version: 66.07
glider: 500
mission: 7
dive: 143
start: 10 3 110 4 56 26
data:
$ID,500
$MISSION,7
$DIVE,143
$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,-118043.37
$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
$GPS1,031010,043955,2102.890,-15753.762,62,1.0,63,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.9
$GPS2,031010,045532,2102.836,-15753.783,12,1.0,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,0.090
$KALMAN_X,-177057.6,47.2,101.9,174020.9,-2130.5
$KALMAN_Y,-3303.3,-42.6,78.9,-18265.5,-748.4
$MHEAD_RNG_PITCHd_Wd,55.7,10704,-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,-116.8,0.0,0.0,0,190,0.00,0.00,-61.08,0.000,2,0.000,0.000,127,1870,2819,0,0,0,0,0,0
$GC,193,-0.68,-116.8,3.1,-5.5,12,219,11.18,2.42,-7.85,0.000,4,0.232,0.054,3049,3528,3232,0,0,0,0,0,0
$GC,237,-0.68,-116.8,17.5,-31.9,20,242,0.00,2.35,0.00,0.000,6,0.000,0.026,3049,1856,3232,0,0,0,0,0,0
$GC,437,-0.68,-116.8,54.6,-18.9,45,441,0.00,2.20,0.00,0.000,4,0.000,0.041,3049,327,3232,0,0,0,0,0,0
$GC,504,-0.68,-116.8,67.7,-18.6,51,509,0.12,2.25,0.00,0.000,6,0.149,0.031,3075,1938,3233,0,0,0,0,0,0
$GC,766,-0.68,-116.8,102.6,-11.8,75,770,0.00,2.30,0.00,0.000,4,0.000,0.039,3075,330,3233,0,0,0,0,0,0
$GC,804,-0.68,-116.8,107.5,-12.1,78,808,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1910,3233,0,0,0,0,0,0
$GC,1065,-0.68,-116.8,135.9,-10.1,102,1069,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,328,3235,0,0,0,0,0,0
$GC,1097,-0.68,-116.8,139.8,-11.2,104,1103,0.00,2.25,0.00,0.000,6,0.000,0.031,3061,1910,3235,0,0,0,0,0,0
$GC,1359,-0.68,-116.8,169.5,-11.3,129,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1910,3235,0,0,0,0,0,0
$GC,1613,-0.68,-116.8,196.5,-9.8,153,1617,0.00,2.28,0.00,0.000,4,0.000,0.039,3061,328,3236,0,0,0,0,0,0
$GC,1735,-0.68,-116.8,208.3,-9.5,159,1741,0.00,2.17,0.00,0.000,6,0.000,0.030,3056,1898,3236,0,0,0,0,0,0
$GC,2050,-0.68,-116.8,234.2,-7.9,175,2054,0.00,2.25,0.00,0.000,4,0.000,0.039,3056,317,3236,0,0,0,0,0,0
$GC,2088,-0.68,-116.8,237.4,-8.4,177,2092,0.00,2.20,0.00,0.000,6,0.000,0.030,3045,1906,3236,0,0,0,0,0,0
$GC,2415,-0.68,-116.8,262.3,-7.8,193,2419,0.00,2.25,0.00,0.000,4,0.000,0.039,3045,324,3236,0,0,0,0,0,0
$GC,2469,-0.68,-116.8,267.2,-9.0,195,2476,0.08,2.22,0.00,0.000,6,0.106,0.030,3070,1893,3235,0,0,0,0,0,0
$GC,2784,-0.68,-116.8,291.6,-8.1,211,2788,0.00,2.25,0.00,0.000,4,0.000,0.039,3070,328,3235,0,0,0,0,0,0
$GC,2813,-0.68,-116.8,294.1,-9.2,212,2817,0.00,2.22,0.00,0.000,6,0.000,0.031,3062,1912,3235,0,0,0,0,0,0
$GC,3124,-0.68,-116.8,322.3,-8.9,221,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1912,3233,0,0,0,0,0,0
$GC,3449,-0.68,-116.8,345.3,-6.3,229,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1912,3232,0,0,0,0,0,0
$GC,3775,-0.68,-116.8,360.5,-4.7,237,3779,0.00,2.30,0.00,0.000,4,0.000,0.041,3061,324,3230,0,0,0,0,0,0
$GC,3879,-0.68,-116.8,368.2,-8.2,239,3884,0.00,2.25,0.00,0.000,6,0.000,0.031,3056,1900,3229,0,0,0,0,0,0
$GC,4227,-0.68,-116.8,398.6,-9.5,248,4231,0.00,2.28,0.00,0.000,4,0.000,0.041,3056,331,3226,0,0,0,0,0,0
$GC,4328,-0.68,-116.8,408.9,-9.9,250,4332,0.00,2.22,0.00,0.000,6,0.000,0.031,3045,1903,3226,0,0,0,0,0,0
$GC,4640,-0.68,-116.8,433.9,-7.5,258,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1904,3223,0,0,0,0,0,0
$GC,4966,-0.68,-116.8,457.7,-7.4,266,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1904,3220,0,0,0,0,0,0
