version: 66.07
glider: 500
mission: 7
dive: 174
start: 10 7 110 5 51 58
data:
$ID,500
$MISSION,7
$DIVE,174
$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,-118823.88
$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
$GPS1,071010,054128,2102.147,-15800.928,10,2.5,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.3
$GPS2,071010,055104,2102.138,-15801.057,13,2.1,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.098
$KALMAN_X,-262876.8,318.0,-3.5,247106.5,-3461.5
$KALMAN_Y,-11624.9,-138.3,-52.3,-11012.6,352.6
$MHEAD_RNG_PITCHd_Wd,106.8,20485,-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,14,begin dive
$GC,16,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-65.72,0.000,2,0.000,0.000,128,1926,2983,0,0,0,0,0,0
$GC,88,-0.68,-116.8,4.1,-7.9,13,110,11.30,2.40,-4.12,0.000,4,0.232,0.046,3060,279,3229,0,0,0,0,0,0
$GC,139,-0.68,-116.8,24.8,-34.3,22,145,0.00,2.38,0.00,0.000,6,0.000,0.031,3049,1929,3231,0,0,0,0,0,0
$GC,337,-0.68,-116.8,61.0,-16.5,43,341,0.00,2.38,0.00,0.000,4,0.000,0.040,3049,290,3231,0,0,0,0,0,0
$GC,414,-0.68,-116.8,74.4,-16.5,49,421,0.12,2.28,0.00,0.000,6,0.147,0.030,3075,1909,3231,0,0,0,0,0,0
$GC,675,-0.68,-116.8,104.1,-9.5,74,679,0.00,2.30,0.00,0.000,4,0.000,0.042,3065,3480,3233,0,0,0,0,0,0
$GC,696,-0.68,-116.8,106.3,-10.4,75,702,0.00,2.28,0.00,0.000,6,0.000,0.028,3065,1869,3234,0,0,0,0,0,0
$GC,957,-0.68,-116.8,135.7,-12.2,100,961,0.00,2.20,0.00,0.000,4,0.000,0.041,3065,327,3235,0,0,0,0,0,0
$GC,989,-0.68,-116.8,140.0,-12.7,102,996,0.00,2.22,0.00,0.000,6,0.000,0.030,3055,1894,3235,0,0,0,0,0,0
$GC,1251,-0.68,-116.8,170.5,-11.6,127,1255,0.00,2.25,0.00,0.000,4,0.000,0.039,3054,317,3236,0,0,0,0,0,0
$GC,1290,-0.68,-116.8,175.3,-12.2,130,1294,0.00,2.22,0.00,0.000,6,0.000,0.030,3043,1901,3236,0,0,0,0,0,0
$GC,1549,-0.68,-116.8,205.1,-11.3,152,1553,0.00,2.28,0.00,0.000,4,0.000,0.041,3031,3483,3236,0,0,0,0,0,0
$GC,1615,-0.68,-116.8,212.7,-11.3,155,1620,0.10,2.25,0.00,0.000,6,0.101,0.025,3090,1896,3236,0,0,0,0,0,0
$GC,1941,-0.68,-116.8,239.8,-8.5,171,1945,0.00,2.25,0.00,0.000,4,0.000,0.039,3091,323,3235,0,0,0,0,0,0
$GC,2026,-0.68,-116.8,247.4,-9.1,175,2030,0.00,2.20,0.00,0.000,6,0.000,0.028,3080,1911,3235,0,0,0,0,0,0
$GC,2357,-0.68,-116.8,274.7,-8.1,191,2361,0.00,2.28,0.00,0.000,4,0.000,0.038,3080,321,3235,0,0,0,0,0,0
$GC,2408,-0.68,-116.8,279.4,-9.9,193,2412,0.00,2.20,0.00,0.000,6,0.000,0.029,3069,1896,3235,0,0,0,0,0,0
$GC,2746,-0.68,-116.8,310.5,-8.5,207,2751,0.00,2.30,0.00,0.000,4,0.000,0.041,3057,3473,3234,0,0,0,0,0,0
$GC,2790,-0.68,-116.8,314.0,-8.3,208,2795,0.00,2.20,0.00,0.000,6,0.000,0.025,3057,1886,3234,0,0,0,0,0,0
$GC,3115,-0.68,-116.8,338.0,-7.2,216,3119,0.00,2.28,0.00,0.000,4,0.000,0.040,3058,318,3232,0,0,0,0,0,0
$GC,3176,-0.68,-116.8,342.7,-7.8,217,3180,0.00,2.25,0.00,0.000,6,0.000,0.029,3045,1903,3232,0,0,0,0,0,0
$GC,3489,-0.68,-116.8,369.6,-9.5,225,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1903,3231,0,0,0,0,0,0
$GC,3814,-0.68,-116.8,403.9,-10.0,233,3818,0.00,2.28,0.00,0.000,4,0.000,0.040,3046,324,3228,0,0,0,0,0,0
$GC,3835,-0.68,-116.8,406.0,-9.7,233,3840,0.12,2.22,0.00,0.000,6,0.132,0.029,3077,1902,3228,0,0,0,0,0,0
$GC,4183,-0.68,-116.8,428.6,-5.6,242,4187,0.00,2.28,0.00,0.000,4,0.000,0.040,3077,320,3226,0,0,0,0,0,0
$GC,4223,-0.68,-116.8,431.1,-6.8,243,4227,0.00,2.22,0.00,0.000,6,0.000,0.030,3068,1911,3226,0,0,0,0,0,0
$GC,4548,-0.68,-116.8,452.0,-6.8,251,4552,0.00,2.28,0.00,0.000,4,0.000,0.043,3056,3476,3223,0,0,0,0,0,0
