version: 66.07
glider: 500
mission: 7
dive: 194
start: 10 10 110 6 19 25
data:
$ID,500
$MISSION,7
$DIVE,194
$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,-119217.66
$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
$GPS1,101010,060801,2059.379,-15758.361,63,1.0,64,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.5
$GPS2,101010,061831,2059.438,-15758.537,11,1.6,16,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.272,0.177
$KALMAN_X,-331302.1,-428.8,-19.4,320651.2,-9093.2
$KALMAN_Y,-4761.2,78.1,147.7,-23292.8,1511.9
$MHEAD_RNG_PITCHd_Wd,47.2,20517,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-243.3,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,125,1868,2843,0,0,0,0,0,0
$GC,83,-0.73,-243.3,3.6,-10.0,12,115,11.20,2.47,-15.23,0.000,4,0.229,0.052,3032,3503,3746,0,0,0,0,0,0
$GC,177,-0.73,-243.3,30.3,-18.0,29,182,0.00,2.35,0.00,0.000,6,0.000,0.026,3032,1857,3748,0,0,0,0,0,0
$GC,437,-0.73,-243.3,85.7,-19.6,54,441,0.00,2.20,0.00,0.000,4,0.000,0.039,3032,322,3749,0,0,0,0,0,0
$GC,503,-0.73,-243.3,97.0,-16.4,59,510,0.08,2.30,0.00,0.000,6,0.115,0.030,3051,1920,3749,0,0,0,0,0,0
$GC,764,-0.73,-243.3,140.9,-16.0,84,768,0.00,2.28,0.00,0.000,4,0.000,0.041,3041,3487,3751,0,0,0,0,0,0
$GC,795,-0.73,-243.3,146.6,-17.4,86,802,0.00,2.25,0.00,0.000,6,0.000,0.025,3041,1909,3751,0,0,0,0,0,0
$GC,1057,-0.73,-243.3,182.4,-12.6,111,1061,0.00,2.28,0.00,0.000,4,0.000,0.039,3041,310,3752,0,0,0,0,0,0
$GC,1107,-0.73,-243.3,188.6,-12.0,115,1112,0.00,2.25,0.00,0.000,6,0.000,0.030,3029,1918,3752,0,0,0,0,0,0
$GC,1362,-0.73,-243.3,223.4,-14.0,131,1367,0.00,2.30,0.00,0.000,4,0.000,0.038,3029,306,3752,0,0,0,0,0,0
$GC,1395,-0.73,-243.3,228.4,-14.7,132,1402,0.12,2.22,0.00,0.000,6,0.135,0.030,3062,1902,3753,0,0,0,0,0,0
$GC,1711,-0.73,-243.3,259.6,-9.5,148,1715,0.00,2.25,0.00,0.000,4,0.000,0.041,3052,3477,3753,0,0,0,0,0,0
$GC,1774,-0.73,-243.3,265.5,-9.6,151,1779,0.00,2.20,0.00,0.000,6,0.000,0.025,3052,1888,3753,0,0,0,0,0,0
$GC,2100,-0.73,-243.3,298.5,-10.6,167,2104,0.00,2.22,0.00,0.000,4,0.000,0.038,3052,321,3753,0,0,0,0,0,0
$GC,2195,-0.73,-243.3,307.9,-9.3,170,2200,0.00,2.22,0.00,0.000,6,0.000,0.028,3043,1905,3753,0,0,0,0,0,0
$GC,2509,-0.73,-243.3,335.3,-8.9,178,2513,0.00,2.25,0.00,0.000,4,0.000,0.038,3043,330,3753,0,0,0,0,0,0
$GC,2536,-0.73,-243.3,337.4,-8.1,178,2540,0.00,2.20,0.00,0.000,6,0.000,0.030,3043,1898,3753,0,0,0,0,0,0
$GC,2872,-0.73,-243.3,370.6,-11.6,187,2876,0.00,2.28,0.00,0.000,4,0.000,0.041,3031,3475,3753,0,0,0,0,0,0
$GC,2922,-0.73,-243.3,377.4,-13.4,188,2926,0.00,2.20,0.00,0.000,6,0.000,0.025,3031,1895,3753,0,0,0,0,0,0
$GC,3242,-0.73,-243.3,410.3,-10.1,196,3246,0.00,2.25,0.00,0.000,4,0.000,0.039,3029,319,3750,0,0,0,0,0,0