$STATE,5004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5004,begin apogee
$GC,5009,-0.23,0.0,460.7,7.5,267,5100,0.47,0.00,88.57,0.890,6,0.096,0.000,3216,2011,2750,0,0,0,0,0,0
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5144,0.68,116.8,463.2,0.0,269,5250,0.73,2.45,95.97,0.872,4,0.039,0.041,3537,3562,2271,0,0,0,0,0,0
$GC,5272,0.75,170.6,467.3,5.5,272,5322,0.00,2.35,43.70,0.849,6,0.000,0.028,3549,1995,2053,0,0,0,0,0,0
$GC,5636,0.75,170.6,419.9,14.5,281,5639,0.00,2.33,0.00,0.000,4,0.000,0.041,3549,3564,2041,0,0,0,0,0,0
$GC,5686,0.75,170.6,412.0,15.7,282,5690,0.00,2.28,0.00,0.000,6,0.000,0.029,3560,1994,2040,0,0,0,0,0,0
$GC,6003,0.75,170.6,365.6,14.3,290,6007,0.00,2.28,0.00,0.000,4,0.000,0.040,3573,421,2037,0,0,0,0,0,0
$GC,6136,0.75,170.6,345.5,14.2,293,6141,0.12,2.28,0.00,0.000,6,0.148,0.031,3519,1994,2035,0,0,0,0,0,0
$GC,6459,0.75,170.6,306.9,11.5,301,6463,0.00,2.30,0.00,0.000,4,0.000,0.041,3519,3588,2034,0,0,0,0,0,0
$GC,6491,0.75,170.6,303.0,12.3,301,6498,0.00,2.30,0.00,0.000,6,0.000,0.029,3530,1999,2033,0,0,0,0,0,0
$GC,6807,0.75,170.6,266.8,11.5,316,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1999,2032,0,0,0,0,0,0
$GC,7117,0.75,170.6,234.7,9.8,331,7121,0.00,2.28,0.00,0.000,4,0.000,0.040,3542,427,2031,0,0,0,0,0,0
$GC,7280,0.78,194.4,220.9,6.9,338,7303,0.00,2.25,16.80,0.714,6,0.000,0.031,3542,2005,1956,0,0,0,0,0,0
$GC,7622,0.78,194.4,189.7,9.7,360,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2005,1951,0,0,0,0,0,0
$GC,7877,0.78,194.4,164.5,11.2,384,7881,0.00,2.28,0.00,0.000,4,0.000,0.040,3553,424,1950,0,0,0,0,0,0
$GC,7983,0.78,194.4,152.7,11.2,393,7987,0.00,2.22,0.00,0.000,6,0.000,0.031,3553,2004,1950,0,0,0,0,0,0
$GC,8244,0.78,194.4,123.6,10.1,417,8248,0.00,2.28,0.00,0.000,4,0.000,0.041,3553,3588,1949,0,0,0,0,0,0
$GC,8272,0.78,194.4,120.8,9.9,419,8276,0.00,2.28,0.00,0.000,6,0.000,0.029,3565,1988,1948,0,0,0,0,0,0
$GC,8535,0.86,264.7,106.1,4.8,443,8596,0.00,2.33,55.47,0.623,4,0.000,0.038,3577,426,1669,0,0,0,0,0,0
$GC,8780,0.86,264.7,81.3,10.1,465,8787,0.00,2.28,0.00,0.000,6,0.000,0.029,3577,1996,1662,0,0,0,0,0,0
$GC,9042,0.86,264.7,54.1,11.4,490,9046,0.00,2.30,0.00,0.000,4,0.000,0.040,3577,3590,1660,0,0,0,0,0,0
$GC,9182,0.86,264.7,38.0,12.1,502,9186,0.00,2.25,0.00,0.000,6,0.000,0.028,3588,1988,1660,0,0,0,0,0,0
$GC,9453,0.86,264.7,6.0,13.4,544,9459,0.00,2.25,0.00,0.000,4,0.000,0.038,3601,425,1660,0,0,0,0,0,0
$STATE,9480,end climb,SURFACE_DEPTH_REACHED
$STATE,9480,begin surface coast
$FINISH,0.3,1.023012
$STATE,9503,end surface coast,CONTROL_FINISHED_OK
$STATE,9503,begin surface
$SM_CCo,9590,65.65,0.443,1,0,1158,390.02
$SM_GC,0.93,0.00,0.00,65.65,0.000,0.000,0.443,135,1918,1158,-9.86,0.51,390.02
$IRIDIUM_FIX,2054.83,-15756.91,270312,232307
$TT8_MAMPS,0.027612
$HUMID,1078763216
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,15.313
$10V_AH,10.4,13.176
$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,21.250,90.925,300.525,65.650,0.000,59.164,62.352,444.985,0.000,0.000,14.075,1020.992,6825.439,448.798,2178.298,183.672,33.377,1111.911,0.000,1155.146,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,103.545,890.487,443.326,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334664
$DATA_FILE_SIZE,20128,553
$CAP_FILE_SIZE,106323,0
$CFSIZE,260165632,227540992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,074024,2102.911,-15753.699,30,1.1,35,9.8