version: 66.07
glider: 500
mission: 7
dive: 164
start: 10 5 110 23 58 53
data:
$ID,500
$MISSION,7
$DIVE,164
$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,558.0484
$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,-118605.45
$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
$GPS1,051010,233928,2103.790,-15756.519,13,2.7,33,9.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.8
$GPS2,051010,235800,2103.859,-15756.716,38,1.3,44,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.066
$KALMAN_X,-232045.8,245.7,21.3,223828.4,-3610.9
$KALMAN_Y,-11220.4,-158.7,19.0,-8279.0,-195.4
$MHEAD_RNG_PITCHd_Wd,97.9,12502,-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,-116.8,0.0,0.0,0,80,0.00,0.00,-61.33,0.000,2,0.000,0.000,127,1886,2866,0,0,0,0,0,0
$GC,83,-0.68,-116.8,3.7,-8.3,12,110,11.27,2.38,-6.47,0.000,4,0.232,0.051,3063,286,3232,0,0,0,0,0,0
$GC,134,-0.68,-116.8,21.4,-30.4,21,140,0.00,2.35,0.00,0.000,6,0.000,0.031,3053,1927,3231,0,0,0,0,0,0
$GC,338,-0.68,-116.8,64.6,-22.1,44,342,0.00,2.28,0.00,0.000,4,0.000,0.041,3041,3486,3232,0,0,0,0,0,0
$GC,353,-0.68,-116.8,68.0,-21.8,45,360,0.00,2.33,0.00,0.000,6,0.000,0.027,3041,1868,3232,0,0,0,0,0,0
$GC,614,-0.68,-116.8,110.1,-12.1,70,619,0.10,2.22,0.00,0.000,4,0.148,0.040,3073,323,3233,0,0,0,0,0,0
$GC,669,-0.68,-116.8,116.0,-10.8,74,675,0.00,2.20,0.00,0.000,6,0.000,0.030,3068,1908,3234,0,0,0,0,0,0
$GC,930,-0.68,-116.8,145.1,-11.1,99,934,0.00,2.28,0.00,0.000,4,0.000,0.041,3055,3480,3235,0,0,0,0,0,0
$GC,969,-0.68,-116.8,149.4,-11.4,102,973,0.00,2.20,0.00,0.000,6,0.000,0.026,3055,1902,3235,0,0,0,0,0,0
$GC,1229,-0.68,-116.8,176.5,-9.8,126,1233,0.00,2.28,0.00,0.000,4,0.000,0.040,3055,310,3236,0,0,0,0,0,0
$GC,1267,-0.68,-116.8,180.6,-10.5,129,1273,0.00,2.25,0.00,0.000,6,0.000,0.030,3045,1900,3236,0,0,0,0,0,0
$GC,1536,-0.68,-116.8,209.7,-11.3,151,1540,0.00,2.30,0.00,0.000,4,0.000,0.040,3045,319,3236,0,0,0,0,0,0
$GC,1592,-0.68,-116.8,216.4,-11.6,153,1598,0.12,2.20,0.00,0.000,6,0.134,0.030,3076,1904,3235,0,0,0,0,0,0
$GC,1907,-0.68,-116.8,241.4,-7.5,169,1911,0.00,2.28,0.00,0.000,4,0.000,0.041,3066,3484,3235,0,0,0,0,0,0
$GC,1940,-0.68,-116.8,243.8,-7.1,170,1946,0.00,2.22,0.00,0.000,6,0.000,0.026,3066,1895,3235,0,0,0,0,0,0
$GC,2255,-0.68,-116.8,266.3,-7.0,186,2259,0.00,2.28,0.00,0.000,4,0.000,0.040,3065,313,3235,0,0,0,0,0,0
$GC,2293,-0.68,-116.8,269.5,-7.9,187,2299,0.00,2.22,0.00,0.000,6,0.000,0.031,3056,1910,3234,0,0,0,0,0,0
