version: 66.07
glider: 500
mission: 5
dive: 452
start: 3 13 111 12 45 10
data:
$ID,500
$MISSION,5
$DIVE,452
$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,-130640.09
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,130311,122455,2152.213,12841.492,39,1.0,39,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-75.8
$GPS2,130311,124414,2152.314,12841.618,11,1.0,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.183,-0.123
$KALMAN_X,-581423.6,-287.3,-286.7,1143112.2,5941.3
$KALMAN_Y,466011.1,210.6,-455.0,-386780.1,4040.7
$MHEAD_RNG_PITCHd_Wd,239.2,283114,-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,15294,-0.50,-155.7,859.3,-4.0,541,15298,0.00,2.38,0.00,0.000,4,0.000,0.048,2932,510,3603,0,0,0,0,0,0
$GC,15418,-0.50,-155.7,864.1,-3.6,543,15423,0.00,2.38,0.00,0.000,6,0.000,0.044,2926,2098,3603,0,0,0,0,0,0
$GC,15750,-0.50,-155.7,874.8,-3.3,552,15754,0.00,2.40,0.00,0.000,4,0.000,0.048,2926,508,3602,0,0,0,0,0,0
$GC,15891,-0.50,-155.7,879.7,-3.2,555,15895,0.00,2.38,0.00,0.000,6,0.000,0.044,2918,2093,3602,0,0,0,0,0,0
$GC,16205,-0.50,-155.7,891.5,-4.1,563,16209,0.00,2.38,0.00,0.000,4,0.000,0.048,2917,513,3601,0,0,0,0,0,0
$GC,16295,-0.50,-155.7,895.6,-4.5,565,16299,0.00,2.35,0.00,0.000,6,0.000,0.044,2907,2096,3601,0,0,0,0,0,0
$GC,16622,-0.50,-155.7,910.0,-4.7,573,16626,0.00,2.40,0.00,0.000,4,0.000,0.048,2907,512,3601,0,0,0,0,0,0
$GC,16689,-0.50,-155.7,913.3,-4.3,574,16693,0.00,2.38,0.00,0.000,6,0.000,0.044,2897,2088,3601,0,0,0,0,0,0
$GC,17033,-0.50,-155.7,928.3,-4.3,583,17037,0.00,2.38,0.00,0.000,4,0.000,0.048,2897,506,3600,0,0,0,0,0,0
$GC,17077,-0.50,-155.7,930.4,-4.1,584,17082,0.12,2.40,0.00,0.000,6,0.120,0.045,2931,2102,3600,0,0,0,0,0,0
$GC,17398,-0.50,-155.7,943.0,-4.1,592,17402,0.00,2.38,0.00,0.000,4,0.000,0.047,2931,517,3600,0,0,0,0,0,0
$GC,17644,-0.50,-155.7,953.5,-3.6,597,17648,0.00,2.35,0.00,0.000,6,0.000,0.043,2932,2086,3599,0,0,0,0,0,0
$GC,17982,-0.50,-155.7,966.9,-4.0,606,17986,0.00,2.40,0.00,0.000,4,0.000,0.048,2932,516,3598,0,0,0,0,0,0
$GC,18163,-0.50,-155.7,974.2,-3.7,610,18167,0.00,2.38,0.00,0.000,6,0.000,0.044,2932,2092,3598,0,0,0,0,0,0
$GC,18489,-0.50,-155.7,987.1,-4.1,618,18493,0.00,2.40,0.00,0.000,4,0.000,0.048,2932,517,3598,0,0,0,0,0,0
$STATE,18553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18553,begin apogee
