version: 66.07
glider: 500
mission: 5
dive: 421
start: 3 2 111 14 13 47
data:
$ID,500
$MISSION,5
$DIVE,421
$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,400
$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,-129872.05
$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,2120
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,020311,140507,2206.232,12858.416,22,1.9,22,-3.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.5
$GPS2,020311,141254,2206.283,12858.380,47,0.9,47,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.163,-0.150
$KALMAN_X,-717777.9,-449.7,332.3,1307952.8,4419.0
$KALMAN_Y,353659.9,-101.8,363.3,-249065.5,4684.3
$MHEAD_RNG_PITCHd_Wd,230.5,317218,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
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$GC,14967,-0.50,-155.7,834.9,-3.2,545,14971,0.00,2.40,0.00,0.000,4,0.000,0.045,2930,541,3597,0,0,0,0,0,0
$GC,15105,-0.50,-155.7,839.2,-2.4,548,15110,0.00,2.35,0.00,0.000,6,0.000,0.043,2921,2117,3597,0,0,0,0,0,0
$GC,15419,-0.50,-155.7,849.5,-3.4,556,15423,0.00,2.38,0.00,0.000,4,0.000,0.047,2920,538,3596,0,0,0,0,0,0
$GC,15520,-0.50,-155.7,853.8,-4.3,558,15524,0.00,2.38,0.00,0.000,6,0.000,0.044,2910,2125,3596,0,0,0,0,0,0
$GC,15868,-0.50,-155.7,869.7,-4.8,567,15872,0.00,2.38,0.00,0.000,4,0.000,0.045,2910,542,3595,0,0,0,0,0,0
$GC,15941,-0.50,-155.7,873.3,-4.5,568,15946,0.00,2.35,0.00,0.000,6,0.000,0.043,2900,2120,3595,0,0,0,0,0,0
$GC,16272,-0.50,-155.7,889.6,-4.9,576,16276,0.00,2.38,0.00,0.000,4,0.000,0.047,2899,540,3594,0,0,0,0,0,0
$GC,16334,-0.50,-155.7,892.8,-5.3,577,16339,0.12,2.35,0.00,0.000,6,0.120,0.044,2933,2121,3594,0,0,0,0,0,0
$GC,16677,-0.50,-155.7,906.8,-4.1,586,16681,0.00,2.35,0.00,0.000,4,0.000,0.046,2933,545,3593,0,0,0,0,0,0
$GC,16889,-0.50,-155.7,914.8,-3.2,590,16893,0.00,2.35,0.00,0.000,6,0.000,0.043,2929,2120,3593,0,0,0,0,0,0
$GC,17221,-0.50,-155.7,925.7,-3.5,599,17225,0.00,2.47,0.00,0.000,4,0.000,0.053,2918,3700,3592,0,0,0,0,0,0
$GC,17298,-0.50,-155.7,928.2,-2.6,600,17303,0.00,2.38,0.00,0.000,6,0.000,0.037,2918,2120,3592,0,0,0,0,0,0
$GC,17630,-0.50,-155.7,938.5,-3.2,609,17634,0.00,2.47,0.00,0.000,4,0.000,0.054,2906,3698,3591,0,0,0,0,0,0
$GC,17680,-0.50,-155.7,940.0,-3.0,610,17684,0.00,2.35,0.00,0.000,6,0.000,0.038,2907,2125,3591,0,0,0,0,0,0
$GC,17994,-0.50,-155.7,949.8,-3.3,618,17998,0.00,2.47,0.00,0.000,4,0.000,0.054,2895,3706,3591,0,0,0,0,0,0
$GC,18028,-0.50,-155.7,951.0,-3.4,618,18033,0.10,2.40,0.00,0.000,6,0.120,0.036,2935,2108,3591,0,0,0,0,0,0
