version: 66.07
glider: 500
mission: 5
dive: 459
start: 3 16 111 0 20 50
data:
$ID,500
$MISSION,5
$DIVE,459
$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,-130769.52
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,160311,001237,2151.066,12836.655,26,1.1,26,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.2
$GPS2,160311,001956,2151.058,12836.644,34,1.2,34,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.133,-0.177
$KALMAN_X,-557918.9,-264.8,-539.8,1111234.5,5117.6
$KALMAN_Y,502027.4,147.6,-34.1,-425486.9,5978.3
$MHEAD_RNG_PITCHd_Wd,220.0,274244,-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,15268,-0.50,-155.7,816.2,-2.4,551,15273,0.00,2.40,0.00,0.000,4,0.000,0.047,2927,505,3594,0,0,0,0,0,0
$GC,15408,-0.50,-155.7,819.4,-2.2,554,15412,0.00,2.38,0.00,0.000,6,0.000,0.044,2918,2086,3594,0,0,0,0,0,0
$GC,15728,-0.50,-155.7,828.7,-3.2,562,15732,0.00,2.38,0.00,0.000,4,0.000,0.047,2918,505,3593,0,0,0,0,0,0
$GC,15847,-0.50,-155.7,833.2,-3.4,564,15851,0.00,2.40,0.00,0.000,6,0.000,0.045,2907,2098,3593,0,0,0,0,0,0
$GC,16185,-0.50,-155.7,846.6,-4.0,573,16189,0.00,2.42,0.00,0.000,4,0.000,0.047,2907,499,3591,0,0,0,0,0,0
$GC,16268,-0.50,-155.7,850.1,-3.7,574,16273,0.00,2.40,0.00,0.000,6,0.000,0.044,2897,2100,3592,0,0,0,0,0,0
$GC,16600,-0.50,-155.7,862.0,-3.5,583,16604,0.00,2.45,0.00,0.000,4,0.000,0.046,2897,505,3590,0,0,0,0,0,0
$GC,16701,-0.50,-155.7,865.6,-4.0,585,16706,0.12,2.40,0.00,0.000,6,0.120,0.045,2930,2086,3590,0,0,0,0,0,0
$GC,17051,-0.50,-155.7,878.2,-3.9,594,17055,0.00,2.45,0.00,0.000,4,0.000,0.048,2931,498,3589,0,0,0,0,0,0
$GC,17218,-0.50,-155.7,885.6,-4.0,597,17223,0.00,2.40,0.00,0.000,6,0.000,0.044,2926,2095,3589,0,0,0,0,0,0
$GC,17550,-0.50,-155.7,898.8,-4.0,606,17555,0.00,2.42,0.00,0.000,4,0.000,0.048,2926,499,3589,0,0,0,0,0,0
$GC,17718,-0.50,-155.7,905.5,-3.3,609,17723,0.00,2.38,0.00,0.000,6,0.000,0.044,2918,2092,3588,0,0,0,0,0,0
$GC,18050,-0.50,-155.7,918.2,-4.0,618,18054,0.00,2.40,0.00,0.000,4,0.000,0.048,2917,506,3589,0,0,0,0,0,0
$GC,18180,-0.50,-155.7,923.4,-4.1,620,18185,0.00,2.40,0.00,0.000,6,0.000,0.046,2907,2089,3588,0,0,0,0,0,0
$GC,18512,-0.50,-155.7,936.5,-4.0,629,18517,0.00,2.42,0.00,0.000,4,0.000,0.048,2907,499,3588,0,0,0,0,0,0
$GC,18626,-0.50,-155.7,941.2,-3.5,631,18630,0.00,2.42,0.00,0.000,6,0.000,0.044,2898,2089,3587,0,0,0,0,0,0
$GC,18964,-0.50,-155.7,954.2,-3.9,640,18969,0.00,2.42,0.00,0.000,4,0.000,0.048,2897,498,3587,0,0,0,0,0,0
$GC,19042,-0.50,-155.7,957.4,-4.0,641,19048,0.12,2.40,0.00,0.000,6,0.120,0.044,2932,2090,3587,0,0,0,0,0,0
$GC,19376,-0.50,-155.7,969.5,-3.8,650,19380,0.00,2.42,0.00,0.000,4,0.000,0.049,2932,501,3586,0,0,0,0,0,0
$GC,19601,-0.50,-155.7,979.5,-4.3,655,19605,0.00,2.42,0.00,0.000,6,0.000,0.045,2929,2101,3586,0,0,0,0,0,0
$STATE,19834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19835,begin apogee
$GC,19841,-0.23,0.0,991.1,5.0,661,19981,0.25,0.00,137.75,1.634,6,0.076,0.000,3031,1928,2995,0,0,0,0,0,0
$STATE,19982,end apogee,CONTROL_FINISHED_OK
$STATE,19982,begin climb
