version: 66.07
glider: 500
mission: 7
dive: 149
start: 10 4 110 0 17 15
data:
$ID,500
$MISSION,7
$DIVE,149
$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,-118197.07
$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,0
$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
$GPS1,031010,235307,2103.732,-15754.003,96,1.4,97,9.8
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.9
$GPS2,041010,001622,2103.688,-15754.303,13,2.6,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.056
$KALMAN_X,-191157.5,384.8,-355.8,187350.8,-2410.1
$KALMAN_Y,-8330.7,0.4,-115.3,-11513.2,-633.9
$MHEAD_RNG_PITCHd_Wd,65.3,9813,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.68,-116.8,0.0,0.0,0,85,0.00,0.00,-65.60,0.000,2,0.000,0.000,124,1881,2966,0,0,0,0,0,0
$GC,89,-0.68,-116.8,3.8,-7.5,13,111,11.30,2.38,-4.50,0.000,4,0.232,0.046,3052,3514,3229,0,0,0,0,0,0
$GC,134,-0.68,-116.8,22.4,-36.8,21,140,0.00,2.35,0.00,0.000,6,0.000,0.028,3052,1868,3231,0,0,0,0,0,0
$GC,333,-0.68,-116.8,60.1,-18.5,43,337,0.00,2.40,0.00,0.000,4,0.000,0.041,3040,3511,3230,0,0,0,0,0,0
$GC,353,-0.68,-116.8,63.7,-17.0,44,360,0.08,2.30,0.00,0.000,6,0.107,0.026,3071,1903,3230,0,0,0,0,0,0
$GC,614,-0.68,-116.8,96.0,-10.2,69,618,0.00,2.28,0.00,0.000,4,0.000,0.040,3071,324,3232,0,0,0,0,0,0
$GC,711,-0.68,-116.8,107.9,-10.5,77,715,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,1930,3233,0,0,0,0,0,0
$GC,972,-0.68,-116.8,134.2,-9.5,101,976,0.00,2.30,0.00,0.000,4,0.000,0.039,3068,323,3233,0,0,0,0,0,0
$GC,1028,-0.68,-116.8,139.3,-8.7,106,1032,0.00,2.20,0.00,0.000,6,0.000,0.030,3056,1906,3233,0,0,0,0,0,0
$GC,1288,-0.68,-116.8,159.0,-8.4,130,1292,0.00,2.28,0.00,0.000,4,0.000,0.039,3057,323,3233,0,0,0,0,0,0
$GC,1349,-0.68,-116.8,164.7,-9.0,135,1353,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1911,3233,0,0,0,0,0,0
$GC,1609,-0.68,-116.8,187.8,-9.5,159,1613,0.00,2.28,0.00,0.000,4,0.000,0.039,3046,313,3233,0,0,0,0,0,0
$GC,1686,-0.68,-116.8,196.0,-10.2,165,1693,0.12,2.20,0.00,0.000,6,0.133,0.030,3077,1901,3233,0,0,0,0,0,0
$GC,1951,-0.68,-116.8,217.3,-8.4,181,1955,0.00,2.25,0.00,0.000,4,0.000,0.039,3077,321,3233,0,0,0,0,0,0
$GC,1995,-0.68,-116.8,221.6,-9.6,183,1999,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1909,3233,0,0,0,0,0,0
$GC,2321,-0.68,-116.8,252.0,-9.3,199,2326,0.00,2.25,0.00,0.000,4,0.000,0.039,3069,322,3233,0,0,0,0,0,0
$GC,2393,-0.68,-116.8,258.9,-9.3,202,2398,0.00,2.20,0.00,0.000,6,0.000,0.030,3063,1910,3233,0,0,0,0,0,0
