version: 66.07
glider: 500
mission: 7
dive: 171
start: 10 6 110 20 54 9
data:
$ID,500
$MISSION,7
$DIVE,171
$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,-118760.93
$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
$GPS1,061010,204006,2101.408,-15759.175,64,0.9,64,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.7
$GPS2,061010,205314,2101.363,-15759.334,11,1.2,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,0.119
$KALMAN_X,-254347.7,532.6,663.3,240673.1,-4609.3
$KALMAN_Y,-11964.5,128.8,107.3,-12536.9,-70.1
$MHEAD_RNG_PITCHd_Wd,47.1,18930,-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,-61.42,0.000,2,0.000,0.000,127,1896,2836,0,0,0,0,0,0
$GC,83,-0.68,-116.8,3.3,-6.2,12,104,11.25,0.00,-7.15,0.000,6,0.231,0.000,3060,1896,3229,0,0,0,0,0,0
$GC,307,-0.68,-116.8,51.3,-17.8,42,311,0.00,2.35,0.00,0.000,4,0.000,0.041,3050,3501,3232,0,0,0,0,0,0
$GC,338,-0.68,-116.8,57.3,-17.8,44,345,0.00,2.35,0.00,0.000,6,0.000,0.027,3050,1867,3232,0,0,0,0,0,0
$GC,600,-0.68,-116.8,100.6,-16.1,69,604,0.00,2.22,0.00,0.000,4,0.000,0.040,3050,327,3233,0,0,0,0,0,0
$GC,684,-0.68,-116.8,113.7,-15.1,76,689,0.10,2.28,0.00,0.000,6,0.157,0.031,3070,1930,3233,0,0,0,0,0,0
$GC,945,-0.68,-116.8,143.9,-10.6,100,949,0.00,2.22,0.00,0.000,4,0.000,0.041,3060,3486,3234,0,0,0,0,0,0
$GC,965,-0.68,-116.8,146.0,-9.8,101,972,0.00,2.25,0.00,0.000,6,0.000,0.026,3060,1902,3234,0,0,0,0,0,0
$GC,1227,-0.68,-116.8,171.4,-10.5,126,1231,0.00,2.25,0.00,0.000,4,0.000,0.039,3060,318,3235,0,0,0,0,0,0
$GC,1322,-0.68,-116.8,183.6,-14.5,134,1327,0.00,2.22,0.00,0.000,6,0.000,0.030,3052,1919,3235,0,0,0,0,0,0
$GC,1590,-0.68,-116.8,216.0,-11.8,153,1594,0.00,2.28,0.00,0.000,4,0.000,0.038,3052,319,3235,0,0,0,0,0,0
$GC,1698,-0.68,-116.8,227.3,-9.9,158,1702,0.00,2.22,0.00,0.000,6,0.000,0.029,3041,1905,3235,0,0,0,0,0,0
$GC,2023,-0.68,-116.8,260.3,-11.1,174,2027,0.00,2.25,0.00,0.000,4,0.000,0.041,3029,3472,3235,0,0,0,0,0,0
$GC,2073,-0.68,-116.8,266.1,-11.5,176,2078,0.12,2.17,0.00,0.000,6,0.128,0.026,3072,1893,3235,0,0,0,0,0,0
$GC,2394,-0.68,-116.8,295.2,-8.0,192,2398,0.00,2.25,0.00,0.000,4,0.000,0.039,3072,322,3234,0,0,0,0,0,0
$GC,2543,-0.68,-116.8,307.1,-7.4,197,2547,0.00,2.22,0.00,0.000,6,0.000,0.028,3063,1900,3234,0,0,0,0,0,0
$GC,2891,-0.68,-116.8,336.0,-8.8,206,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1900,3232,0,0,0,0,0,0
$GC,3217,-0.68,-116.8,358.7,-5.6,214,3221,0.00,2.30,0.00,0.000,4,0.000,0.041,3062,317,3229,0,0,0,0,0,0
$GC,3266,-0.68,-116.8,361.1,-5.2,215,3270,0.00,2.25,0.00,0.000,6,0.000,0.030,3051,1897,3228,0,0,0,0,0,0
$GC,3586,-0.68,-116.8,382.8,-7.5,223,3590,0.00,2.28,0.00,0.000,4,0.000,0.041,3039,3484,3226,0,0,0,0,0,0
$GC,3647,-0.68,-116.8,388.4,-9.2,224,3652,0.05,2.25,0.00,0.000,6,0.110,0.026,3065,1904,3226,0,0,0,0,0,0
$GC,3996,-0.68,-116.8,419.5,-8.2,233,4000,0.00,2.28,0.00,0.000,4,0.000,0.039,3065,313,3223,0,0,0,0,0,0
$GC,4035,-0.68,-116.8,422.5,-7.8,234,4039,0.00,2.25,0.00,0.000,6,0.000,0.029,3056,1913,3223,0,0,0,0,0,0
$GC,4359,-0.68,-116.8,447.0,-8.0,242,4363,0.00,2.30,0.00,0.000,4,0.000,0.039,3055,325,3219,0,0,0,0,0,0
$GC,4420,-0.68,-116.8,453.1,-10.3,243,4424,0.00,2.22,0.00,0.000,6,0.000,0.029,3044,1909,3219,0,0,0,0,0,0
$STATE,4522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4522,begin apogee
$GC,4527,-0.23,0.0,462.9,9.4,246,4619,0.47,0.00,88.28,0.887,6,0.100,0.000,3212,2021,2750,0,0,0,0,0,0
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4622,0.68,116.8,466.0,0.0,248,4728,0.75,2.45,96.07,0.868,4,0.048,0.041,3523,3569,2272,0,0,0,0,0,0
