version: 66.07
glider: 500
mission: 4
dive: 205
start: 8 4 110 4 24 45
data:
$ID,500
$MISSION,4
$DIVE,205
$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,-112957.35
$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,55
$R_STBD_OVSHOOT,50
$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
$GPS1,040810,041907,2111.093,-15756.613,29,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-66.2
$GPS2,040810,042350,2111.070,-15756.595,15,1.7,15,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.152,0.163
$KALMAN_X,-209264.7,898.6,689.0,423061.3,-9805.4
$KALMAN_Y,167065.5,324.6,314.9,-87931.6,-6090.6
$MHEAD_RNG_PITCHd_Wd,33.3,11169,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.71,-116.8,0.0,0.0,0,64,0.00,0.00,-45.97,0.000,2,0.000,0.000,136,2045,2523,0,0,0,0,0,0
$GC,66,-0.71,-116.8,3.1,-4.1,9,103,10.00,2.35,-19.27,0.000,4,0.229,0.054,2642,3608,3300,0,0,0,0,0,0
$GC,115,-0.71,-116.8,9.5,-12.1,18,121,0.00,2.30,0.00,0.000,6,0.000,0.029,2642,2023,3301,0,0,0,0,0,0
$GC,324,-0.71,-116.8,47.9,-20.5,48,328,0.00,2.28,0.00,0.000,4,0.000,0.041,2642,452,3303,0,0,0,0,0,0
$GC,424,-0.71,-116.8,65.9,-16.0,56,430,0.10,2.25,0.00,0.000,6,0.156,0.031,2659,2037,3303,0,0,0,0,0,0
$GC,684,-0.71,-116.8,99.1,-11.7,81,688,0.00,2.30,0.00,0.000,4,0.000,0.041,2648,3609,3304,0,0,0,0,0,0
$GC,761,-0.71,-116.8,107.6,-9.9,87,767,0.00,2.28,0.00,0.000,6,0.000,0.027,2648,2023,3305,0,0,0,0,0,0
$GC,1022,-0.71,-116.8,134.2,-9.4,112,1026,0.00,2.28,0.00,0.000,4,0.000,0.041,2648,447,3307,0,0,0,0,0,0
$GC,1144,-0.71,-116.8,146.3,-9.9,123,1149,0.00,2.22,0.00,0.000,6,0.000,0.031,2637,2031,3307,0,0,0,0,0,0
$GC,1405,-0.71,-116.8,176.7,-12.2,147,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2032,3308,0,0,0,0,0,0
$GC,1669,-0.71,-116.8,204.8,-10.0,170,1673,0.00,2.28,0.00,0.000,4,0.000,0.041,2637,453,3308,0,0,0,0,0,0
$GC,1717,-0.71,-116.8,209.5,-9.5,172,1722,0.08,2.25,0.00,0.000,6,0.115,0.031,2655,2023,3308,0,0,0,0,0,0
$GC,2038,-0.71,-116.8,236.5,-8.6,188,2042,0.00,2.28,0.00,0.000,4,0.000,0.042,2655,447,3308,0,0,0,0,0,0
$GC,2116,-0.71,-116.8,244.4,-10.9,191,2122,0.00,2.28,0.00,0.000,6,0.000,0.031,2645,2038,3308,0,0,0,0,0,0
$GC,2431,-0.71,-116.8,273.9,-8.7,207,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2038,3308,0,0,0,0,0,0
$GC,2762,-0.71,-116.8,303.8,-8.7,222,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2038,3308,0,0,0,0,0,0
$GC,3086,-0.71,-116.8,326.5,-6.7,230,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2038,3307,0,0,0,0,0,0
$GC,3411,-0.71,-116.8,349.1,-7.0,238,3415,0.00,2.30,0.00,0.000,4,0.000,0.043,2645,458,3306,0,0,0,0,0,0
$GC,3556,-0.71,-116.8,363.1,-9.5,241,3560,0.00,2.22,0.00,0.000,6,0.000,0.031,2634,2038,3305,0,0,0,0,0,0