$GC,4607,-0.68,-116.8,457.0,-8.1,252,4612,0.00,2.25,0.00,0.000,6,0.000,0.026,3055,1897,3223,0,0,0,0,0,0
$STATE,4676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4676,begin apogee
$GC,4681,-0.23,0.0,463.0,8.8,254,4773,0.45,0.00,89.20,0.894,6,0.097,0.000,3218,2013,2750,0,0,0,0,0,0
$STATE,4774,end apogee,CONTROL_FINISHED_OK
$STATE,4774,begin climb
$GC,4776,0.68,116.8,467.3,0.0,256,4877,0.75,0.00,96.55,0.873,6,0.045,0.000,3535,2013,2273,0,0,0,0,0,0
$GC,5182,0.68,116.8,443.5,10.4,266,5186,0.00,2.33,0.00,0.000,4,0.000,0.040,3546,426,2259,0,0,0,0,0,0
$GC,5265,0.68,116.8,434.3,11.3,268,5270,0.12,2.28,0.00,0.000,6,0.159,0.031,3513,1994,2258,0,0,0,0,0,0
$GC,5590,0.68,116.8,404.2,9.0,276,5594,0.00,2.28,0.00,0.000,4,0.000,0.040,3524,428,2255,0,0,0,0,0,0
$GC,5847,0.74,164.2,384.9,5.8,281,5889,0.00,2.28,36.55,0.841,6,0.000,0.031,3524,2016,2079,0,0,0,0,0,0
$GC,6212,0.74,164.2,356.3,8.7,290,6217,0.00,2.33,0.00,0.000,4,0.000,0.040,3535,423,2069,0,0,0,0,0,0
$GC,6469,0.74,164.2,328.4,11.0,295,6476,0.00,2.28,0.00,0.000,6,0.000,0.031,3535,1993,2068,0,0,0,0,0,0
$GC,6781,0.74,164.2,293.5,11.3,304,6785,0.00,2.28,0.00,0.000,4,0.000,0.040,3546,422,2066,0,0,0,0,0,0
$GC,7039,0.74,164.2,264.5,10.7,315,7045,0.00,2.28,0.00,0.000,6,0.000,0.031,3547,2014,2066,0,0,0,0,0,0
$GC,7354,0.74,164.2,231.1,10.9,331,7358,0.00,2.30,0.00,0.000,4,0.000,0.040,3558,427,2066,0,0,0,0,0,0
$GC,7533,0.74,164.2,212.2,10.7,339,7537,0.00,2.22,0.00,0.000,6,0.000,0.031,3558,2005,2065,0,0,0,0,0,0
$GC,7854,0.76,182.8,184.4,7.2,363,7874,0.00,0.00,14.40,0.677,6,0.000,0.000,3558,2005,2003,0,0,0,0,0,0
$GC,8129,0.76,182.8,160.7,8.4,389,8133,0.00,2.28,0.00,0.000,4,0.000,0.039,3569,428,2000,0,0,0,0,0,0
$GC,8281,0.76,182.8,146.8,9.1,402,8286,0.12,2.22,0.00,0.000,6,0.157,0.030,3535,2002,1999,0,0,0,0,0,0
$GC,8542,0.77,187.9,125.5,7.8,426,8554,0.00,2.28,5.12,0.502,4,0.000,0.038,3546,427,1982,0,0,0,0,0,0
$GC,8592,0.79,205.9,121.9,7.2,430,8613,0.00,2.25,16.25,0.617,6,0.000,0.030,3545,1994,1910,0,0,0,0,0,0
$GC,8869,0.79,205.9,99.8,8.4,456,8873,0.00,2.30,0.00,0.000,4,0.000,0.039,3557,415,1907,0,0,0,0,0,0
$GC,8900,0.79,205.9,96.6,10.1,458,8907,0.00,2.30,0.00,0.000,6,0.000,0.030,3557,2012,1905,0,0,0,0,0,0
$GC,9162,0.84,247.9,78.2,6.1,483,9203,0.00,2.35,34.08,0.590,4,0.000,0.040,3568,425,1737,0,0,0,0,0,0
$GC,9407,0.84,247.9,54.4,10.6,505,9411,0.00,2.25,0.00,0.000,6,0.000,0.029,3568,2015,1733,0,0,0,0,0,0
$GC,9667,0.84,247.9,29.5,8.6,529,9673,0.00,2.28,0.00,0.000,4,0.000,0.038,3579,422,1732,0,0,0,0,0,0
$GC,9763,0.84,247.9,20.7,9.4,546,9769,0.00,2.22,0.00,0.000,6,0.000,0.029,3579,1993,1730,0,0,0,0,0,0
$STATE,9941,end climb,SURFACE_DEPTH_REACHED
$STATE,9941,begin surface coast
$FINISH,0.3,1.020622
$STATE,9970,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9988,72.82,0.451,1,0,1160,390.02
$SM_GC,1.05,0.00,0.00,72.82,0.000,0.000,0.451,137,1883,1160,-9.85,-0.48,390.02
$IRIDIUM_FIX,2057.14,-15806.34,310312,212146
$TT8_MAMPS,0.026845
$HUMID,1078765797
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,18.755
$10V_AH,10.4,14.830
$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,21.725,104.675,292.150,72.825,0.000,23.706,35.430,372.349,0.000,0.000,35.661,1188.945,6986.924,468.739,1798.064,202.839,33.376,1212.503,0.000,1332.522,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,100.477,893.555,450.996,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334652
$DATA_FILE_SIZE,20136,583
$CAP_FILE_SIZE,144816,0
$CFSIZE,260165632,225890304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,084100,2102.039,-15801.006,39,0.9,39,9.8