version: 66.07
glider: 500
mission: 5
dive: 457
start: 3 15 111 7 16 8
data:
$ID,500
$MISSION,5
$DIVE,457
$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,-130719.29
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,150311,070824,2151.273,12838.119,34,1.4,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-76.2
$GPS2,150311,071514,2151.276,12838.125,15,1.4,15,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.104,-0.195
$KALMAN_X,-563806.0,-30.0,260.7,1118649.5,3744.4
$KALMAN_Y,490464.2,-277.9,-124.2,-412993.3,6501.9
$MHEAD_RNG_PITCHd_Wd,211.1,276828,-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,15171,-0.50,-155.7,825.6,-2.5,548,15176,0.00,2.35,0.00,0.000,6,0.000,0.038,2902,2090,3590,0,0,0,0,0,0
$GC,15485,-0.50,-155.7,837.2,-3.8,556,15489,0.00,2.47,0.00,0.000,4,0.000,0.054,2890,3681,3589,0,0,0,0,0,0
$GC,15565,-0.50,-155.7,840.4,-4.1,557,15570,0.12,2.38,0.00,0.000,6,0.110,0.035,2937,2086,3589,0,0,0,0,0,0
$GC,15897,-0.50,-155.7,852.6,-3.8,566,15900,0.00,2.45,0.00,0.000,4,0.000,0.053,2926,3679,3588,0,0,0,0,0,0
$GC,16070,-0.50,-155.7,859.7,-4.1,569,16074,0.00,2.38,0.00,0.000,6,0.000,0.036,2926,2080,3588,0,0,0,0,0,0
$GC,16400,-0.50,-155.7,873.9,-4.4,578,16404,0.00,2.47,0.00,0.000,4,0.000,0.053,2915,3682,3588,0,0,0,0,0,0
$GC,16546,-0.50,-155.7,880.3,-4.2,581,16550,0.00,2.35,0.00,0.000,6,0.000,0.035,2915,2089,3588,0,0,0,0,0,0
$GC,16895,-0.50,-155.7,895.0,-4.1,590,16899,0.00,2.45,0.00,0.000,4,0.000,0.052,2904,3678,3587,0,0,0,0,0,0
$GC,16962,-0.50,-155.7,897.6,-3.4,591,16966,0.00,2.38,0.00,0.000,6,0.000,0.036,2904,2087,3587,0,0,0,0,0,0
$GC,17299,-0.50,-155.7,910.5,-3.7,600,17303,0.00,2.42,0.00,0.000,4,0.000,0.054,2893,3670,3586,0,0,0,0,0,0
$GC,17378,-0.50,-155.7,913.6,-3.8,601,17384,0.10,2.35,0.00,0.000,6,0.121,0.038,2932,2086,3585,0,0,0,0,0,0
$GC,17710,-0.50,-155.7,926.4,-4.1,610,17714,0.00,2.42,0.00,0.000,4,0.000,0.052,2921,3671,3585,0,0,0,0,0,0
$GC,17911,-0.50,-155.7,935.0,-4.5,614,17916,0.00,2.40,0.00,0.000,6,0.000,0.038,2921,2078,3584,0,0,0,0,0,0
$GC,18251,-0.50,-155.7,947.5,-3.6,623,18255,0.00,2.47,0.00,0.000,4,0.000,0.054,2909,3679,3583,0,0,0,0,0,0
$GC,18381,-0.50,-155.7,951.3,-3.3,626,18385,0.00,2.38,0.00,0.000,6,0.000,0.037,2909,2089,3583,0,0,0,0,0,0
$GC,18707,-0.50,-155.7,959.8,-2.6,634,18711,0.00,2.45,0.00,0.000,4,0.000,0.052,2898,3671,3583,0,0,0,0,0,0
$GC,18785,-0.50,-155.7,961.7,-2.3,635,18789,0.00,2.38,0.00,0.000,6,0.000,0.038,2898,2086,3583,0,0,0,0,0,0
