version: 66.07
glider: 500
mission: 5
dive: 460
start: 3 16 111 8 52 20
data:
$ID,500
$MISSION,5
$DIVE,460
$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,-130784.66
$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,34
$R_STBD_OVSHOOT,51
$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
$GPS1,160311,084406,2150.462,12836.141,46,0.9,46,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.3
$GPS2,160311,085126,2150.484,12836.138,12,1.4,12,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.012,-0.221
$KALMAN_X,-555328.1,9.6,73.9,1106884.6,3526.2
$KALMAN_Y,507788.2,-433.0,-462.7,-431293.0,7895.8
$MHEAD_RNG_PITCHd_Wd,186.2,273179,-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,14406,-0.50,-155.7,790.5,-3.8,534,14410,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2080,3602,0,0,0,0,0,0
$GC,14745,-0.50,-155.7,803.2,-4.0,543,14749,0.00,2.47,0.00,0.000,4,0.000,0.056,2913,3672,3602,0,0,0,0,0,0
$GC,14824,-0.50,-155.7,806.5,-4.4,544,14828,0.00,2.35,0.00,0.000,6,0.000,0.038,2913,2087,3601,0,0,0,0,0,0
$GC,15155,-0.50,-155.7,820.0,-4.1,553,15160,0.00,2.47,0.00,0.000,4,0.000,0.054,2902,3669,3600,0,0,0,0,0,0
$GC,15216,-0.50,-155.7,822.5,-4.2,554,15221,0.00,2.38,0.00,0.000,6,0.000,0.038,2902,2088,3600,0,0,0,0,0,0
$GC,15566,-0.50,-155.7,835.8,-3.8,563,15570,0.00,2.47,0.00,0.000,4,0.000,0.054,2891,3675,3599,0,0,0,0,0,0
$GC,15577,-0.50,-155.7,836.3,-3.7,563,15582,0.12,2.38,0.00,0.000,6,0.105,0.038,2939,2090,3599,0,0,0,0,0,0
$GC,15927,-0.50,-155.7,847.8,-3.4,572,15931,0.00,2.47,0.00,0.000,4,0.000,0.057,2930,3671,3598,0,0,0,0,0,0
$GC,16146,-0.50,-155.7,856.1,-3.9,577,16150,0.00,2.38,0.00,0.000,6,0.000,0.038,2930,2083,3597,0,0,0,0,0,0
$GC,16472,-0.50,-155.7,867.9,-3.7,585,16477,0.00,2.47,0.00,0.000,4,0.000,0.056,2929,3668,3597,0,0,0,0,0,0
$GC,16731,-0.50,-155.7,878.3,-3.9,590,16736,0.00,2.38,0.00,0.000,6,0.000,0.038,2929,2086,3597,0,0,0,0,0,0
$GC,17062,-0.50,-155.7,892.7,-4.6,599,17066,0.00,2.40,0.00,0.000,4,0.000,0.044,2929,499,3596,0,0,0,0,0,0
$GC,17094,-0.50,-155.7,894.2,-5.1,599,17099,0.00,2.38,0.00,0.000,6,0.000,0.044,2919,2098,3596,0,0,0,0,0,0
$GC,17427,-0.50,-155.7,909.2,-4.6,608,17431,0.00,2.47,0.00,0.000,4,0.000,0.056,2907,3674,3595,0,0,0,0,0,0
$GC,17498,-0.50,-155.7,912.1,-3.9,609,17503,0.00,2.38,0.00,0.000,6,0.000,0.038,2907,2082,3595,0,0,0,0,0,0
$GC,17830,-0.50,-155.7,923.4,-3.1,617,17835,0.00,2.50,0.00,0.000,4,0.000,0.056,2897,3668,3595,0,0,0,0,0,0
$GC,17897,-0.50,-155.7,925.3,-2.6,618,17901,0.00,2.38,0.00,0.000,6,0.000,0.038,2897,2086,3595,0,0,0,0,0,0
