version: 66.07
glider: 500
mission: 7
dive: 202
start: 10 11 110 5 42 32
data:
$ID,500
$MISSION,7
$DIVE,202
$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,-119466.85
$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
$GPS1,111010,051436,2105.467,-15753.187,32,1.1,33,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.9
$GPS2,111010,054139,2105.708,-15753.431,33,1.8,33,9.8
$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,-357901.1,1637.9,762.9,353162.1,-16100.0
$KALMAN_Y,-12409.0,397.0,106.0,-4323.5,-3848.8
$MHEAD_RNG_PITCHd_Wd,58.5,5971,-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,-243.3,0.0,0.0,0,90,0.00,0.00,-69.75,0.000,2,0.000,0.000,125,1883,2887,0,0,0,0,0,0
$GC,92,-0.73,-243.3,3.6,-10.2,14,124,11.23,2.35,-14.15,0.000,4,0.230,0.051,3043,286,3744,0,0,0,0,0,0
$GC,137,-0.73,-243.3,21.8,-36.2,22,142,0.00,2.38,0.00,0.000,6,0.000,0.030,3033,1936,3745,0,0,0,0,0,0
$GC,335,-0.73,-243.3,71.8,-23.8,43,336,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1936,3746,0,0,0,0,0,0
$GC,590,-0.73,-243.3,125.9,-18.4,67,594,0.00,2.40,0.00,0.000,4,0.000,0.040,3033,286,3746,0,0,0,0,0,0
$GC,628,-0.73,-243.3,132.5,-16.5,70,633,0.12,2.30,0.00,0.000,6,0.141,0.031,3062,1909,3746,0,0,0,0,0,0
$GC,889,-0.73,-243.3,165.7,-12.7,94,890,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1910,3746,0,0,0,0,0,0
$GC,1144,-0.73,-243.3,198.9,-12.7,118,1148,0.00,2.28,0.00,0.000,4,0.000,0.043,3052,3473,3746,0,0,0,0,0,0
$GC,1165,-0.73,-243.3,201.7,-12.7,119,1169,0.00,2.28,0.00,0.000,6,0.000,0.026,3052,1879,3747,0,0,0,0,0,0
$GC,1491,-0.73,-243.3,240.0,-11.5,135,1495,0.00,2.22,0.00,0.000,4,0.000,0.039,3052,317,3746,0,0,0,0,0,0
$GC,1558,-0.73,-243.3,248.0,-11.5,138,1562,0.00,2.22,0.00,0.000,6,0.000,0.030,3043,1913,3746,0,0,0,0,0,0
$GC,1878,-0.73,-243.3,284.9,-12.2,154,1882,0.00,2.30,0.00,0.000,4,0.000,0.038,3042,310,3746,0,0,0,0,0,0
$GC,1893,-0.73,-243.3,287.0,-12.6,154,1900,0.00,2.25,0.00,0.000,6,0.000,0.030,3032,1894,3746,0,0,0,0,0,0
$GC,2206,-0.73,-243.3,326.6,-13.1,165,2210,0.00,2.28,0.00,0.000,4,0.000,0.041,3021,3482,3746,0,0,0,0,0,0
$GC,2223,-0.73,-243.3,328.8,-13.6,165,2228,0.10,2.25,0.00,0.000,6,0.133,0.026,3057,1885,3746,0,0,0,0,0,0
$GC,2565,-0.73,-243.3,358.4,-7.2,174,2569,0.00,2.25,0.00,0.000,4,0.000,0.039,3057,312,3743,0,0,0,0,0,0
$GC,2625,-0.73,-243.3,362.4,-6.6,175,2629,0.00,2.25,0.00,0.000,6,0.000,0.030,3048,1898,3743,0,0,0,0,0,0
$GC,2974,-0.73,-243.3,388.4,-8.3,184,2978,0.00,2.28,0.00,0.000,4,0.000,0.042,3036,3483,3739,0,0,0,0,0,0
$GC,3000,-0.73,-243.3,391.1,-9.4,184,3005,0.00,2.25,0.00,0.000,6,0.000,0.025,3036,1895,3738,0,0,0,0,0,0