$GC,3869,-0.71,-116.8,392.6,-9.5,249,3873,0.00,2.30,0.00,0.000,4,0.000,0.043,2622,3604,3303,0,0,0,0,0,0
$GC,3968,-0.71,-116.8,403.3,-10.8,251,3973,0.10,2.28,0.00,0.000,6,0.099,0.028,2662,2032,3303,0,0,0,0,0,0
$GC,4283,-0.71,-116.8,427.7,-7.6,259,4287,0.00,2.30,0.00,0.000,4,0.000,0.044,2662,447,3301,0,0,0,0,0,0
$GC,4366,-0.71,-116.8,434.9,-8.9,261,4371,0.00,2.25,0.00,0.000,6,0.000,0.031,2652,2039,3301,0,0,0,0,0,0
$GC,4691,-0.71,-116.8,457.3,-6.6,269,4695,0.00,2.33,0.00,0.000,4,0.000,0.043,2652,457,3298,0,0,0,0,0,0
$GC,4730,-0.71,-116.8,460.7,-8.8,270,4734,0.00,2.25,0.00,0.000,6,0.000,0.032,2641,2036,3299,0,0,0,0,0,0
$GC,5056,-0.71,-116.8,485.1,-7.6,278,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2036,3297,0,0,0,0,0,0
$GC,5379,-0.71,-116.8,507.8,-7.1,286,5383,0.00,2.30,0.00,0.000,4,0.000,0.043,2641,457,3296,0,0,0,0,0,0
$GC,5485,-0.71,-116.8,516.2,-7.4,288,5490,0.05,2.28,0.00,0.000,6,0.126,0.032,2661,2029,3295,0,0,0,0,0,0
$GC,5835,-0.71,-116.8,538.8,-6.4,297,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2030,3293,0,0,0,0,0,0
$STATE,6115,end dive,NO_VERTICAL_VELOCITY
$STATE,6115,begin apogee
$GC,6119,-0.23,0.0,539.1,0.0,304,6215,0.43,0.00,92.97,0.950,6,0.071,0.000,2826,2030,2821,0,0,0,0,0,0
$STATE,6216,end apogee,CONTROL_FINISHED_OK
$STATE,6216,begin climb
$GC,6218,0.71,116.8,539.0,0.0,306,6322,0.77,0.00,99.93,0.922,6,0.062,0.000,3119,2030,2345,0,0,0,0,0,0
$GC,6625,0.71,116.8,502.4,10.9,316,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2030,2332,0,0,0,0,0,0
$GC,6949,0.71,116.8,469.1,9.9,324,6953,0.00,2.35,0.00,0.000,4,0.000,0.046,3131,451,2328,0,0,0,0,0,0
$GC,7025,0.71,116.8,460.3,11.2,325,7032,0.00,2.30,0.00,0.000,6,0.000,0.033,3131,2023,2328,0,0,0,0,0,0
$GC,7357,0.71,116.8,427.8,9.9,334,7361,0.00,2.35,0.00,0.000,4,0.000,0.044,3131,3621,2326,0,0,0,0,0,0
$GC,7384,0.71,116.8,424.9,10.4,334,7388,0.00,2.35,0.00,0.000,6,0.000,0.033,3143,2027,2325,0,0,0,0,0,0
$GC,7721,0.71,116.8,393.4,9.0,343,7725,0.00,2.33,0.00,0.000,4,0.000,0.046,3155,459,2325,0,0,0,0,0,0
$GC,7753,0.71,116.8,390.0,10.1,343,7760,0.12,2.28,0.00,0.000,6,0.153,0.033,3120,2038,2325,0,0,0,0,0,0
$GC,8085,0.71,116.8,359.0,9.4,352,8089,0.00,2.33,0.00,0.000,4,0.000,0.043,3120,3612,2323,0,0,0,0,0,0
$GC,8219,0.71,116.8,344.8,10.7,355,8223,0.00,2.28,0.00,0.000,6,0.000,0.032,3130,2028,2322,0,0,0,0,0,0
$GC,8537,0.72,121.8,317.6,8.3,363,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2028,2322,0,0,0,0,0,0
$GC,8842,0.73,130.4,294.5,8.1,372,8853,0.00,0.00,8.68,0.721,6,0.000,0.000,3130,2028,2289,0,0,0,0,0,0
