version: 66.07
glider: 500
mission: 7
dive: 199
start: 10 10 110 19 12 49
data:
$ID,500
$MISSION,7
$DIVE,199
$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,-119338.73
$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
$GPS1,101010,185600,2103.780,-15755.295,57,1.0,58,9.8
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.7
$GPS2,101010,191155,2103.853,-15755.495,11,1.2,14,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.308,0.102
$KALMAN_X,-352208.3,3276.7,1279.2,341743.4,-22576.6
$KALMAN_Y,-9610.0,206.9,-77.4,-10179.2,-2418.9
$MHEAD_RNG_PITCHd_Wd,61.8,10921,-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,15,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,-59.65,0.000,2,0.000,0.000,122,1889,2797,0,0,0,0,0,0
$GC,82,-0.73,-243.3,3.2,-8.5,12,114,11.25,0.00,-16.70,0.000,6,0.231,0.000,3043,1889,3745,0,0,0,0,0,0
$GC,309,-0.73,-243.3,56.8,-20.1,42,313,0.00,2.33,0.00,0.000,4,0.000,0.041,3043,287,3747,0,0,0,0,0,0
$GC,349,-0.73,-243.3,64.5,-19.4,45,353,0.00,2.35,0.00,0.000,6,0.000,0.031,3033,1929,3747,0,0,0,0,0,0
$GC,610,-0.73,-243.3,112.9,-18.5,69,614,0.00,2.38,0.00,0.000,4,0.000,0.038,3032,295,3748,0,0,0,0,0,0
$GC,626,-0.73,-243.3,116.3,-19.8,70,631,0.10,2.28,0.00,0.000,6,0.158,0.031,3051,1912,3748,0,0,0,0,0,0
$GC,887,-0.73,-243.3,154.8,-14.5,94,891,0.00,2.30,0.00,0.000,4,0.000,0.042,3040,3477,3749,0,0,0,0,0,0
$GC,948,-0.73,-243.3,162.4,-11.1,99,952,0.00,2.25,0.00,0.000,6,0.000,0.025,3040,1868,3750,0,0,0,0,0,0
$GC,1208,-0.73,-243.3,195.1,-13.0,123,1212,0.00,2.20,0.00,0.000,4,0.000,0.039,3040,321,3750,0,0,0,0,0,0
$GC,1257,-0.73,-243.3,201.8,-13.2,126,1262,0.00,2.25,0.00,0.000,6,0.000,0.029,3029,1898,3750,0,0,0,0,0,0
$GC,1578,-0.73,-243.3,244.3,-13.8,142,1582,0.00,2.28,0.00,0.000,4,0.000,0.041,3018,3487,3751,0,0,0,0,0,0
$GC,1611,-0.73,-243.3,248.9,-13.3,143,1618,0.08,2.25,0.00,0.000,6,0.097,0.025,3055,1902,3751,0,0,0,0,0,0
$GC,1926,-0.73,-243.3,280.4,-9.5,159,1931,0.00,2.25,0.00,0.000,4,0.000,0.039,3055,321,3750,0,0,0,0,0,0
$GC,1970,-0.73,-243.3,284.8,-9.6,161,1974,0.00,2.25,0.00,0.000,6,0.000,0.028,3045,1907,3750,0,0,0,0,0,0
$GC,2296,-0.73,-243.3,318.0,-10.1,173,2300,0.00,2.30,0.00,0.000,4,0.000,0.042,3032,3487,3749,0,0,0,0,0,0
$GC,2339,-0.73,-243.3,322.1,-8.7,174,2344,0.00,2.28,0.00,0.000,6,0.000,0.027,3033,1901,3749,0,0,0,0,0,0
$GC,2664,-0.73,-243.3,356.0,-11.2,182,2667,0.00,2.30,0.00,0.000,4,0.000,0.039,3032,306,3747,0,0,0,0,0,0
$GC,2757,-0.73,-243.3,368.4,-12.8,184,2762,0.00,2.28,0.00,0.000,6,0.000,0.030,3021,1901,3746,0,0,0,0,0,0
$GC,3083,-0.73,-243.3,409.7,-12.1,192,3089,0.10,2.33,0.00,0.000,4,0.147,0.043,3045,3486,3744,0,0,0,0,0,0
