version: 66.07
glider: 500
mission: 5
dive: 436
start: 3 7 111 21 0 26
data:
$ID,500
$MISSION,5
$DIVE,436
$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,-130261.41
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,070311,204400,2156.207,12855.268,36,1.6,36,-3.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.9
$GPS2,070311,205934,2156.163,12855.281,9,9.1,28,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.203,-0.087
$KALMAN_X,-655147.5,-57.3,246.3,1239666.0,5225.2
$KALMAN_Y,410890.7,-556.7,287.6,-324505.3,2564.6
$MHEAD_RNG_PITCHd_Wd,249.9,307638,-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,15244,-0.50,-155.7,840.6,-3.4,537,15248,0.00,2.38,0.00,0.000,6,0.000,0.044,2926,2102,3592,0,0,0,0,0,0
$GC,15593,-0.50,-155.7,854.8,-4.2,546,15598,0.00,2.45,0.00,0.000,4,0.000,0.045,2925,508,3591,0,0,0,0,0,0
$GC,15718,-0.50,-155.7,859.8,-3.9,548,15722,0.00,2.38,0.00,0.000,6,0.000,0.044,2916,2101,3590,0,0,0,0,0,0
$GC,16049,-0.50,-155.7,873.4,-4.2,557,16054,0.00,2.40,0.00,0.000,4,0.000,0.045,2915,512,3589,0,0,0,0,0,0
$GC,16163,-0.50,-155.7,878.4,-4.7,559,16167,0.00,2.35,0.00,0.000,6,0.000,0.043,2905,2092,3589,0,0,0,0,0,0
$GC,16501,-0.50,-155.7,892.7,-4.3,568,16506,0.00,2.40,0.00,0.000,4,0.000,0.047,2905,517,3588,0,0,0,0,0,0
$GC,16568,-0.50,-155.7,895.6,-4.4,569,16573,0.10,2.35,0.00,0.000,6,0.132,0.043,2930,2102,3588,0,0,0,0,0,0
$GC,16908,-0.50,-155.7,906.5,-3.1,578,16912,0.00,2.42,0.00,0.000,4,0.000,0.047,2930,512,3587,0,0,0,0,0,0
$GC,17047,-0.50,-155.7,910.6,-3.4,581,17051,0.00,2.38,0.00,0.000,6,0.000,0.044,2921,2100,3587,0,0,0,0,0,0
$GC,17363,-0.50,-155.7,918.9,-2.9,589,17367,0.00,2.40,0.00,0.000,4,0.000,0.046,2921,508,3586,0,0,0,0,0,0
$GC,17508,-0.50,-155.7,923.5,-2.7,592,17512,0.00,2.38,0.00,0.000,6,0.000,0.044,2911,2102,3586,0,0,0,0,0,0
$GC,17822,-0.50,-155.7,935.1,-4.1,600,17826,0.00,2.38,0.00,0.000,4,0.000,0.045,2911,516,3586,0,0,0,0,0,0
$GC,17947,-0.50,-155.7,940.8,-4.2,602,17951,0.00,2.33,0.00,0.000,6,0.000,0.042,2901,2085,3585,0,0,0,0,0,0
$GC,18278,-0.50,-155.7,956.5,-4.8,610,18282,0.00,2.38,0.00,0.000,4,0.000,0.046,2901,510,3585,0,0,0,0,0,0
$GC,18373,-0.50,-155.7,961.3,-4.9,612,18378,0.12,2.35,0.00,0.000,6,0.117,0.044,2935,2093,3585,0,0,0,0,0,0
$GC,18694,-0.50,-155.7,975.6,-4.6,620,18698,0.00,2.40,0.00,0.000,4,0.000,0.048,2935,509,3585,0,0,0,0,0,0
$GC,18953,-0.50,-155.7,988.2,-4.7,625,18957,0.00,2.38,0.00,0.000,6,0.000,0.044,2932,2089,3584,0,0,0,0,0,0
$STATE,18996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18996,begin apogee
$GC,19002,-0.23,0.0,990.3,4.6,627,19142,0.22,0.00,137.68,1.633,6,0.079,0.000,3024,1935,2995,0,0,0,0,0,0
$STATE,19143,end apogee,CONTROL_FINISHED_OK
$STATE,19144,begin climb
$GC,19147,0.50,155.7,992.2,0.0,630,19309,0.62,2.72,151.77,1.597,4,0.056,0.053,3273,379,2360,0,0,0,0,0,0
$GC,19370,0.50,155.7,968.3,12.4,635,19375,0.00,2.47,0.00,0.000,6,0.000,0.043,3273,1943,2360,0,0,0,0,0,0
$GC,19719,0.50,155.7,920.5,13.8,644,19723,0.00,2.47,0.00,0.000,4,0.000,0.054,3273,3538,2358,0,0,0,0,0,0