$GC,18562,-0.23,0.0,990.1,3.4,619,18704,0.25,0.00,139.65,1.621,6,0.081,0.000,3030,1941,2995,0,0,0,0,0,0
$STATE,18705,end apogee,CONTROL_FINISHED_OK
$STATE,18705,begin climb
$GC,18708,0.50,155.7,991.4,0.0,623,18870,0.60,2.70,151.38,1.606,4,0.051,0.050,3265,3524,2360,0,0,0,0,0,0
$GC,18965,0.50,155.7,961.8,14.5,629,18969,0.00,2.45,0.00,0.000,6,0.000,0.039,3277,1951,2360,0,0,0,0,0,0
$GC,19292,0.50,155.7,916.6,14.0,637,19296,0.00,2.45,0.00,0.000,4,0.000,0.054,3290,347,2359,0,0,0,0,0,0
$GC,19386,0.50,155.7,902.3,14.5,639,19391,0.12,2.40,0.00,0.000,6,0.130,0.047,3249,1936,2359,0,0,0,0,0,0
$GC,19700,0.50,155.7,860.7,13.5,647,19705,0.00,2.42,0.00,0.000,4,0.000,0.054,3248,3532,2358,0,0,0,0,0,0
$GC,19768,0.50,155.7,850.8,12.6,648,19773,0.00,2.42,0.00,0.000,6,0.000,0.041,3260,1929,2358,0,0,0,0,0,0
$GC,20105,0.50,155.7,803.9,13.5,657,20109,0.00,2.38,0.00,0.000,4,0.000,0.052,3273,360,2358,0,0,0,0,0,0
$GC,20138,0.50,155.7,799.7,11.5,657,20142,0.00,2.40,0.00,0.000,6,0.000,0.045,3272,1948,2358,0,0,0,0,0,0
$GC,20475,0.50,155.7,759.7,11.6,666,20480,0.00,2.45,0.00,0.000,4,0.000,0.054,3272,3536,2357,0,0,0,0,0,0
$GC,20519,0.50,155.7,754.1,13.3,667,20525,0.10,2.40,0.00,0.000,6,0.146,0.042,3253,1943,2357,0,0,0,0,0,0
$GC,20838,0.50,155.7,722.7,10.2,675,20843,0.00,2.42,0.00,0.000,4,0.000,0.054,3264,356,2357,0,0,0,0,0,0
$GC,20879,0.50,155.7,718.6,10.0,676,20883,0.00,2.40,0.00,0.000,6,0.000,0.047,3264,1943,2357,0,0,0,0,0,0
$GC,21203,0.50,155.7,684.5,10.5,684,21208,0.00,2.47,0.00,0.000,4,0.000,0.056,3264,3534,2356,0,0,0,0,0,0
$GC,21260,0.50,155.7,678.2,11.8,685,21264,0.00,2.42,0.00,0.000,6,0.000,0.044,3277,1929,2356,0,0,0,0,0,0
$GC,21609,0.50,155.7,636.8,12.1,694,21613,0.00,2.38,0.00,0.000,4,0.000,0.052,3289,362,2356,0,0,0,0,0,0
$GC,21660,0.50,155.7,630.2,11.4,695,21665,0.12,2.40,0.00,0.000,6,0.130,0.047,3247,1944,2356,0,0,0,0,0,0
$GC,21974,0.50,155.7,598.9,10.0,703,21978,0.00,2.45,0.00,0.000,4,0.000,0.056,3247,3529,2356,0,0,0,0,0,0
$GC,22007,0.50,155.7,595.5,9.5,703,22012,0.00,2.42,0.00,0.000,6,0.000,0.043,3258,1936,2356,0,0,0,0,0,0
$GC,22339,0.50,155.7,560.1,10.8,712,22343,0.00,2.42,0.00,0.000,4,0.000,0.054,3270,351,2356,0,0,0,0,0,0
$GC,22388,0.50,155.7,554.4,11.0,713,22392,0.00,2.40,0.00,0.000,6,0.000,0.046,3270,1943,2356,0,0,0,0,0,0
$GC,22707,0.50,155.7,519.7,10.7,721,22711,0.00,2.42,0.00,0.000,4,0.000,0.051,3270,3529,2357,0,0,0,0,0,0