$GC,2715,-0.68,-116.8,280.9,-6.0,218,2719,0.00,2.28,0.00,0.000,4,0.000,0.039,3063,313,3232,0,0,0,0,0,0
$GC,2769,-0.68,-116.8,284.8,-6.8,220,2776,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1900,3232,0,0,0,0,0,0
$GC,3104,-0.68,-116.8,312.3,-9.1,234,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1900,3231,0,0,0,0,0,0
$GC,3428,-0.68,-116.8,341.7,-8.6,242,3432,0.00,2.30,0.00,0.000,4,0.000,0.041,3056,323,3229,0,0,0,0,0,0
$GC,3489,-0.68,-116.8,346.9,-8.3,243,3493,0.00,2.25,0.00,0.000,6,0.000,0.030,3044,1909,3229,0,0,0,0,0,0
$GC,3839,-0.68,-116.8,371.3,-6.7,252,3843,0.00,2.25,0.00,0.000,4,0.000,0.042,3032,3483,3226,0,0,0,0,0,0
$GC,3865,-0.68,-116.8,373.2,-6.7,252,3870,0.08,2.25,0.00,0.000,6,0.097,0.027,3085,1902,3226,0,0,0,0,0,0
$GC,4204,-0.68,-116.8,386.6,-3.9,261,4208,0.00,2.28,0.00,0.000,4,0.000,0.040,3085,321,3224,0,0,0,0,0,0
$GC,4281,-0.68,-116.8,390.6,-5.3,262,4287,0.00,2.25,0.00,0.000,6,0.000,0.028,3075,1899,3223,0,0,0,0,0,0
$GC,4613,-0.68,-116.8,408.1,-5.6,271,4617,0.00,2.28,0.00,0.000,4,0.000,0.039,3075,321,3220,0,0,0,0,0,0
$GC,4651,-0.68,-116.8,410.8,-7.0,271,4657,0.00,2.25,0.00,0.000,6,0.000,0.029,3064,1904,3219,0,0,0,0,0,0
$GC,4982,-0.68,-116.8,434.8,-7.7,280,4986,0.00,2.28,0.00,0.000,4,0.000,0.040,3063,321,3217,0,0,0,0,0,0
$GC,5042,-0.68,-116.8,440.2,-8.7,281,5047,0.00,2.25,0.00,0.000,6,0.000,0.030,3052,1905,3217,0,0,0,0,0,0
$STATE,5307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5307,begin apogee
$GC,5312,-0.23,0.0,463.0,8.5,288,5403,0.45,0.00,87.90,0.892,6,0.094,0.000,3214,2016,2750,0,0,0,0,0,0
$STATE,5404,end apogee,CONTROL_FINISHED_OK
$STATE,5404,begin climb
$GC,5406,0.68,116.8,466.8,0.0,290,5512,0.75,2.45,96.35,0.871,4,0.041,0.041,3538,3570,2272,0,0,0,0,0,0
$GC,5764,0.68,116.8,441.0,12.8,298,5769,0.10,2.30,0.00,0.000,6,0.143,0.028,3517,1992,2259,0,0,0,0,0,0
$GC,6084,0.68,116.8,410.6,8.8,306,6088,0.00,2.28,0.00,0.000,4,0.000,0.039,3528,419,2255,0,0,0,0,0,0
$GC,6178,0.68,116.8,402.5,9.0,308,6182,0.00,2.25,0.00,0.000,6,0.000,0.031,3528,1980,2254,0,0,0,0,0,0
$GC,6496,0.68,116.8,377.4,8.1,316,6500,0.00,2.25,0.00,0.000,4,0.000,0.040,3539,425,2253,0,0,0,0,0,0
$GC,6535,0.68,116.8,374.0,8.8,317,6539,0.00,2.28,0.00,0.000,6,0.000,0.032,3539,2005,2252,0,0,0,0,0,0
$GC,6859,0.71,140.0,348.9,7.0,325,6877,0.00,0.00,16.33,0.793,6,0.000,0.000,3539,2005,2179,0,0,0,0,0,0
$GC,7183,0.71,140.0,322.0,8.5,333,7187,0.00,2.33,0.00,0.000,4,0.000,0.042,3539,3590,2174,0,0,0,0,0,0
$GC,7363,0.71,140.0,303.7,9.3,337,7368,0.12,2.25,0.00,0.000,6,0.176,0.028,3518,1996,2172,0,0,0,0,0,0