$GC,3144,-0.73,-243.3,416.4,-9.7,193,3149,0.00,2.28,0.00,0.000,6,0.000,0.027,3045,1897,3744,0,0,0,0,0,0
$GC,3458,-0.73,-243.3,443.6,-8.5,201,3462,0.00,2.28,0.00,0.000,4,0.000,0.040,3045,314,3741,0,0,0,0,0,0
$GC,3518,-0.73,-243.3,449.1,-9.0,202,3522,0.00,2.28,0.00,0.000,6,0.000,0.029,3034,1902,3741,0,0,0,0,0,0
$GC,3867,-0.73,-243.3,482.5,-9.7,211,3871,0.00,2.28,0.00,0.000,4,0.000,0.043,3021,3479,3738,0,0,0,0,0,0
$GC,3907,-0.73,-243.3,486.3,-9.8,212,3912,0.10,2.22,0.00,0.000,6,0.128,0.026,3060,1890,3738,0,0,0,0,0,0
$GC,4231,-0.73,-243.3,512.2,-7.8,220,4235,0.00,2.25,0.00,0.000,4,0.000,0.041,3060,325,3735,0,0,0,0,0,0
$GC,4287,-0.73,-243.3,516.5,-7.3,221,4291,0.00,2.22,0.00,0.000,6,0.000,0.030,3051,1914,3734,0,0,0,0,0,0
$GC,4634,-0.73,-243.3,539.2,-6.1,230,4638,0.00,2.25,0.00,0.000,4,0.000,0.043,3039,3474,3732,0,0,0,0,0,0
$GC,4662,-0.73,-243.3,540.8,-5.8,230,4666,0.00,2.22,0.00,0.000,6,0.000,0.026,3039,1887,3732,0,0,0,0,0,0
$GC,4995,-0.73,-243.3,561.8,-6.3,238,4999,0.00,2.25,0.00,0.000,4,0.000,0.041,3038,326,3727,0,0,0,0,0,0
$GC,5050,-0.73,-243.3,566.1,-7.8,239,5054,0.00,2.22,0.00,0.000,6,0.000,0.030,3028,1899,3727,0,0,0,0,0,0
$GC,5398,-0.73,-243.3,595.6,-9.4,248,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1899,3725,0,0,0,0,0,0
$GC,5725,-0.73,-243.3,622.8,-8.3,256,5729,0.00,2.28,0.00,0.000,4,0.000,0.042,3015,3472,3724,0,0,0,0,0,0
$GC,5765,-0.73,-243.3,626.1,-8.6,257,5769,0.12,2.22,0.00,0.000,6,0.116,0.027,3064,1890,3723,0,0,0,0,0,0
$STATE,6047,end dive,NO_VERTICAL_VELOCITY
$STATE,6047,begin apogee
$GC,6052,-0.23,0.0,629.7,0.0,264,6242,0.40,0.00,187.88,1.016,6,0.066,0.000,3228,2003,2750,0,0,0,0,0,0
$STATE,6243,end apogee,CONTROL_FINISHED_OK
$STATE,6243,begin climb
$GC,6245,0.73,243.3,629.6,0.0,268,6454,0.80,2.53,197.30,0.979,4,0.058,0.041,3547,434,1757,0,0,0,0,0,0
$GC,6526,0.73,243.3,605.3,16.5,274,6531,0.00,2.35,0.00,0.000,6,0.000,0.030,3547,1999,1749,0,0,0,0,0,0
$GC,6863,0.73,243.3,547.7,17.2,283,6867,0.00,2.35,0.00,0.000,4,0.000,0.041,3559,429,1745,0,0,0,0,0,0
$GC,7007,0.73,243.3,522.8,18.4,286,7012,0.12,2.30,0.00,0.000,6,0.157,0.031,3524,2005,1744,0,0,0,0,0,0
$GC,7355,0.73,243.3,472.9,13.9,295,7359,0.00,2.30,0.00,0.000,4,0.000,0.040,3535,432,1742,0,0,0,0,0,0
$GC,7471,0.73,243.3,456.2,13.7,297,7476,0.00,2.28,0.00,0.000,6,0.000,0.031,3535,2010,1742,0,0,0,0,0,0
$GC,7808,0.73,243.3,411.8,13.3,306,7812,0.00,2.33,0.00,0.000,4,0.000,0.041,3546,429,1741,0,0,0,0,0,0
$GC,7907,0.73,243.3,397.4,15.2,308,7911,0.00,2.22,0.00,0.000,6,0.000,0.030,3546,2002,1740,0,0,0,0,0,0