$GC,22734,0.50,155.7,516.5,10.4,721,22738,0.00,2.40,0.00,0.000,6,0.000,0.041,3283,1938,2356,0,0,0,0,0,0
$GC,23070,0.50,155.7,480.0,10.6,730,23074,0.00,2.45,0.00,0.000,4,0.000,0.054,3295,349,2357,0,0,0,0,0,0
$GC,23165,0.50,155.7,470.0,10.6,732,23171,0.15,2.38,0.00,0.000,6,0.120,0.044,3244,1937,2356,0,0,0,0,0,0
$GC,23479,0.50,155.7,445.9,7.7,740,23483,0.00,2.45,0.00,0.000,4,0.000,0.051,3244,3538,2357,0,0,0,0,0,0
$GC,23523,0.50,155.7,442.0,8.2,741,23528,0.00,2.42,0.00,0.000,6,0.000,0.041,3255,1944,2357,0,0,0,0,0,0
$GC,23842,0.50,155.7,417.4,7.7,749,23846,0.00,2.42,0.00,0.000,4,0.000,0.053,3267,352,2357,0,0,0,0,0,0
$GC,23943,0.50,155.7,408.8,7.4,751,23947,0.00,2.40,0.00,0.000,6,0.000,0.043,3267,1950,2357,0,0,0,0,0,0
$GC,24291,0.50,155.7,381.0,7.4,760,24295,0.00,2.45,0.00,0.000,4,0.000,0.052,3267,3537,2358,0,0,0,0,0,0
$GC,24370,0.50,155.7,373.4,8.2,761,24375,0.00,2.42,0.00,0.000,6,0.000,0.039,3279,1933,2359,0,0,0,0,0,0
$GC,24700,0.50,155.7,340.8,10.3,770,24704,0.00,2.45,0.00,0.000,4,0.000,0.051,3279,3525,2360,0,0,0,0,0,0
$GC,24746,0.50,155.7,335.9,10.1,771,24751,0.12,2.38,0.00,0.000,6,0.127,0.038,3250,1936,2360,0,0,0,0,0,0
$GC,25072,0.50,155.7,309.6,8.0,779,25076,0.00,2.47,0.00,0.000,4,0.000,0.054,3249,3527,2362,0,0,0,0,0,0
$GC,25104,0.50,155.7,306.6,9.2,779,25109,0.00,2.40,0.00,0.000,6,0.000,0.038,3259,1935,2362,0,0,0,0,0,0
$GC,25418,0.50,155.7,282.7,6.7,793,25422,0.00,2.40,0.00,0.000,4,0.000,0.051,3272,357,2363,0,0,0,0,0,0
$GC,25490,0.50,155.7,277.7,7.5,796,25494,0.00,2.38,0.00,0.000,6,0.000,0.041,3272,1955,2364,0,0,0,0,0,0
$GC,25810,0.50,155.7,254.7,7.5,812,25811,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1955,2365,0,0,0,0,0,0
$GC,26119,0.50,155.7,231.7,7.4,827,26123,0.00,2.42,0.00,0.000,4,0.000,0.050,3272,3524,2367,0,0,0,0,0,0
$GC,26164,0.50,155.7,228.1,7.9,829,26169,0.10,2.38,0.00,0.000,6,0.135,0.036,3249,1936,2367,0,0,0,0,0,0
$GC,26490,0.51,161.6,209.6,5.8,845,26504,0.00,2.53,8.73,0.828,4,0.000,0.052,3260,351,2336,0,0,0,0,0,0
$GC,26600,0.51,161.6,202.5,7.1,850,26604,0.00,2.35,0.00,0.000,6,0.000,0.040,3259,1936,2336,0,0,0,0,0,0
$GC,26924,0.54,181.6,182.8,5.5,878,26949,0.00,2.45,18.75,0.913,4,0.000,0.053,3260,3523,2254,0,0,0,0,0,0
$GC,26997,0.54,181.6,178.2,7.5,884,27002,0.00,2.40,0.00,0.000,6,0.000,0.035,3271,1929,2253,0,0,0,0,0,0
$GC,27257,0.55,191.5,162.8,5.7,909,27272,0.00,2.40,10.02,0.828,4,0.000,0.049,3283,356,2214,0,0,0,0,0,0
