version: 66.07
glider: 500
mission: 7
dive: 159
start: 10 5 110 8 18 8
data:
$ID,500
$MISSION,7
$DIVE,159
$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,-118458.31
$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
$GPS1,051010,080507,2104.711,-15755.601,38,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-77.3
$GPS2,051010,081714,2104.687,-15755.653,10,1.5,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.050
$KALMAN_X,-218130.4,-99.4,565.9,211541.9,-3440.3
$KALMAN_Y,-10906.8,40.3,168.8,-7412.3,-193.5
$MHEAD_RNG_PITCHd_Wd,93.5,10112,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,2,0.000,0.000,126,1875,2831,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.1,-5.3,12,111,11.25,2.42,-7.30,0.000,4,0.232,0.051,3050,3505,3231,0,0,0,0,0,0
$GC,129,-0.68,-116.8,18.9,-32.9,20,135,0.00,2.35,0.00,0.000,6,0.000,0.027,3050,1860,3232,0,0,0,0,0,0
$GC,335,-0.68,-116.8,60.1,-19.8,44,336,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1859,3233,0,0,0,0,0,0
$GC,589,-0.68,-116.8,106.4,-14.7,68,593,0.00,2.20,0.00,0.000,4,0.000,0.040,3050,320,3233,0,0,0,0,0,0
$GC,711,-0.68,-116.8,121.3,-12.3,78,717,0.00,2.25,0.00,0.000,6,0.000,0.030,3040,1931,3234,0,0,0,0,0,0
$GC,972,-0.68,-116.8,152.9,-12.6,103,977,0.10,2.30,0.00,0.000,4,0.152,0.039,3073,319,3236,0,0,0,0,0,0
$GC,1050,-0.68,-116.8,161.5,-10.2,109,1056,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1907,3235,0,0,0,0,0,0
$GC,1310,-0.68,-116.8,185.9,-9.2,134,1314,0.00,2.25,0.00,0.000,4,0.000,0.038,3069,324,3237,0,0,0,0,0,0
$GC,1339,-0.68,-116.8,188.7,-10.6,136,1343,0.00,2.20,0.00,0.000,6,0.000,0.030,3059,1906,3237,0,0,0,0,0,0
$GC,1595,-0.68,-116.8,214.0,-9.5,153,1599,0.00,2.25,0.00,0.000,4,0.000,0.041,3047,3481,3237,0,0,0,0,0,0
$GC,1610,-0.68,-116.8,215.6,-9.3,153,1616,0.00,2.22,0.00,0.000,6,0.000,0.026,3047,1892,3237,0,0,0,0,0,0
$GC,1925,-0.68,-116.8,244.6,-9.3,169,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1891,3237,0,0,0,0,0,0
$GC,2236,-0.68,-116.8,269.2,-7.0,184,2240,0.00,2.22,0.00,0.000,4,0.000,0.039,3047,324,3237,0,0,0,0,0,0
$GC,2302,-0.68,-116.8,273.9,-6.9,187,2307,0.12,2.20,0.00,0.000,6,0.130,0.029,3079,1908,3237,0,0,0,0,0,0
$GC,2628,-0.68,-116.8,294.8,-8.4,203,2632,0.00,2.28,0.00,0.000,4,0.000,0.039,3079,324,3236,0,0,0,0,0,0
$GC,2705,-0.68,-116.8,302.5,-9.8,206,2712,0.00,2.22,0.00,0.000,6,0.000,0.029,3070,1895,3236,0,0,0,0,0,0
$GC,3037,-0.68,-116.8,331.2,-8.3,215,3041,0.00,2.25,0.00,0.000,4,0.000,0.039,3070,319,3235,0,0,0,0,0,0
$GC,3131,-0.68,-116.8,338.8,-7.6,217,3135,0.00,2.25,0.00,0.000,6,0.000,0.030,3069,1901,3234,0,0,0,0,0,0
$GC,3451,-0.68,-116.8,355.1,-4.3,225,3455,0.00,2.28,0.00,0.000,4,0.000,0.041,3057,3477,3233,0,0,0,0,0,0
$GC,3478,-0.68,-116.8,356.2,-3.9,225,3482,0.00,2.25,0.00,0.000,6,0.000,0.026,3057,1894,3233,0,0,0,0,0,0
$GC,3816,-0.68,-116.8,374.1,-6.3,234,3820,0.00,2.30,0.00,0.000,4,0.000,0.041,3057,316,3231,0,0,0,0,0,0
$GC,3870,-0.68,-116.8,379.0,-8.6,235,3875,0.00,2.25,0.00,0.000,6,0.000,0.029,3046,1900,3230,0,0,0,0,0,0
$GC,4183,-0.68,-116.8,409.9,-9.8,243,4187,0.00,2.28,0.00,0.000,4,0.000,0.040,3047,327,3229,0,0,0,0,0,0
$GC,4238,-0.68,-116.8,415.3,-9.1,244,4243,0.08,2.25,0.00,0.000,6,0.102,0.030,3071,1897,3229,0,0,0,0,0,0
$GC,4552,-0.68,-116.8,436.8,-7.2,252,4556,0.00,2.28,0.00,0.000,4,0.000,0.041,3072,320,3226,0,0,0,0,0,0
$GC,4607,-0.68,-116.8,441.6,-8.5,253,4611,0.00,2.25,0.00,0.000,6,0.000,0.030,3062,1916,3226,0,0,0,0,0,0
