version: 66.07
glider: 500
mission: 7
dive: 137
start: 10 2 110 9 19 32
data:
$ID,500
$MISSION,7
$DIVE,137
$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,-117907.2
$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,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
$GPS1,021010,090908,2101.302,-15754.346,11,1.6,11,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-77.3
$GPS2,021010,091838,2101.334,-15754.379,10,1.8,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,0.094
$KALMAN_X,-164890.5,-231.3,-29.4,161233.4,-2201.7
$KALMAN_Y,1564.4,215.1,-101.6,-25996.6,-965.9
$MHEAD_RNG_PITCHd_Wd,54.6,13655,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.68,-116.8,0.0,0.0,0,87,0.00,0.00,-60.92,0.000,2,0.000,0.000,125,1890,2841,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.5,-6.6,12,117,11.32,2.40,-6.93,0.000,4,0.233,0.049,3051,3506,3234,0,0,0,0,0,0
$GC,123,-0.68,-116.8,17.1,-37.9,18,128,0.00,2.33,0.00,0.000,6,0.000,0.028,3051,1868,3233,0,0,0,0,0,0
$GC,323,-0.68,-116.8,55.2,-20.2,43,327,0.00,2.25,0.00,0.000,4,0.000,0.041,3051,321,3233,0,0,0,0,0,0
$GC,350,-0.68,-116.8,60.9,-20.3,45,355,0.10,2.28,0.00,0.000,6,0.163,0.029,3069,1927,3233,0,0,0,0,0,0
$GC,611,-0.68,-116.8,102.5,-13.9,69,615,0.00,2.30,0.00,0.000,4,0.000,0.040,3074,323,3234,0,0,0,0,0,0
$GC,639,-0.68,-116.8,106.3,-13.5,71,643,0.00,2.22,0.00,0.000,6,0.000,0.031,3060,1916,3234,0,0,0,0,0,0
$GC,905,-0.68,-116.8,135.6,-10.0,96,909,0.00,2.28,0.00,0.000,4,0.000,0.040,3060,325,3235,0,0,0,0,0,0
$GC,959,-0.68,-116.8,142.2,-11.9,100,965,0.00,2.25,0.00,0.000,6,0.000,0.030,3056,1899,3236,0,0,0,0,0,0
$GC,1221,-0.68,-116.8,172.2,-10.9,125,1225,0.00,2.25,0.00,0.000,4,0.000,0.039,3056,321,3234,0,0,0,0,0,0
$GC,1320,-0.68,-116.8,183.6,-11.1,133,1327,0.00,2.25,0.00,0.000,6,0.000,0.028,3045,1909,3236,0,0,0,0,0,0
$GC,1580,-0.68,-116.8,210.8,-10.1,153,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1909,3237,0,0,0,0,0,0
$GC,1887,-0.68,-116.8,243.0,-11.0,168,1891,0.00,2.28,0.00,0.000,4,0.000,0.040,3045,313,3237,0,0,0,0,0,0
$GC,1943,-0.68,-116.8,249.3,-11.1,170,1949,0.12,2.22,0.00,0.000,6,0.132,0.031,3077,1898,3239,0,0,0,0,0,0
$GC,2258,-0.68,-116.8,272.9,-6.0,186,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1902,3237,0,0,0,0,0,0
$GC,2567,-0.68,-116.8,289.5,-5.8,201,2571,0.00,2.25,0.00,0.000,4,0.000,0.040,3077,316,3237,0,0,0,0,0,0
$GC,2679,-0.68,-116.8,297.8,-7.8,206,2683,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,1902,3237,0,0,0,0,0,0
$GC,3000,-0.68,-116.8,320.8,-7.2,215,3004,0.00,2.28,0.00,0.000,4,0.000,0.040,3069,316,3236,0,0,0,0,0,0
$GC,3027,-0.68,-116.8,323.1,-8.3,215,3031,0.00,2.25,0.00,0.000,6,0.000,0.031,3061,1903,3236,0,0,0,0,0,0
$GC,3370,-0.68,-116.8,347.4,-6.5,224,3374,0.00,2.30,0.00,0.000,4,0.000,0.041,3058,316,3234,0,0,0,0,0,0
$GC,3419,-0.68,-116.8,350.8,-6.5,225,3423,0.00,2.25,0.00,0.000,6,0.000,0.031,3056,1895,3234,0,0,0,0,0,0
$GC,3738,-0.68,-116.8,370.8,-6.4,233,3742,0.00,2.28,0.00,0.000,4,0.000,0.041,3056,326,3233,0,0,0,0,0,0
$GC,3809,-0.68,-116.8,376.2,-7.4,234,3813,0.00,2.25,0.00,0.000,6,0.000,0.031,3044,1901,3232,0,0,0,0,0,0
$GC,4152,-0.68,-116.8,399.1,-6.6,243,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1901,3232,0,0,0,0,0,0
$GC,4477,-0.68,-116.8,423.0,-7.7,251,4481,0.00,2.30,0.00,0.000,4,0.000,0.041,3044,321,3227,0,0,0,0,0,0
$GC,4532,-0.68,-116.8,427.6,-8.3,252,4537,0.08,2.25,0.00,0.000,6,0.105,0.031,3064,1896,3227,0,0,0,0,0,0
$GC,4845,-0.68,-116.8,446.0,-5.6,260,4849,0.00,2.28,0.00,0.000,4,0.000,0.041,3067,328,3225,0,0,0,0,0,0
