version: 66.07
glider: 500
mission: 4
dive: 207
start: 8 4 110 11 19 21
data:
$ID,500
$MISSION,4
$DIVE,207
$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,-112992.04
$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,52
$R_STBD_OVSHOOT,51
$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
$GPS1,040810,111331,2112.107,-15754.982,36,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.5
$GPS2,040810,111826,2112.111,-15755.008,13,1.1,13,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.149,0.165
$KALMAN_X,-213276.8,752.6,619.8,430054.5,-11209.8
$KALMAN_Y,165813.3,1049.9,806.6,-85977.2,-7015.7
$MHEAD_RNG_PITCHd_Wd,32.4,8345,-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,-116.8,0.0,0.0,0,64,0.00,0.00,-45.80,0.000,2,0.000,0.000,134,2040,2524,0,0,0,0,0,0
$GC,66,-0.71,-116.8,3.1,-4.3,9,103,10.12,2.35,-19.30,0.000,4,0.232,0.056,2646,3612,3301,0,0,0,0,0,0
$GC,164,-0.71,-116.8,18.9,-20.6,27,170,0.00,2.30,0.00,0.000,6,0.000,0.029,2646,2017,3303,0,0,0,0,0,0
$GC,369,-0.71,-116.8,59.9,-18.4,51,373,0.00,2.28,0.00,0.000,4,0.000,0.042,2646,458,3303,0,0,0,0,0,0
$GC,415,-0.71,-116.8,67.2,-16.1,55,419,0.00,2.22,0.00,0.000,6,0.000,0.031,2634,2035,3303,0,0,0,0,0,0
$GC,675,-0.71,-116.8,106.4,-13.7,79,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2036,3304,0,0,0,0,0,0
$GC,930,-0.71,-116.8,139.0,-12.1,103,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2036,3306,0,0,0,0,0,0
$GC,1185,-0.71,-116.8,171.7,-12.6,127,1189,0.00,2.30,0.00,0.000,4,0.000,0.042,2622,3614,3307,0,0,0,0,0,0
$GC,1245,-0.71,-116.8,179.9,-12.7,132,1253,0.10,2.28,0.00,0.000,6,0.104,0.028,2661,2034,3307,0,0,0,0,0,0
$GC,1515,-0.71,-116.8,208.2,-9.7,154,1519,0.00,2.28,0.00,0.000,4,0.000,0.042,2661,447,3308,0,0,0,0,0,0
$GC,1622,-0.71,-116.8,219.6,-10.5,159,1626,0.00,2.25,0.00,0.000,6,0.000,0.031,2651,2037,3308,0,0,0,0,0,0
$GC,1948,-0.71,-116.8,253.8,-9.8,175,1952,0.00,2.28,0.00,0.000,4,0.000,0.041,2640,3614,3308,0,0,0,0,0,0
$GC,2003,-0.71,-116.8,259.5,-10.4,177,2009,0.00,2.22,0.00,0.000,6,0.000,0.028,2639,2026,3308,0,0,0,0,0,0
$GC,2318,-0.71,-116.8,286.8,-7.9,193,2322,0.00,2.28,0.00,0.000,4,0.000,0.041,2639,451,3308,0,0,0,0,0,0
$GC,2518,-0.71,-116.8,305.3,-8.7,201,2523,0.08,2.25,0.00,0.000,6,0.111,0.031,2659,2024,3308,0,0,0,0,0,0
$GC,2862,-0.71,-116.8,329.4,-7.4,210,2866,0.00,2.28,0.00,0.000,4,0.000,0.042,2659,447,3308,0,0,0,0,0,0
$GC,2901,-0.71,-116.8,332.9,-8.9,211,2905,0.00,2.25,0.00,0.000,6,0.000,0.031,2649,2051,3308,0,0,0,0,0,0
$GC,3226,-0.71,-116.8,360.3,-8.5,219,3230,0.00,2.30,0.00,0.000,4,0.000,0.041,2648,452,3307,0,0,0,0,0,0
