version: 66.07
glider: 500
mission: 7
dive: 162
start: 10 5 110 17 47 38
data:
$ID,500
$MISSION,7
$DIVE,162
$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,-118524.41
$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
$GPS1,051010,172924,2104.164,-15756.468,37,1.0,37,9.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.2
$GPS2,051010,174644,2104.070,-15756.539,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,0.025
$KALMAN_X,-226362.5,-57.8,-85.3,218862.1,-2133.1
$KALMAN_Y,-10953.3,26.2,-60.1,-8261.1,-14.0
$MHEAD_RNG_PITCHd_Wd,73.7,12022,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-116.8,0.0,0.0,0,85,0.00,0.00,-66.38,0.000,2,0.000,0.000,127,1899,2996,0,0,0,0,0,0
$GC,88,-0.68,-116.8,4.0,-8.2,13,110,11.35,0.00,-3.92,0.000,6,0.234,0.000,3062,1899,3230,0,0,0,0,0,0
$GC,304,-0.68,-116.8,55.7,-18.3,40,306,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1899,3232,0,0,0,0,0,0
$GC,559,-0.68,-116.8,98.4,-15.0,64,563,0.00,2.33,0.00,0.000,4,0.000,0.041,3062,290,3232,0,0,0,0,0,0
$GC,670,-0.68,-116.8,115.0,-12.7,73,676,0.00,2.33,0.00,0.000,6,0.000,0.031,3055,1921,3233,0,0,0,0,0,0
$GC,931,-0.68,-116.8,143.4,-10.7,98,935,0.00,2.33,0.00,0.000,4,0.000,0.039,3055,294,3234,0,0,0,0,0,0
$GC,1059,-0.68,-116.8,158.2,-10.2,109,1063,0.00,2.28,0.00,0.000,6,0.000,0.029,3043,1911,3234,0,0,0,0,0,0
$GC,1320,-0.68,-116.8,182.3,-9.0,133,1324,0.00,2.33,0.00,0.000,4,0.000,0.039,3043,285,3235,0,0,0,0,0,0
$GC,1374,-0.68,-116.8,188.0,-10.5,137,1381,0.10,2.30,0.00,0.000,6,0.103,0.029,3074,1902,3235,0,0,0,0,0,0
$GC,1632,-0.68,-116.8,208.6,-7.9,157,1636,0.00,2.25,0.00,0.000,4,0.000,0.041,3064,3483,3235,0,0,0,0,0,0
$GC,1676,-0.68,-116.8,212.1,-8.2,159,1680,0.00,2.28,0.00,0.000,6,0.000,0.025,3064,1870,3235,0,0,0,0,0,0
$GC,2003,-0.68,-116.8,240.9,-9.0,175,2007,0.00,2.20,0.00,0.000,4,0.000,0.039,3065,314,3235,0,0,0,0,0,0
$GC,2064,-0.68,-116.8,246.9,-9.6,178,2068,0.00,2.22,0.00,0.000,6,0.000,0.030,3055,1911,3235,0,0,0,0,0,0
$GC,2395,-0.68,-116.8,272.6,-6.9,194,2399,0.00,2.30,0.00,0.000,4,0.000,0.039,3056,321,3234,0,0,0,0,0,0
$GC,2472,-0.68,-116.8,281.3,-11.9,197,2476,0.00,2.22,0.00,0.000,6,0.000,0.028,3044,1903,3233,0,0,0,0,0,0
$GC,2792,-0.68,-116.8,306.0,-7.3,211,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1903,3232,0,0,0,0,0,0
$GC,3117,-0.68,-116.8,327.0,-6.3,219,3121,0.00,2.28,0.00,0.000,4,0.000,0.040,3044,325,3231,0,0,0,0,0,0
$GC,3194,-0.68,-116.8,333.1,-8.0,220,3201,0.12,2.22,0.00,0.000,6,0.130,0.030,3076,1909,3230,0,0,0,0,0,0
$GC,3526,-0.68,-116.8,356.5,-7.6,229,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1909,3228,0,0,0,0,0,0
$GC,3851,-0.68,-116.8,377.8,-5.8,237,3855,0.00,2.30,0.00,0.000,4,0.000,0.040,3077,321,3226,0,0,0,0,0,0
$GC,3883,-0.68,-116.8,379.9,-6.8,237,3889,0.00,2.25,0.00,0.000,6,0.000,0.030,3068,1901,3225,0,0,0,0,0,0
$GC,4215,-0.68,-116.8,399.3,-5.9,246,4219,0.00,2.28,0.00,0.000,4,0.000,0.040,3068,322,3224,0,0,0,0,0,0
$GC,4247,-0.68,-116.8,401.3,-5.8,246,4251,0.00,2.25,0.00,0.000,6,0.000,0.031,3057,1899,3223,0,0,0,0,0,0
$GC,4584,-0.68,-116.8,421.0,-6.0,255,4588,0.00,2.30,0.00,0.000,4,0.000,0.040,3057,325,3221,0,0,0,0,0,0
$GC,4639,-0.68,-116.8,424.7,-6.6,256,4643,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1912,3221,0,0,0,0,0,0
$GC,4952,-0.68,-116.8,447.7,-7.8,264,4956,0.00,2.30,0.00,0.000,4,0.000,0.040,3046,323,3219,0,0,0,0,0,0
$GC,4990,-0.68,-116.8,451.1,-9.4,264,4997,0.12,2.20,0.00,0.000,6,0.130,0.030,3079,1901,3219,0,0,0,0,0,0
$STATE,5157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5157,begin apogee
