version: 66.07
glider: 500
mission: 5
dive: 422
start: 3 2 111 22 37 32
data:
$ID,500
$MISSION,5
$DIVE,422
$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,-129890.57
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,61
$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
$GPS1,020311,222925,2206.506,12856.365,39,1.1,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.7
$GPS2,020311,223638,2206.556,12856.325,16,1.5,16,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.146,-0.166
$KALMAN_X,-715440.2,-216.2,-472.6,1302642.1,4094.9
$KALMAN_Y,359187.7,157.8,23.8,-254018.7,5272.6
$MHEAD_RNG_PITCHd_Wd,224.5,313930,-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,14954,-0.50,-155.7,828.1,-4.6,545,14958,0.10,2.35,0.00,0.000,6,0.121,0.035,2932,2100,3598,0,0,0,0,0,0
$GC,15279,-0.50,-155.7,841.8,-3.9,553,15284,0.00,2.50,0.00,0.000,4,0.000,0.054,2921,3686,3597,0,0,0,0,0,0
$GC,15430,-0.50,-155.7,846.6,-3.6,556,15435,0.00,2.38,0.00,0.000,6,0.000,0.036,2921,2092,3597,0,0,0,0,0,0
$GC,15775,-0.50,-155.7,853.6,-2.0,565,15779,0.00,2.47,0.00,0.000,4,0.000,0.053,2910,3677,3596,0,0,0,0,0,0
$GC,15875,-0.50,-155.7,855.7,-1.8,567,15879,0.00,2.38,0.00,0.000,6,0.000,0.037,2911,2093,3596,0,0,0,0,0,0
$GC,16224,-0.50,-155.7,865.3,-3.2,576,16229,0.00,2.47,0.00,0.000,4,0.000,0.053,2898,3677,3595,0,0,0,0,0,0
$GC,16258,-0.50,-155.7,866.7,-3.4,576,16262,0.00,2.38,0.00,0.000,6,0.000,0.038,2898,2098,3595,0,0,0,0,0,0
$GC,16590,-0.50,-155.7,879.8,-4.1,585,16594,0.00,2.45,0.00,0.000,4,0.000,0.054,2886,3676,3595,0,0,0,0,0,0
$GC,16628,-0.50,-155.7,881.4,-4.8,586,16633,0.12,2.38,0.00,0.000,6,0.112,0.038,2932,2096,3595,0,0,0,0,0,0
$GC,16954,-0.50,-155.7,892.8,-3.5,594,16958,0.00,2.47,0.00,0.000,4,0.000,0.054,2922,3682,3594,0,0,0,0,0,0
$GC,17128,-0.50,-155.7,899.3,-3.8,598,17132,0.00,2.38,0.00,0.000,6,0.000,0.035,2922,2089,3594,0,0,0,0,0,0
$GC,17453,-0.50,-155.7,912.1,-4.1,606,17458,0.00,2.47,0.00,0.000,4,0.000,0.053,2911,3683,3593,0,0,0,0,0,0
$GC,17577,-0.50,-155.7,917.7,-5.4,608,17582,0.00,2.38,0.00,0.000,6,0.000,0.035,2911,2092,3593,0,0,0,0,0,0
$GC,17909,-0.50,-155.7,932.2,-4.4,617,17913,0.00,2.50,0.00,0.000,4,0.000,0.053,2899,3682,3592,0,0,0,0,0,0
$GC,18003,-0.50,-155.7,936.3,-4.7,619,18007,0.00,2.38,0.00,0.000,6,0.000,0.036,2899,2093,3592,0,0,0,0,0,0
$GC,18319,-0.50,-155.7,948.7,-3.9,627,18323,0.00,2.53,0.00,0.000,4,0.000,0.054,2887,3685,3592,0,0,0,0,0,0
