version: 66.07
glider: 500
mission: 7
dive: 139
start: 10 2 110 15 37 29
data:
$ID,500
$MISSION,7
$DIVE,139
$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,-117952.16
$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
$GPS1,021010,152502,2101.952,-15754.058,8,1.6,9,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.6
$GPS2,021010,153636,2101.922,-15754.045,10,1.2,26,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,0.140
$KALMAN_X,-168743.9,-217.7,48.9,165569.8,-1590.1
$KALMAN_Y,254.1,-70.6,126.4,-23536.2,-907.5
$MHEAD_RNG_PITCHd_Wd,40.2,12424,-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,125,end surface,CONTROL_FINISHED_OK
$STATE,125,begin dive
$GC,127,-0.68,-116.8,0.0,0.0,0,189,0.00,0.00,-60.33,0.000,2,0.000,0.000,128,1896,2821,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.4,-6.3,12,219,11.18,2.40,-7.62,0.000,4,0.232,0.051,3051,3511,3231,0,0,0,0,0,0
$GC,236,-0.68,-116.8,17.7,-30.8,20,241,0.00,2.33,0.00,0.000,6,0.000,0.028,3051,1867,3232,0,0,0,0,0,0
$GC,441,-0.68,-116.8,56.3,-18.7,45,445,0.00,2.22,0.00,0.000,4,0.000,0.041,3051,327,3231,0,0,0,0,0,0
$GC,490,-0.68,-116.8,65.6,-18.2,49,496,0.00,2.30,0.00,0.000,6,0.000,0.031,3040,1929,3232,0,0,0,0,0,0
$GC,751,-0.68,-116.8,110.1,-14.1,74,756,0.10,2.33,0.00,0.000,4,0.162,0.040,3071,319,3233,0,0,0,0,0,0
$GC,850,-0.68,-116.8,122.2,-11.6,82,857,0.00,2.25,0.00,0.000,6,0.000,0.031,3062,1902,3233,0,0,0,0,0,0
$GC,1112,-0.68,-116.8,148.4,-8.8,107,1116,0.00,2.25,0.00,0.000,4,0.000,0.040,3062,325,3235,0,0,0,0,0,0
$GC,1139,-0.68,-116.8,151.0,-9.4,109,1143,0.00,2.22,0.00,0.000,6,0.000,0.030,3056,1912,3235,0,0,0,0,0,0
$GC,1401,-0.68,-116.8,178.2,-10.8,133,1405,0.00,2.28,0.00,0.000,4,0.000,0.040,3056,320,3235,0,0,0,0,0,0
$GC,1511,-0.68,-116.8,190.8,-10.4,142,1518,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1896,3236,0,0,0,0,0,0
$GC,1778,-0.68,-116.8,214.3,-8.2,160,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1896,3236,0,0,0,0,0,0
$GC,2088,-0.68,-116.8,241.1,-9.3,175,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1896,3236,0,0,0,0,0,0
$GC,2397,-0.68,-116.8,269.9,-9.1,190,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1896,3236,0,0,0,0,0,0
$GC,2706,-0.68,-116.8,298.1,-9.0,205,2710,0.00,2.25,0.00,0.000,4,0.000,0.041,3045,329,3236,0,0,0,0,0,0
$GC,2739,-0.68,-116.8,301.4,-10.1,206,2744,0.12,2.17,0.00,0.000,6,0.130,0.031,3078,1897,3236,0,0,0,0,0,0
$GC,3075,-0.68,-116.8,324.8,-6.8,215,3079,0.00,2.25,0.00,0.000,4,0.000,0.040,3077,321,3235,0,0,0,0,0,0
$GC,3115,-0.68,-116.8,327.6,-7.9,216,3119,0.00,2.20,0.00,0.000,6,0.000,0.029,3069,1906,3235,0,0,0,0,0,0
$GC,3439,-0.68,-116.8,350.6,-7.0,224,3443,0.00,2.28,0.00,0.000,4,0.000,0.041,3069,321,3233,0,0,0,0,0,0
$GC,3499,-0.68,-116.8,355.4,-7.7,225,3504,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1906,3232,0,0,0,0,0,0
$GC,3813,-0.68,-116.8,374.2,-5.6,233,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1906,3231,0,0,0,0,0,0
$GC,4137,-0.68,-116.8,390.3,-4.8,241,4141,0.00,2.30,0.00,0.000,4,0.000,0.041,3058,317,3228,0,0,0,0,0,0
$GC,4209,-0.68,-116.8,394.6,-6.1,242,4213,0.00,2.25,0.00,0.000,6,0.000,0.031,3056,1896,3228,0,0,0,0,0,0
$GC,4552,-0.68,-116.8,416.7,-7.3,251,4556,0.00,2.25,0.00,0.000,4,0.000,0.040,3056,328,3225,0,0,0,0,0,0
$GC,4600,-0.68,-116.8,421.2,-8.8,252,4605,0.00,2.25,0.00,0.000,6,0.000,0.030,3045,1908,3225,0,0,0,0,0,0
$GC,4919,-0.68,-116.8,451.5,-9.9,260,4923,0.00,2.30,0.00,0.000,4,0.000,0.041,3045,328,3223,0,0,0,0,0,0
$GC,4969,-0.68,-116.8,456.7,-10.4,261,4974,0.12,2.20,0.00,0.000,6,0.130,0.031,3077,1900,3222,0,0,0,0,0,0
$STATE,5041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5041,begin apogee
$GC,5046,-0.23,0.0,462.8,7.7,263,5138,0.38,0.00,89.22,0.892,6,0.092,0.000,3217,2006,2750,0,0,0,0,0,0
