version: 66.07
glider: 500
mission: 5
dive: 450
start: 3 12 111 19 3 58
data:
$ID,500
$MISSION,5
$DIVE,450
$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,618.14594
$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,-130610.72
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,120311,184706,2152.993,12843.531,37,1.2,37,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-77.0
$GPS2,120311,190303,2153.090,12843.598,12,2.4,31,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.149,-0.163
$KALMAN_X,-589269.8,115.3,-205.2,1153880.8,5059.5
$KALMAN_Y,457850.8,-182.6,-33.3,-377220.5,5420.6
$MHEAD_RNG_PITCHd_Wd,225.4,286748,-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,15480,-0.50,-155.7,844.2,-4.5,544,15484,0.00,2.38,0.00,0.000,4,0.000,0.046,2929,505,3592,0,0,0,0,0,0
$GC,15595,-0.50,-155.7,849.2,-4.5,546,15599,0.00,2.38,0.00,0.000,6,0.000,0.044,2919,2093,3592,0,0,0,0,0,0
$GC,15932,-0.50,-155.7,863.1,-3.9,555,15936,0.00,2.35,0.00,0.000,4,0.000,0.046,2919,516,3591,0,0,0,0,0,0
$GC,16034,-0.50,-155.7,866.7,-3.1,557,16038,0.00,2.35,0.00,0.000,6,0.000,0.043,2909,2086,3591,0,0,0,0,0,0
$GC,16382,-0.50,-155.7,876.5,-2.7,566,16386,0.00,2.35,0.00,0.000,4,0.000,0.045,2908,505,3591,0,0,0,0,0,0
$GC,16444,-0.50,-155.7,878.4,-2.5,567,16448,0.00,2.40,0.00,0.000,6,0.000,0.044,2900,2101,3590,0,0,0,0,0,0
$GC,16787,-0.50,-155.7,888.9,-3.2,576,16791,0.00,2.38,0.00,0.000,4,0.000,0.044,2899,515,3589,0,0,0,0,0,0
$GC,16855,-0.50,-155.7,891.2,-2.9,577,16860,0.12,2.35,0.00,0.000,6,0.122,0.043,2933,2094,3589,0,0,0,0,0,0
$GC,17192,-0.50,-155.7,901.1,-3.2,586,17196,0.00,2.40,0.00,0.000,4,0.000,0.047,2933,509,3589,0,0,0,0,0,0
$GC,17434,-0.50,-155.7,910.4,-3.9,591,17439,0.00,2.38,0.00,0.000,6,0.000,0.044,2929,2086,3589,0,0,0,0,0,0
$GC,17780,-0.50,-155.7,924.8,-4.4,600,17785,0.00,2.40,0.00,0.000,4,0.000,0.047,2928,513,3588,0,0,0,0,0,0
$GC,17911,-0.50,-155.7,930.4,-4.4,603,17915,0.00,2.38,0.00,0.000,6,0.000,0.044,2919,2098,3587,0,0,0,0,0,0
$GC,18237,-0.50,-155.7,942.7,-3.8,611,18241,0.00,2.40,0.00,0.000,4,0.000,0.046,2919,510,3587,0,0,0,0,0,0
$GC,18361,-0.50,-155.7,947.2,-3.7,613,18365,0.00,2.38,0.00,0.000,6,0.000,0.044,2909,2098,3586,0,0,0,0,0,0
$GC,18692,-0.50,-155.7,959.2,-3.7,622,18696,0.00,2.40,0.00,0.000,4,0.000,0.046,2908,509,3586,0,0,0,0,0,0
$GC,18776,-0.50,-155.7,962.5,-5.0,624,18781,0.00,2.38,0.00,0.000,6,0.000,0.044,2899,2084,3586,0,0,0,0,0,0
$GC,19103,-0.50,-155.7,976.9,-4.7,632,19107,0.00,2.38,0.00,0.000,4,0.000,0.047,2899,514,3585,0,0,0,0,0,0
$GC,19197,-0.50,-155.7,981.9,-6.1,634,19201,0.12,2.38,0.00,0.000,6,0.122,0.044,2933,2100,3585,0,0,0,0,0,0
$STATE,19390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19390,begin apogee
$GC,19397,-0.23,0.0,991.9,5.3,639,19538,0.22,0.00,138.00,1.642,6,0.077,0.000,3028,1927,2995,0,0,0,0,0,0
$STATE,19539,end apogee,CONTROL_FINISHED_OK
$STATE,19539,begin climb
$GC,19541,0.50,155.7,995.0,0.0,642,19704,0.60,2.67,152.50,1.621,4,0.051,0.051,3274,384,2360,0,0,0,0,0,0
$GC,19862,0.50,155.7,958.9,12.0,649,19866,0.00,2.38,0.00,0.000,6,0.000,0.042,3274,1940,2360,0,0,0,0,0,0
$GC,20204,0.50,155.7,909.5,14.8,658,20208,0.00,2.45,0.00,0.000,4,0.000,0.055,3274,3532,2358,0,0,0,0,0,0