$GC,18361,-0.50,-155.7,963.6,-4.1,627,18365,0.00,2.47,0.00,0.000,4,0.000,0.054,2925,3698,3590,0,0,0,0,0,0
$GC,18534,-0.50,-155.7,971.4,-4.9,631,18538,0.00,2.38,0.00,0.000,6,0.000,0.038,2924,2110,3590,0,0,0,0,0,0
$GC,18859,-0.50,-155.7,984.2,-3.8,639,18864,0.00,2.50,0.00,0.000,4,0.000,0.054,2922,3697,3590,0,0,0,0,0,0
$GC,18989,-0.50,-155.7,988.9,-2.7,642,18993,0.00,2.40,0.00,0.000,6,0.000,0.038,2922,2110,3590,0,0,0,0,0,0
$STATE,19020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19020,begin apogee
$GC,19026,-0.23,0.0,990.0,2.9,642,19166,0.25,0.00,137.93,1.596,6,0.080,0.000,3025,1920,2995,0,0,0,0,0,0
$STATE,19167,end apogee,CONTROL_FINISHED_OK
$STATE,19167,begin climb
$GC,19171,0.50,155.7,989.9,0.0,646,19333,0.60,2.80,151.50,1.564,4,0.053,0.054,3258,3493,2360,0,0,0,0,0,0
$GC,19422,0.50,155.7,957.1,14.6,652,19427,0.00,2.50,0.00,0.000,6,0.000,0.041,3270,1928,2360,0,0,0,0,0,0
$GC,19748,0.50,155.7,909.4,14.5,660,19752,0.00,2.47,0.00,0.000,4,0.000,0.053,3283,325,2360,0,0,0,0,0,0
$GC,19808,0.50,155.7,900.0,14.3,661,19812,0.00,2.42,0.00,0.000,6,0.000,0.045,3283,1916,2360,0,0,0,0,0,0
$GC,20158,0.50,155.7,849.2,14.3,670,20162,0.00,2.45,0.00,0.000,4,0.000,0.053,3283,3501,2359,0,0,0,0,0,0
$GC,20208,0.50,155.7,841.1,15.2,671,20213,0.15,2.42,0.00,0.000,6,0.133,0.041,3247,1903,2359,0,0,0,0,0,0
$GC,20523,0.50,155.7,803.5,12.1,679,20527,0.00,2.47,0.00,0.000,4,0.000,0.054,3247,3503,2359,0,0,0,0,0,0
$GC,20550,0.50,155.7,799.6,14.0,679,20555,0.00,2.40,0.00,0.000,6,0.000,0.041,3258,1917,2359,0,0,0,0,0,0
$GC,20880,0.50,155.7,756.7,13.0,687,20885,0.00,2.45,0.00,0.000,4,0.000,0.055,3271,333,2359,0,0,0,0,0,0
$GC,20970,0.50,155.7,745.5,12.2,689,20975,0.00,2.40,0.00,0.000,6,0.000,0.046,3271,1917,2358,0,0,0,0,0,0
$GC,21289,0.50,155.7,704.3,13.0,697,21294,0.00,2.47,0.00,0.000,4,0.000,0.054,3271,3509,2358,0,0,0,0,0,0
$GC,21335,0.50,155.7,697.9,13.6,698,21339,0.00,2.42,0.00,0.000,6,0.000,0.043,3283,1918,2358,0,0,0,0,0,0
$GC,21653,0.50,155.7,653.8,13.9,706,21657,0.00,2.42,0.00,0.000,4,0.000,0.055,3296,340,2358,0,0,0,0,0,0
$GC,21685,0.50,155.7,649.2,12.8,706,21691,0.15,2.40,0.00,0.000,6,0.122,0.047,3245,1922,2358,0,0,0,0,0,0
$GC,22019,0.50,155.7,616.8,9.4,715,22023,0.00,2.47,0.00,0.000,4,0.000,0.055,3245,3516,2358,0,0,0,0,0,0
$GC,22090,0.50,155.7,609.6,10.0,716,22094,0.00,2.45,0.00,0.000,6,0.000,0.043,3255,1916,2357,0,0,0,0,0,0
$GC,22427,0.50,155.7,577.9,9.4,725,22431,0.00,2.45,0.00,0.000,4,0.000,0.055,3268,336,2357,0,0,0,0,0,0
