version: 66.07
glider: 500
mission: 7
dive: 216
start: 10 12 110 14 2 17
data:
$ID,500
$MISSION,7
$DIVE,216
$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,-119817.45
$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,2
$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
$PASSWD,500680
$TEL_NUM,18089569178
$ALT_TEL_NUM,18089562271
$AR_set
,(null)$GPS1,121010,134807,2114.875,-15751.643,25,1.0,25,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.7
$GPS2,121010,140120,2114.861,-15751.646,14,1.6,14,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,Transponder_Test_1
$TGT_LATLONG,2114.617,-15752.081
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,-0.164
$KALMAN_X,-370286.8,660.7,764.5,369652.5,-853.1
$KALMAN_Y,-19697.3,-259.1,-281.9,20968.8,-119.9
$MHEAD_RNG_PITCHd_Wd,151.5,875,-27.2,-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,124,end surface,CONTROL_FINISHED_OK
$STATE,124,begin dive
$GC,126,-0.99,-63.2,0.0,0.0,0,188,0.00,0.00,-60.22,0.000,2,0.000,0.000,121,1918,2826,0,0,0,0,0,0
$GC,191,-1.00,-70.6,3.7,-9.2,12,213,10.88,2.38,-4.03,0.000,4,0.232,0.051,2957,289,3040,0,0,0,0,0,0
$GC,236,-1.00,-70.6,19.8,-31.6,20,241,0.00,2.35,0.00,0.000,6,0.000,0.032,2947,1931,3041,0,0,0,0,0,0
$GC,435,-1.00,-70.6,70.0,-21.3,42,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1931,3042,0,0,0,0,0,0
$GC,689,-1.00,-70.6,116.1,-14.3,66,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1931,3044,0,0,0,0,0,0
$GC,944,-1.00,-70.6,155.4,-15.4,90,948,0.00,2.35,0.00,0.000,4,0.000,0.039,2947,296,3045,0,0,0,0,0,0
$GC,960,-1.00,-70.6,157.9,-15.6,91,965,0.12,2.25,0.00,0.000,6,0.167,0.031,2969,1905,3045,0,0,0,0,0,0
$GC,1220,-1.00,-70.6,194.3,-13.6,115,1224,0.00,2.28,0.00,0.000,4,0.000,0.042,2959,3477,3046,0,0,0,0,0,0
$GC,1348,-1.00,-70.6,212.7,-13.7,122,1354,0.00,2.28,0.00,0.000,6,0.000,0.027,2959,1861,3046,0,0,0,0,0,0
$GC,1663,-1.00,-70.6,259.8,-15.5,138,1667,0.00,2.20,0.00,0.000,4,0.000,0.039,2959,321,3046,0,0,0,0,0,0
$GC,1754,-1.00,-70.6,274.1,-15.5,142,1758,0.00,2.20,0.00,0.000,6,0.000,0.030,2948,1902,3046,0,0,0,0,0,0
$GC,2091,-1.00,-70.6,323.4,-13.8,155,2095,0.00,2.25,0.00,0.000,4,0.000,0.041,2935,3473,3046,0,0,0,0,0,0
$GC,2108,-1.00,-70.6,325.4,-13.1,155,2113,0.12,2.22,0.00,0.000,6,0.149,0.025,2973,1888,3046,0,0,0,0,0,0
$GC,2450,-1.00,-70.6,365.3,-11.8,164,2454,0.00,2.22,0.00,0.000,4,0.000,0.038,2973,328,3045,0,0,0,0,0,0
$GC,2481,-1.00,-70.6,369.8,-14.2,164,2488,0.00,2.22,0.00,0.000,6,0.000,0.029,2963,1898,3045,0,0,0,0,0,0
$STATE,2731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2731,begin apogee
$GC,2736,-0.23,0.0,401.8,12.5,171,2794,0.73,0.00,54.90,0.802,6,0.117,0.000,3209,2015,2750,0,0,0,0,0,0
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin climb