$GC,18236,-0.50,-155.7,935.1,-3.2,627,18240,0.00,2.50,0.00,0.000,4,0.000,0.055,2886,3679,3594,0,0,0,0,0,0
$GC,18302,-0.50,-155.7,937.3,-3.2,628,18307,0.12,2.38,0.00,0.000,6,0.109,0.037,2933,2086,3594,0,0,0,0,0,0
$GC,18641,-0.50,-155.7,947.9,-3.4,637,18645,0.00,2.47,0.00,0.000,4,0.000,0.055,2924,3678,3594,0,0,0,0,0,0
$GC,18883,-0.50,-155.7,957.6,-4.4,642,18887,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2082,3593,0,0,0,0,0,0
$GC,19231,-0.50,-155.7,971.9,-4.2,651,19235,0.00,2.47,0.00,0.000,4,0.000,0.056,2921,3671,3592,0,0,0,0,0,0
$GC,19409,-0.50,-155.7,979.7,-3.9,655,19414,0.00,2.38,0.00,0.000,6,0.000,0.038,2921,2088,3592,0,0,0,0,0,0
$STATE,19644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19644,begin apogee
$GC,19650,-0.23,0.0,990.1,4.4,661,19792,0.28,0.00,139.20,1.641,6,0.076,0.000,3030,1926,2995,0,0,0,0,0,0
$STATE,19793,end apogee,CONTROL_FINISHED_OK
$STATE,19793,begin climb
$GC,19797,0.50,155.7,991.9,0.0,664,19958,0.60,2.65,152.50,1.628,4,0.051,0.050,3278,376,2360,0,0,0,0,0,0
$GC,20143,0.50,155.7,950.4,13.3,672,20148,0.00,2.38,0.00,0.000,6,0.000,0.045,3278,1944,2360,0,0,0,0,0,0
$GC,20464,0.50,155.7,906.3,14.3,680,20468,0.00,2.40,0.00,0.000,4,0.000,0.050,3289,366,2359,0,0,0,0,0,0
$GC,20485,0.50,155.7,902.7,14.4,680,20490,0.12,2.40,0.00,0.000,6,0.130,0.044,3248,1942,2359,0,0,0,0,0,0
$GC,20827,0.50,155.7,860.0,12.7,689,20832,0.00,2.45,0.00,0.000,4,0.000,0.057,3247,3524,2358,0,0,0,0,0,0
$GC,20872,0.50,155.7,853.9,15.4,690,20877,0.00,2.38,0.00,0.000,6,0.000,0.043,3259,1953,2358,0,0,0,0,0,0
$GC,21192,0.50,155.7,810.5,13.6,698,21196,0.00,2.47,0.00,0.000,4,0.000,0.054,3271,357,2357,0,0,0,0,0,0
$GC,21281,0.50,155.7,798.0,15.2,700,21286,0.00,2.38,0.00,0.000,6,0.000,0.046,3271,1938,2357,0,0,0,0,0,0
$GC,21600,0.50,155.7,754.0,13.6,708,21605,0.00,2.45,0.00,0.000,4,0.000,0.057,3271,3529,2357,0,0,0,0,0,0
$GC,21651,0.50,155.7,746.6,14.0,709,21656,0.10,2.42,0.00,0.000,6,0.150,0.043,3253,1929,2357,0,0,0,0,0,0
$GC,21964,0.50,155.7,710.6,11.5,717,21969,0.00,2.40,0.00,0.000,4,0.000,0.053,3263,352,2357,0,0,0,0,0,0
$GC,22033,0.50,155.7,702.5,10.7,718,22038,0.00,2.40,0.00,0.000,6,0.000,0.048,3263,1942,2357,0,0,0,0,0,0
$GC,22369,0.50,155.7,659.6,13.0,727,22373,0.00,2.50,0.00,0.000,4,0.000,0.060,3263,3534,2356,0,0,0,0,0,0
$GC,22401,0.50,155.7,654.9,14.8,727,22406,0.00,2.42,0.00,0.000,6,0.000,0.045,3276,1935,2356,0,0,0,0,0,0
$GC,22739,0.50,155.7,610.0,12.9,736,22743,0.00,2.47,0.00,0.000,4,0.000,0.054,3288,350,2356,0,0,0,0,0,0
