version: 66.07
glider: 500
mission: 5
dive: 454
start: 3 14 111 5 39 32
data:
$ID,500
$MISSION,5
$DIVE,454
$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,-130669.34
$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,42
$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
$GPS1,140311,053200,2151.870,12840.893,39,1.2,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-76.5
$GPS2,140311,053838,2151.926,12840.903,11,1.6,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.163,-0.149
$KALMAN_X,-573314.6,-92.8,17.8,1133248.5,4763.9
$KALMAN_Y,475027.3,-90.6,363.5,-397031.0,4803.0
$MHEAD_RNG_PITCHd_Wd,230.6,281762,-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,15524,-0.50,-155.7,859.3,-4.7,552,15528,0.00,2.38,0.00,0.000,6,0.000,0.044,2910,2096,3601,0,0,0,0,0,0
$GC,15866,-0.50,-155.7,874.5,-4.4,561,15870,0.00,2.40,0.00,0.000,4,0.000,0.046,2909,518,3600,0,0,0,0,0,0
$GC,15929,-0.50,-155.7,877.3,-3.7,562,15933,0.00,2.35,0.00,0.000,6,0.000,0.042,2900,2093,3600,0,0,0,0,0,0
$GC,16278,-0.50,-155.7,891.5,-4.0,571,16282,0.00,2.38,0.00,0.000,4,0.000,0.047,2900,517,3599,0,0,0,0,0,0
$GC,16347,-0.50,-155.7,894.4,-4.0,572,16352,0.12,2.35,0.00,0.000,6,0.120,0.042,2934,2085,3599,0,0,0,0,0,0
$GC,16686,-0.50,-155.7,906.8,-3.7,581,16690,0.00,2.35,0.00,0.000,4,0.000,0.047,2934,518,3598,0,0,0,0,0,0
$GC,16893,-0.50,-155.7,915.7,-4.5,585,16897,0.00,2.35,0.00,0.000,6,0.000,0.042,2934,2101,3598,0,0,0,0,0,0
$GC,17231,-0.50,-155.7,930.3,-4.7,594,17235,0.00,2.40,0.00,0.000,4,0.000,0.046,2934,517,3597,0,0,0,0,0,0
$GC,17472,-0.50,-155.7,942.6,-5.1,599,17477,0.00,2.35,0.00,0.000,6,0.000,0.042,2934,2085,3596,0,0,0,0,0,0
$GC,17817,-0.50,-155.7,959.2,-4.8,608,17821,0.00,2.38,0.00,0.000,4,0.000,0.047,2934,508,3596,0,0,0,0,0,0
$GC,18059,-0.50,-155.7,969.4,-4.6,613,18063,0.00,2.38,0.00,0.000,6,0.000,0.044,2934,2095,3595,0,0,0,0,0,0
$GC,18407,-0.50,-155.7,980.9,-3.2,622,18412,0.00,2.42,0.00,0.000,4,0.000,0.054,2928,3669,3595,0,0,0,0,0,0
$GC,18429,-0.50,-155.7,981.6,-2.6,622,18433,0.00,2.35,0.00,0.000,6,0.000,0.039,2928,2086,3595,0,0,0,0,0,0
$STATE,18766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18766,begin apogee
$GC,18772,-0.23,0.0,991.2,2.9,631,18914,0.25,0.00,139.45,1.610,6,0.074,0.000,3030,1926,2995,0,0,0,0,0,0
$STATE,18915,end apogee,CONTROL_FINISHED_OK
$STATE,18915,begin climb
$GC,18917,0.50,155.7,991.5,0.0,634,19080,0.60,2.83,151.40,1.594,4,0.057,0.054,3257,3524,2359,0,0,0,0,0,0
$GC,19243,0.50,155.7,948.3,15.6,641,19248,0.00,2.42,0.00,0.000,6,0.000,0.041,3266,1949,2359,0,0,0,0,0,0
$GC,19579,0.50,155.7,897.5,15.3,650,19583,0.00,2.42,0.00,0.000,4,0.000,0.053,3279,349,2359,0,0,0,0,0,0
$GC,19618,0.50,155.7,891.4,15.2,651,19622,0.00,2.40,0.00,0.000,6,0.000,0.047,3279,1935,2359,0,0,0,0,0,0
$GC,19942,0.50,155.7,838.8,15.9,659,19947,0.00,2.45,0.00,0.000,4,0.000,0.054,3279,3536,2357,0,0,0,0,0,0
$GC,19969,0.50,155.7,834.0,17.3,659,19974,0.12,2.42,0.00,0.000,6,0.141,0.043,3250,1930,2358,0,0,0,0,0,0