$GC,9151,0.76,158.8,270.1,7.1,387,9182,0.00,2.40,25.50,0.769,4,0.000,0.041,3130,3610,2174,0,0,0,0,0,0
$GC,9316,0.76,158.8,255.2,10.1,394,9323,0.00,2.35,0.00,0.000,6,0.000,0.031,3142,2030,2168,0,0,0,0,0,0
$GC,9631,0.76,158.8,222.9,9.6,410,9636,0.00,2.35,0.00,0.000,4,0.000,0.044,3154,450,2166,0,0,0,0,0,0
$GC,9697,0.76,158.8,215.5,11.7,413,9702,0.00,2.30,0.00,0.000,6,0.000,0.031,3154,2029,2166,0,0,0,0,0,0
$GC,10019,0.76,158.8,185.1,9.1,436,10023,0.00,2.35,0.00,0.000,4,0.000,0.044,3166,447,2164,0,0,0,0,0,0
$GC,10073,0.76,158.8,179.9,9.6,440,10080,0.00,2.25,0.00,0.000,6,0.000,0.031,3165,2032,2165,0,0,0,0,0,0
$GC,10334,0.76,158.8,157.0,8.6,465,10338,0.00,2.33,0.00,0.000,4,0.000,0.044,3177,449,2164,0,0,0,0,0,0
$GC,10374,0.76,158.8,153.3,9.9,468,10379,0.15,2.25,0.00,0.000,6,0.138,0.031,3132,2036,2164,0,0,0,0,0,0
$GC,10635,0.80,185.2,132.3,7.2,492,10661,0.00,2.35,21.38,0.634,4,0.000,0.039,3133,3612,2067,0,0,0,0,0,0
$GC,10740,0.80,185.2,122.9,9.7,501,10744,0.00,2.30,0.00,0.000,6,0.000,0.031,3143,2013,2064,0,0,0,0,0,0
$GC,11000,0.80,185.2,97.2,10.0,525,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2013,2063,0,0,0,0,0,0
$GC,11255,0.85,230.9,77.6,6.3,549,11299,0.00,2.38,38.38,0.589,4,0.000,0.044,3155,458,1879,0,0,0,0,0,0
$GC,11412,0.85,230.9,65.2,9.3,563,11418,0.00,2.30,0.00,0.000,6,0.000,0.031,3155,2031,1874,0,0,0,0,0,0
$GC,11673,0.87,244.3,42.0,7.8,588,11693,0.00,2.40,11.52,0.516,4,0.000,0.043,3167,453,1824,0,0,0,0,0,0
$GC,11721,0.87,245.4,38.2,8.5,592,11727,0.00,2.28,0.00,0.000,6,0.000,0.031,3167,2038,1823,0,0,0,0,0,0
$GC,11992,0.87,245.4,9.9,10.3,633,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2038,1822,0,0,0,0,0,0
$STATE,12063,end climb,SURFACE_DEPTH_REACHED
$STATE,12063,begin surface coast
$FINISH,0.9,1.023148
$STATE,12097,end surface coast,CONTROL_FINISHED_OK
$STATE,12097,begin surface
$SM_CCo,12113,67.70,0.074,0,0,1293,375.06
$SM_GC,1.68,0.00,0.00,67.70,0.000,0.000,0.074,139,2039,1293,-8.60,0.23,375.06
$IRIDIUM_FIX,2101.76,-15758.18,270112,181823
$TT8_MAMPS,0.027612
$HUMID,1078551603
$INTERNAL_PRESSURE,9.45227
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.8,25.863
$10V_AH,9.9,31.371
$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,19.475,101.250,298.350,67.700,0.000,23.991,27.839,133.175,0.000,0.000,16.996,1294.473,8981.799,471.125,1545.102,174.151,33.360,1225.511,0.000,1347.158,0.000,0.540,0.000
$DEVICE_MAMPS,228.566,53.690,950.313,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,441.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,23413,652
$CAP_FILE_SIZE,150110,0
$CFSIZE,260165632,237789184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,074901,2112.159,-15756.255,38,1.3,39,9.8