$GC,19117,-0.50,-155.7,970.7,-2.9,644,19121,0.00,2.45,0.00,0.000,4,0.000,0.052,2886,3671,3582,0,0,0,0,0,0
$GC,19189,-0.50,-155.7,973.0,-2.9,645,19194,0.12,2.40,0.00,0.000,6,0.109,0.038,2933,2081,3581,0,0,0,0,0,0
$GC,19522,-0.50,-155.7,983.4,-3.3,653,19526,0.00,2.47,0.00,0.000,4,0.000,0.054,2922,3671,3582,0,0,0,0,0,0
$STATE,19705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19705,begin apogee
$GC,19713,-0.23,0.0,990.0,2.5,657,19852,0.25,0.00,136.43,1.631,6,0.071,0.000,3028,1929,2995,0,0,0,0,0,0
$STATE,19853,end apogee,CONTROL_FINISHED_OK
$STATE,19853,begin climb
$GC,19857,0.50,155.7,990.4,0.0,660,20014,0.62,0.00,153.00,1.603,6,0.048,0.000,3268,1929,2360,0,0,0,0,0,0
$GC,20315,0.50,155.7,928.2,14.4,672,20319,0.00,2.50,0.00,0.000,4,0.000,0.054,3268,3525,2360,0,0,0,0,0,0
$GC,20369,0.50,155.7,919.6,14.4,673,20374,0.00,2.40,0.00,0.000,6,0.000,0.041,3280,1949,2359,0,0,0,0,0,0
$GC,20683,0.50,155.7,873.9,14.6,681,20688,0.00,2.40,0.00,0.000,4,0.000,0.051,3293,356,2359,0,0,0,0,0,0
$GC,20751,0.50,155.7,863.8,15.5,682,20756,0.12,2.38,0.00,0.000,6,0.133,0.046,3252,1934,2359,0,0,0,0,0,0
$GC,21088,0.50,155.7,821.6,12.4,691,21093,0.00,2.42,0.00,0.000,4,0.000,0.054,3252,3528,2359,0,0,0,0,0,0
$GC,21122,0.50,155.7,817.1,13.4,691,21127,0.00,2.42,0.00,0.000,6,0.000,0.042,3263,1930,2359,0,0,0,0,0,0
$GC,21452,0.50,155.7,773.5,13.2,700,21457,0.00,2.38,0.00,0.000,4,0.000,0.051,3276,360,2359,0,0,0,0,0,0
$GC,21531,0.50,155.7,762.9,13.5,701,21536,0.00,2.38,0.00,0.000,6,0.000,0.044,3276,1943,2358,0,0,0,0,0,0
$GC,21862,0.50,155.7,717.6,13.7,710,21866,0.00,2.45,0.00,0.000,4,0.000,0.055,3276,3529,2358,0,0,0,0,0,0
$GC,21916,0.50,155.7,709.8,14.4,711,21921,0.12,2.42,0.00,0.000,6,0.135,0.042,3248,1937,2359,0,0,0,0,0,0
$GC,22266,0.50,155.7,670.5,11.3,720,22270,0.00,2.40,0.00,0.000,4,0.000,0.053,3259,358,2358,0,0,0,0,0,0
$GC,22326,0.50,155.7,663.3,12.4,721,22330,0.00,2.40,0.00,0.000,6,0.000,0.044,3259,1938,2359,0,0,0,0,0,0
$GC,22676,0.50,155.7,625.6,10.2,730,22680,0.00,2.45,0.00,0.000,4,0.000,0.054,3259,3532,2358,0,0,0,0,0,0
$GC,22737,0.50,155.7,618.6,11.6,731,22741,0.00,2.42,0.00,0.000,6,0.000,0.042,3271,1944,2359,0,0,0,0,0,0
$GC,23051,0.50,155.7,582.7,11.7,739,23056,0.00,2.45,0.00,0.000,4,0.000,0.053,3284,354,2359,0,0,0,0,0,0
$GC,23112,0.50,155.7,575.3,12.8,740,23117,0.10,2.40,0.00,0.000,6,0.138,0.044,3252,1946,2359,0,0,0,0,0,0
$GC,23456,0.50,155.7,541.9,9.5,749,23457,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1946,2359,0,0,0,0,0,0
