version: 66.07
glider: 500
mission: 4
dive: 206
start: 8 4 110 7 55 2
data:
$ID,500
$MISSION,4
$DIVE,206
$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,-112975.78
$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,56
$R_STBD_OVSHOOT,49
$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
$GPS1,040810,074901,2112.159,-15756.255,38,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-69.5
$GPS2,040810,075407,2112.152,-15756.271,10,1.2,15,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,-0.014
$KALMAN_X,-210898.8,874.3,240.5,425741.2,-9449.9
$KALMAN_Y,165420.9,829.0,219.4,-84687.2,-7046.8
$MHEAD_RNG_PITCHd_Wd,83.8,9140,-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,14,begin dive
$GC,16,-0.71,-116.7,0.0,0.0,0,64,0.00,0.00,-45.78,0.000,2,0.000,0.000,138,2040,2524,0,0,0,0,0,0
$GC,66,-0.71,-116.8,3.1,-3.9,9,103,9.98,2.38,-19.02,0.000,4,0.227,0.055,2641,3615,3301,0,0,0,0,0,0
$GC,115,-0.71,-116.8,10.1,-13.7,18,121,0.00,2.30,0.00,0.000,6,0.000,0.028,2641,2022,3302,0,0,0,0,0,0
$GC,322,-0.71,-116.8,50.6,-19.4,46,327,0.00,2.28,0.00,0.000,4,0.000,0.041,2642,448,3304,0,0,0,0,0,0
$GC,352,-0.71,-116.8,56.2,-20.5,48,357,0.10,2.25,0.00,0.000,6,0.160,0.031,2658,2039,3304,0,0,0,0,0,0
$GC,612,-0.71,-116.8,94.3,-12.1,72,616,0.00,2.30,0.00,0.000,4,0.000,0.041,2658,449,3305,0,0,0,0,0,0
$GC,733,-0.71,-116.8,110.7,-12.7,82,740,0.00,2.25,0.00,0.000,6,0.000,0.030,2647,2021,3305,0,0,0,0,0,0
$GC,995,-0.71,-116.8,142.6,-11.6,107,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2021,3307,0,0,0,0,0,0
$GC,1250,-0.71,-116.8,170.5,-11.1,131,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2021,3308,0,0,0,0,0,0
$GC,1504,-0.71,-116.8,196.3,-9.9,155,1508,0.00,2.30,0.00,0.000,4,0.000,0.043,2647,446,3308,0,0,0,0,0,0
$GC,1570,-0.71,-116.8,203.5,-11.3,159,1575,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2041,3308,0,0,0,0,0,0
$GC,1897,-0.71,-116.8,236.2,-10.5,175,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2041,3309,0,0,0,0,0,0
$GC,2208,-0.71,-116.8,269.8,-11.0,190,2212,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,450,3309,0,0,0,0,0,0
$GC,2301,-0.71,-116.8,280.2,-10.6,194,2306,0.12,2.22,0.00,0.000,6,0.138,0.032,2663,2035,3309,0,0,0,0,0,0
$GC,2643,-0.71,-116.8,306.3,-7.4,209,2647,0.00,2.30,0.00,0.000,4,0.000,0.042,2652,3610,3309,0,0,0,0,0,0
$GC,2703,-0.71,-116.8,311.1,-7.9,210,2707,0.00,2.22,0.00,0.000,6,0.000,0.028,2652,2024,3309,0,0,0,0,0,0
$GC,3051,-0.71,-116.8,337.2,-7.5,219,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2024,3309,0,0,0,0,0,0
$GC,3377,-0.71,-116.8,362.9,-8.1,227,3381,0.00,2.30,0.00,0.000,4,0.000,0.043,2653,448,3307,0,0,0,0,0,0
