version: 66.07
glider: 500
mission: 7
dive: 193
start: 10 10 110 3 27 26
data:
$ID,500
$MISSION,7
$DIVE,193
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,330
$T_MISSION,500
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,390
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119198.58
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3290
$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,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$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,-66.799538
$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,40
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,5
$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
$GPS1,101010,030200,2058.739,-15758.851,46,1.0,46,9.8
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.4
$GPS2,101010,032632,2058.989,-15759.289,10,1.3,10,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.323,-0.025
$KALMAN_X,-326667.4,-178.6,189.8,314253.2,-5623.9
$KALMAN_Y,-5507.0,-179.3,-168.8,-22806.9,1396.1
$MHEAD_RNG_PITCHd_Wd,84.5,21989,-13.1,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.73,-243.3,0.0,0.0,0,80,0.00,0.00,-60.08,0.000,2,0.000,0.000,124,1873,2821,0,0,0,0,0,0
$GC,84,-0.73,-243.3,3.3,-8.0,12,120,11.23,2.40,-15.82,0.000,4,0.229,0.052,3046,289,3745,0,0,0,0,0,0
$GC,132,-0.73,-243.3,20.0,-26.7,21,138,0.00,2.38,0.00,0.000,6,0.000,0.031,3035,1928,3746,0,0,0,0,0,0
$GC,337,-0.73,-243.3,62.2,-17.5,44,341,0.00,2.28,0.00,0.000,4,0.000,0.041,3023,3480,3746,0,0,0,0,0,0
$GC,357,-0.73,-243.3,66.1,-18.9,45,364,0.00,2.33,0.00,0.000,6,0.000,0.027,3023,1869,3746,0,0,0,0,0,0
$GC,618,-0.73,-243.3,116.1,-19.4,70,623,0.10,2.25,0.00,0.000,4,0.156,0.040,3054,319,3747,0,0,0,0,0,0
$GC,657,-0.73,-243.3,123.0,-16.6,73,661,0.00,2.25,0.00,0.000,6,0.000,0.030,3044,1914,3747,0,0,0,0,0,0
$GC,917,-0.73,-243.3,164.2,-15.1,97,921,0.00,2.28,0.00,0.000,4,0.000,0.041,3032,3475,3747,0,0,0,0,0,0
$GC,939,-0.73,-243.3,167.4,-13.9,98,945,0.00,2.20,0.00,0.000,6,0.000,0.027,3032,1901,3748,0,0,0,0,0,0
$GC,1209,-0.73,-243.3,205.6,-13.2,122,1213,0.00,2.28,0.00,0.000,4,0.000,0.039,3032,316,3748,0,0,0,0,0,0
$GC,1286,-0.73,-243.3,215.2,-11.6,125,1291,0.08,2.28,0.00,0.000,6,0.111,0.030,3053,1906,3748,0,0,0,0,0,0
$GC,1608,-0.73,-243.3,246.2,-10.0,141,1612,0.00,2.28,0.00,0.000,4,0.000,0.042,3043,3476,3747,0,0,0,0,0,0
$GC,1640,-0.73,-243.3,249.6,-10.0,142,1646,0.00,2.22,0.00,0.000,6,0.000,0.025,3043,1903,3747,0,0,0,0,0,0
$GC,1956,-0.73,-243.3,286.5,-11.7,158,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1903,3746,0,0,0,0,0,0
$GC,2262,-0.73,-243.3,320.8,-11.6,169,2266,0.00,2.25,0.00,0.000,4,0.000,0.038,3043,322,3745,0,0,0,0,0,0
$GC,2346,-0.73,-243.3,330.4,-10.8,171,2350,0.00,2.20,0.00,0.000,6,0.000,0.030,3042,1903,3744,0,0,0,0,0,0
$GC,2670,-0.73,-243.3,361.7,-9.5,179,2674,0.00,2.25,0.00,0.000,4,0.000,0.042,3031,3474,3742,0,0,0,0,0,0
$GC,2696,-0.73,-243.3,364.3,-9.2,179,2700,0.00,2.22,0.00,0.000,6,0.000,0.025,3030,1904,3741,0,0,0,0,0,0
$GC,3039,-0.73,-243.3,399.1,-10.1,188,3043,0.00,2.28,0.00,0.000,4,0.000,0.040,3030,316,3739,0,0,0,0,0,0
$GC,3060,-0.73,-243.3,401.3,-10.0,188,3065,0.05,2.25,0.00,0.000,6,0.114,0.029,3057,1897,3739,0,0,0,0,0,0
$GC,3404,-0.73,-243.3,428.0,-7.3,197,3408,0.00,2.28,0.00,0.000,4,0.000,0.042,3046,3480,3735,0,0,0,0,0,0
$GC,3431,-0.73,-243.3,430.2,-6.8,197,3435,0.00,2.22,0.00,0.000,6,0.000,0.025,3046,1898,3735,0,0,0,0,0,0
$GC,3767,-0.73,-243.3,453.2,-6.0,206,3771,0.00,2.25,0.00,0.000,4,0.000,0.039,3045,327,3732,0,0,0,0,0,0
$GC,3834,-0.73,-243.3,457.7,-6.6,207,3838,0.00,2.25,0.00,0.000,6,0.000,0.028,3034,1903,3731,0,0,0,0,0,0
$GC,4177,-0.73,-243.3,481.3,-6.9,216,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1903,3728,0,0,0,0,0,0