$GC,7684,0.75,176.2,282.0,6.3,351,7719,0.00,2.35,29.80,0.777,4,0.000,0.041,3518,3583,2030,0,0,0,0,0,0
$GC,7900,0.75,176.2,261.2,10.4,360,7904,0.00,2.30,0.00,0.000,6,0.000,0.028,3529,1995,2024,0,0,0,0,0,0
$GC,8226,0.75,176.2,230.3,9.6,376,8230,0.00,2.30,0.00,0.000,4,0.000,0.040,3541,419,2022,0,0,0,0,0,0
$GC,8423,0.75,176.2,209.3,10.0,385,8427,0.00,2.25,0.00,0.000,6,0.000,0.031,3541,2015,2021,0,0,0,0,0,0
$GC,8744,0.78,194.2,178.9,7.2,411,8766,0.00,2.33,14.57,0.672,4,0.000,0.040,3552,427,1958,0,0,0,0,0,0
$GC,8805,0.78,194.2,173.7,10.2,416,8811,0.00,2.28,0.00,0.000,6,0.000,0.031,3552,2012,1956,0,0,0,0,0,0
$GC,9066,0.78,194.2,144.8,11.5,441,9070,0.00,2.30,0.00,0.000,4,0.000,0.039,3564,419,1954,0,0,0,0,0,0
$GC,9206,0.78,194.2,129.7,9.7,453,9210,0.00,2.25,0.00,0.000,6,0.000,0.031,3564,2009,1954,0,0,0,0,0,0
$GC,9466,0.79,202.6,110.0,7.6,477,9480,0.00,2.33,8.07,0.558,4,0.000,0.041,3564,3577,1922,0,0,0,0,0,0
$GC,9690,0.83,239.0,94.4,6.3,497,9725,0.00,2.22,30.27,0.603,6,0.000,0.028,3575,1992,1775,0,0,0,0,0,0
$GC,9980,0.83,239.0,66.1,10.8,524,9984,0.00,2.28,0.00,0.000,4,0.000,0.039,3587,423,1768,0,0,0,0,0,0
$GC,10057,0.83,239.0,58.1,10.2,530,10063,0.00,2.25,0.00,0.000,6,0.000,0.029,3587,2005,1767,0,0,0,0,0,0
$GC,10318,0.83,239.0,32.4,10.5,555,10322,0.00,2.28,0.00,0.000,4,0.000,0.041,3587,3579,1767,0,0,0,0,0,0
$GC,10408,0.83,239.0,21.9,12.6,568,10415,0.15,2.22,0.00,0.000,6,0.163,0.028,3557,1994,1766,0,0,0,0,0,0
$STATE,10592,end climb,SURFACE_DEPTH_REACHED
$STATE,10592,begin surface coast
$FINISH,0.3,1.023096
$STATE,10622,end surface coast,CONTROL_FINISHED_OK
$STATE,10622,begin surface
$SM_CCo,10640,76.80,0.454,1,0,1159,390.02
$SM_GC,1.23,0.00,0.00,76.80,0.000,0.000,0.454,136,1879,1159,-9.85,-0.59,390.02
$IRIDIUM_FIX,2054.83,-15756.91,280312,181828
$TT8_MAMPS,0.027612
$HUMID,1078765797
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,15.942
$10V_AH,10.4,13.512
$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,21.750,114.000,283.300,76.800,0.000,106.819,135.975,647.330,0.000,0.000,34.847,1240.035,7718.701,467.905,2403.802,238.179,33.376,1238.243,0.000,1378.624,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,103.545,892.021,454.064,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,409.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334572
$DATA_FILE_SIZE,20089,606
$CAP_FILE_SIZE,163536,0
$CFSIZE,260165632,227196928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,031707,2103.894,-15754.167,33,1.0,34,9.8