version: 66.07
glider: 500
mission: 7
dive: 155
start: 10 4 110 19 37 51
data:
$ID,500
$MISSION,7
$DIVE,155
$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,-118369.34
$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
$GPS1,041010,192634,2104.970,-15755.070,10,3.3,30,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.8
$GPS2,041010,193658,2104.978,-15755.081,11,3.3,30,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,0.022
$KALMAN_X,-207231.2,105.1,422.1,201575.8,-2712.4
$KALMAN_Y,-10547.0,77.1,147.0,-7249.7,-429.3
$MHEAD_RNG_PITCHd_Wd,74.5,9000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-116.8,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,124,1882,2814,0,0,0,0,0,0
$GC,83,-0.68,-116.8,3.2,-5.6,12,110,11.30,2.42,-7.53,0.000,4,0.232,0.052,3052,3503,3230,0,0,0,0,0,0
$GC,137,-0.68,-116.8,20.8,-25.0,22,143,0.00,2.33,0.00,0.000,6,0.000,0.028,3052,1867,3232,0,0,0,0,0,0
$GC,342,-0.68,-116.8,57.4,-18.8,46,346,0.00,2.25,0.00,0.000,4,0.000,0.041,3052,320,3232,0,0,0,0,0,0
$GC,385,-0.68,-116.8,66.0,-19.7,49,392,0.00,2.28,0.00,0.000,6,0.000,0.030,3041,1940,3232,0,0,0,0,0,0
$GC,647,-0.68,-116.8,113.2,-15.9,74,651,0.00,2.35,0.00,0.000,4,0.000,0.039,3041,314,3233,0,0,0,0,0,0
$GC,691,-0.68,-116.8,121.1,-18.3,78,696,0.12,2.25,0.00,0.000,6,0.146,0.031,3069,1911,3233,0,0,0,0,0,0
$GC,956,-0.68,-116.8,149.5,-10.1,103,961,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,323,3235,0,0,0,0,0,0
$GC,1068,-0.68,-116.8,160.6,-9.4,112,1074,0.00,2.22,0.00,0.000,6,0.000,0.030,3063,1909,3235,0,0,0,0,0,0
$GC,1329,-0.68,-116.8,184.3,-9.2,137,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1909,3237,0,0,0,0,0,0
$GC,1593,-0.68,-116.8,204.8,-7.6,159,1597,0.00,2.30,0.00,0.000,4,0.000,0.039,3063,315,3237,0,0,0,0,0,0
$GC,1619,-0.68,-116.8,207.1,-8.7,160,1624,0.00,2.25,0.00,0.000,6,0.000,0.030,3054,1897,3237,0,0,0,0,0,0
$GC,1940,-0.68,-116.8,233.2,-8.8,176,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1897,3237,0,0,0,0,0,0
$GC,2251,-0.68,-116.8,263.4,-10.5,191,2255,0.00,2.25,0.00,0.000,4,0.000,0.039,3054,320,3237,0,0,0,0,0,0
$GC,2338,-0.68,-116.8,273.4,-11.4,195,2343,0.00,2.25,0.00,0.000,6,0.000,0.029,3043,1903,3237,0,0,0,0,0,0
$GC,2685,-0.68,-116.8,310.3,-10.7,210,2689,0.00,2.25,0.00,0.000,4,0.000,0.039,3043,323,3237,0,0,0,0,0,0
$GC,2756,-0.68,-116.8,318.5,-11.1,211,2761,0.10,2.25,0.00,0.000,6,0.099,0.029,3075,1909,3237,0,0,0,0,0,0
