version: 66.07
glider: 500
mission: 4
dive: 209
start: 8 4 110 17 53 54
data:
$ID,500
$MISSION,4
$DIVE,209
$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,-113054.91
$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,2
$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
$GPS1,040810,174746,2114.137,-15753.235,11,7.1,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.1
$GPS2,040810,175300,2114.137,-15753.218,32,1.1,43,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.156,0.159
$KALMAN_X,-215025.6,990.7,540.2,434742.1,-10413.6
$KALMAN_Y,164727.0,335.9,171.6,-79775.5,-5658.2
$MHEAD_RNG_PITCHd_Wd,34.7,4306,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-116.8,0.0,0.0,0,71,0.00,0.00,-44.72,0.000,2,0.000,0.000,128,2042,2486,0,0,0,0,0,0
$GC,74,-0.71,-116.8,3.0,-4.0,9,111,10.12,2.33,-20.90,0.000,4,0.232,0.051,2644,3607,3300,0,0,0,0,0,0
$GC,150,-0.71,-116.8,12.6,-14.4,23,156,0.00,2.28,0.00,0.000,6,0.000,0.028,2644,2012,3301,0,0,0,0,0,0
$GC,358,-0.71,-116.8,50.1,-19.0,51,362,0.00,2.28,0.00,0.000,4,0.000,0.042,2644,447,3303,0,0,0,0,0,0
$GC,475,-0.71,-116.8,72.7,-16.1,61,479,0.00,2.28,0.00,0.000,6,0.000,0.032,2633,2039,3303,0,0,0,0,0,0
$GC,735,-0.71,-116.8,112.5,-13.7,85,739,0.00,2.30,0.00,0.000,4,0.000,0.041,2633,452,3304,0,0,0,0,0,0
$GC,796,-0.71,-116.8,121.7,-16.9,90,801,0.12,2.22,0.00,0.000,6,0.147,0.031,2658,2040,3304,0,0,0,0,0,0
$GC,1057,-0.71,-116.8,149.4,-9.4,114,1061,0.00,2.33,0.00,0.000,4,0.000,0.041,2648,3611,3306,0,0,0,0,0,0
$GC,1088,-0.71,-116.8,152.8,-10.0,116,1095,0.00,2.28,0.00,0.000,6,0.000,0.028,2648,2029,3305,0,0,0,0,0,0
$GC,1350,-0.71,-116.8,182.4,-10.1,141,1354,0.00,2.30,0.00,0.000,4,0.000,0.042,2648,444,3308,0,0,0,0,0,0
$GC,1400,-0.71,-116.8,188.0,-10.5,145,1404,0.00,2.25,0.00,0.000,6,0.000,0.031,2636,2038,3311,0,0,0,0,0,0
$GC,1656,-0.71,-116.8,217.0,-11.3,162,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2038,3308,0,0,0,0,0,0
$GC,1965,-0.71,-116.8,248.8,-10.7,177,1969,0.00,2.33,0.00,0.000,4,0.000,0.042,2624,3610,3307,0,0,0,0,0,0
$GC,2008,-0.71,-116.8,253.9,-11.6,179,2014,0.08,2.28,0.00,0.000,6,0.101,0.029,2657,2034,3309,0,0,0,0,0,0
$GC,2336,-0.71,-116.8,282.7,-7.9,195,2340,0.00,2.28,0.00,0.000,4,0.000,0.042,2657,451,3311,0,0,0,0,0,0
$GC,2397,-0.71,-116.8,288.6,-9.4,198,2401,0.00,2.22,0.00,0.000,6,0.000,0.031,2647,2027,3310,0,0,0,0,0,0
$GC,2725,-0.71,-116.8,319.5,-9.1,209,2729,0.00,2.30,0.00,0.000,4,0.000,0.042,2647,440,3309,0,0,0,0,0,0
$GC,2780,-0.71,-116.8,325.6,-10.7,210,2784,0.00,2.28,0.00,0.000,6,0.000,0.031,2636,2033,3309,0,0,0,0,0,0
