version: 66.07
glider: 500
mission: 7
dive: 197
start: 10 10 110 13 24 39
data:
$ID,500
$MISSION,7
$DIVE,197
$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,-119260.41
$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
$GPS1,101010,130304,2101.762,-15756.540,9,2.3,28,9.8
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.3
$GPS2,101010,132344,2102.141,-15756.580,11,1.1,11,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.295,0.135
$KALMAN_X,-343446.5,620.8,1151.0,333903.7,-18994.9
$KALMAN_Y,-8075.4,-357.1,176.0,-14568.9,-2285.1
$MHEAD_RNG_PITCHd_Wd,55.6,14515,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-243.3,0.0,0.0,0,84,0.00,0.00,-65.57,0.000,2,0.000,0.000,124,1891,2983,0,0,0,0,0,0
$GC,87,-0.73,-243.3,4.0,-11.8,13,114,11.25,0.00,-12.20,0.000,6,0.232,0.000,3044,1891,3745,0,0,0,0,0,0
$GC,314,-0.73,-243.3,64.4,-21.5,41,318,0.00,2.40,0.00,0.000,4,0.000,0.041,3033,3507,3748,0,0,0,0,0,0
$GC,334,-0.73,-243.3,69.0,-21.2,42,341,0.00,2.35,0.00,0.000,6,0.000,0.027,3033,1874,3748,0,0,0,0,0,0
$GC,595,-0.73,-243.3,120.5,-17.7,67,596,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1874,3749,0,0,0,0,0,0
$GC,850,-0.73,-243.3,161.9,-13.4,91,854,0.00,2.22,0.00,0.000,4,0.000,0.039,3033,314,3749,0,0,0,0,0,0
$GC,951,-0.73,-243.3,174.2,-11.7,100,956,0.10,2.25,0.00,0.000,6,0.150,0.030,3054,1926,3750,0,0,0,0,0,0
$GC,1221,-0.73,-243.3,205.4,-11.4,123,1225,0.00,2.22,0.00,0.000,4,0.000,0.041,3044,3483,3750,0,0,0,0,0,0
$GC,1253,-0.73,-243.3,209.1,-11.7,124,1259,0.00,2.22,0.00,0.000,6,0.000,0.026,3044,1895,3750,0,0,0,0,0,0
$GC,1569,-0.73,-243.3,242.6,-9.7,140,1573,0.00,2.22,0.00,0.000,4,0.000,0.038,3043,321,3750,0,0,0,0,0,0
$GC,1590,-0.73,-243.3,244.8,-10.0,141,1594,0.00,2.25,0.00,0.000,6,0.000,0.030,3032,1905,3750,0,0,0,0,0,0
$GC,1915,-0.73,-243.3,279.3,-10.4,157,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1905,3750,0,0,0,0,0,0
$GC,2223,-0.73,-243.3,317.4,-13.3,169,2227,0.00,2.30,0.00,0.000,4,0.000,0.042,3021,3481,3750,0,0,0,0,0,0
$GC,2274,-0.73,-243.3,323.9,-12.5,170,2279,0.10,2.20,0.00,0.000,6,0.129,0.026,3059,1896,3749,0,0,0,0,0,0
$GC,2593,-0.73,-243.3,358.1,-11.4,178,2597,0.00,2.22,0.00,0.000,4,0.000,0.039,3059,328,3749,0,0,0,0,0,0
$GC,2664,-0.73,-243.3,365.7,-10.1,179,2668,0.00,2.22,0.00,0.000,6,0.000,0.030,3055,1900,3749,0,0,0,0,0,0
$GC,3001,-0.73,-243.3,393.4,-8.4,188,3005,0.00,2.28,0.00,0.000,4,0.000,0.042,3043,3475,3745,0,0,0,0,0,0
$GC,3028,-0.73,-243.3,396.0,-9.4,188,3032,0.00,2.22,0.00,0.000,6,0.000,0.026,3043,1890,3745,0,0,0,0,0,0
$GC,3365,-0.73,-243.3,425.5,-8.3,197,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1888,3742,0,0,0,0,0,0
$STATE,3606,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3606,begin apogee
$GC,3611,-0.23,0.0,443.5,7.4,203,3798,0.47,0.00,183.98,0.849,6,0.086,0.000,3220,2004,2750,0,0,0,0,0,0
$STATE,3799,end apogee,CONTROL_FINISHED_OK
$STATE,3799,begin climb
