version: 66.07
glider: 500
mission: 7
dive: 167
start: 10 6 110 9 25 28
data:
$ID,500
$MISSION,7
$DIVE,167
$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,-118686.05
$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
$GPS1,061010,091020,2102.662,-15757.938,10,1.7,11,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.4
$GPS2,061010,092432,2102.652,-15758.101,11,1.9,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.084
$KALMAN_X,-241794.6,-250.2,541.2,231161.7,-3806.2
$KALMAN_Y,-12237.5,9.1,96.7,-9742.7,-249.9
$MHEAD_RNG_PITCHd_Wd,102.8,15764,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,79,0.00,0.00,-60.80,0.000,2,0.000,0.000,126,1903,2829,0,0,0,0,0,0
$GC,82,-0.68,-116.8,3.4,-6.3,12,109,11.30,2.40,-7.35,0.000,4,0.232,0.051,3063,291,3231,0,0,0,0,0,0
$GC,153,-0.68,-116.8,23.6,-18.1,25,159,0.00,2.35,0.00,0.000,6,0.000,0.029,3053,1934,3231,0,0,0,0,0,0
$GC,353,-0.68,-116.8,58.6,-17.6,47,354,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1935,3232,0,0,0,0,0,0
$GC,607,-0.68,-116.8,101.3,-14.7,71,611,0.00,2.38,0.00,0.000,4,0.000,0.039,3053,292,3233,0,0,0,0,0,0
$GC,723,-0.68,-116.8,117.7,-14.3,81,729,0.00,2.30,0.00,0.000,6,0.000,0.030,3042,1902,3234,0,0,0,0,0,0
$GC,984,-0.68,-116.8,151.8,-14.3,106,988,0.00,2.28,0.00,0.000,4,0.000,0.041,3030,3476,3236,0,0,0,0,0,0
$GC,1056,-0.68,-116.8,162.4,-13.5,112,1061,0.12,2.25,0.00,0.000,6,0.131,0.026,3071,1863,3236,0,0,0,0,0,0
$GC,1316,-0.68,-116.8,190.8,-10.8,136,1320,0.00,2.22,0.00,0.000,4,0.000,0.039,3071,317,3237,0,0,0,0,0,0
$GC,1349,-0.68,-116.8,194.7,-11.0,138,1355,0.00,2.22,0.00,0.000,6,0.000,0.029,3062,1910,3237,0,0,0,0,0,0
$GC,1614,-0.68,-116.8,219.4,-8.6,154,1618,0.00,2.28,0.00,0.000,4,0.000,0.038,3062,321,3236,0,0,0,0,0,0
$GC,1659,-0.68,-116.8,223.1,-8.1,156,1663,0.00,2.20,0.00,0.000,6,0.000,0.030,3054,1899,3236,0,0,0,0,0,0
$GC,1990,-0.68,-116.8,250.8,-8.4,172,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1899,3236,0,0,0,0,0,0
$GC,2299,-0.68,-116.8,280.7,-10.5,187,2303,0.00,2.30,0.00,0.000,4,0.000,0.041,3042,3477,3236,0,0,0,0,0,0
$GC,2348,-0.68,-116.8,286.0,-9.2,189,2353,0.00,2.22,0.00,0.000,6,0.000,0.025,3042,1902,3237,0,0,0,0,0,0
$GC,2689,-0.68,-116.8,314.6,-8.0,202,2694,0.00,2.25,0.00,0.000,4,0.000,0.039,3042,320,3236,0,0,0,0,0,0
$GC,2795,-0.68,-116.8,324.2,-8.7,204,2800,0.10,2.25,0.00,0.000,6,0.104,0.028,3072,1906,3235,0,0,0,0,0,0
$GC,3144,-0.68,-116.8,350.7,-8.0,213,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1906,3233,0,0,0,0,0,0
$GC,3468,-0.68,-116.8,373.9,-6.9,221,3472,0.00,2.28,0.00,0.000,4,0.000,0.040,3073,323,3231,0,0,0,0,0,0
$GC,3517,-0.68,-116.8,377.6,-7.4,222,3522,0.00,2.20,0.00,0.000,6,0.000,0.030,3063,1902,3231,0,0,0,0,0,0
$GC,3831,-0.68,-116.8,398.7,-6.5,230,3835,0.00,2.30,0.00,0.000,4,0.000,0.042,3050,3475,3229,0,0,0,0,0,0
$GC,3851,-0.68,-116.8,400.1,-6.1,230,3856,0.00,2.25,0.00,0.000,6,0.000,0.026,3050,1898,3229,0,0,0,0,0,0
$GC,4194,-0.68,-116.8,426.9,-8.1,239,4198,0.00,2.25,0.00,0.000,4,0.000,0.040,3050,322,3226,0,0,0,0,0,0
$GC,4266,-0.68,-116.8,433.3,-9.4,240,4271,0.08,2.25,0.00,0.000,6,0.103,0.029,3072,1900,3226,0,0,0,0,0,0
$GC,4604,-0.68,-116.8,454.6,-6.2,249,4608,0.00,2.30,0.00,0.000,4,0.000,0.041,3073,323,3223,0,0,0,0,0,0
$GC,4641,-0.68,-116.8,457.5,-7.7,249,4648,0.00,2.25,0.00,0.000,6,0.000,0.030,3063,1903,3223,0,0,0,0,0,0
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4692,-0.23,0.0,460.7,7.2,251,4784,0.43,0.00,89.18,0.894,6,0.098,0.000,3214,2009,2750,0,0,0,0,0,0
