version: 66.07
glider: 500
mission: 7
dive: 165
start: 10 6 110 3 7 3
data:
$ID,500
$MISSION,7
$DIVE,165
$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,-118636.77
$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
$GPS1,061010,025230,2103.148,-15757.497,35,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.7
$GPS2,061010,030610,2103.145,-15757.642,8,2.2,27,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.029
$KALMAN_X,-235391.8,142.5,-511.1,226213.4,-3028.7
$KALMAN_Y,-11624.3,-173.4,-126.2,-9035.8,-102.2
$MHEAD_RNG_PITCHd_Wd,87.8,14576,-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,-116.8,0.0,0.0,0,110,0.00,0.00,-91.38,0.000,2,0.000,0.000,126,1860,3027,0,0,0,0,0,0
$GC,113,-0.68,-116.8,4.0,-7.6,18,135,11.32,2.42,-3.47,0.000,4,0.234,0.050,3050,3510,3230,0,0,0,0,0,0
$GC,152,-0.68,-116.8,21.3,-42.1,25,158,0.00,2.35,0.00,0.000,6,0.000,0.028,3049,1870,3232,0,0,0,0,0,0
$GC,357,-0.68,-116.8,62.8,-18.5,48,361,0.00,2.25,0.00,0.000,4,0.000,0.041,3050,324,3231,0,0,0,0,0,0
$GC,418,-0.68,-116.8,73.6,-16.8,53,423,0.10,2.28,0.00,0.000,6,0.158,0.031,3069,1932,3231,0,0,0,0,0,0
$GC,679,-0.68,-116.8,103.2,-11.4,77,683,0.00,2.30,0.00,0.000,4,0.000,0.039,3069,325,3233,0,0,0,0,0,0
$GC,695,-0.68,-116.8,105.3,-12.4,78,699,0.00,2.25,0.00,0.000,6,0.000,0.031,3067,1913,3233,0,0,0,0,0,0
$GC,955,-0.68,-116.8,138.8,-13.7,102,959,0.00,2.28,0.00,0.000,4,0.000,0.039,3067,320,3233,0,0,0,0,0,0
$GC,983,-0.68,-116.8,142.8,-14.3,104,987,0.00,2.22,0.00,0.000,6,0.000,0.029,3056,1901,3234,0,0,0,0,0,0
$GC,1243,-0.68,-116.8,172.4,-9.3,128,1247,0.00,2.30,0.00,0.000,4,0.000,0.040,3044,3483,3234,0,0,0,0,0,0
$GC,1293,-0.68,-116.8,176.4,-8.3,132,1297,0.00,2.22,0.00,0.000,6,0.000,0.026,3044,1899,3234,0,0,0,0,0,0
$GC,1553,-0.68,-116.8,199.4,-9.8,156,1557,0.00,2.25,0.00,0.000,4,0.000,0.039,3044,313,3234,0,0,0,0,0,0
$GC,1654,-0.68,-116.8,210.7,-12.0,160,1660,0.12,2.20,0.00,0.000,6,0.135,0.029,3075,1902,3234,0,0,0,0,0,0
$GC,1970,-0.68,-116.8,236.7,-7.6,176,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1902,3233,0,0,0,0,0,0
$GC,2279,-0.68,-116.8,258.5,-6.9,191,2283,0.00,2.25,0.00,0.000,4,0.000,0.039,3075,323,3232,0,0,0,0,0,0
$GC,2312,-0.68,-116.8,261.1,-7.9,192,2318,0.00,2.20,0.00,0.000,6,0.000,0.030,3070,1904,3232,0,0,0,0,0,0
$GC,2627,-0.68,-116.8,282.9,-5.3,208,2631,0.00,2.28,0.00,0.000,4,0.000,0.038,3061,323,3231,0,0,0,0,0,0
$GC,2644,-0.68,-116.8,286.0,-15.8,209,2648,0.00,2.17,0.00,0.000,6,0.000,0.021,3049,1958,3230,0,0,0,0,0,0
$GC,2987,-0.68,-116.8,336.1,-11.0,219,2991,0.00,2.35,0.00,0.000,4,0.000,0.038,3047,313,3229,0,0,0,0,0,0
$GC,3064,-0.68,-116.8,343.7,-9.7,220,3070,0.08,2.25,0.00,0.000,6,0.104,0.029,3070,1895,3229,0,0,0,0,0,0
$GC,3403,-0.68,-116.8,363.5,-5.4,229,3407,0.00,2.25,0.00,0.000,4,0.000,0.038,3070,319,3226,0,0,0,0,0,0
$GC,3481,-0.68,-116.8,368.3,-6.1,230,3487,0.00,2.25,0.00,0.000,6,0.000,0.029,3063,1905,3225,0,0,0,0,0,0
$GC,3813,-0.68,-116.8,391.1,-7.4,239,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1906,3223,0,0,0,0,0,0
$GC,4137,-0.68,-116.8,419.9,-9.2,247,4140,0.00,2.28,0.00,0.000,4,0.000,0.039,3062,324,3220,0,0,0,0,0,0
$GC,4169,-0.68,-116.8,423.4,-10.2,247,4173,0.00,2.22,0.00,0.000,6,0.000,0.029,3055,1909,3220,0,0,0,0,0,0
$GC,4505,-0.68,-116.8,459.3,-10.9,256,4510,0.00,2.28,0.00,0.000,4,0.000,0.039,3055,319,3218,0,0,0,0,0,0
$STATE,4514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4514,begin apogee
$GC,4521,-0.23,0.0,460.6,10.8,256,4612,0.45,0.00,87.88,0.884,6,0.102,0.000,3208,1998,2750,0,0,0,0,0,0