$GC,22777,0.50,155.7,604.8,13.1,737,22782,0.12,2.40,0.00,0.000,6,0.129,0.048,3246,1938,2356,0,0,0,0,0,0
$GC,23100,0.50,155.7,572.2,10.0,745,23104,0.00,2.47,0.00,0.000,4,0.000,0.058,3246,3526,2356,0,0,0,0,0,0
$GC,23172,0.50,155.7,564.8,10.4,746,23176,0.00,2.42,0.00,0.000,6,0.000,0.043,3257,1935,2357,0,0,0,0,0,0
$GC,23503,0.50,155.7,532.6,9.9,754,23508,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,356,2356,0,0,0,0,0,0
$GC,23587,0.50,155.7,523.3,11.2,756,23591,0.00,2.40,0.00,0.000,6,0.000,0.046,3270,1951,2356,0,0,0,0,0,0
$GC,23913,0.50,155.7,489.6,9.8,764,23915,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1952,2356,0,0,0,0,0,0
$GC,24236,0.50,155.7,456.6,10.1,772,24240,0.00,2.47,0.00,0.000,4,0.000,0.051,3282,347,2357,0,0,0,0,0,0
$GC,24262,0.50,155.7,453.8,10.3,772,24266,0.00,2.40,0.00,0.000,6,0.000,0.044,3282,1942,2357,0,0,0,0,0,0
$GC,24600,0.50,155.7,418.1,10.7,781,24604,0.00,2.50,0.00,0.000,4,0.000,0.056,3282,3536,2358,0,0,0,0,0,0
$GC,24744,0.50,155.7,402.4,9.6,784,24749,0.15,2.45,0.00,0.000,6,0.121,0.041,3244,1941,2357,0,0,0,0,0,0
$GC,25094,0.50,155.7,377.4,7.0,793,25098,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,351,2358,0,0,0,0,0,0
$GC,25149,0.50,155.7,373.1,6.1,794,25153,0.00,2.38,0.00,0.000,6,0.000,0.042,3255,1950,2358,0,0,0,0,0,0
$GC,25462,0.50,155.7,348.1,8.5,802,25466,0.00,2.47,0.00,0.000,4,0.000,0.054,3255,3529,2360,0,0,0,0,0,0
$GC,25522,0.50,155.7,341.6,11.7,803,25526,0.00,2.42,0.00,0.000,6,0.000,0.040,3267,1935,2360,0,0,0,0,0,0
$GC,25871,0.50,155.7,306.7,9.9,812,25875,0.00,2.45,0.00,0.000,4,0.000,0.050,3279,349,2362,0,0,0,0,0,0
$GC,25938,0.50,155.7,300.2,8.2,813,25942,0.00,2.35,0.00,0.000,6,0.000,0.041,3279,1944,2362,0,0,0,0,0,0
$GC,26259,0.50,155.7,270.4,9.4,829,26263,0.00,2.47,0.00,0.000,4,0.000,0.053,3279,3527,2364,0,0,0,0,0,0
$GC,26326,0.50,155.7,263.5,9.1,832,26331,0.12,2.40,0.00,0.000,6,0.123,0.040,3248,1941,2364,0,0,0,0,0,0
$GC,26646,0.50,155.7,241.4,6.1,848,26650,0.00,2.45,0.00,0.000,4,0.000,0.050,3259,346,2365,0,0,0,0,0,0
$GC,26734,0.51,161.2,236.0,5.9,852,26750,0.00,2.38,7.80,0.854,6,0.000,0.039,3259,1952,2338,0,0,0,0,0,0
$GC,27059,0.51,161.2,216.6,6.2,868,27063,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,3521,2340,0,0,0,0,0,0
$GC,27120,0.51,161.2,211.9,7.8,871,27125,0.00,2.42,0.00,0.000,6,0.000,0.039,3271,1930,2341,0,0,0,0,0,0
$GC,27441,0.51,161.2,188.1,6.6,894,27445,0.00,2.45,0.00,0.000,4,0.000,0.048,3283,345,2342,0,0,0,0,0,0
$GC,27519,0.51,161.2,183.1,7.1,900,27524,0.00,2.40,0.00,0.000,6,0.000,0.041,3283,1945,2343,0,0,0,0,0,0
