version: 66.07
glider: 500
mission: 7
dive: 217
start: 10 12 110 16 11 33
data:
$ID,500
$MISSION,7
$DIVE,217
$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,-119862.02
$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
$GPS1,121010,155928,2114.149,-15751.623,13,2.8,32,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.9
$GPS2,121010,161036,2114.112,-15751.650,37,0.9,42,9.8
$SPEED_LIMITS,0.174,0.325
$TGT_NAME,Transponder_Test_1
$TGT_LATLONG,2114.617,-15752.081
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.014,0.173
$KALMAN_X,-370246.5,916.4,25.5,370092.5,-824.7
$KALMAN_Y,-20379.3,-6.1,76.5,19656.1,-141.3
$MHEAD_RNG_PITCHd_Wd,354.8,1194,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,123,begin dive
$GC,125,-0.99,-63.2,0.0,0.0,0,193,0.00,0.00,-66.10,0.000,2,0.000,0.000,126,1885,2959,0,0,0,0,0,0
$GC,196,-0.99,-63.2,3.7,-10.2,13,216,10.90,2.42,-0.93,0.000,4,0.235,0.049,2950,3511,3011,0,0,0,0,0,0
$GC,345,-0.99,-63.2,46.6,-24.2,34,351,0.00,2.35,0.00,0.000,6,0.000,0.027,2950,1857,3013,0,0,0,0,0,0
$GC,606,-0.99,-63.2,102.4,-20.4,59,610,0.00,2.20,0.00,0.000,4,0.000,0.038,2950,327,3013,0,0,0,0,0,0
$GC,704,-0.99,-63.2,120.6,-16.8,67,712,0.08,2.28,0.00,0.000,6,0.143,0.030,2965,1926,3014,0,0,0,0,0,0
$GC,967,-0.99,-63.2,160.8,-15.1,92,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1927,3016,0,0,0,0,0,0
$GC,1221,-0.99,-63.2,200.8,-14.3,116,1225,0.00,2.30,0.00,0.000,4,0.000,0.038,2965,321,3017,0,0,0,0,0,0
$GC,1272,-0.99,-63.2,208.5,-16.0,118,1276,0.00,2.20,0.00,0.000,6,0.000,0.030,2955,1906,3017,0,0,0,0,0,0
$GC,1591,-0.99,-63.2,257.2,-14.4,134,1595,0.00,2.25,0.00,0.000,4,0.000,0.041,2943,3473,3017,0,0,0,0,0,0
$GC,1848,-0.99,-63.2,296.8,-15.2,145,1854,0.00,2.22,0.00,0.000,6,0.000,0.025,2943,1901,3017,0,0,0,0,0,0
$GC,2159,-0.99,-63.2,342.2,-14.2,154,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1902,3017,0,0,0,0,0,0
$GC,2484,-0.99,-63.2,388.5,-14.0,162,2489,0.10,2.28,0.00,0.000,4,0.163,0.039,2972,317,3015,0,0,0,0,0,0
$GC,2528,-0.99,-63.2,394.3,-12.6,163,2532,0.00,2.20,0.00,0.000,6,0.000,0.029,2962,1904,3015,0,0,0,0,0,0
$STATE,2607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2607,begin apogee
$GC,2612,-0.23,0.0,403.2,11.1,165,2665,0.75,0.00,49.47,0.791,6,0.118,0.000,3216,2023,2750,0,0,0,0,0,0
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2709,0.99,63.2,405.0,0.0,166,2764,1.00,0.00,51.10,0.782,6,0.051,0.000,3623,2024,2493,0,0,0,0,0,0
$GC,3079,1.08,137.4,403.8,2.1,176,3142,0.00,0.00,60.15,0.795,6,0.000,0.000,3622,2023,2189,0,0,0,0,0,0
