version: 66.07
glider: 500
mission: 5
dive: 438
start: 3 8 111 13 34 50
data:
$ID,500
$MISSION,5
$DIVE,438
$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,-130312.36
$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,31
$R_STBD_OVSHOOT,60
$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
$GPS1,080311,132654,2157.111,12852.279,38,1.3,38,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.1
$GPS2,080311,133356,2157.122,12852.361,12,1.4,12,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.206,-0.079
$KALMAN_X,-646214.7,222.2,-499.1,1226154.6,6743.4
$KALMAN_Y,417202.7,345.1,100.2,-329772.9,2598.9
$MHEAD_RNG_PITCHd_Wd,252.1,303092,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,7962,-0.50,-155.7,515.6,-3.5,375,7966,0.00,2.45,0.00,0.000,4,0.000,0.051,2927,3681,3629,0,0,0,0,0,0
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$GC,15792,-0.50,-155.7,846.5,-4.4,564,15796,0.00,2.33,0.00,0.000,6,0.000,0.043,2922,2089,3601,0,0,0,0,0,0
$GC,16117,-0.50,-155.7,861.9,-4.7,572,16121,0.00,2.38,0.00,0.000,4,0.000,0.046,2922,506,3601,0,0,0,0,0,0
$GC,16242,-0.50,-155.7,867.5,-3.9,574,16247,0.00,2.38,0.00,0.000,6,0.000,0.044,2913,2097,3601,0,0,0,0,0,0
$GC,16572,-0.50,-155.7,881.7,-4.3,583,16576,0.00,2.35,0.00,0.000,4,0.000,0.045,2912,517,3600,0,0,0,0,0,0
$GC,16658,-0.50,-155.7,885.5,-4.3,585,16662,0.00,2.35,0.00,0.000,6,0.000,0.042,2902,2092,3599,0,0,0,0,0,0
$GC,16982,-0.50,-155.7,898.7,-4.0,593,16986,0.00,2.35,0.00,0.000,4,0.000,0.046,2902,517,3599,0,0,0,0,0,0
$GC,17057,-0.50,-155.7,901.7,-3.8,594,17063,0.12,2.33,0.00,0.000,6,0.117,0.042,2936,2088,3599,0,0,0,0,0,0
$GC,17391,-0.50,-155.7,912.0,-3.1,602,17395,0.00,2.38,0.00,0.000,4,0.000,0.046,2937,512,3598,0,0,0,0,0,0
$GC,17642,-0.50,-155.7,920.1,-3.3,607,17646,0.00,2.35,0.00,0.000,6,0.000,0.043,2935,2091,3597,0,0,0,0,0,0
$GC,17974,-0.50,-155.7,930.3,-3.2,615,17978,0.00,2.40,0.00,0.000,4,0.000,0.047,2935,506,3597,0,0,0,0,0,0
$GC,18131,-0.50,-155.7,935.2,-2.9,618,18135,0.00,2.40,0.00,0.000,6,0.000,0.044,2930,2103,3596,0,0,0,0,0,0
$GC,18470,-0.50,-155.7,944.3,-2.7,627,18474,0.00,2.40,0.00,0.000,4,0.000,0.044,2930,513,3596,0,0,0,0,0,0
$GC,18637,-0.50,-155.7,948.3,-2.4,630,18641,0.00,2.38,0.00,0.000,6,0.000,0.043,2921,2096,3596,0,0,0,0,0,0
$GC,18969,-0.50,-155.7,956.2,-2.5,639,18973,0.00,2.38,0.00,0.000,4,0.000,0.046,2920,519,3595,0,0,0,0,0,0