$GC,23778,0.50,155.7,509.5,10.4,757,23783,0.00,2.47,0.00,0.000,4,0.000,0.052,3251,3535,2360,0,0,0,0,0,0
$GC,23862,0.50,155.7,500.3,11.4,759,23866,0.00,2.45,0.00,0.000,6,0.000,0.041,3262,1941,2360,0,0,0,0,0,0
$GC,24188,0.50,155.7,470.5,8.7,767,24192,0.00,2.47,0.00,0.000,4,0.000,0.051,3275,350,2361,0,0,0,0,0,0
$GC,24259,0.50,155.7,463.8,9.4,768,24263,0.00,2.40,0.00,0.000,6,0.000,0.042,3275,1952,2361,0,0,0,0,0,0
$GC,24595,0.50,155.7,427.5,11.7,777,24596,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1952,2361,0,0,0,0,0,0
$GC,24920,0.50,155.7,389.1,11.3,785,24924,0.00,2.50,0.00,0.000,4,0.000,0.052,3274,3534,2362,0,0,0,0,0,0
$GC,24988,0.50,155.7,381.0,10.6,786,24993,0.12,2.45,0.00,0.000,6,0.127,0.039,3245,1929,2363,0,0,0,0,0,0
$GC,25331,0.50,155.7,354.7,7.1,795,25335,0.00,2.38,0.00,0.000,4,0.000,0.047,3256,357,2364,0,0,0,0,0,0
$GC,25409,0.51,156.3,348.9,6.0,796,25414,0.00,2.35,0.00,0.000,6,0.000,0.040,3256,1941,2364,0,0,0,0,0,0
$GC,25740,0.51,156.3,326.6,6.7,805,25741,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1941,2366,0,0,0,0,0,0
$GC,26065,0.51,156.3,300.6,8.4,813,26074,0.00,2.47,4.30,0.686,4,0.000,0.049,3256,3536,2357,0,0,0,0,0,0
$GC,26148,0.51,156.3,293.4,9.2,815,26153,0.00,2.42,0.00,0.000,6,0.000,0.038,3268,1932,2358,0,0,0,0,0,0
$GC,26464,0.51,156.3,268.1,8.5,831,26468,0.00,2.40,0.00,0.000,4,0.000,0.048,3280,358,2359,0,0,0,0,0,0
$GC,26547,0.51,156.3,260.3,9.4,835,26552,0.00,2.35,0.00,0.000,6,0.000,0.039,3280,1947,2360,0,0,0,0,0,0
$GC,26873,0.51,156.3,234.3,6.9,851,26877,0.00,2.45,0.00,0.000,4,0.000,0.048,3280,3523,2362,0,0,0,0,0,0
$GC,26905,0.51,156.3,231.8,7.6,852,26910,0.12,2.38,0.00,0.000,6,0.120,0.037,3248,1942,2362,0,0,0,0,0,0
$GC,27220,0.53,172.6,214.5,5.6,867,27243,0.00,2.45,16.42,0.927,4,0.000,0.045,3258,347,2290,0,0,0,0,0,0
$GC,27261,0.53,172.6,212.0,6.1,869,27266,0.00,2.35,0.00,0.000,6,0.000,0.043,3259,1941,2290,0,0,0,0,0,0
$GC,27581,0.53,172.6,189.5,7.3,891,27582,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1941,2291,0,0,0,0,0,0
$GC,27836,0.54,183.5,172.6,5.7,915,27855,0.00,2.45,11.38,0.858,4,0.000,0.047,3259,3533,2244,0,0,0,0,0,0
$GC,27889,0.57,206.5,169.3,5.4,920,27914,0.00,2.42,19.88,0.916,6,0.000,0.037,3270,1927,2153,0,0,0,0,0,0
$GC,28171,0.57,206.5,152.2,7.0,946,28175,0.00,2.40,0.00,0.000,4,0.000,0.051,3282,354,2156,0,0,0,0,0,0
$GC,28231,0.57,206.5,147.5,7.5,951,28236,0.00,2.35,0.00,0.000,6,0.000,0.045,3282,1941,2156,0,0,0,0,0,0
