version: 66.07
glider: 500
mission: 7
dive: 136
start: 10 2 110 6 20 40
data:
$ID,500
$MISSION,7
$DIVE,136
$D_SURF,3
$D_FLARE,3
$D_TGT,460
$D_ABORT,1050
$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,191
$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,120
$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,-117892.95
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$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
$GPS1,021010,060937,2101.240,-15754.338,28,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.5
$GPS2,021010,061946,2101.266,-15754.357,9,2.2,28,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,0.093
$KALMAN_X,-163054.6,40.5,161.5,158969.9,-2306.6
$KALMAN_Y,2204.0,236.5,170.0,-27054.9,-1154.2
$MHEAD_RNG_PITCHd_Wd,55.1,13754,-16.1,-8.028
$D_GRID,460
$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,-0.68,-116.8,0.0,0.0,0,79,0.00,0.00,-60.72,0.000,2,0.000,0.000,129,1884,2839,0,0,0,0,0,0
$GC,83,-0.68,-116.8,3.5,-6.9,12,110,11.30,2.40,-6.90,0.000,4,0.233,0.050,3051,3505,3231,0,0,0,0,0,0
$GC,143,-0.68,-116.8,24.1,-24.8,23,149,0.00,2.35,0.00,0.000,6,0.000,0.027,3051,1864,3232,0,0,0,0,0,0
$GC,342,-0.68,-116.8,61.5,-17.5,45,346,0.00,2.22,0.00,0.000,4,0.000,0.041,3051,315,3232,0,0,0,0,0,0
$GC,385,-0.68,-116.8,69.7,-18.6,48,391,0.00,2.30,0.00,0.000,6,0.000,0.031,3040,1926,3233,0,0,0,0,0,0
$GC,646,-0.68,-116.8,112.4,-13.9,73,651,0.10,2.33,0.00,0.000,4,0.156,0.039,3072,315,3233,0,0,0,0,0,0
$GC,701,-0.68,-116.8,119.6,-12.5,77,707,0.00,2.25,0.00,0.000,6,0.000,0.030,3063,1911,3234,0,0,0,0,0,0
$GC,962,-0.68,-116.8,151.1,-10.6,102,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1911,3235,0,0,0,0,0,0
$GC,1217,-0.68,-116.8,173.8,-8.9,126,1221,0.00,2.28,0.00,0.000,4,0.000,0.039,3063,322,3236,0,0,0,0,0,0
$GC,1318,-0.68,-116.8,184.5,-10.6,135,1322,0.00,2.22,0.00,0.000,6,0.000,0.030,3055,1909,3236,0,0,0,0,0,0
$GC,1575,-0.68,-116.8,211.8,-10.9,154,1579,0.00,2.25,0.00,0.000,4,0.000,0.038,3055,322,3236,0,0,0,0,0,0
$GC,1607,-0.68,-116.8,215.6,-11.3,155,1613,0.00,2.22,0.00,0.000,6,0.000,0.030,3044,1897,3236,0,0,0,0,0,0
$GC,1922,-0.68,-116.8,247.4,-9.1,171,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1897,3236,0,0,0,0,0,0
$GC,2232,-0.68,-116.8,275.1,-8.9,186,2236,0.00,2.25,0.00,0.000,4,0.000,0.039,3044,319,3236,0,0,0,0,0,0
$GC,2306,-0.68,-116.8,281.6,-8.4,189,2311,0.12,2.22,0.00,0.000,6,0.132,0.030,3076,1904,3236,0,0,0,0,0,0
$GC,2621,-0.68,-116.8,298.7,-5.2,204,2625,0.00,2.28,0.00,0.000,4,0.000,0.040,3076,313,3235,0,0,0,0,0,0
$GC,2706,-0.68,-116.8,303.5,-6.4,207,2710,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1912,3234,0,0,0,0,0,0
$GC,3029,-0.68,-116.8,327.9,-8.2,215,3033,0.00,2.30,0.00,0.000,4,0.000,0.041,3069,320,3233,0,0,0,0,0,0
$GC,3095,-0.68,-116.8,334.3,-9.4,216,3100,0.00,2.20,0.00,0.000,6,0.000,0.030,3060,1906,3232,0,0,0,0,0,0
$GC,3433,-0.68,-116.8,359.9,-6.8,225,3437,0.00,2.33,0.00,0.000,4,0.000,0.041,3060,314,3231,0,0,0,0,0,0
$GC,3510,-0.68,-116.8,366.0,-8.2,226,3516,0.00,2.22,0.00,0.000,6,0.000,0.031,3055,1906,3230,0,0,0,0,0,0
$GC,3841,-0.68,-116.8,390.9,-8.0,235,3845,0.00,2.30,0.00,0.000,4,0.000,0.041,3055,320,3228,0,0,0,0,0,0
$GC,3880,-0.68,-116.8,394.3,-9.1,236,3884,0.00,2.20,0.00,0.000,6,0.000,0.031,3044,1899,3227,0,0,0,0,0,0
$GC,4204,-0.68,-116.8,420.3,-7.7,244,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1900,3226,0,0,0,0,0,0
$GC,4529,-0.68,-116.8,444.0,-7.4,252,4533,0.00,2.30,0.00,0.000,4,0.000,0.041,3044,321,3223,0,0,0,0,0,0
$GC,4613,-0.68,-116.8,451.3,-8.7,254,4618,0.12,2.22,0.00,0.000,6,0.130,0.030,3076,1899,3222,0,0,0,0,0,0
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4777,-0.23,0.0,461.4,6.1,258,4869,0.38,0.00,88.90,0.890,6,0.092,0.000,3215,2015,2750,0,0,0,0,0,0
