version: 66.07
glider: 500
mission: 5
dive: 458
start: 3 15 111 15 56 44
data:
$ID,500
$MISSION,5
$DIVE,458
$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,-130732.5
$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,58
$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
$GPS1,150311,154801,2151.170,12837.467,35,1.6,35,-3.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.5
$GPS2,150311,155550,2151.167,12837.483,10,1.7,10,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.123,-0.184
$KALMAN_X,-560860.9,-194.2,-241.6,1115260.1,3707.1
$KALMAN_Y,496075.6,3.8,202.4,-419424.1,5997.2
$MHEAD_RNG_PITCHd_Wd,216.8,275703,-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,15481,-0.50,-155.7,847.9,-4.2,560,15486,0.00,2.40,0.00,0.000,4,0.000,0.046,2910,501,3591,0,0,0,0,0,0
$GC,15568,-0.50,-155.7,851.3,-3.4,562,15573,0.00,2.38,0.00,0.000,6,0.000,0.043,2900,2088,3590,0,0,0,0,0,0
$GC,15894,-0.50,-155.7,863.2,-3.6,570,15898,0.00,2.35,0.00,0.000,4,0.000,0.046,2900,510,3590,0,0,0,0,0,0
$GC,15990,-0.50,-155.7,866.8,-3.3,572,15995,0.12,2.38,0.00,0.000,6,0.118,0.044,2933,2096,3590,0,0,0,0,0,0
$GC,16304,-0.50,-155.7,877.6,-3.7,580,16308,0.00,2.42,0.00,0.000,4,0.000,0.047,2934,512,3589,0,0,0,0,0,0
$GC,16465,-0.50,-155.7,883.6,-3.4,583,16469,0.00,2.38,0.00,0.000,6,0.000,0.044,2928,2099,3589,0,0,0,0,0,0
$GC,16796,-0.50,-155.7,895.3,-3.6,591,16800,0.00,2.38,0.00,0.000,4,0.000,0.046,2928,510,3588,0,0,0,0,0,0
$GC,16921,-0.50,-155.7,899.3,-3.6,593,16926,0.00,2.38,0.00,0.000,6,0.000,0.044,2918,2097,3588,0,0,0,0,0,0
$GC,17252,-0.50,-155.7,909.5,-3.3,601,17256,0.00,2.38,0.00,0.000,4,0.000,0.046,2918,512,3587,0,0,0,0,0,0
$GC,17383,-0.50,-155.7,913.9,-2.8,603,17387,0.00,2.35,0.00,0.000,6,0.000,0.044,2908,2095,3587,0,0,0,0,0,0
$GC,17714,-0.50,-155.7,927.2,-4.2,612,17718,0.00,2.42,0.00,0.000,4,0.000,0.046,2908,500,3586,0,0,0,0,0,0
$GC,17809,-0.50,-155.7,931.3,-4.6,614,17813,0.00,2.38,0.00,0.000,6,0.000,0.043,2898,2088,3586,0,0,0,0,0,0
$GC,18129,-0.50,-155.7,945.6,-4.7,622,18133,0.00,2.35,0.00,0.000,4,0.000,0.047,2898,513,3586,0,0,0,0,0,0
$GC,18224,-0.50,-155.7,950.2,-4.1,624,18229,0.12,2.35,0.00,0.000,6,0.120,0.044,2932,2091,3585,0,0,0,0,0,0
$GC,18538,-0.50,-155.7,964.3,-4.7,632,18542,0.00,2.47,0.00,0.000,4,0.000,0.055,2924,3672,3585,0,0,0,0,0,0
$GC,18560,-0.50,-155.7,965.5,-5.4,632,18565,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2090,3585,0,0,0,0,0,0
$GC,18898,-0.50,-155.7,980.8,-4.4,641,18902,0.00,2.40,0.00,0.000,4,0.000,0.048,2923,513,3584,0,0,0,0,0,0
$GC,19018,-0.50,-155.7,986.1,-4.4,643,19022,0.00,2.42,0.00,0.000,6,0.000,0.048,2915,2096,3584,0,0,0,0,0,0
$STATE,19109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19109,begin apogee
$GC,19115,-0.23,0.0,990.0,4.2,646,19254,0.28,0.00,136.25,1.603,6,0.079,0.000,3023,1928,2995,0,0,0,0,0,0
$STATE,19255,end apogee,CONTROL_FINISHED_OK
$STATE,19255,begin climb
$GC,19259,0.50,155.7,991.6,0.0,649,19420,0.60,2.70,150.35,1.577,4,0.051,0.051,3271,374,2360,0,0,0,0,0,0
$GC,19520,0.50,155.7,961.5,12.5,655,19525,0.00,2.42,0.00,0.000,6,0.000,0.045,3271,1935,2361,0,0,0,0,0,0