$GC,3337,-0.73,-243.3,426.7,-10.6,193,3341,0.00,2.25,0.00,0.000,4,0.000,0.040,3036,329,3736,0,0,0,0,0,0
$GC,3352,-0.73,-243.3,428.2,-9.6,193,3357,0.00,2.25,0.00,0.000,6,0.000,0.030,3024,1904,3735,0,0,0,0,0,0
$GC,3665,-0.73,-243.3,454.9,-8.0,201,3669,0.00,2.28,0.00,0.000,4,0.000,0.043,3012,3479,3732,0,0,0,0,0,0
$GC,3685,-0.73,-243.3,456.0,-5.2,201,3690,0.08,2.25,0.00,0.000,6,0.097,0.026,3058,1910,3732,0,0,0,0,0,0
$GC,4027,-0.73,-243.3,477.7,-6.3,210,4031,0.00,2.30,0.00,0.000,4,0.000,0.040,3058,313,3729,0,0,0,0,0,0
$GC,4069,-0.73,-243.3,480.4,-6.7,211,4074,0.00,2.25,0.00,0.000,6,0.000,0.030,3049,1918,3728,0,0,0,0,0,0
$GC,4393,-0.73,-243.3,508.6,-9.6,219,4397,0.00,2.25,0.00,0.000,4,0.000,0.041,3037,3471,3724,0,0,0,0,0,0
$GC,4419,-0.73,-243.3,511.2,-9.4,219,4424,0.00,2.25,0.00,0.000,6,0.000,0.026,3037,1893,3724,0,0,0,0,0,0
$GC,4759,-0.73,-243.3,543.6,-9.8,228,4763,0.00,2.25,0.00,0.000,4,0.000,0.041,3037,328,3721,0,0,0,0,0,0
$GC,4819,-0.73,-243.3,550.6,-10.7,229,4823,0.00,2.25,0.00,0.000,6,0.000,0.030,3026,1901,3721,0,0,0,0,0,0
$GC,5167,-0.73,-243.3,579.9,-7.5,238,5172,0.00,2.30,0.00,0.000,4,0.000,0.043,3013,3477,3717,0,0,0,0,0,0
$GC,5212,-0.73,-243.3,583.6,-7.6,239,5217,0.12,2.25,0.00,0.000,6,0.121,0.027,3059,1895,3716,0,0,0,0,0,0
$GC,5535,-0.73,-243.3,606.5,-7.1,247,5539,0.00,2.28,0.00,0.000,4,0.000,0.041,3060,318,3714,0,0,0,0,0,0
$GC,5580,-0.73,-243.3,610.0,-8.3,248,5586,0.00,2.25,0.00,0.000,6,0.000,0.030,3049,1903,3714,0,0,0,0,0,0
$GC,5910,-0.73,-243.3,625.0,-1.0,256,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1903,3712,0,0,0,0,0,0
$STATE,6030,end dive,NO_VERTICAL_VELOCITY
$STATE,6030,begin apogee
$GC,6035,-0.23,0.0,625.0,0.0,259,6224,0.43,0.00,186.32,1.022,6,0.057,0.000,3233,2007,2750,0,0,0,0,0,0
$STATE,6225,end apogee,CONTROL_FINISHED_OK
$STATE,6225,begin climb
$GC,6227,0.73,243.3,624.9,0.0,263,6435,0.77,2.50,197.98,0.990,4,0.051,0.041,3552,433,1756,0,0,0,0,0,0
$GC,6574,0.73,243.3,588.5,16.8,272,6579,0.00,2.33,0.00,0.000,6,0.000,0.030,3553,1989,1747,0,0,0,0,0,0
$GC,6899,0.73,243.3,527.7,19.4,280,6904,0.00,2.33,0.00,0.000,4,0.000,0.040,3564,428,1744,0,0,0,0,0,0
$GC,6954,0.73,243.3,516.8,19.2,281,6960,0.10,2.30,0.00,0.000,6,0.130,0.030,3530,1994,1743,0,0,0,0,0,0
$GC,7270,0.73,243.3,470.2,14.0,289,7274,0.00,2.33,0.00,0.000,4,0.000,0.041,3541,423,1742,0,0,0,0,0,0
$GC,7409,0.73,243.3,449.2,14.7,292,7413,0.00,2.28,0.00,0.000,6,0.000,0.030,3541,2000,1741,0,0,0,0,0,0
$GC,7722,0.73,243.3,405.5,13.8,300,7726,0.00,2.30,0.00,0.000,4,0.000,0.041,3552,429,1741,0,0,0,0,0,0
