version: 66.07
glider: 500
mission: 7
dive: 206
start: 10 11 110 16 0 30
data:
$ID,500
$MISSION,7
$DIVE,206
$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,-119590.6
$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
$GPS1,111010,154709,2107.553,-15751.551,56,1.1,56,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.7
$GPS2,111010,155932,2107.658,-15751.631,11,1.0,11,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,HOME3
$TGT_LATLONG,2108.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.310,0.098
$KALMAN_X,-364557.2,1084.2,-26.9,364308.0,-3057.4
$KALMAN_Y,-14148.2,145.3,-41.3,1428.7,-534.4
$MHEAD_RNG_PITCHd_Wd,277.7,14471,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-243.3,0.0,0.0,0,74,0.00,0.00,-56.28,0.000,2,0.000,0.000,126,1918,2690,0,0,0,0,0,0
$GC,78,-0.74,-243.3,3.1,-7.4,11,115,11.25,2.33,-19.12,0.000,4,0.233,0.052,3032,3502,3743,0,0,0,0,0,0
$GC,194,-0.74,-243.3,29.7,-18.4,32,200,0.00,2.33,0.00,0.000,6,0.000,0.027,3032,1868,3745,0,0,0,0,0,0
$GC,390,-0.74,-243.3,70.3,-21.1,51,394,0.00,2.22,0.00,0.000,4,0.000,0.039,3032,323,3745,0,0,0,0,0,0
$GC,452,-0.74,-243.3,83.4,-20.3,56,457,0.10,2.25,0.00,0.000,6,0.157,0.031,3050,1925,3745,0,0,0,0,0,0
$GC,713,-0.74,-243.3,129.4,-15.8,80,714,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1925,3746,0,0,0,0,0,0
$GC,967,-0.74,-243.3,164.4,-13.2,104,968,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1925,3747,0,0,0,0,0,0
$GC,1222,-0.74,-243.3,195.4,-12.4,128,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1925,3748,0,0,0,0,0,0
$GC,1472,-0.74,-243.3,222.7,-11.1,142,1476,0.00,2.30,0.00,0.000,4,0.000,0.039,3051,313,3748,0,0,0,0,0,0
$GC,1505,-0.74,-243.3,226.7,-12.2,143,1511,0.00,2.22,0.00,0.000,6,0.000,0.031,3042,1911,3748,0,0,0,0,0,0
$GC,1820,-0.74,-243.3,265.3,-12.1,159,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1911,3748,0,0,0,0,0,0
$GC,2149,-0.74,-243.3,305.8,-13.0,174,2153,0.00,2.28,0.00,0.000,4,0.000,0.039,3042,317,3747,0,0,0,0,0,0
$GC,2181,-0.74,-243.3,310.0,-12.5,174,2187,0.00,2.22,0.00,0.000,6,0.000,0.031,3032,1911,3747,0,0,0,0,0,0
$GC,2513,-0.74,-243.3,350.1,-11.8,183,2517,0.00,2.30,0.00,0.000,4,0.000,0.043,3021,3478,3745,0,0,0,0,0,0
$GC,2561,-0.74,-243.3,355.2,-9.4,184,2566,0.08,2.25,0.00,0.000,6,0.095,0.026,3069,1890,3745,0,0,0,0,0,0
$GC,2882,-0.74,-243.3,376.8,-6.7,192,2886,0.00,2.25,0.00,0.000,4,0.000,0.039,3069,324,3743,0,0,0,0,0,0
$GC,2931,-0.74,-243.3,380.5,-7.4,193,2935,0.00,2.22,0.00,0.000,6,0.000,0.029,3059,1886,3743,0,0,0,0,0,0
$STATE,3167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3167,begin apogee
$GC,3174,-0.23,0.0,400.4,8.8,199,3360,0.43,0.00,183.57,0.819,6,0.087,0.000,3216,2039,2749,0,0,0,0,0,0
$STATE,3361,end apogee,CONTROL_FINISHED_OK
$STATE,3361,begin climb
