version: 66.07
glider: 500
mission: 7
dive: 158
start: 10 5 110 5 5 27
data:
$ID,500
$MISSION,7
$DIVE,158
$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,-118445.83
$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
$GPS1,051010,045401,2104.590,-15755.775,38,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.5
$GPS2,051010,050432,2104.594,-15755.822,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.008
$KALMAN_X,-215629.1,204.7,-34.0,209047.0,-2736.3
$KALMAN_Y,-11005.3,17.7,24.8,-7317.0,-87.3
$MHEAD_RNG_PITCHd_Wd,82.3,10449,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,188,0.00,0.00,-60.40,0.000,2,0.000,0.000,126,1920,2799,0,0,0,0,0,0
$GC,191,-0.68,-116.8,3.1,-5.0,12,218,11.20,2.33,-8.15,0.000,4,0.232,0.054,3053,3509,3231,0,0,0,0,0,0
$GC,229,-0.68,-116.8,16.2,-32.6,19,234,0.00,2.33,0.00,0.000,6,0.000,0.026,3053,1867,3232,0,0,0,0,0,0
$GC,435,-0.68,-116.8,56.3,-21.8,45,436,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1867,3232,0,0,0,0,0,0
$GC,690,-0.68,-116.8,107.0,-17.3,69,694,0.00,2.25,0.00,0.000,4,0.000,0.041,3053,319,3233,0,0,0,0,0,0
$GC,778,-0.68,-116.8,121.6,-12.9,76,784,0.00,2.28,0.00,0.000,6,0.000,0.030,3043,1928,3233,0,0,0,0,0,0
$GC,1039,-0.68,-116.8,145.7,-9.0,101,1043,0.00,2.30,0.00,0.000,4,0.000,0.039,3043,318,3235,0,0,0,0,0,0
$GC,1134,-0.68,-116.8,155.2,-10.2,109,1139,0.12,2.22,0.00,0.000,6,0.136,0.029,3072,1917,3235,0,0,0,0,0,0
$GC,1394,-0.68,-116.8,175.8,-8.1,133,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1918,3236,0,0,0,0,0,0
$GC,1650,-0.68,-116.8,195.3,-7.5,157,1654,0.00,2.28,0.00,0.000,4,0.000,0.039,3073,327,3237,0,0,0,0,0,0
$GC,1699,-0.68,-116.8,199.6,-8.8,161,1703,0.00,2.22,0.00,0.000,6,0.000,0.029,3064,1914,3237,0,0,0,0,0,0
$GC,1963,-0.68,-116.8,219.3,-6.9,174,1967,0.00,2.28,0.00,0.000,4,0.000,0.038,3064,321,3237,0,0,0,0,0,0
$GC,2031,-0.68,-116.8,224.6,-8.0,177,2035,0.00,2.22,0.00,0.000,6,0.000,0.029,3054,1909,3237,0,0,0,0,0,0
$GC,2356,-0.68,-116.8,251.2,-8.7,193,2360,0.00,2.28,0.00,0.000,4,0.000,0.038,3055,315,3236,0,0,0,0,0,0
$GC,2387,-0.68,-116.8,254.5,-10.1,194,2394,0.00,2.25,0.00,0.000,6,0.000,0.030,3043,1900,3237,0,0,0,0,0,0
$GC,2703,-0.68,-116.8,289.3,-11.4,210,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1900,3237,0,0,0,0,0,0
$GC,3030,-0.68,-116.8,319.6,-8.5,221,3034,0.00,2.28,0.00,0.000,4,0.000,0.040,3043,325,3236,0,0,0,0,0,0
$GC,3090,-0.68,-116.8,324.9,-8.4,222,3095,0.10,2.22,0.00,0.000,6,0.097,0.030,3075,1891,3236,0,0,0,0,0,0
$GC,3438,-0.68,-116.8,344.8,-5.7,231,3442,0.00,2.25,0.00,0.000,4,0.000,0.040,3075,317,3235,0,0,0,0,0,0
$GC,3487,-0.68,-116.8,348.3,-7.6,232,3491,0.00,2.28,0.00,0.000,6,0.000,0.031,3068,1908,3234,0,0,0,0,0,0
$GC,3806,-0.68,-116.8,369.6,-6.5,240,3810,0.00,2.30,0.00,0.000,4,0.000,0.041,3068,321,3233,0,0,0,0,0,0
$GC,3827,-0.68,-116.8,371.3,-7.8,240,3831,0.00,2.25,0.00,0.000,6,0.000,0.030,3057,1895,3233,0,0,0,0,0,0
$GC,4169,-0.68,-116.8,394.3,-6.9,249,4173,0.00,2.28,0.00,0.000,4,0.000,0.040,3057,324,3231,0,0,0,0,0,0
$GC,4208,-0.68,-116.8,397.2,-8.1,250,4212,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1915,3231,0,0,0,0,0,0
$GC,4531,-0.68,-116.8,419.5,-6.7,258,4535,0.00,2.30,0.00,0.000,4,0.000,0.040,3046,327,3229,0,0,0,0,0,0
$GC,4579,-0.68,-116.8,423.5,-8.5,259,4584,0.08,2.25,0.00,0.000,6,0.103,0.030,3070,1896,3228,0,0,0,0,0,0
$GC,4899,-0.68,-116.8,444.8,-6.9,267,4903,0.00,2.28,0.00,0.000,4,0.000,0.040,3070,328,3226,0,0,0,0,0,0
$GC,4970,-0.68,-116.8,450.5,-7.7,268,4974,0.00,2.22,0.00,0.000,6,0.000,0.031,3060,1916,3226,0,0,0,0,0,0
$STATE,5142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5142,begin apogee
