version: 66.07
glider: 500
mission: 5
dive: 439
start: 3 8 111 22 9 50
data:
$ID,500
$MISSION,5
$DIVE,439
$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,-130329.26
$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,33
$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
$GPS1,080311,220207,2156.706,12851.765,30,0.9,30,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.1
$GPS2,080311,220856,2156.688,12851.854,14,1.9,14,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.175,-0.135
$KALMAN_X,-641010.6,-87.2,506.9,1219369.2,5259.4
$KALMAN_Y,420108.5,-652.4,-4.7,-332365.8,4329.9
$MHEAD_RNG_PITCHd_Wd,235.6,302064,-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,7341,-0.50,-155.7,509.7,-6.4,338,7347,0.12,2.35,0.00,0.000,6,0.113,0.035,2931,2082,3624,0,0,0,0,0,0
$GC,7673,-0.50,-155.7,523.1,-3.8,347,7677,0.00,2.35,0.00,0.000,4,0.000,0.044,2932,501,3622,0,0,0,0,0,0
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$GC,15118,-0.50,-155.7,846.2,-4.7,527,15123,0.00,2.35,0.00,0.000,6,0.000,0.042,2904,2097,3594,0,0,0,0,0,0
$GC,15445,-0.50,-155.7,862.2,-5.0,535,15449,0.00,2.38,0.00,0.000,4,0.000,0.045,2904,516,3593,0,0,0,0,0,0
$GC,15505,-0.50,-155.7,865.4,-4.7,536,15510,0.12,2.35,0.00,0.000,6,0.117,0.042,2937,2090,3593,0,0,0,0,0,0
$GC,15849,-0.50,-155.7,881.0,-4.6,545,15854,0.00,2.38,0.00,0.000,4,0.000,0.047,2938,517,3592,0,0,0,0,0,0
$GC,16085,-0.50,-155.7,891.5,-3.7,550,16089,0.00,2.35,0.00,0.000,6,0.000,0.042,2938,2093,3592,0,0,0,0,0,0
$GC,16434,-0.50,-155.7,905.1,-3.9,559,16439,0.00,2.38,0.00,0.000,4,0.000,0.046,2937,517,3591,0,0,0,0,0,0
$GC,16603,-0.50,-155.7,911.6,-3.8,562,16608,0.00,2.35,0.00,0.000,6,0.000,0.042,2933,2090,3591,0,0,0,0,0,0
$GC,16934,-0.50,-155.7,922.8,-3.5,571,16938,0.00,2.38,0.00,0.000,4,0.000,0.047,2933,517,3590,0,0,0,0,0,0
$GC,17084,-0.50,-155.7,928.2,-3.6,574,17088,0.00,2.35,0.00,0.000,6,0.000,0.042,2928,2090,3590,0,0,0,0,0,0
$GC,17427,-0.50,-155.7,941.0,-4.0,583,17431,0.00,2.40,0.00,0.000,4,0.000,0.047,2928,515,3589,0,0,0,0,0,0
$GC,17548,-0.50,-155.7,946.2,-3.9,585,17552,0.00,2.38,0.00,0.000,6,0.000,0.043,2919,2098,3589,0,0,0,0,0,0
$GC,17885,-0.50,-155.7,962.9,-5.2,594,17889,0.00,2.40,0.00,0.000,4,0.000,0.045,2919,508,3588,0,0,0,0,0,0
$GC,18004,-0.50,-155.7,969.2,-4.8,596,18008,0.00,2.38,0.00,0.000,6,0.000,0.044,2909,2083,3588,0,0,0,0,0,0
$GC,18341,-0.50,-155.7,986.4,-5.1,605,18344,0.00,2.38,0.00,0.000,4,0.000,0.044,2909,517,3588,0,0,0,0,0,0
$STATE,18411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18411,begin apogee
$GC,18420,-0.23,0.0,990.1,4.6,606,18560,0.30,0.00,137.73,1.637,6,0.087,0.000,3017,1946,2995,0,0,0,0,0,0
$STATE,18561,end apogee,CONTROL_FINISHED_OK
$STATE,18561,begin climb
$GC,18564,0.50,155.7,990.8,0.0,610,18726,0.62,2.78,151.75,1.619,4,0.055,0.051,3266,369,2360,0,0,0,0,0,0
$GC,18761,0.50,155.7,969.4,13.5,614,18765,0.00,2.53,0.00,0.000,6,0.000,0.042,3266,1937,2360,0,0,0,0,0,0
$GC,19092,0.50,155.7,922.4,14.2,622,19097,0.00,2.42,0.00,0.000,4,0.000,0.052,3267,3535,2360,0,0,0,0,0,0