$GC,22460,0.50,155.7,574.7,9.7,725,22465,0.00,2.40,0.00,0.000,6,0.000,0.046,3268,1922,2357,0,0,0,0,0,0
$GC,22791,0.50,155.7,540.5,11.1,734,22795,0.00,2.47,0.00,0.000,4,0.000,0.052,3280,325,2357,0,0,0,0,0,0
$GC,22813,0.50,155.7,537.8,12.1,734,22817,0.00,2.42,0.00,0.000,6,0.000,0.045,3280,1927,2357,0,0,0,0,0,0
$GC,23148,0.50,155.7,494.1,12.8,743,23152,0.00,2.45,0.00,0.000,4,0.000,0.054,3280,3513,2357,0,0,0,0,0,0
$GC,23221,0.50,155.7,483.8,13.5,744,23226,0.12,2.45,0.00,0.000,6,0.135,0.042,3253,1908,2358,0,0,0,0,0,0
$GC,23552,0.50,155.7,452.2,8.8,752,23553,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,2358,0,0,0,0,0,0
$GC,23877,0.50,155.7,428.0,7.3,760,23881,0.00,2.42,0.00,0.000,4,0.000,0.051,3264,333,2359,0,0,0,0,0,0
$GC,23898,0.50,155.7,426.2,7.6,760,23902,0.00,2.40,0.00,0.000,6,0.000,0.045,3264,1929,2359,0,0,0,0,0,0
$GC,24240,0.50,155.7,394.2,9.5,769,24244,0.00,2.45,0.00,0.000,4,0.000,0.052,3264,3517,2360,0,0,0,0,0,0
$GC,24295,0.50,155.7,389.0,11.8,770,24300,0.00,2.42,0.00,0.000,6,0.000,0.041,3276,1925,2360,0,0,0,0,0,0
$GC,24644,0.50,155.7,356.6,9.3,779,24648,0.00,2.42,0.00,0.000,4,0.000,0.051,3289,335,2361,0,0,0,0,0,0
$GC,24699,0.50,155.7,351.2,7.7,780,24704,0.12,2.38,0.00,0.000,6,0.122,0.043,3245,1922,2361,0,0,0,0,0,0
$GC,25049,0.50,155.7,325.3,7.5,789,25053,0.00,2.47,0.00,0.000,4,0.000,0.052,3245,3509,2362,0,0,0,0,0,0
$GC,25151,0.50,155.7,317.3,6.6,791,25155,0.00,2.42,0.00,0.000,6,0.000,0.038,3256,1911,2363,0,0,0,0,0,0
$GC,25480,0.50,155.7,293.1,7.4,801,25481,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1911,2364,0,0,0,0,0,0
$GC,25787,0.50,155.7,269.7,7.4,816,25791,0.00,2.45,0.00,0.000,4,0.000,0.050,3268,332,2365,0,0,0,0,0,0
$GC,25865,0.50,155.7,263.6,7.7,819,25870,0.00,2.38,0.00,0.000,6,0.000,0.041,3268,1922,2366,0,0,0,0,0,0
$GC,26180,0.50,155.7,238.7,7.6,835,26181,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1922,2367,0,0,0,0,0,0
$GC,26489,0.50,155.7,217.2,7.0,850,26498,0.00,2.50,3.75,0.559,4,0.000,0.051,3268,3491,2360,0,0,0,0,0,0
$GC,26512,0.50,155.7,215.6,6.6,851,26516,0.00,2.40,0.00,0.000,6,0.000,0.040,3280,1912,2360,0,0,0,0,0,0
$GC,26830,0.50,155.7,191.6,7.6,871,26834,0.00,2.45,0.00,0.000,4,0.000,0.051,3292,327,2363,0,0,0,0,0,0
$GC,26857,0.50,155.7,189.5,6.3,873,26863,0.12,2.35,0.00,0.000,6,0.114,0.041,3246,1921,2364,0,0,0,0,0,0
$GC,27120,0.56,198.0,175.7,4.9,898,27164,0.00,2.53,36.88,0.925,4,0.000,0.050,3246,3496,2187,0,0,0,0,0,0
$GC,27198,0.56,198.0,170.9,6.1,905,27203,0.00,2.40,0.00,0.000,6,0.000,0.038,3255,1924,2188,0,0,0,0,0,0
