version: 66.07
glider: 500
mission: 7
dive: 152
start: 10 4 110 10 0 45
data:
$ID,500
$MISSION,7
$DIVE,152
$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,-118282.32
$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
$GPS1,041010,093757,2104.102,-15754.536,7,5.6,26,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.8
$GPS2,041010,095952,2104.176,-15754.743,12,3.8,31,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.013
$KALMAN_X,-198591.3,-581.3,136.3,194494.2,-2970.2
$KALMAN_Y,-9834.1,99.6,27.6,-9349.9,-664.0
$MHEAD_RNG_PITCHd_Wd,76.9,9589,-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,-60.78,0.000,2,0.000,0.000,124,1873,2840,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.6,-7.0,12,219,11.25,2.45,-7.10,0.000,4,0.233,0.055,3049,3503,3232,0,0,0,0,0,0
$GC,287,-0.68,-116.8,26.0,-13.0,29,292,0.00,2.30,0.00,0.000,6,0.000,0.028,3048,1870,3232,0,0,0,0,0,0
$GC,485,-0.68,-116.8,61.4,-18.0,50,486,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1869,3232,0,0,0,0,0,0
$GC,739,-0.68,-116.8,99.9,-13.7,74,743,0.00,2.25,0.00,0.000,4,0.000,0.041,3048,319,3232,0,0,0,0,0,0
$GC,790,-0.68,-116.8,106.5,-12.8,78,795,0.10,2.25,0.00,0.000,6,0.153,0.031,3070,1928,3233,0,0,0,0,0,0
$GC,1051,-0.68,-116.8,134.0,-11.0,102,1055,0.00,2.30,0.00,0.000,4,0.000,0.038,3070,316,3233,0,0,0,0,0,0
$GC,1150,-0.68,-116.8,146.2,-10.9,110,1156,0.00,2.22,0.00,0.000,6,0.000,0.030,3068,1905,3233,0,0,0,0,0,0
$GC,1412,-0.68,-116.8,171.1,-8.5,135,1416,0.00,2.25,0.00,0.000,4,0.000,0.041,3056,3473,3234,0,0,0,0,0,0
$GC,1432,-0.68,-116.8,172.9,-8.1,136,1438,0.00,2.22,0.00,0.000,6,0.000,0.025,3056,1896,3234,0,0,0,0,0,0
$GC,1695,-0.68,-116.8,195.9,-8.6,161,1699,0.00,2.22,0.00,0.000,4,0.000,0.039,3056,324,3234,0,0,0,0,0,0
$GC,1823,-0.68,-116.8,207.8,-8.4,169,1828,0.00,2.20,0.00,0.000,6,0.000,0.030,3046,1915,3234,0,0,0,0,0,0
$GC,2150,-0.68,-116.8,234.5,-8.2,185,2154,0.00,2.28,0.00,0.000,4,0.000,0.040,3046,327,3233,0,0,0,0,0,0
$GC,2226,-0.68,-116.8,242.3,-9.7,188,2233,0.00,2.22,0.00,0.000,6,0.000,0.030,3042,1903,3233,0,0,0,0,0,0
$GC,2543,-0.68,-116.8,272.7,-9.8,204,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1904,3232,0,0,0,0,0,0
$GC,2851,-0.68,-116.8,300.5,-8.4,219,2855,0.00,2.30,0.00,0.000,4,0.000,0.040,3042,316,3231,0,0,0,0,0,0
$GC,2912,-0.68,-116.8,305.7,-8.2,220,2917,0.10,2.25,0.00,0.000,6,0.100,0.030,3074,1902,3230,0,0,0,0,0,0
