version: 66.07
glider: 500
mission: 7
dive: 209
start: 10 11 110 22 41 22
data:
$ID,500
$MISSION,7
$DIVE,209
$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,-119668.16
$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
$GPS1,111010,221630,2109.894,-15752.412,38,1.4,38,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.5
$GPS2,111010,224026,2109.867,-15752.562,12,1.6,12,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,Transponder_Test_1
$TGT_LATLONG,2114.617,-15752.081
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,0.238
$KALMAN_X,-366798.3,121.6,642.8,365248.9,-1667.3
$KALMAN_Y,-14992.2,331.2,72.4,6081.1,-920.5
$MHEAD_RNG_PITCHd_Wd,33.0,8836,-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,-61.35,0.000,2,0.000,0.000,126,1934,2841,0,0,0,0,0,0
$GC,84,-0.74,-243.3,3.4,-9.0,12,116,11.20,2.38,-15.30,0.000,4,0.230,0.052,3031,3505,3744,0,0,0,0,0,0
$GC,155,-0.74,-243.3,25.3,-20.3,25,161,0.00,2.35,0.00,0.000,6,0.000,0.028,3032,1863,3746,0,0,0,0,0,0
$GC,354,-0.74,-243.3,66.0,-22.2,46,358,0.00,2.22,0.00,0.000,4,0.000,0.040,3032,324,3745,0,0,0,0,0,0
$GC,414,-0.74,-243.3,80.1,-21.5,51,419,0.10,2.25,0.00,0.000,6,0.159,0.031,3050,1926,3746,0,0,0,0,0,0
$GC,675,-0.74,-243.3,121.3,-15.5,75,676,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1928,3746,0,0,0,0,0,0
$GC,929,-0.74,-243.3,159.2,-12.7,99,933,0.00,2.25,0.00,0.000,4,0.000,0.043,3040,3475,3748,0,0,0,0,0,0
$GC,962,-0.74,-243.3,163.1,-11.0,101,968,0.00,2.20,0.00,0.000,6,0.000,0.026,3040,1889,3748,0,0,0,0,0,0
$GC,1223,-0.74,-243.3,191.8,-12.2,126,1227,0.00,2.22,0.00,0.000,4,0.000,0.039,3040,320,3748,0,0,0,0,0,0
$GC,1289,-0.74,-243.3,199.6,-10.9,131,1295,0.00,2.20,0.00,0.000,6,0.000,0.030,3029,1905,3748,0,0,0,0,0,0
$GC,1543,-0.74,-243.3,227.4,-11.5,144,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1905,3748,0,0,0,0,0,0
$GC,1851,-0.74,-243.3,267.6,-14.6,159,1855,0.00,2.28,0.00,0.000,4,0.000,0.040,3029,325,3748,0,0,0,0,0,0
$GC,1922,-0.74,-243.3,278.0,-13.9,162,1927,0.08,2.22,0.00,0.000,6,0.110,0.030,3053,1896,3748,0,0,0,0,0,0
$GC,2242,-0.74,-243.3,308.2,-9.0,176,2246,0.00,2.25,0.00,0.000,4,0.000,0.039,3053,318,3747,0,0,0,0,0,0
$GC,2263,-0.74,-243.3,310.4,-9.7,176,2267,0.00,2.20,0.00,0.000,6,0.000,0.030,3043,1904,3747,0,0,0,0,0,0
$GC,2605,-0.74,-243.3,345.0,-10.5,185,2609,0.00,2.25,0.00,0.000,4,0.000,0.039,3043,328,3745,0,0,0,0,0,0
$GC,2637,-0.74,-243.3,349.3,-12.5,185,2644,0.00,2.25,0.00,0.000,6,0.000,0.031,3043,1902,3745,0,0,0,0,0,0
$GC,2969,-0.74,-243.3,386.7,-10.7,194,2973,0.00,2.33,0.00,0.000,4,0.000,0.042,3031,3486,3743,0,0,0,0,0,0
$GC,2990,-0.74,-243.3,389.0,-10.0,194,2995,0.00,2.25,0.00,0.000,6,0.000,0.026,3031,1904,3743,0,0,0,0,0,0
$STATE,3135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3135,begin apogee
$GC,3140,-0.23,0.0,403.5,10.1,198,3326,0.52,0.00,183.18,0.817,6,0.093,0.000,3222,2024,2750,0,0,0,0,0,0