$GC,18409,-0.50,-155.7,952.1,-4.3,629,18414,0.12,2.38,0.00,0.000,6,0.110,0.036,2933,2100,3592,0,0,0,0,0,0
$GC,18729,-0.50,-155.7,962.8,-3.4,637,18733,0.00,2.42,0.00,0.000,4,0.000,0.050,2934,519,3591,0,0,0,0,0,0
$GC,18740,-0.50,-155.7,963.2,-3.5,637,18744,0.00,2.35,0.00,0.000,6,0.000,0.045,2926,2098,3591,0,0,0,0,0,0
$GC,19089,-0.50,-155.7,976.0,-3.9,646,19093,0.00,2.38,0.00,0.000,4,0.000,0.047,2926,521,3591,0,0,0,0,0,0
$GC,19173,-0.50,-155.7,979.8,-4.9,648,19177,0.00,2.38,0.00,0.000,6,0.000,0.043,2917,2108,3590,0,0,0,0,0,0
$STATE,19454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19454,begin apogee
$GC,19461,-0.23,0.0,990.9,4.0,655,19602,0.28,0.00,138.10,1.601,6,0.077,0.000,3026,1886,2995,0,0,0,0,0,0
$STATE,19603,end apogee,CONTROL_FINISHED_OK
$STATE,19603,begin climb
$GC,19606,0.50,155.7,991.6,0.0,658,19768,0.60,2.83,151.62,1.557,4,0.053,0.051,3260,3479,2360,0,0,0,0,0,0
$GC,19937,0.50,155.7,948.1,12.6,665,19941,0.00,2.40,0.00,0.000,6,0.000,0.038,3272,1908,2360,0,0,0,0,0,0
$GC,20267,0.50,155.7,897.7,15.2,673,20271,0.00,2.45,0.00,0.000,4,0.000,0.051,3284,322,2359,0,0,0,0,0,0
$GC,20299,0.50,155.7,892.9,13.5,673,20305,0.10,2.38,0.00,0.000,6,0.141,0.043,3252,1898,2359,0,0,0,0,0,0
$GC,20633,0.50,155.7,852.0,12.3,682,20637,0.00,2.45,0.00,0.000,4,0.000,0.052,3252,3483,2359,0,0,0,0,0,0
$GC,20682,0.50,155.7,845.0,12.5,683,20686,0.00,2.40,0.00,0.000,6,0.000,0.041,3262,1900,2360,0,0,0,0,0,0
$GC,21001,0.50,155.7,801.6,14.3,691,21005,0.00,2.50,0.00,0.000,4,0.000,0.054,3262,3483,2359,0,0,0,0,0,0
$GC,21033,0.50,155.7,796.4,14.5,691,21038,0.00,2.40,0.00,0.000,6,0.000,0.042,3275,1903,2359,0,0,0,0,0,0
$GC,21365,0.50,155.7,746.3,15.2,700,21366,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1903,2358,0,0,0,0,0,0
$GC,21689,0.50,155.7,697.4,14.7,708,21693,0.00,2.42,0.00,0.000,4,0.000,0.052,3287,312,2357,0,0,0,0,0,0
$GC,21743,0.50,155.7,689.4,14.4,709,21748,0.12,2.40,0.00,0.000,6,0.130,0.044,3246,1910,2357,0,0,0,0,0,0
$GC,22058,0.50,155.7,652.6,11.4,717,22062,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3480,2357,0,0,0,0,0,0
$GC,22142,0.50,155.7,642.4,12.8,719,22147,0.00,2.40,0.00,0.000,6,0.000,0.040,3256,1893,2357,0,0,0,0,0,0
$GC,22468,0.50,155.7,607.2,10.8,727,22472,0.00,2.42,0.00,0.000,4,0.000,0.054,3269,325,2357,0,0,0,0,0,0
$GC,22495,0.50,155.7,603.9,11.2,727,22500,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1901,2357,0,0,0,0,0,0
$GC,22833,0.50,155.7,565.3,11.6,736,22837,0.00,2.45,0.00,0.000,4,0.000,0.053,3269,3485,2357,0,0,0,0,0,0