$GC,3454,-0.71,-116.8,370.6,-9.7,228,3460,0.00,2.28,0.00,0.000,6,0.000,0.031,2641,2033,3307,0,0,0,0,0,0
$GC,3785,-0.71,-116.8,399.0,-7.4,237,3789,0.00,2.33,0.00,0.000,4,0.000,0.042,2641,447,3305,0,0,0,0,0,0
$GC,3807,-0.71,-116.8,400.7,-7.9,237,3812,0.10,2.25,0.00,0.000,6,0.150,0.031,2660,2047,3305,0,0,0,0,0,0
$GC,4144,-0.71,-116.8,420.6,-5.8,246,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2048,3303,0,0,0,0,0,0
$GC,4468,-0.71,-116.8,439.4,-6.1,254,4472,0.00,2.35,0.00,0.000,4,0.000,0.043,2660,448,3301,0,0,0,0,0,0
$GC,4519,-0.71,-116.8,443.0,-7.0,255,4523,0.00,2.25,0.00,0.000,6,0.000,0.031,2650,2042,3301,0,0,0,0,0,0
$GC,4838,-0.71,-116.8,465.1,-7.2,263,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2043,3299,0,0,0,0,0,0
$GC,5161,-0.71,-116.8,487.1,-6.7,271,5166,0.00,2.35,0.00,0.000,4,0.000,0.044,2650,451,3297,0,0,0,0,0,0
$GC,5261,-0.71,-116.8,494.8,-7.3,273,5266,0.00,2.28,0.00,0.000,6,0.000,0.032,2639,2060,3297,0,0,0,0,0,0
$GC,5575,-0.71,-116.8,516.5,-7.4,281,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2060,3295,0,0,0,0,0,0
$GC,5899,-0.71,-116.8,521.7,0.0,289,5903,0.00,2.42,0.00,0.000,4,0.000,0.049,2640,451,3293,0,0,0,0,0,0
$STATE,5936,end dive,NO_VERTICAL_VELOCITY
$STATE,5936,begin apogee
$GC,5943,-0.23,0.0,521.8,0.0,289,6039,0.47,0.00,93.12,0.936,6,0.081,0.000,2816,2034,2821,0,0,0,0,0,0
$STATE,6040,end apogee,CONTROL_FINISHED_OK
$STATE,6041,begin climb
$GC,6042,0.71,116.8,521.7,0.0,292,6152,0.85,2.47,99.40,0.909,4,0.070,0.046,3136,462,2344,0,0,0,0,0,0
$GC,6179,0.73,132.6,518.2,7.7,295,6200,0.00,2.38,13.98,0.825,6,0.000,0.032,3137,2027,2280,0,0,0,0,0,0
$GC,6524,0.73,132.6,479.1,11.2,304,6528,0.00,2.38,0.00,0.000,4,0.000,0.042,3136,3619,2271,0,0,0,0,0,0
$GC,6573,0.73,132.6,472.8,13.2,305,6577,0.00,2.30,0.00,0.000,6,0.000,0.032,3148,2029,2269,0,0,0,0,0,0
$GC,6891,0.73,132.6,433.0,12.3,313,6895,0.00,2.33,0.00,0.000,4,0.000,0.045,3160,461,2266,0,0,0,0,0,0
$GC,6951,0.73,132.6,425.6,12.1,314,6956,0.12,2.30,0.00,0.000,6,0.153,0.033,3125,2050,2266,0,0,0,0,0,0
$GC,7299,0.73,132.6,388.1,11.1,323,7303,0.00,2.30,0.00,0.000,4,0.000,0.042,3125,3611,2264,0,0,0,0,0,0
$GC,7330,0.73,132.6,384.1,12.0,323,7337,0.00,2.33,0.00,0.000,6,0.000,0.032,3135,2029,2263,0,0,0,0,0,0
$GC,7662,0.73,132.6,351.2,9.4,332,7666,0.00,2.33,0.00,0.000,4,0.000,0.045,3147,458,2263,0,0,0,0,0,0
$GC,7751,0.73,132.6,342.9,8.9,334,7755,0.00,2.30,0.00,0.000,6,0.000,0.032,3147,2039,2263,0,0,0,0,0,0
$GC,8076,0.73,132.6,313.1,9.4,342,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2039,2261,0,0,0,0,0,0
$GC,8382,0.73,132.6,283.0,9.0,353,8386,0.00,2.30,0.00,0.000,4,0.000,0.042,3147,3615,2259,0,0,0,0,0,0
$GC,8425,0.73,132.6,279.0,9.6,355,8430,0.12,2.30,0.00,0.000,6,0.163,0.032,3124,2022,2259,0,0,0,0,0,0