$GC,19797,0.50,155.7,909.1,13.0,645,19803,0.10,2.42,0.00,0.000,6,0.153,0.042,3254,1945,2358,0,0,0,0,0,0
$GC,20129,0.50,155.7,869.0,12.0,654,20133,0.00,2.42,0.00,0.000,4,0.000,0.053,3265,349,2358,0,0,0,0,0,0
$GC,20235,0.50,155.7,856.4,11.7,656,20239,0.00,2.40,0.00,0.000,6,0.000,0.044,3265,1942,2357,0,0,0,0,0,0
$GC,20577,0.50,155.7,813.7,12.5,665,20581,0.00,2.42,0.00,0.000,4,0.000,0.055,3265,3530,2357,0,0,0,0,0,0
$GC,20615,0.50,155.7,808.6,11.9,666,20619,0.00,2.40,0.00,0.000,6,0.000,0.043,3277,1937,2357,0,0,0,0,0,0
$GC,20940,0.50,155.7,764.2,13.7,674,20944,0.00,2.42,0.00,0.000,4,0.000,0.054,3290,349,2356,0,0,0,0,0,0
$GC,20990,0.50,155.7,756.7,14.0,675,20995,0.12,2.40,0.00,0.000,6,0.131,0.046,3248,1941,2356,0,0,0,0,0,0
$GC,21305,0.50,155.7,718.0,12.5,683,21309,0.00,2.42,0.00,0.000,4,0.000,0.053,3247,3539,2356,0,0,0,0,0,0
$GC,21343,0.50,155.7,712.4,13.6,684,21347,0.00,2.42,0.00,0.000,6,0.000,0.042,3259,1930,2356,0,0,0,0,0,0
$GC,21668,0.50,155.7,672.1,12.0,692,21673,0.00,2.42,0.00,0.000,4,0.000,0.054,3271,359,2356,0,0,0,0,0,0
$GC,21701,0.50,155.7,667.8,11.7,692,21706,0.00,2.40,0.00,0.000,6,0.000,0.047,3271,1941,2355,0,0,0,0,0,0
$GC,22032,0.50,155.7,625.3,12.5,701,22036,0.00,2.47,0.00,0.000,4,0.000,0.054,3271,3531,2356,0,0,0,0,0,0
$GC,22088,0.50,155.7,617.9,11.8,702,22092,0.00,2.42,0.00,0.000,6,0.000,0.042,3283,1941,2355,0,0,0,0,0,0
$GC,22436,0.50,155.7,573.6,12.9,711,22440,0.00,2.45,0.00,0.000,4,0.000,0.054,3296,350,2355,0,0,0,0,0,0
$GC,22522,0.50,155.7,562.6,13.1,713,22527,0.15,2.42,0.00,0.000,6,0.122,0.044,3246,1952,2355,0,0,0,0,0,0
$GC,22845,0.50,155.7,529.9,9.8,721,22849,0.00,2.42,0.00,0.000,4,0.000,0.054,3246,3534,2355,0,0,0,0,0,0
$GC,22901,0.50,155.7,524.2,10.4,722,22905,0.00,2.42,0.00,0.000,6,0.000,0.042,3257,1944,2356,0,0,0,0,0,0
$GC,23249,0.50,155.7,489.7,9.8,731,23253,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,352,2355,0,0,0,0,0,0
$GC,23373,0.50,155.7,476.9,10.6,733,23378,0.00,2.38,0.00,0.000,6,0.000,0.044,3269,1942,2356,0,0,0,0,0,0
$GC,23704,0.50,155.7,442.8,10.1,742,23705,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1941,2356,0,0,0,0,0,0
$GC,24030,0.50,155.7,411.8,9.8,750,24034,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,3527,2357,0,0,0,0,0,0
$GC,24051,0.50,155.7,409.5,11.3,750,24055,0.00,2.45,0.00,0.000,6,0.000,0.040,3281,1929,2357,0,0,0,0,0,0
$GC,24393,0.50,155.7,373.6,10.6,759,24394,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1929,2358,0,0,0,0,0,0
$GC,24719,0.50,155.7,339.9,9.9,767,24723,0.00,2.42,0.00,0.000,4,0.000,0.049,3294,355,2360,0,0,0,0,0,0
$GC,24858,0.50,155.7,326.5,8.8,770,24863,0.12,2.38,0.00,0.000,6,0.120,0.040,3250,1945,2360,0,0,0,0,0,0
$GC,25179,0.50,155.7,305.3,6.6,778,25183,0.00,2.45,0.00,0.000,4,0.000,0.049,3250,3530,2362,0,0,0,0,0,0
$GC,25239,0.50,155.7,300.6,7.5,779,25243,0.00,2.45,0.00,0.000,6,0.000,0.038,3261,1932,2362,0,0,0,0,0,0
$GC,25571,0.50,155.7,275.5,8.2,795,25575,0.00,2.40,0.00,0.000,4,0.000,0.050,3273,362,2364,0,0,0,0,0,0
$GC,25631,0.50,155.7,270.0,8.3,798,25636,0.00,2.35,0.00,0.000,6,0.000,0.040,3273,1947,2364,0,0,0,0,0,0