$GC,5148,-0.23,0.0,462.6,6.9,273,5241,0.43,0.00,89.93,0.896,6,0.092,0.000,3215,1996,2750,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5284,0.68,116.8,465.1,0.0,275,5390,0.73,2.50,95.90,0.878,4,0.042,0.041,3533,3577,2274,0,0,0,0,0,0
$GC,5625,0.68,116.8,440.9,12.7,282,5632,0.10,2.33,0.00,0.000,6,0.146,0.029,3512,1996,2262,0,0,0,0,0,0
$GC,5956,0.68,116.8,406.4,9.7,291,5960,0.00,2.30,0.00,0.000,4,0.000,0.039,3523,417,2258,0,0,0,0,0,0
$GC,6120,0.69,123.3,392.8,7.7,294,6130,0.00,2.25,4.00,0.548,6,0.000,0.031,3523,1997,2246,0,0,0,0,0,0
$GC,6461,0.73,158.9,370.6,6.4,303,6497,0.00,2.35,30.60,0.831,4,0.000,0.039,3535,418,2099,0,0,0,0,0,0
$GC,6565,0.73,158.9,363.6,8.3,304,6569,0.00,2.30,0.00,0.000,6,0.000,0.031,3535,2004,2094,0,0,0,0,0,0
$GC,6906,0.73,158.9,330.2,10.8,313,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2005,2090,0,0,0,0,0,0
$GC,7211,0.73,158.9,294.7,12.3,321,7215,0.00,2.30,0.00,0.000,4,0.000,0.041,3546,425,2088,0,0,0,0,0,0
$GC,7350,0.73,158.9,276.1,13.0,327,7354,0.00,2.22,0.00,0.000,6,0.000,0.031,3546,2002,2086,0,0,0,0,0,0
$GC,7671,0.73,158.9,241.5,10.1,343,7675,0.00,2.30,0.00,0.000,4,0.000,0.041,3558,426,2085,0,0,0,0,0,0
$GC,7710,0.73,158.9,238.2,8.3,345,7715,0.12,2.28,0.00,0.000,6,0.163,0.032,3524,2011,2085,0,0,0,0,0,0
$GC,8036,0.73,158.9,211.7,8.9,361,8040,0.00,2.30,0.00,0.000,4,0.000,0.041,3523,3592,2084,0,0,0,0,0,0
$GC,8067,0.73,158.9,208.4,10.3,362,8074,0.00,2.30,0.00,0.000,6,0.000,0.029,3534,1994,2083,0,0,0,0,0,0
$GC,8390,0.73,158.9,181.2,8.2,388,8395,0.00,2.33,0.00,0.000,4,0.000,0.041,3534,3589,2083,0,0,0,0,0,0
$GC,8536,0.73,158.9,166.1,11.2,400,8541,0.00,2.28,0.00,0.000,6,0.000,0.029,3546,1989,2083,0,0,0,0,0,0
$GC,8797,0.75,174.4,144.3,7.3,425,8813,0.00,2.33,10.68,0.623,4,0.000,0.038,3546,3590,2039,0,0,0,0,0,0
$GC,8839,0.75,174.4,140.9,8.1,428,8846,0.00,2.30,0.00,0.000,6,0.000,0.028,3557,1994,2038,0,0,0,0,0,0
$GC,9102,0.75,174.4,118.2,8.5,453,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1994,2036,0,0,0,0,0,0
$GC,9356,0.81,221.6,100.3,5.8,477,9400,0.00,2.30,39.20,0.619,4,0.000,0.039,3570,424,1845,0,0,0,0,0,0
$GC,9474,0.84,245.4,93.5,6.9,488,9498,0.00,2.28,19.40,0.588,6,0.000,0.030,3569,2011,1749,0,0,0,0,0,0
$GC,9759,0.84,245.4,71.4,9.1,515,9764,0.00,2.33,0.00,0.000,4,0.000,0.038,3581,426,1741,0,0,0,0,0,0
$GC,9826,0.84,245.4,64.3,10.9,520,9831,0.00,2.28,0.00,0.000,6,0.000,0.029,3581,1996,1740,0,0,0,0,0,0
$GC,10086,0.84,245.4,38.2,9.8,545,10090,0.00,2.28,0.00,0.000,4,0.000,0.038,3580,3582,1740,0,0,0,0,0,0
$GC,10228,0.84,245.4,23.4,11.5,562,10234,0.12,2.22,0.00,0.000,6,0.166,0.028,3558,1998,1740,0,0,0,0,0,0
$STATE,10424,end climb,SURFACE_DEPTH_REACHED
$STATE,10424,begin surface coast
$FINISH,0.2,1.023043
$STATE,10453,end surface coast,CONTROL_FINISHED_OK
$STATE,10453,begin surface
$SM_CCo,10533,71.07,0.074,0,0,1160,390.27
$SM_GC,1.17,0.00,0.00,71.07,0.000,0.000,0.074,140,1875,1160,-9.85,-0.71,390.27
$IRIDIUM_FIX,2054.83,-15754.77,290312,202030
$TT8_MAMPS,0.026845
$HUMID,1078763216
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,58
$AR_reportdisk
,(null)$24V_AH,24.4,16.957
$10V_AH,10.4,14.001
$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,21.500,105.150,289.700,71.075,0.000,31.254,31.511,320.000,14.500,0.000,16.314,1122.849,7473.072,449.223,2075.140,171.882,33.379,1179.007,0.000,1286.850,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,122.720,895.856,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,406.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20098,602
$CAP_FILE_SIZE,111689,0
$CFSIZE,260165632,226770944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,080507,2104.711,-15755.601,38,1.0,39,9.8