version: 66.07
glider: 500
mission: 7
dive: 208
start: 10 11 110 20 20 35
data:
$ID,500
$MISSION,7
$DIVE,208
$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,-119653.12
$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,9
$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
$GPS1,111010,201114,2109.111,-15752.931,10,1.7,10,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.6
$GPS2,111010,201938,2109.168,-15752.972,14,1.7,14,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,Transponder_Test_1
$TGT_LATLONG,2114.617,-15752.081
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.269
$KALMAN_X,-365862.9,508.1,61.8,363798.2,-1153.7
$KALMAN_Y,-14184.0,278.7,166.9,3935.3,-212.6
$MHEAD_RNG_PITCHd_Wd,24.2,10207,-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,14,begin dive
$GC,16,-0.74,-243.3,0.0,0.0,0,79,0.00,0.00,-60.30,0.000,2,0.000,0.000,128,1896,2791,0,0,0,0,0,0
$GC,83,-0.74,-243.3,3.2,-7.3,12,120,11.25,2.40,-16.88,0.000,4,0.233,0.051,3034,3510,3747,0,0,0,0,0,0
$GC,148,-0.74,-243.3,23.3,-23.7,24,153,0.00,2.33,0.00,0.000,6,0.000,0.026,3034,1862,3748,0,0,0,0,0,0
$GC,351,-0.74,-243.3,70.1,-23.5,46,355,0.00,2.20,0.00,0.000,4,0.000,0.039,3034,323,3748,0,0,0,0,0,0
$GC,435,-0.74,-243.3,88.3,-21.2,53,440,0.10,2.25,0.00,0.000,6,0.158,0.031,3052,1926,3748,0,0,0,0,0,0
$GC,695,-0.74,-243.3,132.8,-16.8,77,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1927,3750,0,0,0,0,0,0
$GC,950,-0.74,-243.3,169.8,-14.2,101,954,0.00,2.30,0.00,0.000,4,0.000,0.038,3052,325,3752,0,0,0,0,0,0
$GC,1000,-0.74,-243.3,175.9,-12.0,105,1006,0.00,2.20,0.00,0.000,6,0.000,0.029,3043,1909,3752,0,0,0,0,0,0
$GC,1259,-0.74,-243.3,208.1,-12.8,127,1263,0.00,2.25,0.00,0.000,4,0.000,0.041,3031,3480,3752,0,0,0,0,0,0
$GC,1285,-0.74,-243.3,211.5,-12.2,128,1290,0.00,2.20,0.00,0.000,6,0.000,0.025,3031,1895,3752,0,0,0,0,0,0
$GC,1606,-0.74,-243.3,250.8,-12.2,144,1610,0.00,2.22,0.00,0.000,4,0.000,0.038,3031,323,3752,0,0,0,0,0,0
$GC,1668,-0.74,-243.3,258.0,-12.0,147,1672,0.10,2.22,0.00,0.000,6,0.146,0.030,3055,1908,3752,0,0,0,0,0,0
$GC,1994,-0.74,-243.3,290.0,-9.4,163,1998,0.00,2.25,0.00,0.000,4,0.000,0.041,3046,3476,3752,0,0,0,0,0,0
$GC,2048,-0.74,-243.3,295.0,-8.5,165,2054,0.00,2.22,0.00,0.000,6,0.000,0.025,3045,1903,3752,0,0,0,0,0,0
$GC,2360,-0.74,-243.3,326.1,-10.3,175,2364,0.00,2.25,0.00,0.000,4,0.000,0.039,3045,321,3752,0,0,0,0,0,0
$GC,2404,-0.74,-243.3,330.6,-9.9,176,2408,0.00,2.20,0.00,0.000,6,0.000,0.028,3034,1909,3752,0,0,0,0,0,0
$GC,2723,-0.74,-243.3,362.0,-9.5,184,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1909,3752,0,0,0,0,0,0
$GC,3047,-0.74,-243.3,391.8,-8.5,192,3051,0.00,2.30,0.00,0.000,4,0.000,0.043,3022,3476,3749,0,0,0,0,0,0
$GC,3087,-0.74,-243.3,395.1,-8.6,193,3092,0.10,2.22,0.00,0.000,6,0.130,0.026,3060,1894,3749,0,0,0,0,0,0
$STATE,3166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3166,begin apogee
