version: 66.07
glider: 500
mission: 7
dive: 210
start: 10 12 110 0 50 50
data:
$ID,500
$MISSION,7
$DIVE,210
$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,-119704.45
$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
$GPS1,121010,003654,2110.439,-15751.925,16,1.9,33,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.1
$GPS2,121010,004954,2110.467,-15751.955,13,5.9,32,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,Transponder_Test_1
$TGT_LATLONG,2114.617,-15752.081
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,0.248
$KALMAN_X,-367080.8,-288.4,614.7,367010.1,-1709.3
$KALMAN_Y,-15345.8,191.2,-231.9,7982.2,-723.9
$MHEAD_RNG_PITCHd_Wd,30.5,7689,-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,-243.3,0.0,0.0,0,84,0.00,0.00,-65.80,0.000,2,0.000,0.000,126,1884,2956,0,0,0,0,0,0
$GC,87,-0.74,-243.3,3.9,-11.2,13,119,11.20,2.38,-12.88,0.000,4,0.232,0.053,3031,3503,3745,0,0,0,0,0,0
$GC,192,-0.74,-243.3,34.6,-17.6,30,198,0.00,2.33,0.00,0.000,6,0.000,0.026,3030,1862,3747,0,0,0,0,0,0
$GC,452,-0.74,-243.3,88.9,-19.3,55,456,0.00,2.22,0.00,0.000,4,0.000,0.039,3031,321,3747,0,0,0,0,0,0
$GC,507,-0.74,-243.3,98.1,-16.1,59,514,0.10,2.28,0.00,0.000,6,0.156,0.030,3050,1929,3747,0,0,0,0,0,0
$GC,768,-0.74,-243.3,135.2,-13.0,84,769,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1929,3749,0,0,0,0,0,0
$GC,1023,-0.74,-243.3,167.9,-11.9,108,1027,0.00,2.25,0.00,0.000,4,0.000,0.042,3040,3487,3750,0,0,0,0,0,0
$GC,1056,-0.74,-243.3,171.7,-11.9,111,1060,0.00,2.22,0.00,0.000,6,0.000,0.026,3039,1891,3750,0,0,0,0,0,0
$GC,1315,-0.74,-243.3,206.1,-13.4,133,1319,0.00,2.25,0.00,0.000,4,0.000,0.039,3040,324,3750,0,0,0,0,0,0
$GC,1387,-0.74,-243.3,215.5,-12.7,136,1391,0.00,2.25,0.00,0.000,6,0.000,0.030,3029,1909,3750,0,0,0,0,0,0
$GC,1708,-0.74,-243.3,255.2,-12.6,152,1712,0.00,2.25,0.00,0.000,4,0.000,0.038,3029,325,3751,0,0,0,0,0,0
$GC,1739,-0.74,-243.3,259.4,-12.5,153,1747,0.08,2.22,0.00,0.000,6,0.109,0.030,3052,1897,3750,0,0,0,0,0,0
$GC,2055,-0.74,-243.3,284.7,-6.8,169,2059,0.00,2.33,0.00,0.000,4,0.000,0.042,3043,3474,3750,0,0,0,0,0,0
$GC,2077,-0.74,-243.3,286.3,-7.0,170,2081,0.00,2.22,0.00,0.000,6,0.000,0.025,3042,1902,3750,0,0,0,0,0,0
$GC,2422,-0.74,-243.3,315.6,-9.1,183,2426,0.00,2.25,0.00,0.000,4,0.000,0.039,3042,324,3749,0,0,0,0,0,0
$GC,2476,-0.74,-243.3,320.6,-8.3,184,2481,0.00,2.25,0.00,0.000,6,0.000,0.029,3032,1905,3749,0,0,0,0,0,0
$GC,2790,-0.74,-243.3,351.1,-9.9,192,2794,0.00,2.28,0.00,0.000,4,0.000,0.039,3032,321,3747,0,0,0,0,0,0
$GC,2822,-0.74,-243.3,354.6,-10.4,192,2829,0.00,2.25,0.00,0.000,6,0.000,0.030,3029,1902,3747,0,0,0,0,0,0
$GC,3154,-0.74,-243.3,389.1,-10.8,201,3158,0.00,2.30,0.00,0.000,4,0.000,0.042,3018,3475,3745,0,0,0,0,0,0
$GC,3197,-0.74,-243.3,393.7,-10.1,202,3202,0.12,2.22,0.00,0.000,6,0.120,0.026,3064,1890,3744,0,0,0,0,0,0
$STATE,3276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3276,begin apogee
