version: 66.07
glider: 500
mission: 7
dive: 205
start: 10 11 110 13 51 11
data:
$ID,500
$MISSION,7
$DIVE,205
$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,-119576.48
$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
$GPS1,111010,133236,2106.948,-15751.501,30,1.8,30,9.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.1
$GPS2,111010,135016,2107.005,-15751.648,36,2.4,55,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.280,0.165
$KALMAN_X,-363155.5,1046.8,778.0,362094.8,-3684.6
$KALMAN_Y,-14097.6,-10.0,167.0,122.4,-1007.0
$MHEAD_RNG_PITCHd_Wd,49.6,2157,-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,-243.3,0.0,0.0,0,84,0.00,0.00,-64.78,0.000,2,0.000,0.000,124,1883,2936,0,0,0,0,0,0
$GC,88,-0.74,-243.3,3.6,-9.7,13,119,11.35,0.00,-13.27,0.000,6,0.237,0.000,3040,1882,3748,0,0,0,0,0,0
$GC,314,-0.74,-243.3,65.0,-20.1,41,315,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1882,3749,0,0,0,0,0,0
$GC,568,-0.74,-243.3,109.7,-16.2,65,572,0.00,2.40,0.00,0.000,4,0.000,0.044,3030,3512,3751,0,0,0,0,0,0
$GC,600,-0.74,-243.3,115.0,-16.1,67,606,0.00,2.35,0.00,0.000,6,0.000,0.026,3030,1866,3751,0,0,0,0,0,0
$GC,862,-0.74,-243.3,157.6,-17.4,92,866,0.00,2.20,0.00,0.000,4,0.000,0.039,3029,320,3752,0,0,0,0,0,0
$GC,946,-0.74,-243.3,170.5,-14.3,99,950,0.12,2.28,0.00,0.000,6,0.140,0.030,3060,1935,3752,0,0,0,0,0,0
$GC,1205,-0.74,-243.3,203.1,-13.0,122,1209,0.00,2.30,0.00,0.000,4,0.000,0.038,3059,317,3752,0,0,0,0,0,0
$GC,1231,-0.74,-243.3,206.4,-12.2,123,1236,0.00,2.25,0.00,0.000,6,0.000,0.030,3056,1898,3752,0,0,0,0,0,0
$GC,1553,-0.74,-243.3,239.2,-8.7,139,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1898,3752,0,0,0,0,0,0
$GC,1863,-0.74,-243.3,271.2,-10.7,154,1867,0.00,2.28,0.00,0.000,4,0.000,0.041,3044,3476,3752,0,0,0,0,0,0
$GC,1906,-0.74,-243.3,275.8,-10.0,156,1910,0.00,2.22,0.00,0.000,6,0.000,0.025,3044,1896,3752,0,0,0,0,0,0
$GC,2231,-0.74,-243.3,311.7,-11.8,170,2235,0.00,2.22,0.00,0.000,4,0.000,0.039,3044,328,3752,0,0,0,0,0,0
$GC,2292,-0.74,-243.3,318.6,-11.0,171,2296,0.00,2.22,0.00,0.000,6,0.000,0.029,3034,1899,3752,0,0,0,0,0,0
$GC,2642,-0.74,-243.3,350.1,-8.9,180,2646,0.00,2.28,0.00,0.000,4,0.000,0.041,3023,3475,3752,0,0,0,0,0,0
$GC,2668,-0.74,-243.3,352.9,-9.6,180,2673,0.00,2.22,0.00,0.000,6,0.000,0.025,3023,1901,3751,0,0,0,0,0,0
$GC,3005,-0.74,-243.3,384.9,-8.9,189,3010,0.10,2.28,0.00,0.000,4,0.146,0.039,3058,320,3749,0,0,0,0,0,0
$GC,3066,-0.74,-243.3,389.1,-6.5,190,3070,0.00,2.22,0.00,0.000,6,0.000,0.029,3056,1912,3749,0,0,0,0,0,0
$STATE,3285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3285,begin apogee
$GC,3290,-0.23,0.0,402.6,6.4,196,3478,0.45,0.00,184.35,0.818,6,0.088,0.000,3222,2030,2749,0,0,0,0,0,0
