version: 66.07
glider: 500
mission: 7
dive: 170
start: 10 6 110 18 1 33
data:
$ID,500
$MISSION,7
$DIVE,170
$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,-118746.84
$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
$GPS1,061010,175101,2101.623,-15759.259,84,1.0,84,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.9
$GPS2,061010,180038,2101.587,-15759.331,14,1.1,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.057
$KALMAN_X,-251071.0,258.3,61.9,238279.0,-3223.8
$KALMAN_Y,-12149.6,192.6,-14.1,-11881.1,-19.1
$MHEAD_RNG_PITCHd_Wd,95.3,18659,-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,-61.45,0.000,2,0.000,0.000,127,1871,2856,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.8,-7.5,12,111,11.27,2.35,-6.50,0.000,4,0.232,0.051,3060,290,3230,0,0,0,0,0,0
$GC,139,-0.68,-116.8,23.2,-26.8,22,144,0.00,2.38,0.00,0.000,6,0.000,0.031,3050,1935,3231,0,0,0,0,0,0
$GC,337,-0.68,-116.8,60.4,-18.7,44,342,0.00,2.38,0.00,0.000,4,0.000,0.039,3050,294,3231,0,0,0,0,0,0
$GC,410,-0.68,-116.8,73.4,-16.8,50,415,0.10,2.28,0.00,0.000,6,0.162,0.030,3067,1908,3232,0,0,0,0,0,0
$GC,671,-0.68,-116.8,113.2,-14.8,74,672,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1909,3233,0,0,0,0,0,0
$GC,925,-0.68,-116.8,141.4,-10.0,98,929,0.00,2.33,0.00,0.000,4,0.000,0.040,3068,290,3234,0,0,0,0,0,0
$GC,987,-0.68,-116.8,148.1,-11.0,103,991,0.00,2.25,0.00,0.000,6,0.000,0.031,3057,1901,3235,0,0,0,0,0,0
$GC,1248,-0.68,-116.8,177.8,-10.6,127,1252,0.00,2.25,0.00,0.000,4,0.000,0.043,3046,3474,3235,0,0,0,0,0,0
$GC,1348,-0.68,-116.8,188.4,-11.2,135,1354,0.00,2.22,0.00,0.000,6,0.000,0.026,3046,1870,3236,0,0,0,0,0,0
$GC,1604,-0.68,-116.8,216.4,-10.4,153,1608,0.00,2.20,0.00,0.000,4,0.000,0.040,3046,322,3236,0,0,0,0,0,0
$GC,1675,-0.68,-116.8,224.5,-10.8,156,1680,0.08,2.22,0.00,0.000,6,0.110,0.029,3068,1898,3236,0,0,0,0,0,0
$GC,1996,-0.68,-116.8,252.1,-8.5,172,2000,0.00,2.25,0.00,0.000,4,0.000,0.039,3068,318,3236,0,0,0,0,0,0
$GC,2039,-0.68,-116.8,256.3,-9.6,174,2043,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1911,3236,0,0,0,0,0,0
$GC,2366,-0.68,-116.8,288.8,-10.1,190,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1911,3236,0,0,0,0,0,0
$GC,2693,-0.68,-116.8,316.5,-8.0,201,2697,0.00,2.28,0.00,0.000,4,0.000,0.039,3058,320,3235,0,0,0,0,0,0
$GC,2733,-0.68,-116.8,319.7,-8.3,202,2737,0.00,2.20,0.00,0.000,6,0.000,0.030,3047,1900,3234,0,0,0,0,0,0
$GC,3056,-0.68,-116.8,345.7,-8.0,210,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1901,3233,0,0,0,0,0,0
$GC,3381,-0.68,-116.8,377.7,-10.2,218,3385,0.00,2.30,0.00,0.000,4,0.000,0.040,3047,320,3231,0,0,0,0,0,0
$GC,3414,-0.68,-116.8,381.5,-11.1,218,3419,0.08,2.25,0.00,0.000,6,0.108,0.031,3070,1897,3231,0,0,0,0,0,0
$GC,3752,-0.68,-116.8,406.7,-6.3,227,3756,0.00,2.25,0.00,0.000,4,0.000,0.041,3070,327,3229,0,0,0,0,0,0
$GC,3784,-0.68,-116.8,408.9,-6.5,227,3790,0.00,2.25,0.00,0.000,6,0.000,0.031,3060,1900,3228,0,0,0,0,0,0
$GC,4115,-0.68,-116.8,435.1,-9.0,236,4119,0.00,2.33,0.00,0.000,4,0.000,0.041,3060,317,3226,0,0,0,0,0,0
$GC,4170,-0.68,-116.8,440.4,-9.6,237,4174,0.00,2.22,0.00,0.000,6,0.000,0.030,3049,1909,3225,0,0,0,0,0,0