$GC,3363,0.74,243.3,413.9,0.0,203,3559,0.80,0.00,190.65,0.809,6,0.043,0.000,3550,2040,1758,0,0,0,0,0,0
$GC,3851,0.74,243.3,370.0,14.6,215,3855,0.00,2.35,0.00,0.000,4,0.000,0.040,3563,430,1746,0,0,0,0,0,0
$GC,3995,0.74,243.3,347.9,16.2,218,4000,0.08,2.25,0.00,0.000,6,0.125,0.030,3535,1978,1744,0,0,0,0,0,0
$GC,4309,0.74,243.3,300.7,15.2,226,4313,0.00,2.28,0.00,0.000,4,0.000,0.040,3545,424,1742,0,0,0,0,0,0
$GC,4374,0.74,243.3,290.9,14.0,228,4379,0.00,2.28,0.00,0.000,6,0.000,0.031,3545,1996,1741,0,0,0,0,0,0
$GC,4701,0.74,243.3,250.8,12.4,244,4705,0.00,2.28,0.00,0.000,4,0.000,0.040,3557,420,1739,0,0,0,0,0,0
$GC,4830,0.74,243.3,235.0,11.9,250,4834,0.00,2.28,0.00,0.000,6,0.000,0.031,3557,2015,1738,0,0,0,0,0,0
$GC,5146,0.74,243.3,193.3,13.8,267,5150,0.00,2.33,0.00,0.000,4,0.000,0.041,3569,421,1737,0,0,0,0,0,0
$GC,5263,0.74,243.3,178.7,12.1,277,5268,0.15,2.25,0.00,0.000,6,0.146,0.031,3524,2007,1736,0,0,0,0,0,0
$GC,5524,0.74,243.3,150.0,11.1,301,5528,0.00,2.30,0.00,0.000,4,0.000,0.041,3524,3589,1736,0,0,0,0,0,0
$GC,5567,0.74,243.3,144.7,12.0,304,5574,0.00,2.28,0.00,0.000,6,0.000,0.028,3535,2007,1736,0,0,0,0,0,0
$GC,5829,0.81,305.7,118.0,8.3,329,5883,0.00,2.40,47.15,0.633,4,0.000,0.040,3547,421,1502,0,0,0,0,0,0
$GC,6130,0.83,319.8,88.8,9.6,356,6148,0.00,2.28,11.60,0.561,6,0.000,0.029,3547,2005,1446,0,0,0,0,0,0
$GC,6401,0.83,319.8,58.3,10.3,382,6405,0.00,2.30,0.00,0.000,4,0.000,0.039,3559,411,1442,0,0,0,0,0,0
$GC,6479,0.83,319.8,50.4,10.1,388,6485,0.00,2.28,0.00,0.000,6,0.000,0.029,3559,2016,1441,0,0,0,0,0,0
$GC,6744,0.83,319.8,23.8,11.2,417,6749,0.00,2.30,0.00,0.000,4,0.000,0.038,3570,422,1441,0,0,0,0,0,0
$GC,6868,0.88,358.4,10.4,8.9,439,6905,0.00,2.20,30.80,0.522,6,0.000,0.030,3570,1997,1288,0,0,0,0,0,0
$STATE,6926,end climb,SURFACE_DEPTH_REACHED
$STATE,6926,begin surface coast
$FINISH,0.3,1.023131
$STATE,6955,end surface coast,CONTROL_FINISHED_OK
$STATE,6955,begin surface
$SM_CCo,6973,21.20,0.267,1,0,1158,390.02
$SM_GC,1.31,0.00,0.00,21.20,0.000,0.000,0.267,147,1865,1158,-9.82,-0.99,390.02
$IRIDIUM_FIX,2059.45,-15753.90,050412,101030
$TT8_MAMPS,0.027612
$HUMID,1078819990
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,23.508
$10V_AH,10.4,16.566
$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,21.525,64.050,463.775,21.200,0.000,47.013,66.771,448.350,0.250,0.000,13.501,877.032,4678.527,539.601,1488.282,171.873,33.347,1087.000,0.000,922.711,0.000,3.045,0.000
$DEVICE_MAMPS,233.168,79.768,819.156,266.916,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,304.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334556
$DATA_FILE_SIZE,16812,455
$CAP_FILE_SIZE,112276,0
$CFSIZE,260165632,224096256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,175820,2108.244,-15753.378,33,1.5,33,9.8