version: 66.07
glider: 500
mission: 7
dive: 198
start: 10 10 110 15 59 9
data:
$ID,500
$MISSION,7
$DIVE,198
$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,-119321.81
$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
$GPS1,101010,153226,2102.819,-15756.151,10,1.7,10,9.8
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.6
$GPS2,101010,155815,2103.164,-15756.210,38,2.1,57,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.305,0.111
$KALMAN_X,-348930.8,2433.5,1084.1,338285.8,-25044.7
$KALMAN_Y,-8952.9,-296.2,368.8,-12052.6,-3411.2
$MHEAD_RNG_PITCHd_Wd,60.2,12696,-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,-243.3,0.0,0.0,0,80,0.00,0.00,-61.50,0.000,2,0.000,0.000,125,1876,2874,0,0,0,0,0,0
$GC,83,-0.73,-243.3,3.8,-10.4,12,115,11.25,2.30,-14.75,0.000,4,0.233,0.051,3044,294,3743,0,0,0,0,0,0
$GC,133,-0.73,-243.3,21.8,-29.0,21,139,0.00,2.35,0.00,0.000,6,0.000,0.031,3033,1933,3744,0,0,0,0,0,0
$GC,333,-0.73,-243.3,67.0,-22.9,43,337,0.00,2.25,0.00,0.000,4,0.000,0.041,3021,3484,3745,0,0,0,0,0,0
$GC,375,-0.73,-243.3,76.2,-20.7,46,383,0.08,2.30,0.00,0.000,6,0.115,0.027,3052,1871,3745,0,0,0,0,0,0
$GC,637,-0.73,-243.3,125.5,-20.0,71,641,0.00,2.22,0.00,0.000,4,0.000,0.039,3052,320,3745,0,0,0,0,0,0
$GC,669,-0.73,-243.3,131.6,-17.1,73,676,0.00,2.25,0.00,0.000,6,0.000,0.030,3043,1898,3745,0,0,0,0,0,0
$GC,930,-0.73,-243.3,172.1,-12.0,98,935,0.00,2.28,0.00,0.000,4,0.000,0.041,3031,3475,3747,0,0,0,0,0,0
$GC,985,-0.73,-243.3,178.8,-11.9,102,992,0.00,2.22,0.00,0.000,6,0.000,0.025,3031,1896,3747,0,0,0,0,0,0
$GC,1254,-0.73,-243.3,215.3,-14.7,123,1258,0.00,2.22,0.00,0.000,4,0.000,0.038,3031,323,3747,0,0,0,0,0,0
$GC,1297,-0.73,-243.3,221.2,-12.7,125,1302,0.12,2.20,0.00,0.000,6,0.133,0.029,3064,1911,3747,0,0,0,0,0,0
$GC,1623,-0.73,-243.3,256.0,-10.8,141,1627,0.00,2.25,0.00,0.000,4,0.000,0.041,3054,3474,3747,0,0,0,0,0,0
$GC,1672,-0.73,-243.3,260.9,-9.8,143,1676,0.00,2.20,0.00,0.000,6,0.000,0.025,3054,1885,3747,0,0,0,0,0,0
$GC,1987,-0.73,-243.3,289.5,-7.2,158,1991,0.00,2.22,0.00,0.000,4,0.000,0.039,3054,315,3746,0,0,0,0,0,0
$GC,2037,-0.73,-243.3,294.0,-9.2,160,2041,0.00,2.20,0.00,0.000,6,0.000,0.029,3043,1904,3745,0,0,0,0,0,0
$GC,2348,-0.73,-243.3,326.7,-11.1,169,2352,0.00,2.30,0.00,0.000,4,0.000,0.042,3031,3474,3744,0,0,0,0,0,0
$GC,2426,-0.73,-243.3,334.6,-9.4,170,2431,0.00,2.20,0.00,0.000,6,0.000,0.025,3031,1888,3744,0,0,0,0,0,0
$GC,2757,-0.73,-243.3,370.2,-11.5,179,2761,0.00,2.22,0.00,0.000,4,0.000,0.039,3031,324,3741,0,0,0,0,0,0
$GC,2795,-0.73,-243.3,374.9,-11.9,180,2800,0.10,2.20,0.00,0.000,6,0.142,0.030,3058,1901,3741,0,0,0,0,0,0
