version: 66.07
glider: 500
mission: 7
dive: 147
start: 10 3 110 17 29 53
data:
$ID,500
$MISSION,7
$DIVE,147
$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,-118123.48
$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
$GPS1,031010,171722,2103.414,-15753.811,10,2.2,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.4
$GPS2,031010,172900,2103.388,-15753.827,34,1.2,38,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,0.123
$KALMAN_X,-186043.2,-100.1,188.0,182985.4,-1810.7
$KALMAN_Y,-6812.1,60.4,141.6,-13903.9,-954.0
$MHEAD_RNG_PITCHd_Wd,46.0,9839,-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,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,189,0.00,0.00,-60.95,0.000,2,0.000,0.000,128,1912,2813,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.0,-5.0,12,218,11.25,2.38,-7.82,0.000,4,0.233,0.051,3048,3512,3230,0,0,0,0,0,0
$GC,275,-0.68,-116.8,25.6,-18.5,27,281,0.00,2.35,0.00,0.000,6,0.000,0.028,3048,1861,3232,0,0,0,0,0,0
$GC,473,-0.68,-116.8,63.9,-19.6,48,477,0.00,2.20,0.00,0.000,4,0.000,0.040,3048,323,3231,0,0,0,0,0,0
$GC,504,-0.68,-116.8,70.3,-20.3,50,511,0.08,2.30,0.00,0.000,6,0.123,0.031,3067,1924,3232,0,0,0,0,0,0
$GC,767,-0.68,-116.8,107.8,-11.5,75,771,0.00,2.30,0.00,0.000,4,0.000,0.040,3067,319,3233,0,0,0,0,0,0
$GC,852,-0.68,-116.8,116.1,-10.0,82,856,0.00,2.25,0.00,0.000,6,0.000,0.030,3057,1913,3233,0,0,0,0,0,0
$GC,1113,-0.68,-116.8,144.3,-10.9,106,1117,0.00,2.28,0.00,0.000,4,0.000,0.040,3057,321,3234,0,0,0,0,0,0
$GC,1156,-0.68,-116.8,149.7,-11.7,109,1163,0.00,2.25,0.00,0.000,6,0.000,0.030,3046,1906,3234,0,0,0,0,0,0
$GC,1418,-0.68,-116.8,180.4,-10.8,134,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1906,3235,0,0,0,0,0,0
$GC,1682,-0.68,-116.8,204.2,-8.7,157,1687,0.00,2.28,0.00,0.000,4,0.000,0.040,3046,310,3235,0,0,0,0,0,0
$GC,1771,-0.68,-116.8,212.8,-9.5,161,1776,0.08,2.25,0.00,0.000,6,0.109,0.031,3070,1895,3235,0,0,0,0,0,0
$GC,2098,-0.68,-116.8,238.4,-8.1,177,2102,0.00,2.28,0.00,0.000,4,0.000,0.040,3070,313,3234,0,0,0,0,0,0
$GC,2141,-0.68,-116.8,242.5,-9.4,179,2145,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1902,3234,0,0,0,0,0,0
$GC,2469,-0.68,-116.8,268.7,-7.0,195,2473,0.00,2.30,0.00,0.000,4,0.000,0.041,3057,3483,3233,0,0,0,0,0,0
$GC,2490,-0.68,-116.8,270.3,-7.2,196,2494,0.00,2.25,0.00,0.000,6,0.000,0.026,3057,1890,3234,0,0,0,0,0,0
$GC,2816,-0.68,-116.8,291.4,-5.9,212,2820,0.00,2.25,0.00,0.000,4,0.000,0.040,3057,323,3232,0,0,0,0,0,0
$GC,2883,-0.68,-116.8,295.7,-6.6,215,2888,0.00,2.20,0.00,0.000,6,0.000,0.030,3050,1907,3232,0,0,0,0,0,0
$GC,3200,-0.68,-116.8,313.5,-5.2,225,3204,0.00,2.28,0.00,0.000,4,0.000,0.040,3050,327,3230,0,0,0,0,0,0
$GC,3278,-0.68,-116.8,317.9,-5.9,226,3284,0.08,2.22,0.00,0.000,6,0.107,0.030,3083,1897,3230,0,0,0,0,0,0
$GC,3609,-0.68,-116.8,332.0,-4.9,235,3613,0.00,2.25,0.00,0.000,4,0.000,0.040,3083,321,3227,0,0,0,0,0,0
$GC,3670,-0.68,-116.8,336.5,-7.2,236,3674,0.00,2.22,0.00,0.000,6,0.000,0.029,3073,1897,3227,0,0,0,0,0,0
$GC,4019,-0.68,-116.8,362.8,-7.3,245,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1897,3224,0,0,0,0,0,0
$GC,4343,-0.68,-116.8,386.7,-7.2,253,4347,0.00,2.25,0.00,0.000,4,0.000,0.040,3073,327,3222,0,0,0,0,0,0
$GC,4408,-0.68,-116.8,391.6,-7.7,254,4413,0.00,2.22,0.00,0.000,6,0.000,0.031,3062,1895,3222,0,0,0,0,0,0
$GC,4752,-0.68,-116.8,416.5,-7.2,263,4756,0.00,2.30,0.00,0.000,4,0.000,0.040,3062,324,3218,0,0,0,0,0,0
$GC,4790,-0.68,-116.8,419.7,-8.5,264,4794,0.00,2.20,0.00,0.000,6,0.000,0.030,3051,1904,3218,0,0,0,0,0,0