$GC,22988,0.50,155.7,545.0,13.1,739,22993,0.00,2.40,0.00,0.000,6,0.000,0.041,3281,1892,2356,0,0,0,0,0,0
$GC,23331,0.50,155.7,499.9,13.1,748,23336,0.00,2.42,0.00,0.000,4,0.000,0.054,3293,322,2356,0,0,0,0,0,0
$GC,23381,0.50,155.7,493.1,12.6,749,23386,0.12,2.38,0.00,0.000,6,0.130,0.044,3252,1901,2356,0,0,0,0,0,0
$GC,23702,0.50,155.7,459.5,9.9,757,23706,0.00,2.45,0.00,0.000,4,0.000,0.055,3252,3487,2356,0,0,0,0,0,0
$GC,23750,0.50,155.7,453.6,13.6,758,23755,0.00,2.42,0.00,0.000,6,0.000,0.043,3263,1898,2357,0,0,0,0,0,0
$GC,24069,0.50,155.7,422.9,9.4,766,24073,0.00,2.45,0.00,0.000,4,0.000,0.053,3262,3483,2357,0,0,0,0,0,0
$GC,24119,0.50,155.7,417.7,10.9,767,24124,0.00,2.42,0.00,0.000,6,0.000,0.040,3274,1884,2357,0,0,0,0,0,0
$GC,24433,0.50,155.7,388.2,9.5,775,24437,0.00,2.40,0.00,0.000,4,0.000,0.051,3287,318,2357,0,0,0,0,0,0
$GC,24476,0.50,155.7,383.9,8.1,776,24481,0.12,2.38,0.00,0.000,6,0.125,0.043,3245,1908,2357,0,0,0,0,0,0
$GC,24801,0.50,155.7,358.9,7.6,784,24805,0.00,2.42,0.00,0.000,4,0.000,0.051,3244,3486,2358,0,0,0,0,0,0
$GC,24849,0.50,155.7,354.6,10.1,785,24854,0.00,2.40,0.00,0.000,6,0.000,0.038,3255,1905,2359,0,0,0,0,0,0
$GC,25169,0.50,155.7,324.5,10.0,793,25173,0.00,2.45,0.00,0.000,4,0.000,0.049,3268,303,2360,0,0,0,0,0,0
$GC,25218,0.50,155.7,319.2,9.3,794,25222,0.00,2.38,0.00,0.000,6,0.000,0.040,3268,1909,2360,0,0,0,0,0,0
$GC,25540,0.50,155.7,288.9,9.0,804,25544,0.00,2.42,0.00,0.000,4,0.000,0.050,3268,3482,2361,0,0,0,0,0,0
$GC,25590,0.50,155.7,283.5,8.2,806,25594,0.00,2.40,0.00,0.000,6,0.000,0.037,3280,1887,2362,0,0,0,0,0,0
$GC,25904,0.50,155.7,251.9,9.6,821,25909,0.00,2.40,0.00,0.000,4,0.000,0.048,3292,325,2363,0,0,0,0,0,0
$GC,25943,0.50,155.7,248.4,8.5,823,25948,0.12,2.33,0.00,0.000,6,0.121,0.038,3248,1902,2363,0,0,0,0,0,0
$GC,26269,0.51,157.1,227.6,6.0,839,26278,0.00,2.42,4.30,0.621,4,0.000,0.048,3247,3479,2354,0,0,0,0,0,0
$GC,26347,0.51,157.1,222.2,6.4,842,26351,0.00,2.38,0.00,0.000,6,0.000,0.035,3258,1899,2354,0,0,0,0,0,0
$GC,26661,0.51,157.1,201.8,6.3,857,26665,0.00,2.40,0.00,0.000,4,0.000,0.048,3270,316,2356,0,0,0,0,0,0
$GC,26740,0.51,157.1,196.6,8.2,862,26744,0.00,2.33,0.00,0.000,6,0.000,0.038,3270,1902,2357,0,0,0,0,0,0
$GC,27001,0.51,157.1,175.9,8.1,887,27002,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1902,2360,0,0,0,0,0,0
$GC,27255,0.51,157.1,157.7,6.0,911,27259,0.00,2.42,0.00,0.000,4,0.000,0.047,3270,3480,2362,0,0,0,0,0,0
