version: 66.07
glider: 500
mission: 7
dive: 196
start: 10 10 110 10 36 13
data:
$ID,500
$MISSION,7
$DIVE,196
$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,-119246.7
$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
$GPS1,101010,101900,2101.187,-15757.308,79,0.9,79,9.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.7
$GPS2,101010,103519,2101.299,-15757.491,12,1.0,12,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.301,0.120
$KALMAN_X,-340993.9,268.1,1291.0,330099.2,-24032.5
$KALMAN_Y,-7178.5,-127.7,-216.0,-16857.8,-1699.2
$MHEAD_RNG_PITCHd_Wd,58.4,16726,-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,15,begin dive
$GC,17,-0.73,-243.3,0.0,0.0,0,79,0.00,0.00,-59.70,0.000,2,0.000,0.000,125,1897,2828,0,0,0,0,0,0
$GC,82,-0.73,-243.3,3.8,-10.7,12,115,11.23,2.42,-15.23,0.000,4,0.232,0.054,3044,295,3748,0,0,0,0,0,0
$GC,148,-0.73,-243.3,26.1,-24.4,24,154,0.00,2.33,0.00,0.000,6,0.000,0.031,3032,1929,3750,0,0,0,0,0,0
$GC,351,-0.73,-243.3,71.1,-21.2,45,355,0.00,2.28,0.00,0.000,4,0.000,0.040,3021,3491,3751,0,0,0,0,0,0
$GC,417,-0.73,-243.3,83.5,-16.0,50,424,0.08,2.33,0.00,0.000,6,0.111,0.026,3052,1862,3751,0,0,0,0,0,0
$GC,678,-0.73,-243.3,124.6,-16.2,75,682,0.00,2.20,0.00,0.000,4,0.000,0.039,3053,328,3752,0,0,0,0,0,0
$GC,705,-0.73,-243.3,128.9,-15.9,77,711,0.00,2.22,0.00,0.000,6,0.000,0.030,3043,1913,3752,0,0,0,0,0,0
$GC,966,-0.73,-243.3,164.9,-14.1,102,967,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1913,3754,0,0,0,0,0,0
$GC,1230,-0.73,-243.3,203.3,-13.9,126,1234,0.00,2.28,0.00,0.000,4,0.000,0.038,3043,324,3754,0,0,0,0,0,0
$GC,1253,-0.73,-243.3,206.8,-15.2,127,1257,0.00,2.20,0.00,0.000,6,0.000,0.031,3033,1905,3754,0,0,0,0,0,0
$GC,1578,-0.73,-243.3,255.0,-13.3,143,1582,0.00,2.25,0.00,0.000,4,0.000,0.038,3032,325,3755,0,0,0,0,0,0
$GC,1605,-0.73,-243.3,258.2,-11.6,144,1610,0.10,2.20,0.00,0.000,6,0.150,0.031,3055,1902,3755,0,0,0,0,0,0
$GC,1926,-0.73,-243.3,286.7,-8.2,160,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1902,3755,0,0,0,0,0,0
$GC,2235,-0.73,-243.3,311.1,-7.8,172,2239,0.00,2.25,0.00,0.000,4,0.000,0.042,3045,3475,3755,0,0,0,0,0,0
$GC,2278,-0.73,-243.3,315.3,-9.1,173,2282,0.00,2.22,0.00,0.000,6,0.000,0.025,3045,1904,3754,0,0,0,0,0,0
$GC,2604,-0.73,-243.3,344.4,-8.9,181,2608,0.00,2.25,0.00,0.000,4,0.000,0.039,3045,321,3754,0,0,0,0,0,0
$GC,2636,-0.73,-243.3,347.5,-8.5,181,2642,0.00,2.25,0.00,0.000,6,0.000,0.029,3033,1907,3754,0,0,0,0,0,0
$GC,2967,-0.73,-243.3,382.6,-11.3,190,2971,0.00,2.28,0.00,0.000,4,0.000,0.042,3021,3474,3752,0,0,0,0,0,0
$GC,3044,-0.73,-243.3,392.7,-12.8,191,3051,0.10,2.22,0.00,0.000,6,0.130,0.026,3059,1893,3751,0,0,0,0,0,0
$GC,3376,-0.73,-243.3,425.7,-8.7,200,3380,0.00,2.28,0.00,0.000,4,0.000,0.041,3059,320,3748,0,0,0,0,0,0
$GC,3408,-0.73,-243.3,428.3,-7.3,200,3414,0.00,2.25,0.00,0.000,6,0.000,0.029,3049,1898,3748,0,0,0,0,0,0
$GC,3742,-0.73,-243.3,451.5,-7.2,209,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1898,3746,0,0,0,0,0,0
$GC,4068,-0.73,-243.3,482.6,-9.5,217,4072,0.00,2.30,0.00,0.000,4,0.000,0.042,3037,3477,3744,0,0,0,0,0,0
$GC,4094,-0.73,-243.3,485.3,-8.9,217,4098,0.00,2.25,0.00,0.000,6,0.000,0.025,3037,1902,3744,0,0,0,0,0,0