$GC,3260,-0.68,-116.8,328.4,-6.7,229,3264,0.00,2.28,0.00,0.000,4,0.000,0.042,3064,3480,3228,0,0,0,0,0,0
$GC,3292,-0.68,-116.8,330.6,-6.6,229,3298,0.00,2.22,0.00,0.000,6,0.000,0.026,3064,1907,3227,0,0,0,0,0,0
$GC,3623,-0.68,-116.8,353.8,-7.0,238,3627,0.00,2.28,0.00,0.000,4,0.000,0.040,3064,317,3226,0,0,0,0,0,0
$GC,3672,-0.68,-116.8,357.7,-7.6,239,3677,0.00,2.22,0.00,0.000,6,0.000,0.029,3055,1911,3225,0,0,0,0,0,0
$GC,3996,-0.68,-116.8,380.4,-7.0,247,4000,0.00,2.30,0.00,0.000,4,0.000,0.040,3055,321,3224,0,0,0,0,0,0
$GC,4050,-0.68,-116.8,384.7,-8.1,248,4055,0.00,2.25,0.00,0.000,6,0.000,0.029,3044,1899,3222,0,0,0,0,0,0
$GC,4364,-0.68,-116.8,406.5,-6.9,256,4368,0.00,2.28,0.00,0.000,4,0.000,0.040,3044,321,3220,0,0,0,0,0,0
$GC,4448,-0.68,-116.8,412.9,-7.9,258,4453,0.12,2.20,0.00,0.000,6,0.130,0.029,3075,1905,3219,0,0,0,0,0,0
$GC,4772,-0.68,-116.8,427.6,-4.0,266,4776,0.00,2.28,0.00,0.000,4,0.000,0.040,3075,316,3217,0,0,0,0,0,0
$GC,4804,-0.68,-116.8,429.2,-5.1,266,4810,0.00,2.25,0.00,0.000,6,0.000,0.029,3066,1899,3217,0,0,0,0,0,0
$GC,5135,-0.68,-116.8,446.0,-5.3,275,5139,0.00,2.28,0.00,0.000,4,0.000,0.039,3066,324,3214,0,0,0,0,0,0
$GC,5167,-0.68,-116.8,448.1,-6.5,275,5173,0.00,2.20,0.00,0.000,6,0.000,0.029,3055,1902,3214,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5379,-0.23,0.0,461.7,6.6,281,5469,0.45,0.00,87.43,0.894,6,0.094,0.000,3217,2009,2750,0,0,0,0,0,0
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5511,begin climb
$GC,5513,0.68,116.8,463.9,0.0,283,5619,0.73,2.50,95.97,0.877,4,0.038,0.040,3549,424,2275,0,0,0,0,0,0
$GC,5652,0.72,150.0,467.5,6.5,286,5687,0.00,2.35,27.62,0.838,6,0.000,0.031,3549,1989,2137,0,0,0,0,0,0
$GC,6008,0.72,150.0,427.0,12.3,295,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1989,2125,0,0,0,0,0,0
$GC,6330,0.72,150.0,388.5,11.5,303,6335,0.00,2.30,0.00,0.000,4,0.000,0.039,3561,422,2122,0,0,0,0,0,0
$GC,6447,0.72,150.0,373.9,12.6,305,6452,0.10,2.30,0.00,0.000,6,0.143,0.031,3528,2011,2121,0,0,0,0,0,0
$GC,6784,0.72,150.0,339.2,10.4,314,6788,0.00,2.33,0.00,0.000,4,0.000,0.040,3538,417,2118,0,0,0,0,0,0
$GC,6861,0.72,150.0,331.0,9.9,315,6867,0.00,2.30,0.00,0.000,6,0.000,0.031,3538,2007,2118,0,0,0,0,0,0
$GC,7192,0.72,150.0,301.2,8.6,324,7196,0.00,2.28,0.00,0.000,4,0.000,0.041,3539,3585,2115,0,0,0,0,0,0
$GC,7398,0.72,150.0,279.0,9.9,332,7402,0.00,2.28,0.00,0.000,6,0.000,0.028,3550,1999,2113,0,0,0,0,0,0