$GC,3122,-0.73,-243.3,401.3,-6.9,188,3126,0.00,2.30,0.00,0.000,4,0.000,0.042,3049,3483,3739,0,0,0,0,0,0
$GC,3154,-0.73,-243.3,403.7,-6.4,188,3160,0.00,2.25,0.00,0.000,6,0.000,0.026,3049,1902,3739,0,0,0,0,0,0
$GC,3487,-0.73,-243.3,428.9,-7.8,197,3491,0.00,2.28,0.00,0.000,4,0.000,0.039,3049,324,3736,0,0,0,0,0,0
$GC,3547,-0.73,-243.3,434.7,-9.2,198,3551,0.00,2.25,0.00,0.000,6,0.000,0.029,3038,1936,3735,0,0,0,0,0,0
$GC,3895,-0.73,-243.3,467.4,-9.5,207,3899,0.00,2.25,0.00,0.000,4,0.000,0.042,3027,3486,3733,0,0,0,0,0,0
$GC,3928,-0.73,-243.3,470.2,-8.4,207,3932,0.00,2.22,0.00,0.000,6,0.000,0.026,3027,1896,3732,0,0,0,0,0,0
$GC,4260,-0.73,-243.3,496.1,-7.5,215,4264,0.00,2.28,0.00,0.000,4,0.000,0.040,3027,321,3728,0,0,0,0,0,0
$GC,4311,-0.73,-243.3,499.2,-5.9,216,4316,0.12,2.22,0.00,0.000,6,0.130,0.029,3061,1908,3728,0,0,0,0,0,0
$GC,4629,-0.73,-243.3,509.0,-2.7,224,4633,0.00,2.30,0.00,0.000,4,0.000,0.043,3051,3484,3726,0,0,0,0,0,0
$GC,4649,-0.73,-243.3,509.5,-2.6,224,4654,0.00,2.28,0.00,0.000,6,0.000,0.027,3051,1893,3726,0,0,0,0,0,0
$GC,4992,-0.73,-243.3,526.9,-5.9,233,4996,0.00,2.25,0.00,0.000,4,0.000,0.041,3051,327,3722,0,0,0,0,0,0
$GC,5047,-0.73,-243.3,530.6,-6.6,234,5050,0.00,2.22,0.00,0.000,6,0.000,0.031,3040,1908,3722,0,0,0,0,0,0
$GC,5359,-0.73,-243.3,554.6,-7.7,242,5363,0.00,2.28,0.00,0.000,4,0.000,0.043,3027,3480,3720,0,0,0,0,0,0
$GC,5403,-0.73,-243.3,557.4,-5.4,243,5407,0.00,2.28,0.00,0.000,6,0.000,0.026,3028,1894,3720,0,0,0,0,0,0
$GC,5729,-0.73,-243.3,583.3,-9.1,251,5733,0.00,2.28,0.00,0.000,4,0.000,0.041,3026,317,3717,0,0,0,0,0,0
$STATE,5889,end dive,NO_VERTICAL_VELOCITY
$STATE,5889,begin apogee
$GC,5896,-0.23,0.0,585.0,0.0,254,6085,0.50,0.00,185.10,0.987,6,0.073,0.000,3217,2000,2750,0,0,0,0,0,0
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6086,begin climb
$GC,6087,0.73,243.3,584.9,0.0,259,6293,0.82,2.50,196.18,0.952,4,0.068,0.041,3535,434,1757,0,0,0,0,0,0
$GC,6348,0.73,243.3,565.1,19.1,265,6353,0.00,2.35,0.00,0.000,6,0.000,0.031,3535,1996,1750,0,0,0,0,0,0
$GC,6661,0.73,243.3,506.0,17.7,273,6665,0.00,2.33,0.00,0.000,4,0.000,0.041,3547,423,1744,0,0,0,0,0,0
$GC,6721,0.73,243.3,497.8,13.2,274,6726,0.00,2.33,0.00,0.000,6,0.000,0.031,3547,1995,1743,0,0,0,0,0,0
$GC,7035,0.73,243.3,448.4,16.4,282,7039,0.00,2.30,0.00,0.000,4,0.000,0.041,3559,425,1742,0,0,0,0,0,0
$GC,7146,0.73,243.3,426.9,19.2,284,7151,0.12,2.25,0.00,0.000,6,0.158,0.030,3524,2000,1741,0,0,0,0,0,0
$GC,7489,0.73,243.3,378.4,12.8,293,7493,0.00,2.33,0.00,0.000,4,0.000,0.042,3535,425,1740,0,0,0,0,0,0
