version: 66.07
glider: 500
mission: 5
dive: 427
start: 3 4 111 17 7 30
data:
$ID,500
$MISSION,5
$DIVE,427
$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,-130062.68
$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,41
$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
$GPS1,040311,165927,2204.465,12855.865,29,2.1,48,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.7
$GPS2,040311,170637,2204.523,12855.842,41,1.1,41,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.212,-0.061
$KALMAN_X,-700412.0,-124.2,389.5,1285808.8,3441.5
$KALMAN_Y,388719.0,-684.4,-666.9,-285758.6,8475.8
$MHEAD_RNG_PITCHd_Wd,257.1,312150,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,14914,-0.50,-155.7,841.1,-4.0,536,14918,0.00,2.38,0.00,0.000,6,0.000,0.044,2914,2097,3595,0,0,0,0,0,0
$GC,15227,-0.50,-155.7,854.5,-4.4,544,15231,0.00,2.42,0.00,0.000,4,0.000,0.048,2914,500,3595,0,0,0,0,0,0
$GC,15347,-0.50,-155.7,859.6,-3.9,546,15351,0.00,2.38,0.00,0.000,6,0.000,0.042,2904,2096,3594,0,0,0,0,0,0
$GC,15678,-0.50,-155.7,872.9,-4.0,554,15682,0.00,2.40,0.00,0.000,4,0.000,0.047,2903,504,3594,0,0,0,0,0,0
$GC,15763,-0.50,-155.7,876.1,-4.0,556,15768,0.12,2.40,0.00,0.000,6,0.117,0.044,2938,2103,3594,0,0,0,0,0,0
$GC,16086,-0.50,-155.7,886.8,-3.1,564,16090,0.00,2.42,0.00,0.000,4,0.000,0.047,2939,505,3593,0,0,0,0,0,0
$GC,16159,-0.50,-155.7,889.3,-4.0,565,16164,0.00,2.38,0.00,0.000,6,0.000,0.044,2931,2084,3593,0,0,0,0,0,0
$GC,16490,-0.50,-155.7,901.1,-3.9,573,16494,0.00,2.42,0.00,0.000,4,0.000,0.048,2931,505,3592,0,0,0,0,0,0
$GC,16663,-0.50,-155.7,908.8,-4.4,577,16667,0.00,2.42,0.00,0.000,6,0.000,0.046,2921,2096,3592,0,0,0,0,0,0
$GC,16989,-0.50,-155.7,924.0,-4.9,585,16993,0.00,2.45,0.00,0.000,4,0.000,0.048,2921,505,3591,0,0,0,0,0,0
$GC,17128,-0.50,-155.7,931.1,-4.7,588,17132,0.00,2.38,0.00,0.000,6,0.000,0.044,2912,2092,3591,0,0,0,0,0,0
$GC,17443,-0.50,-155.7,946.2,-4.9,596,17447,0.00,2.42,0.00,0.000,4,0.000,0.048,2912,501,3591,0,0,0,0,0,0
$GC,17562,-0.50,-155.7,952.0,-4.7,598,17566,0.00,2.38,0.00,0.000,6,0.000,0.044,2902,2087,3590,0,0,0,0,0,0
$GC,17900,-0.50,-155.7,968.0,-4.9,607,17904,0.00,2.38,0.00,0.000,4,0.000,0.048,2902,506,3589,0,0,0,0,0,0
$GC,17977,-0.50,-155.7,972.0,-5.0,608,17983,0.12,2.42,0.00,0.000,6,0.117,0.045,2936,2102,3589,0,0,0,0,0,0
$GC,18312,-0.50,-155.7,987.4,-4.8,617,18317,0.00,2.42,0.00,0.000,4,0.000,0.047,2936,501,3589,0,0,0,0,0,0
$STATE,18360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18360,begin apogee
$GC,18367,-0.23,0.0,990.0,4.4,618,18508,0.22,0.00,138.30,1.621,6,0.081,0.000,3028,1942,2995,0,0,0,0,0,0
$STATE,18509,end apogee,CONTROL_FINISHED_OK
$STATE,18509,begin climb
$GC,18513,0.50,155.7,992.1,0.0,621,18675,0.60,2.75,152.57,1.591,4,0.053,0.054,3259,3521,2360,0,0,0,0,0,0
$GC,18820,0.50,155.7,954.5,13.6,628,18824,0.00,2.47,0.00,0.000,6,0.000,0.040,3271,1928,2358,0,0,0,0,0,0
$GC,19139,0.50,155.7,908.7,14.7,636,19144,0.00,2.42,0.00,0.000,4,0.000,0.054,3284,352,2358,0,0,0,0,0,0
$GC,19183,0.50,155.7,901.9,15.0,637,19188,0.10,2.40,0.00,0.000,6,0.140,0.047,3252,1942,2358,0,0,0,0,0,0