$GC,3281,-0.71,-116.8,365.6,-9.6,220,3286,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2025,3306,0,0,0,0,0,0
$GC,3594,-0.71,-116.8,389.2,-6.9,228,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2025,3305,0,0,0,0,0,0
$GC,3919,-0.71,-116.8,416.0,-8.8,236,3923,0.00,2.33,0.00,0.000,4,0.000,0.043,2625,3610,3303,0,0,0,0,0,0
$GC,3945,-0.71,-116.8,418.3,-8.9,236,3950,0.08,2.28,0.00,0.000,6,0.104,0.029,2658,2030,3303,0,0,0,0,0,0
$GC,4283,-0.71,-116.8,444.4,-8.0,245,4287,0.00,2.30,0.00,0.000,4,0.000,0.042,2658,451,3301,0,0,0,0,0,0
$GC,4422,-0.71,-116.8,457.1,-9.4,248,4426,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2029,3300,0,0,0,0,0,0
$GC,4736,-0.71,-116.8,481.0,-7.4,256,4740,0.00,2.33,0.00,0.000,4,0.000,0.043,2636,3614,3298,0,0,0,0,0,0
$GC,4762,-0.71,-116.8,483.3,-8.1,256,4767,0.00,2.28,0.00,0.000,6,0.000,0.029,2637,2037,3297,0,0,0,0,0,0
$GC,5099,-0.71,-116.8,508.6,-7.2,265,5103,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,451,3296,0,0,0,0,0,0
$GC,5199,-0.71,-116.8,514.0,0.0,267,5203,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2023,3295,0,0,0,0,0,0
$STATE,5312,end dive,NO_VERTICAL_VELOCITY
$STATE,5312,begin apogee
$GC,5316,-0.23,0.0,513.9,0.0,270,5412,0.50,0.00,93.00,0.918,6,0.077,0.000,2821,2023,2821,0,0,0,0,0,0
$STATE,5413,end apogee,CONTROL_FINISHED_OK
$STATE,5413,begin climb
$GC,5415,0.71,116.8,513.9,0.0,272,5522,0.80,2.50,98.47,0.894,4,0.065,0.042,3121,3611,2344,0,0,0,0,0,0
$GC,5662,0.71,116.8,494.5,11.7,277,5668,0.00,2.33,0.00,0.000,6,0.000,0.032,3133,2023,2334,0,0,0,0,0,0
$GC,5993,0.71,116.8,457.8,11.1,286,5997,0.00,2.35,0.00,0.000,4,0.000,0.042,3133,3615,2329,0,0,0,0,0,0
$GC,6064,0.71,116.8,449.4,11.3,287,6068,0.00,2.33,0.00,0.000,6,0.000,0.032,3145,2036,2328,0,0,0,0,0,0
$GC,6400,0.71,116.8,415.7,10.1,296,6404,0.00,2.33,0.00,0.000,4,0.000,0.045,3158,450,2325,0,0,0,0,0,0
$GC,6489,0.71,116.8,406.5,9.8,298,6494,0.10,2.30,0.00,0.000,6,0.127,0.032,3123,2037,2325,0,0,0,0,0,0
$GC,6814,0.71,118.4,380.8,8.4,306,6818,0.00,2.35,0.00,0.000,4,0.000,0.044,3133,448,2323,0,0,0,0,0,0
$GC,6930,0.71,118.4,371.0,8.6,308,6935,0.00,2.30,0.00,0.000,6,0.000,0.032,3133,2035,2322,0,0,0,0,0,0
$GC,7266,0.71,118.4,340.3,9.1,317,7270,0.00,2.33,0.00,0.000,4,0.000,0.044,3145,450,2321,0,0,0,0,0,0
$GC,7326,0.71,118.4,334.3,9.6,318,7331,0.00,2.30,0.00,0.000,6,0.000,0.032,3145,2039,2321,0,0,0,0,0,0
$GC,7640,0.71,118.4,304.6,9.2,326,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2039,2320,0,0,0,0,0,0