$GC,19838,0.50,155.7,919.3,13.3,663,19843,0.00,2.42,0.00,0.000,4,0.000,0.054,3271,3527,2360,0,0,0,0,0,0
$GC,19878,0.50,155.7,913.7,14.6,664,19883,0.00,2.40,0.00,0.000,6,0.000,0.041,3283,1939,2360,0,0,0,0,0,0
$GC,20203,0.50,155.7,866.5,14.6,672,20207,0.00,2.40,0.00,0.000,4,0.000,0.054,3295,359,2360,0,0,0,0,0,0
$GC,20253,0.50,155.7,858.5,16.5,673,20258,0.15,2.40,0.00,0.000,6,0.123,0.045,3246,1949,2360,0,0,0,0,0,0
$GC,20567,0.50,155.7,818.8,12.8,681,20569,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1949,2360,0,0,0,0,0,0
$GC,20892,0.50,155.7,777.6,12.5,689,20896,0.00,2.40,0.00,0.000,4,0.000,0.054,3245,3530,2360,0,0,0,0,0,0
$GC,20927,0.50,155.7,773.1,14.2,689,20931,0.00,2.40,0.00,0.000,6,0.000,0.041,3256,1949,2361,0,0,0,0,0,0
$GC,21257,0.50,155.7,730.6,12.7,698,21261,0.00,2.45,0.00,0.000,4,0.000,0.052,3269,345,2361,0,0,0,0,0,0
$GC,21358,0.50,155.7,717.8,12.9,700,21362,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1948,2361,0,0,0,0,0,0
$GC,21706,0.50,155.7,672.0,13.4,709,21710,0.00,2.42,0.00,0.000,4,0.000,0.055,3269,3524,2361,0,0,0,0,0,0
$GC,21738,0.50,155.7,667.0,14.1,709,21743,0.00,2.40,0.00,0.000,6,0.000,0.041,3282,1930,2361,0,0,0,0,0,0
$GC,22070,0.50,155.7,623.5,12.7,718,22074,0.00,2.40,0.00,0.000,4,0.000,0.053,3294,362,2361,0,0,0,0,0,0
$GC,22136,0.50,155.7,615.0,13.0,719,22141,0.12,2.40,0.00,0.000,6,0.126,0.045,3253,1942,2361,0,0,0,0,0,0
$GC,22474,0.50,155.7,579.9,10.4,728,22478,0.00,2.42,0.00,0.000,4,0.000,0.053,3252,3524,2361,0,0,0,0,0,0
$GC,22568,0.50,155.7,568.9,12.3,730,22572,0.00,2.40,0.00,0.000,6,0.000,0.040,3263,1929,2361,0,0,0,0,0,0
$GC,22887,0.50,155.7,535.8,10.3,738,22889,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1928,2362,0,0,0,0,0,0
$GC,23211,0.50,155.7,501.3,10.7,746,23215,0.00,2.40,0.00,0.000,4,0.000,0.051,3275,360,2362,0,0,0,0,0,0
$GC,23289,0.50,155.7,492.4,12.0,747,23294,0.00,2.40,0.00,0.000,6,0.000,0.046,3275,1946,2362,0,0,0,0,0,0
$GC,23619,0.50,155.7,453.9,11.4,756,23624,0.00,2.47,0.00,0.000,4,0.000,0.054,3276,3525,2364,0,0,0,0,0,0
$GC,23646,0.50,155.7,450.7,10.2,756,23651,0.12,2.42,0.00,0.000,6,0.129,0.041,3246,1943,2364,0,0,0,0,0,0
$GC,23980,0.50,155.7,425.0,7.3,764,23984,0.00,2.42,0.00,0.000,4,0.000,0.051,3257,356,2365,0,0,0,0,0,0
$GC,24007,0.50,155.7,422.8,9.2,764,24011,0.00,2.40,0.00,0.000,6,0.000,0.044,3257,1952,2365,0,0,0,0,0,0
$GC,24338,0.50,155.7,396.1,8.3,772,24342,0.00,2.42,0.00,0.000,4,0.000,0.053,3257,3521,2366,0,0,0,0,0,0
$GC,24470,0.50,155.7,383.5,9.6,775,24474,0.00,2.40,0.00,0.000,6,0.000,0.038,3270,1930,2368,0,0,0,0,0,0
$GC,24796,0.50,155.7,354.0,8.6,783,24805,0.00,2.45,3.80,0.647,4,0.000,0.048,3282,356,2360,0,0,0,0,0,0
$GC,24902,0.50,155.7,344.2,8.9,785,24906,0.00,2.38,0.00,0.000,6,0.000,0.041,3282,1946,2360,0,0,0,0,0,0
$GC,25251,0.50,155.7,311.9,9.1,794,25252,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1946,2362,0,0,0,0,0,0
$GC,25555,0.50,155.7,285.8,8.7,805,25559,0.00,2.40,0.00,0.000,4,0.000,0.050,3282,3524,2364,0,0,0,0,0,0
$GC,25588,0.50,155.7,282.5,8.7,806,25594,0.12,2.40,0.00,0.000,6,0.125,0.038,3252,1939,2364,0,0,0,0,0,0
