version: 66.07
glider: 500
mission: 7
dive: 145
start: 10 3 110 11 10 1
data:
$ID,500
$MISSION,7
$DIVE,145
$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,-118068.24
$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
$GPS1,031010,105501,2102.758,-15754.021,36,1.1,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.0
$GPS2,031010,110908,2102.797,-15754.113,8,2.0,8,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,0.104
$KALMAN_X,-181479.5,-430.0,-198.1,178651.5,-2071.6
$KALMAN_Y,-5166.5,55.3,-102.6,-16392.9,-957.3
$MHEAD_RNG_PITCHd_Wd,51.8,11034,-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,124,end surface,CONTROL_FINISHED_OK
$STATE,125,begin dive
$GC,127,-0.68,-116.8,0.0,0.0,0,194,0.00,0.00,-65.53,0.000,2,0.000,0.000,128,1874,2973,0,0,0,0,0,0
$GC,198,-0.68,-116.8,4.0,-7.9,13,218,11.18,0.00,-4.40,0.000,6,0.230,0.000,3061,1875,3229,0,0,0,0,0,0
$GC,418,-0.68,-116.8,55.8,-17.7,41,419,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1874,3231,0,0,0,0,0,0
$GC,674,-0.68,-116.8,97.3,-15.3,65,678,0.00,2.35,0.00,0.000,4,0.000,0.041,3051,3501,3232,0,0,0,0,0,0
$GC,717,-0.68,-116.8,103.3,-12.2,68,723,0.00,2.33,0.00,0.000,6,0.000,0.025,3051,1871,3232,0,0,0,0,0,0
$GC,978,-0.68,-116.8,137.7,-13.7,93,982,0.00,2.22,0.00,0.000,4,0.000,0.040,3051,323,3233,0,0,0,0,0,0
$GC,1168,-0.68,-116.8,161.6,-11.6,109,1174,0.00,2.28,0.00,0.000,6,0.000,0.029,3041,1927,3233,0,0,0,0,0,0
$GC,1430,-0.68,-116.8,189.3,-10.3,134,1434,0.00,2.33,0.00,0.000,4,0.000,0.039,3042,313,3234,0,0,0,0,0,0
$GC,1530,-0.68,-116.8,202.0,-13.1,142,1537,0.10,2.25,0.00,0.000,6,0.105,0.030,3072,1902,3234,0,0,0,0,0,0
$GC,1846,-0.68,-116.8,231.6,-9.1,158,1850,0.00,2.25,0.00,0.000,4,0.000,0.039,3072,322,3234,0,0,0,0,0,0
$GC,1907,-0.68,-116.8,237.4,-9.6,161,1911,0.00,2.20,0.00,0.000,6,0.000,0.030,3069,1909,3233,0,0,0,0,0,0
$GC,2232,-0.68,-116.8,263.9,-7.4,177,2236,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,321,3233,0,0,0,0,0,0
$GC,2265,-0.68,-116.8,266.7,-8.5,178,2271,0.00,2.22,0.00,0.000,6,0.000,0.030,3059,1911,3232,0,0,0,0,0,0
$GC,2580,-0.68,-116.8,290.5,-7.5,194,2584,0.00,2.28,0.00,0.000,4,0.000,0.039,3059,321,3231,0,0,0,0,0,0
$GC,2602,-0.68,-116.8,292.5,-8.7,195,2606,0.00,2.22,0.00,0.000,6,0.000,0.031,3055,1905,3231,0,0,0,0,0,0
$GC,2945,-0.68,-116.8,324.3,-9.7,206,2949,0.00,2.28,0.00,0.000,4,0.000,0.039,3055,312,3230,0,0,0,0,0,0
$GC,2999,-0.68,-116.8,330.2,-10.2,207,3004,0.00,2.25,0.00,0.000,6,0.000,0.031,3044,1897,3230,0,0,0,0,0,0
$GC,3312,-0.68,-116.8,355.2,-7.2,215,3316,0.00,2.28,0.00,0.000,4,0.000,0.043,3032,3485,3228,0,0,0,0,0,0
$GC,3334,-0.68,-116.8,356.5,-6.2,215,3339,0.12,2.22,0.00,0.000,6,0.119,0.027,3077,1897,3228,0,0,0,0,0,0
$GC,3675,-0.68,-116.8,374.3,-5.3,224,3679,0.00,2.28,0.00,0.000,4,0.000,0.041,3077,320,3226,0,0,0,0,0,0
$GC,3765,-0.68,-116.8,379.7,-5.8,226,3769,0.00,2.20,0.00,0.000,6,0.000,0.029,3068,1905,3225,0,0,0,0,0,0
$GC,4082,-0.68,-116.8,394.8,-4.6,234,4086,0.00,2.28,0.00,0.000,4,0.000,0.040,3068,319,3222,0,0,0,0,0,0
$GC,4121,-0.68,-116.8,397.1,-6.0,235,4125,0.00,2.20,0.00,0.000,6,0.000,0.030,3057,1898,3222,0,0,0,0,0,0
$GC,4444,-0.68,-116.8,416.7,-6.6,243,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1898,3219,0,0,0,0,0,0
$GC,4769,-0.68,-116.8,438.7,-6.6,251,4773,0.00,2.28,0.00,0.000,4,0.000,0.041,3057,318,3217,0,0,0,0,0,0
$GC,4812,-0.68,-116.8,442.1,-8.0,252,4816,0.00,2.25,0.00,0.000,6,0.000,0.030,3046,1897,3217,0,0,0,0,0,0