$GC,5162,-0.23,0.0,462.1,6.5,269,5253,0.38,0.00,88.25,0.894,6,0.091,0.000,3219,2010,2750,0,0,0,0,0,0
$STATE,5254,end apogee,CONTROL_FINISHED_OK
$STATE,5254,begin climb
$GC,5255,0.68,116.8,464.6,0.0,271,5362,0.73,2.45,96.55,0.871,4,0.038,0.041,3537,3571,2272,0,0,0,0,0,0
$GC,5479,0.68,116.8,455.9,11.8,276,5484,0.10,2.33,0.00,0.000,6,0.142,0.028,3515,1996,2262,0,0,0,0,0,0
$GC,5800,0.68,116.8,423.0,9.9,284,5804,0.00,2.30,0.00,0.000,4,0.000,0.039,3527,427,2257,0,0,0,0,0,0
$GC,5910,0.68,116.8,412.8,8.8,286,5915,0.00,2.25,0.00,0.000,6,0.000,0.031,3527,1979,2255,0,0,0,0,0,0
$GC,6254,0.68,116.8,382.9,8.6,295,6258,0.00,2.35,0.00,0.000,4,0.000,0.041,3526,3587,2253,0,0,0,0,0,0
$GC,6320,0.68,116.8,377.1,8.3,296,6324,0.00,2.30,0.00,0.000,6,0.000,0.028,3538,1994,2253,0,0,0,0,0,0
$GC,6663,0.72,150.5,354.8,6.5,305,6693,0.00,2.35,24.85,0.818,4,0.000,0.041,3538,3580,2136,0,0,0,0,0,0
$GC,6854,0.72,150.5,333.0,12.9,309,6859,0.00,2.30,0.00,0.000,6,0.000,0.029,3550,2005,2130,0,0,0,0,0,0
$GC,7183,0.72,150.5,294.7,10.5,318,7187,0.00,2.28,0.00,0.000,4,0.000,0.040,3562,426,2127,0,0,0,0,0,0
$GC,7328,0.72,150.5,281.8,8.7,324,7335,0.15,2.25,0.00,0.000,6,0.159,0.031,3520,2013,2126,0,0,0,0,0,0
$GC,7644,0.77,192.3,261.0,6.1,340,7685,0.00,2.40,33.28,0.765,4,0.000,0.040,3531,426,1964,0,0,0,0,0,0
$GC,7797,0.77,192.3,246.1,11.8,347,7801,0.00,2.25,0.00,0.000,6,0.000,0.030,3531,1994,1959,0,0,0,0,0,0
$GC,8122,0.77,192.3,209.8,10.8,363,8126,0.00,2.30,0.00,0.000,4,0.000,0.041,3530,3583,1956,0,0,0,0,0,0
$GC,8312,0.77,192.3,188.3,11.4,375,8318,0.00,2.28,0.00,0.000,6,0.000,0.028,3542,1996,1954,0,0,0,0,0,0
$GC,8572,0.77,192.3,160.0,12.6,400,8576,0.00,2.25,0.00,0.000,4,0.000,0.039,3554,428,1954,0,0,0,0,0,0
$GC,8672,0.77,192.3,148.4,12.0,408,8678,0.00,2.22,0.00,0.000,6,0.000,0.030,3554,2011,1953,0,0,0,0,0,0
$GC,8933,0.78,199.5,122.5,7.7,433,8944,0.00,0.00,5.43,0.519,6,0.000,0.000,3554,2011,1935,0,0,0,0,0,0
$GC,9199,0.84,247.2,104.6,5.8,458,9243,0.00,2.35,39.15,0.627,4,0.000,0.038,3566,418,1741,0,0,0,0,0,0
$GC,9372,0.84,247.2,90.1,10.5,473,9378,0.00,2.28,0.00,0.000,6,0.000,0.029,3565,2003,1735,0,0,0,0,0,0
$GC,9633,0.84,247.2,63.8,10.2,498,9637,0.00,2.28,0.00,0.000,4,0.000,0.039,3577,429,1733,0,0,0,0,0,0
$GC,9709,0.84,247.2,55.8,10.3,504,9716,0.00,2.25,0.00,0.000,6,0.000,0.029,3577,1995,1732,0,0,0,0,0,0
$GC,9971,0.84,247.2,30.2,9.8,529,9975,0.00,2.30,0.00,0.000,4,0.000,0.040,3577,3583,1732,0,0,0,0,0,0
$GC,10015,0.84,247.2,25.5,10.8,536,10021,0.00,2.22,0.00,0.000,6,0.000,0.028,3589,1996,1732,0,0,0,0,0,0
$GC,10223,0.84,247.2,3.1,10.8,573,10229,0.00,2.25,0.00,0.000,4,0.000,0.038,3601,427,1732,0,0,0,0,0,0
$STATE,10233,end climb,SURFACE_DEPTH_REACHED
$STATE,10233,begin surface coast
$FINISH,0.7,1.023043
$STATE,10256,end surface coast,CONTROL_FINISHED_OK
$STATE,10256,begin surface
$SM_CCo,10275,77.60,0.460,1,0,1159,390.02
$SM_GC,1.19,0.00,0.00,77.60,0.000,0.000,0.460,144,1913,1159,-9.83,0.37,390.02
$IRIDIUM_FIX,2054.83,-15754.77,300312,111102
$TT8_MAMPS,0.027612
$HUMID,1078755474
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,17.429
$10V_AH,10.3,14.216
$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,21.675,104.950,287.500,77.600,0.000,81.312,97.419,600.269,0.000,0.000,16.605,1168.947,7469.820,474.525,2073.675,214.168,33.373,1202.547,0.000,1285.214,0.000,0.541,0.000
$DEVICE_MAMPS,233.935,104.312,893.555,460.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,20092,579
$CAP_FILE_SIZE,152421,0
$CFSIZE,260165632,226516992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,204131,2104.190,-15756.164,37,1.3,38,9.8