$GC,19115,-0.50,-155.7,960.2,-2.1,642,19119,0.00,2.38,0.00,0.000,6,0.000,0.043,2912,2102,3595,0,0,0,0,0,0
$GC,19428,-0.50,-155.7,969.2,-3.0,650,19432,0.00,2.38,0.00,0.000,4,0.000,0.044,2912,517,3594,0,0,0,0,0,0
$GC,19529,-0.50,-155.7,972.4,-2.7,652,19533,0.00,2.35,0.00,0.000,6,0.000,0.043,2902,2096,3594,0,0,0,0,0,0
$GC,19878,-0.50,-155.7,982.7,-3.0,661,19882,0.00,2.40,0.00,0.000,4,0.000,0.045,2902,508,3594,0,0,0,0,0,0
$GC,19934,-0.50,-155.7,984.7,-3.5,662,19939,0.12,2.38,0.00,0.000,6,0.117,0.044,2937,2082,3594,0,0,0,0,0,0
$STATE,20116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20116,begin apogee
$GC,20123,-0.23,0.0,990.2,3.2,667,20264,0.22,0.00,139.10,1.616,6,0.077,0.000,3032,1933,2995,0,0,0,0,0,0
$STATE,20265,end apogee,CONTROL_FINISHED_OK
$STATE,20265,begin climb
$GC,20269,0.50,155.7,991.0,0.0,670,20431,0.57,2.72,151.80,1.589,4,0.048,0.051,3274,386,2359,0,0,0,0,0,0
$GC,20570,0.50,155.7,953.3,13.3,677,20574,0.00,2.40,0.00,0.000,6,0.000,0.043,3274,1948,2358,0,0,0,0,0,0
$GC,20895,0.50,155.7,905.9,14.7,685,20899,0.00,2.45,0.00,0.000,4,0.000,0.053,3274,3524,2358,0,0,0,0,0,0
$GC,20940,0.50,155.7,898.9,14.1,686,20945,0.12,2.38,0.00,0.000,6,0.135,0.039,3246,1951,2357,0,0,0,0,0,0
$GC,21259,0.50,155.7,858.5,12.7,694,21263,0.00,2.42,0.00,0.000,4,0.000,0.052,3257,363,2357,0,0,0,0,0,0
$GC,21314,0.50,155.7,851.2,14.0,695,21318,0.00,2.35,0.00,0.000,6,0.000,0.045,3257,1940,2357,0,0,0,0,0,0
$GC,21626,0.50,155.7,810.4,12.8,703,21631,0.00,2.45,0.00,0.000,4,0.000,0.054,3257,3523,2356,0,0,0,0,0,0
$GC,21665,0.50,155.7,805.2,14.0,704,21669,0.00,2.40,0.00,0.000,6,0.000,0.041,3269,1930,2356,0,0,0,0,0,0
$GC,21991,0.50,155.7,764.3,12.6,712,21995,0.00,2.40,0.00,0.000,4,0.000,0.053,3281,365,2356,0,0,0,0,0,0
$GC,22068,0.50,155.7,753.4,13.0,713,22073,0.00,2.38,0.00,0.000,6,0.000,0.047,3282,1937,2356,0,0,0,0,0,0
$GC,22400,0.50,155.7,707.2,14.0,722,22404,0.00,2.47,0.00,0.000,4,0.000,0.055,3282,3532,2355,0,0,0,0,0,0
$GC,22499,0.50,155.7,692.4,14.6,724,22505,0.12,2.40,0.00,0.000,6,0.133,0.041,3254,1942,2355,0,0,0,0,0,0
$GC,22814,0.50,155.7,658.3,10.7,732,22818,0.00,2.45,0.00,0.000,4,0.000,0.053,3265,360,2354,0,0,0,0,0,0
$GC,22869,0.50,155.7,651.7,11.4,733,22873,0.00,2.40,0.00,0.000,6,0.000,0.044,3264,1954,2354,0,0,0,0,0,0
$GC,23182,0.50,155.7,613.1,12.7,741,23186,0.00,2.45,0.00,0.000,4,0.000,0.054,3265,3529,2354,0,0,0,0,0,0