$GC,3094,-0.68,-116.8,346.0,-7.8,220,3098,0.00,2.30,0.00,0.000,4,0.000,0.040,3075,316,3236,0,0,0,0,0,0
$GC,3126,-0.68,-116.8,348.8,-8.3,220,3133,0.00,2.25,0.00,0.000,6,0.000,0.030,3069,1902,3235,0,0,0,0,0,0
$GC,3459,-0.68,-116.8,370.6,-6.1,229,3463,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,324,3234,0,0,0,0,0,0
$GC,3486,-0.68,-116.8,372.6,-7.3,229,3490,0.00,2.20,0.00,0.000,6,0.000,0.031,3058,1905,3233,0,0,0,0,0,0
$GC,3822,-0.68,-116.8,392.6,-6.3,238,3826,0.00,2.30,0.00,0.000,4,0.000,0.041,3058,320,3231,0,0,0,0,0,0
$GC,3850,-0.68,-116.8,394.7,-7.3,238,3854,0.00,2.22,0.00,0.000,6,0.000,0.031,3047,1908,3231,0,0,0,0,0,0
$GC,4180,-0.68,-116.8,418.0,-7.5,246,4184,0.00,2.30,0.00,0.000,4,0.000,0.041,3047,323,3228,0,0,0,0,0,0
$GC,4224,-0.68,-116.8,421.7,-8.5,247,4229,0.08,2.25,0.00,0.000,6,0.102,0.030,3070,1898,3229,0,0,0,0,0,0
$GC,4551,-0.68,-116.8,446.0,-7.8,255,4555,0.00,2.28,0.00,0.000,4,0.000,0.040,3071,313,3226,0,0,0,0,0,0
$GC,4622,-0.68,-116.8,452.6,-9.2,256,4627,0.00,2.28,0.00,0.000,6,0.000,0.030,3061,1906,3226,0,0,0,0,0,0
$STATE,4713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4713,begin apogee
$GC,4719,-0.23,0.0,460.7,8.8,259,4811,0.43,0.00,89.47,0.891,6,0.094,0.000,3215,2013,2750,0,0,0,0,0,0
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4814,0.68,116.8,465.3,0.0,261,4921,0.75,2.42,96.55,0.871,4,0.041,0.041,3541,3560,2272,0,0,0,0,0,0
$GC,4987,0.68,116.8,466.7,8.6,265,4993,0.12,2.33,0.00,0.000,6,0.144,0.028,3513,1999,2265,0,0,0,0,0,0
$GC,5313,0.68,116.8,440.0,8.4,273,5317,0.00,2.30,0.00,0.000,4,0.000,0.040,3524,419,2258,0,0,0,0,0,0
$GC,5531,0.68,116.8,416.6,9.8,278,5536,0.00,2.25,0.00,0.000,6,0.000,0.031,3524,1995,2256,0,0,0,0,0,0
$GC,5858,0.68,116.8,386.5,8.9,286,5862,0.00,2.33,0.00,0.000,4,0.000,0.042,3525,3594,2254,0,0,0,0,0,0
$GC,5945,0.68,116.8,378.6,8.1,288,5950,0.00,2.33,0.00,0.000,6,0.000,0.029,3536,1992,2252,0,0,0,0,0,0
$GC,6272,0.70,129.8,354.9,7.4,296,6286,0.00,2.38,8.18,0.730,4,0.000,0.041,3536,3583,2220,0,0,0,0,0,0
$GC,6319,0.70,129.8,351.1,8.3,297,6324,0.08,2.30,0.00,0.000,6,0.155,0.029,3522,1999,2219,0,0,0,0,0,0
$GC,6646,0.73,159.4,328.9,6.7,305,6676,0.00,2.35,25.52,0.805,4,0.000,0.040,3522,3585,2097,0,0,0,0,0,0
$GC,6734,0.73,159.4,320.9,10.0,307,6738,0.00,2.30,0.00,0.000,6,0.000,0.029,3533,1999,2093,0,0,0,0,0,0
$GC,7054,0.73,159.4,288.7,9.9,317,7058,0.00,2.30,0.00,0.000,4,0.000,0.040,3544,426,2089,0,0,0,0,0,0
$GC,7229,0.73,159.4,269.2,11.6,325,7233,0.00,2.25,0.00,0.000,6,0.000,0.031,3544,2004,2088,0,0,0,0,0,0