$GC,8219,0.73,243.3,346.3,16.8,316,8224,0.00,2.30,0.00,0.000,4,0.000,0.041,3558,421,1740,0,0,0,0,0,0
$GC,8354,0.73,243.3,324.8,17.6,319,8359,0.12,2.25,0.00,0.000,6,0.155,0.031,3522,1994,1740,0,0,0,0,0,0
$GC,8673,0.73,243.3,286.1,11.7,329,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,1994,1740,0,0,0,0,0,0
$GC,8984,0.73,243.3,252.7,11.0,344,8988,0.00,2.30,0.00,0.000,4,0.000,0.041,3533,426,1740,0,0,0,0,0,0
$GC,9167,0.73,243.3,231.5,11.8,352,9172,0.00,2.28,0.00,0.000,6,0.000,0.030,3533,2010,1739,0,0,0,0,0,0
$GC,9490,0.73,243.3,193.3,12.7,370,9494,0.00,2.28,0.00,0.000,4,0.000,0.040,3545,432,1739,0,0,0,0,0,0
$GC,9721,0.74,245.1,167.4,9.9,390,9726,0.00,2.22,0.00,0.000,6,0.000,0.029,3545,2010,1739,0,0,0,0,0,0
$GC,9988,0.75,251.9,141.4,9.8,415,9999,0.00,2.30,5.25,0.529,4,0.000,0.038,3557,422,1723,0,0,0,0,0,0
$GC,10112,0.75,251.9,127.5,11.3,426,10116,0.00,2.22,0.00,0.000,6,0.000,0.031,3556,1993,1723,0,0,0,0,0,0
$GC,10372,0.75,251.9,101.5,11.1,450,10376,0.00,2.25,0.00,0.000,4,0.000,0.039,3567,430,1723,0,0,0,0,0,0
$GC,10387,0.75,251.9,99.8,10.3,451,10395,0.10,2.25,0.00,0.000,6,0.121,0.029,3532,2015,1723,0,0,0,0,0,0
$GC,10649,0.80,296.3,76.2,8.8,476,10693,0.00,2.38,37.55,0.586,4,0.000,0.038,3542,431,1542,0,0,0,0,0,0
$GC,10918,0.86,344.9,52.9,8.6,500,10966,0.00,2.25,38.80,0.559,6,0.000,0.028,3542,1985,1343,0,0,0,0,0,0
$GC,11224,0.86,348.2,23.3,9.9,534,11230,0.00,2.28,0.00,0.000,4,0.000,0.038,3554,425,1338,0,0,0,0,0,0
$GC,11354,0.86,348.2,9.6,11.2,557,11360,0.00,2.25,0.00,0.000,6,0.000,0.029,3554,2023,1337,0,0,0,0,0,0
$STATE,11409,end climb,SURFACE_DEPTH_REACHED
$STATE,11409,begin surface coast
$FINISH,0.2,1.022982
$STATE,11433,end surface coast,CONTROL_FINISHED_OK
$STATE,11433,begin surface
$SM_CCo,11450,25.45,0.075,0,0,1160,390.02
$SM_GC,1.12,0.00,0.00,25.45,0.000,0.000,0.075,124,1869,1160,-9.90,-0.85,390.02
$IRIDIUM_FIX,2057.14,-15756.04,040412,131338
$TT8_MAMPS,0.027612
$HUMID,1078804506
$INTERNAL_PRESSURE,9.51087
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.1,22.366
$10V_AH,10.3,16.213
$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,21.875,118.800,466.775,25.450,0.000,59.051,74.579,626.799,5.750,0.000,16.290,1203.504,8278.499,562.070,2169.763,221.426,33.360,1358.093,0.000,1366.289,0.000,51.627,0.000
$DEVICE_MAMPS,230.867,82.836,1015.508,75.166,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,385.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334576
$DATA_FILE_SIZE,20132,571
$CAP_FILE_SIZE,164524,0
$CFSIZE,260165632,224423936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101010,222524,2104.596,-15754.125,25,0.9,42,9.8