version: 66.07
glider: 500
mission: 4
dive: 204
start: 8 4 110 0 39 9
data:
$ID,500
$MISSION,4
$DIVE,204
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$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,388
$T_MISSION,450
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,375
$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,-112939.73
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$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,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$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,-65.916748
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$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
$GPS1,040810,003307,2110.027,-15757.584,32,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-65.4
$GPS2,040810,003814,2110.015,-15757.605,12,1.0,12,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.158,0.156
$KALMAN_X,-209250.0,1186.7,865.7,420820.9,-12985.9
$KALMAN_Y,167807.9,190.9,597.7,-90774.7,-7765.6
$MHEAD_RNG_PITCHd_Wd,35.6,13719,-17.0,-8.505
$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
$GC,16,-0.71,-116.8,0.0,0.0,0,65,0.00,0.00,-46.55,0.000,2,0.000,0.000,139,2029,2553,0,0,0,0,0,0
$GC,67,-0.71,-116.8,3.2,-5.1,9,104,10.02,2.40,-18.98,0.000,4,0.229,0.053,2641,3629,3301,0,0,0,0,0,0
$GC,166,-0.71,-116.8,17.9,-19.9,27,172,0.00,2.28,0.00,0.000,6,0.000,0.028,2641,2024,3303,0,0,0,0,0,0
$GC,371,-0.71,-116.8,58.2,-19.1,52,375,0.00,2.25,0.00,0.000,4,0.000,0.041,2641,459,3303,0,0,0,0,0,0
$GC,399,-0.71,-116.8,63.7,-19.9,54,404,0.10,2.25,0.00,0.000,6,0.163,0.031,2657,2049,3303,0,0,0,0,0,0
$GC,664,-0.71,-116.8,103.3,-13.7,79,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2049,3304,0,0,0,0,0,0
$GC,919,-0.71,-116.8,131.3,-9.6,103,923,0.00,2.30,0.00,0.000,4,0.000,0.041,2657,455,3306,0,0,0,0,0,0
$GC,1003,-0.71,-116.8,141.5,-13.1,110,1007,0.00,2.22,0.00,0.000,6,0.000,0.031,2647,2025,3306,0,0,0,0,0,0
$GC,1264,-0.71,-116.8,171.9,-10.4,134,1268,0.00,2.25,0.00,0.000,4,0.000,0.042,2647,459,3308,0,0,0,0,0,0
$GC,1313,-0.71,-116.8,177.2,-11.0,138,1318,0.00,2.22,0.00,0.000,6,0.000,0.032,2635,2033,3308,0,0,0,0,0,0
$GC,1583,-0.71,-116.8,204.5,-9.3,161,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2033,3308,0,0,0,0,0,0
$GC,1893,-0.71,-116.8,232.8,-8.8,176,1897,0.00,2.28,0.00,0.000,4,0.000,0.041,2623,3610,3309,0,0,0,0,0,0
$GC,1932,-0.71,-116.8,236.5,-9.7,178,1937,0.12,2.22,0.00,0.000,6,0.130,0.028,2663,2022,3309,0,0,0,0,0,0
$GC,2257,-0.71,-116.8,263.1,-8.6,194,2261,0.00,2.25,0.00,0.000,4,0.000,0.042,2663,452,3309,0,0,0,0,0,0
$GC,2441,-0.71,-116.8,280.4,-8.6,202,2446,0.00,2.25,0.00,0.000,6,0.000,0.031,2653,2031,3310,0,0,0,0,0,0
$GC,2783,-0.71,-116.8,303.7,-6.0,218,2787,0.00,2.30,0.00,0.000,4,0.000,0.042,2641,3618,3309,0,0,0,0,0,0
$GC,2860,-0.71,-116.8,309.0,-6.6,219,2866,0.00,2.28,0.00,0.000,6,0.000,0.028,2641,2038,3309,0,0,0,0,0,0
$GC,3191,-0.71,-116.8,335.8,-8.5,228,3195,0.00,2.30,0.00,0.000,4,0.000,0.042,2641,443,3308,0,0,0,0,0,0