$GC,3093,-0.71,-116.8,354.8,-8.7,218,3097,0.00,2.30,0.00,0.000,4,0.000,0.041,2635,441,3308,0,0,0,0,0,0
$GC,3125,-0.71,-116.8,357.8,-9.6,218,3131,0.12,2.28,0.00,0.000,6,0.137,0.031,2663,2029,3308,0,0,0,0,0,0
$GC,3456,-0.71,-116.8,379.9,-6.4,227,3460,0.00,2.30,0.00,0.000,4,0.000,0.042,2652,3613,3307,0,0,0,0,0,0
$GC,3544,-0.71,-116.8,386.1,-6.5,229,3548,0.00,2.28,0.00,0.000,6,0.000,0.028,2653,2010,3306,0,0,0,0,0,0
$GC,3869,-0.71,-116.8,408.7,-7.1,237,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2009,3305,0,0,0,0,0,0
$GC,4193,-0.71,-116.8,435.2,-8.3,245,4197,0.00,2.28,0.00,0.000,4,0.000,0.044,2653,453,3303,0,0,0,0,0,0
$GC,4357,-0.71,-116.8,450.2,-8.5,248,4361,0.00,2.25,0.00,0.000,6,0.000,0.032,2641,2052,3302,0,0,0,0,0,0
$GC,4692,-0.71,-116.8,474.7,-7.2,257,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2052,3300,0,0,0,0,0,0
$GC,5017,-0.71,-116.8,492.8,-3.8,265,5021,0.00,2.35,0.00,0.000,4,0.000,0.044,2641,449,3299,0,0,0,0,0,0
$STATE,5150,end dive,NO_VERTICAL_VELOCITY
$STATE,5150,begin apogee
$GC,5157,-0.23,0.0,492.8,0.0,268,5253,0.45,0.00,93.22,0.905,6,0.074,0.000,2815,2027,2821,0,0,0,0,0,0
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5273,0.71,116.8,492.7,0.0,270,5379,0.80,2.50,98.20,0.882,4,0.062,0.043,3121,3618,2346,0,0,0,0,0,0
$GC,5492,0.71,116.8,474.6,10.7,275,5496,0.00,2.35,0.00,0.000,6,0.000,0.032,3133,2023,2336,0,0,0,0,0,0
$GC,5810,0.71,116.8,444.5,9.1,283,5814,0.00,2.33,0.00,0.000,4,0.000,0.046,3145,454,2332,0,0,0,0,0,0
$GC,5864,0.71,116.8,439.2,10.0,284,5869,0.00,2.33,0.00,0.000,6,0.000,0.033,3145,2039,2332,0,0,0,0,0,0
$GC,6177,0.71,116.8,407.8,10.3,292,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2040,2330,0,0,0,0,0,0
$GC,6503,0.71,116.8,374.3,10.6,300,6507,0.00,2.30,0.00,0.000,4,0.000,0.043,3145,3612,2330,0,0,0,0,0,0
$GC,6587,0.71,116.8,364.9,10.6,302,6592,0.12,2.30,0.00,0.000,6,0.162,0.032,3122,2024,2330,0,0,0,0,0,0
$GC,6910,0.71,116.8,335.5,8.8,310,6914,0.00,2.33,0.00,0.000,4,0.000,0.044,3133,456,2329,0,0,0,0,0,0
$GC,6949,0.71,116.8,332.4,8.7,311,6953,0.00,2.28,0.00,0.000,6,0.000,0.032,3133,2044,2328,0,0,0,0,0,0
$GC,7271,0.71,116.8,304.5,8.8,319,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2041,2328,0,0,0,0,0,0
$GC,7580,0.72,126.8,277.2,8.0,332,7591,0.00,2.33,6.53,0.650,4,0.000,0.041,3133,3608,2305,0,0,0,0,0,0
$GC,7719,0.72,126.8,264.1,9.3,338,7724,0.00,2.30,0.00,0.000,6,0.000,0.031,3144,2035,2303,0,0,0,0,0,0
$GC,8040,0.75,151.8,240.3,7.3,354,8070,0.00,2.42,22.38,0.732,4,0.000,0.044,3156,451,2203,0,0,0,0,0,0
