version: 66.07
glider: 500
mission: 7
dive: 163
start: 10 5 110 20 56 50
data:
$ID,500
$MISSION,7
$DIVE,163
$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,-118558.58
$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
$GPS1,051010,204131,2104.190,-15756.164,37,1.3,38,9.8
$_CALLS,2
$_XMS_NAKs,29
$_XMS_TOUTs,3
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.7
$GPS2,051010,205555,2104.177,-15756.207,14,1.5,31,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.026
$KALMAN_X,-229047.8,168.5,458.0,221345.7,-3110.2
$KALMAN_Y,-11068.2,-75.9,72.2,-7979.6,-195.1
$MHEAD_RNG_PITCHd_Wd,87.1,11447,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,127,1914,2811,0,0,0,0,0,0
$GC,82,-0.68,-116.8,3.2,-5.5,12,109,11.35,2.40,-7.75,0.000,4,0.235,0.053,3062,290,3231,0,0,0,0,0,0
$GC,165,-0.68,-116.8,26.3,-19.5,27,171,0.00,2.35,0.00,0.000,6,0.000,0.031,3053,1934,3231,0,0,0,0,0,0
$GC,369,-0.68,-116.8,62.4,-17.5,48,370,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1934,3232,0,0,0,0,0,0
$GC,624,-0.68,-116.8,106.4,-14.1,72,628,0.00,2.38,0.00,0.000,4,0.000,0.040,3053,287,3233,0,0,0,0,0,0
$GC,790,-0.68,-116.8,128.7,-12.7,86,797,0.00,2.30,0.00,0.000,6,0.000,0.030,3042,1899,3234,0,0,0,0,0,0
$GC,1052,-0.68,-116.8,161.3,-13.5,111,1056,0.00,2.25,0.00,0.000,4,0.000,0.041,3030,3476,3236,0,0,0,0,0,0
$GC,1158,-0.68,-116.8,173.8,-10.7,120,1163,0.12,2.22,0.00,0.000,6,0.127,0.026,3072,1872,3236,0,0,0,0,0,0
$GC,1419,-0.68,-116.8,195.8,-8.1,144,1423,0.00,2.20,0.00,0.000,4,0.000,0.039,3073,320,3237,0,0,0,0,0,0
$GC,1514,-0.68,-116.8,203.4,-7.4,150,1518,0.00,2.20,0.00,0.000,6,0.000,0.030,3069,1910,3237,0,0,0,0,0,0
$GC,1828,-0.68,-116.8,221.4,-7.3,165,1833,0.00,2.22,0.00,0.000,4,0.000,0.041,3057,3476,3237,0,0,0,0,0,0
$GC,1857,-0.68,-116.8,223.7,-7.8,166,1861,0.00,2.20,0.00,0.000,6,0.000,0.026,3057,1886,3237,0,0,0,0,0,0
$GC,2171,-0.68,-116.8,257.9,-10.5,181,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1886,3237,0,0,0,0,0,0
$GC,2482,-0.68,-116.8,277.3,-4.3,196,2486,0.00,2.22,0.00,0.000,4,0.000,0.039,3057,321,3237,0,0,0,0,0,0
$GC,2621,-0.68,-116.8,286.3,-7.7,202,2625,0.00,2.25,0.00,0.000,6,0.000,0.029,3047,1908,3236,0,0,0,0,0,0
$GC,2962,-0.68,-116.8,316.6,-9.9,215,2966,0.00,2.28,0.00,0.000,4,0.000,0.039,3046,325,3236,0,0,0,0,0,0
$GC,3005,-0.68,-116.8,321.7,-11.1,216,3010,0.08,2.22,0.00,0.000,6,0.104,0.029,3070,1894,3236,0,0,0,0,0,0
$GC,3332,-0.68,-116.8,342.9,-5.7,224,3336,0.00,2.25,0.00,0.000,4,0.000,0.039,3070,320,3234,0,0,0,0,0,0
$GC,3387,-0.68,-116.8,346.9,-7.2,225,3391,0.00,2.25,0.00,0.000,6,0.000,0.029,3061,1908,3234,0,0,0,0,0,0
$GC,3700,-0.68,-116.8,369.0,-7.2,233,3705,0.00,2.30,0.00,0.000,4,0.000,0.040,3061,316,3232,0,0,0,0,0,0
$GC,3722,-0.68,-116.8,370.7,-7.8,233,3726,0.00,2.22,0.00,0.000,6,0.000,0.030,3056,1900,3232,0,0,0,0,0,0
$GC,4065,-0.68,-116.8,394.7,-7.1,242,4069,0.00,2.28,0.00,0.000,4,0.000,0.041,3056,327,3230,0,0,0,0,0,0
$GC,4132,-0.68,-116.8,400.2,-8.1,243,4136,0.00,2.20,0.00,0.000,6,0.000,0.030,3045,1904,3230,0,0,0,0,0,0
$GC,4479,-0.68,-116.8,431.2,-9.6,252,4483,0.00,2.33,0.00,0.000,4,0.000,0.041,3045,318,3228,0,0,0,0,0,0
$GC,4506,-0.68,-116.8,434.2,-10.5,252,4511,0.08,2.25,0.00,0.000,6,0.102,0.030,3070,1895,3228,0,0,0,0,0,0