$GC,20303,0.50,155.7,793.3,11.8,667,20307,0.00,2.38,0.00,0.000,4,0.000,0.053,3261,363,2357,0,0,0,0,0,0
$GC,20403,0.50,155.7,781.1,11.9,669,20407,0.00,2.38,0.00,0.000,6,0.000,0.043,3261,1955,2357,0,0,0,0,0,0
$GC,20752,0.50,155.7,739.8,11.9,678,20756,0.00,2.40,0.00,0.000,4,0.000,0.054,3261,3524,2356,0,0,0,0,0,0
$GC,20796,0.50,155.7,733.6,13.6,679,20800,0.00,2.40,0.00,0.000,6,0.000,0.041,3273,1929,2356,0,0,0,0,0,0
$GC,21121,0.50,155.7,692.7,12.6,687,21125,0.00,2.42,0.00,0.000,4,0.000,0.051,3285,355,2356,0,0,0,0,0,0
$GC,21148,0.50,155.7,688.9,11.9,687,21153,0.12,2.38,0.00,0.000,6,0.129,0.044,3244,1933,2356,0,0,0,0,0,0
$GC,21481,0.50,155.7,655.1,9.9,695,21485,0.00,2.45,0.00,0.000,4,0.000,0.054,3244,3525,2355,0,0,0,0,0,0
$GC,21531,0.50,155.7,649.5,10.5,696,21536,0.00,2.40,0.00,0.000,6,0.000,0.041,3255,1941,2356,0,0,0,0,0,0
$GC,21851,0.50,155.7,616.7,10.3,704,21855,0.00,2.45,0.00,0.000,4,0.000,0.054,3267,352,2355,0,0,0,0,0,0
$GC,21891,0.50,155.7,612.1,12.1,705,21895,0.00,2.40,0.00,0.000,6,0.000,0.044,3267,1939,2355,0,0,0,0,0,0
$GC,22215,0.50,155.7,572.5,12.5,713,22219,0.00,2.45,0.00,0.000,4,0.000,0.054,3267,3525,2355,0,0,0,0,0,0
$GC,22265,0.50,155.7,565.7,12.4,714,22269,0.00,2.42,0.00,0.000,6,0.000,0.041,3279,1927,2355,0,0,0,0,0,0
$GC,22578,0.50,155.7,526.4,12.4,722,22582,0.00,2.38,0.00,0.000,4,0.000,0.052,3292,363,2355,0,0,0,0,0,0
$GC,22617,0.50,155.7,521.4,12.3,723,22622,0.12,2.38,0.00,0.000,6,0.130,0.044,3250,1941,2355,0,0,0,0,0,0
$GC,22942,0.50,155.7,491.1,9.2,731,22946,0.00,2.45,0.00,0.000,4,0.000,0.053,3250,3527,2355,0,0,0,0,0,0
$GC,22985,0.50,155.7,486.5,10.9,732,22989,0.00,2.42,0.00,0.000,6,0.000,0.041,3261,1931,2355,0,0,0,0,0,0
$GC,23310,0.50,155.7,454.4,9.9,740,23314,0.00,2.40,0.00,0.000,4,0.000,0.052,3273,356,2356,0,0,0,0,0,0
$GC,23399,0.50,155.7,445.2,9.8,742,23403,0.00,2.40,0.00,0.000,6,0.000,0.043,3273,1958,2356,0,0,0,0,0,0
$GC,23726,0.50,155.7,413.0,9.9,750,23730,0.00,2.42,0.00,0.000,4,0.000,0.051,3273,3528,2357,0,0,0,0,0,0
$GC,23758,0.50,155.7,409.3,9.3,750,23763,0.12,2.40,0.00,0.000,6,0.131,0.040,3244,1937,2357,0,0,0,0,0,0
$GC,24091,0.50,155.7,384.0,7.0,759,24096,0.00,2.42,0.00,0.000,4,0.000,0.051,3255,361,2358,0,0,0,0,0,0
$GC,24158,0.50,155.7,378.7,6.7,760,24162,0.00,2.35,0.00,0.000,6,0.000,0.041,3255,1939,2357,0,0,0,0,0,0
$GC,24501,0.50,155.7,350.5,8.5,769,24502,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1940,2359,0,0,0,0,0,0
$GC,24825,0.50,155.7,324.7,7.3,777,24829,0.00,2.42,0.00,0.000,4,0.000,0.048,3267,360,2360,0,0,0,0,0,0
$GC,24862,0.50,155.7,321.9,6.1,777,24867,0.00,2.35,0.00,0.000,6,0.000,0.041,3267,1942,2360,0,0,0,0,0,0
$GC,25174,0.50,155.7,295.7,9.2,786,25175,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1943,2361,0,0,0,0,0,0
$GC,25482,0.50,155.7,270.6,7.7,801,25486,0.00,2.42,0.00,0.000,4,0.000,0.048,3267,3532,2363,0,0,0,0,0,0
$GC,25550,0.50,155.7,265.1,9.1,804,25554,0.00,2.38,0.00,0.000,6,0.000,0.037,3279,1941,2364,0,0,0,0,0,0
$GC,25875,0.50,155.7,240.0,7.4,820,25876,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1941,2365,0,0,0,0,0,0
