version: 66.07
glider: 500
mission: 7
dive: 200
start: 10 10 110 22 37 54
data:
$ID,500
$MISSION,7
$DIVE,200
$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,-119372.58
$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
$GPS1,101010,222524,2104.596,-15754.125,25,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.3
$GPS2,101010,223701,2104.615,-15754.234,12,1.8,29,9.8
$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,-353716.3,3157.9,1573.8,345243.6,-20821.0
$KALMAN_Y,-10726.7,708.1,176.1,-8404.1,-3397.3
$MHEAD_RNG_PITCHd_Wd,60.1,8396,-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,-243.3,0.0,0.0,0,79,0.00,0.00,-60.65,0.000,2,0.000,0.000,124,1869,2843,0,0,0,0,0,0
$GC,82,-0.73,-243.3,3.5,-9.0,12,114,11.23,2.30,-14.93,0.000,4,0.230,0.050,3042,296,3746,0,0,0,0,0,0
$GC,147,-0.73,-243.3,26.4,-24.2,24,153,0.00,2.35,0.00,0.000,6,0.000,0.033,3031,1928,3748,0,0,0,0,0,0
$GC,351,-0.73,-243.3,70.8,-21.4,45,352,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1928,3749,0,0,0,0,0,0
$GC,606,-0.73,-243.3,118.4,-17.9,69,611,0.00,2.38,0.00,0.000,4,0.000,0.039,3031,289,3750,0,0,0,0,0,0
$GC,672,-0.73,-243.3,128.7,-12.8,74,679,0.08,2.33,0.00,0.000,6,0.118,0.031,3051,1900,3750,0,0,0,0,0,0
$GC,933,-0.73,-243.3,162.2,-13.9,99,938,0.00,2.33,0.00,0.000,4,0.000,0.040,3051,287,3752,0,0,0,0,0,0
$GC,954,-0.73,-243.3,165.4,-14.4,100,961,0.00,2.33,0.00,0.000,6,0.000,0.031,3042,1901,3752,0,0,0,0,0,0
$GC,1215,-0.73,-243.3,204.5,-15.1,124,1219,0.00,2.35,0.00,0.000,4,0.000,0.040,3042,288,3752,0,0,0,0,0,0
$GC,1241,-0.73,-243.3,208.9,-16.1,125,1245,0.00,2.30,0.00,0.000,6,0.000,0.031,3030,1890,3752,0,0,0,0,0,0
$GC,1568,-0.73,-243.3,256.2,-12.8,141,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1890,3753,0,0,0,0,0,0
$GC,1879,-0.73,-243.3,292.5,-12.1,156,1883,0.00,2.33,0.00,0.000,4,0.000,0.043,3018,3482,3753,0,0,0,0,0,0
$GC,1895,-0.73,-243.3,294.5,-11.4,157,1900,0.12,2.25,0.00,0.000,6,0.122,0.026,3064,1875,3753,0,0,0,0,0,0
$GC,2218,-0.73,-243.3,319.1,-7.7,167,2222,0.00,2.22,0.00,0.000,4,0.000,0.039,3064,318,3753,0,0,0,0,0,0
$GC,2239,-0.73,-243.3,320.7,-7.2,167,2243,0.00,2.22,0.00,0.000,6,0.000,0.029,3055,1911,3753,0,0,0,0,0,0
$GC,2582,-0.73,-243.3,345.2,-7.1,176,2586,0.00,2.28,0.00,0.000,4,0.000,0.039,3056,321,3753,0,0,0,0,0,0
$GC,2615,-0.73,-243.3,347.8,-8.2,176,2620,0.00,2.25,0.00,0.000,6,0.000,0.030,3045,1912,3753,0,0,0,0,0,0
$GC,2945,-0.73,-243.3,372.9,-7.6,185,2949,0.00,2.25,0.00,0.000,4,0.000,0.042,3032,3477,3751,0,0,0,0,0,0
$GC,3006,-0.73,-243.3,378.0,-8.0,186,3010,0.00,2.25,0.00,0.000,6,0.000,0.025,3032,1876,3751,0,0,0,0,0,0
$GC,3358,-0.73,-243.3,411.4,-9.8,195,3363,0.00,2.25,0.00,0.000,4,0.000,0.040,3032,321,3748,0,0,0,0,0,0