$GC,2608,-0.68,-116.8,297.6,-9.6,203,2612,0.00,2.30,0.00,0.000,4,0.000,0.039,3056,314,3233,0,0,0,0,0,0
$GC,2708,-0.68,-116.8,307.8,-10.4,206,2712,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1911,3233,0,0,0,0,0,0
$GC,3021,-0.68,-116.8,332.7,-7.5,214,3025,0.00,2.30,0.00,0.000,4,0.000,0.040,3046,320,3232,0,0,0,0,0,0
$GC,3081,-0.68,-116.8,337.7,-8.4,215,3086,0.08,2.25,0.00,0.000,6,0.104,0.029,3070,1902,3232,0,0,0,0,0,0
$GC,3430,-0.68,-116.8,362.6,-7.7,224,3434,0.00,2.25,0.00,0.000,4,0.000,0.040,3070,325,3230,0,0,0,0,0,0
$GC,3484,-0.68,-116.8,367.7,-9.1,225,3489,0.00,2.25,0.00,0.000,6,0.000,0.029,3061,1910,3229,0,0,0,0,0,0
$GC,3798,-0.68,-116.8,392.5,-7.4,233,3802,0.00,2.33,0.00,0.000,4,0.000,0.040,3061,321,3227,0,0,0,0,0,0
$GC,3859,-0.68,-116.8,397.3,-7.1,234,3864,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1899,3226,0,0,0,0,0,0
$GC,4209,-0.68,-116.8,419.0,-6.0,243,4213,0.00,2.28,0.00,0.000,4,0.000,0.040,3055,326,3225,0,0,0,0,0,0
$GC,4274,-0.68,-116.8,423.7,-7.0,244,4278,0.00,2.25,0.00,0.000,6,0.000,0.030,3044,1907,3225,0,0,0,0,0,0
$GC,4618,-0.68,-116.8,449.2,-7.9,253,4622,0.00,2.30,0.00,0.000,4,0.000,0.040,3044,321,3221,0,0,0,0,0,0
$GC,4650,-0.68,-116.8,452.1,-8.5,253,4657,0.08,2.25,0.00,0.000,6,0.102,0.029,3068,1898,3220,0,0,0,0,0,0
$STATE,4776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4776,begin apogee
$GC,4782,-0.23,0.0,460.7,6.8,257,4873,0.40,0.00,88.68,0.890,6,0.092,0.000,3216,2015,2750,0,0,0,0,0,0
$STATE,4874,end apogee,CONTROL_FINISHED_OK
$STATE,4874,begin climb
$GC,4876,0.68,116.8,463.1,0.0,259,4977,0.75,0.00,97.03,0.866,6,0.040,0.000,3541,2015,2273,0,0,0,0,0,0
$GC,5282,0.68,116.8,432.6,11.3,269,5287,0.12,2.28,0.00,0.000,4,0.163,0.041,3508,3566,2258,0,0,0,0,0,0
$GC,5331,0.68,116.8,426.7,11.5,270,5335,0.00,2.30,0.00,0.000,6,0.000,0.028,3519,1991,2258,0,0,0,0,0,0
$GC,5651,0.69,126.5,399.1,7.6,278,5662,0.00,2.30,6.30,0.679,4,0.000,0.038,3531,426,2234,0,0,0,0,0,0
$GC,5915,0.69,126.5,374.8,10.8,284,5919,0.00,2.20,0.00,0.000,6,0.000,0.031,3531,1981,2231,0,0,0,0,0,0
$GC,6239,0.71,143.3,348.5,7.2,292,6256,0.00,0.00,14.88,0.785,6,0.000,0.000,3531,1981,2164,0,0,0,0,0,0
$GC,6563,0.71,143.3,320.5,9.2,300,6567,0.00,2.28,0.00,0.000,4,0.000,0.040,3542,429,2158,0,0,0,0,0,0
$GC,6703,0.71,143.3,305.1,11.3,303,6707,0.00,2.28,0.00,0.000,6,0.000,0.031,3542,2013,2157,0,0,0,0,0,0
$GC,7019,0.71,143.3,273.4,8.4,317,7023,0.00,2.33,0.00,0.000,4,0.000,0.040,3554,421,2156,0,0,0,0,0,0
