version: 66.07
glider: 500
mission: 7
dive: 166
start: 10 6 110 6 14 57
data:
$ID,500
$MISSION,7
$DIVE,166
$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,-118672.2
$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
$GPS1,061010,055806,2102.958,-15757.709,24,1.9,24,9.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.1
$GPS2,061010,061404,2102.909,-15757.870,13,4.2,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.033
$KALMAN_X,-238523.0,-48.8,-65.1,228690.4,-2869.8
$KALMAN_Y,-11869.1,-90.3,-74.9,-9365.2,61.9
$MHEAD_RNG_PITCHd_Wd,88.9,15157,-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,-60.50,0.000,2,0.000,0.000,118,1903,2836,0,0,0,0,0,0
$GC,82,-0.68,-116.8,3.6,-7.2,12,109,11.30,2.40,-7.12,0.000,4,0.231,0.051,3062,291,3232,0,0,0,0,0,0
$GC,121,-0.68,-116.8,17.3,-33.4,19,126,0.00,2.35,0.00,0.000,6,0.000,0.031,3052,1925,3232,0,0,0,0,0,0
$GC,327,-0.68,-116.8,57.5,-20.4,44,328,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1926,3233,0,0,0,0,0,0
$GC,581,-0.68,-116.8,100.0,-15.4,68,585,0.00,2.35,0.00,0.000,4,0.000,0.039,3052,293,3234,0,0,0,0,0,0
$GC,682,-0.68,-116.8,113.8,-13.8,76,687,0.00,2.28,0.00,0.000,6,0.000,0.031,3041,1903,3234,0,0,0,0,0,0
$GC,942,-0.68,-116.8,144.0,-9.9,101,946,0.00,2.28,0.00,0.000,4,0.000,0.042,3029,3483,3235,0,0,0,0,0,0
$GC,1076,-0.68,-116.8,158.0,-11.3,112,1083,0.10,2.28,0.00,0.000,6,0.100,0.026,3070,1880,3236,0,0,0,0,0,0
$GC,1337,-0.68,-116.8,184.1,-9.9,137,1341,0.00,2.25,0.00,0.000,4,0.000,0.040,3070,318,3236,0,0,0,0,0,0
$GC,1422,-0.68,-116.8,192.9,-10.7,144,1427,0.00,2.20,0.00,0.000,6,0.000,0.030,3061,1903,3236,0,0,0,0,0,0
$GC,1678,-0.68,-116.8,217.6,-9.4,159,1682,0.00,2.28,0.00,0.000,4,0.000,0.041,3049,3481,3236,0,0,0,0,0,0
$GC,1694,-0.68,-116.8,219.1,-9.4,160,1698,0.00,2.20,0.00,0.000,6,0.000,0.026,3049,1896,3236,0,0,0,0,0,0
$GC,2019,-0.68,-116.8,250.9,-9.1,176,2023,0.00,2.22,0.00,0.000,4,0.000,0.039,3049,324,3235,0,0,0,0,0,0
$GC,2068,-0.68,-116.8,255.6,-9.3,178,2073,0.10,2.20,0.00,0.000,6,0.147,0.030,3072,1910,3236,0,0,0,0,0,0
$GC,2390,-0.68,-116.8,275.9,-6.5,194,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1910,3235,0,0,0,0,0,0
$GC,2698,-0.68,-116.8,297.9,-7.3,209,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1910,3233,0,0,0,0,0,0
$GC,3024,-0.68,-116.8,324.1,-8.5,218,3028,0.00,2.33,0.00,0.000,4,0.000,0.040,3072,320,3232,0,0,0,0,0,0
$GC,3068,-0.68,-116.8,328.3,-9.3,219,3072,0.00,2.25,0.00,0.000,6,0.000,0.030,3069,1899,3232,0,0,0,0,0,0
$GC,3392,-0.68,-116.8,356.7,-9.0,227,3396,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,323,3229,0,0,0,0,0,0
$GC,3418,-0.68,-116.8,359.4,-9.8,227,3423,0.00,2.20,0.00,0.000,6,0.000,0.029,3059,1906,3229,0,0,0,0,0,0
$GC,3760,-0.68,-116.8,389.6,-8.4,236,3765,0.00,2.30,0.00,0.000,4,0.000,0.039,3059,316,3226,0,0,0,0,0,0
$GC,3799,-0.68,-116.8,393.2,-9.5,237,3804,0.00,2.25,0.00,0.000,6,0.000,0.031,3048,1909,3226,0,0,0,0,0,0
$GC,4126,-0.68,-116.8,419.2,-7.6,245,4130,0.00,2.30,0.00,0.000,4,0.000,0.040,3048,324,3224,0,0,0,0,0,0
$GC,4152,-0.68,-116.8,421.6,-8.4,245,4157,0.08,2.25,0.00,0.000,6,0.104,0.030,3071,1897,3224,0,0,0,0,0,0
$GC,4490,-0.68,-116.8,443.0,-6.3,254,4494,0.00,2.30,0.00,0.000,4,0.000,0.042,3061,3482,3221,0,0,0,0,0,0
$GC,4517,-0.68,-116.8,444.6,-5.8,254,4521,0.00,2.25,0.00,0.000,6,0.000,0.027,3060,1903,3221,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4776,-0.23,0.0,462.1,7.2,261,4868,0.43,0.00,88.57,0.894,6,0.094,0.000,3215,2031,2749,0,0,0,0,0,0