$STATE,3479,end apogee,CONTROL_FINISHED_OK
$STATE,3479,begin climb
$GC,3481,0.74,243.3,411.3,0.0,200,3685,0.77,2.42,190.52,0.808,4,0.045,0.041,3544,3559,1756,0,0,0,0,0,0
$GC,3830,0.74,243.3,374.8,18.9,208,3835,0.00,2.30,0.00,0.000,6,0.000,0.028,3556,2000,1748,0,0,0,0,0,0
$GC,4150,0.74,243.3,322.6,15.8,216,4154,0.00,2.28,0.00,0.000,4,0.000,0.039,3568,429,1744,0,0,0,0,0,0
$GC,4355,0.74,243.3,292.4,15.7,221,4361,0.10,2.22,0.00,0.000,6,0.123,0.029,3532,1971,1742,0,0,0,0,0,0
$GC,4677,0.74,243.3,248.1,13.7,237,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,1972,1740,0,0,0,0,0,0
$GC,4987,0.74,243.3,206.5,12.9,252,4991,0.00,2.22,0.00,0.000,4,0.000,0.040,3542,428,1739,0,0,0,0,0,0
$GC,5100,0.74,243.3,190.7,14.2,259,5105,0.00,2.22,0.00,0.000,6,0.000,0.030,3543,2008,1738,0,0,0,0,0,0
$GC,5361,0.74,243.3,154.8,13.0,283,5365,0.00,2.30,0.00,0.000,4,0.000,0.039,3554,415,1737,0,0,0,0,0,0
$GC,5463,0.74,243.3,142.6,11.7,292,5467,0.00,2.22,0.00,0.000,6,0.000,0.031,3554,2001,1736,0,0,0,0,0,0
$GC,5724,0.76,260.0,116.0,9.6,316,5740,0.00,2.30,11.23,0.593,4,0.000,0.038,3566,415,1691,0,0,0,0,0,0
$GC,5763,0.80,299.3,112.6,8.9,319,5804,0.00,2.25,33.10,0.620,6,0.000,0.030,3566,2002,1528,0,0,0,0,0,0
$GC,6058,0.80,299.3,78.9,11.8,347,6062,0.00,2.33,0.00,0.000,4,0.000,0.040,3577,417,1521,0,0,0,0,0,0
$GC,6213,0.80,299.3,62.5,10.9,360,6220,0.00,2.28,0.00,0.000,6,0.000,0.029,3577,2003,1519,0,0,0,0,0,0
$GC,6475,0.80,299.3,34.1,10.7,385,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2003,1520,0,0,0,0,0,0
$GC,6741,0.80,299.3,6.5,13.4,429,6747,0.00,2.28,0.00,0.000,4,0.000,0.040,3588,419,1520,0,0,0,0,0,0
$STATE,6768,end climb,SURFACE_DEPTH_REACHED
$STATE,6768,begin surface coast
$FINISH,0.7,1.023073
$STATE,6795,end surface coast,CONTROL_FINISHED_OK
$STATE,6795,begin surface
$SM_CCo,6813,46.30,0.410,1,0,1159,390.02
$SM_GC,1.31,0.00,0.00,46.30,0.000,0.000,0.410,135,1917,1159,-9.86,0.48,390.02
$IRIDIUM_FIX,2059.45,-15753.90,050412,070714
$TT8_MAMPS,0.027612
$HUMID,1078818700
$INTERNAL_PRESSURE,9.57923
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,23.373
$10V_AH,10.5,16.525
$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,21.425,63.600,419.200,46.300,0.000,88.090,103.491,578.786,0.250,0.000,58.624,859.382,4634.415,526.424,1739.796,175.000,33.346,1068.211,0.000,920.435,0.000,3.047,0.000
$DEVICE_MAMPS,237.003,102.778,817.622,409.578,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,294.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334504
$DATA_FILE_SIZE,13487,438
$CAP_FILE_SIZE,113294,0
$CFSIZE,260165632,224145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,154709,2107.553,-15751.551,56,1.1,56,9.8