$STATE,3384,end dive,NO_VERTICAL_VELOCITY
$STATE,3385,begin apogee
$GC,3391,-0.23,0.0,410.5,0.0,199,3579,0.47,0.00,184.48,0.811,6,0.071,0.000,3219,2012,2750,0,0,0,0,0,0
$STATE,3580,end apogee,CONTROL_FINISHED_OK
$STATE,3580,begin climb
$GC,3583,0.73,243.3,410.9,0.0,204,3785,0.77,2.47,191.15,0.791,4,0.039,0.038,3557,3574,1756,0,0,0,0,0,0
$GC,3831,0.81,308.4,408.6,8.2,210,3890,0.00,2.33,53.33,0.774,6,0.000,0.028,3569,1998,1491,0,0,0,0,0,0
$GC,4197,0.81,308.4,340.0,20.0,219,4201,0.00,2.35,0.00,0.000,4,0.000,0.038,3568,3582,1482,0,0,0,0,0,0
$GC,4332,0.81,308.4,311.9,20.9,222,4336,0.00,2.30,0.00,0.000,6,0.000,0.029,3580,1989,1480,0,0,0,0,0,0
$GC,4653,0.81,308.4,248.5,19.4,236,4657,0.00,2.28,0.00,0.000,4,0.000,0.040,3592,432,1478,0,0,0,0,0,0
$GC,4797,0.81,308.4,220.5,19.0,242,4804,0.12,2.25,0.00,0.000,6,0.132,0.028,3550,1990,1476,0,0,0,0,0,0
$GC,5117,0.81,308.4,171.7,15.8,266,5121,0.00,2.28,0.00,0.000,4,0.000,0.039,3560,420,1474,0,0,0,0,0,0
$GC,5246,0.81,308.4,149.3,17.1,277,5250,0.00,2.25,0.00,0.000,6,0.000,0.030,3560,2013,1473,0,0,0,0,0,0
$GC,5506,0.81,308.4,107.0,14.8,301,5511,0.00,2.30,0.00,0.000,4,0.000,0.039,3572,420,1473,0,0,0,0,0,0
$GC,5613,0.81,308.4,91.3,14.3,310,5617,0.00,2.22,0.00,0.000,6,0.000,0.030,3572,1998,1472,0,0,0,0,0,0
$GC,5873,0.81,308.4,57.1,11.6,334,5877,0.00,2.28,0.00,0.000,4,0.000,0.039,3583,421,1472,0,0,0,0,0,0
$GC,5907,0.81,308.4,53.2,12.0,336,5913,0.10,2.22,0.00,0.000,6,0.159,0.031,3556,2011,1472,0,0,0,0,0,0
$GC,6167,0.81,308.4,29.5,10.0,361,6173,0.00,2.30,0.00,0.000,4,0.000,0.039,3566,425,1472,0,0,0,0,0,0
$GC,6207,0.81,308.4,24.5,13.0,368,6213,0.00,2.22,0.00,0.000,6,0.000,0.030,3566,1998,1471,0,0,0,0,0,0
$STATE,6413,end climb,SURFACE_DEPTH_REACHED
$STATE,6413,begin surface coast
$FINISH,0.3,1.022956
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6437,begin surface
$SM_CCo,6454,46.70,0.411,1,0,1159,390.02
$SM_GC,1.25,0.00,0.00,46.70,0.000,0.000,0.411,131,1884,1159,-9.87,-0.42,390.02
$IRIDIUM_FIX,2050.21,-15757.78,030412,212109
$TT8_MAMPS,0.026078
$HUMID,1078803216
$INTERNAL_PRESSURE,9.51087
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.4,21.585
$10V_AH,10.5,15.962
$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,21.600,77.550,428.950,46.700,0.000,27.555,40.557,436.003,0.500,0.000,18.454,827.592,4187.519,554.209,1412.493,159.836,33.363,1085.480,0.000,896.106,0.000,5.087,0.000
$DEVICE_MAMPS,229.333,90.506,810.719,411.112,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,274.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334600
$DATA_FILE_SIZE,13435,409
$CAP_FILE_SIZE,106103,0
$CFSIZE,260165632,224731136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,080901,2100.231,-15758.039,15,1.6,33,9.8