$STATE,3327,end apogee,CONTROL_FINISHED_OK
$STATE,3327,begin climb
$GC,3329,0.74,243.3,414.2,0.0,202,3527,0.77,2.47,189.65,0.802,4,0.038,0.038,3574,419,1757,0,0,0,0,0,0
$GC,3574,0.74,243.3,399.8,17.4,207,3579,0.15,2.30,0.00,0.000,6,0.148,0.030,3531,1986,1752,0,0,0,0,0,0
$GC,3898,0.74,243.3,354.0,14.0,215,3902,0.00,2.28,0.00,0.000,4,0.000,0.039,3542,425,1747,0,0,0,0,0,0
$GC,3992,0.74,243.3,340.7,13.8,217,3996,0.00,2.28,0.00,0.000,6,0.000,0.031,3542,2003,1745,0,0,0,0,0,0
$GC,4319,0.74,243.3,292.7,13.3,226,4323,0.00,2.30,0.00,0.000,4,0.000,0.040,3554,419,1744,0,0,0,0,0,0
$GC,4508,0.74,243.3,265.5,14.9,234,4515,0.00,2.30,0.00,0.000,6,0.000,0.031,3554,2013,1743,0,0,0,0,0,0
$GC,4824,0.74,243.3,223.3,13.2,250,4828,0.00,2.30,0.00,0.000,4,0.000,0.040,3565,421,1741,0,0,0,0,0,0
$GC,4957,0.74,243.3,204.2,13.7,256,4962,0.10,2.28,0.00,0.000,6,0.126,0.031,3530,2009,1740,0,0,0,0,0,0
$GC,5281,0.74,243.3,167.3,10.8,285,5285,0.00,2.28,0.00,0.000,4,0.000,0.040,3541,425,1740,0,0,0,0,0,0
$GC,5348,0.74,243.3,159.7,12.3,290,5354,0.00,2.25,0.00,0.000,6,0.000,0.031,3541,2013,1739,0,0,0,0,0,0
$GC,5609,0.74,243.3,128.3,13.1,315,5613,0.00,2.30,0.00,0.000,4,0.000,0.040,3552,426,1739,0,0,0,0,0,0
$GC,5687,0.74,243.3,118.8,11.4,322,5691,0.00,2.25,0.00,0.000,6,0.000,0.030,3552,2008,1738,0,0,0,0,0,0
$GC,5947,0.74,243.3,89.5,12.6,346,5951,0.00,2.28,0.00,0.000,4,0.000,0.039,3564,423,1738,0,0,0,0,0,0
$GC,5968,0.74,243.3,86.6,13.7,347,5975,0.12,2.25,0.00,0.000,6,0.148,0.031,3528,2000,1738,0,0,0,0,0,0
$GC,6229,0.79,290.0,61.0,8.7,372,6270,0.00,0.00,35.40,0.584,6,0.000,0.000,3527,1999,1566,0,0,0,0,0,0
$GC,6525,0.85,337.5,35.5,8.7,400,6571,0.10,2.38,37.38,0.550,4,0.098,0.040,3603,426,1373,0,0,0,0,0,0
$GC,6673,0.85,337.5,16.4,13.1,422,6679,0.12,2.28,0.00,0.000,6,0.148,0.031,3567,2008,1369,0,0,0,0,0,0
$STATE,6784,end climb,SURFACE_DEPTH_REACHED
$STATE,6785,begin surface coast
$FINISH,0.3,1.023061
$STATE,6808,end surface coast,CONTROL_FINISHED_OK
$STATE,6808,begin surface
$SM_CCo,6827,29.17,0.342,1,0,1159,390.02
$SM_GC,0.85,0.00,0.00,29.17,0.000,0.000,0.342,139,1883,1159,-9.85,-0.48,390.02
$IRIDIUM_FIX,2104.07,-15750.89,050412,161622
$TT8_MAMPS,0.026845
$HUMID,1078859990
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,23.915
$10V_AH,10.4,16.695
$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,21.875,73.100,445.600,29.175,0.000,150.179,202.119,682.909,0.250,0.000,14.406,873.204,4730.405,546.084,1951.295,207.961,33.357,1088.350,0.000,906.453,0.000,3.048,0.000
$DEVICE_MAMPS,230.100,81.302,816.855,342.082,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,298.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335140
$DATA_FILE_SIZE,16774,446
$CAP_FILE_SIZE,124667,0
$CFSIZE,260165632,223948800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,003654,2110.439,-15751.925,16,1.9,33,9.8