$GC,3218,-0.71,-116.8,338.3,-8.7,228,3223,0.08,2.28,0.00,0.000,6,0.111,0.031,2660,2027,3307,0,0,0,0,0,0
$GC,3556,-0.71,-116.8,360.9,-6.7,237,3560,0.00,2.30,0.00,0.000,4,0.000,0.041,2661,450,3306,0,0,0,0,0,0
$GC,3734,-0.71,-116.8,374.1,-7.5,241,3738,0.00,2.28,0.00,0.000,6,0.000,0.031,2650,2038,3305,0,0,0,0,0,0
$GC,4060,-0.71,-116.8,399.3,-8.2,249,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2039,3304,0,0,0,0,0,0
$GC,4383,-0.71,-116.8,425.2,-7.7,257,4387,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,3615,3302,0,0,0,0,0,0
$GC,4478,-0.71,-116.8,432.8,-7.9,259,4482,0.00,2.25,0.00,0.000,6,0.000,0.029,2638,2019,3301,0,0,0,0,0,0
$GC,4792,-0.71,-116.8,457.4,-7.7,267,4796,0.00,2.28,0.00,0.000,4,0.000,0.044,2638,448,3299,0,0,0,0,0,0
$GC,4923,-0.71,-116.8,467.8,-7.8,270,4927,0.12,2.28,0.00,0.000,6,0.139,0.031,2666,2043,3297,0,0,0,0,0,0
$GC,5247,-0.71,-116.8,487.6,-6.3,278,5251,0.00,2.30,0.00,0.000,4,0.000,0.043,2666,458,3296,0,0,0,0,0,0
$GC,5313,-0.71,-116.8,492.7,-7.5,279,5317,0.00,2.25,0.00,0.000,6,0.000,0.032,2657,2041,3296,0,0,0,0,0,0
$GC,5655,-0.71,-116.8,518.7,-6.8,288,5659,0.00,2.35,0.00,0.000,4,0.000,0.044,2656,451,3294,0,0,0,0,0,0
$GC,5692,-0.71,-116.8,522.6,-9.8,288,5699,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2033,3294,0,0,0,0,0,0
$GC,6024,-0.71,-116.8,550.5,-7.8,297,6028,0.00,2.33,0.00,0.000,4,0.000,0.043,2646,454,3292,0,0,0,0,0,0
$GC,6068,-0.71,-116.8,554.2,-8.2,298,6072,0.00,2.28,0.00,0.000,6,0.000,0.032,2634,2029,3292,0,0,0,0,0,0
$GC,6394,-0.71,-116.8,579.7,-7.8,306,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2030,3289,0,0,0,0,0,0
$GC,6717,-0.71,-116.8,589.7,0.1,314,6722,0.00,2.33,0.00,0.000,4,0.000,0.044,2634,3609,3288,0,0,0,0,0,0
$STATE,6793,end dive,NO_VERTICAL_VELOCITY
$STATE,6793,begin apogee
$GC,6801,-0.23,0.0,589.6,0.0,315,6897,0.47,0.00,93.10,0.993,6,0.074,0.000,2816,2033,2822,0,0,0,0,0,0
$STATE,6898,end apogee,CONTROL_FINISHED_OK
$STATE,6898,begin climb
$GC,6900,0.71,116.8,589.6,0.0,318,7011,0.82,2.55,100.82,0.963,4,0.067,0.046,3133,455,2344,0,0,0,0,0,0
$GC,7263,0.71,116.8,555.8,11.5,326,7267,0.00,2.33,0.00,0.000,6,0.000,0.033,3133,2024,2332,0,0,0,0,0,0
$GC,7576,0.71,116.8,520.1,11.6,334,7580,0.00,2.35,0.00,0.000,4,0.000,0.045,3145,455,2328,0,0,0,0,0,0
$GC,7608,0.71,116.8,515.8,13.8,334,7615,0.00,2.33,0.00,0.000,6,0.000,0.033,3145,2040,2328,0,0,0,0,0,0
$GC,7940,0.71,116.8,477.3,11.4,343,7944,0.00,2.33,0.00,0.000,4,0.000,0.044,3145,3618,2325,0,0,0,0,0,0
$GC,7983,0.71,116.8,471.5,13.0,344,7988,0.10,2.35,0.00,0.000,6,0.133,0.033,3122,2028,2324,0,0,0,0,0,0
$GC,8308,0.71,116.8,439.1,9.8,352,8312,0.00,2.33,0.00,0.000,4,0.000,0.046,3133,462,2323,0,0,0,0,0,0
$GC,8396,0.71,116.8,430.6,10.1,354,8400,0.00,2.28,0.00,0.000,6,0.000,0.033,3133,2026,2323,0,0,0,0,0,0
$GC,8720,0.71,116.8,395.6,11.0,362,8724,0.00,2.33,0.00,0.000,4,0.000,0.043,3133,3614,2321,0,0,0,0,0,0
$GC,8895,0.71,116.8,375.7,11.7,366,8899,0.00,2.28,0.00,0.000,6,0.000,0.032,3144,2029,2320,0,0,0,0,0,0