$STATE,4870,end apogee,CONTROL_FINISHED_OK
$STATE,4870,begin climb
$GC,4872,0.68,116.8,464.3,0.0,260,4977,0.77,2.45,96.62,0.868,4,0.042,0.040,3539,3569,2272,0,0,0,0,0,0
$GC,5016,0.68,116.8,464.1,9.0,263,5023,0.15,2.33,0.00,0.000,6,0.163,0.028,3512,1993,2265,0,0,0,0,0,0
$GC,5347,0.68,116.8,428.8,10.5,272,5351,0.00,2.28,0.00,0.000,4,0.000,0.040,3523,428,2257,0,0,0,0,0,0
$GC,5464,0.68,116.8,416.5,9.2,274,5469,0.00,2.25,0.00,0.000,6,0.000,0.031,3523,1974,2255,0,0,0,0,0,0
$GC,5801,0.71,141.8,389.8,6.9,283,5825,0.00,2.42,18.35,0.811,4,0.000,0.042,3523,3577,2170,0,0,0,0,0,0
$GC,5942,0.71,141.8,378.1,8.8,286,5947,0.00,2.30,0.00,0.000,6,0.000,0.029,3534,2001,2166,0,0,0,0,0,0
$GC,6261,0.71,141.8,352.5,8.3,294,6265,0.00,2.30,0.00,0.000,4,0.000,0.041,3547,425,2164,0,0,0,0,0,0
$GC,6513,0.71,141.8,325.0,10.9,299,6517,0.00,2.28,0.00,0.000,6,0.000,0.031,3547,2000,2162,0,0,0,0,0,0
$GC,6831,0.72,145.3,294.9,7.9,309,6835,0.00,2.33,0.00,0.000,4,0.000,0.042,3546,3586,2161,0,0,0,0,0,0
$GC,6854,0.72,146.3,293.1,8.0,310,6859,0.12,2.25,0.00,0.000,6,0.180,0.030,3525,1996,2161,0,0,0,0,0,0
$GC,7180,0.78,199.8,273.7,5.5,326,7233,0.00,2.40,46.35,0.775,4,0.000,0.041,3536,428,1933,0,0,0,0,0,0
$GC,7419,0.78,199.8,249.9,11.4,337,7423,0.00,2.28,0.00,0.000,6,0.000,0.030,3536,2005,1926,0,0,0,0,0,0
$GC,7744,0.78,199.8,212.8,11.1,353,7748,0.00,2.33,0.00,0.000,4,0.000,0.041,3536,3592,1922,0,0,0,0,0,0
$GC,7793,0.78,199.8,206.5,12.6,355,7797,0.00,2.28,0.00,0.000,6,0.000,0.029,3547,2000,1922,0,0,0,0,0,0
$GC,8121,0.78,199.8,172.0,9.4,383,8125,0.00,2.28,0.00,0.000,4,0.000,0.040,3560,418,1921,0,0,0,0,0,0
$GC,8242,0.78,199.8,158.7,11.1,393,8249,0.00,2.28,0.00,0.000,6,0.000,0.031,3560,2001,1920,0,0,0,0,0,0
$GC,8504,0.78,199.8,129.1,11.3,418,8508,0.00,2.30,0.00,0.000,4,0.000,0.041,3560,3585,1920,0,0,0,0,0,0
$GC,8554,0.78,199.8,123.5,10.9,422,8558,0.00,2.28,0.00,0.000,6,0.000,0.029,3571,1989,1920,0,0,0,0,0,0
$GC,8814,0.79,203.8,104.3,7.8,446,8818,0.00,2.22,0.00,0.000,4,0.000,0.039,3583,428,1920,0,0,0,0,0,0
$GC,8876,0.79,203.8,98.2,10.0,451,8881,0.15,2.22,0.00,0.000,6,0.156,0.031,3540,2006,1919,0,0,0,0,0,0
$GC,9137,0.79,203.8,74.6,9.5,475,9141,0.00,2.28,0.00,0.000,4,0.000,0.039,3551,423,1920,0,0,0,0,0,0
$GC,9198,0.81,220.7,69.4,7.2,480,9220,0.00,2.22,15.80,0.565,6,0.000,0.031,3551,2001,1850,0,0,0,0,0,0
$GC,9475,0.89,290.8,54.1,4.8,506,9536,0.00,2.33,55.30,0.565,4,0.000,0.038,3562,428,1563,0,0,0,0,0,0
$GC,9605,0.89,290.8,44.3,9.2,518,9609,0.00,2.28,0.00,0.000,6,0.000,0.030,3562,2010,1558,0,0,0,0,0,0
$GC,9872,0.89,290.8,15.4,11.4,553,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2010,1557,0,0,0,0,0,0
$STATE,9970,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.3,1.001167
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9994,begin surface
$SM_CCo,10011,49.33,0.074,0,0,1159,390.02
$SM_GC,0.93,0.00,0.00,49.33,0.000,0.000,0.074,127,1889,1159,-9.89,-0.31,390.02
$IRIDIUM_FIX,2050.21,-15752.63,260312,212143
$TT8_MAMPS,0.027612
$HUMID,1078747732
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,14.596
$10V_AH,10.5,12.794
$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,21.850,105.225,321.325,49.325,0.000,29.467,41.083,398.162,0.000,0.000,31.627,1160.720,7077.677,458.947,1778.152,198.218,33.398,1185.004,0.000,1276.683,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,103.545,890.487,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,387.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334592
$DATA_FILE_SIZE,20090,575
$CAP_FILE_SIZE,143093,0
$CFSIZE,260165632,227872768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,090908,2101.302,-15754.346,11,1.6,11,9.8