$STATE,4836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4836,begin apogee
$GC,4841,-0.23,0.0,461.3,8.6,259,4934,0.43,0.00,89.78,0.893,6,0.094,0.000,3216,1998,2750,0,0,0,0,0,0
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4937,0.68,116.8,465.1,0.0,261,5044,0.75,2.47,96.55,0.871,4,0.041,0.041,3538,3573,2272,0,0,0,0,0,0
$GC,5200,0.68,116.8,455.4,9.9,267,5205,0.10,2.33,0.00,0.000,6,0.141,0.028,3516,1993,2261,0,0,0,0,0,0
$GC,5526,0.68,116.8,424.1,9.9,275,5530,0.00,2.28,0.00,0.000,4,0.000,0.039,3527,421,2257,0,0,0,0,0,0
$GC,5642,0.68,116.8,410.3,11.7,277,5647,0.00,2.25,0.00,0.000,6,0.000,0.031,3527,1998,2255,0,0,0,0,0,0
$GC,5979,0.68,116.8,376.6,10.0,286,5983,0.00,2.28,0.00,0.000,4,0.000,0.040,3538,428,2253,0,0,0,0,0,0
$GC,6236,0.70,128.7,355.9,7.5,291,6250,0.00,2.25,7.25,0.709,6,0.000,0.031,3539,2002,2225,0,0,0,0,0,0
$GC,6570,0.71,142.4,331.7,7.4,300,6589,0.00,2.40,12.52,0.764,4,0.000,0.041,3539,3592,2168,0,0,0,0,0,0
$GC,6747,0.71,142.4,312.9,10.5,304,6751,0.12,2.28,0.00,0.000,6,0.172,0.028,3517,1995,2166,0,0,0,0,0,0
$GC,7072,0.71,142.4,286.0,9.0,316,7076,0.00,2.25,0.00,0.000,4,0.000,0.039,3528,429,2164,0,0,0,0,0,0
$GC,7246,0.71,142.4,269.3,9.0,324,7250,0.00,2.22,0.00,0.000,6,0.000,0.030,3528,2001,2164,0,0,0,0,0,0
$GC,7577,0.74,163.4,246.5,7.1,340,7602,0.00,2.35,17.88,0.729,4,0.000,0.041,3528,3570,2082,0,0,0,0,0,0
$GC,7823,0.74,163.4,221.1,11.2,351,7828,0.00,2.22,0.00,0.000,6,0.000,0.028,3539,1997,2077,0,0,0,0,0,0
$GC,8141,0.74,163.4,190.9,10.8,370,8145,0.00,2.25,0.00,0.000,4,0.000,0.038,3551,429,2075,0,0,0,0,0,0
$GC,8259,0.74,163.4,175.9,12.6,380,8263,0.00,2.25,0.00,0.000,6,0.000,0.029,3551,2009,2075,0,0,0,0,0,0
$GC,8520,0.84,242.6,157.3,4.4,404,8592,0.00,2.40,62.88,0.676,4,0.000,0.041,3551,3577,1759,0,0,0,0,0,0
$GC,8638,0.84,242.6,148.8,10.3,415,8642,0.00,2.30,0.00,0.000,6,0.000,0.028,3563,2004,1754,0,0,0,0,0,0
$GC,8898,0.84,242.6,115.6,13.4,439,8902,0.00,2.30,0.00,0.000,4,0.000,0.040,3563,3580,1750,0,0,0,0,0,0
$GC,8971,0.84,242.6,105.0,14.9,445,8975,0.00,2.28,0.00,0.000,6,0.000,0.030,3574,1988,1748,0,0,0,0,0,0
$GC,9232,0.84,242.6,73.7,10.6,469,9236,0.00,2.28,0.00,0.000,4,0.000,0.039,3587,418,1747,0,0,0,0,0,0
$GC,9441,0.84,242.6,56.3,10.1,487,9445,0.00,2.22,0.00,0.000,6,0.000,0.029,3587,2000,1745,0,0,0,0,0,0
$GC,9703,0.84,242.6,28.2,12.3,512,9708,0.00,2.28,0.00,0.000,4,0.000,0.039,3587,3577,1745,0,0,0,0,0,0
$GC,9809,0.84,242.6,14.7,12.9,531,9816,0.12,2.25,0.00,0.000,6,0.169,0.028,3563,1991,1745,0,0,0,0,0,0
$STATE,9926,end climb,SURFACE_DEPTH_REACHED
$STATE,9926,begin surface coast
$FINISH,0.3,1.023054
$STATE,9956,end surface coast,CONTROL_FINISHED_OK
$STATE,9957,begin surface
$SM_CCo,9973,76.85,0.462,1,0,1159,390.02
$SM_GC,1.16,0.00,0.00,76.85,0.000,0.000,0.462,138,1886,1159,-9.84,-0.37,390.02
$IRIDIUM_FIX,2057.14,-15759.05,290312,232303
$TT8_MAMPS,0.027612
$HUMID,1078787732
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,17.060
$10V_AH,10.4,14.052
$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,21.625,104.750,286.850,76.850,0.000,31.016,35.335,384.232,0.250,0.000,11.861,1162.284,7005.663,458.186,1908.735,201.955,33.379,1207.843,0.000,1340.740,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,121.186,892.788,461.734,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334588
$DATA_FILE_SIZE,20099,557
$CAP_FILE_SIZE,144530,0
$CFSIZE,260165632,226689024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,110632,2104.366,-15756.007,12,2.0,12,9.8