$GC,3419,-0.73,-243.3,418.3,-10.1,196,3423,0.00,2.25,0.00,0.000,6,0.000,0.029,3025,1902,3748,0,0,0,0,0,0
$GC,3768,-0.73,-243.3,452.2,-9.9,205,3772,0.00,2.30,0.00,0.000,4,0.000,0.043,3012,3482,3745,0,0,0,0,0,0
$GC,3801,-0.73,-243.3,455.4,-8.9,205,3808,0.12,2.20,0.00,0.000,6,0.121,0.026,3058,1901,3744,0,0,0,0,0,0
$GC,4132,-0.73,-243.3,475.9,-6.0,214,4136,0.00,2.25,0.00,0.000,4,0.000,0.040,3058,331,3742,0,0,0,0,0,0
$GC,4164,-0.73,-243.3,478.4,-7.8,214,4170,0.00,2.25,0.00,0.000,6,0.000,0.030,3049,1903,3742,0,0,0,0,0,0
$GC,4496,-0.73,-243.3,510.0,-10.5,223,4501,0.00,2.30,0.00,0.000,4,0.000,0.044,3037,3479,3739,0,0,0,0,0,0
$GC,4523,-0.73,-243.3,513.1,-10.8,223,4528,0.00,2.25,0.00,0.000,6,0.000,0.026,3037,1903,3739,0,0,0,0,0,0
$GC,4866,-0.73,-243.3,545.9,-9.3,232,4870,0.00,2.30,0.00,0.000,4,0.000,0.041,3037,324,3736,0,0,0,0,0,0
$GC,4920,-0.73,-243.3,551.3,-10.3,233,4925,0.00,2.25,0.00,0.000,6,0.000,0.028,3025,1897,3735,0,0,0,0,0,0
$GC,5234,-0.73,-243.3,581.5,-9.3,241,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1898,3733,0,0,0,0,0,0
$GC,5562,-0.73,-243.3,611.9,-9.2,249,5566,0.00,2.30,0.00,0.000,4,0.000,0.044,3013,3481,3731,0,0,0,0,0,0
$GC,5589,-0.73,-243.3,614.9,-9.3,249,5594,0.12,2.28,0.00,0.000,6,0.120,0.027,3058,1892,3731,0,0,0,0,0,0
$GC,5926,-0.73,-243.3,638.1,-6.4,258,5930,0.00,2.25,0.00,0.000,4,0.000,0.041,3059,328,3728,0,0,0,0,0,0
$GC,5969,-0.73,-243.3,641.1,-6.8,259,5973,0.00,2.25,0.00,0.000,6,0.000,0.031,3049,1903,3728,0,0,0,0,0,0
$GC,6295,-0.73,-243.3,658.4,-4.0,267,6299,0.00,2.30,0.00,0.000,4,0.000,0.044,3049,3477,3726,0,0,0,0,0,0
$STATE,6433,end dive,NO_VERTICAL_VELOCITY
$STATE,6433,begin apogee
$GC,6440,-0.23,0.0,658.4,0.0,270,6636,0.40,0.00,189.55,1.048,6,0.051,0.000,3249,1995,2748,0,0,0,0,0,0
$STATE,6639,end apogee,CONTROL_FINISHED_OK
$STATE,6639,begin climb
$GC,6640,0.73,243.3,658.4,0.0,275,6848,0.70,2.45,198.02,1.016,4,0.041,0.041,3558,430,1757,0,0,0,0,0,0
$GC,6978,0.73,243.3,623.2,17.3,283,6983,0.12,2.30,0.00,0.000,6,0.153,0.029,3525,1999,1747,0,0,0,0,0,0
$GC,7302,0.73,243.3,575.4,14.0,291,7306,0.00,2.33,0.00,0.000,4,0.000,0.041,3535,433,1743,0,0,0,0,0,0
$GC,7458,0.73,243.3,552.7,14.8,294,7463,0.00,2.30,0.00,0.000,6,0.000,0.030,3535,1994,1743,0,0,0,0,0,0
$GC,7801,0.73,243.3,500.9,15.5,303,7805,0.00,2.33,0.00,0.000,4,0.000,0.041,3547,423,1742,0,0,0,0,0,0
$GC,7885,0.73,243.3,488.3,15.4,305,7889,0.00,2.28,0.00,0.000,6,0.000,0.031,3547,2012,1741,0,0,0,0,0,0
$GC,8209,0.73,243.3,435.6,16.3,313,8213,0.00,2.33,0.00,0.000,4,0.000,0.040,3559,432,1741,0,0,0,0,0,0
$GC,8309,0.73,243.3,418.0,17.5,315,8314,0.08,2.28,0.00,0.000,6,0.133,0.029,3532,1997,1740,0,0,0,0,0,0
