version: 66.07
glider: 500
mission: 7
dive: 161
start: 10 5 110 14 42 20
data:
$ID,500
$MISSION,7
$DIVE,161
$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,-118507.19
$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
$GPS1,051010,141437,2104.025,-15756.418,31,1.0,32,9.8
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-76.9
$GPS2,051010,144125,2103.978,-15756.584,12,1.1,30,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.032
$KALMAN_X,-223391.5,-248.9,-475.1,216389.2,-1914.0
$KALMAN_Y,-10776.2,91.3,-106.6,-8628.9,64.1
$MHEAD_RNG_PITCHd_Wd,71.7,12187,-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,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-65.93,0.000,2,0.000,0.000,126,1889,2989,0,0,0,0,0,0
$GC,87,-0.68,-116.8,4.0,-7.8,13,109,11.27,2.38,-4.07,0.000,4,0.232,0.048,3049,3508,3228,0,0,0,0,0,0
$GC,127,-0.68,-116.8,21.5,-41.5,20,132,0.00,2.35,0.00,0.000,6,0.000,0.026,3049,1861,3230,0,0,0,0,0,0
$GC,332,-0.68,-116.8,61.7,-19.1,43,336,0.00,2.20,0.00,0.000,4,0.000,0.040,3049,328,3230,0,0,0,0,0,0
$GC,397,-0.68,-116.8,74.4,-18.4,48,404,0.08,2.30,0.00,0.000,6,0.123,0.031,3067,1928,3230,0,0,0,0,0,0
$GC,658,-0.68,-116.8,112.0,-13.6,73,659,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1929,3231,0,0,0,0,0,0
$GC,913,-0.68,-116.8,140.7,-9.8,97,917,0.00,2.30,0.00,0.000,4,0.000,0.039,3067,320,3232,0,0,0,0,0,0
$GC,1001,-0.68,-116.8,150.2,-10.9,104,1007,0.00,2.25,0.00,0.000,6,0.000,0.030,3058,1907,3232,0,0,0,0,0,0
$GC,1262,-0.68,-116.8,179.6,-11.7,129,1266,0.00,2.25,0.00,0.000,4,0.000,0.039,3058,329,3233,0,0,0,0,0,0
$GC,1312,-0.68,-116.8,185.2,-11.4,133,1316,0.00,2.20,0.00,0.000,6,0.000,0.031,3054,1911,3233,0,0,0,0,0,0
$GC,1569,-0.68,-116.8,211.3,-10.4,152,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1911,3233,0,0,0,0,0,0
$GC,1880,-0.68,-116.8,238.5,-7.6,167,1884,0.00,2.28,0.00,0.000,4,0.000,0.040,3055,328,3232,0,0,0,0,0,0
$GC,1947,-0.68,-116.8,244.3,-8.9,170,1951,0.00,2.20,0.00,0.000,6,0.000,0.031,3043,1900,3232,0,0,0,0,0,0
$GC,2273,-0.68,-116.8,276.0,-10.7,186,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1900,3230,0,0,0,0,0,0
$GC,2583,-0.68,-116.8,308.3,-10.1,199,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1900,3229,0,0,0,0,0,0
$GC,2906,-0.68,-116.8,333.1,-7.7,207,2910,0.00,2.28,0.00,0.000,4,0.000,0.040,3043,324,3228,0,0,0,0,0,0
$GC,3023,-0.68,-116.8,344.0,-9.3,209,3028,0.08,2.22,0.00,0.000,6,0.107,0.030,3068,1890,3227,0,0,0,0,0,0
$GC,3361,-0.68,-116.8,367.7,-7.0,218,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1891,3224,0,0,0,0,0,0
$GC,3685,-0.68,-116.8,387.7,-5.7,226,3689,0.00,2.25,0.00,0.000,4,0.000,0.041,3068,331,3222,0,0,0,0,0,0
$GC,3713,-0.68,-116.8,389.4,-6.0,226,3718,0.00,2.20,0.00,0.000,6,0.000,0.031,3058,1909,3222,0,0,0,0,0,0
$GC,4044,-0.68,-116.8,409.2,-6.1,234,4048,0.00,2.28,0.00,0.000,4,0.000,0.041,3058,328,3219,0,0,0,0,0,0
$GC,4088,-0.68,-116.8,412.6,-7.6,235,4092,0.00,2.22,0.00,0.000,6,0.000,0.031,3047,1911,3219,0,0,0,0,0,0
$GC,4419,-0.68,-116.8,440.3,-9.1,243,4423,0.00,2.28,0.00,0.000,4,0.000,0.041,3047,323,3218,0,0,0,0,0,0
$GC,4479,-0.68,-116.8,446.6,-9.9,244,4484,0.08,2.25,0.00,0.000,6,0.100,0.031,3071,1899,3217,0,0,0,0,0,0
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4668,-0.23,0.0,460.6,7.5,249,4758,0.40,0.00,87.75,0.887,6,0.091,0.000,3218,2012,2750,0,0,0,0,0,0