$STATE,5053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5053,begin apogee
$GC,5059,-0.23,0.0,460.4,7.5,258,5150,0.47,0.00,87.90,0.889,6,0.096,0.000,3216,2008,2749,0,0,0,0,0,0
$STATE,5191,end apogee,CONTROL_FINISHED_OK
$STATE,5191,begin climb
$GC,5193,0.68,116.8,463.4,0.0,260,5300,0.73,2.45,96.03,0.874,4,0.041,0.041,3535,3559,2272,0,0,0,0,0,0
$GC,5551,0.68,116.8,441.9,11.2,268,5557,0.10,2.28,0.00,0.000,6,0.144,0.028,3514,1997,2260,0,0,0,0,0,0
$GC,5870,0.68,116.8,410.0,9.8,276,5874,0.00,2.30,0.00,0.000,4,0.000,0.041,3515,3563,2257,0,0,0,0,0,0
$GC,6128,0.68,116.8,381.3,10.3,281,6134,0.00,2.22,0.00,0.000,6,0.000,0.028,3525,1987,2255,0,0,0,0,0,0
$GC,6459,0.72,148.4,356.8,6.6,290,6488,0.00,2.38,23.88,0.814,4,0.000,0.041,3525,3558,2144,0,0,0,0,0,0
$GC,6515,0.72,148.4,352.6,8.2,291,6520,0.00,2.28,0.00,0.000,6,0.000,0.029,3537,2001,2141,0,0,0,0,0,0
$GC,6829,0.72,148.4,324.1,9.8,299,6833,0.00,2.28,0.00,0.000,4,0.000,0.040,3549,426,2136,0,0,0,0,0,0
$GC,6985,0.72,148.4,304.8,12.6,302,6989,0.00,2.25,0.00,0.000,6,0.000,0.031,3549,1997,2134,0,0,0,0,0,0
$GC,7305,0.72,148.4,267.1,11.8,317,7309,0.00,2.30,0.00,0.000,4,0.000,0.040,3561,422,2132,0,0,0,0,0,0
$GC,7321,0.72,148.4,265.3,11.0,318,7326,0.12,2.25,0.00,0.000,6,0.166,0.032,3527,2006,2133,0,0,0,0,0,0
$GC,7646,0.78,197.9,244.8,5.7,334,7688,0.00,0.00,39.03,0.751,6,0.000,0.000,3527,2007,1943,0,0,0,0,0,0
$GC,7998,0.78,197.9,211.5,10.4,351,8002,0.00,2.30,0.00,0.000,4,0.000,0.040,3537,428,1933,0,0,0,0,0,0
$GC,8150,0.78,197.9,194.0,11.3,360,8154,0.00,2.25,0.00,0.000,6,0.000,0.030,3537,2006,1931,0,0,0,0,0,0
$GC,8411,0.78,197.9,165.5,10.5,384,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2006,1930,0,0,0,0,0,0
$GC,8665,0.78,197.9,140.9,10.8,408,8669,0.00,2.28,0.00,0.000,4,0.000,0.040,3549,426,1930,0,0,0,0,0,0
$GC,8921,0.78,197.9,116.4,9.6,430,8927,0.00,2.25,0.00,0.000,6,0.000,0.030,3549,1998,1929,0,0,0,0,0,0
$GC,9184,0.78,197.9,93.2,9.3,455,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1998,1929,0,0,0,0,0,0
$GC,9437,0.88,281.0,78.7,4.2,479,9508,0.00,2.38,63.47,0.591,4,0.000,0.041,3560,433,1603,0,0,0,0,0,0
$GC,9546,0.88,281.0,71.5,8.3,489,9552,0.00,2.30,0.00,0.000,6,0.000,0.030,3560,2002,1600,0,0,0,0,0,0
$GC,9807,0.88,281.0,46.6,10.5,514,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2003,1597,0,0,0,0,0,0
$GC,10069,0.88,281.0,17.1,12.3,547,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2003,1597,0,0,0,0,0,0
$STATE,10190,end climb,SURFACE_DEPTH_REACHED
$STATE,10190,begin surface coast
$FINISH,0.2,1.021327
$STATE,10215,end surface coast,CONTROL_FINISHED_OK
$STATE,10215,begin surface
$SM_CCo,10294,54.38,0.073,0,0,1161,390.02
$SM_GC,1.24,0.00,0.00,54.38,0.000,0.000,0.073,135,1881,1161,-9.86,-0.54,390.02
$IRIDIUM_FIX,2057.14,-15826.07,280312,050508
$TT8_MAMPS,0.032214
$HUMID,1078754184
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,15.517
$10V_AH,10.4,13.286
$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,21.350,86.650,310.300,54.375,0.000,57.806,67.695,403.177,0.000,0.000,10.241,1067.620,7339.340,440.401,2216.918,184.161,33.385,1162.678,0.000,1286.767,0.000,0.541,0.000
$DEVICE_MAMPS,230.100,102.778,888.953,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,386.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334624
$DATA_FILE_SIZE,20144,573
$CAP_FILE_SIZE,109361,0
$CFSIZE,260165632,227442688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,140524,2103.039,-15754.277,37,1.0,38,9.8