$GC,8751,0.76,156.1,256.3,7.3,371,8775,0.00,2.38,17.23,0.736,4,0.000,0.045,3135,463,2185,0,0,0,0,0,0
$GC,8849,0.76,156.1,247.6,9.7,375,8853,0.00,2.25,0.00,0.000,6,0.000,0.032,3135,2031,2183,0,0,0,0,0,0
$GC,9164,0.76,156.1,219.0,9.2,390,9168,0.00,2.33,0.00,0.000,4,0.000,0.041,3135,3608,2182,0,0,0,0,0,0
$GC,9236,0.76,156.1,211.9,10.3,393,9240,0.00,2.30,0.00,0.000,6,0.000,0.031,3146,2033,2181,0,0,0,0,0,0
$GC,9563,0.76,156.1,182.7,8.7,418,9567,0.00,2.30,0.00,0.000,4,0.000,0.044,3159,455,2181,0,0,0,0,0,0
$GC,9685,0.76,156.1,171.2,9.9,428,9691,0.00,2.28,0.00,0.000,6,0.000,0.031,3159,2027,2181,0,0,0,0,0,0
$GC,9946,0.76,156.1,145.2,9.6,453,9950,0.00,2.35,0.00,0.000,4,0.000,0.041,3159,3613,2181,0,0,0,0,0,0
$GC,10012,0.76,156.1,138.9,9.7,458,10018,0.12,2.28,0.00,0.000,6,0.159,0.031,3135,2029,2182,0,0,0,0,0,0
$GC,10273,0.79,181.8,120.2,7.2,483,10304,0.00,2.42,22.40,0.611,4,0.000,0.041,3135,3621,2079,0,0,0,0,0,0
$GC,10395,0.79,181.8,110.2,9.6,494,10399,0.00,2.30,0.00,0.000,6,0.000,0.031,3145,2033,2077,0,0,0,0,0,0
$GC,10656,0.80,185.9,86.8,8.3,518,10667,0.00,2.33,4.25,0.415,4,0.000,0.044,3157,448,2063,0,0,0,0,0,0
$GC,10872,0.84,218.6,73.9,6.9,537,10907,0.00,2.28,28.42,0.568,6,0.000,0.031,3157,2046,1930,0,0,0,0,0,0
$GC,11168,0.85,229.2,52.0,8.0,565,11183,0.00,2.38,9.50,0.499,4,0.000,0.044,3169,448,1886,0,0,0,0,0,0
$GC,11227,0.85,229.2,46.8,8.9,570,11234,0.00,2.30,0.00,0.000,6,0.000,0.030,3169,2037,1885,0,0,0,0,0,0
$GC,11493,0.87,243.4,23.2,7.8,601,11508,0.00,0.00,12.90,0.494,6,0.000,0.000,3169,2038,1829,0,0,0,0,0,0
$GC,11711,0.87,243.4,3.2,10.7,640,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2038,1825,0,0,0,0,0,0
$STATE,11720,end climb,SURFACE_DEPTH_REACHED
$STATE,11720,begin surface coast
$FINISH,0.9,1.023093
$STATE,11749,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11765,69.47,0.074,0,0,1292,375.06
$SM_GC,1.99,0.00,0.00,69.47,0.000,0.000,0.074,134,2039,1292,-8.61,0.23,375.06
$IRIDIUM_FIX,2104.07,-15758.18,270112,222214
$TT8_MAMPS,0.027612
$HUMID,1078488377
$INTERNAL_PRESSURE,9.48157
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.8,25.946
$10V_AH,9.9,31.421
$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,19.675,110.925,301.200,69.475,0.000,27.677,27.959,153.010,0.000,0.000,17.799,1291.037,8648.337,475.145,1553.978,177.743,33.356,1234.597,0.000,1336.710,0.000,0.540,0.000
$DEVICE_MAMPS,227.032,55.224,935.740,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,436.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334984
$DATA_FILE_SIZE,23404,647
$CAP_FILE_SIZE,151979,0
$CFSIZE,260165632,237727744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,111331,2112.107,-15754.982,36,1.0,37,9.8