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4759,begin climb
$GC,4761,0.68,116.8,464.3,0.0,251,4868,0.73,2.45,96.20,0.865,4,0.038,0.041,3541,3567,2272,0,0,0,0,0,0
$GC,5003,0.68,116.8,453.7,12.5,256,5007,0.15,2.25,0.00,0.000,6,0.163,0.028,3513,2000,2262,0,0,0,0,0,0
$GC,5340,0.68,116.8,420.2,10.2,265,5344,0.00,2.30,0.00,0.000,4,0.000,0.039,3523,426,2257,0,0,0,0,0,0
$GC,5433,0.68,116.8,410.8,9.7,267,5438,0.00,2.25,0.00,0.000,6,0.000,0.031,3523,1983,2255,0,0,0,0,0,0
$GC,5754,0.71,140.4,385.9,6.9,275,5778,0.00,2.35,17.48,0.805,4,0.000,0.040,3536,430,2176,0,0,0,0,0,0
$GC,5868,0.71,140.4,375.7,10.0,277,5872,0.00,2.28,0.00,0.000,6,0.000,0.031,3535,2009,2172,0,0,0,0,0,0
$GC,6205,0.71,140.4,343.6,9.6,286,6209,0.00,2.28,0.00,0.000,4,0.000,0.041,3535,3582,2169,0,0,0,0,0,0
$GC,6445,0.71,140.4,318.5,11.0,291,6449,0.00,2.25,0.00,0.000,6,0.000,0.028,3546,2000,2167,0,0,0,0,0,0
$GC,6775,0.71,140.4,286.7,10.1,302,6779,0.00,2.25,0.00,0.000,4,0.000,0.040,3559,429,2166,0,0,0,0,0,0
$GC,6903,0.71,143.9,275.9,7.9,308,6908,0.12,2.25,0.00,0.000,6,0.166,0.030,3525,2010,2166,0,0,0,0,0,0
$GC,7229,0.79,204.3,256.0,5.2,324,7282,0.00,0.00,50.80,0.761,6,0.000,0.000,3525,2011,1916,0,0,0,0,0,0
$GC,7578,0.79,204.3,219.0,12.2,341,7582,0.00,2.30,0.00,0.000,4,0.000,0.040,3535,431,1905,0,0,0,0,0,0
$GC,7650,0.79,204.3,209.8,12.7,344,7655,0.00,2.28,0.00,0.000,6,0.000,0.030,3535,1990,1904,0,0,0,0,0,0
$GC,7978,0.79,204.3,168.8,11.8,371,7983,0.00,2.30,0.00,0.000,4,0.000,0.041,3535,3587,1902,0,0,0,0,0,0
$GC,8130,0.79,204.3,151.6,10.1,384,8134,0.00,2.25,0.00,0.000,6,0.000,0.028,3547,1990,1902,0,0,0,0,0,0
$GC,8390,0.79,204.3,124.7,11.8,408,8394,0.00,2.22,0.00,0.000,4,0.000,0.039,3559,433,1901,0,0,0,0,0,0
$GC,8608,0.79,204.3,101.9,8.8,427,8612,0.00,2.25,0.00,0.000,6,0.000,0.029,3559,2022,1901,0,0,0,0,0,0
$GC,8869,0.82,227.0,83.9,7.0,451,8893,0.00,2.38,17.00,0.591,4,0.000,0.039,3570,433,1823,0,0,0,0,0,0
$GC,9147,0.84,242.7,62.3,7.3,476,9169,0.00,2.20,13.50,0.553,6,0.000,0.029,3570,2002,1759,0,0,0,0,0,0
$GC,9424,0.84,247.5,41.7,7.8,502,9433,0.00,0.00,5.03,0.430,6,0.000,0.000,3570,2003,1739,0,0,0,0,0,0
$GC,9695,0.84,247.5,18.0,11.7,537,9700,0.00,2.25,0.00,0.000,4,0.000,0.038,3581,431,1738,0,0,0,0,0,0
$GC,9763,0.84,247.5,9.8,12.7,549,9769,0.00,2.20,0.00,0.000,6,0.000,0.029,3581,1994,1738,0,0,0,0,0,0
$STATE,9823,end climb,SURFACE_DEPTH_REACHED
$STATE,9825,begin surface coast
$FINISH,0.4,1.023057
$STATE,9853,end surface coast,CONTROL_FINISHED_OK
$STATE,9853,begin surface
$SM_CCo,9869,75.70,0.456,1,0,1159,390.02
$SM_GC,1.26,0.00,0.00,75.70,0.000,0.000,0.456,133,1899,1159,-9.86,-0.03,390.02
$IRIDIUM_FIX,2054.83,-15759.05,300312,080800
$TT8_MAMPS,0.027612
$HUMID,1078742571
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.5,17.308
$10V_AH,10.5,14.162
$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,21.375,86.400,287.750,75.700,0.000,140.372,163.969,890.744,0.000,0.000,32.187,1140.042,7267.460,455.086,2455.474,244.137,33.381,1148.137,0.000,1246.542,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,102.778,886.652,455.598,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334584
$DATA_FILE_SIZE,20068,565
$CAP_FILE_SIZE,155009,0
$CFSIZE,260165632,226570240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,172924,2104.164,-15756.468,37,1.0,37,9.8