version: 66.07
glider: 500
mission: 5
dive: 466
start: 3 18 111 12 33 16
data:
$ID,500
$MISSION,5
$DIVE,466
$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,-130895.32
$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,33
$R_STBD_OVSHOOT,62
$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
$GPS1,180311,122507,2146.478,12836.248,31,1.5,31,-3.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.9
$GPS2,180311,123222,2146.493,12836.293,13,2.5,32,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.101,-0.197
$KALMAN_X,-536592.2,441.3,594.7,1087445.1,2099.1
$KALMAN_Y,534542.4,-861.1,-200.2,-465265.9,6277.2
$MHEAD_RNG_PITCHd_Wd,210.1,272100,-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,15433,-0.50,-155.7,848.8,-3.8,564,15437,0.00,2.38,0.00,0.000,4,0.000,0.044,2914,505,3601,0,0,0,0,0,0
$GC,15501,-0.50,-155.7,851.2,-3.8,565,15505,0.00,2.35,0.00,0.000,6,0.000,0.043,2903,2083,3600,0,0,0,0,0,0
$GC,15838,-0.50,-155.7,862.4,-3.5,574,15842,0.00,2.33,0.00,0.000,4,0.000,0.044,2903,506,3600,0,0,0,0,0,0
$GC,15872,-0.50,-155.7,863.7,-4.0,574,15877,0.12,2.38,0.00,0.000,6,0.119,0.043,2937,2101,3600,0,0,0,0,0,0
$GC,16204,-0.50,-155.7,875.3,-3.7,583,16208,0.00,2.38,0.00,0.000,4,0.000,0.044,2937,501,3599,0,0,0,0,0,0
$GC,16417,-0.50,-155.7,882.9,-3.6,587,16422,0.00,2.38,0.00,0.000,6,0.000,0.041,2937,2100,3599,0,0,0,0,0,0
$GC,16748,-0.50,-155.7,891.9,-2.6,596,16752,0.00,2.38,0.00,0.000,4,0.000,0.044,2937,506,3598,0,0,0,0,0,0
$GC,16988,-0.50,-155.7,897.8,-2.7,601,16992,0.00,2.35,0.00,0.000,6,0.000,0.042,2937,2082,3598,0,0,0,0,0,0
$GC,17338,-0.50,-155.7,908.5,-3.6,610,17342,0.00,2.35,0.00,0.000,4,0.000,0.044,2937,512,3597,0,0,0,0,0,0
$GC,17535,-0.50,-155.7,917.1,-4.2,614,17539,0.00,2.38,0.00,0.000,6,0.000,0.042,2937,2106,3597,0,0,0,0,0,0
$GC,17883,-0.50,-155.7,931.3,-3.9,623,17887,0.00,2.40,0.00,0.000,4,0.000,0.051,2927,3678,3596,0,0,0,0,0,0
$GC,18141,-0.50,-155.7,940.0,-2.9,628,18146,0.00,2.38,0.00,0.000,6,0.000,0.036,2927,2086,3597,0,0,0,0,0,0
$GC,18472,-0.50,-155.7,948.4,-2.4,637,18476,0.00,2.35,0.00,0.000,4,0.000,0.045,2927,507,3596,0,0,0,0,0,0
$GC,18616,-0.50,-155.7,952.1,-2.3,640,18621,0.00,2.38,0.00,0.000,6,0.000,0.043,2918,2091,3595,0,0,0,0,0,0
$GC,18967,-0.50,-155.7,961.3,-2.9,649,18971,0.00,2.40,0.00,0.000,4,0.000,0.046,2918,503,3595,0,0,0,0,0,0
$GC,19080,-0.50,-155.7,964.7,-3.1,651,19084,0.00,2.38,0.00,0.000,6,0.000,0.043,2907,2091,3595,0,0,0,0,0,0
$GC,19418,-0.50,-155.7,976.3,-3.6,660,19422,0.00,2.38,0.00,0.000,4,0.000,0.046,2907,512,3594,0,0,0,0,0,0
$GC,19485,-0.50,-155.7,978.9,-3.3,661,19489,0.00,2.38,0.00,0.000,6,0.000,0.043,2896,2101,3594,0,0,0,0,0,0
$STATE,19821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19821,begin apogee
$GC,19827,-0.23,0.0,991.3,3.8,670,19970,0.32,0.00,139.73,1.648,6,0.078,0.000,3020,1926,2995,0,0,0,0,0,0
$STATE,19971,end apogee,CONTROL_FINISHED_OK
$STATE,19971,begin climb
$GC,19973,0.50,155.7,992.2,0.0,673,20136,0.62,2.78,152.40,1.615,4,0.056,0.051,3258,3518,2360,0,0,0,0,0,0
$GC,20226,0.50,155.7,960.2,14.2,679,20231,0.00,2.45,0.00,0.000,6,0.000,0.040,3268,1949,2360,0,0,0,0,0,0
