version: 66.07
glider: 500
mission: 7
dive: 157
start: 10 5 110 2 1 48
data:
$ID,500
$MISSION,7
$DIVE,157
$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,-118428.88
$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
$GPS1,051010,014852,2104.615,-15755.727,12,2.3,31,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.1
$GPS2,051010,020055,2104.639,-15755.810,41,1.3,41,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.005
$KALMAN_X,-212926.5,435.9,-447.7,206548.3,-2676.2
$KALMAN_Y,-10868.5,12.8,-83.5,-7260.1,-75.9
$MHEAD_RNG_PITCHd_Wd,81.5,10381,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.68,-116.8,0.0,0.0,0,115,0.00,0.00,-85.35,0.000,2,0.000,0.000,127,1874,2829,0,0,0,0,0,0
$GC,117,-0.68,-116.8,3.1,-5.6,17,144,11.30,2.42,-7.50,0.000,4,0.233,0.053,3052,3501,3231,0,0,0,0,0,0
$GC,178,-0.68,-116.8,20.5,-21.1,28,183,0.00,2.30,0.00,0.000,6,0.000,0.026,3052,1873,3231,0,0,0,0,0,0
$GC,382,-0.68,-116.8,58.4,-19.4,52,386,0.00,2.22,0.00,0.000,4,0.000,0.040,3054,320,3231,0,0,0,0,0,0
$GC,409,-0.68,-116.8,64.0,-20.3,54,413,0.00,2.28,0.00,0.000,6,0.000,0.031,3042,1932,3231,0,0,0,0,0,0
$GC,676,-0.68,-116.8,114.7,-13.6,79,677,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1932,3233,0,0,0,0,0,0
$GC,930,-0.68,-116.8,146.5,-12.1,103,934,0.00,2.33,0.00,0.000,4,0.000,0.039,3041,316,3234,0,0,0,0,0,0
$GC,1003,-0.68,-116.8,154.9,-11.5,109,1008,0.12,2.22,0.00,0.000,6,0.139,0.030,3071,1911,3234,0,0,0,0,0,0
$GC,1263,-0.68,-116.8,178.9,-9.0,133,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1911,3234,0,0,0,0,0,0
$GC,1518,-0.68,-116.8,200.4,-8.5,157,1522,0.00,2.28,0.00,0.000,4,0.000,0.040,3071,323,3235,0,0,0,0,0,0
$GC,1563,-0.68,-116.8,204.6,-9.4,159,1567,0.00,2.20,0.00,0.000,6,0.000,0.031,3069,1902,3235,0,0,0,0,0,0
$GC,1894,-0.68,-116.8,236.3,-8.5,175,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1902,3234,0,0,0,0,0,0
$GC,2204,-0.68,-116.8,258.5,-7.0,190,2208,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,321,3234,0,0,0,0,0,0
$GC,2281,-0.68,-116.8,264.8,-8.3,193,2288,0.00,2.22,0.00,0.000,6,0.000,0.030,3058,1895,3234,0,0,0,0,0,0
$GC,2597,-0.68,-116.8,292.6,-9.8,209,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1895,3233,0,0,0,0,0,0
$GC,2924,-0.68,-116.8,319.8,-7.1,219,2928,0.00,2.25,0.00,0.000,4,0.000,0.040,3058,320,3232,0,0,0,0,0,0
$GC,3023,-0.68,-116.8,326.8,-6.5,221,3028,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1900,3231,0,0,0,0,0,0
$GC,3337,-0.68,-116.8,343.2,-5.0,229,3341,0.00,2.28,0.00,0.000,4,0.000,0.041,3055,321,3230,0,0,0,0,0,0
$GC,3358,-0.68,-116.8,344.3,-4.9,229,3362,0.00,2.25,0.00,0.000,6,0.000,0.030,3044,1903,3229,0,0,0,0,0,0
$GC,3700,-0.68,-116.8,368.5,-8.0,238,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1903,3227,0,0,0,0,0,0
$GC,4025,-0.68,-116.8,399.1,-9.5,246,4029,0.00,2.30,0.00,0.000,4,0.000,0.041,3044,318,3226,0,0,0,0,0,0
$GC,4057,-0.68,-116.8,402.6,-9.6,246,4062,0.12,2.22,0.00,0.000,6,0.129,0.030,3076,1909,3225,0,0,0,0,0,0
$GC,4393,-0.68,-116.8,426.6,-6.7,255,4397,0.00,2.28,0.00,0.000,4,0.000,0.041,3076,323,3223,0,0,0,0,0,0
$GC,4414,-0.68,-116.8,428.1,-7.0,255,4419,0.00,2.25,0.00,0.000,6,0.000,0.030,3067,1901,3223,0,0,0,0,0,0
$GC,4757,-0.68,-116.8,450.9,-6.7,264,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1901,3220,0,0,0,0,0,0