$GC,28493,0.57,206.5,129.7,6.4,976,28497,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,3528,2158,0,0,0,0,0,0
$GC,28531,0.57,206.5,127.1,6.7,979,28535,0.00,2.38,0.00,0.000,6,0.000,0.035,3293,1940,2159,0,0,0,0,0,0
$GC,28791,0.57,206.5,110.8,6.1,1003,28795,0.00,2.40,0.00,0.000,4,0.000,0.047,3305,357,2160,0,0,0,0,0,0
$GC,28847,0.57,206.5,106.7,6.4,1007,28852,0.10,2.33,0.00,0.000,6,0.119,0.041,3265,1955,2161,0,0,0,0,0,0
$GC,29109,0.57,211.2,90.7,5.9,1032,29123,0.00,2.42,7.85,0.751,4,0.000,0.048,3264,3508,2133,0,0,0,0,0,0
$GC,29140,0.57,211.2,88.4,6.1,1035,29144,0.00,2.35,0.00,0.000,6,0.000,0.037,3272,1932,2133,0,0,0,0,0,0
$GC,29402,0.57,211.2,70.6,7.2,1059,29406,0.00,2.40,0.00,0.000,4,0.000,0.047,3284,352,2135,0,0,0,0,0,0
$GC,29468,0.57,211.2,65.5,7.2,1064,29473,0.00,2.30,0.00,0.000,6,0.000,0.038,3284,1933,2135,0,0,0,0,0,0
$GC,29729,0.57,211.2,46.7,7.0,1089,29733,0.00,2.42,0.00,0.000,4,0.000,0.048,3284,3536,2137,0,0,0,0,0,0
$GC,29757,0.57,211.2,44.7,8.1,1091,29761,0.00,2.40,0.00,0.000,6,0.000,0.037,3296,1929,2137,0,0,0,0,0,0
$GC,30018,0.57,211.2,25.5,7.6,1115,30022,0.00,2.33,0.00,0.000,4,0.000,0.044,3307,359,2138,0,0,0,0,0,0
$GC,30079,0.57,211.2,21.1,6.9,1120,30084,0.10,2.33,0.00,0.000,6,0.122,0.038,3268,1940,2138,0,0,0,0,0,0
$GC,30279,0.58,220.0,10.1,5.8,1138,30294,0.00,2.42,9.80,0.713,4,0.000,0.049,3268,3535,2098,0,0,0,0,0,0
$GC,30345,0.58,220.0,5.6,6.2,1143,30350,0.00,2.38,0.00,0.000,6,0.000,0.037,3274,1927,2098,0,0,0,0,0,0
$STATE,30380,end climb,SURFACE_DEPTH_REACHED
$STATE,30380,begin surface coast
$FINISH,0.7,NaN
$STATE,30413,end surface coast,CONTROL_FINISHED_OK
$STATE,30413,begin surface
$SM_CCo,30432,203.65,0.862,0,0,474,618.15
$SM_GC,0.94,0.00,0.00,203.65,0.000,0.000,0.862,105,2129,474,-9.33,1.10,618.15
$IRIDIUM_FIX,2143.45,12839.95,060912,161627
$TT8_MAMPS,0.029913
$HUMID,1078680635
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.90
$XPDR_PINGS,792
$24V_AH,21.6,82.642
$10V_AH,8.0,63.710
$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,21.300,334.950,359.050,203.650,0.000,28.165,42.061,192.433,198.000,0.000,17.298,1755.943,24505.713,832.479,3309.227,622.304,33.380,2487.566,0.000,2952.397,0.000,0.542,0.000
$DEVICE_MAMPS,214.760,61.360,1631.409,862.108,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355448
$DATA_FILE_SIZE,36633,1150
$CAP_FILE_SIZE,335587,0
$CFSIZE,260165632,180199424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150311,154801,2151.170,12837.467,35,1.6,35,-3.1