$GC,7275,0.71,143.3,251.8,8.7,328,7282,0.08,2.28,0.00,0.000,6,0.145,0.031,3512,1994,2155,0,0,0,0,0,0
$GC,7591,0.75,177.0,232.6,6.5,344,7625,0.00,2.38,26.60,0.736,4,0.000,0.039,3523,426,2027,0,0,0,0,0,0
$GC,7698,0.75,177.0,223.8,9.3,349,7702,0.00,2.25,0.00,0.000,6,0.000,0.031,3523,2008,2024,0,0,0,0,0,0
$GC,8014,0.75,177.0,195.0,8.5,367,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2008,2020,0,0,0,0,0,0
$GC,8270,0.77,186.1,175.1,7.6,391,8284,0.00,2.35,7.68,0.601,4,0.000,0.041,3523,3574,1990,0,0,0,0,0,0
$GC,8329,0.77,186.1,169.4,10.0,396,8335,0.00,2.25,0.00,0.000,6,0.000,0.028,3534,1996,1989,0,0,0,0,0,0
$GC,8590,0.77,186.1,142.4,11.7,421,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1995,1988,0,0,0,0,0,0
$GC,8845,0.77,186.1,117.3,9.4,445,8849,0.00,2.28,0.00,0.000,4,0.000,0.038,3546,421,1988,0,0,0,0,0,0
$GC,8906,0.77,186.1,111.2,10.6,450,8910,0.00,2.22,0.00,0.000,6,0.000,0.030,3546,2010,1987,0,0,0,0,0,0
$GC,9167,0.77,186.1,90.0,9.9,474,9171,0.00,2.33,0.00,0.000,4,0.000,0.039,3558,422,1987,0,0,0,0,0,0
$GC,9256,0.77,191.3,82.5,7.8,481,9266,0.00,2.25,5.43,0.478,6,0.000,0.030,3558,2004,1970,0,0,0,0,0,0
$GC,9521,0.88,277.1,66.6,4.0,506,9593,0.00,0.00,68.07,0.583,6,0.000,0.000,3557,2004,1619,0,0,0,0,0,0
$GC,9848,0.88,277.1,38.0,11.0,537,9852,0.00,2.30,0.00,0.000,4,0.000,0.039,3569,419,1612,0,0,0,0,0,0
$GC,9971,0.88,277.1,24.3,10.6,552,9976,0.00,2.25,0.00,0.000,6,0.000,0.030,3569,2009,1610,0,0,0,0,0,0
$STATE,10153,end climb,SURFACE_DEPTH_REACHED
$STATE,10154,begin surface coast
$FINISH,0.6,1.022975
$STATE,10177,end surface coast,CONTROL_FINISHED_OK
$STATE,10177,begin surface
$SM_CCo,10194,138.62,0.481,1,0,474,558.05
$SM_GC,0.81,0.00,0.00,138.62,0.000,0.000,0.481,129,1861,474,-9.86,-1.10,558.05
$IRIDIUM_FIX,2054.83,-15756.91,300312,181835
$TT8_MAMPS,0.027612
$HUMID,1078699990
$INTERNAL_PRESSURE,9.5011
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,17.669
$10V_AH,10.4,14.320
$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,21.500,104.775,314.650,138.625,0.000,137.889,188.113,361.802,0.000,0.000,46.249,1182.641,7471.573,570.929,2003.146,226.677,33.383,1279.546,0.000,1263.474,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,100.477,890.487,480.909,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,396.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334632
$DATA_FILE_SIZE,20091,589
$CAP_FILE_SIZE,150295,0
$CFSIZE,260165632,226373632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,025230,2103.148,-15757.497,35,0.8,41,9.8