$GC,5114,-0.68,-116.8,442.7,-6.8,272,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1905,3217,0,0,0,0,0,0
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5443,-0.23,0.0,461.1,5.3,280,5533,0.47,0.00,87.82,0.894,6,0.096,0.000,3222,2016,2750,0,0,0,0,0,0
$STATE,5575,end apogee,CONTROL_FINISHED_OK
$STATE,5575,begin climb
$GC,5577,0.68,116.8,461.7,0.0,282,5683,0.73,2.45,96.22,0.874,4,0.042,0.041,3538,3567,2272,0,0,0,0,0,0
$GC,5727,0.68,116.8,458.7,9.4,285,5732,0.12,2.35,0.00,0.000,6,0.144,0.028,3511,1994,2266,0,0,0,0,0,0
$GC,6070,0.68,116.8,427.7,8.3,294,6074,0.00,2.30,0.00,0.000,4,0.000,0.041,3522,418,2258,0,0,0,0,0,0
$GC,6327,0.71,137.0,409.3,7.1,299,6347,0.00,2.28,15.23,0.805,6,0.000,0.031,3522,1982,2190,0,0,0,0,0,0
$GC,6660,0.71,137.0,381.4,8.7,308,6664,0.00,2.28,0.00,0.000,4,0.000,0.041,3533,430,2184,0,0,0,0,0,0
$GC,6777,0.71,137.0,370.1,10.0,310,6781,0.00,2.28,0.00,0.000,6,0.000,0.031,3534,2009,2183,0,0,0,0,0,0
$GC,7118,0.71,137.0,338.8,8.4,319,7123,0.00,2.28,0.00,0.000,4,0.000,0.041,3533,3582,2181,0,0,0,0,0,0
$GC,7235,0.71,137.0,327.9,8.9,321,7239,0.00,2.28,0.00,0.000,6,0.000,0.029,3545,1990,2180,0,0,0,0,0,0
$GC,7572,0.71,137.0,300.4,8.4,330,7576,0.00,2.28,0.00,0.000,4,0.000,0.041,3557,425,2179,0,0,0,0,0,0
$GC,7829,0.71,137.0,273.5,9.3,340,7836,0.15,2.25,0.00,0.000,6,0.160,0.031,3515,2006,2178,0,0,0,0,0,0
$GC,8147,0.81,219.9,255.4,4.2,356,8219,0.10,2.42,65.90,0.765,4,0.101,0.041,3560,3581,1852,0,0,0,0,0,0
$GC,8281,0.81,219.9,243.2,11.8,362,8286,0.00,2.33,0.00,0.000,6,0.000,0.029,3570,2000,1846,0,0,0,0,0,0
$GC,8596,0.81,219.9,202.7,13.9,377,8600,0.00,2.30,0.00,0.000,4,0.000,0.040,3582,421,1841,0,0,0,0,0,0
$GC,8622,0.81,219.9,198.7,14.6,378,8627,0.08,2.30,0.00,0.000,6,0.147,0.031,3557,1995,1840,0,0,0,0,0,0
$GC,8952,0.81,219.9,158.7,12.3,409,8956,0.00,2.30,0.00,0.000,4,0.000,0.040,3567,424,1838,0,0,0,0,0,0
$GC,9073,0.81,219.9,142.5,13.6,419,9080,0.00,2.28,0.00,0.000,6,0.000,0.031,3567,2002,1837,0,0,0,0,0,0
$GC,9336,0.82,229.7,114.1,7.6,444,9345,0.00,0.00,6.60,0.542,6,0.000,0.000,3567,2002,1812,0,0,0,0,0,0
$GC,9601,0.85,254.8,97.3,6.9,469,9631,0.00,2.38,21.50,0.604,4,0.000,0.040,3578,426,1709,0,0,0,0,0,0
$GC,9722,0.85,254.8,85.9,9.8,480,9726,0.00,2.25,0.00,0.000,6,0.000,0.030,3578,1996,1705,0,0,0,0,0,0
$GC,9983,0.85,254.8,58.1,12.3,504,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1997,1705,0,0,0,0,0,0
$GC,10238,0.85,254.8,28.6,11.7,529,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1997,1705,0,0,0,0,0,0
$STATE,10442,end climb,SURFACE_DEPTH_REACHED
$STATE,10443,begin surface coast
$FINISH,0.2,1.022982
$STATE,10466,end surface coast,CONTROL_FINISHED_OK
$STATE,10466,begin surface
$SM_CCo,10545,68.93,0.449,1,0,1158,390.02
$SM_GC,1.28,0.00,0.00,68.93,0.000,0.000,0.449,140,1886,1158,-9.85,-0.40,390.02
$IRIDIUM_FIX,2054.83,-15756.91,280312,080830
$TT8_MAMPS,0.032214
$HUMID,1078765797
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,15.708
$10V_AH,10.4,13.393
$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,21.700,96.050,293.275,68.925,0.000,29.068,37.200,348.606,0.000,0.000,40.875,1073.729,7560.060,465.548,2095.630,175.752,33.382,1164.009,0.000,1247.984,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,103.545,893.555,448.695,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334620
$DATA_FILE_SIZE,20104,570
$CAP_FILE_SIZE,107637,0
$CFSIZE,260165632,227348480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031010,202937,2103.643,-15753.568,27,1.4,28,9.8