$GC,19147,0.50,155.7,913.7,14.8,623,19152,0.00,2.40,0.00,0.000,6,0.000,0.041,3279,1948,2360,0,0,0,0,0,0
$GC,19461,0.50,155.7,866.8,15.3,631,19465,0.00,2.42,0.00,0.000,4,0.000,0.051,3291,361,2359,0,0,0,0,0,0
$GC,19534,0.50,155.7,855.3,15.8,632,19539,0.12,2.38,0.00,0.000,6,0.132,0.043,3250,1944,2360,0,0,0,0,0,0
$GC,19867,0.50,155.7,812.2,12.6,640,19871,0.00,2.40,0.00,0.000,4,0.000,0.052,3249,3528,2359,0,0,0,0,0,0
$GC,19933,0.50,155.7,802.8,13.2,641,19937,0.00,2.40,0.00,0.000,6,0.000,0.041,3260,1929,2359,0,0,0,0,0,0
$GC,20282,0.50,155.7,758.0,12.7,650,20283,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1929,2359,0,0,0,0,0,0
$GC,20607,0.50,155.7,715.7,13.1,658,20611,0.00,2.38,0.00,0.000,4,0.000,0.050,3273,355,2359,0,0,0,0,0,0
$GC,20628,0.50,155.7,712.7,12.6,658,20632,0.00,2.38,0.00,0.000,6,0.000,0.043,3273,1941,2360,0,0,0,0,0,0
$GC,20971,0.50,155.7,669.4,12.3,667,20975,0.00,2.42,0.00,0.000,4,0.000,0.053,3273,3525,2359,0,0,0,0,0,0
$GC,21048,0.50,155.7,658.8,12.6,668,21053,0.12,2.40,0.00,0.000,6,0.137,0.041,3245,1930,2360,0,0,0,0,0,0
$GC,21380,0.50,155.7,627.7,9.1,677,21384,0.00,2.38,0.00,0.000,4,0.000,0.051,3256,364,2359,0,0,0,0,0,0
$GC,21436,0.50,155.7,622.2,8.7,678,21440,0.00,2.38,0.00,0.000,6,0.000,0.044,3257,1944,2359,0,0,0,0,0,0
$GC,21784,0.50,155.7,587.2,10.1,687,21785,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1944,2359,0,0,0,0,0,0
$GC,22109,0.50,155.7,551.4,11.5,695,22113,0.00,2.42,0.00,0.000,4,0.000,0.051,3256,3535,2360,0,0,0,0,0,0
$GC,22147,0.50,155.7,546.6,11.8,696,22151,0.00,2.40,0.00,0.000,6,0.000,0.041,3268,1944,2361,0,0,0,0,0,0
$GC,22473,0.50,155.7,509.8,11.3,704,22477,0.00,2.45,0.00,0.000,4,0.000,0.051,3281,360,2361,0,0,0,0,0,0
$GC,22527,0.50,155.7,503.2,10.6,705,22531,0.00,2.35,0.00,0.000,6,0.000,0.042,3281,1941,2361,0,0,0,0,0,0
$GC,22840,0.50,155.7,464.2,12.5,713,22844,0.00,2.45,0.00,0.000,4,0.000,0.051,3281,3533,2362,0,0,0,0,0,0
$GC,22912,0.50,155.7,454.7,12.7,714,22917,0.12,2.42,0.00,0.000,6,0.131,0.041,3252,1943,2362,0,0,0,0,0,0
$GC,23244,0.50,155.7,424.1,8.8,722,23248,0.00,2.42,0.00,0.000,4,0.000,0.051,3264,356,2363,0,0,0,0,0,0
$GC,23322,0.50,155.7,417.6,6.9,723,23327,0.00,2.40,0.00,0.000,6,0.000,0.041,3264,1951,2363,0,0,0,0,0,0
$GC,23652,0.50,155.7,389.1,8.4,732,23656,0.00,2.45,0.00,0.000,4,0.000,0.052,3264,3533,2365,0,0,0,0,0,0
$GC,23737,0.50,155.7,381.2,8.7,734,23741,0.00,2.42,0.00,0.000,6,0.000,0.040,3276,1938,2365,0,0,0,0,0,0
$GC,24061,0.50,155.7,349.6,9.9,742,24065,0.00,2.40,0.00,0.000,4,0.000,0.051,3288,360,2367,0,0,0,0,0,0
$GC,24110,0.50,155.7,344.5,8.3,743,24114,0.12,2.35,0.00,0.000,6,0.122,0.041,3245,1950,2367,0,0,0,0,0,0
$GC,24430,0.50,155.7,321.1,7.0,751,24439,0.00,2.47,3.97,0.660,4,0.000,0.051,3245,3521,2360,0,0,0,0,0,0
$GC,24467,0.50,155.7,318.1,6.6,751,24472,0.00,2.40,0.00,0.000,6,0.000,0.038,3255,1940,2360,0,0,0,0,0,0
$GC,24779,0.50,155.7,295.5,7.3,760,24783,0.00,2.40,0.00,0.000,4,0.000,0.049,3268,360,2362,0,0,0,0,0,0
$GC,24823,0.50,155.7,291.5,8.8,762,24827,0.00,2.35,0.00,0.000,6,0.000,0.040,3268,1945,2362,0,0,0,0,0,0