$STATE,5185,end apogee,CONTROL_FINISHED_OK
$STATE,5185,begin climb
$GC,5186,0.68,116.8,466.9,0.0,265,5292,0.73,2.47,96.32,0.877,4,0.041,0.040,3546,433,2272,0,0,0,0,0,0
$GC,5337,0.68,116.8,469.4,8.5,269,5342,0.10,2.33,0.00,0.000,6,0.145,0.031,3515,1987,2267,0,0,0,0,0,0
$GC,5684,0.68,116.8,438.6,8.8,278,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1987,2260,0,0,0,0,0,0
$GC,6010,0.68,116.8,410.4,8.6,286,6014,0.00,2.30,0.00,0.000,4,0.000,0.040,3526,421,2258,0,0,0,0,0,0
$GC,6216,0.68,116.8,393.5,8.3,290,6220,0.00,2.30,0.00,0.000,6,0.000,0.031,3526,2004,2258,0,0,0,0,0,0
$GC,6553,0.68,117.6,367.2,8.0,299,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2004,2257,0,0,0,0,0,0
$GC,6878,0.71,136.8,343.7,7.1,307,6898,0.00,2.33,14.93,0.787,4,0.000,0.041,3537,432,2191,0,0,0,0,0,0
$GC,7077,0.71,136.8,328.4,8.6,311,7081,0.00,2.22,0.00,0.000,6,0.000,0.031,3537,2002,2188,0,0,0,0,0,0
$GC,7419,0.71,138.1,302.4,8.0,320,7423,0.00,2.30,0.00,0.000,4,0.000,0.042,3537,3593,2185,0,0,0,0,0,0
$GC,7507,0.71,138.1,294.3,8.9,323,7512,0.08,2.30,0.00,0.000,6,0.157,0.029,3509,1998,2184,0,0,0,0,0,0
$GC,7835,0.74,161.7,270.4,6.9,339,7861,0.00,2.30,20.50,0.759,4,0.000,0.038,3519,431,2089,0,0,0,0,0,0
$GC,7962,0.76,179.6,260.8,7.2,345,7983,0.00,2.25,15.73,0.728,6,0.000,0.030,3520,2006,2016,0,0,0,0,0,0
$GC,8292,0.76,179.6,231.6,10.3,361,8296,0.00,2.33,0.00,0.000,4,0.000,0.040,3531,428,2010,0,0,0,0,0,0
$GC,8335,0.76,179.6,226.9,11.4,363,8340,0.00,2.30,0.00,0.000,6,0.000,0.031,3531,2013,2010,0,0,0,0,0,0
$GC,8653,0.76,179.6,195.8,8.6,380,8657,0.00,2.30,0.00,0.000,4,0.000,0.040,3543,424,2009,0,0,0,0,0,0
$GC,8771,0.76,179.6,184.6,9.7,390,8775,0.00,2.25,0.00,0.000,6,0.000,0.031,3543,1998,2008,0,0,0,0,0,0
$GC,9033,0.76,179.6,163.5,8.6,414,9037,0.00,2.28,0.00,0.000,4,0.000,0.040,3554,421,2008,0,0,0,0,0,0
$GC,9196,0.76,179.6,147.9,9.9,428,9200,0.00,2.22,0.00,0.000,6,0.000,0.031,3554,2001,2007,0,0,0,0,0,0
$GC,9457,0.76,179.6,124.5,8.7,452,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2001,2007,0,0,0,0,0,0
$GC,9711,0.82,227.6,106.8,5.8,476,9756,0.00,2.38,38.17,0.620,4,0.000,0.040,3566,424,1821,0,0,0,0,0,0
$GC,9889,0.82,227.6,91.0,9.6,492,9896,0.00,2.28,0.00,0.000,6,0.000,0.030,3566,1990,1815,0,0,0,0,0,0
$GC,10152,0.82,227.6,67.6,9.4,517,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1990,1813,0,0,0,0,0,0
$GC,10406,0.83,234.6,46.1,7.7,541,10418,0.00,2.33,5.97,0.447,4,0.000,0.038,3566,3587,1792,0,0,0,0,0,0
$GC,10440,0.83,234.6,42.9,9.6,544,10444,0.00,2.25,0.00,0.000,6,0.000,0.028,3577,1990,1791,0,0,0,0,0,0
$GC,10708,0.83,234.6,15.3,10.3,581,10713,0.00,2.25,0.00,0.000,4,0.000,0.039,3589,428,1791,0,0,0,0,0,0
$GC,10792,0.83,234.6,6.1,11.5,596,10798,0.12,2.22,0.00,0.000,6,0.156,0.031,3554,2010,1790,0,0,0,0,0,0
$STATE,10824,end climb,SURFACE_DEPTH_REACHED
$STATE,10824,begin surface coast
$FINISH,0.3,1.009961
$STATE,10854,end surface coast,CONTROL_FINISHED_OK
$STATE,10854,begin surface
$SM_CCo,10938,84.20,0.074,0,0,1160,390.02
$SM_GC,1.33,0.00,0.00,84.20,0.000,0.000,0.074,137,1875,1160,-9.85,-0.68,390.02
$IRIDIUM_FIX,2052.52,-15756.91,270312,060637
$TT8_MAMPS,0.027612
$HUMID,1078712893
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,14.902
$10V_AH,10.4,12.952
$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,21.375,100.450,280.850,84.200,0.000,28.721,40.697,352.476,0.000,0.000,28.584,1132.120,7863.640,464.384,2134.837,181.727,33.378,1181.990,0.000,1277.851,0.000,0.542,0.000
$DEVICE_MAMPS,231.634,103.545,892.021,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,409.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,20097,607
$CAP_FILE_SIZE,111614,0
$CFSIZE,260165632,227733504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,184406,2102.436,-15753.869,30,0.9,31,9.8