$GC,25903,0.50,155.7,259.6,7.2,822,25907,0.00,2.42,0.00,0.000,4,0.000,0.050,3263,356,2366,0,0,0,0,0,0
$GC,25959,0.50,155.7,255.6,6.7,824,25963,0.00,2.38,0.00,0.000,6,0.000,0.041,3263,1942,2367,0,0,0,0,0,0
$GC,26273,0.50,155.7,232.8,7.2,840,26274,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1943,2369,0,0,0,0,0,0
$GC,26582,0.50,155.7,208.0,8.5,855,26592,0.00,2.50,4.25,0.621,4,0.000,0.050,3263,3528,2360,0,0,0,0,0,0
$GC,26631,0.50,155.7,203.5,8.2,857,26635,0.00,2.40,0.00,0.000,6,0.000,0.037,3274,1943,2361,0,0,0,0,0,0
$GC,26957,0.52,168.6,180.9,5.7,885,26974,0.00,0.00,13.27,0.877,6,0.000,0.000,3275,1942,2306,0,0,0,0,0,0
$GC,27230,0.52,168.6,163.3,6.2,911,27234,0.00,2.40,0.00,0.000,4,0.000,0.049,3287,350,2308,0,0,0,0,0,0
$GC,27286,0.52,168.6,159.4,6.5,915,27291,0.00,2.35,0.00,0.000,6,0.000,0.040,3287,1944,2308,0,0,0,0,0,0
$GC,27547,0.52,168.6,141.3,6.2,940,27551,0.00,2.42,0.00,0.000,4,0.000,0.049,3287,3525,2311,0,0,0,0,0,0
$GC,27607,0.52,168.6,136.8,8.4,945,27613,0.12,2.38,0.00,0.000,6,0.247,0.036,3255,1933,2311,0,0,0,0,0,0
$GC,27868,0.56,198.8,124.0,5.2,970,27902,0.00,2.50,26.88,0.885,4,0.000,0.055,3265,349,2183,0,0,0,0,0,0
$GC,27941,0.59,226.8,119.9,5.3,977,27971,0.00,2.35,24.00,0.886,6,0.000,0.040,3265,1942,2069,0,0,0,0,0,0
$GC,28227,0.59,226.8,98.5,8.0,1004,28230,0.00,2.42,0.00,0.000,4,0.000,0.048,3268,350,2071,0,0,0,0,0,0
$GC,28329,0.59,226.8,90.7,8.5,1013,28333,0.00,2.35,0.00,0.000,6,0.000,0.040,3268,1944,2071,0,0,0,0,0,0
$GC,28595,0.59,226.8,71.1,7.7,1038,28599,0.00,2.45,0.00,0.000,4,0.000,0.051,3268,3529,2073,0,0,0,0,0,0
$GC,28694,0.59,226.8,63.3,7.0,1046,28699,0.00,2.38,0.00,0.000,6,0.000,0.036,3268,1934,2074,0,0,0,0,0,0
$GC,28956,0.59,226.8,43.1,7.9,1071,28960,0.00,2.47,0.00,0.000,4,0.000,0.051,3268,3526,2075,0,0,0,0,0,0
$GC,29055,0.59,226.8,35.7,6.5,1079,29061,0.00,2.38,0.00,0.000,6,0.000,0.037,3278,1933,2077,0,0,0,0,0,0
$GC,29316,0.59,226.8,12.3,8.2,1104,29320,0.00,2.42,0.00,0.000,4,0.000,0.052,3287,350,2077,0,0,0,0,0,0
$GC,29344,0.59,226.8,10.5,7.7,1106,29349,0.00,2.38,0.00,0.000,6,0.000,0.044,3288,1950,2077,0,0,0,0,0,0
$STATE,29432,end climb,SURFACE_DEPTH_REACHED
$STATE,29432,begin surface coast
$FINISH,0.7,NaN
$STATE,29465,end surface coast,CONTROL_FINISHED_OK
$STATE,29465,begin surface
$SM_CCo,29482,200.85,0.851,0,0,475,618.15
$SM_GC,0.98,0.00,0.00,200.85,0.000,0.000,0.851,105,2106,475,-9.33,0.45,618.15
$IRIDIUM_FIX,2143.45,12839.95,070912,010130
$TT8_MAMPS,0.029913
$HUMID,1078702571
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.80
$XPDR_PINGS,616
$24V_AH,21.7,82.874
$10V_AH,8.0,63.804
$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,20.975,316.450,358.800,200.850,0.000,25.936,37.833,255.974,154.000,0.000,12.588,1703.543,23767.969,798.866,3272.941,589.380,33.382,2411.459,0.000,2862.729,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,75.933,1603.030,851.370,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,36674,1117
$CAP_FILE_SIZE,325230,0
$CFSIZE,260165632,180105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160311,001237,2151.066,12836.655,26,1.1,26,-3.1