$GC,20261,0.50,155.7,900.8,14.2,659,20266,0.12,2.40,0.00,0.000,6,0.138,0.041,3247,1948,2358,0,0,0,0,0,0
$GC,20609,0.50,155.7,855.7,12.8,668,20613,0.00,2.42,0.00,0.000,4,0.000,0.051,3258,361,2358,0,0,0,0,0,0
$GC,20682,0.50,155.7,846.5,12.0,669,20686,0.00,2.38,0.00,0.000,6,0.000,0.045,3257,1936,2358,0,0,0,0,0,0
$GC,21012,0.50,155.7,803.5,13.0,677,21016,0.00,2.45,0.00,0.000,4,0.000,0.056,3258,3529,2358,0,0,0,0,0,0
$GC,21038,0.50,155.7,799.9,12.6,677,21042,0.00,2.40,0.00,0.000,6,0.000,0.042,3270,1937,2357,0,0,0,0,0,0
$GC,21376,0.50,155.7,753.9,13.9,686,21377,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1936,2357,0,0,0,0,0,0
$GC,21699,0.50,155.7,708.8,13.5,694,21703,0.00,2.40,0.00,0.000,4,0.000,0.053,3283,363,2357,0,0,0,0,0,0
$GC,21784,0.50,155.7,697.5,13.3,696,21788,0.00,2.38,0.00,0.000,6,0.000,0.044,3282,1941,2357,0,0,0,0,0,0
$GC,22109,0.50,155.7,654.9,12.7,704,22113,0.00,2.45,0.00,0.000,4,0.000,0.055,3283,3532,2357,0,0,0,0,0,0
$GC,22159,0.50,155.7,648.2,12.5,705,22164,0.15,2.42,0.00,0.000,6,0.127,0.042,3246,1929,2357,0,0,0,0,0,0
$GC,22472,0.50,155.7,619.5,9.1,713,22477,0.00,2.40,0.00,0.000,4,0.000,0.051,3258,352,2357,0,0,0,0,0,0
$GC,22499,0.50,155.7,616.6,10.2,713,22504,0.00,2.40,0.00,0.000,6,0.000,0.044,3257,1945,2357,0,0,0,0,0,0
$GC,22837,0.50,155.7,582.4,10.4,722,22841,0.00,2.45,0.00,0.000,4,0.000,0.055,3257,3532,2357,0,0,0,0,0,0
$GC,22871,0.50,155.7,578.2,12.6,722,22876,0.00,2.42,0.00,0.000,6,0.000,0.043,3270,1930,2357,0,0,0,0,0,0
$GC,23203,0.50,155.7,537.9,12.2,731,23207,0.00,2.40,0.00,0.000,4,0.000,0.052,3283,362,2358,0,0,0,0,0,0
$GC,23291,0.50,155.7,526.9,11.1,733,23296,0.10,2.38,0.00,0.000,6,0.138,0.045,3250,1938,2357,0,0,0,0,0,0
$GC,23617,0.50,155.7,494.6,9.9,741,23621,0.00,2.42,0.00,0.000,4,0.000,0.055,3249,3529,2358,0,0,0,0,0,0
$GC,23683,0.50,155.7,487.3,9.7,742,23687,0.00,2.42,0.00,0.000,6,0.000,0.040,3260,1938,2359,0,0,0,0,0,0
$GC,24024,0.50,155.7,454.1,9.8,751,24028,0.00,2.40,0.00,0.000,4,0.000,0.052,3272,356,2359,0,0,0,0,0,0
$GC,24160,0.50,155.7,439.6,10.1,754,24164,0.00,2.38,0.00,0.000,6,0.000,0.043,3272,1945,2360,0,0,0,0,0,0
$GC,24480,0.50,155.7,407.9,9.6,762,24484,0.00,2.42,0.00,0.000,4,0.000,0.053,3272,3523,2361,0,0,0,0,0,0
$GC,24535,0.50,155.7,401.9,10.0,763,24539,0.10,2.38,0.00,0.000,6,0.139,0.039,3252,1944,2361,0,0,0,0,0,0
$GC,24848,0.50,155.7,377.0,7.7,771,24852,0.00,2.42,0.00,0.000,4,0.000,0.050,3263,350,2362,0,0,0,0,0,0
$GC,24949,0.50,155.7,368.1,8.1,773,24954,0.00,2.38,0.00,0.000,6,0.000,0.041,3263,1945,2362,0,0,0,0,0,0
$GC,25298,0.50,155.7,339.1,7.9,782,25299,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1945,2364,0,0,0,0,0,0
$GC,25622,0.50,155.7,314.3,7.7,790,25624,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1945,2365,0,0,0,0,0,0
$GC,25928,0.50,155.7,290.0,7.9,800,25929,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1945,2367,0,0,0,0,0,0
$GC,26237,0.50,155.7,266.8,6.9,815,26246,0.00,2.53,3.88,0.607,4,0.000,0.053,3262,3517,2360,0,0,0,0,0,0
$GC,26296,0.50,155.7,262.1,8.2,817,26301,0.00,2.42,0.00,0.000,6,0.000,0.038,3274,1930,2360,0,0,0,0,0,0
