version: 66.07
glider: 500
mission: 7
dive: 195
start: 10 10 110 8 22 20
data:
$ID,500
$MISSION,7
$DIVE,195
$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,-119231.91
$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
$GPS1,101010,080901,2100.231,-15758.039,15,1.6,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.4
$GPS2,101010,082126,2100.331,-15758.173,11,1.9,11,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.296,0.133
$KALMAN_X,-336878.2,117.4,532.5,325737.7,-19489.7
$KALMAN_Y,-6181.9,-31.5,-378.5,-19564.1,-180.6
$MHEAD_RNG_PITCHd_Wd,56.0,18847,-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,-243.3,0.0,0.0,0,74,0.00,0.00,-55.47,0.000,2,0.000,0.000,124,1886,2668,0,0,0,0,0,0
$GC,78,-0.73,-243.3,3.0,-7.8,11,115,11.25,2.40,-19.65,0.000,4,0.232,0.053,3032,3512,3744,0,0,0,0,0,0
$GC,171,-0.73,-243.3,25.1,-17.2,28,177,0.00,2.35,0.00,0.000,6,0.000,0.027,3032,1868,3745,0,0,0,0,0,0
$GC,375,-0.73,-243.3,66.5,-20.5,50,379,0.00,2.22,0.00,0.000,4,0.000,0.040,3032,321,3746,0,0,0,0,0,0
$GC,413,-0.73,-243.3,74.2,-19.7,53,418,0.12,2.30,0.00,0.000,6,0.145,0.030,3060,1934,3746,0,0,0,0,0,0
$GC,673,-0.73,-243.3,112.1,-14.3,77,677,0.00,2.33,0.00,0.000,4,0.000,0.038,3060,324,3748,0,0,0,0,0,0
$GC,706,-0.73,-243.3,117.0,-14.3,79,712,0.00,2.22,0.00,0.000,6,0.000,0.030,3054,1912,3748,0,0,0,0,0,0
$GC,967,-0.73,-243.3,150.9,-12.6,104,971,0.00,2.28,0.00,0.000,4,0.000,0.041,3041,3484,3749,0,0,0,0,0,0
$GC,1000,-0.73,-243.3,154.9,-11.6,107,1004,0.00,2.22,0.00,0.000,6,0.000,0.026,3042,1910,3749,0,0,0,0,0,0
$GC,1261,-0.73,-243.3,187.8,-12.7,131,1265,0.00,2.30,0.00,0.000,4,0.000,0.039,3042,306,3749,0,0,0,0,0,0
$GC,1300,-0.73,-243.3,192.9,-13.0,134,1304,0.00,2.22,0.00,0.000,6,0.000,0.030,3030,1905,3750,0,0,0,0,0,0
$GC,1564,-0.73,-243.3,228.4,-14.2,149,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1905,3750,0,0,0,0,0,0
$GC,1874,-0.73,-243.3,273.3,-14.5,164,1878,0.00,2.28,0.00,0.000,4,0.000,0.042,3018,3473,3750,0,0,0,0,0,0
$GC,1896,-0.73,-243.3,276.5,-13.8,165,1901,0.12,2.20,0.00,0.000,6,0.121,0.026,3064,1889,3749,0,0,0,0,0,0
$GC,2236,-0.73,-243.3,309.2,-9.2,180,2240,0.00,2.22,0.00,0.000,4,0.000,0.039,3064,324,3750,0,0,0,0,0,0
$GC,2284,-0.73,-243.3,313.3,-7.4,181,2289,0.00,2.22,0.00,0.000,6,0.000,0.029,3056,1896,3749,0,0,0,0,0,0
$GC,2604,-0.73,-243.3,342.6,-9.2,189,2608,0.00,2.28,0.00,0.000,4,0.000,0.041,3044,3476,3748,0,0,0,0,0,0
$GC,2649,-0.73,-243.3,346.7,-8.9,190,2653,0.00,2.22,0.00,0.000,6,0.000,0.025,3044,1883,3747,0,0,0,0,0,0
$GC,2979,-0.73,-243.3,376.2,-9.1,198,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1883,3745,0,0,0,0,0,0
$STATE,3265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3265,begin apogee
$GC,3270,-0.23,0.0,401.3,8.6,205,3457,0.47,0.00,183.73,0.806,6,0.087,0.000,3219,2016,2750,0,0,0,0,0,0
$STATE,3458,end apogee,CONTROL_FINISHED_OK
