version: 66.07
glider: 500
mission: 7
dive: 141
start: 10 2 110 22 21 5
data:
$ID,500
$MISSION,7
$DIVE,141
$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,-117995.41
$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
$GPS1,021010,220725,2102.505,-15753.869,41,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.4
$GPS2,021010,222010,2102.471,-15753.952,8,2.2,27,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,0.097
$KALMAN_X,-172932.4,263.4,-139.7,169629.5,-1949.9
$KALMAN_Y,-1198.9,-174.2,-187.6,-20647.7,-531.5
$MHEAD_RNG_PITCHd_Wd,53.8,11439,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,123,begin dive
$GC,125,-0.68,-116.8,0.0,0.0,0,188,0.00,0.00,-60.95,0.000,2,0.000,0.000,128,1914,2831,0,0,0,0,0,0
$GC,191,-0.68,-116.8,3.3,-6.4,12,212,11.30,0.00,-7.35,0.000,6,0.235,0.000,3061,1914,3229,0,0,0,0,0,0
$GC,408,-0.68,-116.8,49.6,-17.5,42,412,0.00,2.35,0.00,0.000,4,0.000,0.041,3061,290,3232,0,0,0,0,0,0
$GC,440,-0.68,-116.8,55.1,-17.8,44,446,0.00,2.35,0.00,0.000,6,0.000,0.032,3051,1922,3232,0,0,0,0,0,0
$GC,701,-0.68,-116.8,90.0,-11.8,69,705,0.00,2.25,0.00,0.000,4,0.000,0.041,3039,3492,3233,0,0,0,0,0,0
$GC,716,-0.68,-116.8,92.0,-12.0,70,723,0.08,2.30,0.00,0.000,6,0.106,0.026,3070,1875,3233,0,0,0,0,0,0
$GC,979,-0.68,-116.8,121.7,-13.1,95,983,0.00,2.25,0.00,0.000,4,0.000,0.040,3071,309,3233,0,0,0,0,0,0
$GC,1158,-0.68,-116.8,138.2,-9.1,110,1164,0.00,2.28,0.00,0.000,6,0.000,0.030,3062,1917,3234,0,0,0,0,0,0
$GC,1420,-0.68,-116.8,162.2,-8.6,135,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1917,3235,0,0,0,0,0,0
$GC,1674,-0.68,-116.8,184.8,-7.6,159,1678,0.00,2.28,0.00,0.000,4,0.000,0.040,3062,320,3235,0,0,0,0,0,0
$GC,1735,-0.68,-116.8,189.6,-7.8,164,1740,0.00,2.22,0.00,0.000,6,0.000,0.030,3054,1908,3235,0,0,0,0,0,0
$GC,2003,-0.68,-116.8,209.7,-7.6,183,2007,0.00,2.28,0.00,0.000,4,0.000,0.039,3054,309,3235,0,0,0,0,0,0
$GC,2074,-0.68,-116.8,216.1,-8.4,186,2079,0.00,2.25,0.00,0.000,6,0.000,0.029,3043,1897,3235,0,0,0,0,0,0
$GC,2397,-0.68,-116.8,247.6,-10.0,202,2401,0.00,2.25,0.00,0.000,4,0.000,0.039,3043,317,3235,0,0,0,0,0,0
$GC,2446,-0.68,-116.8,252.9,-10.4,204,2452,0.10,2.25,0.00,0.000,6,0.104,0.030,3074,1906,3235,0,0,0,0,0,0
$GC,2770,-0.68,-116.8,270.7,-4.2,220,2774,0.00,2.30,0.00,0.000,4,0.000,0.039,3074,311,3234,0,0,0,0,0,0
$GC,2824,-0.68,-116.8,273.5,-4.9,222,2830,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1900,3234,0,0,0,0,0,0
$GC,3141,-0.68,-116.8,292.5,-7.1,238,3145,0.00,2.30,0.00,0.000,4,0.000,0.040,3069,321,3232,0,0,0,0,0,0
$GC,3196,-0.68,-116.8,297.4,-9.1,240,3202,0.00,2.22,0.00,0.000,6,0.000,0.030,3059,1909,3232,0,0,0,0,0,0
$GC,3527,-0.68,-116.8,327.6,-9.4,250,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1909,3231,0,0,0,0,0,0
$GC,3852,-0.68,-116.8,354.3,-7.8,258,3856,0.00,2.33,0.00,0.000,4,0.000,0.041,3059,315,3228,0,0,0,0,0,0
$GC,3891,-0.68,-116.8,357.1,-7.5,258,3897,0.00,2.22,0.00,0.000,6,0.000,0.031,3048,1897,3228,0,0,0,0,0,0
$GC,4221,-0.68,-116.8,378.3,-6.1,267,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1897,3226,0,0,0,0,0,0
$GC,4546,-0.68,-116.8,399.9,-7.2,275,4550,0.00,2.28,0.00,0.000,4,0.000,0.041,3048,319,3224,0,0,0,0,0,0
$GC,4663,-0.68,-116.8,410.5,-9.6,277,4668,0.10,2.20,0.00,0.000,6,0.144,0.030,3072,1899,3223,0,0,0,0,0,0
$GC,4999,-0.68,-116.8,435.5,-7.3,286,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1899,3220,0,0,0,0,0,0
$GC,5324,-0.68,-116.8,459.8,-7.5,294,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1899,3218,0,0,0,0,0,0
$STATE,5363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5363,begin apogee