$GC,27459,0.56,198.7,156.8,6.0,930,27463,0.00,2.42,0.00,0.000,4,0.000,0.050,3267,333,2192,0,0,0,0,0,0
$GC,27515,0.59,221.5,153.6,5.4,934,27541,0.00,2.33,21.35,0.892,6,0.000,0.040,3267,1918,2092,0,0,0,0,0,0
$GC,27801,0.59,221.5,135.0,6.3,962,27805,0.00,2.45,0.00,0.000,4,0.000,0.049,3267,3508,2093,0,0,0,0,0,0
$GC,27881,0.60,229.5,129.8,5.8,969,27896,0.00,2.40,8.90,0.772,6,0.000,0.036,3278,1905,2058,0,0,0,0,0,0
$GC,28159,0.60,229.5,109.9,7.1,995,28163,0.00,2.47,0.00,0.000,4,0.000,0.048,3278,3514,2059,0,0,0,0,0,0
$GC,28260,0.60,229.5,102.8,6.9,1004,28265,0.00,2.38,0.00,0.000,6,0.000,0.035,3288,1909,2059,0,0,0,0,0,0
$GC,28526,0.60,229.5,84.5,7.0,1029,28531,0.00,2.45,0.00,0.000,4,0.000,0.048,3289,3502,2060,0,0,0,0,0,0
$GC,28626,0.60,229.5,76.3,9.5,1037,28630,0.00,2.33,0.00,0.000,6,0.000,0.034,3300,1924,2061,0,0,0,0,0,0
$GC,28887,0.60,229.5,52.7,9.2,1061,28892,0.00,2.38,0.00,0.000,4,0.000,0.049,3310,344,2062,0,0,0,0,0,0
$GC,28984,0.60,229.5,43.7,8.9,1069,28988,0.00,2.33,0.00,0.000,6,0.000,0.040,3311,1924,2063,0,0,0,0,0,0
$GC,29244,0.60,229.5,21.2,9.6,1093,29248,0.00,2.42,0.00,0.000,4,0.000,0.048,3311,3513,2064,0,0,0,0,0,0
$GC,29271,0.60,229.5,18.1,10.7,1095,29276,0.12,2.38,0.00,0.000,6,0.121,0.037,3278,1916,2064,0,0,0,0,0,0
$GC,29468,0.60,229.5,7.9,6.3,1113,29472,0.00,2.38,0.00,0.000,4,0.000,0.051,3287,341,2065,0,0,0,0,0,0
$GC,29507,0.78,379.6,6.6,2.0,1116,29549,0.15,2.35,35.17,0.793,2,0.072,0.044,3399,1923,1890,0,0,0,0,0,0
$STATE,29550,end climb,SURFACE_DEPTH_REACHED
$STATE,29550,begin surface coast
$FINISH,0.3,NaN
$STATE,29571,end surface coast,CONTROL_FINISHED_OK
$STATE,29571,begin surface
$SM_CCo,29589,66.93,0.822,0,0,1363,400.08
$SM_GC,1.08,0.00,0.00,66.93,0.000,0.000,0.822,104,2163,1363,-9.34,1.22,400.08
$IRIDIUM_FIX,2159.71,12855.93,250812,000022
$TT8_MAMPS,0.028379
$HUMID,1078692248
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,25.00
$XPDR_PINGS,6
$24V_AH,21.6,74.513
$10V_AH,9.3,60.261
$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,22.050,345.475,395.475,66.925,0.000,23.189,43.864,214.202,1.500,0.000,49.149,1736.619,23784.912,675.079,3313.562,594.296,33.378,2330.183,0.000,2898.170,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,61.360,1596.127,822.224,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355540
$DATA_FILE_SIZE,36640,1122
$CAP_FILE_SIZE,332625,0
$CFSIZE,260165632,184008704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020311,222925,2206.506,12856.365,39,1.1,39,-3.1