version: 66.07
glider: 500
mission: 5
dive: 449
start: 3 12 111 10 37 8
data:
$ID,500
$MISSION,5
$DIVE,449
$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,-130576
$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,55
$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
$GPS1,120311,102930,2152.882,12844.400,35,1.0,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-77.7
$GPS2,120311,103614,2152.931,12844.469,12,1.3,12,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.182,-0.125
$KALMAN_X,-593926.1,-213.8,314.4,1159852.4,5702.7
$KALMAN_Y,453435.2,410.0,-648.8,-373071.7,4080.9
$MHEAD_RNG_PITCHd_Wd,238.5,288160,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,15587,-0.50,-155.7,866.6,-3.7,556,15591,0.00,2.38,0.00,0.000,4,0.000,0.045,2922,514,3598,0,0,0,0,0,0
$GC,15700,-0.50,-155.7,871.0,-3.6,558,15704,0.00,2.35,0.00,0.000,6,0.000,0.042,2913,2097,3597,0,0,0,0,0,0
$GC,16038,-0.50,-155.7,883.8,-3.8,567,16042,0.00,2.35,0.00,0.000,4,0.000,0.045,2913,517,3597,0,0,0,0,0,0
$GC,16111,-0.50,-155.7,886.7,-3.6,568,16116,0.00,2.33,0.00,0.000,6,0.000,0.041,2903,2100,3596,0,0,0,0,0,0
$GC,16443,-0.50,-155.7,897.2,-3.1,576,16447,0.00,2.35,0.00,0.000,4,0.000,0.044,2903,515,3596,0,0,0,0,0,0
$GC,16504,-0.50,-155.7,899.1,-3.6,577,16509,0.12,2.33,0.00,0.000,6,0.117,0.041,2937,2089,3596,0,0,0,0,0,0
$GC,16856,-0.50,-155.7,908.0,-2.8,586,16860,0.00,2.35,0.00,0.000,4,0.000,0.046,2938,517,3595,0,0,0,0,0,0
$GC,17082,-0.50,-155.7,915.8,-4.1,591,17087,0.00,2.35,0.00,0.000,6,0.000,0.041,2938,2102,3595,0,0,0,0,0,0
$GC,17402,-0.50,-155.7,929.5,-4.7,599,17406,0.00,2.35,0.00,0.000,4,0.000,0.044,2938,509,3595,0,0,0,0,0,0
$GC,17659,-0.50,-155.7,942.8,-4.8,604,17664,0.00,2.35,0.00,0.000,6,0.000,0.042,2934,2083,3594,0,0,0,0,0,0
$GC,17991,-0.50,-155.7,958.9,-4.9,613,17995,0.00,2.35,0.00,0.000,4,0.000,0.045,2933,513,3594,0,0,0,0,0,0
$GC,18226,-0.50,-155.7,970.0,-4.5,618,18230,0.00,2.38,0.00,0.000,6,0.000,0.043,2931,2103,3593,0,0,0,0,0,0
$GC,18575,-0.50,-155.7,984.0,-4.0,627,18580,0.00,2.40,0.00,0.000,4,0.000,0.044,2931,509,3593,0,0,0,0,0,0
$STATE,18724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18724,begin apogee
$GC,18733,-0.23,0.0,990.2,3.0,630,18875,0.22,0.00,139.38,1.645,6,0.084,0.000,3021,1942,2995,0,0,0,0,0,0
$STATE,18876,end apogee,CONTROL_FINISHED_OK
$STATE,18876,begin climb
$GC,18879,0.50,155.7,990.6,0.0,634,19041,0.62,2.72,152.00,1.625,4,0.052,0.048,3274,375,2360,0,0,0,0,0,0
$GC,19065,0.50,155.7,970.5,13.1,638,19069,0.00,2.53,0.00,0.000,6,0.000,0.041,3273,1938,2360,0,0,0,0,0,0
$GC,19408,0.50,155.7,923.4,13.6,647,19413,0.00,2.47,0.00,0.000,4,0.000,0.054,3274,3526,2358,0,0,0,0,0,0
$GC,19469,0.50,155.7,914.3,14.3,648,19474,0.12,2.40,0.00,0.000,6,0.137,0.040,3246,1943,2358,0,0,0,0,0,0
$GC,19813,0.50,155.7,877.5,10.7,657,19817,0.00,2.40,0.00,0.000,4,0.000,0.052,3257,352,2358,0,0,0,0,0,0
$GC,19857,0.50,155.7,872.5,9.9,658,19861,0.00,2.38,0.00,0.000,6,0.000,0.043,3257,1940,2357,0,0,0,0,0,0
$GC,20181,0.50,155.7,834.4,12.0,666,20185,0.00,2.42,0.00,0.000,4,0.000,0.054,3257,3528,2357,0,0,0,0,0,0