$STATE,3458,begin climb
$GC,3460,0.73,243.3,411.0,0.0,209,3659,0.80,2.40,190.55,0.795,4,0.045,0.038,3546,3577,1756,0,0,0,0,0,0
$GC,3681,0.73,243.3,403.5,13.2,213,3686,0.08,2.38,0.00,0.000,6,0.137,0.028,3533,2002,1751,0,0,0,0,0,0
$GC,4030,0.73,243.3,348.4,16.1,222,4034,0.00,2.33,0.00,0.000,4,0.000,0.039,3544,422,1744,0,0,0,0,0,0
$GC,4146,0.73,243.3,329.5,16.3,224,4151,0.00,2.28,0.00,0.000,6,0.000,0.029,3545,1985,1743,0,0,0,0,0,0
$GC,4465,0.73,243.3,285.1,13.3,235,4469,0.00,2.28,0.00,0.000,4,0.000,0.038,3557,426,1741,0,0,0,0,0,0
$GC,4598,0.73,243.3,266.2,14.5,241,4603,0.08,2.28,0.00,0.000,6,0.131,0.029,3530,2000,1739,0,0,0,0,0,0
$GC,4924,0.73,243.3,222.9,12.8,257,4928,0.00,2.30,0.00,0.000,4,0.000,0.040,3541,424,1737,0,0,0,0,0,0
$GC,5138,0.73,243.3,194.2,14.0,268,5142,0.00,2.25,0.00,0.000,6,0.000,0.030,3541,2004,1736,0,0,0,0,0,0
$GC,5399,0.73,243.3,159.3,12.1,292,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2004,1736,0,0,0,0,0,0
$GC,5654,0.79,287.5,133.7,8.8,316,5695,0.00,2.38,33.00,0.634,4,0.000,0.040,3552,429,1576,0,0,0,0,0,0
$GC,5746,0.79,287.5,124.6,12.1,324,5752,0.00,2.25,0.00,0.000,6,0.000,0.029,3552,1992,1573,0,0,0,0,0,0
$GC,6006,0.79,287.5,89.7,14.0,349,6010,0.00,2.28,0.00,0.000,4,0.000,0.039,3564,421,1571,0,0,0,0,0,0
$GC,6062,0.79,287.5,82.1,13.9,353,6068,0.00,2.28,0.00,0.000,6,0.000,0.030,3564,2011,1570,0,0,0,0,0,0
$GC,6323,0.80,293.0,54.2,9.8,378,6334,0.00,2.33,4.85,0.436,4,0.000,0.039,3575,425,1554,0,0,0,0,0,0
$GC,6379,0.80,293.0,48.5,10.2,383,6383,0.00,2.25,0.00,0.000,6,0.000,0.030,3575,2004,1554,0,0,0,0,0,0
$GC,6646,0.83,319.0,22.8,9.3,413,6673,0.00,2.38,21.88,0.522,4,0.000,0.040,3575,3589,1448,0,0,0,0,0,0
$GC,6703,0.83,319.0,16.2,13.2,423,6709,0.00,2.28,0.00,0.000,6,0.000,0.028,3587,1984,1446,0,0,0,0,0,0
$STATE,6797,end climb,SURFACE_DEPTH_REACHED
$STATE,6797,begin surface coast
$FINISH,0.5,1.023085
$STATE,6821,end surface coast,CONTROL_FINISHED_OK
$STATE,6821,begin surface
$SM_CCo,6838,40.35,0.389,1,0,1159,390.02
$SM_GC,1.23,0.00,0.00,40.35,0.000,0.000,0.389,140,1897,1159,-9.84,-0.08,390.02
$IRIDIUM_FIX,2052.52,-15751.76,040412,020226
$TT8_MAMPS,0.027612
$HUMID,1078803216
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.3,24.6
$24V_AH,24.4,21.715
$10V_AH,10.5,16.002
$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,21.650,73.375,434.000,40.350,0.000,52.753,71.267,444.488,0.500,0.000,13.624,870.981,4592.501,530.563,1473.458,170.970,33.363,1074.644,0.000,900.548,0.000,5.507,0.000
$DEVICE_MAMPS,232.401,115.817,806.117,388.869,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,297.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334656
$DATA_FILE_SIZE,16775,444
$CAP_FILE_SIZE,112329,0
$CFSIZE,260165632,224677888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,101900,2101.187,-15757.308,79,0.9,79,9.8