$GC,7754,0.73,243.3,400.6,15.1,300,7760,0.00,2.28,0.00,0.000,6,0.000,0.031,3552,2003,1741,0,0,0,0,0,0
$GC,8085,0.73,243.3,353.7,13.6,309,8089,0.00,2.30,0.00,0.000,4,0.000,0.041,3564,428,1740,0,0,0,0,0,0
$GC,8246,0.73,243.3,329.9,16.2,312,8251,0.10,2.28,0.00,0.000,6,0.131,0.030,3530,2001,1740,0,0,0,0,0,0
$GC,8564,0.73,243.3,284.7,13.8,323,8568,0.00,2.33,0.00,0.000,4,0.000,0.041,3540,424,1739,0,0,0,0,0,0
$GC,8761,0.73,243.3,257.9,14.0,332,8765,0.00,2.25,0.00,0.000,6,0.000,0.031,3540,2012,1739,0,0,0,0,0,0
$GC,9086,0.73,243.3,214.8,12.9,348,9090,0.00,2.30,0.00,0.000,4,0.000,0.040,3552,423,1739,0,0,0,0,0,0
$GC,9171,0.73,243.3,203.8,13.4,352,9175,0.00,2.22,0.00,0.000,6,0.000,0.030,3552,2000,1738,0,0,0,0,0,0
$GC,9495,0.73,243.3,164.0,11.5,381,9499,0.00,2.30,0.00,0.000,4,0.000,0.041,3563,425,1738,0,0,0,0,0,0
$GC,9538,0.73,243.3,158.6,12.1,384,9545,0.12,2.28,0.00,0.000,6,0.148,0.031,3527,2016,1738,0,0,0,0,0,0
$GC,9800,0.82,313.0,136.7,8.1,409,9861,0.00,2.40,54.30,0.663,4,0.000,0.041,3538,428,1473,0,0,0,0,0,0
$GC,9942,0.82,313.0,122.9,11.3,422,9946,0.00,2.30,0.00,0.000,6,0.000,0.030,3538,2012,1468,0,0,0,0,0,0
$GC,10202,0.82,313.0,93.1,10.1,446,10207,0.00,2.35,0.00,0.000,4,0.000,0.039,3549,421,1466,0,0,0,0,0,0
$GC,10292,0.82,313.0,83.2,12.1,453,10298,0.00,2.25,0.00,0.000,6,0.000,0.030,3549,2010,1465,0,0,0,0,0,0
$GC,10552,0.82,313.0,55.5,10.6,478,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2010,1466,0,0,0,0,0,0
$GC,10811,0.82,313.0,25.4,12.6,505,10817,0.00,2.33,0.00,0.000,4,0.000,0.039,3561,415,1465,0,0,0,0,0,0
$GC,10924,0.87,356.6,12.5,8.8,525,10966,0.00,2.25,34.17,0.534,6,0.000,0.028,3561,1998,1295,0,0,0,0,0,0
$STATE,11015,end climb,SURFACE_DEPTH_REACHED
$STATE,11015,begin surface coast
$FINISH,0.3,1.023080
$STATE,11039,end surface coast,CONTROL_FINISHED_OK
$STATE,11039,begin surface
$SM_CCo,11057,24.30,0.308,1,0,1159,390.02
$SM_GC,1.11,0.00,0.00,24.30,0.000,0.000,0.308,140,1861,1159,-9.84,-1.10,390.02
$IRIDIUM_FIX,2057.14,-15756.04,040412,232323
$TT8_MAMPS,0.027612
$HUMID,1078826442
$INTERNAL_PRESSURE,9.5011
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.1,22.897
$10V_AH,10.3,16.383
$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,21.800,119.125,472.775,24.300,0.000,137.878,172.270,888.617,5.750,0.000,35.626,1132.199,8243.031,590.459,2491.052,256.006,33.361,1327.560,0.000,1235.370,0.000,50.845,0.000
$DEVICE_MAMPS,230.100,102.778,1022.411,307.567,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20126,546
$CAP_FILE_SIZE,170595,0
$CFSIZE,260165632,224239616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,084907,2106.214,-15752.384,70,0.9,71,9.8