version: 66.07
glider: 500
mission: 7
dive: 203
start: 10 11 110 9 18 27
data:
$ID,500
$MISSION,7
$DIVE,203
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,650
$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,133
$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,-119485.02
$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
$GPS1,111010,084907,2106.214,-15752.384,70,0.9,71,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.7
$GPS2,111010,091731,2106.349,-15752.624,10,1.0,15,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.290,0.147
$KALMAN_X,-360927.1,1068.5,1184.2,357730.2,-5981.0
$KALMAN_Y,-13121.0,44.1,305.2,-2269.6,-1404.6
$MHEAD_RNG_PITCHd_Wd,53.4,4148,-13.1,-10.025
$D_GRID,400
$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,-0.74,-243.3,0.0,0.0,0,80,0.00,0.00,-61.30,0.000,2,0.000,0.000,125,1860,2858,0,0,0,0,0,0
$GC,83,-0.74,-243.3,3.5,-10.2,12,115,11.20,2.30,-14.82,0.000,4,0.229,0.052,3044,295,3744,0,0,0,0,0,0
$GC,138,-0.74,-243.3,23.3,-26.2,22,144,0.00,2.35,0.00,0.000,6,0.000,0.031,3033,1925,3745,0,0,0,0,0,0
$GC,342,-0.74,-243.3,65.4,-20.2,44,346,0.00,2.30,0.00,0.000,4,0.000,0.042,3022,3478,3746,0,0,0,0,0,0
$GC,397,-0.74,-243.3,74.7,-15.3,48,404,0.10,2.25,0.00,0.000,6,0.145,0.026,3054,1864,3746,0,0,0,0,0,0
$GC,658,-0.74,-243.3,114.9,-14.2,73,662,0.00,2.20,0.00,0.000,4,0.000,0.039,3054,332,3747,0,0,0,0,0,0
$GC,685,-0.74,-243.3,118.8,-13.8,75,689,0.00,2.20,0.00,0.000,6,0.000,0.031,3044,1908,3746,0,0,0,0,0,0
$GC,946,-0.74,-243.3,153.8,-13.1,99,947,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1908,3747,0,0,0,0,0,0
$GC,1201,-0.74,-243.3,186.7,-12.2,123,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1908,3747,0,0,0,0,0,0
$GC,1461,-0.74,-243.3,219.7,-13.2,141,1465,0.00,2.25,0.00,0.000,4,0.000,0.039,3044,328,3746,0,0,0,0,0,0
$GC,1546,-0.74,-243.3,232.0,-15.6,145,1550,0.00,2.22,0.00,0.000,6,0.000,0.031,3034,1910,3746,0,0,0,0,0,0
$GC,1871,-0.74,-243.3,280.6,-13.0,161,1875,0.00,2.30,0.00,0.000,4,0.000,0.042,3022,3483,3746,0,0,0,0,0,0
$GC,1910,-0.74,-243.3,285.5,-12.5,163,1915,0.10,2.20,0.00,0.000,6,0.133,0.026,3059,1894,3746,0,0,0,0,0,0
$GC,2254,-0.74,-243.3,316.5,-9.4,176,2258,0.00,2.22,0.00,0.000,4,0.000,0.039,3058,327,3745,0,0,0,0,0,0
$GC,2325,-0.74,-243.3,325.0,-11.2,177,2329,0.00,2.22,0.00,0.000,6,0.000,0.030,3055,1910,3744,0,0,0,0,0,0
$GC,2662,-0.74,-243.3,363.1,-11.0,186,2666,0.00,2.28,0.00,0.000,4,0.000,0.039,3055,321,3743,0,0,0,0,0,0
$GC,2683,-0.74,-243.3,365.5,-10.9,186,2687,0.00,2.22,0.00,0.000,6,0.000,0.030,3044,1906,3743,0,0,0,0,0,0
$GC,3025,-0.74,-243.3,397.6,-9.0,195,3029,0.00,2.25,0.00,0.000,4,0.000,0.042,3032,3474,3740,0,0,0,0,0,0
$GC,3046,-0.74,-243.3,399.5,-8.6,195,3050,0.00,2.22,0.00,0.000,6,0.000,0.026,3031,1904,3740,0,0,0,0,0,0
$STATE,3056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3056,begin apogee