$GC,23208,0.50,155.7,609.1,15.1,741,23212,0.00,2.42,0.00,0.000,6,0.000,0.042,3276,1929,2353,0,0,0,0,0,0
$GC,23545,0.50,155.7,565.9,12.3,750,23546,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1929,2353,0,0,0,0,0,0
$GC,23871,0.50,155.7,527.6,11.9,758,23875,0.00,2.42,0.00,0.000,4,0.000,0.051,3289,353,2354,0,0,0,0,0,0
$GC,23938,0.50,155.7,519.1,11.8,759,23943,0.12,2.40,0.00,0.000,6,0.125,0.043,3246,1947,2354,0,0,0,0,0,0
$GC,24278,0.50,155.7,486.5,9.3,768,24282,0.00,2.45,0.00,0.000,4,0.000,0.052,3246,3524,2354,0,0,0,0,0,0
$GC,24304,0.50,155.7,483.3,10.6,768,24308,0.00,2.38,0.00,0.000,6,0.000,0.039,3257,1948,2354,0,0,0,0,0,0
$GC,24640,0.50,155.7,449.6,10.0,777,24645,0.00,2.45,0.00,0.000,4,0.000,0.051,3269,352,2354,0,0,0,0,0,0
$GC,24736,0.50,155.7,439.7,11.5,779,24741,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1946,2354,0,0,0,0,0,0
$GC,25049,0.50,155.7,405.3,10.8,787,25053,0.00,2.45,0.00,0.000,4,0.000,0.051,3269,3527,2355,0,0,0,0,0,0
$GC,25106,0.50,155.7,398.8,9.7,788,25110,0.00,2.40,0.00,0.000,6,0.000,0.039,3281,1920,2355,0,0,0,0,0,0
$GC,25454,0.50,155.7,365.3,9.4,797,25458,0.00,2.38,0.00,0.000,4,0.000,0.051,3294,352,2356,0,0,0,0,0,0
$GC,25592,0.50,155.7,351.3,8.6,800,25597,0.12,2.38,0.00,0.000,6,0.118,0.041,3250,1944,2356,0,0,0,0,0,0
$GC,25911,0.50,155.7,326.1,7.8,808,25913,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1944,2358,0,0,0,0,0,0
$GC,26236,0.50,155.7,300.1,8.4,816,26240,0.00,2.38,0.00,0.000,4,0.000,0.047,3260,351,2359,0,0,0,0,0,0
$GC,26268,0.50,155.7,297.0,8.0,816,26273,0.00,2.38,0.00,0.000,6,0.000,0.041,3260,1945,2359,0,0,0,0,0,0
$GC,26583,0.50,155.7,267.4,8.3,832,26587,0.00,2.40,0.00,0.000,4,0.000,0.050,3260,3524,2361,0,0,0,0,0,0
$GC,26615,0.50,155.7,264.6,8.9,833,26620,0.00,2.40,0.00,0.000,6,0.000,0.038,3272,1938,2361,0,0,0,0,0,0
$GC,26930,0.50,155.7,241.9,6.9,849,26934,0.00,2.40,0.00,0.000,4,0.000,0.050,3284,356,2363,0,0,0,0,0,0
$GC,26956,0.50,155.7,239.9,8.2,850,26961,0.10,2.35,0.00,0.000,6,0.127,0.040,3248,1945,2363,0,0,0,0,0,0
$GC,27277,0.54,183.3,221.9,5.3,866,27307,0.00,2.45,25.30,0.959,4,0.000,0.048,3248,3528,2247,0,0,0,0,0,0
$GC,27380,0.54,183.3,215.4,6.5,871,27384,0.00,2.42,0.00,0.000,6,0.000,0.035,3257,1927,2246,0,0,0,0,0,0
$GC,27698,0.55,191.0,195.7,5.8,890,27709,0.00,0.00,8.45,0.822,6,0.000,0.000,3257,1927,2215,0,0,0,0,0,0
$GC,27963,0.56,203.5,180.2,5.7,915,27983,0.00,2.50,12.12,0.866,4,0.000,0.048,3269,352,2164,0,0,0,0,0,0