$GC,9219,0.71,116.8,341.1,10.4,374,9223,0.00,2.30,0.00,0.000,4,0.000,0.044,3156,458,2320,0,0,0,0,0,0
$GC,9402,0.71,116.8,322.2,10.6,378,9408,0.10,2.30,0.00,0.000,6,0.127,0.033,3122,2042,2319,0,0,0,0,0,0
$GC,9723,0.74,139.3,296.1,7.4,387,9745,0.00,2.33,15.70,0.776,4,0.000,0.041,3122,3610,2252,0,0,0,0,0,0
$GC,9823,0.74,139.3,286.6,9.8,391,9827,0.00,2.30,0.00,0.000,6,0.000,0.032,3132,2024,2250,0,0,0,0,0,0
$GC,10138,0.74,139.3,256.5,9.7,406,10142,0.00,2.38,0.00,0.000,4,0.000,0.042,3132,3614,2249,0,0,0,0,0,0
$GC,10299,0.76,154.6,241.0,7.8,413,10319,0.00,2.33,13.73,0.723,6,0.000,0.031,3144,2031,2191,0,0,0,0,0,0
$GC,10641,0.76,154.6,209.7,10.0,430,10645,0.00,2.35,0.00,0.000,4,0.000,0.044,3156,452,2187,0,0,0,0,0,0
$GC,10837,0.76,154.6,189.4,10.4,443,10841,0.00,2.28,0.00,0.000,6,0.000,0.031,3156,2036,2187,0,0,0,0,0,0
$GC,11097,0.77,163.0,166.7,8.1,467,11108,0.00,0.00,7.95,0.609,6,0.000,0.000,3156,2036,2157,0,0,0,0,0,0
$GC,11362,0.77,163.0,142.8,8.7,492,11366,0.00,2.33,0.00,0.000,4,0.000,0.042,3156,3608,2155,0,0,0,0,0,0
$GC,11424,0.77,165.9,137.4,8.4,497,11435,0.00,2.28,4.07,0.455,6,0.000,0.031,3168,2027,2144,0,0,0,0,0,0
$GC,11689,0.77,165.9,114.2,9.0,522,11693,0.00,2.28,0.00,0.000,4,0.000,0.043,3180,460,2144,0,0,0,0,0,0
$GC,11845,0.77,165.9,98.9,9.1,535,11852,0.10,2.28,0.00,0.000,6,0.119,0.031,3143,2039,2144,0,0,0,0,0,0
$GC,12107,0.83,216.2,82.3,6.0,560,12151,0.00,0.00,42.55,0.596,6,0.000,0.000,3143,2039,1940,0,0,0,0,0,0
$GC,12403,0.83,216.2,55.5,9.0,588,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2039,1932,0,0,0,0,0,0
$GC,12656,0.86,237.7,36.7,7.4,612,12681,0.00,2.40,17.67,0.529,4,0.000,0.043,3154,459,1851,0,0,0,0,0,0
$GC,12748,0.86,237.7,28.1,9.9,622,12754,0.00,2.25,0.00,0.000,6,0.000,0.031,3153,2043,1848,0,0,0,0,0,0
$GC,12956,0.86,237.7,8.5,10.1,659,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2043,1847,0,0,0,0,0,0
$STATE,13010,end climb,SURFACE_DEPTH_REACHED
$STATE,13010,begin surface coast
$FINISH,1.1,1.023056
$STATE,13039,end surface coast,CONTROL_FINISHED_OK
$STATE,13039,begin surface
$SM_CCo,13054,71.47,0.448,1,0,1292,375.06
$SM_GC,1.52,0.00,0.00,71.47,0.000,0.000,0.448,138,2044,1292,-8.60,0.37,375.06
$IRIDIUM_FIX,2059.45,-15758.18,270112,151538
$TT8_MAMPS,0.027612
$HUMID,1078556764
$INTERNAL_PRESSURE,9.45227
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,23.7,25.780
$10V_AH,9.8,31.322
$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,19.725,124.200,295.600,71.475,0.000,25.336,29.116,144.247,2.750,0.000,14.722,1406.922,9511.855,482.073,1845.953,187.536,33.372,1370.068,0.000,1618.908,0.000,0.541,0.000
$DEVICE_MAMPS,229.333,52.923,993.265,447.928,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,456.638,0.000,0.000,0.000,0.000,0.000,0.000,341.506,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334976
$DATA_FILE_SIZE,23448,674
$CAP_FILE_SIZE,167520,0
$CFSIZE,260165632,237838336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040810,041907,2111.093,-15756.613,29,1.3,30,9.8