$GC,19986,0.50,155.7,994.2,0.0,664,20148,0.57,2.67,153.00,1.631,4,0.049,0.052,3273,374,2360,0,0,0,0,0,0
$GC,20309,0.50,155.7,957.2,13.3,671,20314,0.00,2.40,0.00,0.000,6,0.000,0.045,3274,1934,2360,0,0,0,0,0,0
$GC,20653,0.50,155.7,907.5,14.6,680,20657,0.00,2.47,0.00,0.000,4,0.000,0.055,3274,3532,2359,0,0,0,0,0,0
$GC,20707,0.50,155.7,898.7,14.6,681,20712,0.12,2.40,0.00,0.000,6,0.137,0.042,3246,1950,2358,0,0,0,0,0,0
$GC,21056,0.50,155.7,855.7,12.1,690,21060,0.00,2.40,0.00,0.000,4,0.000,0.053,3257,361,2358,0,0,0,0,0,0
$GC,21140,0.50,155.7,845.3,11.6,692,21145,0.00,2.40,0.00,0.000,6,0.000,0.047,3257,1948,2358,0,0,0,0,0,0
$GC,21465,0.50,155.7,804.9,12.7,700,21466,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1948,2357,0,0,0,0,0,0
$GC,21789,0.50,155.7,765.3,12.2,708,21790,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1948,2356,0,0,0,0,0,0
$GC,22113,0.50,155.7,724.3,12.6,716,22114,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1948,2356,0,0,0,0,0,0
$GC,22439,0.50,155.7,683.2,12.5,724,22443,0.00,2.42,0.00,0.000,4,0.000,0.055,3257,3523,2355,0,0,0,0,0,0
$GC,22483,0.50,155.7,677.3,13.3,725,22487,0.00,2.38,0.00,0.000,6,0.000,0.041,3269,1937,2356,0,0,0,0,0,0
$GC,22807,0.50,155.7,637.3,12.1,733,22811,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,362,2355,0,0,0,0,0,0
$GC,22925,0.50,155.7,623.6,10.6,735,22929,0.00,2.38,0.00,0.000,6,0.000,0.046,3282,1939,2356,0,0,0,0,0,0
$GC,23260,0.50,155.7,583.5,11.9,744,23262,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1940,2355,0,0,0,0,0,0
$GC,23587,0.50,155.7,543.2,12.6,752,23591,0.00,2.45,0.00,0.000,4,0.000,0.054,3282,3524,2355,0,0,0,0,0,0
$GC,23653,0.50,155.7,534.3,12.5,753,23658,0.12,2.40,0.00,0.000,6,0.134,0.040,3254,1930,2356,0,0,0,0,0,0
$GC,23991,0.50,155.7,501.2,9.6,762,23995,0.00,2.38,0.00,0.000,4,0.000,0.052,3265,363,2356,0,0,0,0,0,0
$GC,24085,0.50,155.7,491.2,9.3,764,24089,0.00,2.38,0.00,0.000,6,0.000,0.045,3265,1941,2356,0,0,0,0,0,0
$GC,24404,0.50,155.7,457.5,10.5,772,24409,0.00,2.47,0.00,0.000,4,0.000,0.054,3265,3523,2356,0,0,0,0,0,0
$GC,24465,0.50,155.7,450.5,11.0,773,24469,0.00,2.42,0.00,0.000,6,0.000,0.041,3277,1930,2356,0,0,0,0,0,0
$GC,24813,0.50,155.7,413.5,10.5,782,24817,0.00,2.40,0.00,0.000,4,0.000,0.051,3289,357,2356,0,0,0,0,0,0
$GC,24879,0.50,155.7,406.6,10.5,783,24884,0.05,2.40,0.00,0.000,6,0.073,0.044,3249,1931,2357,0,0,0,0,0,0
$GC,25223,0.50,155.7,379.6,7.4,792,25226,0.00,2.45,0.00,0.000,4,0.000,0.053,3249,3526,2357,0,0,0,0,0,0
$GC,25250,0.50,155.7,377.2,7.6,792,25254,0.00,2.42,0.00,0.000,6,0.000,0.041,3260,1933,2357,0,0,0,0,0,0
$GC,25591,0.50,155.7,348.9,8.3,801,25596,0.00,2.45,0.00,0.000,4,0.000,0.053,3259,3530,2358,0,0,0,0,0,0
$GC,25665,0.50,155.7,341.7,9.6,802,25669,0.00,2.42,0.00,0.000,6,0.000,0.041,3272,1930,2359,0,0,0,0,0,0
$GC,25995,0.50,155.7,312.1,8.9,810,25999,0.00,2.40,0.00,0.000,4,0.000,0.050,3284,356,2360,0,0,0,0,0,0
$GC,26127,0.50,155.7,300.2,8.8,813,26132,0.10,2.40,0.00,0.000,6,0.127,0.048,3249,1952,2360,0,0,0,0,0,0
$GC,26456,0.50,155.7,278.0,6.8,828,26460,0.00,2.42,0.00,0.000,4,0.000,0.048,3259,355,2362,0,0,0,0,0,0
