version: 66.07
glider: 500
mission: 7
dive: 146
start: 10 3 110 14 16 39
data:
$ID,500
$MISSION,7
$DIVE,146
$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,-118081.97
$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
$PASSWD,500680
$TEL_NUM,18089569178
$ALT_TEL_NUM,18089562271
$GPS1,031010,140524,2103.039,-15754.277,37,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-79.1
$GPS2,031010,141544,2103.017,-15754.288,11,1.2,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,0.113
$KALMAN_X,-183983.4,-407.9,-216.1,180849.8,-1781.1
$KALMAN_Y,-5977.1,77.8,-97.0,-15204.5,-724.3
$MHEAD_RNG_PITCHd_Wd,48.9,10835,-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,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,188,0.00,0.00,-60.45,0.000,2,0.000,0.000,128,1881,2820,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.4,-6.9,12,218,11.25,2.42,-7.57,0.000,4,0.233,0.052,3048,3506,3230,0,0,0,0,0,0
$GC,246,-0.68,-116.8,20.4,-24.7,22,252,0.00,2.35,0.00,0.000,6,0.000,0.028,3048,1861,3232,0,0,0,0,0,0
$GC,448,-0.68,-116.8,56.6,-18.9,46,452,0.00,2.22,0.00,0.000,4,0.000,0.039,3048,320,3231,0,0,0,0,0,0
$GC,479,-0.68,-116.8,63.7,-21.2,48,486,0.08,2.30,0.00,0.000,6,0.122,0.031,3067,1922,3232,0,0,0,0,0,0
$GC,742,-0.68,-116.8,106.2,-15.5,73,743,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1923,3233,0,0,0,0,0,0
$GC,995,-0.68,-116.8,136.1,-9.8,97,999,0.00,2.30,0.00,0.000,4,0.000,0.040,3067,318,3234,0,0,0,0,0,0
$GC,1072,-0.68,-116.8,145.1,-11.3,103,1079,0.00,2.25,0.00,0.000,6,0.000,0.030,3058,1906,3234,0,0,0,0,0,0
$GC,1335,-0.68,-116.8,170.9,-9.4,128,1339,0.00,2.28,0.00,0.000,4,0.000,0.040,3058,313,3235,0,0,0,0,0,0
$GC,1429,-0.68,-116.8,180.2,-9.8,136,1433,0.00,2.20,0.00,0.000,6,0.000,0.031,3048,1899,3236,0,0,0,0,0,0
$GC,1689,-0.68,-116.8,204.6,-9.9,158,1693,0.00,2.25,0.00,0.000,4,0.000,0.040,3048,322,3235,0,0,0,0,0,0
$GC,1772,-0.68,-116.8,213.8,-11.0,162,1777,0.10,2.20,0.00,0.000,6,0.146,0.030,3071,1906,3235,0,0,0,0,0,0
$GC,2105,-0.68,-116.8,239.6,-7.1,178,2109,0.00,2.25,0.00,0.000,4,0.000,0.040,3072,322,3235,0,0,0,0,0,0
$GC,2155,-0.68,-116.8,243.3,-7.4,180,2159,0.00,2.20,0.00,0.000,6,0.000,0.031,3069,1901,3235,0,0,0,0,0,0
$GC,2475,-0.68,-116.8,264.9,-7.1,196,2479,0.00,2.28,0.00,0.000,4,0.000,0.041,3069,315,3234,0,0,0,0,0,0
$GC,2530,-0.68,-116.8,269.1,-7.5,198,2534,0.00,2.22,0.00,0.000,6,0.000,0.031,3060,1911,3234,0,0,0,0,0,0
$GC,2845,-0.68,-116.8,292.8,-7.6,213,2849,0.00,2.30,0.00,0.000,4,0.000,0.041,3060,318,3234,0,0,0,0,0,0