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4922,-0.23,0.0,461.6,6.6,268,5014,0.43,0.00,88.55,0.889,6,0.093,0.000,3222,2014,2750,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5057,0.68,116.8,464.8,0.0,270,5164,0.73,2.50,96.05,0.874,4,0.043,0.039,3548,426,2274,0,0,0,0,0,0
$GC,5320,0.68,116.8,457.9,9.8,276,5325,0.10,2.28,0.00,0.000,6,0.143,0.031,3516,1978,2265,0,0,0,0,0,0
$GC,5644,0.68,116.8,426.7,10.1,284,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,1978,2260,0,0,0,0,0,0
$GC,5969,0.68,119.3,397.9,7.9,292,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1978,2258,0,0,0,0,0,0
$GC,6294,0.75,170.7,378.6,5.6,300,6338,0.00,0.00,42.53,0.840,6,0.000,0.000,3516,1978,2053,0,0,0,0,0,0
$GC,6659,0.75,170.7,340.1,11.6,309,6663,0.00,2.35,0.00,0.000,4,0.000,0.042,3516,3582,2042,0,0,0,0,0,0
$GC,6843,0.75,170.7,314.9,14.8,313,6848,0.00,2.30,0.00,0.000,6,0.000,0.029,3526,2003,2040,0,0,0,0,0,0
$GC,7165,0.75,170.7,279.5,9.1,325,7169,0.00,2.28,0.00,0.000,4,0.000,0.040,3538,426,2037,0,0,0,0,0,0
$GC,7321,0.75,170.7,264.9,9.6,332,7325,0.00,2.22,0.00,0.000,6,0.000,0.031,3538,1999,2036,0,0,0,0,0,0
$GC,7642,0.75,170.7,232.7,10.6,348,7646,0.00,2.30,0.00,0.000,4,0.000,0.041,3550,424,2035,0,0,0,0,0,0
$GC,7787,0.75,170.7,216.4,12.5,354,7792,0.00,2.25,0.00,0.000,6,0.000,0.031,3550,2001,2034,0,0,0,0,0,0
$GC,8106,0.75,170.7,187.6,8.4,377,8110,0.00,2.28,0.00,0.000,4,0.000,0.041,3550,3580,2034,0,0,0,0,0,0
$GC,8173,0.75,170.7,180.9,10.0,383,8178,0.12,2.25,0.00,0.000,6,0.173,0.029,3528,1987,2033,0,0,0,0,0,0
$GC,8435,0.75,170.7,157.8,9.2,407,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1987,2033,0,0,0,0,0,0
$GC,8688,0.75,170.7,134.1,8.9,431,8692,0.00,2.25,0.00,0.000,4,0.000,0.040,3538,425,2033,0,0,0,0,0,0
$GC,8805,0.75,170.7,123.6,8.2,441,8809,0.00,2.22,0.00,0.000,6,0.000,0.030,3538,2008,2033,0,0,0,0,0,0
$GC,9067,0.83,241.9,104.0,4.7,465,9128,0.00,2.40,53.90,0.625,4,0.000,0.040,3550,407,1761,0,0,0,0,0,0
$GC,9144,0.88,276.2,100.2,6.4,472,9181,0.00,2.33,27.62,0.598,6,0.000,0.030,3550,1990,1623,0,0,0,0,0,0
$GC,9435,0.88,276.2,72.5,9.1,500,9439,0.00,2.28,0.00,0.000,4,0.000,0.039,3561,426,1615,0,0,0,0,0,0
$GC,9496,0.88,276.2,65.3,13.7,505,9500,0.00,2.25,0.00,0.000,6,0.000,0.030,3561,2010,1614,0,0,0,0,0,0
$GC,9757,0.88,276.2,30.6,10.9,529,9762,0.00,2.30,0.00,0.000,4,0.000,0.040,3562,3592,1614,0,0,0,0,0,0
$GC,9813,0.88,276.2,23.9,11.9,538,9819,0.00,2.28,0.00,0.000,6,0.000,0.028,3573,1990,1613,0,0,0,0,0,0
$STATE,9991,end climb,SURFACE_DEPTH_REACHED
$STATE,9991,begin surface coast
$FINISH,0.5,1.023007
$STATE,10015,end surface coast,CONTROL_FINISHED_OK
$STATE,10015,begin surface
$SM_CCo,10093,58.35,0.435,1,0,1160,390.02
$SM_GC,0.86,0.00,0.00,58.35,0.000,0.000,0.435,142,1921,1160,-9.82,0.59,390.02
$IRIDIUM_FIX,2057.14,-15759.05,290312,171745
$TT8_MAMPS,0.032214
$HUMID,1078792893
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_reportdisk
,(null)$24V_AH,24.4,16.865
$10V_AH,10.4,13.947
$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,21.400,82.275,308.650,58.350,0.000,30.485,38.269,495.695,0.000,0.000,43.602,1039.233,7332.681,470.537,1965.896,174.129,33.379,1125.842,0.000,1155.795,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,112.749,888.953,434.889,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,386.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334628
$DATA_FILE_SIZE,20123,574
$CAP_FILE_SIZE,100327,0
$CFSIZE,260165632,226828288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,045401,2104.590,-15755.775,38,1.1,39,9.8