$GC,27781,0.53,175.0,167.1,5.6,925,27801,0.00,2.47,14.68,0.888,4,0.000,0.054,3282,3526,2281,0,0,0,0,0,0
$GC,27842,0.59,226.8,163.4,4.6,930,27891,0.00,2.40,43.40,0.963,6,0.000,0.039,3295,1933,2070,0,0,0,0,0,0
$GC,28153,0.59,226.8,141.9,7.3,960,28157,0.00,2.40,0.00,0.000,4,0.000,0.048,3307,353,2071,0,0,0,0,0,0
$GC,28214,0.59,226.8,136.7,8.0,965,28219,0.00,2.33,0.00,0.000,6,0.000,0.041,3307,1942,2072,0,0,0,0,0,0
$GC,28476,0.59,226.8,114.1,8.8,990,28477,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1942,2073,0,0,0,0,0,0
$GC,28731,0.59,226.8,96.4,6.4,1014,28735,0.00,2.40,0.00,0.000,4,0.000,0.048,3318,359,2076,0,0,0,0,0,0
$GC,28764,0.60,236.3,94.4,5.8,1016,28780,0.12,2.35,10.65,0.815,6,0.110,0.043,3271,1941,2031,0,0,0,0,0,0
$GC,29041,0.60,236.3,85.9,6.2,1043,29045,0.00,2.45,0.00,0.000,4,0.000,0.053,3270,3530,2032,0,0,0,0,0,0
$GC,29069,0.62,252.2,84.1,5.6,1045,29089,0.00,2.42,15.00,0.848,6,0.000,0.041,3280,1930,1965,0,0,0,0,0,0
$GC,29347,0.62,252.2,61.8,7.2,1071,29351,0.00,2.40,0.00,0.000,4,0.000,0.049,3291,361,1967,0,0,0,0,0,0
$GC,29408,0.62,252.2,55.9,8.4,1076,29413,0.00,2.35,0.00,0.000,6,0.000,0.049,3291,1943,1967,0,0,0,0,0,0
$GC,29675,0.62,252.2,32.4,9.1,1101,29679,0.00,2.42,0.00,0.000,4,0.000,0.054,3291,3528,1968,0,0,0,0,0,0
$GC,29690,0.62,252.2,31.2,6.8,1102,29695,0.00,2.40,0.00,0.000,6,0.000,0.044,3301,1935,1968,0,0,0,0,0,0
$GC,29951,0.67,289.9,9.0,5.0,1126,29991,0.00,2.53,31.83,0.846,4,0.000,0.058,3312,355,1813,0,0,0,0,0,0
$STATE,30038,end climb,SURFACE_DEPTH_REACHED
$STATE,30038,begin surface coast
$FINISH,1.7,NaN
$STATE,30050,end surface coast,CONTROL_FINISHED_OK
$STATE,30050,begin surface
$SM_CCo,30070,173.90,0.893,0,0,475,618.15
$SM_GC,0.98,0.00,0.00,173.90,0.000,0.000,0.893,136,2104,475,-9.23,0.40,618.15
$IRIDIUM_FIX,2143.45,12833.42,070912,181834
$TT8_MAMPS,0.03068
$HUMID,1078672893
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.80
$XPDR_PINGS,715
$24V_AH,21.6,83.384
$10V_AH,8.0,63.999
$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,21.650,357.475,415.050,173.900,0.000,30.984,65.216,196.381,178.750,0.000,14.509,1768.485,24029.246,831.455,3417.002,619.235,33.381,2551.217,0.000,3030.801,0.000,0.543,0.000
$DEVICE_MAMPS,213.226,71.331,1640.613,892.788,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355512
$DATA_FILE_SIZE,36661,1135
$CAP_FILE_SIZE,340516,0
$CFSIZE,260165632,179871744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160311,171737,2149.744,12836.342,29,1.0,29,-3.0