$GC,2838,1.00,70.6,403.1,0.0,172,2903,1.02,2.45,56.45,0.790,4,0.054,0.038,3632,427,2460,0,0,0,0,0,0
$GC,2958,1.06,120.7,400.4,4.7,174,3006,0.00,2.28,41.12,0.777,6,0.000,0.030,3630,1973,2257,0,0,0,0,0,0
$GC,3331,1.06,120.7,358.3,11.2,184,3335,0.00,2.25,0.00,0.000,4,0.000,0.038,3640,429,2246,0,0,0,0,0,0
$GC,3588,1.06,120.7,330.4,11.3,189,3594,0.00,2.25,0.00,0.000,6,0.000,0.031,3639,2008,2243,0,0,0,0,0,0
$GC,3919,1.06,122.2,298.0,9.9,198,3923,0.00,2.30,0.00,0.000,4,0.000,0.038,3649,430,2240,0,0,0,0,0,0
$GC,4175,1.06,122.2,270.9,10.2,209,4182,0.00,2.28,0.00,0.000,6,0.000,0.030,3646,2008,2238,0,0,0,0,0,0
$GC,4493,1.10,158.2,249.7,6.2,225,4527,0.00,2.38,27.60,0.723,4,0.000,0.038,3657,426,2103,0,0,0,0,0,0
$GC,4639,1.10,158.2,233.9,13.2,231,4645,0.00,2.30,0.00,0.000,6,0.000,0.031,3657,1996,2098,0,0,0,0,0,0
$GC,4955,1.10,158.2,196.1,10.7,248,4959,0.00,2.28,0.00,0.000,4,0.000,0.039,3668,423,2094,0,0,0,0,0,0
$GC,5077,1.10,158.2,181.2,12.5,258,5083,0.00,2.28,0.00,0.000,6,0.000,0.031,3664,2011,2093,0,0,0,0,0,0
$GC,5338,1.10,158.2,148.1,13.5,283,5342,0.00,2.30,0.00,0.000,4,0.000,0.041,3656,3590,2092,0,0,0,0,0,0
$GC,5411,1.10,158.2,138.5,13.0,289,5415,0.00,2.25,0.00,0.000,6,0.000,0.028,3667,1999,2091,0,0,0,0,0,0
$GC,5671,1.10,158.2,107.8,11.7,313,5676,0.00,2.28,0.00,0.000,4,0.000,0.038,3680,421,2091,0,0,0,0,0,0
$GC,5845,1.16,207.7,96.9,4.8,328,5889,0.00,2.25,38.50,0.607,6,0.000,0.031,3674,2008,1901,0,0,0,0,0,0
$GC,6150,1.19,229.7,63.7,7.7,357,6174,0.00,2.38,17.50,0.557,4,0.000,0.040,3671,3578,1812,0,0,0,0,0,0
$GC,6215,1.19,229.7,57.4,10.6,363,6220,0.00,2.25,0.00,0.000,6,0.000,0.029,3681,2002,1810,0,0,0,0,0,0
$GC,6476,1.19,229.7,29.2,11.7,387,6482,0.00,2.25,0.00,0.000,4,0.000,0.038,3694,427,1808,0,0,0,0,0,0
$STATE,6677,end climb,SURFACE_DEPTH_REACHED
$STATE,6677,begin surface coast
$FINISH,0.2,1.023169
$STATE,6695,end surface coast,CONTROL_FINISHED_OK
$STATE,6695,begin surface
$SM_CCo,6776,85.22,0.073,0,0,1159,390.02
$SM_GC,1.33,0.00,0.00,85.22,0.000,0.000,0.073,139,1885,1159,-9.84,-0.42,390.02
$IRIDIUM_FIX,2108.69,-15752.16,060412,080811
$TT8_MAMPS,0.03068
$HUMID,1078854829
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.40
$XPDR_PINGS,0
$AR_reportdisk
,(null)$24V_AH,24.7,24.737
$10V_AH,10.4,16.998
$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,21.675,68.375,236.075,85.225,0.000,55.186,62.626,354.052,0.250,0.000,16.510,797.847,4569.790,393.463,1798.909,154.421,33.348,922.011,0.000,925.400,0.000,3.046,0.000
$DEVICE_MAMPS,232.401,102.011,801.515,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,286.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335128
$DATA_FILE_SIZE,13502,426
$CAP_FILE_SIZE,84314,0
$CFSIZE,260165632,223698944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,155928,2114.149,-15751.623,13,2.8,32,9.8