$STATE,4399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4404,-0.23,0.0,460.9,8.8,243,4496,0.47,0.00,89.18,0.886,6,0.098,0.000,3217,2016,2749,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4498,begin climb
$GC,4500,0.68,116.8,462.6,0.0,245,4603,0.77,2.40,96.50,0.863,4,0.047,0.039,3533,3570,2272,0,0,0,0,0,0
$GC,4625,0.68,116.8,459.1,9.6,248,4630,0.10,2.38,0.00,0.000,6,0.143,0.028,3514,1994,2268,0,0,0,0,0,0
$GC,4974,0.68,116.8,425.5,10.0,257,4978,0.00,2.30,0.00,0.000,4,0.000,0.040,3525,419,2258,0,0,0,0,0,0
$GC,5142,0.72,148.1,410.8,6.6,260,5172,0.00,2.28,23.95,0.821,6,0.000,0.031,3525,1983,2146,0,0,0,0,0,0
$GC,5516,0.72,148.1,375.1,8.5,270,5520,0.00,2.30,0.00,0.000,4,0.000,0.040,3536,428,2137,0,0,0,0,0,0
$GC,5774,0.72,148.1,348.1,8.5,275,5780,0.00,2.25,0.00,0.000,6,0.000,0.031,3536,2008,2135,0,0,0,0,0,0
$GC,6105,0.78,199.2,328.1,5.7,284,6151,0.00,2.38,40.97,0.805,4,0.000,0.039,3547,422,1936,0,0,0,0,0,0
$GC,6404,0.78,199.2,291.6,14.0,291,6410,0.00,2.28,0.00,0.000,6,0.000,0.031,3548,2008,1927,0,0,0,0,0,0
$GC,6719,0.78,199.2,248.9,13.2,307,6723,0.00,2.30,0.00,0.000,4,0.000,0.040,3559,429,1924,0,0,0,0,0,0
$GC,6938,0.78,199.2,222.2,11.6,317,6942,0.00,2.25,0.00,0.000,6,0.000,0.030,3559,2001,1922,0,0,0,0,0,0
$GC,7256,0.78,199.2,189.4,9.7,337,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2001,1920,0,0,0,0,0,0
$GC,7511,0.78,199.2,163.8,9.4,361,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2001,1920,0,0,0,0,0,0
$GC,7766,0.78,199.2,137.1,9.5,385,7770,0.00,2.30,0.00,0.000,4,0.000,0.041,3570,420,1920,0,0,0,0,0,0
$GC,7911,0.78,201.7,125.6,7.9,398,7915,0.00,2.25,0.00,0.000,6,0.000,0.030,3570,2001,1919,0,0,0,0,0,0
$GC,8172,0.78,201.7,102.4,9.6,422,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2001,1920,0,0,0,0,0,0
$GC,8427,0.80,211.0,79.7,7.6,446,8442,0.00,2.33,7.93,0.534,4,0.000,0.039,3582,429,1889,0,0,0,0,0,0
$GC,8696,0.91,305.4,67.3,3.6,470,8779,0.00,2.22,74.32,0.583,6,0.000,0.029,3582,2002,1503,0,0,0,0,0,0
$GC,9031,0.91,305.4,38.8,10.2,502,9036,0.00,2.33,0.00,0.000,4,0.000,0.039,3593,421,1496,0,0,0,0,0,0
$GC,9249,0.91,305.4,11.8,12.5,533,9255,0.00,2.25,0.00,0.000,6,0.000,0.028,3593,1997,1494,0,0,0,0,0,0
$STATE,9323,end climb,SURFACE_DEPTH_REACHED
$STATE,9323,begin surface coast
$FINISH,0.3,1.006890
$STATE,9344,end surface coast,CONTROL_FINISHED_OK
$STATE,9345,begin surface
$SM_CCo,9362,44.58,0.403,1,0,1160,390.02
$SM_GC,1.22,0.00,0.00,44.58,0.000,0.000,0.403,137,1896,1160,-9.85,-0.14,390.02
$IRIDIUM_FIX,2052.52,-15756.91,310312,090928
$TT8_MAMPS,0.026845
$HUMID,1078776119
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.5,18.330
$10V_AH,10.4,14.627
$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,21.475,82.400,332.850,44.575,0.000,29.693,33.083,390.178,0.000,0.000,16.285,1100.774,6551.896,461.522,1689.543,190.184,33.374,1140.585,0.000,1224.202,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,102.778,885.885,403.442,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334628
$DATA_FILE_SIZE,20141,550
$CAP_FILE_SIZE,131689,0
$CFSIZE,260165632,226107392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,204006,2101.408,-15759.175,64,0.9,64,9.8