$GC,8623,0.73,243.3,373.7,13.6,323,8627,0.00,2.28,0.00,0.000,4,0.000,0.041,3542,433,1740,0,0,0,0,0,0
$GC,8694,0.73,243.3,363.5,14.8,324,8699,0.00,2.28,0.00,0.000,6,0.000,0.031,3542,2000,1740,0,0,0,0,0,0
$GC,9031,0.73,243.3,318.7,12.3,333,9035,0.00,2.33,0.00,0.000,4,0.000,0.041,3554,422,1740,0,0,0,0,0,0
$GC,9161,0.73,243.3,301.3,14.7,336,9165,0.00,2.25,0.00,0.000,6,0.000,0.031,3554,2000,1739,0,0,0,0,0,0
$GC,9488,0.73,243.3,252.6,14.6,351,9492,0.00,2.33,0.00,0.000,4,0.000,0.041,3565,421,1739,0,0,0,0,0,0
$GC,9640,0.73,243.3,229.9,12.7,358,9645,0.12,2.28,0.00,0.000,6,0.154,0.031,3530,2006,1739,0,0,0,0,0,0
$GC,9956,0.73,243.3,196.0,10.3,375,9960,0.00,2.30,0.00,0.000,4,0.000,0.040,3541,431,1738,0,0,0,0,0,0
$GC,10101,0.73,243.3,180.7,10.8,387,10108,0.00,2.28,0.00,0.000,6,0.000,0.030,3541,2008,1738,0,0,0,0,0,0
$GC,10362,0.73,243.3,149.6,13.5,412,10366,0.00,2.30,0.00,0.000,4,0.000,0.040,3552,430,1738,0,0,0,0,0,0
$GC,10412,0.73,243.3,142.4,14.4,416,10416,0.00,2.25,0.00,0.000,6,0.000,0.030,3552,2013,1738,0,0,0,0,0,0
$GC,10673,0.73,243.3,112.5,10.8,440,10677,0.00,2.30,0.00,0.000,4,0.000,0.039,3564,419,1738,0,0,0,0,0,0
$GC,10758,0.73,243.3,102.6,12.2,447,10763,0.12,2.25,0.00,0.000,6,0.149,0.030,3527,2005,1738,0,0,0,0,0,0
$GC,11019,0.86,342.4,78.3,7.2,471,11102,0.10,2.42,76.50,0.605,4,0.100,0.039,3601,432,1353,0,0,0,0,0,0
$GC,11242,0.86,342.4,49.0,15.0,491,11249,0.10,2.30,0.00,0.000,6,0.127,0.028,3566,1997,1346,0,0,0,0,0,0
$GC,11508,0.86,342.4,18.8,10.4,524,11514,0.00,2.30,0.00,0.000,4,0.000,0.039,3576,429,1344,0,0,0,0,0,0
$GC,11583,0.86,342.4,10.4,12.9,537,11588,0.00,2.25,0.00,0.000,6,0.000,0.027,3576,2011,1344,0,0,0,0,0,0
$STATE,11644,end climb,SURFACE_DEPTH_REACHED
$STATE,11644,begin surface coast
$FINISH,0.2,1.023036
$STATE,11667,end surface coast,CONTROL_FINISHED_OK
$STATE,11667,begin surface
$SM_CCo,11684,30.65,0.358,1,0,1159,390.02
$SM_GC,1.00,0.00,0.00,30.65,0.000,0.000,0.358,154,1863,1159,-9.80,-1.05,390.02
$IRIDIUM_FIX,2054.83,-15753.90,040412,131339
$TT8_MAMPS,0.027612
$HUMID,1078870313
$INTERNAL_PRESSURE,9.48157
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.0,22.529
$10V_AH,10.3,16.268
$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,22.250,128.200,464.075,30.650,0.000,23.963,46.365,479.071,6.500,0.000,33.220,1175.208,8495.797,578.498,1938.519,231.483,33.365,1369.244,0.000,1330.559,0.000,60.274,0.000
$DEVICE_MAMPS,230.100,75.166,1048.489,358.189,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20112,552
$CAP_FILE_SIZE,161777,0
$CFSIZE,260165632,224366592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,015428,2105.108,-15753.403,16,2.4,36,9.8