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4615,0.68,116.8,466.0,0.0,258,4722,0.77,2.47,96.57,0.864,4,0.051,0.041,3522,3574,2272,0,0,0,0,0,0
$GC,4835,0.68,116.8,468.9,8.3,263,4839,0.00,2.33,0.00,0.000,6,0.000,0.028,3534,1983,2264,0,0,0,0,0,0
$GC,5154,0.68,116.8,441.9,9.0,271,5158,0.00,2.28,0.00,0.000,4,0.000,0.040,3546,430,2259,0,0,0,0,0,0
$GC,5410,0.68,116.8,419.8,8.4,276,5417,0.10,2.28,0.00,0.000,6,0.140,0.030,3512,2000,2257,0,0,0,0,0,0
$GC,5742,0.68,116.8,391.0,9.5,285,5746,0.00,2.28,0.00,0.000,4,0.000,0.040,3523,428,2255,0,0,0,0,0,0
$GC,5909,0.68,116.8,373.6,10.1,288,5916,0.00,2.28,0.00,0.000,6,0.000,0.031,3523,1998,2254,0,0,0,0,0,0
$GC,6242,0.73,156.8,349.1,6.2,297,6275,0.00,0.00,30.75,0.820,6,0.000,0.000,3523,1998,2109,0,0,0,0,0,0
$GC,6608,0.73,156.8,316.1,9.6,306,6613,0.00,2.30,0.00,0.000,4,0.000,0.040,3535,421,2099,0,0,0,0,0,0
$GC,6815,0.73,156.8,296.3,10.6,311,6819,0.00,2.30,0.00,0.000,6,0.000,0.031,3535,2010,2097,0,0,0,0,0,0
$GC,7137,0.73,156.8,264.7,8.5,327,7141,0.00,2.30,0.00,0.000,4,0.000,0.040,3546,432,2094,0,0,0,0,0,0
$GC,7248,0.73,156.8,253.4,11.0,332,7252,0.00,2.22,0.00,0.000,6,0.000,0.030,3546,2005,2094,0,0,0,0,0,0
$GC,7574,0.73,156.8,222.2,8.4,348,7578,0.00,2.28,0.00,0.000,4,0.000,0.039,3557,425,2092,0,0,0,0,0,0
$GC,7794,0.73,156.8,202.4,9.5,358,7798,0.12,2.22,0.00,0.000,6,0.159,0.031,3523,2000,2092,0,0,0,0,0,0
$GC,8117,0.75,170.5,179.7,7.4,387,8131,0.00,2.30,9.40,0.639,4,0.000,0.041,3534,421,2054,0,0,0,0,0,0
$GC,8331,0.75,174.9,163.3,7.8,406,8342,0.00,2.25,5.30,0.536,6,0.000,0.030,3534,1995,2035,0,0,0,0,0,0
$GC,8597,0.75,174.9,140.6,9.4,431,8601,0.00,2.33,0.00,0.000,4,0.000,0.041,3534,3594,2034,0,0,0,0,0,0
$GC,8640,0.75,174.9,135.7,10.8,434,8646,0.00,2.28,0.00,0.000,6,0.000,0.028,3545,2006,2033,0,0,0,0,0,0
$GC,8901,0.75,174.9,112.0,8.4,459,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,2006,2033,0,0,0,0,0,0
$GC,9156,0.84,246.4,96.3,4.7,483,9220,0.00,2.40,57.10,0.617,4,0.000,0.039,3557,428,1744,0,0,0,0,0,0
$GC,9333,0.84,246.4,79.5,10.8,499,9339,0.00,2.25,0.00,0.000,6,0.000,0.029,3557,2016,1737,0,0,0,0,0,0
$GC,9595,0.84,246.4,50.9,8.5,524,9598,0.00,2.30,0.00,0.000,4,0.000,0.038,3568,431,1735,0,0,0,0,0,0
$GC,9832,0.84,246.4,28.6,10.0,546,9838,0.00,2.22,0.00,0.000,6,0.000,0.028,3568,1994,1733,0,0,0,0,0,0
$GC,10039,0.84,246.4,8.4,10.6,583,10045,0.00,2.30,0.00,0.000,4,0.000,0.039,3568,3583,1733,0,0,0,0,0,0
$STATE,10088,end climb,SURFACE_DEPTH_REACHED
$STATE,10089,begin surface coast
$FINISH,0.3,1.023053
$STATE,10112,end surface coast,CONTROL_FINISHED_OK
$STATE,10112,begin surface
$SM_CCo,10131,71.05,0.073,0,0,1159,390.02
$SM_GC,0.94,0.00,0.00,71.05,0.000,0.000,0.073,118,1902,1159,-9.91,0.08,390.02
$IRIDIUM_FIX,2054.83,-15759.05,300312,181859
$TT8_MAMPS,0.026845
$HUMID,1078781281
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,17.778
$10V_AH,10.4,14.374
$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,21.650,105.100,287.000,71.050,0.000,28.079,30.653,625.850,0.000,0.000,30.686,1190.934,7111.591,464.576,2052.983,204.430,33.381,1221.947,0.000,1344.846,0.000,0.542,0.000
$DEVICE_MAMPS,233.935,49.855,884.351,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,401.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334648
$DATA_FILE_SIZE,20121,596
$CAP_FILE_SIZE,150274,0
$CFSIZE,260165632,226357248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,055806,2102.958,-15757.709,24,1.9,24,9.8