$GC,26184,0.50,155.7,219.1,6.7,835,26188,0.00,2.40,0.00,0.000,4,0.000,0.048,3291,360,2367,0,0,0,0,0,0
$GC,26239,0.50,155.7,215.1,7.2,837,26245,0.12,2.35,0.00,0.000,6,0.116,0.038,3246,1959,2367,0,0,0,0,0,0
$GC,26555,0.50,155.7,197.6,6.1,854,26565,0.00,2.42,3.80,0.566,4,0.000,0.048,3246,3516,2360,0,0,0,0,0,0
$GC,26594,0.50,155.7,194.9,7.4,857,26598,0.00,2.38,0.00,0.000,6,0.000,0.036,3254,1935,2360,0,0,0,0,0,0
$GC,26856,0.50,155.7,178.7,6.4,882,26860,0.00,2.38,0.00,0.000,4,0.000,0.048,3265,361,2362,0,0,0,0,0,0
$GC,26947,0.51,163.4,172.8,5.8,889,26962,0.00,2.33,8.82,0.797,6,0.000,0.042,3265,1922,2328,0,0,0,0,0,0
$GC,27220,0.51,163.4,154.9,6.9,915,27224,0.00,2.42,0.00,0.000,4,0.000,0.047,3266,3534,2329,0,0,0,0,0,0
$GC,27263,0.51,163.4,151.3,8.2,918,27268,0.00,2.40,0.00,0.000,6,0.000,0.036,3277,1929,2329,0,0,0,0,0,0
$GC,27524,0.51,163.4,132.4,6.5,943,27525,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1929,2330,0,0,0,0,0,0
$GC,27779,0.51,163.4,116.0,6.6,967,27783,0.00,2.38,0.00,0.000,4,0.000,0.046,3289,350,2331,0,0,0,0,0,0
$GC,27834,0.51,163.4,112.3,6.5,971,27840,0.12,2.38,0.00,0.000,6,0.109,0.038,3240,1966,2332,0,0,0,0,0,0
$GC,28096,0.53,173.3,97.9,5.7,996,28112,0.00,2.38,10.88,0.754,4,0.000,0.051,3240,3528,2287,0,0,0,0,0,0
$GC,28218,0.54,186.6,90.3,5.6,1006,28237,0.00,2.35,12.25,0.788,6,0.000,0.035,3244,1927,2234,0,0,0,0,0,0
$GC,28499,0.54,186.6,72.6,6.4,1033,28503,0.00,2.40,0.00,0.000,4,0.000,0.047,3244,3524,2235,0,0,0,0,0,0
$GC,28602,0.55,192.8,66.2,5.8,1042,28616,0.00,2.33,7.25,0.694,6,0.000,0.035,3245,1933,2209,0,0,0,0,0,0
$GC,28879,0.55,192.8,47.7,6.9,1068,28883,0.00,2.38,0.00,0.000,4,0.000,0.048,3245,3521,2210,0,0,0,0,0,0
$GC,29019,0.56,197.9,38.1,5.9,1080,29030,0.00,2.33,6.32,0.648,6,0.000,0.035,3245,1932,2188,0,0,0,0,0,0
$GC,29285,0.56,197.9,20.3,6.2,1105,29290,0.00,2.40,0.00,0.000,4,0.000,0.048,3245,3522,2188,0,0,0,0,0,0
$GC,29483,0.56,197.9,6.7,6.8,1122,29487,0.00,2.30,0.00,0.000,6,0.000,0.035,3244,1941,2189,0,0,0,0,0,0
$STATE,29549,end climb,SURFACE_DEPTH_REACHED
$STATE,29549,begin surface coast
$FINISH,0.4,NaN
$STATE,29603,end surface coast,CONTROL_FINISHED_OK
$STATE,29603,begin surface
$SM_CCo,29622,213.05,0.865,0,0,475,618.15
$SM_GC,1.03,0.00,0.00,213.05,0.000,0.000,0.865,106,2103,475,-9.33,0.37,618.15
$IRIDIUM_FIX,2145.77,13103.06,050912,151554
$TT8_MAMPS,0.03068
$HUMID,1078681926
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.80
$XPDR_PINGS,895
$24V_AH,21.7,81.911
$10V_AH,8.0,63.420
$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,20.925,318.100,340.175,213.050,0.000,27.792,34.594,186.469,223.750,0.000,13.283,1746.884,23686.527,795.377,3376.623,607.714,33.380,2480.546,0.000,3031.374,0.000,0.543,0.000
$DEVICE_MAMPS,214.760,69.030,1609.933,865.176,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355468
$DATA_FILE_SIZE,36656,1133
$CAP_FILE_SIZE,329679,0
$CFSIZE,260165632,180527104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140311,135806,2151.779,12839.357,37,1.1,37,-3.1