version: 66.07
glider: 500
mission: 7
dive: 204
start: 10 11 110 11 38 38
data:
$ID,500
$MISSION,7
$DIVE,204
$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,-119517.22
$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
$GPS1,111010,111220,2106.735,-15751.788,12,1.9,12,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.8
$GPS2,111010,113743,2106.764,-15751.833,12,1.9,29,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.284,0.158
$KALMAN_X,-361905.8,1118.5,1325.4,359868.8,-4565.5
$KALMAN_Y,-13485.9,10.2,335.3,-1134.0,-1077.8
$MHEAD_RNG_PITCHd_Wd,51.1,2703,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.74,-243.3,0.0,0.0,0,80,0.00,0.00,-60.60,0.000,2,0.000,0.000,124,1860,2847,0,0,0,0,0,0
$GC,83,-0.74,-243.3,3.8,-11.1,12,115,11.27,2.28,-14.90,0.000,4,0.233,0.050,3042,294,3742,0,0,0,0,0,0
$GC,176,-0.74,-243.3,32.5,-22.1,28,183,0.00,2.35,0.00,0.000,6,0.000,0.031,3032,1921,3744,0,0,0,0,0,0
$GC,437,-0.74,-243.3,90.6,-20.0,53,439,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1922,3744,0,0,0,0,0,0
$GC,692,-0.74,-243.3,135.2,-16.0,77,696,0.00,2.33,0.00,0.000,4,0.000,0.038,3032,297,3745,0,0,0,0,0,0
$GC,713,-0.74,-243.3,139.1,-17.6,78,720,0.08,2.30,0.00,0.000,6,0.120,0.030,3051,1912,3745,0,0,0,0,0,0
$GC,974,-0.74,-243.3,176.1,-13.9,103,976,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1911,3745,0,0,0,0,0,0
$GC,1238,-0.74,-243.3,208.0,-12.1,125,1242,0.00,2.33,0.00,0.000,4,0.000,0.039,3051,286,3745,0,0,0,0,0,0
$GC,1270,-0.74,-243.3,212.4,-13.5,126,1277,0.00,2.30,0.00,0.000,6,0.000,0.031,3042,1901,3745,0,0,0,0,0,0
$GC,1586,-0.74,-243.3,252.3,-12.2,142,1590,0.00,2.30,0.00,0.000,4,0.000,0.043,3030,3482,3745,0,0,0,0,0,0
$GC,1624,-0.74,-243.3,257.0,-11.2,144,1629,0.00,2.25,0.00,0.000,6,0.000,0.026,3030,1865,3745,0,0,0,0,0,0
$GC,1950,-0.74,-243.3,297.7,-13.2,160,1954,0.00,2.22,0.00,0.000,4,0.000,0.039,3030,314,3744,0,0,0,0,0,0
$GC,1994,-0.74,-243.3,303.5,-12.9,162,1999,0.08,2.25,0.00,0.000,6,0.102,0.031,3055,1896,3743,0,0,0,0,0,0
$GC,2319,-0.74,-243.3,336.4,-10.2,170,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1896,3742,0,0,0,0,0,0
$GC,2643,-0.74,-243.3,367.7,-8.9,178,2647,0.00,2.30,0.00,0.000,4,0.000,0.041,3045,3480,3739,0,0,0,0,0,0
$GC,2672,-0.74,-243.3,369.8,-7.7,178,2676,0.00,2.22,0.00,0.000,6,0.000,0.025,3045,1883,3739,0,0,0,0,0,0
$GC,3003,-0.74,-243.3,395.8,-8.2,186,3007,0.00,2.22,0.00,0.000,4,0.000,0.039,3045,330,3736,0,0,0,0,0,0
$STATE,3048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3048,begin apogee
$GC,3056,-0.23,0.0,400.3,10.0,187,3241,0.50,0.00,182.52,0.815,6,0.087,0.000,3218,2000,2749,0,0,0,0,0,0
$STATE,3242,end apogee,CONTROL_FINISHED_OK
$STATE,3242,begin climb
$GC,3244,0.74,243.3,412.9,0.0,191,3441,0.80,0.00,191.43,0.801,6,0.044,0.000,3549,2000,1757,0,0,0,0,0,0
$GC,3731,0.74,243.3,368.6,14.8,203,3735,0.00,2.33,0.00,0.000,4,0.000,0.040,3561,433,1747,0,0,0,0,0,0
$GC,3922,0.74,243.3,337.9,16.1,207,3927,0.12,2.22,0.00,0.000,6,0.151,0.030,3526,1995,1745,0,0,0,0,0,0
$GC,4250,0.74,243.3,296.2,12.1,216,4254,0.00,2.28,0.00,0.000,4,0.000,0.040,3537,427,1743,0,0,0,0,0,0
$GC,4416,0.74,243.3,274.6,12.4,223,4423,0.00,2.28,0.00,0.000,6,0.000,0.030,3537,2010,1742,0,0,0,0,0,0
$GC,4733,0.74,243.3,231.1,13.6,239,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2010,1740,0,0,0,0,0,0
$GC,5042,0.74,243.3,195.6,11.7,255,5046,0.00,2.30,0.00,0.000,4,0.000,0.040,3549,431,1739,0,0,0,0,0,0
$GC,5197,0.74,243.3,174.5,14.4,268,5204,0.00,2.25,0.00,0.000,6,0.000,0.029,3548,1992,1738,0,0,0,0,0,0
$GC,5459,0.74,243.3,137.1,15.8,293,5463,0.00,2.25,0.00,0.000,4,0.000,0.038,3560,424,1738,0,0,0,0,0,0
$GC,5577,0.74,243.3,120.3,12.5,303,5582,0.12,2.22,0.00,0.000,6,0.151,0.030,3524,2011,1737,0,0,0,0,0,0
$GC,5837,0.74,243.3,91.3,10.4,327,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2011,1737,0,0,0,0,0,0
$GC,6092,0.84,330.2,71.8,7.6,351,6166,0.10,2.35,66.18,0.591,4,0.096,0.038,3604,433,1401,0,0,0,0,0,0
$GC,6358,0.84,330.2,39.5,14.2,375,6363,0.15,2.25,0.00,0.000,6,0.143,0.029,3559,2000,1395,0,0,0,0,0,0
$GC,6628,0.84,330.2,9.9,11.0,415,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2000,1393,0,0,0,0,0,0
$STATE,6687,end climb,SURFACE_DEPTH_REACHED
$STATE,6687,begin surface coast
$FINISH,1.1,1.023053
$STATE,6711,end surface coast,CONTROL_FINISHED_OK
$STATE,6711,begin surface
$SM_CCo,6729,36.72,0.382,1,0,1159,390.02
$SM_GC,0.93,0.00,0.00,36.72,0.000,0.000,0.382,141,1883,1159,-9.84,-0.51,390.02
$IRIDIUM_FIX,2059.45,-15753.03,050412,050548
$TT8_MAMPS,0.027612
$HUMID,1078840635
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,23.231
$10V_AH,10.4,16.481
$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,22.000,54.875,440.125,36.725,0.000,152.219,172.522,791.209,0.250,0.000,31.565,832.523,4726.409,557.141,1982.333,204.445,33.353,1048.215,0.000,856.655,0.000,3.048,0.000
$DEVICE_MAMPS,233.168,91.273,814.554,381.966,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,288.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334560
$DATA_FILE_SIZE,13470,430
$CAP_FILE_SIZE,116715,0
$CFSIZE,260165632,224186368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,133236,2106.948,-15751.501,30,1.8,30,9.8