$GC,4795,0.68,116.8,464.0,8.6,252,4799,0.00,2.33,0.00,0.000,6,0.000,0.028,3535,1990,2265,0,0,0,0,0,0
$GC,5119,0.68,116.8,435.4,8.2,260,5123,0.00,2.30,0.00,0.000,4,0.000,0.039,3546,426,2258,0,0,0,0,0,0
$GC,5376,0.68,120.0,415.4,7.9,265,5383,0.10,2.25,0.00,0.000,6,0.143,0.031,3513,1980,2256,0,0,0,0,0,0
$GC,5708,0.71,144.0,392.6,6.9,274,5733,0.00,2.38,20.45,0.821,4,0.000,0.040,3513,3583,2161,0,0,0,0,0,0
$GC,5985,0.71,144.0,364.2,9.4,280,5989,0.00,2.30,0.00,0.000,6,0.000,0.028,3524,1997,2154,0,0,0,0,0,0
$GC,6299,0.71,144.0,335.1,9.7,288,6303,0.00,2.30,0.00,0.000,4,0.000,0.039,3536,420,2152,0,0,0,0,0,0
$GC,6370,0.71,144.0,328.0,9.5,289,6374,0.00,2.30,0.00,0.000,6,0.000,0.031,3536,2002,2151,0,0,0,0,0,0
$GC,6707,0.74,168.9,301.7,6.9,298,6729,0.00,0.00,19.75,0.775,6,0.000,0.000,3536,2003,2061,0,0,0,0,0,0
$GC,7015,0.74,168.9,274.8,8.1,312,7019,0.00,2.30,0.00,0.000,4,0.000,0.040,3547,423,2055,0,0,0,0,0,0
$GC,7193,0.74,168.9,259.5,8.4,320,7198,0.00,2.30,0.00,0.000,6,0.000,0.030,3547,2007,2054,0,0,0,0,0,0
$GC,7521,0.74,168.9,230.9,8.7,336,7525,0.00,2.30,0.00,0.000,4,0.000,0.039,3559,416,2053,0,0,0,0,0,0
$GC,7559,0.74,168.9,227.4,9.7,338,7563,0.00,2.28,0.00,0.000,6,0.000,0.031,3559,2005,2053,0,0,0,0,0,0
$GC,7885,0.74,168.9,198.3,8.5,354,7889,0.00,2.28,0.00,0.000,4,0.000,0.039,3570,426,2053,0,0,0,0,0,0
$GC,8064,0.74,168.9,181.8,8.1,369,8071,0.10,2.28,0.00,0.000,6,0.136,0.030,3536,2012,2052,0,0,0,0,0,0
$GC,8325,0.78,196.5,164.4,6.7,394,8356,0.00,2.40,22.50,0.669,4,0.000,0.039,3546,419,1948,0,0,0,0,0,0
$GC,8450,0.78,196.5,153.0,10.5,405,8457,0.00,2.28,0.00,0.000,6,0.000,0.029,3547,2004,1945,0,0,0,0,0,0
$GC,8711,0.78,196.5,129.0,8.8,430,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2004,1944,0,0,0,0,0,0
$GC,8967,0.80,210.9,110.1,7.4,454,8981,0.00,0.00,12.65,0.589,6,0.000,0.000,3546,2004,1889,0,0,0,0,0,0
$GC,9232,0.80,210.9,87.7,8.8,479,9236,0.00,2.30,0.00,0.000,4,0.000,0.038,3558,426,1887,0,0,0,0,0,0
$GC,9275,0.80,210.9,83.4,9.3,482,9282,0.00,2.25,0.00,0.000,6,0.000,0.030,3558,1989,1886,0,0,0,0,0,0
$GC,9536,0.83,238.4,64.2,6.8,507,9568,0.00,2.33,22.65,0.567,4,0.000,0.039,3569,429,1777,0,0,0,0,0,0
$GC,9819,0.83,238.4,40.5,9.5,532,9826,0.00,2.25,0.00,0.000,6,0.000,0.029,3568,1992,1773,0,0,0,0,0,0
$GC,10089,0.83,238.4,16.0,8.9,570,10095,0.00,2.25,0.00,0.000,4,0.000,0.038,3580,418,1773,0,0,0,0,0,0
$GC,10134,0.83,238.4,11.7,9.3,578,10140,0.00,2.22,0.00,0.000,6,0.000,0.031,3580,2007,1773,0,0,0,0,0,0
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10228,begin surface coast
$FINISH,0.4,1.002829
$STATE,10263,end surface coast,CONTROL_FINISHED_OK
$STATE,10263,begin surface
$SM_CCo,10280,84.47,0.461,1,0,1159,390.02
$SM_GC,1.03,0.00,0.00,84.47,0.000,0.000,0.461,144,1879,1159,-9.83,-0.59,390.02
$IRIDIUM_FIX,2054.83,-15841.50,310312,151547
$TT8_MAMPS,0.027612
$HUMID,1078710313
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,18.440
$10V_AH,10.4,14.681
$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,21.700,100.500,282.350,84.475,0.000,56.949,83.895,461.279,0.000,0.000,13.464,1222.919,7266.489,478.076,1979.425,217.621,33.361,1233.964,0.000,1372.156,0.000,0.541,0.000
$DEVICE_MAMPS,230.867,102.778,886.652,460.967,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,405.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,20111,601
$CAP_FILE_SIZE,151711,0
$CFSIZE,260165632,226037760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,234805,2101.950,-15759.750,15,1.0,29,9.8