$GC,4502,-0.73,-243.3,503.1,-6.2,224,4506,0.00,2.30,0.00,0.000,4,0.000,0.044,3023,3479,3725,0,0,0,0,0,0
$GC,4523,-0.73,-243.3,504.6,-6.8,224,4528,0.10,2.25,0.00,0.000,6,0.132,0.027,3061,1888,3725,0,0,0,0,0,0
$GC,4865,-0.73,-243.3,523.8,-6.1,233,4869,0.00,2.25,0.00,0.000,4,0.000,0.040,3061,324,3723,0,0,0,0,0,0
$GC,4909,-0.73,-243.3,527.0,-7.7,234,4913,0.00,2.22,0.00,0.000,6,0.000,0.029,3052,1912,3723,0,0,0,0,0,0
$STATE,5184,end dive,NO_VERTICAL_VELOCITY
$STATE,5184,begin apogee
$GC,5190,-0.23,0.0,529.9,0.0,241,5378,0.43,0.00,185.05,0.923,6,0.058,0.000,3232,1993,2750,0,0,0,0,0,0
$STATE,5379,end apogee,CONTROL_FINISHED_OK
$STATE,5379,begin climb
$GC,5381,0.73,243.3,529.8,0.0,245,5587,0.77,2.50,195.55,0.894,4,0.051,0.040,3549,434,1757,0,0,0,0,0,0
$GC,5681,0.73,243.3,501.3,18.4,252,5686,0.00,2.33,0.00,0.000,6,0.000,0.029,3549,1993,1748,0,0,0,0,0,0
$GC,6006,0.73,243.3,440.9,17.7,260,6010,0.00,2.30,0.00,0.000,4,0.000,0.040,3561,433,1744,0,0,0,0,0,0
$GC,6088,0.73,243.3,426.5,17.9,261,6095,0.10,2.30,0.00,0.000,6,0.136,0.029,3528,1999,1743,0,0,0,0,0,0
$GC,6420,0.73,243.3,376.2,14.5,270,6424,0.00,2.30,0.00,0.000,4,0.000,0.041,3538,430,1741,0,0,0,0,0,0
$GC,6570,0.73,243.3,357.8,12.7,273,6575,0.00,2.28,0.00,0.000,6,0.000,0.031,3539,1997,1740,0,0,0,0,0,0
$GC,6919,0.73,243.3,313.8,12.9,282,6923,0.00,2.28,0.00,0.000,4,0.000,0.041,3550,433,1739,0,0,0,0,0,0
$GC,7049,0.73,243.3,297.9,13.5,285,7053,0.00,2.22,0.00,0.000,6,0.000,0.031,3550,2003,1739,0,0,0,0,0,0
$GC,7374,0.73,243.3,253.2,14.8,301,7378,0.00,2.30,0.00,0.000,4,0.000,0.042,3550,3589,1738,0,0,0,0,0,0
$GC,7436,0.73,243.3,244.0,15.1,304,7441,0.12,2.28,0.00,0.000,6,0.170,0.030,3528,1992,1737,0,0,0,0,0,0
$GC,7761,0.73,243.3,203.6,12.1,320,7765,0.00,2.25,0.00,0.000,4,0.000,0.040,3538,426,1735,0,0,0,0,0,0
$GC,7947,0.73,243.3,180.7,12.9,335,7951,0.00,2.22,0.00,0.000,6,0.000,0.029,3539,1994,1735,0,0,0,0,0,0
$GC,8208,0.73,243.3,149.1,11.2,359,8212,0.00,2.28,0.00,0.000,4,0.000,0.039,3550,418,1735,0,0,0,0,0,0
$GC,8224,0.73,243.3,147.3,11.1,360,8228,0.00,2.25,0.00,0.000,6,0.000,0.029,3550,2009,1735,0,0,0,0,0,0
$GC,8485,0.73,243.3,111.7,12.6,384,8489,0.00,2.28,0.00,0.000,4,0.000,0.039,3562,426,1735,0,0,0,0,0,0
$GC,8568,0.73,243.3,102.7,10.8,391,8573,0.12,2.22,0.00,0.000,6,0.150,0.030,3526,2009,1735,0,0,0,0,0,0
$GC,8829,0.86,348.5,84.7,7.1,415,8917,0.12,2.38,80.20,0.589,4,0.083,0.038,3608,420,1327,0,0,0,0,0,0
$GC,8977,0.86,348.5,65.7,15.0,428,8985,0.10,2.30,0.00,0.000,6,0.130,0.029,3573,1987,1322,0,0,0,0,0,0
$GC,9239,0.86,348.5,31.9,12.8,453,9243,0.00,2.30,0.00,0.000,4,0.000,0.038,3583,419,1320,0,0,0,0,0,0
$GC,9328,0.86,348.5,19.8,13.6,467,9333,0.00,2.28,0.00,0.000,6,0.000,0.029,3583,2005,1318,0,0,0,0,0,0
$STATE,9467,end climb,SURFACE_DEPTH_REACHED
$STATE,9467,begin surface coast
$FINISH,0.2,1.023034
$STATE,9486,end surface coast,CONTROL_FINISHED_OK
$STATE,9486,begin surface
$SM_CCo,9503,24.65,0.305,1,0,1160,390.02
$SM_GC,0.81,0.00,0.00,24.65,0.000,0.000,0.305,136,1867,1160,-9.86,-0.93,390.02
$IRIDIUM_FIX,2052.52,-15756.91,030412,212107
$TT8_MAMPS,0.027612
$HUMID,1078789023
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.1,21.453
$10V_AH,10.4,15.921
$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,21.975,104.900,460.800,24.650,0.000,141.118,156.136,773.173,3.250,0.000,12.787,1020.135,7002.065,556.350,2183.570,240.854,33.372,1223.739,0.000,1105.873,0.000,30.626,0.000
$DEVICE_MAMPS,228.566,121.186,923.468,305.266,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,333.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334648
$DATA_FILE_SIZE,16831,495
$CAP_FILE_SIZE,150510,0
$CFSIZE,260165632,224735232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,060801,2059.379,-15758.361,63,1.0,64,9.8