$GC,2922,-0.68,-116.8,299.4,-9.0,216,2928,0.00,2.22,0.00,0.000,6,0.000,0.031,3056,1899,3233,0,0,0,0,0,0
$GC,3232,-0.68,-116.8,326.3,-9.0,225,3237,0.00,2.30,0.00,0.000,4,0.000,0.040,3056,321,3232,0,0,0,0,0,0
$GC,3273,-0.68,-116.8,330.1,-9.8,226,3277,0.00,2.20,0.00,0.000,6,0.000,0.030,3044,1903,3232,0,0,0,0,0,0
$GC,3597,-0.68,-116.8,355.6,-7.1,234,3601,0.00,2.30,0.00,0.000,4,0.000,0.041,3045,313,3231,0,0,0,0,0,0
$GC,3623,-0.68,-116.8,357.7,-7.5,234,3628,0.12,2.25,0.00,0.000,6,0.131,0.031,3076,1910,3230,0,0,0,0,0,0
$GC,3959,-0.68,-116.8,375.5,-5.2,243,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1910,3227,0,0,0,0,0,0
$GC,4285,-0.68,-116.8,390.9,-4.8,251,4289,0.00,2.28,0.00,0.000,4,0.000,0.041,3076,323,3225,0,0,0,0,0,0
$GC,4368,-0.68,-116.8,396.5,-6.9,253,4372,0.00,2.22,0.00,0.000,6,0.000,0.030,3068,1902,3224,0,0,0,0,0,0
$GC,4692,-0.68,-116.8,418.4,-6.8,261,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1902,3222,0,0,0,0,0,0
$GC,5017,-0.68,-116.8,440.9,-7.1,269,5021,0.00,2.28,0.00,0.000,4,0.000,0.041,3068,320,3219,0,0,0,0,0,0
$GC,5089,-0.68,-116.8,446.7,-7.8,270,5093,0.00,2.25,0.00,0.000,6,0.000,0.030,3056,1899,3218,0,0,0,0,0,0
$STATE,5302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5302,begin apogee
$GC,5307,-0.23,0.0,462.0,7.2,276,5398,0.45,0.00,88.28,0.894,6,0.094,0.000,3220,2036,2750,0,0,0,0,0,0
$STATE,5440,end apogee,CONTROL_FINISHED_OK
$STATE,5440,begin climb
$GC,5442,0.68,116.8,464.8,0.0,278,5548,0.73,2.40,96.20,0.877,4,0.043,0.040,3535,3557,2271,0,0,0,0,0,0
$GC,5666,0.68,116.8,457.4,12.6,283,5671,0.12,2.28,0.00,0.000,6,0.166,0.028,3514,1994,2262,0,0,0,0,0,0
$GC,5978,0.68,116.8,426.3,9.5,291,5982,0.00,2.30,0.00,0.000,4,0.000,0.040,3524,428,2257,0,0,0,0,0,0
$GC,6135,0.68,116.8,412.0,8.6,294,6139,0.00,2.22,0.00,0.000,6,0.000,0.031,3525,1985,2256,0,0,0,0,0,0
$GC,6471,0.72,148.2,388.7,6.6,303,6500,0.00,2.40,23.73,0.828,4,0.000,0.041,3525,3575,2144,0,0,0,0,0,0
$GC,6544,0.72,148.2,382.8,9.4,304,6549,0.00,2.30,0.00,0.000,6,0.000,0.029,3536,2006,2141,0,0,0,0,0,0
$GC,6881,0.72,148.2,352.5,9.5,313,6885,0.00,2.30,0.00,0.000,4,0.000,0.041,3548,421,2138,0,0,0,0,0,0
$GC,6953,0.72,148.2,344.7,10.9,314,6957,0.00,2.30,0.00,0.000,6,0.000,0.032,3548,1998,2137,0,0,0,0,0,0
$GC,7290,0.72,148.2,308.8,11.3,323,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1998,2136,0,0,0,0,0,0
$GC,7598,0.72,148.2,272.7,12.7,336,7602,0.00,2.30,0.00,0.000,4,0.000,0.041,3560,423,2135,0,0,0,0,0,0