$GC,20550,0.50,155.7,914.0,14.4,687,20555,0.00,2.40,0.00,0.000,4,0.000,0.050,3282,360,2359,0,0,0,0,0,0
$GC,20628,0.50,155.7,902.9,13.1,688,20633,0.00,2.35,0.00,0.000,6,0.000,0.044,3282,1935,2359,0,0,0,0,0,0
$GC,20960,0.50,155.7,858.0,13.3,697,20964,0.00,2.45,0.00,0.000,4,0.000,0.053,3281,3526,2358,0,0,0,0,0,0
$GC,21004,0.50,155.7,851.5,13.6,698,21009,0.12,2.38,0.00,0.000,6,0.133,0.040,3253,1943,2358,0,0,0,0,0,0
$GC,21327,0.50,155.7,815.0,11.3,706,21332,0.00,2.42,0.00,0.000,4,0.000,0.051,3265,349,2357,0,0,0,0,0,0
$GC,21388,0.50,155.7,807.6,12.3,707,21392,0.00,2.40,0.00,0.000,6,0.000,0.044,3265,1949,2357,0,0,0,0,0,0
$GC,21738,0.50,155.7,763.5,12.8,716,21743,0.00,2.42,0.00,0.000,4,0.000,0.053,3265,3533,2357,0,0,0,0,0,0
$GC,21788,0.50,155.7,756.2,13.9,717,21792,0.00,2.42,0.00,0.000,6,0.000,0.042,3277,1927,2357,0,0,0,0,0,0
$GC,22106,0.50,155.7,712.2,13.9,725,22110,0.00,2.40,0.00,0.000,4,0.000,0.051,3289,349,2357,0,0,0,0,0,0
$GC,22146,0.50,155.7,706.5,15.0,726,22151,0.12,2.38,0.00,0.000,6,0.125,0.045,3247,1940,2357,0,0,0,0,0,0
$GC,22469,0.50,155.7,668.9,11.2,734,22473,0.00,2.45,0.00,0.000,4,0.000,0.054,3247,3536,2356,0,0,0,0,0,0
$GC,22530,0.50,155.7,661.9,11.7,735,22534,0.00,2.40,0.00,0.000,6,0.000,0.043,3257,1948,2356,0,0,0,0,0,0
$GC,22879,0.50,155.7,624.5,10.5,744,22883,0.00,2.45,0.00,0.000,4,0.000,0.051,3270,345,2356,0,0,0,0,0,0
$GC,23004,0.50,155.7,611.3,9.8,746,23009,0.00,2.40,0.00,0.000,6,0.000,0.043,3270,1946,2356,0,0,0,0,0,0
$GC,23334,0.50,155.7,573.7,11.7,755,23335,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1946,2356,0,0,0,0,0,0
$GC,23661,0.50,155.7,537.1,10.8,763,23662,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1946,2355,0,0,0,0,0,0
$GC,23984,0.50,155.7,504.0,10.0,771,23988,0.00,2.45,0.00,0.000,4,0.000,0.052,3270,3527,2355,0,0,0,0,0,0
$GC,24044,0.50,155.7,497.5,10.5,772,24049,0.00,2.45,0.00,0.000,6,0.000,0.041,3283,1923,2355,0,0,0,0,0,0
$GC,24393,0.50,155.7,461.3,10.3,781,24397,0.00,2.40,0.00,0.000,4,0.000,0.051,3295,352,2356,0,0,0,0,0,0
$GC,24534,0.50,155.7,447.1,9.8,784,24539,0.15,2.40,0.00,0.000,6,0.117,0.041,3244,1945,2355,0,0,0,0,0,0
$GC,24854,0.50,155.7,421.8,8.1,792,24858,0.00,2.42,0.00,0.000,4,0.000,0.054,3244,3525,2356,0,0,0,0,0,0
$GC,24897,0.50,155.7,417.7,10.0,793,24901,0.00,2.40,0.00,0.000,6,0.000,0.038,3255,1933,2356,0,0,0,0,0,0
$GC,25224,0.50,155.7,390.1,8.1,801,25228,0.00,2.42,0.00,0.000,4,0.000,0.050,3268,348,2357,0,0,0,0,0,0
$GC,25268,0.50,155.7,386.2,8.1,802,25273,0.00,2.38,0.00,0.000,6,0.000,0.041,3267,1942,2357,0,0,0,0,0,0
$GC,25601,0.50,155.7,358.2,8.9,810,25605,0.00,2.45,0.00,0.000,4,0.000,0.055,3267,3534,2358,0,0,0,0,0,0
$GC,25762,0.50,155.7,341.0,8.3,813,25766,0.00,2.42,0.00,0.000,6,0.000,0.044,3279,1928,2359,0,0,0,0,0,0
$GC,26100,0.50,155.7,307.8,9.9,822,26104,0.00,2.38,0.00,0.000,4,0.000,0.047,3291,353,2361,0,0,0,0,0,0
$GC,26160,0.50,155.7,301.8,9.8,823,26165,0.12,2.35,0.00,0.000,6,0.189,0.039,3250,1949,2361,0,0,0,0,0,0
$GC,26492,0.50,155.7,277.8,7.1,838,26493,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1950,2362,0,0,0,0,0,0