$GC,20220,0.50,155.7,829.3,13.5,667,20225,0.00,2.40,0.00,0.000,6,0.000,0.041,3270,1944,2356,0,0,0,0,0,0
$GC,20545,0.50,155.7,785.4,13.6,675,20549,0.00,2.42,0.00,0.000,4,0.000,0.052,3283,345,2356,0,0,0,0,0,0
$GC,20640,0.50,155.7,772.3,13.1,677,20644,0.00,2.40,0.00,0.000,6,0.000,0.043,3282,1945,2356,0,0,0,0,0,0
$GC,20952,0.50,155.7,728.9,13.8,685,20956,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,3525,2356,0,0,0,0,0,0
$GC,21007,0.50,155.7,720.9,12.8,686,21012,0.15,2.40,0.00,0.000,6,0.127,0.040,3245,1928,2356,0,0,0,0,0,0
$GC,21356,0.50,155.7,684.7,10.4,695,21360,0.00,2.38,0.00,0.000,4,0.000,0.051,3257,351,2355,0,0,0,0,0,0
$GC,21400,0.50,155.7,680.0,10.9,696,21404,0.00,2.40,0.00,0.000,6,0.000,0.044,3257,1943,2356,0,0,0,0,0,0
$GC,21719,0.50,155.7,647.8,10.0,704,21723,0.00,2.47,0.00,0.000,4,0.000,0.058,3257,3535,2355,0,0,0,0,0,0
$GC,21757,0.50,155.7,643.6,12.0,705,21761,0.00,2.42,0.00,0.000,6,0.000,0.044,3269,1934,2355,0,0,0,0,0,0
$GC,22082,0.50,155.7,606.6,11.9,713,22086,0.00,2.40,0.00,0.000,4,0.000,0.053,3282,347,2355,0,0,0,0,0,0
$GC,22154,0.50,155.7,597.5,12.0,714,22159,0.00,2.40,0.00,0.000,6,0.000,0.043,3282,1952,2355,0,0,0,0,0,0
$GC,22486,0.50,155.7,555.7,12.6,722,22490,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,3529,2355,0,0,0,0,0,0
$GC,22574,0.50,155.7,543.7,13.1,724,22580,0.15,2.42,0.00,0.000,6,0.126,0.040,3246,1925,2355,0,0,0,0,0,0
$GC,22895,0.50,155.7,511.4,10.1,732,22899,0.00,2.40,0.00,0.000,4,0.000,0.051,3257,353,2355,0,0,0,0,0,0
$GC,22933,0.50,155.7,507.0,10.8,733,22937,0.00,2.40,0.00,0.000,6,0.000,0.043,3257,1949,2355,0,0,0,0,0,0
$GC,23258,0.50,155.7,472.8,10.3,741,23259,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1949,2355,0,0,0,0,0,0
$GC,23580,0.50,155.7,440.7,9.9,749,23582,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1950,2356,0,0,0,0,0,0
$GC,23905,0.50,155.7,408.0,9.9,757,23910,0.00,2.47,0.00,0.000,4,0.000,0.053,3257,3527,2357,0,0,0,0,0,0
$GC,23945,0.50,155.7,404.0,8.8,758,23950,0.00,2.40,0.00,0.000,6,0.000,0.040,3269,1941,2357,0,0,0,0,0,0
$GC,24270,0.50,155.7,374.6,8.5,766,24274,0.00,2.47,0.00,0.000,4,0.000,0.051,3282,347,2357,0,0,0,0,0,0
$GC,24343,0.50,155.7,367.6,10.3,767,24347,0.00,2.38,0.00,0.000,6,0.000,0.040,3282,1948,2358,0,0,0,0,0,0
$GC,24678,0.50,155.7,335.4,9.3,776,24683,0.00,2.42,0.00,0.000,4,0.000,0.051,3282,3523,2360,0,0,0,0,0,0
$GC,24711,0.50,155.7,332.1,9.7,776,24717,0.12,2.40,0.00,0.000,6,0.127,0.038,3253,1935,2359,0,0,0,0,0,0
$GC,25043,0.50,155.7,307.4,7.7,785,25048,0.00,2.40,0.00,0.000,4,0.000,0.049,3263,349,2360,0,0,0,0,0,0
$GC,25087,0.50,155.7,303.6,8.4,786,25091,0.00,2.38,0.00,0.000,6,0.000,0.040,3263,1957,2361,0,0,0,0,0,0
$GC,25415,0.50,155.7,277.4,8.4,800,25419,0.00,2.42,0.00,0.000,4,0.000,0.051,3263,3523,2362,0,0,0,0,0,0
$GC,25524,0.50,155.7,266.9,10.5,805,25528,0.00,2.35,0.00,0.000,6,0.000,0.036,3275,1928,2363,0,0,0,0,0,0
$GC,25849,0.50,155.7,238.7,8.1,821,25850,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1928,2364,0,0,0,0,0,0