$GC,27306,0.55,191.5,159.4,6.6,913,27310,0.00,2.33,0.00,0.000,6,0.000,0.041,3283,1932,2214,0,0,0,0,0,0
$GC,27566,0.55,191.5,140.0,8.4,937,27570,0.00,2.45,0.00,0.000,4,0.000,0.048,3282,3538,2216,0,0,0,0,0,0
$GC,27588,0.55,191.5,137.9,10.3,938,27593,0.00,2.42,0.00,0.000,6,0.000,0.038,3294,1931,2217,0,0,0,0,0,0
$GC,27850,0.55,191.5,116.7,7.4,963,27851,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1931,2218,0,0,0,0,0,0
$GC,28104,0.55,191.5,98.9,6.8,987,28108,0.00,2.40,0.00,0.000,4,0.000,0.050,3305,356,2220,0,0,0,0,0,0
$GC,28154,0.55,191.5,95.2,8.2,991,28159,0.12,2.38,0.00,0.000,6,0.108,0.042,3258,1968,2220,0,0,0,0,0,0
$GC,28416,0.60,235.2,81.2,4.8,1015,28456,0.00,0.00,37.72,0.880,6,0.000,0.000,3258,1968,2036,0,0,0,0,0,0
$GC,28712,0.60,235.2,61.6,6.8,1043,28716,0.00,2.38,0.00,0.000,4,0.000,0.048,3257,3521,2037,0,0,0,0,0,0
$GC,28859,0.60,235.2,50.3,7.6,1055,28863,0.00,2.38,0.00,0.000,6,0.000,0.035,3258,1929,2037,0,0,0,0,0,0
$GC,29120,0.60,235.2,32.2,6.3,1080,29124,0.00,2.45,0.00,0.000,4,0.000,0.047,3257,3519,2039,0,0,0,0,0,0
$GC,29216,0.60,235.2,24.9,7.7,1088,29220,0.00,2.33,0.00,0.000,6,0.000,0.036,3258,1944,2038,0,0,0,0,0,0
$GC,29413,0.60,235.2,9.3,6.7,1106,29417,0.00,2.42,0.00,0.000,4,0.000,0.051,3257,356,2040,0,0,0,0,0,0
$GC,29473,0.60,235.2,5.2,6.3,1111,29478,0.00,2.33,0.00,0.000,6,0.000,0.044,3257,1938,2039,0,0,0,0,0,0
$STATE,29508,end climb,SURFACE_DEPTH_REACHED
$STATE,29508,begin surface coast
$FINISH,0.2,NaN
$STATE,29554,end surface coast,CONTROL_FINISHED_OK
$STATE,29554,begin surface
$SM_CCo,29572,195.50,0.870,0,0,474,618.15
$SM_GC,0.99,0.00,0.00,195.50,0.000,0.000,0.870,105,2115,474,-9.33,0.68,618.15
$IRIDIUM_FIX,2145.77,12839.95,050912,060644
$TT8_MAMPS,0.029913
$HUMID,1078679345
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.70
$XPDR_PINGS,993
$24V_AH,21.7,81.431
$10V_AH,8.0,63.228
$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,21.200,334.400,366.250,195.500,0.000,86.531,111.890,676.862,248.250,0.000,13.409,1748.399,23764.000,801.821,3910.833,684.092,33.385,2480.785,0.000,2982.454,0.000,0.544,0.000
$DEVICE_MAMPS,215.527,141.128,1620.671,869.778,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355456
$DATA_FILE_SIZE,36671,1118
$CAP_FILE_SIZE,344066,0
$CFSIZE,260165632,180719616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130311,210237,2152.523,12840.595,36,0.9,36,-3.1