$STATE,4869,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4870,0.68,116.8,463.7,0.0,263,4977,0.75,2.42,96.50,0.871,4,0.048,0.041,3524,3573,2271,0,0,0,0,0,0
$GC,5229,0.68,116.8,440.3,10.8,271,5234,0.00,2.30,0.00,0.000,6,0.000,0.028,3536,1995,2259,0,0,0,0,0,0
$GC,5549,0.68,116.8,409.9,9.1,279,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1995,2255,0,0,0,0,0,0
$GC,5873,0.68,116.8,380.2,8.7,287,5877,0.00,2.28,0.00,0.000,4,0.000,0.040,3536,3558,2253,0,0,0,0,0,0
$GC,5928,0.70,131.0,376.1,7.4,288,5943,0.12,2.25,9.23,0.752,6,0.166,0.028,3514,1989,2216,0,0,0,0,0,0
$GC,6279,0.70,131.0,349.6,9.0,297,6284,0.00,2.25,0.00,0.000,4,0.000,0.039,3525,428,2211,0,0,0,0,0,0
$GC,6536,0.70,131.0,325.0,8.1,302,6543,0.00,2.25,0.00,0.000,6,0.000,0.030,3525,1983,2210,0,0,0,0,0,0
$GC,6868,0.70,136.2,299.4,7.8,311,6878,0.00,2.30,4.88,0.598,4,0.000,0.039,3537,422,2194,0,0,0,0,0,0
$GC,7000,0.70,136.2,286.6,10.3,317,7005,0.00,2.28,0.00,0.000,6,0.000,0.030,3537,1991,2194,0,0,0,0,0,0
$GC,7327,0.73,153.9,259.8,7.2,333,7349,0.00,2.30,16.33,0.746,4,0.000,0.038,3548,430,2121,0,0,0,0,0,0
$GC,7394,0.73,153.9,254.6,8.5,336,7398,0.00,2.28,0.00,0.000,6,0.000,0.031,3548,2009,2118,0,0,0,0,0,0
$GC,7719,0.73,153.9,223.8,10.1,352,7723,0.00,2.33,0.00,0.000,4,0.000,0.039,3560,421,2115,0,0,0,0,0,0
$GC,7875,0.73,153.9,208.3,8.0,359,7879,0.12,2.25,0.00,0.000,6,0.160,0.030,3525,2009,2114,0,0,0,0,0,0
$GC,8197,0.73,153.9,185.3,8.5,383,8201,0.00,2.28,0.00,0.000,4,0.000,0.039,3536,429,2112,0,0,0,0,0,0
$GC,8386,0.73,158.0,168.2,7.8,399,8392,0.00,2.25,0.00,0.000,6,0.000,0.029,3536,1994,2112,0,0,0,0,0,0
$GC,8647,0.83,236.0,152.5,4.4,424,8720,0.00,2.40,64.60,0.673,4,0.000,0.041,3536,3584,1785,0,0,0,0,0,0
$GC,8755,0.83,236.0,145.3,9.7,434,8759,0.00,2.30,0.00,0.000,6,0.000,0.028,3548,1997,1781,0,0,0,0,0,0
$GC,9015,0.83,236.0,121.5,8.8,458,9019,0.00,2.28,0.00,0.000,4,0.000,0.039,3559,428,1775,0,0,0,0,0,0
$GC,9088,0.83,236.0,114.5,10.1,464,9093,0.00,2.25,0.00,0.000,6,0.000,0.029,3559,2007,1774,0,0,0,0,0,0
$GC,9349,0.85,251.3,90.9,7.3,488,9369,0.00,2.38,11.52,0.565,4,0.000,0.039,3571,429,1724,0,0,0,0,0,0
$GC,9531,0.85,251.3,75.0,10.4,504,9538,0.00,2.25,0.00,0.000,6,0.000,0.028,3571,1993,1721,0,0,0,0,0,0
$GC,9792,0.85,251.3,53.0,8.6,529,9796,0.00,2.25,0.00,0.000,4,0.000,0.038,3582,426,1721,0,0,0,0,0,0
$GC,9903,0.85,251.3,43.3,8.7,538,9910,0.00,2.25,0.00,0.000,6,0.000,0.029,3582,1993,1720,0,0,0,0,0,0
$GC,10170,0.85,251.3,19.0,9.6,573,10176,0.00,2.35,0.00,0.000,4,0.000,0.041,3582,3593,1721,0,0,0,0,0,0
$GC,10293,0.85,251.3,6.1,9.5,595,10299,0.12,2.28,0.00,0.000,6,0.159,0.027,3559,1984,1721,0,0,0,0,0,0
$STATE,10344,end climb,SURFACE_DEPTH_REACHED
$STATE,10345,begin surface coast
$FINISH,0.3,1.023037
$STATE,10385,end surface coast,CONTROL_FINISHED_OK
$STATE,10385,begin surface
$SM_CCo,10403,72.07,0.073,0,0,1159,390.02
$SM_GC,1.13,0.00,0.00,72.07,0.000,0.000,0.073,146,1903,1159,-9.82,0.08,390.02
$IRIDIUM_FIX,2054.83,-15756.91,310312,000042
$TT8_MAMPS,0.027612
$HUMID,1078736119
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.4,17.889
$10V_AH,10.4,14.428
$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,21.525,105.150,291.625,72.075,0.000,53.145,70.035,623.279,0.000,0.000,34.789,1229.340,7412.819,460.164,2115.682,217.160,33.377,1211.635,0.000,1340.601,0.000,0.541,0.000
$DEVICE_MAMPS,230.867,123.487,893.555,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,412.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,20074,611
$CAP_FILE_SIZE,154113,0
$CFSIZE,260165632,226299904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,091020,2102.662,-15757.938,10,1.7,11,9.8