$GC,7949,0.73,129.4,277.0,8.0,339,7963,0.00,2.40,6.97,0.661,4,0.000,0.043,3157,451,2294,0,0,0,0,0,0
$GC,8042,0.75,144.2,270.3,7.8,343,8061,0.00,2.25,14.18,0.730,6,0.000,0.031,3157,2033,2234,0,0,0,0,0,0
$GC,8388,0.75,144.2,236.7,10.4,360,8392,0.00,2.35,0.00,0.000,4,0.000,0.044,3169,448,2230,0,0,0,0,0,0
$GC,8555,0.75,144.2,219.8,9.1,367,8562,0.10,2.30,0.00,0.000,6,0.122,0.031,3134,2040,2229,0,0,0,0,0,0
$GC,8873,0.75,144.2,192.3,9.1,387,8877,0.00,2.35,0.00,0.000,4,0.000,0.044,3144,451,2229,0,0,0,0,0,0
$GC,8938,0.75,144.2,185.6,10.1,392,8945,0.00,2.28,0.00,0.000,6,0.000,0.031,3145,2025,2229,0,0,0,0,0,0
$GC,9200,0.78,169.6,164.2,7.3,417,9224,0.00,0.00,22.25,0.660,6,0.000,0.000,3144,2025,2130,0,0,0,0,0,0
$GC,9475,0.79,177.2,142.2,8.1,443,9489,0.00,2.40,7.12,0.556,4,0.000,0.044,3156,449,2099,0,0,0,0,0,0
$GC,9542,0.79,177.2,136.3,8.8,449,9546,0.00,2.30,0.00,0.000,6,0.000,0.031,3156,2044,2098,0,0,0,0,0,0
$GC,9803,0.79,177.2,112.7,9.8,473,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2045,2096,0,0,0,0,0,0
$GC,10058,0.80,189.6,87.7,7.9,497,10078,0.00,2.42,11.68,0.558,4,0.000,0.044,3168,444,2047,0,0,0,0,0,0
$GC,10207,0.81,194.1,74.2,8.3,510,10217,0.00,2.25,5.05,0.446,6,0.000,0.031,3168,2038,2030,0,0,0,0,0,0
$GC,10479,0.92,286.3,55.6,4.0,536,10562,0.00,2.38,74.25,0.564,4,0.000,0.041,3168,3609,1653,0,0,0,0,0,0
$GC,10641,0.92,286.3,42.2,11.9,551,10645,0.00,2.33,0.00,0.000,6,0.000,0.031,3179,2020,1647,0,0,0,0,0,0
$GC,10911,0.92,286.3,9.5,12.6,589,10916,0.00,2.30,0.00,0.000,4,0.000,0.043,3192,456,1643,0,0,0,0,0,0
$STATE,10965,end climb,SURFACE_DEPTH_REACHED
$STATE,10966,begin surface coast
$FINISH,1.1,1.023099
$STATE,10988,end surface coast,CONTROL_FINISHED_OK
$STATE,10989,begin surface
$SM_CCo,11007,47.45,0.406,1,0,1292,375.06
$SM_GC,1.68,0.00,0.00,47.45,0.000,0.000,0.406,125,2035,1292,-8.64,0.11,375.06
$IRIDIUM_FIX,2101.76,-15758.18,280112,020209
$TT8_MAMPS,0.027612
$HUMID,1078563216
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.9,26.035
$10V_AH,9.9,31.469
$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,19.625,110.675,332.975,47.450,0.000,24.241,35.048,140.315,0.000,0.000,15.622,1226.244,7923.547,470.142,1578.408,161.304,33.358,1239.454,0.000,1355.422,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,55.991,918.099,405.743,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,406.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334956
$DATA_FILE_SIZE,20134,603
$CAP_FILE_SIZE,145644,0
$CFSIZE,260165632,237682688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040810,142455,2113.158,-15754.172,37,1.2,38,9.8