$GC,26611,0.50,155.7,238.8,7.2,833,26612,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1930,2362,0,0,0,0,0,0
$GC,26921,0.52,167.5,218.5,5.7,848,26935,0.00,0.00,12.43,0.893,6,0.000,0.000,3274,1930,2312,0,0,0,0,0,0
$GC,27229,0.52,167.5,199.3,6.5,863,27230,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1930,2314,0,0,0,0,0,0
$GC,27484,0.52,167.5,182.2,6.6,887,27488,0.00,2.38,0.00,0.000,4,0.000,0.048,3286,356,2316,0,0,0,0,0,0
$GC,27552,0.54,185.3,177.3,5.5,892,27578,0.00,2.35,17.35,0.907,6,0.000,0.040,3286,1942,2238,0,0,0,0,0,0
$GC,27832,0.54,185.3,156.5,7.9,919,27837,0.00,2.45,0.00,0.000,4,0.000,0.051,3286,3525,2239,0,0,0,0,0,0
$GC,27918,0.54,185.3,149.7,8.0,926,27923,0.12,2.38,0.00,0.000,6,0.119,0.036,3252,1939,2240,0,0,0,0,0,0
$GC,28178,0.58,216.9,135.2,5.2,950,28212,0.00,2.50,27.60,0.915,4,0.000,0.055,3252,3514,2109,0,0,0,0,0,0
$GC,28243,0.59,223.0,131.8,5.8,956,28257,0.00,2.40,6.80,0.751,6,0.000,0.038,3252,1926,2085,0,0,0,0,0,0
$GC,28520,0.62,250.7,117.4,5.3,982,28550,0.10,2.47,23.95,0.893,4,0.100,0.051,3318,3520,1973,0,0,0,0,0,0
$GC,28612,0.62,250.7,110.9,7.3,990,28617,0.12,2.38,0.00,0.000,6,0.121,0.038,3286,1944,1976,0,0,0,0,0,0
$GC,28872,0.62,250.7,95.6,6.0,1015,28876,0.00,2.40,0.00,0.000,4,0.000,0.049,3297,361,1977,0,0,0,0,0,0
$GC,28929,0.62,250.7,91.9,6.4,1019,28933,0.00,2.35,0.00,0.000,6,0.000,0.041,3297,1945,1977,0,0,0,0,0,0
$GC,29190,0.62,250.7,73.5,7.3,1044,29194,0.00,2.45,0.00,0.000,4,0.000,0.051,3297,3529,1978,0,0,0,0,0,0
$GC,29217,0.62,250.7,71.3,7.2,1046,29221,0.00,2.38,0.00,0.000,6,0.000,0.037,3309,1937,1979,0,0,0,0,0,0
$GC,29477,0.62,250.7,50.2,7.6,1070,29481,0.00,2.38,0.00,0.000,4,0.000,0.051,3321,351,1980,0,0,0,0,0,0
$GC,29539,0.62,250.7,45.3,9.2,1075,29544,0.10,2.35,0.00,0.000,6,0.120,0.043,3280,1941,1981,0,0,0,0,0,0
$GC,29799,0.62,250.7,29.1,6.0,1099,29809,0.00,2.47,3.75,0.482,4,0.000,0.051,3280,3521,1973,0,0,0,0,0,0
$GC,29826,0.62,250.7,27.5,7.1,1101,29831,0.00,2.38,0.00,0.000,6,0.000,0.038,3290,1944,1973,0,0,0,0,0,0
$GC,30024,0.62,250.7,14.5,6.8,1120,30028,0.00,2.42,0.00,0.000,4,0.000,0.051,3301,349,1974,0,0,0,0,0,0
$GC,30078,0.62,250.7,10.5,6.4,1124,30084,0.00,2.40,0.00,0.000,6,0.000,0.048,3301,1941,1974,0,0,0,0,0,0
$STATE,30191,end climb,SURFACE_DEPTH_REACHED
$STATE,30191,begin surface coast
$FINISH,0.3,NaN
$STATE,30231,end surface coast,CONTROL_FINISHED_OK
$STATE,30231,begin surface
$SM_CCo,30249,190.48,0.880,0,0,474,618.15
$SM_GC,0.99,0.00,0.00,190.48,0.000,0.000,0.880,117,2123,474,-9.29,0.93,618.15
$IRIDIUM_FIX,2145.77,12843.22,040912,131332
$TT8_MAMPS,0.03068
$HUMID,1078681926
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.80
$XPDR_PINGS,996
$24V_AH,21.6,80.893
$10V_AH,8.0,63.023
$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,21.475,325.475,386.250,190.475,0.000,141.012,412.750,0.000,249.000,0.000,34.088,1772.636,24479.078,793.588,3743.942,588.000,33.384,2495.274,0.000,3055.465,0.000,0.543,0.000
$DEVICE_MAMPS,214.760,69.797,1642.147,879.749,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355552
$DATA_FILE_SIZE,36688,1139
$CAP_FILE_SIZE,335265,0
$CFSIZE,260165632,180920320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130311,033237,2152.522,12842.677,38,0.9,38,-3.1