$GC,7719,0.72,150.0,248.8,9.0,348,7723,0.00,2.25,0.00,0.000,4,0.000,0.040,3562,426,2112,0,0,0,0,0,0
$GC,7786,0.74,161.9,243.1,7.5,351,7798,0.12,2.22,6.32,0.630,6,0.163,0.031,3528,2006,2088,0,0,0,0,0,0
$GC,8106,0.76,183.5,219.5,7.0,366,8131,0.00,2.33,19.38,0.715,4,0.000,0.041,3538,419,2001,0,0,0,0,0,0
$GC,8310,0.76,183.5,200.6,10.4,375,8315,0.00,2.30,0.00,0.000,6,0.000,0.030,3538,2000,1997,0,0,0,0,0,0
$GC,8636,0.76,183.5,167.2,9.9,405,8640,0.00,2.33,0.00,0.000,4,0.000,0.041,3550,421,1996,0,0,0,0,0,0
$GC,8709,0.76,183.5,159.8,9.4,411,8713,0.00,2.28,0.00,0.000,6,0.000,0.031,3550,2015,1996,0,0,0,0,0,0
$GC,8970,0.76,183.5,136.9,8.1,435,8974,0.00,2.33,0.00,0.000,4,0.000,0.041,3561,421,1996,0,0,0,0,0,0
$GC,9227,0.76,183.5,112.6,8.8,457,9234,0.00,2.25,0.00,0.000,6,0.000,0.031,3561,1994,1996,0,0,0,0,0,0
$GC,9490,0.85,258.3,98.5,4.6,482,9555,0.00,2.33,59.33,0.611,4,0.000,0.038,3572,421,1696,0,0,0,0,0,0
$GC,9594,0.85,258.3,90.0,11.0,491,9600,0.00,2.30,0.00,0.000,6,0.000,0.031,3572,2002,1691,0,0,0,0,0,0
$GC,9856,0.86,259.0,64.8,8.0,516,9860,0.00,2.33,0.00,0.000,4,0.000,0.041,3572,3592,1688,0,0,0,0,0,0
$GC,9966,0.86,259.0,53.4,10.9,525,9972,0.00,2.30,0.00,0.000,6,0.000,0.027,3584,1996,1686,0,0,0,0,0,0
$GC,10232,0.86,259.0,21.3,13.7,555,10237,0.00,2.28,0.00,0.000,4,0.000,0.039,3596,422,1686,0,0,0,0,0,0
$GC,10293,0.86,259.0,13.4,12.9,566,10300,0.10,2.22,0.00,0.000,6,0.166,0.030,3568,2015,1686,0,0,0,0,0,0
$STATE,10382,end climb,SURFACE_DEPTH_REACHED
$STATE,10382,begin surface coast
$FINISH,0.2,1.010705
$STATE,10408,end surface coast,CONTROL_FINISHED_OK
$STATE,10408,begin surface
$SM_CCo,10487,65.12,0.073,0,0,1160,390.02
$SM_GC,1.01,0.00,0.00,65.12,0.000,0.000,0.073,147,1902,1160,-9.82,0.06,390.02
$IRIDIUM_FIX,2057.14,-15753.90,290312,040444
$TT8_MAMPS,0.032214
$HUMID,1078751603
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.90
$XPDR_PINGS,126
$AR_reportdisk
,(null)$24V_AH,24.4,16.289
$10V_AH,10.4,13.680
$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,21.650,109.625,296.050,65.125,0.000,110.351,131.152,590.385,31.500,0.000,34.656,1102.219,7593.850,463.180,2546.884,214.739,33.377,1196.521,0.000,1292.569,0.000,0.542,0.000
$DEVICE_MAMPS,233.168,104.312,893.555,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20075,586
$CAP_FILE_SIZE,124169,0
$CFSIZE,260165632,227065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,125931,2104.080,-15755.201,36,2.0,37,9.8