$GC,8083,0.79,177.7,237.4,7.2,356,8112,0.00,2.28,23.12,0.714,6,0.000,0.031,3157,2032,2095,0,0,0,0,0,0
$GC,8433,0.79,177.7,202.7,10.5,373,8437,0.00,2.33,0.00,0.000,4,0.000,0.042,3156,3611,2086,0,0,0,0,0,0
$GC,8494,0.79,177.7,195.7,11.5,377,8498,0.00,2.30,0.00,0.000,6,0.000,0.032,3168,2022,2085,0,0,0,0,0,0
$GC,8760,0.79,177.7,170.3,9.7,402,8764,0.00,2.30,0.00,0.000,4,0.000,0.044,3180,462,2082,0,0,0,0,0,0
$GC,8810,0.79,177.7,164.9,10.7,406,8815,0.12,2.28,0.00,0.000,6,0.146,0.032,3144,2044,2083,0,0,0,0,0,0
$GC,9071,0.79,177.7,139.4,9.5,430,9075,0.00,2.28,0.00,0.000,4,0.000,0.042,3144,3607,2085,0,0,0,0,0,0
$GC,9165,0.79,177.7,130.2,9.1,438,9169,0.00,2.28,0.00,0.000,6,0.000,0.031,3154,2027,2083,0,0,0,0,0,0
$GC,9427,0.79,177.7,108.1,8.6,462,9431,0.00,2.28,0.00,0.000,4,0.000,0.044,3166,460,2082,0,0,0,0,0,0
$GC,9560,0.80,186.8,96.3,8.1,473,9571,0.00,2.28,6.22,0.495,6,0.000,0.031,3166,2040,2062,0,0,0,0,0,0
$GC,9826,0.87,244.5,77.6,5.7,498,9880,0.00,2.42,48.50,0.580,4,0.000,0.044,3174,459,1824,0,0,0,0,0,0
$GC,9999,0.87,244.5,61.9,10.3,514,10003,0.00,2.28,0.00,0.000,6,0.000,0.031,3178,2035,1819,0,0,0,0,0,0
$GC,10261,0.87,244.5,37.1,9.4,538,10265,0.00,2.30,0.00,0.000,4,0.000,0.043,3190,456,1817,0,0,0,0,0,0
$GC,10323,0.87,244.5,30.5,10.3,543,10327,0.00,2.25,0.00,0.000,6,0.000,0.031,3189,2030,1816,0,0,0,0,0,0
$STATE,10562,end climb,SURFACE_DEPTH_REACHED
$STATE,10562,begin surface coast
$FINISH,0.8,1.023102
$STATE,10586,end surface coast,CONTROL_FINISHED_OK
$STATE,10586,begin surface
$SM_CCo,10618,65.10,0.074,0,0,1293,375.06
$SM_GC,1.63,0.00,0.00,65.10,0.000,0.000,0.074,132,2034,1293,-8.62,0.08,375.06
$IRIDIUM_FIX,2106.38,-15752.16,280112,080822
$TT8_MAMPS,0.059059
$HUMID,1078492248
$INTERNAL_PRESSURE,9.48157
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,14
$AR_CDRIVE_FREE,8427536384
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48921509888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,26.215
$10V_AH,9.8,31.618
$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,19.675,110.400,298.175,65.100,0.000,28.777,28.830,130.969,0.000,0.000,45.213,1124.762,7727.765,432.576,1584.386,144.549,33.360,1178.129,0.000,1304.714,0.000,0.540,0.000
$DEVICE_MAMPS,231.634,51.389,905.060,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.219,0.000,0.000,0.000,0.000,0.000,0.000,10826.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.863,0.000,0.000
$MEM,334976
$DATA_FILE_SIZE,20128,589
$CAP_FILE_SIZE,104722,0
$CFSIZE,260165632,237608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,205324,2114.981,-15752.215,36,1.0,37,9.8