$GC,27389,0.54,181.1,149.7,5.4,923,27419,0.00,2.38,22.83,0.868,6,0.000,0.034,3282,1887,2255,0,0,0,0,0,0
$GC,27674,0.54,181.1,132.4,6.6,950,27678,0.00,2.40,0.00,0.000,4,0.000,0.047,3294,314,2256,0,0,0,0,0,0
$GC,27729,0.54,181.1,127.9,8.1,954,27735,0.10,2.30,0.00,0.000,6,0.123,0.038,3255,1896,2256,0,0,0,0,0,0
$GC,27990,0.57,207.0,111.5,5.3,979,28020,0.00,2.53,22.33,0.840,4,0.000,0.048,3255,3482,2151,0,0,0,0,0,0
$GC,28055,0.57,207.0,107.5,6.5,985,28059,0.00,2.40,0.00,0.000,6,0.000,0.035,3264,1893,2151,0,0,0,0,0,0
$GC,28315,0.57,207.0,89.6,7.1,1009,28319,0.00,2.45,0.00,0.000,4,0.000,0.048,3264,3489,2153,0,0,0,0,0,0
$GC,28383,0.57,207.0,85.0,6.6,1014,28387,0.00,2.38,0.00,0.000,6,0.000,0.036,3274,1902,2153,0,0,0,0,0,0
$GC,28644,0.57,207.0,67.6,6.8,1039,28648,0.00,2.42,0.00,0.000,4,0.000,0.048,3274,3488,2155,0,0,0,0,0,0
$GC,28694,0.57,207.0,64.1,6.3,1043,28698,0.00,2.38,0.00,0.000,6,0.000,0.037,3283,1898,2155,0,0,0,0,0,0
$GC,28955,0.57,207.0,47.3,6.1,1067,28959,0.00,2.42,0.00,0.000,4,0.000,0.048,3283,3479,2158,0,0,0,0,0,0
$GC,29040,0.61,238.3,42.1,5.2,1074,29075,0.00,2.35,27.38,0.792,6,0.000,0.035,3294,1883,2023,0,0,0,0,0,0
$GC,29337,0.61,238.3,24.2,6.7,1102,29341,0.00,2.35,0.00,0.000,4,0.000,0.047,3305,326,2026,0,0,0,0,0,0
$GC,29392,0.61,238.3,19.7,8.1,1107,29397,0.00,2.30,0.00,0.000,6,0.000,0.038,3305,1900,2026,0,0,0,0,0,0
$GC,29590,0.61,238.3,4.1,7.1,1125,29594,0.00,2.40,0.00,0.000,4,0.000,0.046,3305,3481,2027,0,0,0,0,0,0
$STATE,29605,end climb,SURFACE_DEPTH_REACHED
$STATE,29605,begin surface coast
$FINISH,1.7,NaN
$STATE,29615,end surface coast,CONTROL_FINISHED_OK
$STATE,29615,begin surface
$SM_CCo,29634,78.10,0.798,0,0,1364,400.08
$SM_GC,1.27,0.00,0.00,78.10,0.000,0.000,0.798,116,2094,1364,-9.30,-0.17,400.08
$IRIDIUM_FIX,2157.39,12900.67,250812,080805
$TT8_MAMPS,0.028379
$HUMID,1078711603
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.90
$XPDR_PINGS,6
$24V_AH,21.7,74.696
$10V_AH,9.3,60.357
$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,21.600,344.950,366.550,78.100,0.000,29.970,37.678,218.483,1.500,0.000,17.885,1769.700,23698.441,668.188,3393.820,596.339,33.382,2365.731,0.000,3016.650,0.000,0.542,0.000
$DEVICE_MAMPS,215.527,62.127,1600.729,798.447,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355576
$DATA_FILE_SIZE,36685,1127
$CAP_FILE_SIZE,336376,0
$CFSIZE,260165632,183898112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030311,065407,2206.747,12855.540,40,1.0,40,-3.1