,0,0
$GC,23591,0.50,155.7,462.1,8.3,740,23596,0.00,2.40,0.00,0.000,6,0.000,0.045,3255,1946,2355,0,0,0,0,0,0
$GC,23934,0.50,155.7,432.1,8.2,749,23936,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1945,2355,0,0,0,0,0,0
$GC,24258,0.50,155.7,403.1,9.4,757,24262,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,3529,2356,0,0,0,0,0,0
$GC,24291,0.50,155.7,399.7,10.6,757,24296,0.00,2.42,0.00,0.000,6,0.000,0.040,3266,1947,2356,0,0,0,0,0,0
$GC,24623,0.50,155.7,365.8,10.1,766,24627,0.00,2.45,0.00,0.000,4,0.000,0.051,3279,348,2357,0,0,0,0,0,0
$GC,24688,0.50,155.7,359.0,10.2,767,24693,0.00,2.38,0.00,0.000,6,0.000,0.041,3279,1939,2357,0,0,0,0,0,0
$GC,25031,0.50,155.7,323.1,10.6,776,25035,0.00,2.47,0.00,0.000,4,0.000,0.051,3279,3528,2358,0,0,0,0,0,0
$GC,25057,0.50,155.7,320.0,10.6,776,25063,0.12,2.45,0.00,0.000,6,0.131,0.041,3250,1921,2359,0,0,0,0,0,0
$GC,25372,0.50,155.7,297.5,7.0,784,25376,0.00,2.40,0.00,0.000,4,0.000,0.051,3261,361,2359,0,0,0,0,0,0
$GC,25439,0.50,155.7,292.0,7.1,787,25443,0.00,2.35,0.00,0.000,6,0.000,0.041,3261,1933,2360,0,0,0,0,0,0
$GC,25766,0.50,155.7,266.1,7.0,803,25770,0.00,2.47,0.00,0.000,4,0.000,0.049,3261,3539,2362,0,0,0,0,0,0
$GC,25888,0.50,155.7,255.7,8.2,808,25893,0.00,2.42,0.00,0.000,6,0.000,0.037,3273,1939,2362,0,0,0,0,0,0
$GC,26203,0.50,155.7,231.7,7.3,824,26207,0.00,2.42,0.00,0.000,4,0.000,0.051,3286,351,2363,0,0,0,0,0,0
$GC,26251,0.50,155.7,228.1,7.5,826,26256,0.12,2.38,0.00,0.000,6,0.117,0.040,3240,1963,2364,0,0,0,0,0,0
$GC,26572,0.51,162.7,208.8,5.8,842,26586,0.00,2.42,9.10,0.834,4,0.000,0.053,3240,3521,2331,0,0,0,0,0,0
$GC,26649,0.51,162.7,204.0,7.2,845,26654,0.00,2.40,0.00,0.000,6,0.000,0.035,3249,1929,2331,0,0,0,0,0,0
$GC,26971,0.57,207.6,186.2,4.8,871,27016,0.00,2.47,38.17,0.956,4,0.000,0.048,3261,363,2147,0,0,0,0,0,0
$GC,27089,0.57,207.6,179.2,6.6,882,27093,0.00,2.35,0.00,0.000,6,0.000,0.038,3261,1947,2147,0,0,0,0,0,0
$GC,27349,0.57,207.6,160.5,6.7,906,27353,0.00,2.42,0.00,0.000,4,0.000,0.048,3268,349,2149,0,0,0,0,0,0
$GC,27428,0.57,207.6,155.2,6.0,912,27432,0.00,2.35,0.00,0.000,6,0.000,0.039,3268,1937,2149,0,0,0,0,0,0
$GC,27690,0.58,213.7,139.6,5.8,937,27704,0.00,2.50,7.57,0.768,4,0.000,0.053,3268,3538,2122,0,0,0,0,0,0
$GC,27763,0.58,213.7,135.1,6.7,943,27767,0.00,2.40,0.00,0.000,6,0.000,0.035,3279,1934,2123,0,0,0,0,0,0
$GC,28023,0.58,215.9,118.8,5.9,968,28033,0.00,2.45,4.10,0.572,4,0.000,0.048,3279,3526,2114,0,0,0,0,0,0
$GC,28116,0.58,215.9,111.8,6.7,976,28121,0.00,2.33,0.00,0.000,6,0.000,0.035,3290,1947,2115,0,0,0,0,0,0
$GC,28378,0.58,215.9,95.1,6.9,1001,28382,0.00,2.42,0.00,0.000,4,0.000,0.049,3301,356,2116,0,0,0,0,0,0
$GC,28439,0.58,215.9,90.0,8.4,1006,28443,0.00,2.33,0.00,0.000,6,0.000,0.042,3301,1944,2117,0,0,0,0,0,0
$GC,28705,0.64,266.7,75.1,4.7,1031,28754,0.00,2.50,42.92,0.882,4,0.000,0.048,3301,3532,1907,0,0,0,0,0,0
$GC,28768,0.65,273.6,71.4,5.8,1037,28783,0.00,2.40,8.30,0.749,6,0.000,0.036,3312,1937,1878,0,0,0,0,0,0
$GC,29047,0.65,273.6,44.3,10.6,1063,29051,0.00,2.40,0.00,0.000,4,0.000,0.050,3323,360,1884,0,0,0,0,0,0
$GC,29118,0.65,273.6,37.0,7.7,1069,29123,0.00,2.38,0.00,0.000,6,0.000,0.046,3323,1944,1885,0,0,0,0,0,0
$GC,29379,0.65,273.6,17.8,10.3,1094,29380,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1944,1886,0,0,0,0,0,0
$STATE,29536,end climb,SURFACE_DEPTH_REACHED
$STATE,29536,begin surface coast
$FINISH,0.6,NaN
$STATE,29568,end surface coast,CONTROL_FINISHED_OK
$STATE,29568,begin surface
$SM_CCo,29586,62.00,0.845,0,0,1363,400.08
$SM_GC,0.98,0.00,0.00,62.00,0.000,0.000,0.845,105,2118,1363,-9.33,0.79,400.08
$IRIDIUM_FIX,2145.77,12856.28,300812,060626
$TT8_MAMPS,0.03068
$HUMID,1078736119
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,1007
$24V_AH,21.7,77.373
$10V_AH,8.0,61.592
$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,21.175,323.925,399.850,62.000,0.000,111.433,147.421,466.185,251.750,0.000,35.109,1711.072,24007.943,663.849,3710.155,629.811,33.386,2300.376,0.000,2897.394,0.000,0.542,0.000
$DEVICE_MAMPS,216.294,67.496,1636.011,845.234,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355556
$DATA_FILE_SIZE,36670,1112
$CAP_FILE_SIZE,334856,0
$CFSIZE,260165632,182525952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070311,204400,2156.207,12855.268,36,1.6,36,-3.1