$GC,26479,0.50,155.7,276.4,7.7,829,26483,0.00,2.40,0.00,0.000,6,0.000,0.042,3259,1949,2362,0,0,0,0,0,0
$GC,26799,0.50,155.7,254.2,6.2,845,26803,0.00,2.42,0.00,0.000,4,0.000,0.053,3259,3527,2364,0,0,0,0,0,0
$GC,26866,0.50,155.7,249.2,7.9,848,26870,0.00,2.40,0.00,0.000,6,0.000,0.038,3271,1946,2364,0,0,0,0,0,0
$GC,27187,0.50,155.7,226.0,7.2,864,27191,0.00,2.42,0.00,0.000,4,0.000,0.050,3283,349,2366,0,0,0,0,0,0
$GC,27292,0.50,155.7,218.0,6.1,868,27298,0.05,2.40,0.00,0.000,6,0.061,0.041,3242,1953,2366,0,0,0,0,0,0
$GC,27608,0.55,191.9,200.9,5.0,884,27648,0.00,2.50,32.90,0.973,4,0.000,0.059,3242,3522,2212,0,0,0,0,0,0
$GC,27682,0.60,236.8,197.1,4.8,890,27726,0.00,2.42,38.62,0.992,6,0.000,0.036,3252,1926,2029,0,0,0,0,0,0
$GC,27988,0.60,236.8,177.9,7.1,919,27992,0.00,2.38,0.00,0.000,4,0.000,0.048,3254,353,2031,0,0,0,0,0,0
$GC,28044,0.60,236.8,174.0,6.6,924,28048,0.00,2.35,0.00,0.000,6,0.000,0.043,3254,1946,2032,0,0,0,0,0,0
$GC,28304,0.60,236.8,156.5,6.0,948,28308,0.00,2.45,0.00,0.000,4,0.000,0.053,3254,3532,2034,0,0,0,0,0,0
$GC,28348,0.62,247.7,153.7,5.7,951,28367,0.10,2.40,11.57,0.856,6,0.097,0.039,3320,1930,1985,0,0,0,0,0,0
$GC,28627,0.62,247.7,131.3,8.3,978,28632,0.10,2.50,0.00,0.000,4,0.120,0.056,3272,3524,1987,0,0,0,0,0,0
$GC,28716,0.62,247.7,124.1,8.1,985,28721,0.00,2.38,0.00,0.000,6,0.000,0.036,3281,1934,1988,0,0,0,0,0,0
$GC,28977,0.62,247.7,105.2,6.9,1010,28981,0.00,2.45,0.00,0.000,4,0.000,0.051,3281,3525,1989,0,0,0,0,0,0
$GC,29076,0.62,247.7,98.4,6.7,1018,29081,0.00,2.38,0.00,0.000,6,0.000,0.038,3291,1939,1991,0,0,0,0,0,0
$GC,29338,0.62,247.7,76.5,10.4,1043,29342,0.00,2.40,0.00,0.000,4,0.000,0.051,3303,354,1992,0,0,0,0,0,0
$GC,29410,0.62,247.7,69.5,11.2,1049,29414,0.00,2.38,0.00,0.000,6,0.000,0.048,3303,1948,1993,0,0,0,0,0,0
$GC,29670,0.90,475.1,51.4,0.0,1073,29863,0.20,2.60,181.98,0.895,4,0.058,0.058,3435,360,1057,0,0,0,0,0,0
$GC,29923,0.90,475.1,11.8,16.8,1097,29928,0.17,2.40,0.00,0.000,6,0.117,0.048,3379,1943,1061,0,0,0,0,0,0
$STATE,29990,end climb,SURFACE_DEPTH_REACHED
$STATE,29990,begin surface coast
$FINISH,1.2,NaN
$STATE,30002,end surface coast,CONTROL_FINISHED_OK
$STATE,30003,begin surface
$SM_CCo,30020,87.35,0.845,0,0,475,618.15
$SM_GC,0.93,0.00,0.00,87.35,0.000,0.000,0.845,106,2123,475,-9.33,0.93,618.15
$IRIDIUM_FIX,2141.13,12838.50,070912,101001
$TT8_MAMPS,0.03068
$HUMID,1078741281
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,24.70
$XPDR_PINGS,761
$24V_AH,21.6,83.136
$10V_AH,8.0,63.901
$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,21.725,323.425,555.825,87.350,0.000,26.163,34.605,209.151,190.250,0.000,36.387,1699.970,24047.289,821.023,3359.383,600.323,33.385,2527.836,0.000,2972.649,0.000,0.541,0.000
$DEVICE_MAMPS,213.226,65.195,1633.710,845.234,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355536
$DATA_FILE_SIZE,36681,1104
$CAP_FILE_SIZE,328031,0
$CFSIZE,260165632,179994624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160311,084406,2150.462,12836.141,46,0.9,46,-3.0