$GC,26800,0.50,155.7,255.9,7.3,853,26805,0.00,2.42,0.00,0.000,4,0.000,0.049,3249,3525,2364,0,0,0,0,0,0
$GC,26851,0.50,155.7,252.1,6.2,855,26856,0.00,2.38,0.00,0.000,6,0.000,0.036,3259,1949,2364,0,0,0,0,0,0
$GC,27166,0.50,155.7,230.9,6.3,870,27170,0.00,2.42,0.00,0.000,4,0.000,0.046,3272,348,2366,0,0,0,0,0,0
$GC,27255,0.50,155.7,225.4,6.6,874,27260,0.00,2.38,0.00,0.000,6,0.000,0.044,3272,1945,2366,0,0,0,0,0,0
$GC,27577,0.50,155.7,206.7,6.2,890,27581,0.00,2.40,0.00,0.000,4,0.000,0.048,3271,3524,2368,0,0,0,0,0,0
$GC,27665,0.50,155.7,199.6,7.9,894,27675,0.10,2.38,3.90,0.597,6,0.133,0.035,3248,1928,2359,0,0,0,0,0,0
$GC,28000,0.55,188.6,179.7,5.1,925,28034,0.00,2.42,28.90,0.956,4,0.000,0.045,3258,366,2225,0,0,0,0,0,0
$GC,28066,0.58,213.0,176.4,5.4,931,28096,0.00,2.30,21.48,0.942,6,0.000,0.036,3258,1942,2126,0,0,0,0,0,0
$GC,28351,0.58,217.9,159.6,5.9,958,28362,0.00,2.40,5.97,0.741,4,0.000,0.042,3265,352,2107,0,0,0,0,0,0
$GC,28420,0.58,217.9,154.9,7.1,964,28425,0.00,2.33,0.00,0.000,6,0.000,0.042,3265,1942,2107,0,0,0,0,0,0
$GC,28682,0.60,234.9,138.1,5.6,989,28703,0.00,2.40,16.05,0.890,4,0.000,0.043,3272,347,2037,0,0,0,0,0,0
$GC,28732,0.66,279.3,135.2,4.8,994,28776,0.00,2.33,37.85,0.958,6,0.000,0.037,3271,1938,1855,0,0,0,0,0,0
$GC,29037,0.66,279.3,114.3,6.1,1023,29041,0.00,2.42,0.00,0.000,4,0.000,0.048,3271,3524,1859,0,0,0,0,0,0
$GC,29142,0.76,361.7,109.9,3.8,1032,29219,0.17,2.35,67.70,0.960,6,0.084,0.034,3348,1921,1519,0,0,0,0,0,0
$GC,29479,0.76,361.7,85.0,6.3,1064,29483,0.00,2.42,0.00,0.000,4,0.000,0.047,3348,3526,1522,0,0,0,0,0,0
$GC,29558,0.76,361.7,79.6,7.5,1071,29563,0.00,2.35,0.00,0.000,6,0.000,0.035,3358,1934,1523,0,0,0,0,0,0
$GC,29820,0.76,361.7,52.4,13.1,1095,29824,0.00,2.33,0.00,0.000,4,0.000,0.047,3370,363,1525,0,0,0,0,0,0
$GC,29919,0.76,361.7,39.0,11.9,1103,29925,0.12,2.30,0.00,0.000,6,0.114,0.036,3325,1942,1525,0,0,0,0,0,0
$GC,30180,0.76,361.7,14.3,9.7,1128,30181,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1942,1526,0,0,0,0,0,0
$STATE,30329,end climb,SURFACE_DEPTH_REACHED
$STATE,30329,begin surface coast
$FINISH,0.4,NaN
$STATE,30359,end surface coast,CONTROL_FINISHED_OK
$STATE,30359,begin surface
$SM_CCo,30377,137.62,0.891,0,0,475,618.15
$SM_GC,0.95,0.00,0.00,137.62,0.000,0.000,0.891,122,2125,475,-9.28,0.99,618.15
$IRIDIUM_FIX,2141.13,12835.24,090912,222236
$TT8_MAMPS,0.03068
$HUMID,1078728377
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.60
$XPDR_PINGS,881
$24V_AH,21.6,84.942
$10V_AH,8.0,64.584
$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,21.350,317.950,473.975,137.625,0.000,23.686,40.085,193.978,220.250,0.000,34.953,1765.180,24236.826,812.520,3496.565,619.736,33.379,2554.576,0.000,3103.992,0.000,0.541,0.000
$DEVICE_MAMPS,214.760,164.138,1648.283,891.254,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355544
$DATA_FILE_SIZE,36698,1145
$CAP_FILE_SIZE,336158,0
$CFSIZE,260165632,179245056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180311,210307,2145.878,12835.417,34,1.0,34,-3.0