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4785,begin climb
$GC,4787,0.68,116.8,463.3,0.0,253,4893,0.75,2.45,96.53,0.870,4,0.050,0.041,3521,3561,2272,0,0,0,0,0,0
$GC,5028,0.68,116.8,451.2,12.1,258,5032,0.00,2.30,0.00,0.000,6,0.000,0.029,3533,1995,2262,0,0,0,0,0,0
$GC,5364,0.68,116.8,415.1,11.2,267,5368,0.00,2.28,0.00,0.000,4,0.000,0.039,3544,425,2257,0,0,0,0,0,0
$GC,5599,0.68,116.8,389.7,10.5,272,5604,0.10,2.25,0.00,0.000,6,0.140,0.030,3511,1985,2255,0,0,0,0,0,0
$GC,5913,0.68,117.6,364.4,8.0,280,5917,0.00,2.28,0.00,0.000,4,0.000,0.039,3522,414,2253,0,0,0,0,0,0
$GC,6170,0.76,179.8,345.6,5.1,285,6225,0.00,2.28,48.62,0.825,6,0.000,0.030,3522,2005,2015,0,0,0,0,0,0
$GC,6544,0.76,179.8,312.3,10.0,295,6547,0.00,2.33,0.00,0.000,4,0.000,0.040,3533,428,2005,0,0,0,0,0,0
$GC,6739,0.76,179.8,290.3,11.2,300,6745,0.00,2.30,0.00,0.000,6,0.000,0.030,3534,2000,2002,0,0,0,0,0,0
$GC,7055,0.76,179.8,261.6,8.8,316,7059,0.00,2.30,0.00,0.000,4,0.000,0.041,3545,420,2000,0,0,0,0,0,0
$GC,7143,0.76,179.8,252.6,10.1,320,7147,0.00,2.30,0.00,0.000,6,0.000,0.031,3545,2007,1999,0,0,0,0,0,0
$GC,7470,0.76,179.8,222.3,9.4,336,7474,0.00,2.28,0.00,0.000,4,0.000,0.041,3546,3585,1997,0,0,0,0,0,0
$GC,7546,0.76,179.8,213.8,10.8,339,7553,0.00,2.30,0.00,0.000,6,0.000,0.028,3557,1987,1996,0,0,0,0,0,0
$GC,7867,0.76,179.8,178.4,11.6,363,7871,0.00,2.25,0.00,0.000,4,0.000,0.040,3568,430,1996,0,0,0,0,0,0
$GC,7910,0.76,179.8,173.1,12.4,366,7918,0.10,2.25,0.00,0.000,6,0.133,0.030,3534,1995,1995,0,0,0,0,0,0
$GC,8172,0.76,184.8,147.3,7.8,391,8176,0.00,2.30,0.00,0.000,4,0.000,0.041,3534,3582,1995,0,0,0,0,0,0
$GC,8222,0.76,184.8,142.9,8.6,395,8226,0.00,2.22,0.00,0.000,6,0.000,0.028,3544,2001,1995,0,0,0,0,0,0
$GC,8483,0.76,184.8,121.7,8.2,419,8487,0.00,2.25,0.00,0.000,4,0.000,0.039,3557,424,1995,0,0,0,0,0,0
$GC,8623,0.76,184.8,109.1,8.3,431,8627,0.00,2.22,0.00,0.000,6,0.000,0.030,3557,2005,1994,0,0,0,0,0,0
$GC,8883,0.76,184.8,85.2,9.2,455,8887,0.00,2.25,0.00,0.000,4,0.000,0.038,3568,428,1994,0,0,0,0,0,0
$GC,9140,0.92,312.0,73.4,2.1,477,9249,0.00,2.22,99.18,0.592,6,0.000,0.028,3568,1999,1477,0,0,0,0,0,0
$GC,9503,0.92,312.0,40.5,11.1,512,9507,0.00,2.30,0.00,0.000,4,0.000,0.039,3579,422,1470,0,0,0,0,0,0
$GC,9761,0.92,312.0,10.2,12.4,549,9767,0.00,2.25,0.00,0.000,6,0.000,0.029,3579,2006,1468,0,0,0,0,0,0
$STATE,9821,end climb,SURFACE_DEPTH_REACHED
$STATE,9823,begin surface coast
$FINISH,0.2,1.012362
$STATE,9850,end surface coast,CONTROL_FINISHED_OK
$STATE,9850,begin surface
$SM_CCo,9867,41.17,0.396,1,0,1159,390.02
$SM_GC,1.40,0.00,0.00,41.17,0.000,0.000,0.396,147,1875,1159,-9.82,-0.71,390.02
$IRIDIUM_FIX,2057.14,-15756.91,310312,030357
$TT8_MAMPS,0.027612
$HUMID,1078792893
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,46
$24V_AH,24.4,18.008
$10V_AH,10.4,14.480
$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,21.575,100.350,333.500,41.175,0.000,56.256,63.713,545.988,11.500,0.000,13.222,1147.876,6962.479,455.674,1993.696,211.799,33.379,1203.536,0.000,1323.659,0.000,0.542,0.000
$DEVICE_MAMPS,231.634,103.545,894.322,395.772,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,380.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334580
$DATA_FILE_SIZE,20093,565
$CAP_FILE_SIZE,147295,0
$CFSIZE,260165632,226254848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,121227,2102.049,-15758.746,47,3.4,67,9.8