$GC,3281,-0.23,0.0,400.4,8.2,204,3468,0.43,0.00,184.10,0.821,6,0.087,0.000,3225,2007,2749,0,0,0,0,0,0
$STATE,3469,end apogee,CONTROL_FINISHED_OK
$STATE,3469,begin climb
$GC,3472,0.74,243.3,411.0,0.0,208,3673,0.77,2.47,191.38,0.805,4,0.040,0.040,3572,434,1756,0,0,0,0,0,0
$GC,3730,0.74,243.3,391.0,17.8,215,3735,0.15,2.28,0.00,0.000,6,0.144,0.030,3530,1990,1750,0,0,0,0,0,0
$GC,4048,0.74,243.3,346.6,13.3,223,4052,0.00,2.30,0.00,0.000,4,0.000,0.039,3540,429,1746,0,0,0,0,0,0
$GC,4114,0.74,243.3,337.8,13.6,224,4119,0.00,2.30,0.00,0.000,6,0.000,0.030,3540,2005,1745,0,0,0,0,0,0
$GC,4437,0.74,243.3,295.6,13.6,233,4441,0.00,2.30,0.00,0.000,4,0.000,0.039,3552,421,1743,0,0,0,0,0,0
$GC,4605,0.74,243.3,269.9,15.3,240,4611,0.00,2.22,0.00,0.000,6,0.000,0.031,3552,2007,1742,0,0,0,0,0,0
$GC,4920,0.74,243.3,224.1,13.2,256,4924,0.00,2.28,0.00,0.000,4,0.000,0.039,3564,430,1740,0,0,0,0,0,0
$GC,5052,0.74,243.3,206.5,13.5,262,5058,0.10,2.25,0.00,0.000,6,0.129,0.030,3529,1996,1740,0,0,0,0,0,0
$GC,5378,0.74,243.3,165.2,12.8,290,5382,0.00,2.28,0.00,0.000,4,0.000,0.040,3539,424,1739,0,0,0,0,0,0
$GC,5427,0.74,243.3,158.6,12.6,294,5434,0.00,2.28,0.00,0.000,6,0.000,0.031,3539,2005,1738,0,0,0,0,0,0
$GC,5688,0.74,243.3,129.0,10.3,319,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2005,1738,0,0,0,0,0,0
$GC,5944,0.79,283.5,104.4,8.9,343,5979,0.00,2.33,30.02,0.623,4,0.000,0.039,3550,431,1594,0,0,0,0,0,0
$GC,6119,0.80,292.6,82.7,9.8,358,6135,0.00,2.22,8.30,0.540,6,0.000,0.030,3550,2006,1557,0,0,0,0,0,0
$GC,6390,0.80,292.6,54.4,10.9,384,6394,0.00,2.28,0.00,0.000,4,0.000,0.040,3562,430,1553,0,0,0,0,0,0
$GC,6479,0.80,298.4,45.0,9.9,391,6490,0.00,2.25,5.95,0.473,6,0.000,0.030,3562,2013,1532,0,0,0,0,0,0
$GC,6752,0.80,298.4,16.4,10.9,427,6757,0.00,2.30,0.00,0.000,4,0.000,0.039,3573,426,1531,0,0,0,0,0,0
$STATE,6868,end climb,SURFACE_DEPTH_REACHED
$STATE,6868,begin surface coast
$FINISH,0.7,1.023106
$STATE,6897,end surface coast,CONTROL_FINISHED_OK
$STATE,6897,begin surface
$SM_CCo,6917,47.75,0.419,1,0,1159,390.02
$SM_GC,0.95,0.00,0.00,47.75,0.000,0.000,0.419,119,1902,1159,-9.91,0.06,390.02
$IRIDIUM_FIX,2101.76,-15750.89,050412,181816
$TT8_MAMPS,0.027612
$HUMID,1078867732
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,24.047
$10V_AH,10.4,16.737
$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,21.575,77.325,419.750,47.750,0.000,51.191,66.685,460.750,0.250,0.000,35.657,888.041,4613.333,572.906,1516.018,170.780,33.391,1099.654,0.000,914.381,0.000,3.046,0.000
$DEVICE_MAMPS,231.634,81.302,821.457,418.782,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,303.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335132
$DATA_FILE_SIZE,16769,453
$CAP_FILE_SIZE,113336,0
$CFSIZE,260165632,223916032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,024807,2111.191,-15751.817,29,0.9,29,9.8