$GC,26158,0.53,174.7,217.0,5.5,836,26183,0.00,2.45,18.77,0.952,4,0.000,0.047,3287,370,2282,0,0,0,0,0,0
$GC,26273,0.53,174.7,210.3,6.7,841,26277,0.00,2.30,0.00,0.000,6,0.000,0.036,3287,1948,2282,0,0,0,0,0,0
$GC,26594,0.53,174.7,185.9,7.0,864,26598,0.00,2.45,0.00,0.000,4,0.000,0.049,3287,3522,2285,0,0,0,0,0,0
$GC,26656,0.53,174.7,181.1,7.6,869,26661,0.12,2.35,0.00,0.000,6,0.120,0.035,3254,1948,2285,0,0,0,0,0,0
$GC,26917,0.57,211.6,166.2,5.0,893,26957,0.00,2.53,32.33,0.946,4,0.000,0.046,3264,348,2131,0,0,0,0,0,0
$GC,27015,0.57,211.6,160.5,6.0,902,27019,0.00,2.35,0.00,0.000,6,0.000,0.035,3264,1941,2131,0,0,0,0,0,0
$GC,27275,0.57,211.6,142.9,6.6,926,27279,0.00,2.42,0.00,0.000,4,0.000,0.048,3264,3525,2133,0,0,0,0,0,0
$GC,27297,0.57,211.6,141.6,6.6,927,27302,0.00,2.38,0.00,0.000,6,0.000,0.036,3271,1927,2133,0,0,0,0,0,0
$GC,27559,0.57,211.6,123.7,6.7,952,27563,0.00,2.47,0.00,0.000,4,0.000,0.050,3271,3526,2135,0,0,0,0,0,0
$GC,27625,0.57,211.6,118.8,8.1,958,27629,0.00,2.35,0.00,0.000,6,0.000,0.035,3282,1929,2136,0,0,0,0,0,0
$GC,27885,0.57,211.6,101.7,6.7,982,27889,0.00,2.45,0.00,0.000,4,0.000,0.048,3282,3519,2137,0,0,0,0,0,0
$GC,27971,0.57,211.6,95.7,6.8,989,27975,0.00,2.35,0.00,0.000,6,0.000,0.035,3293,1930,2139,0,0,0,0,0,0
$GC,28231,0.57,211.6,79.2,6.1,1013,28235,0.00,2.33,0.00,0.000,4,0.000,0.044,3303,360,2140,0,0,0,0,0,0
$GC,28276,0.59,224.1,76.6,5.7,1016,28295,0.00,2.33,13.40,0.798,6,0.000,0.038,3303,1952,2081,0,0,0,0,0,0
$GC,28557,0.59,224.1,53.4,8.1,1043,28561,0.00,2.45,0.00,0.000,4,0.000,0.059,3304,3522,2082,0,0,0,0,0,0
$GC,28583,0.59,224.1,51.4,6.5,1045,28589,0.12,2.35,0.00,0.000,6,0.121,0.038,3269,1931,2082,0,0,0,0,0,0
$GC,28844,0.67,288.2,35.9,4.3,1070,28908,0.10,2.47,53.25,0.870,4,0.097,0.047,3383,357,1820,0,0,0,0,0,0
$GC,28975,0.67,288.2,22.7,10.8,1082,28980,0.25,2.33,0.00,0.000,6,0.107,0.038,3299,1934,1826,0,0,0,0,0,0
$GC,29172,0.67,288.2,5.4,7.3,1100,29182,0.00,2.45,4.28,0.528,4,0.000,0.053,3299,3519,1819,0,0,0,0,0,0
$GC,29198,0.67,288.2,3.5,7.1,1102,29203,0.00,2.38,0.00,0.000,6,0.000,0.038,3308,1933,1820,0,0,0,0,0,0
$STATE,29212,end climb,SURFACE_DEPTH_REACHED
$STATE,29212,begin surface coast
$FINISH,0.3,NaN
$STATE,29245,end surface coast,CONTROL_FINISHED_OK
$STATE,29245,begin surface
$SM_CCo,29264,55.62,0.865,0,0,1364,400.08
$SM_GC,1.03,0.00,0.00,55.62,0.000,0.000,0.865,128,2090,1364,-9.26,0.03,400.08
$IRIDIUM_FIX,2145.77,12843.22,030912,202039
$TT8_MAMPS,0.03068
$HUMID,1078725797
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.70
$XPDR_PINGS,962
$24V_AH,21.7,80.635
$10V_AH,8.0,62.922
$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,21.675,318.875,413.400,55.625,0.000,29.406,35.854,194.210,240.500,0.000,14.653,1701.215,23481.738,662.356,3253.102,605.097,33.389,2306.801,0.000,2903.029,0.000,0.542,0.000
$DEVICE_MAMPS,216.294,69.797,1645.215,865.176,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36609,1107
$CAP_FILE_SIZE,326343,0
$CFSIZE,260165632,181059584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120311,184706,2152.993,12843.531,37,1.2,37,-3.1