$GC,3061,-0.23,0.0,400.3,8.1,195,3247,0.47,0.00,183.25,0.806,6,0.090,0.000,3212,2001,2749,0,0,0,0,0,0
$STATE,3248,end apogee,CONTROL_FINISHED_OK
$STATE,3248,begin climb
$GC,3250,0.74,243.3,409.3,0.0,200,3449,0.80,2.42,190.25,0.794,4,0.045,0.040,3540,3573,1756,0,0,0,0,0,0
$GC,3483,0.74,243.3,397.7,14.9,204,3487,0.00,2.38,0.00,0.000,6,0.000,0.028,3552,1997,1751,0,0,0,0,0,0
$GC,3820,0.74,243.3,349.3,14.8,213,3824,0.00,2.30,0.00,0.000,4,0.000,0.040,3564,422,1745,0,0,0,0,0,0
$GC,4039,0.74,243.3,313.4,16.8,218,4044,0.12,2.25,0.00,0.000,6,0.149,0.031,3530,2000,1742,0,0,0,0,0,0
$GC,4365,0.74,243.3,264.0,15.3,231,4369,0.00,2.30,0.00,0.000,4,0.000,0.040,3540,421,1741,0,0,0,0,0,0
$GC,4498,0.74,243.3,243.9,15.0,237,4502,0.00,2.28,0.00,0.000,6,0.000,0.031,3540,1997,1740,0,0,0,0,0,0
$GC,4825,0.74,243.3,200.0,12.3,253,4829,0.00,2.28,0.00,0.000,4,0.000,0.040,3552,425,1739,0,0,0,0,0,0
$GC,4976,0.74,243.3,181.9,11.2,266,4980,0.00,2.25,0.00,0.000,6,0.000,0.031,3552,2014,1738,0,0,0,0,0,0
$GC,5236,0.74,243.3,150.1,10.9,290,5240,0.00,2.33,0.00,0.000,4,0.000,0.040,3563,413,1737,0,0,0,0,0,0
$GC,5252,0.74,243.3,148.1,11.6,291,5257,0.12,2.22,0.00,0.000,6,0.149,0.030,3527,1990,1737,0,0,0,0,0,0
$GC,5512,0.74,243.3,120.7,10.4,315,5516,0.00,2.25,0.00,0.000,4,0.000,0.039,3538,422,1737,0,0,0,0,0,0
$GC,5590,0.75,251.8,112.8,9.8,321,5599,0.00,2.25,4.62,0.463,6,0.000,0.031,3538,2016,1724,0,0,0,0,0,0
$GC,5861,0.85,332.9,87.7,7.8,347,5934,0.00,2.38,65.53,0.597,4,0.000,0.038,3550,416,1390,0,0,0,0,0,0
$GC,5980,0.87,351.4,77.8,9.5,358,6001,0.00,2.28,15.25,0.551,6,0.000,0.030,3550,2000,1316,0,0,0,0,0,0
$GC,6257,0.87,351.4,50.3,11.2,384,6261,0.00,2.33,0.00,0.000,4,0.000,0.040,3561,422,1311,0,0,0,0,0,0
$GC,6424,0.87,351.4,32.1,10.6,398,6430,0.00,2.28,0.00,0.000,6,0.000,0.029,3561,1997,1310,0,0,0,0,0,0
$GC,6699,0.87,351.4,4.1,11.3,445,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1997,1309,0,0,0,0,0,0
$STATE,6707,end climb,SURFACE_DEPTH_REACHED
$STATE,6707,begin surface coast
$FINISH,0.3,1.023047
$STATE,6737,end surface coast,CONTROL_FINISHED_OK
$STATE,6737,begin surface
$SM_CCo,6754,24.05,0.301,1,0,1159,390.02
$SM_GC,1.46,0.00,0.00,24.05,0.000,0.000,0.301,144,1859,1159,-9.83,-1.16,390.02
$IRIDIUM_FIX,2059.45,-15750.89,050412,030329
$TT8_MAMPS,0.027612
$HUMID,1078781281
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,23.070
$10V_AH,10.4,16.435
$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,21.425,72.975,458.900,24.050,0.000,138.731,166.065,998.104,0.250,0.000,17.542,886.581,4603.137,527.893,2255.344,219.368,33.358,1102.786,0.000,959.106,0.000,3.048,0.000
$DEVICE_MAMPS,229.333,94.341,806.117,300.664,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,302.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334552
$DATA_FILE_SIZE,16758,452
$CAP_FILE_SIZE,132406,0
$CFSIZE,260165632,224215040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,111220,2106.735,-15751.788,12,1.9,12,9.8