$GC,3444,1.08,137.4,358.8,13.3,185,3448,0.00,2.35,0.00,0.000,4,0.000,0.039,3634,432,2178,0,0,0,0,0,0
$GC,3612,1.08,137.4,333.6,15.0,188,3617,0.00,2.20,0.00,0.000,6,0.000,0.031,3635,1981,2177,0,0,0,0,0,0
$GC,3923,1.08,137.4,291.3,12.6,198,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3634,1981,2173,0,0,0,0,0,0
$GC,4234,1.08,140.2,260.5,9.7,213,4238,0.00,2.33,0.00,0.000,4,0.000,0.041,3635,3589,2170,0,0,0,0,0,0
$GC,4351,1.08,140.2,248.4,10.7,218,4355,0.00,2.30,0.00,0.000,6,0.000,0.028,3646,1991,2169,0,0,0,0,0,0
$GC,4673,1.11,163.8,221.1,7.5,234,4697,0.00,2.38,18.58,0.687,4,0.000,0.041,3646,3579,2082,0,0,0,0,0,0
$GC,4814,1.11,163.8,207.4,11.3,240,4819,0.00,2.28,0.00,0.000,6,0.000,0.028,3656,2004,2078,0,0,0,0,0,0
$GC,5144,1.11,163.8,171.5,11.2,268,5148,0.00,2.25,0.00,0.000,4,0.000,0.038,3668,430,2075,0,0,0,0,0,0
$GC,5290,1.11,163.8,151.8,14.4,280,5295,0.00,2.22,0.00,0.000,6,0.000,0.031,3669,2010,2074,0,0,0,0,0,0
$GC,5552,1.15,193.0,124.6,6.9,305,5583,0.00,2.35,23.62,0.621,4,0.000,0.040,3669,3578,1962,0,0,0,0,0,0
$GC,5685,1.15,193.0,110.3,10.3,317,5689,0.00,2.25,0.00,0.000,6,0.000,0.028,3680,1993,1958,0,0,0,0,0,0
$GC,5947,1.17,211.9,91.7,8.0,341,5968,0.00,2.28,16.00,0.570,4,0.000,0.037,3692,420,1884,0,0,0,0,0,0
$GC,6221,1.17,211.9,62.7,10.5,365,6226,0.00,2.22,0.00,0.000,6,0.000,0.030,3692,1999,1880,0,0,0,0,0,0
$GC,6481,1.17,211.9,35.3,10.9,390,6485,0.00,2.28,0.00,0.000,4,0.000,0.038,3704,422,1880,0,0,0,0,0,0
$GC,6560,1.17,211.9,26.3,13.3,399,6566,0.12,2.25,0.00,0.000,6,0.181,0.031,3670,2005,1879,0,0,0,0,0,0
$STATE,6755,end climb,SURFACE_DEPTH_REACHED
$STATE,6755,begin surface coast
$FINISH,0.4,1.023147
$STATE,6785,end surface coast,CONTROL_FINISHED_OK
$STATE,6785,begin surface
$SM_CCo,6865,97.62,0.408,1,0,1159,390.02
$SM_GC,0.96,0.00,0.00,97.62,0.000,0.000,0.408,139,1893,1159,-9.85,-0.20,390.02
$IRIDIUM_FIX,2106.38,-15755.17,060412,080831
$TT8_MAMPS,0.027612
$HUMID,1078768377
$INTERNAL_PRESSURE,9.59876
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.8,24.817
$10V_AH,10.4,17.041
$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,21.775,54.825,218.925,97.625,0.000,27.632,39.456,321.266,0.500,0.000,43.927,809.951,4595.741,422.184,1734.984,140.968,33.355,918.106,0.000,914.739,0.000,3.050,0.000
$DEVICE_MAMPS,234.702,102.011,794.612,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,294.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13456,439
$CAP_FILE_SIZE,77023,0
$CFSIZE,260165632,223666176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,181034,2114.701,-15751.685,10,3.2,29,9.8