$GC,7532,0.73,243.3,372.5,13.0,294,7536,0.00,2.28,0.00,0.000,6,0.000,0.031,3535,1996,1739,0,0,0,0,0,0
$GC,7856,0.73,243.3,329.4,13.3,302,7860,0.00,2.30,0.00,0.000,4,0.000,0.041,3547,422,1739,0,0,0,0,0,0
$GC,7996,0.73,243.3,309.4,13.7,305,8000,0.00,2.28,0.00,0.000,6,0.000,0.031,3547,2000,1739,0,0,0,0,0,0
$GC,8317,0.73,243.3,265.5,12.8,319,8321,0.00,2.28,0.00,0.000,4,0.000,0.041,3559,430,1737,0,0,0,0,0,0
$GC,8461,0.73,243.3,244.7,15.0,325,8468,0.08,2.28,0.00,0.000,6,0.130,0.030,3531,2014,1737,0,0,0,0,0,0
$GC,8777,0.73,243.3,202.9,12.2,341,8781,0.00,2.33,0.00,0.000,4,0.000,0.039,3542,419,1737,0,0,0,0,0,0
$GC,8854,0.73,243.3,192.9,12.9,346,8860,0.00,2.28,0.00,0.000,6,0.000,0.029,3542,1991,1736,0,0,0,0,0,0
$GC,9115,0.73,243.3,160.6,10.9,371,9119,0.00,2.25,0.00,0.000,4,0.000,0.039,3553,424,1736,0,0,0,0,0,0
$GC,9248,0.73,243.3,144.8,12.3,382,9254,0.00,2.28,0.00,0.000,6,0.000,0.029,3554,2015,1736,0,0,0,0,0,0
$GC,9509,0.73,243.3,113.1,12.3,407,9514,0.00,2.28,0.00,0.000,4,0.000,0.039,3565,429,1736,0,0,0,0,0,0
$GC,9526,0.73,243.3,111.1,12.0,408,9531,0.12,2.22,0.00,0.000,6,0.150,0.030,3530,2008,1736,0,0,0,0,0,0
$GC,9792,0.85,339.3,86.9,7.3,433,9874,0.10,2.38,73.30,0.608,4,0.100,0.041,3603,425,1365,0,0,0,0,0,0
$GC,9988,0.85,339.3,60.0,16.6,451,9993,0.12,2.28,0.00,0.000,6,0.151,0.029,3568,2001,1360,0,0,0,0,0,0
$GC,10249,0.85,339.3,28.0,12.0,476,10255,0.00,2.30,0.00,0.000,4,0.000,0.039,3578,419,1358,0,0,0,0,0,0
$GC,10373,0.85,339.3,11.7,12.7,498,10379,0.00,2.25,0.00,0.000,6,0.000,0.029,3578,1992,1357,0,0,0,0,0,0
$STATE,10441,end climb,SURFACE_DEPTH_REACHED
$STATE,10441,begin surface coast
$FINISH,0.2,1.023119
$STATE,10463,end surface coast,CONTROL_FINISHED_OK
$STATE,10463,begin surface
$SM_CCo,10481,29.92,0.350,1,0,1159,390.02
$SM_GC,0.88,0.00,0.00,29.92,0.000,0.000,0.350,123,1888,1159,-9.90,-0.31,390.02
$IRIDIUM_FIX,2054.83,-15756.91,040412,101027
$TT8_MAMPS,0.027612
$HUMID,1078921926
$INTERNAL_PRESSURE,9.5011
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.2,22.200
$10V_AH,10.3,16.156
$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,22.575,127.475,454.575,29.925,0.000,144.706,211.774,757.098,5.000,0.000,60.777,1087.848,7740.778,595.679,2406.019,242.353,33.384,1316.193,0.000,1218.508,0.000,44.158,0.000
$DEVICE_MAMPS,233.168,92.040,987.129,349.752,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334604
$DATA_FILE_SIZE,16764,514
$CAP_FILE_SIZE,162083,0
$CFSIZE,260165632,224485376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101010,185600,2103.780,-15755.295,57,1.0,58,9.8