$GC,28043,0.56,203.5,175.4,7.5,922,28048,0.00,2.35,0.00,0.000,6,0.000,0.038,3269,1941,2164,0,0,0,0,0,0
$GC,28305,0.56,203.5,158.8,6.1,946,28309,0.00,2.45,0.00,0.000,4,0.000,0.048,3269,3529,2167,0,0,0,0,0,0
$GC,28348,0.56,203.5,155.5,6.3,949,28353,0.00,2.40,0.00,0.000,6,0.000,0.035,3280,1929,2167,0,0,0,0,0,0
$GC,28609,0.56,203.5,136.1,7.5,974,28613,0.00,2.40,0.00,0.000,4,0.000,0.047,3292,352,2169,0,0,0,0,0,0
$GC,28658,0.56,203.5,132.5,8.1,978,28662,0.00,2.35,0.00,0.000,6,0.000,0.039,3292,1960,2170,0,0,0,0,0,0
$GC,28918,0.56,203.5,110.7,9.8,1002,28922,0.00,2.40,0.00,0.000,4,0.000,0.048,3292,3521,2172,0,0,0,0,0,0
$GC,28958,0.56,203.5,107.4,7.3,1005,28963,0.10,2.38,0.00,0.000,6,0.128,0.035,3265,1927,2172,0,0,0,0,0,0
$GC,29220,0.67,294.0,92.5,3.6,1029,29306,0.12,2.53,76.25,0.904,4,0.081,0.048,3386,360,1796,0,0,0,0,0,0
$GC,29363,0.67,294.0,71.8,20.4,1042,29369,0.25,2.35,0.00,0.000,6,0.106,0.039,3302,1941,1802,0,0,0,0,0,0
$GC,29624,0.67,294.0,49.9,6.4,1067,29633,0.00,0.00,4.05,0.527,6,0.000,0.000,3302,1942,1796,0,0,0,0,0,0
$GC,29890,0.73,338.4,37.8,4.8,1092,29933,0.00,2.45,36.40,0.841,4,0.000,0.047,3302,3523,1616,0,0,0,0,0,0
$GC,29952,0.73,338.4,32.5,10.9,1098,29956,0.00,2.42,0.00,0.000,6,0.000,0.037,3311,1935,1615,0,0,0,0,0,0
$GC,30212,0.79,390.1,20.7,4.6,1122,30263,0.10,2.53,41.45,0.842,4,0.098,0.049,3419,352,1403,0,0,0,0,0,0
$STATE,30325,end climb,SURFACE_DEPTH_REACHED
$STATE,30325,begin surface coast
$FINISH,0.4,NaN
$STATE,30336,end surface coast,CONTROL_FINISHED_OK
$STATE,30336,begin surface
$SM_CCo,30357,8.25,0.709,0,0,1364,400.08
$SM_GC,0.64,0.00,0.00,8.25,0.000,0.000,0.709,106,2091,1364,-9.33,0.03,400.08
$IRIDIUM_FIX,2150.42,13500.00,300812,232330
$TT8_MAMPS,0.03068
$HUMID,1078723216
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,1007
$24V_AH,21.6,78.076
$10V_AH,8.0,61.877
$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,22.075,324.150,494.925,8.250,0.000,29.586,39.624,189.786,251.750,0.000,14.793,1758.901,24260.789,688.118,3457.809,603.774,33.383,2423.622,0.000,3073.164,0.000,0.542,0.000
$DEVICE_MAMPS,213.226,69.797,1616.069,708.708,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355528
$DATA_FILE_SIZE,36660,1133
$CAP_FILE_SIZE,335793,0
$CFSIZE,260165632,182214656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080311,220207,2156.706,12851.765,30,0.9,30,-3.1