$GC,19508,0.50,155.7,859.4,13.1,645,19512,0.00,2.45,0.00,0.000,4,0.000,0.053,3251,3536,2357,0,0,0,0,0,0
$GC,19547,0.50,155.7,853.7,13.4,646,19552,0.00,2.42,0.00,0.000,6,0.000,0.042,3262,1948,2357,0,0,0,0,0,0
$GC,19872,0.50,155.7,809.0,13.7,654,19876,0.00,2.47,0.00,0.000,4,0.000,0.053,3275,348,2358,0,0,0,0,0,0
$GC,19928,0.50,155.7,801.5,15.1,655,19932,0.00,2.40,0.00,0.000,6,0.000,0.045,3275,1943,2358,0,0,0,0,0,0
$GC,20240,0.50,155.7,760.2,13.0,663,20244,0.00,2.45,0.00,0.000,4,0.000,0.056,3275,3533,2357,0,0,0,0,0,0
$GC,20318,0.50,155.7,749.5,14.7,664,20323,0.12,2.45,0.00,0.000,6,0.140,0.044,3248,1929,2357,0,0,0,0,0,0
$GC,20651,0.50,155.7,715.6,10.0,673,20655,0.00,2.40,0.00,0.000,4,0.000,0.052,3259,349,2357,0,0,0,0,0,0
$GC,20705,0.50,155.7,709.7,10.1,674,20710,0.00,2.40,0.00,0.000,6,0.000,0.045,3259,1959,2357,0,0,0,0,0,0
$GC,21019,0.50,155.7,675.3,11.1,682,21023,0.00,2.40,0.00,0.000,4,0.000,0.054,3259,3521,2357,0,0,0,0,0,0
$GC,21052,0.50,155.7,671.2,12.4,682,21057,0.00,2.42,0.00,0.000,6,0.000,0.041,3271,1948,2357,0,0,0,0,0,0
$GC,21384,0.50,155.7,631.9,11.7,691,21388,0.00,2.45,0.00,0.000,4,0.000,0.053,3283,351,2357,0,0,0,0,0,0
$GC,21478,0.50,155.7,620.6,11.9,693,21482,0.10,2.38,0.00,0.000,6,0.137,0.045,3250,1941,2357,0,0,0,0,0,0
$GC,21798,0.50,155.7,587.6,10.4,701,21802,0.00,2.42,0.00,0.000,4,0.000,0.054,3250,3528,2358,0,0,0,0,0,0
$GC,21841,0.50,155.7,582.1,12.9,702,21845,0.00,2.42,0.00,0.000,6,0.000,0.041,3261,1931,2357,0,0,0,0,0,0
$GC,22167,0.50,155.7,544.0,11.6,710,22172,0.00,2.40,0.00,0.000,4,0.000,0.054,3273,362,2357,0,0,0,0,0,0
$GC,22211,0.50,155.7,538.8,10.8,711,22216,0.00,2.38,0.00,0.000,6,0.000,0.045,3273,1938,2358,0,0,0,0,0,0
$GC,22536,0.50,155.7,502.0,11.3,719,22541,0.00,2.47,0.00,0.000,4,0.000,0.053,3273,3539,2357,0,0,0,0,0,0
$GC,22610,0.50,155.7,493.2,12.6,720,22615,0.12,2.45,0.00,0.000,6,0.131,0.041,3245,1931,2358,0,0,0,0,0,0
$GC,22941,0.50,155.7,464.1,8.5,728,22946,0.00,2.45,0.00,0.000,4,0.000,0.053,3256,352,2358,0,0,0,0,0,0
$GC,23043,0.50,155.7,454.8,8.9,730,23047,0.00,2.40,0.00,0.000,6,0.000,0.044,3256,1946,2359,0,0,0,0,0,0
$GC,23390,0.50,155.7,421.2,9.7,739,23392,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1946,2359,0,0,0,0,0,0
$GC,23716,0.50,155.7,390.1,9.5,747,23720,0.00,2.47,0.00,0.000,4,0.000,0.052,3256,3529,2361,0,0,0,0,0,0
$GC,23736,0.50,155.7,387.8,9.8,747,23741,0.00,2.42,0.00,0.000,6,0.000,0.041,3269,1945,2361,0,0,0,0,0,0
$GC,24078,0.50,155.7,358.0,8.5,756,24082,0.00,2.45,0.00,0.000,4,0.000,0.051,3281,349,2362,0,0,0,0,0,0
$GC,24180,0.50,155.7,348.4,10.2,758,24184,0.00,2.38,0.00,0.000,6,0.000,0.041,3281,1952,2362,0,0,0,0,0,0
$GC,24527,0.50,155.7,312.6,10.4,767,24532,0.00,2.45,0.00,0.000,4,0.000,0.051,3281,3524,2364,0,0,0,0,0,0
$GC,24584,0.50,155.7,306.1,13.0,768,24589,0.12,2.42,0.00,0.000,6,0.126,0.038,3252,1926,2364,0,0,0,0,0,0
$GC,24915,0.50,155.7,279.4,7.4,782,24919,0.00,2.40,0.00,0.000,4,0.000,0.050,3262,350,2365,0,0,0,0,0,0
$GC,24948,0.50,155.7,276.8,7.4,783,24953,0.00,2.40,0.00,0.000,6,0.000,0.041,3263,1940,2365,0,0,0,0,0,0
$GC,25264,0.50,155.7,252.8,7.7,799,25268,0.00,2.47,0.00,0.000,4,0.000,0.051,3262,3534,2368,0,0,0,0,0,0