$GC,25957,0.50,155.7,240.4,9.2,814,25958,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1947,2366,0,0,0,0,0,0
$GC,26266,0.50,155.7,217.9,6.6,829,26271,0.00,2.45,0.00,0.000,4,0.000,0.048,3285,360,2368,0,0,0,0,0,0
$GC,26333,0.53,174.4,213.7,5.5,832,26358,0.00,2.35,18.65,0.933,6,0.000,0.038,3285,1956,2283,0,0,0,0,0,0
$GC,26674,0.53,174.4,189.6,7.4,855,26678,0.00,2.40,0.00,0.000,4,0.000,0.048,3286,3520,2285,0,0,0,0,0,0
$GC,26702,0.53,174.4,187.2,9.8,857,26707,0.12,2.40,0.00,0.000,6,0.120,0.037,3252,1933,2286,0,0,0,0,0,0
$GC,26962,0.53,174.4,170.9,6.8,881,26966,0.00,2.40,0.00,0.000,4,0.000,0.049,3263,348,2288,0,0,0,0,0,0
$GC,27012,0.53,174.4,167.1,7.0,885,27017,0.00,2.35,0.00,0.000,6,0.000,0.038,3263,1937,2289,0,0,0,0,0,0
$GC,27274,0.53,174.4,149.5,6.2,909,27278,0.00,2.42,0.00,0.000,4,0.000,0.048,3263,3532,2291,0,0,0,0,0,0
$GC,27345,0.53,174.4,144.6,6.1,915,27350,0.00,2.40,0.00,0.000,6,0.000,0.037,3274,1936,2292,0,0,0,0,0,0
$GC,27606,0.53,174.4,128.3,6.1,939,27615,0.00,2.42,4.05,0.566,4,0.000,0.049,3286,366,2284,0,0,0,0,0,0
$GC,27667,0.54,184.5,124.3,5.7,944,27682,0.00,2.33,10.20,0.777,6,0.000,0.037,3286,1949,2242,0,0,0,0,0,0
$GC,27940,0.54,184.5,105.8,6.8,970,27941,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1949,2243,0,0,0,0,0,0
$GC,28193,0.54,184.5,86.5,7.5,994,28197,0.00,2.45,0.00,0.000,4,0.000,0.048,3286,3535,2245,0,0,0,0,0,0
$GC,28220,0.54,184.5,84.2,7.7,996,28225,0.12,2.40,0.00,0.000,6,0.117,0.038,3252,1942,2246,0,0,0,0,0,0
$GC,28482,0.59,227.2,70.0,4.9,1020,28523,0.00,2.45,35.95,0.845,4,0.000,0.048,3263,348,2066,0,0,0,0,0,0
$GC,28581,0.69,309.5,66.4,3.8,1029,28659,0.15,2.38,67.45,0.884,6,0.068,0.039,3373,1944,1732,0,0,0,0,0,0
$GC,28912,0.69,309.5,25.0,13.7,1061,28917,0.20,2.42,0.00,0.000,4,0.116,0.046,3306,3523,1732,0,0,0,0,0,0
$GC,28939,0.69,309.5,21.6,10.4,1063,28943,0.00,2.40,0.00,0.000,6,0.000,0.038,3316,1933,1733,0,0,0,0,0,0
$GC,29136,0.69,310.0,5.5,6.0,1081,29140,0.00,2.40,0.00,0.000,4,0.000,0.049,3328,354,1734,0,0,0,0,0,0
$STATE,29161,end climb,SURFACE_DEPTH_REACHED
$STATE,29161,begin surface coast
$FINISH,0.4,NaN
$STATE,29195,end surface coast,CONTROL_FINISHED_OK
$STATE,29198,begin surface
$SM_CCo,29217,45.42,0.818,0,0,1363,400.08
$SM_GC,1.11,0.00,0.00,45.42,0.000,0.000,0.818,108,2092,1363,-9.32,0.06,400.08
$IRIDIUM_FIX,2148.09,12853.01,300812,151549
$TT8_MAMPS,0.03068
$HUMID,1078745152
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.90
$XPDR_PINGS,951
$24V_AH,21.7,77.612
$10V_AH,8.0,61.691
$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,21.825,325.100,425.750,45.425,0.000,81.588,117.309,429.210,237.750,0.000,31.433,1712.824,23460.389,674.164,3696.994,630.241,33.380,2342.604,0.000,2976.226,0.000,0.542,0.000
$DEVICE_MAMPS,217.828,68.263,1632.943,817.622,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355544
$DATA_FILE_SIZE,36648,1086
$CAP_FILE_SIZE,334140,0
$CFSIZE,260165632,182419456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080311,050931,2156.342,12853.052,35,1.5,42,-3.1