$GC,25149,0.50,155.7,265.9,7.4,778,25150,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1946,2363,0,0,0,0,0,0
$GC,25458,0.50,155.7,242.2,7.3,793,25463,0.00,2.42,0.00,0.000,4,0.000,0.045,3280,354,2365,0,0,0,0,0,0
$GC,25492,0.50,155.7,239.8,6.4,794,25497,0.00,2.35,0.00,0.000,6,0.000,0.039,3280,1944,2365,0,0,0,0,0,0
$GC,25807,0.50,155.7,215.4,7.5,810,25811,0.00,2.42,0.00,0.000,4,0.000,0.048,3280,3529,2366,0,0,0,0,0,0
$GC,25863,0.50,155.7,210.5,8.3,812,25868,0.12,2.38,0.00,0.000,6,0.120,0.037,3247,1945,2366,0,0,0,0,0,0
$GC,26182,0.55,192.0,191.7,5.0,834,26222,0.00,2.50,32.70,0.957,4,0.000,0.048,3258,355,2212,0,0,0,0,0,0
$GC,26256,0.59,228.8,187.9,5.0,841,26293,0.00,2.38,31.23,0.965,6,0.000,0.038,3258,1945,2062,0,0,0,0,0,0
$GC,26548,0.61,238.2,172.2,5.8,868,26563,0.00,2.42,9.98,0.851,4,0.000,0.048,3258,3533,2023,0,0,0,0,0,0
$GC,26635,0.61,238.2,166.3,7.1,875,26640,0.00,2.42,0.00,0.000,6,0.000,0.037,3258,1924,2024,0,0,0,0,0,0
$GC,26896,0.61,238.2,147.5,7.6,900,26897,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1923,2026,0,0,0,0,0,0
$GC,27151,0.61,241.3,130.7,5.9,924,27161,0.00,2.38,5.35,0.679,4,0.000,0.046,3258,348,2010,0,0,0,0,0,0
$GC,27257,0.61,241.3,124.2,6.6,933,27262,0.00,2.35,0.00,0.000,6,0.000,0.038,3258,1944,2011,0,0,0,0,0,0
$GC,27519,0.61,241.3,104.8,7.5,958,27523,0.00,2.35,0.00,0.000,4,0.000,0.044,3258,358,2013,0,0,0,0,0,0
$GC,27641,0.61,241.3,94.3,7.5,968,27646,0.00,2.33,0.00,0.000,6,0.000,0.044,3258,1952,2014,0,0,0,0,0,0
$GC,27901,0.61,241.3,74.2,7.2,993,27906,0.00,2.38,0.00,0.000,4,0.000,0.045,3258,355,2016,0,0,0,0,0,0
$GC,28091,0.61,241.3,57.9,9.6,1009,28096,0.00,2.35,0.00,0.000,6,0.000,0.038,3258,1947,2017,0,0,0,0,0,0
$GC,28352,0.61,241.3,35.3,7.3,1034,28355,0.00,2.38,0.00,0.000,4,0.000,0.045,3258,355,2018,0,0,0,0,0,0
$GC,28402,0.61,241.3,31.3,8.6,1038,28407,0.00,2.35,0.00,0.000,6,0.000,0.042,3258,1945,2018,0,0,0,0,0,0
$GC,28663,0.61,241.3,9.0,7.3,1063,28672,0.00,2.45,3.85,0.469,4,0.000,0.044,3258,353,2011,0,0,0,0,0,0
$STATE,28749,end climb,SURFACE_DEPTH_REACHED
$STATE,28749,begin surface coast
$FINISH,2.1,NaN
$STATE,28760,end surface coast,CONTROL_FINISHED_OK
$STATE,28761,begin surface
$SM_CCo,28780,77.22,0.849,0,0,1363,400.08
$SM_GC,1.02,0.00,0.00,77.22,0.000,0.000,0.849,133,2095,1363,-9.24,0.14,400.08
$IRIDIUM_FIX,2150.42,12854.47,310812,070756
$TT8_MAMPS,0.029913
$HUMID,1078739990
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.40
$XPDR_PINGS,965
$24V_AH,21.7,78.294
$10V_AH,8.0,61.968
$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,20.975,319.075,376.550,77.225,0.000,27.247,35.211,197.262,241.250,0.000,16.262,1648.814,23200.969,658.993,3171.003,565.561,33.383,2253.992,0.000,2821.831,0.000,0.542,0.000
$DEVICE_MAMPS,213.993,52.923,1636.778,849.069,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,355556
$DATA_FILE_SIZE,36682,1072
$CAP_FILE_SIZE,315175,0
$CFSIZE,260165632,182128640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090311,061207,2156.621,12850.766,39,1.3,39,-3.1