$GC,25296,0.50,155.7,250.0,8.7,800,25301,0.00,2.42,0.00,0.000,6,0.000,0.039,3274,1937,2368,0,0,0,0,0,0
$GC,25611,0.50,155.7,225.9,7.2,816,25620,0.00,2.50,3.95,0.601,4,0.000,0.051,3287,356,2360,0,0,0,0,0,0
$GC,25694,0.50,155.7,219.9,7.8,819,25699,0.12,2.38,0.00,0.000,6,0.114,0.041,3240,1958,2361,0,0,0,0,0,0
$GC,26010,0.52,166.6,203.1,5.7,835,26029,0.00,2.47,11.68,0.879,4,0.000,0.049,3240,3525,2315,0,0,0,0,0,0
$GC,26108,0.52,166.6,196.9,6.3,841,26112,0.00,2.40,0.00,0.000,6,0.000,0.035,3251,1927,2317,0,0,0,0,0,0
$GC,26368,0.57,206.8,183.2,4.9,865,26408,0.00,2.45,34.62,0.941,4,0.000,0.049,3262,355,2151,0,0,0,0,0,0
$GC,26447,0.57,206.8,179.0,6.7,872,26452,0.00,2.38,0.00,0.000,6,0.000,0.040,3262,1936,2150,0,0,0,0,0,0
$GC,26709,0.59,223.4,165.0,5.6,897,26728,0.00,0.00,15.40,0.884,6,0.000,0.000,3262,1936,2083,0,0,0,0,0,0
$GC,26985,0.59,223.4,148.6,6.6,923,26986,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1936,2084,0,0,0,0,0,0
$GC,27240,0.59,223.4,131.5,6.3,947,27244,0.00,2.45,0.00,0.000,4,0.000,0.049,3262,3532,2086,0,0,0,0,0,0
$GC,27278,0.59,223.4,128.7,7.5,950,27282,0.00,2.40,0.00,0.000,6,0.000,0.038,3273,1935,2086,0,0,0,0,0,0
$GC,27538,0.59,227.3,111.6,5.9,974,27550,0.00,2.42,6.22,0.696,4,0.000,0.048,3284,356,2067,0,0,0,0,0,0
$GC,27609,0.59,227.3,107.5,6.6,980,27614,0.00,2.35,0.00,0.000,6,0.000,0.041,3285,1941,2067,0,0,0,0,0,0
$GC,27870,0.61,242.2,91.1,5.6,1005,27888,0.00,0.00,13.88,0.812,6,0.000,0.000,3285,1941,2007,0,0,0,0,0,0
$GC,28144,0.62,247.3,73.3,5.9,1031,28158,0.00,2.50,6.88,0.696,4,0.000,0.047,3285,3535,1986,0,0,0,0,0,0
$GC,28187,0.62,247.3,70.4,7.1,1035,28192,0.00,2.40,0.00,0.000,6,0.000,0.037,3296,1938,1986,0,0,0,0,0,0
$GC,28449,0.62,247.3,52.3,7.5,1059,28453,0.00,2.42,0.00,0.000,4,0.000,0.051,3307,350,1989,0,0,0,0,0,0
$GC,28509,0.62,247.3,46.9,9.0,1064,28513,0.00,2.35,0.00,0.000,6,0.000,0.044,3307,1940,1990,0,0,0,0,0,0
$GC,28775,0.62,247.3,23.1,10.8,1089,28779,0.00,2.42,0.00,0.000,4,0.000,0.049,3307,3526,1992,0,0,0,0,0,0
$GC,28808,0.62,247.3,20.3,8.3,1091,28813,0.00,2.40,0.00,0.000,6,0.000,0.038,3319,1945,1992,0,0,0,0,0,0
$STATE,28992,end climb,SURFACE_DEPTH_REACHED
$STATE,28992,begin surface coast
$FINISH,0.7,NaN
$STATE,29024,end surface coast,CONTROL_FINISHED_OK
$STATE,29024,begin surface
$SM_CCo,29043,74.53,0.831,0,0,1364,400.08
$SM_GC,1.01,0.00,0.00,74.53,0.000,0.000,0.831,106,2109,1364,-9.33,0.51,400.08
$IRIDIUM_FIX,2157.39,12857.39,270812,020239
$TT8_MAMPS,0.029146
$HUMID,1078720635
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,157
$24V_AH,21.6,75.650
$10V_AH,9.1,60.833
$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,21.300,337.700,383.500,74.525,0.000,22.764,35.880,197.197,39.250,0.000,42.988,1726.868,23250.049,676.060,3300.293,573.093,33.378,2326.012,0.000,2922.925,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,74.399,1621.438,830.661,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355520
$DATA_FILE_SIZE,36668,1112
$CAP_FILE_SIZE,329251,0
$CFSIZE,260165632,183373824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050311,011406,2205.261,12854.818,36,1.1,36,-3.1