$GC,4434,-0.73,-243.3,497.0,-0.0,226,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1902,3741,0,0,0,0,0,0
$STATE,4510,end dive,NO_VERTICAL_VELOCITY
$STATE,4511,begin apogee
$GC,4515,-0.23,0.0,497.0,0.0,228,4705,0.47,0.00,186.75,0.900,6,0.059,0.000,3235,2007,2750,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4709,0.73,243.3,496.9,0.0,232,4914,0.77,2.50,192.93,0.873,4,0.058,0.041,3547,432,1756,0,0,0,0,0,0
$GC,5154,0.73,243.3,450.4,16.0,242,5159,0.00,2.28,0.00,0.000,6,0.000,0.028,3547,1981,1747,0,0,0,0,0,0
$GC,5468,0.73,243.3,397.1,17.6,250,5472,0.00,2.28,0.00,0.000,4,0.000,0.039,3560,424,1746,0,0,0,0,0,0
$GC,5540,0.73,243.3,385.2,15.4,251,5545,0.08,2.30,0.00,0.000,6,0.134,0.030,3532,2008,1745,0,0,0,0,0,0
$GC,5879,0.73,243.3,339.1,13.9,260,5883,0.00,2.30,0.00,0.000,4,0.000,0.040,3543,426,1744,0,0,0,0,0,0
$GC,5933,0.73,243.3,329.6,16.4,261,5937,0.00,2.28,0.00,0.000,6,0.000,0.030,3543,1992,1744,0,0,0,0,0,0
$GC,6249,0.73,243.3,280.7,13.6,272,6253,0.00,2.30,0.00,0.000,4,0.000,0.040,3554,422,1744,0,0,0,0,0,0
$GC,6401,0.73,243.3,260.8,12.5,279,6405,0.00,2.28,0.00,0.000,6,0.000,0.031,3555,2010,1743,0,0,0,0,0,0
$GC,6726,0.73,243.3,220.3,13.3,295,6730,0.00,2.30,0.00,0.000,4,0.000,0.040,3566,422,1743,0,0,0,0,0,0
$GC,6968,0.73,243.3,183.5,14.3,310,6973,0.12,2.25,0.00,0.000,6,0.153,0.031,3530,2015,1742,0,0,0,0,0,0
$GC,7228,0.78,283.4,155.1,8.9,334,7264,0.00,2.35,31.10,0.666,4,0.000,0.039,3541,421,1595,0,0,0,0,0,0
$GC,7321,0.78,283.4,145.8,10.6,342,7325,0.00,2.28,0.00,0.000,6,0.000,0.031,3541,2011,1592,0,0,0,0,0,0
$GC,7582,0.79,288.5,118.1,9.9,366,7593,0.00,2.30,5.40,0.505,4,0.000,0.038,3552,430,1572,0,0,0,0,0,0
$GC,7673,0.79,288.5,107.9,12.7,374,7677,0.00,2.22,0.00,0.000,6,0.000,0.029,3552,2004,1571,0,0,0,0,0,0
$GC,7933,0.79,288.5,76.6,10.9,398,7937,0.00,2.30,0.00,0.000,4,0.000,0.039,3564,422,1570,0,0,0,0,0,0
$GC,7962,0.79,288.5,73.4,12.1,400,7967,0.00,2.25,0.00,0.000,6,0.000,0.030,3564,2008,1570,0,0,0,0,0,0
$GC,8223,0.80,295.0,47.2,9.8,424,8233,0.00,0.00,6.72,0.482,6,0.000,0.000,3564,2008,1547,0,0,0,0,0,0
$GC,8492,0.80,295.0,20.4,11.1,457,8498,0.00,2.28,0.00,0.000,4,0.000,0.039,3574,425,1546,0,0,0,0,0,0
$GC,8527,0.80,295.0,16.3,12.2,463,8532,0.00,2.22,0.00,0.000,6,0.000,0.030,3575,1993,1545,0,0,0,0,0,0
$STATE,8643,end climb,SURFACE_DEPTH_REACHED
$STATE,8643,begin surface coast
$FINISH,0.3,1.023019
$STATE,8673,end surface coast,CONTROL_FINISHED_OK
$STATE,8674,begin surface
$SM_CCo,8691,49.12,0.416,1,0,1159,390.02
$SM_GC,1.12,0.00,0.00,49.12,0.000,0.000,0.416,147,1890,1159,-9.81,-0.28,390.02
$IRIDIUM_FIX,2054.83,-15804.20,040412,040416
$TT8_MAMPS,0.027612
$HUMID,1078810958
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.3,21.864
$10V_AH,10.5,16.051
$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,21.575,86.700,422.900,49.125,0.000,83.475,114.050,528.409,2.500,0.000,14.160,991.093,6199.974,549.332,1792.403,201.485,33.356,1170.181,0.000,1051.693,0.000,22.263,0.000
$DEVICE_MAMPS,232.401,93.574,900.458,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,328.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334644
$DATA_FILE_SIZE,16781,489
$CAP_FILE_SIZE,133804,0
$CFSIZE,260165632,224612352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,130304,2101.762,-15756.540,9,2.3,28,9.8