$GC,7554,0.73,159.4,236.8,10.0,341,7558,0.00,2.30,0.00,0.000,4,0.000,0.040,3557,428,2086,0,0,0,0,0,0
$GC,7620,0.73,159.4,230.1,9.9,344,7624,0.00,2.25,0.00,0.000,6,0.000,0.031,3556,2015,2086,0,0,0,0,0,0
$GC,7946,0.73,159.4,198.3,8.9,360,7950,0.00,2.28,0.00,0.000,4,0.000,0.042,3555,3589,2086,0,0,0,0,0,0
$GC,8124,0.73,159.4,181.3,8.6,375,8131,0.10,2.30,0.00,0.000,6,0.153,0.029,3535,1996,2086,0,0,0,0,0,0
$GC,8385,0.75,176.9,163.2,7.2,400,8407,0.00,2.33,13.30,0.653,4,0.000,0.040,3545,422,2028,0,0,0,0,0,0
$GC,8489,0.75,176.9,153.1,10.8,409,8496,0.00,2.28,0.00,0.000,6,0.000,0.029,3545,2000,2027,0,0,0,0,0,0
$GC,8751,0.75,176.9,126.9,9.2,434,8755,0.00,2.33,0.00,0.000,4,0.000,0.040,3557,418,2026,0,0,0,0,0,0
$GC,9008,0.84,244.8,113.9,4.9,456,9069,0.00,2.30,54.53,0.629,6,0.000,0.030,3557,2015,1751,0,0,0,0,0,0
$GC,9331,0.84,244.8,84.5,8.4,487,9335,0.00,2.30,0.00,0.000,4,0.000,0.039,3568,427,1743,0,0,0,0,0,0
$GC,9443,0.84,244.8,70.5,11.7,496,9449,0.00,2.22,0.00,0.000,6,0.000,0.029,3568,2009,1741,0,0,0,0,0,0
$GC,9703,0.84,244.8,45.6,9.3,521,9707,0.00,2.25,0.00,0.000,4,0.000,0.040,3568,3573,1741,0,0,0,0,0,0
$GC,9754,0.84,244.8,40.5,10.1,525,9758,0.00,2.22,0.00,0.000,6,0.000,0.028,3579,1996,1740,0,0,0,0,0,0
$GC,10022,0.84,244.8,14.2,10.2,563,10028,0.00,2.25,0.00,0.000,4,0.000,0.038,3591,418,1740,0,0,0,0,0,0
$GC,10079,0.84,244.8,7.8,11.8,573,10085,0.10,2.20,0.00,0.000,6,0.160,0.031,3564,2000,1740,0,0,0,0,0,0
$STATE,10123,end climb,SURFACE_DEPTH_REACHED
$STATE,10123,begin surface coast
$FINISH,0.2,1.018455
$STATE,10152,end surface coast,CONTROL_FINISHED_OK
$STATE,10152,begin surface
$SM_CCo,10170,78.30,0.457,1,0,1159,390.02
$SM_GC,1.35,0.00,0.00,78.30,0.000,0.000,0.457,129,1893,1159,-9.87,-0.20,390.02
$IRIDIUM_FIX,2057.14,-15753.90,290312,101050
$TT8_MAMPS,0.027612
$HUMID,1078743861
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.4,16.612
$10V_AH,10.4,13.840
$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,21.750,114.375,287.550,78.300,0.000,30.606,33.267,419.690,0.250,0.000,33.461,1203.519,7163.101,472.039,1832.535,209.579,33.370,1222.502,0.000,1321.401,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,104.312,891.254,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,395.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,20127,586
$CAP_FILE_SIZE,148790,0
$CFSIZE,260165632,226885632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,223007,2104.768,-15755.239,46,1.2,46,9.8