$STATE,4800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4805,-0.23,0.0,463.1,10.2,260,4898,0.40,0.00,89.82,0.889,6,0.092,0.000,3218,2033,2749,0,0,0,0,0,0
$STATE,4899,end apogee,CONTROL_FINISHED_OK
$STATE,4899,begin climb
$GC,4901,0.68,116.8,468.7,0.0,262,5008,0.73,2.40,96.22,0.868,4,0.039,0.041,3539,3549,2272,0,0,0,0,0,0
$GC,5164,0.68,116.8,461.8,11.1,268,5169,0.10,2.28,0.00,0.000,6,0.144,0.028,3518,2001,2263,0,0,0,0,0,0
$GC,5490,0.68,116.8,428.1,10.8,276,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2000,2260,0,0,0,0,0,0
$GC,5813,0.68,116.8,389.4,11.6,284,5817,0.00,2.28,0.00,0.000,4,0.000,0.040,3529,424,2259,0,0,0,0,0,0
$GC,6008,0.70,136.2,371.5,7.1,288,6030,0.00,2.22,14.98,0.790,6,0.000,0.031,3529,1971,2194,0,0,0,0,0,0
$GC,6356,0.75,177.1,349.9,6.1,297,6397,0.00,2.35,33.85,0.815,4,0.000,0.041,3540,430,2026,0,0,0,0,0,0
$GC,6418,0.76,183.0,345.2,7.8,298,6430,0.00,2.33,6.22,0.646,6,0.000,0.031,3540,1994,2003,0,0,0,0,0,0
$GC,6762,0.76,183.0,304.7,13.2,307,6766,0.00,2.28,0.00,0.000,4,0.000,0.040,3551,433,1995,0,0,0,0,0,0
$GC,6923,0.76,183.0,281.3,12.7,313,6928,0.00,2.28,0.00,0.000,6,0.000,0.030,3551,1996,1994,0,0,0,0,0,0
$GC,7244,0.76,183.0,243.3,12.0,329,7248,0.00,2.28,0.00,0.000,4,0.000,0.040,3563,427,1992,0,0,0,0,0,0
$GC,7333,0.76,183.0,233.2,10.9,333,7337,0.00,2.28,0.00,0.000,6,0.000,0.031,3563,1998,1991,0,0,0,0,0,0
$GC,7659,0.76,183.0,197.9,10.9,349,7663,0.00,2.30,0.00,0.000,4,0.000,0.042,3563,3586,1990,0,0,0,0,0,0
$GC,7833,0.76,183.0,176.2,12.8,364,7838,0.15,2.25,0.00,0.000,6,0.173,0.028,3533,1995,1989,0,0,0,0,0,0
$GC,8094,0.76,183.0,150.5,9.6,388,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1994,1988,0,0,0,0,0,0
$GC,8349,0.77,193.0,128.9,7.6,412,8363,0.00,2.40,7.07,0.562,4,0.000,0.040,3533,3597,1963,0,0,0,0,0,0
$GC,8392,0.77,193.0,125.3,8.3,416,8396,0.00,2.30,0.00,0.000,6,0.000,0.028,3544,1985,1962,0,0,0,0,0,0
$GC,8652,0.78,194.7,100.7,7.9,440,8656,0.00,2.22,0.00,0.000,4,0.000,0.039,3555,428,1962,0,0,0,0,0,0
$GC,8749,0.89,283.2,95.7,3.9,448,8830,0.00,2.22,71.55,0.615,6,0.000,0.030,3556,2015,1594,0,0,0,0,0,0
$GC,9083,0.89,283.2,60.0,11.4,480,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2014,1587,0,0,0,0,0,0
$GC,9339,0.89,283.2,31.7,10.7,504,9343,0.00,2.30,0.00,0.000,4,0.000,0.039,3567,430,1585,0,0,0,0,0,0
$GC,9377,0.89,283.2,27.3,11.5,509,9383,0.00,2.22,0.00,0.000,6,0.000,0.030,3567,2011,1585,0,0,0,0,0,0
$STATE,9584,end climb,SURFACE_DEPTH_REACHED
$STATE,9584,begin surface coast
$FINISH,0.2,1.013936
$STATE,9608,end surface coast,CONTROL_FINISHED_OK
$STATE,9608,begin surface
$SM_CCo,9625,57.12,0.436,1,0,1159,390.02
$SM_GC,1.04,0.00,0.00,57.12,0.000,0.000,0.436,139,1888,1159,-9.85,-0.34,390.02
$IRIDIUM_FIX,2052.52,-15516.55,300312,151512
$TT8_MAMPS,0.027612
$HUMID,1078789023
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,17.546
$10V_AH,10.5,14.266
$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,21.575,91.200,319.725,57.125,0.000,59.180,71.443,525.867,0.000,0.000,33.530,1113.095,6894.293,453.482,1884.614,211.156,33.381,1143.613,0.000,1209.147,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,88.205,888.953,435.656,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334604
$DATA_FILE_SIZE,20100,550
$CAP_FILE_SIZE,141542,0
$CFSIZE,260165632,226476032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,233928,2103.790,-15756.519,13,2.7,33,9.8