$GC,4878,-0.68,-116.8,448.0,-6.7,260,4883,0.00,2.20,0.00,0.000,6,0.000,0.030,3054,1906,3225,0,0,0,0,0,0
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5089,-0.23,0.0,461.1,6.4,266,5181,0.45,0.00,89.30,0.891,6,0.094,0.000,3222,2011,2750,0,0,0,0,0,0
$STATE,5199,end apogee,CONTROL_FINISHED_OK
$STATE,5199,begin climb
$GC,5201,0.68,116.8,463.7,0.0,268,5308,0.73,2.47,96.45,0.871,4,0.041,0.041,3538,3577,2272,0,0,0,0,0,0
$GC,5560,0.68,116.8,443.1,9.5,276,5565,0.15,2.30,0.00,0.000,6,0.164,0.028,3512,1993,2260,0,0,0,0,0,0
$GC,5878,0.68,116.8,418.1,8.1,284,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1993,2256,0,0,0,0,0,0
$GC,6203,0.68,116.8,390.5,8.4,292,6207,0.00,2.33,0.00,0.000,4,0.000,0.041,3510,3579,2254,0,0,0,0,0,0
$GC,6308,0.68,116.8,381.1,9.2,294,6312,0.00,2.25,0.00,0.000,6,0.000,0.030,3520,1998,2252,0,0,0,0,0,0
$GC,6656,0.74,161.3,357.3,6.0,303,6697,0.00,2.38,33.05,0.826,4,0.000,0.041,3531,432,2092,0,0,0,0,0,0
$GC,6803,0.74,161.3,345.9,10.2,306,6808,0.00,2.28,0.00,0.000,6,0.000,0.031,3533,1988,2089,0,0,0,0,0,0
$GC,7115,0.74,161.3,316.7,10.2,314,7119,0.00,2.28,0.00,0.000,4,0.000,0.040,3543,433,2082,0,0,0,0,0,0
$GC,7250,0.74,161.3,302.5,11.1,317,7254,0.00,2.25,0.00,0.000,6,0.000,0.031,3543,2005,2081,0,0,0,0,0,0
$GC,7577,0.74,161.3,267.6,10.7,332,7581,0.00,2.28,0.00,0.000,4,0.000,0.040,3555,431,2079,0,0,0,0,0,0
$GC,7710,0.74,161.3,254.1,9.5,338,7715,0.00,2.25,0.00,0.000,6,0.000,0.030,3555,1990,2078,0,0,0,0,0,0
$GC,8039,0.74,167.2,225.5,7.8,354,8043,0.00,2.35,0.00,0.000,4,0.000,0.041,3555,3593,2077,0,0,0,0,0,0
$GC,8177,0.74,167.2,212.0,10.1,360,8190,0.08,2.28,3.45,0.440,6,0.154,0.028,3537,2004,2068,0,0,0,0,0,0
$GC,8503,0.74,167.2,180.3,8.9,385,8507,0.00,2.25,0.00,0.000,4,0.000,0.039,3552,430,2068,0,0,0,0,0,0
$GC,8541,0.74,167.2,176.6,9.7,388,8546,0.00,2.25,0.00,0.000,6,0.000,0.031,3552,2012,2067,0,0,0,0,0,0
$GC,8803,0.74,167.2,149.8,10.4,412,8807,0.00,2.28,0.00,0.000,4,0.000,0.038,3563,427,2068,0,0,0,0,0,0
$GC,9060,0.83,238.1,130.6,4.7,434,9127,0.00,2.25,58.17,0.647,6,0.000,0.030,3563,2020,1776,0,0,0,0,0,0
$GC,9381,0.83,238.1,96.3,11.6,465,9385,0.00,2.33,0.00,0.000,4,0.000,0.039,3579,430,1768,0,0,0,0,0,0
$GC,9592,0.83,238.1,71.6,11.5,483,9599,0.00,2.25,0.00,0.000,6,0.000,0.029,3575,1995,1769,0,0,0,0,0,0
$GC,9853,0.83,238.1,42.9,10.5,508,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1995,1766,0,0,0,0,0,0
$GC,10114,0.83,238.1,16.8,9.7,543,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1995,1767,0,0,0,0,0,0
$STATE,10241,end climb,SURFACE_DEPTH_REACHED
$STATE,10241,begin surface coast
$FINISH,0.3,1.023005
$STATE,10266,end surface coast,CONTROL_FINISHED_OK
$STATE,10266,begin surface
$SM_CCo,10299,73.90,0.453,1,0,1158,390.02
$SM_GC,1.21,0.00,0.00,73.90,0.000,0.000,0.453,129,1879,1158,-9.88,-0.65,390.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.408811
$HUMID,1078687087
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,22
$AR_CDRIVE_FREE,8373698560
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48988684288
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,14.698
$10V_AH,9.9,12.843
$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,21.625,95.875,280.425,73.900,0.000,28.684,40.149,383.857,0.000,0.000,13.617,1082.634,7449.156,450.780,1812.458,174.035,33.373,1179.680,0.000,1297.383,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,104.312,891.254,452.530,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334580
$DATA_FILE_SIZE,20124,570
$CAP_FILE_SIZE,105418,0
$CFSIZE,260165632,227856384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,121401,2101.573,-15754.359,37,1.0,37,9.8