$GC,3171,-0.23,0.0,401.4,7.7,195,3358,0.43,0.00,184.23,0.821,6,0.086,0.000,3220,2010,2750,0,0,0,0,0,0
$STATE,3359,end apogee,CONTROL_FINISHED_OK
$STATE,3359,begin climb
$GC,3361,0.74,243.3,412.5,0.0,199,3560,0.80,2.42,190.50,0.805,4,0.048,0.039,3546,3574,1755,0,0,0,0,0,0
$GC,3706,0.74,243.3,383.1,15.3,206,3711,0.08,2.33,0.00,0.000,6,0.137,0.028,3533,1999,1746,0,0,0,0,0,0
$GC,4026,0.74,243.3,340.7,13.2,214,4030,0.00,2.30,0.00,0.000,4,0.000,0.039,3543,428,1743,0,0,0,0,0,0
$GC,4238,0.74,243.3,311.6,13.2,218,4244,0.00,2.28,0.00,0.000,6,0.000,0.029,3543,1994,1740,0,0,0,0,0,0
$GC,4552,0.74,243.3,269.0,14.1,231,4556,0.00,2.28,0.00,0.000,4,0.000,0.039,3555,421,1740,0,0,0,0,0,0
$GC,4603,0.74,243.3,261.5,15.2,233,4608,0.00,2.25,0.00,0.000,6,0.000,0.031,3555,2011,1739,0,0,0,0,0,0
$GC,4923,0.74,243.3,210.6,15.8,249,4927,0.00,2.30,0.00,0.000,4,0.000,0.040,3567,418,1737,0,0,0,0,0,0
$GC,5058,0.74,243.3,190.5,14.6,257,5063,0.15,2.25,0.00,0.000,6,0.147,0.030,3523,1996,1736,0,0,0,0,0,0
$GC,5319,0.74,243.3,161.6,10.2,281,5323,0.00,2.28,0.00,0.000,4,0.000,0.040,3534,416,1735,0,0,0,0,0,0
$GC,5438,0.74,243.3,148.4,12.3,291,5442,0.00,2.22,0.00,0.000,6,0.000,0.030,3534,2008,1735,0,0,0,0,0,0
$GC,5698,0.78,275.4,118.9,9.1,315,5729,0.00,2.38,23.17,0.627,4,0.000,0.040,3546,421,1625,0,0,0,0,0,0
$GC,5790,0.78,275.4,109.7,10.4,323,5797,0.00,2.28,0.00,0.000,6,0.000,0.030,3545,1996,1623,0,0,0,0,0,0
$GC,6054,0.78,275.4,79.9,11.2,348,6058,0.00,2.28,0.00,0.000,4,0.000,0.041,3545,3577,1621,0,0,0,0,0,0
$GC,6120,0.78,275.4,72.3,10.7,353,6126,0.00,2.28,0.00,0.000,6,0.000,0.028,3557,1997,1620,0,0,0,0,0,0
$GC,6381,0.78,275.4,44.6,10.2,378,6385,0.00,2.28,0.00,0.000,4,0.000,0.038,3569,419,1620,0,0,0,0,0,0
$GC,6560,0.78,275.4,26.1,10.5,396,6565,0.00,2.22,0.00,0.000,6,0.000,0.029,3568,2004,1620,0,0,0,0,0,0
$GC,6767,0.78,275.4,4.3,11.2,433,6773,0.00,2.28,0.00,0.000,4,0.000,0.038,3580,423,1620,0,0,0,0,0,0
$STATE,6777,end climb,SURFACE_DEPTH_REACHED
$STATE,6777,begin surface coast
$FINISH,0.4,1.023050
$STATE,6800,end surface coast,CONTROL_FINISHED_OK
$STATE,6801,begin surface
$SM_CCo,6819,60.08,0.074,0,0,1160,390.02
$SM_GC,1.00,0.00,0.00,60.08,0.000,0.000,0.074,142,1932,1160,-9.84,0.90,390.02
$IRIDIUM_FIX,2059.45,-15753.90,050412,121209
$TT8_MAMPS,0.027612
$HUMID,1078822571
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,23.760
$10V_AH,10.4,16.649
$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,21.500,77.150,397.900,60.075,0.000,25.141,33.874,331.062,0.250,0.000,16.385,881.822,4462.893,528.715,1356.254,165.389,33.353,1091.747,0.000,956.839,0.000,3.045,0.000
$DEVICE_MAMPS,233.168,82.069,821.457,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,294.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335168
$DATA_FILE_SIZE,13454,439
$CAP_FILE_SIZE,109562,0
$CFSIZE,260165632,224014336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,221630,2109.894,-15752.412,38,1.4,38,9.8