$GC,5368,-0.23,0.0,463.0,7.7,295,5460,0.40,0.00,88.40,0.890,6,0.092,0.000,3220,2014,2750,0,0,0,0,0,0
$STATE,5506,end apogee,CONTROL_FINISHED_OK
$STATE,5506,begin climb
$GC,5508,0.68,116.8,467.0,0.0,297,5615,0.73,2.53,96.05,0.876,4,0.043,0.039,3546,417,2272,0,0,0,0,0,0
$GC,5692,0.68,116.8,466.8,10.1,301,5698,0.10,2.33,0.00,0.000,6,0.146,0.031,3515,1977,2264,0,0,0,0,0,0
$GC,6005,0.68,116.8,437.3,9.3,309,6010,0.00,2.35,0.00,0.000,4,0.000,0.042,3514,3583,2258,0,0,0,0,0,0
$GC,6262,0.68,116.8,413.7,9.7,314,6269,0.00,2.30,0.00,0.000,6,0.000,0.029,3525,1994,2254,0,0,0,0,0,0
$GC,6593,0.68,116.8,385.2,8.3,323,6598,0.00,2.28,0.00,0.000,4,0.000,0.041,3537,419,2253,0,0,0,0,0,0
$GC,6688,0.70,132.6,378.3,7.3,325,6704,0.00,2.28,10.45,0.769,6,0.000,0.031,3537,2016,2209,0,0,0,0,0,0
$GC,7040,0.70,132.6,348.5,9.1,334,7044,0.00,2.33,0.00,0.000,4,0.000,0.041,3538,3592,2205,0,0,0,0,0,0
$GC,7124,0.70,132.6,339.3,11.4,336,7129,0.12,2.28,0.00,0.000,6,0.176,0.028,3516,1995,2204,0,0,0,0,0,0
$GC,7447,0.71,137.5,311.6,7.8,344,7457,0.00,2.30,4.50,0.579,4,0.000,0.040,3526,439,2189,0,0,0,0,0,0
$GC,7478,0.77,185.7,309.6,5.8,344,7524,0.00,2.25,40.83,0.799,6,0.000,0.031,3527,1997,1992,0,0,0,0,0,0
$GC,7833,0.80,211.4,283.0,6.8,358,7856,0.00,0.00,20.90,0.759,6,0.000,0.000,3527,1997,1888,0,0,0,0,0,0
$GC,8163,0.80,211.4,242.3,15.6,374,8167,0.00,2.30,0.00,0.000,4,0.000,0.041,3538,426,1880,0,0,0,0,0,0
$GC,8284,0.80,211.4,222.5,16.1,379,8291,0.00,2.30,0.00,0.000,6,0.000,0.031,3538,2012,1878,0,0,0,0,0,0
$GC,8604,0.80,211.4,181.0,10.8,402,8608,0.00,2.30,0.00,0.000,4,0.000,0.040,3550,422,1876,0,0,0,0,0,0
$GC,8659,0.80,211.4,174.7,11.2,406,8665,0.00,2.28,0.00,0.000,6,0.000,0.031,3550,2017,1875,0,0,0,0,0,0
$GC,8921,0.80,211.4,145.2,11.5,431,8925,0.00,2.33,0.00,0.000,4,0.000,0.040,3561,423,1875,0,0,0,0,0,0
$GC,9054,0.80,211.4,129.2,13.7,442,9060,0.00,2.22,0.00,0.000,6,0.000,0.031,3561,2008,1874,0,0,0,0,0,0
$GC,9315,0.80,211.4,98.2,10.6,467,9319,0.00,2.28,0.00,0.000,4,0.000,0.041,3562,3578,1873,0,0,0,0,0,0
$GC,9336,0.80,211.4,96.0,10.0,468,9342,0.00,2.25,0.00,0.000,6,0.000,0.029,3573,1987,1873,0,0,0,0,0,0
$GC,9596,0.80,211.4,74.5,9.5,493,9600,0.00,2.25,0.00,0.000,4,0.000,0.039,3585,425,1873,0,0,0,0,0,0
$GC,9853,0.84,248.6,55.7,6.3,515,9890,0.00,2.22,28.40,0.574,6,0.000,0.029,3585,2001,1735,0,0,0,0,0,0
$GC,10146,0.84,248.6,26.7,11.9,545,10151,0.00,2.28,0.00,0.000,4,0.000,0.039,3596,434,1730,0,0,0,0,0,0
$GC,10293,0.84,248.6,9.2,11.9,571,10299,0.12,2.22,0.00,0.000,6,0.160,0.031,3561,2004,1729,0,0,0,0,0,0
$STATE,10359,end climb,SURFACE_DEPTH_REACHED
$STATE,10359,begin surface coast
$FINISH,0.2,1.022973
$STATE,10395,end surface coast,CONTROL_FINISHED_OK
$STATE,10396,begin surface
$SM_CCo,10479,72.97,0.453,1,0,1159,390.02
$SM_GC,1.11,0.00,0.00,72.97,0.000,0.000,0.453,131,1889,1159,-9.87,-0.31,390.02
$IRIDIUM_FIX,2052.52,-15754.77,270312,131352
$TT8_MAMPS,0.027612
$HUMID,1078750313
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,15.107
$10V_AH,10.4,13.065
$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,21.700,96.025,289.525,72.975,0.000,26.283,35.926,381.886,0.000,0.000,30.222,1095.429,7461.115,461.711,2185.104,179.613,33.370,1172.731,0.000,1259.607,0.000,0.541,0.000
$DEVICE_MAMPS,234.702,102.011,890.487,453.297,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,397.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334616
$DATA_FILE_SIZE,20119,589
$CAP_FILE_SIZE,111004,0
$CFSIZE,260165632,227631104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,011958,2102.584,-15753.768,11,3.6,31,9.8