$GC,3801,0.73,243.3,452.3,0.0,207,4006,0.80,2.50,191.32,0.831,4,0.047,0.041,3544,3581,1755,0,0,0,0,0,0
$GC,4016,0.73,243.3,441.2,15.6,212,4020,0.00,2.40,0.00,0.000,6,0.000,0.029,3556,2003,1752,0,0,0,0,0,0
$GC,4335,0.73,243.3,387.5,16.6,220,4339,0.00,2.30,0.00,0.000,4,0.000,0.041,3568,427,1745,0,0,0,0,0,0
$GC,4464,0.73,243.3,366.5,17.3,223,4469,0.15,2.25,0.00,0.000,6,0.147,0.030,3525,1989,1743,0,0,0,0,0,0
$GC,4789,0.73,243.3,325.1,12.1,231,4793,0.00,2.28,0.00,0.000,4,0.000,0.038,3536,420,1742,0,0,0,0,0,0
$GC,4933,0.73,243.3,303.7,14.3,234,4938,0.00,2.30,0.00,0.000,6,0.000,0.028,3536,2004,1740,0,0,0,0,0,0
$GC,5250,0.73,243.3,259.9,14.2,249,5254,0.00,2.33,0.00,0.000,4,0.000,0.040,3547,416,1739,0,0,0,0,0,0
$GC,5402,0.73,243.3,237.5,14.2,256,5406,0.00,2.28,0.00,0.000,6,0.000,0.030,3547,2005,1739,0,0,0,0,0,0
$GC,5719,0.73,243.3,192.8,12.6,274,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2006,1738,0,0,0,0,0,0
$GC,5973,0.73,243.3,160.8,12.3,298,5977,0.00,2.28,0.00,0.000,4,0.000,0.041,3547,3585,1737,0,0,0,0,0,0
$GC,6001,0.73,243.3,157.4,12.9,300,6006,0.12,2.28,0.00,0.000,6,0.163,0.029,3524,1991,1736,0,0,0,0,0,0
$GC,6262,0.79,286.2,131.6,8.8,324,6303,0.00,2.35,32.17,0.638,4,0.000,0.039,3535,432,1582,0,0,0,0,0,0
$GC,6409,0.79,286.2,116.0,11.1,337,6415,0.00,2.28,0.00,0.000,6,0.000,0.028,3535,1999,1578,0,0,0,0,0,0
$GC,6670,0.80,299.7,89.2,9.6,362,6690,0.00,2.38,11.50,0.565,4,0.000,0.039,3546,421,1527,0,0,0,0,0,0
$GC,6762,0.80,299.7,79.8,10.5,370,6769,0.00,2.28,0.00,0.000,6,0.000,0.029,3546,2000,1525,0,0,0,0,0,0
$GC,7024,0.83,321.7,55.8,9.4,395,7049,0.00,2.35,18.50,0.548,4,0.000,0.040,3557,430,1437,0,0,0,0,0,0
$GC,7161,0.83,321.7,41.5,10.8,407,7168,0.00,2.25,0.00,0.000,6,0.000,0.028,3558,2007,1434,0,0,0,0,0,0
$GC,7430,0.83,321.7,14.7,10.4,445,7436,0.00,2.28,0.00,0.000,4,0.000,0.038,3558,3591,1434,0,0,0,0,0,0
$GC,7475,0.83,321.7,9.7,11.4,453,7481,0.00,2.28,0.00,0.000,6,0.000,0.028,3569,1992,1433,0,0,0,0,0,0
$STATE,7535,end climb,SURFACE_DEPTH_REACHED
$STATE,7535,begin surface coast
$FINISH,0.3,1.023809
$STATE,7559,end surface coast,CONTROL_FINISHED_OK
$STATE,7559,begin surface
$SM_CCo,7576,38.38,0.381,1,0,1159,390.02
$SM_GC,1.12,0.00,0.00,38.38,0.000,0.000,0.381,144,1877,1159,-9.83,-0.65,390.02
$IRIDIUM_FIX,2054.83,-15756.91,040412,070716
$TT8_MAMPS,0.027612
$HUMID,1078827732
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.7,79.9
$24V_AH,24.4,22.019
$10V_AH,10.4,16.098
$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,21.725,73.425,437.475,38.375,0.000,125.080,129.715,667.996,0.500,0.000,13.074,914.643,5304.741,543.146,1899.560,205.974,33.359,1126.681,0.000,979.236,0.000,5.657,0.000
$DEVICE_MAMPS,232.401,95.108,849.069,381.199,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,313.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,16764,468
$CAP_FILE_SIZE,126673,0
$CFSIZE,260165632,224571392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,153226,2102.819,-15756.151,10,1.7,10,9.8