$GC,7855,0.72,148.2,246.7,8.2,347,7862,0.12,2.28,0.00,0.000,6,0.163,0.031,3526,2017,2135,0,0,0,0,0,0
$GC,8170,0.78,194.8,230.0,5.9,363,8215,0.00,2.42,37.33,0.739,4,0.000,0.040,3536,426,1954,0,0,0,0,0,0
$GC,8394,0.78,194.8,205.4,13.7,373,8399,0.00,2.30,0.00,0.000,6,0.000,0.030,3536,2009,1947,0,0,0,0,0,0
$GC,8719,0.78,194.8,167.5,10.9,401,8724,0.00,2.33,0.00,0.000,4,0.000,0.040,3548,420,1946,0,0,0,0,0,0
$GC,8785,0.78,194.8,160.0,11.9,406,8791,0.00,2.28,0.00,0.000,6,0.000,0.031,3548,2009,1945,0,0,0,0,0,0
$GC,9046,0.78,194.8,131.9,9.8,431,9050,0.00,2.30,0.00,0.000,4,0.000,0.040,3559,423,1945,0,0,0,0,0,0
$GC,9129,0.78,194.8,123.7,9.8,438,9134,0.00,2.25,0.00,0.000,6,0.000,0.031,3559,2005,1945,0,0,0,0,0,0
$GC,9390,0.84,242.6,101.0,5.8,463,9435,0.00,2.40,37.50,0.618,4,0.000,0.040,3571,412,1758,0,0,0,0,0,0
$GC,9654,0.84,242.6,81.8,9.4,487,9658,0.00,2.28,0.00,0.000,6,0.000,0.029,3571,2000,1752,0,0,0,0,0,0
$GC,9917,0.84,242.6,60.7,8.1,511,9921,0.00,2.30,0.00,0.000,4,0.000,0.041,3571,3581,1751,0,0,0,0,0,0
$GC,9967,0.84,242.6,55.9,9.3,515,9971,0.00,2.22,0.00,0.000,6,0.000,0.028,3582,1998,1750,0,0,0,0,0,0
$GC,10228,0.84,242.6,30.8,8.5,539,10232,0.00,2.30,0.00,0.000,4,0.000,0.040,3582,3585,1750,0,0,0,0,0,0
$GC,10273,0.84,242.6,25.6,11.7,545,10280,0.12,2.25,0.00,0.000,6,0.162,0.028,3559,1997,1750,0,0,0,0,0,0
$GC,10482,0.84,242.6,3.1,10.8,582,10487,0.00,2.25,0.00,0.000,4,0.000,0.037,3570,429,1750,0,0,0,0,0,0
$STATE,10491,end climb,SURFACE_DEPTH_REACHED
$STATE,10491,begin surface coast
$FINISH,0.3,1.023417
$STATE,10520,end surface coast,CONTROL_FINISHED_OK
$STATE,10520,begin surface
$SM_CCo,10602,73.50,0.073,0,0,1160,390.27
$SM_GC,1.20,0.00,0.00,73.50,0.000,0.000,0.073,141,1913,1160,-9.84,0.37,390.27
$IRIDIUM_FIX,2054.83,-15751.76,280312,050538
$TT8_MAMPS,0.031447
$HUMID,1078738700
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_reportdisk
,(null)$24V_AH,24.4,15.606
$10V_AH,10.3,13.340
$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,21.550,109.525,283.025,73.500,0.000,26.015,38.285,305.945,0.000,0.000,13.104,1116.231,7526.364,449.804,2085.622,173.604,33.376,1188.797,0.000,1309.029,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,88.972,894.322,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,397.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334608
$DATA_FILE_SIZE,20116,589
$CAP_FILE_SIZE,111443,0
$CFSIZE,260165632,227393536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,171722,2103.414,-15753.811,10,2.2,29,9.8