version: 66.07
glider: 500
mission: 7
dive: 175
start: 10 7 110 8 54 49
data:
$ID,500
$MISSION,7
$DIVE,175
$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,-118840.77
$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
$GPS1,071010,084100,2102.039,-15801.006,39,0.9,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.0
$GPS2,071010,085355,2102.046,-15801.134,9,0.9,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,0.096
$KALMAN_X,-265604.9,80.5,623.5,249314.4,-4023.5
$KALMAN_Y,-11012.3,-36.2,191.5,-12146.3,456.2
$MHEAD_RNG_PITCHd_Wd,54.0,20688,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.68,-116.8,0.0,0.0,0,81,0.00,0.00,-61.28,0.000,2,0.000,0.000,128,1884,2849,0,0,0,0,0,0
$GC,85,-0.68,-116.8,3.6,-7.0,12,111,11.32,2.40,-6.70,0.000,4,0.233,0.049,3048,3503,3230,0,0,0,0,0,0
$GC,140,-0.68,-116.8,23.0,-28.3,22,145,0.00,2.35,0.00,0.000,6,0.000,0.027,3048,1860,3232,0,0,0,0,0,0
$GC,343,-0.68,-116.8,64.0,-18.7,44,347,0.00,2.42,0.00,0.000,4,0.000,0.040,3036,3513,3231,0,0,0,0,0,0
$GC,359,-0.68,-116.8,67.0,-17.0,45,366,0.08,2.30,0.00,0.000,6,0.118,0.026,3067,1896,3231,0,0,0,0,0,0
$GC,620,-0.68,-116.8,105.2,-13.7,70,624,0.00,2.22,0.00,0.000,4,0.000,0.039,3067,332,3233,0,0,0,0,0,0
$GC,716,-0.68,-116.8,117.4,-10.9,78,720,0.00,2.22,0.00,0.000,6,0.000,0.030,3057,1929,3232,0,0,0,0,0,0
$GC,977,-0.68,-116.8,152.2,-12.8,102,981,0.00,2.25,0.00,0.000,4,0.000,0.041,3045,3473,3233,0,0,0,0,0,0
$GC,1038,-0.68,-116.8,160.2,-12.8,107,1042,0.00,2.17,0.00,0.000,6,0.000,0.026,3045,1909,3234,0,0,0,0,0,0
$GC,1298,-0.68,-116.8,192.8,-11.4,131,1302,0.00,2.25,0.00,0.000,4,0.000,0.039,3046,323,3234,0,0,0,0,0,0
$GC,1364,-0.68,-116.8,200.3,-9.8,136,1371,0.08,2.22,0.00,0.000,6,0.112,0.029,3067,1893,3234,0,0,0,0,0,0
$GC,1618,-0.68,-116.8,219.2,-6.4,149,1622,0.00,2.25,0.00,0.000,4,0.000,0.038,3068,320,3234,0,0,0,0,0,0
$GC,1655,-0.68,-116.8,222.7,-9.1,150,1662,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1905,3234,0,0,0,0,0,0
$GC,1971,-0.68,-116.8,251.4,-9.2,166,1975,0.00,2.28,0.00,0.000,4,0.000,0.042,3046,3483,3234,0,0,0,0,0,0
$GC,2036,-0.68,-116.8,257.9,-10.1,169,2041,0.00,2.25,0.00,0.000,6,0.000,0.025,3046,1891,3234,0,0,0,0,0,0
$GC,2362,-0.68,-116.8,292.1,-11.3,185,2366,0.00,2.25,0.00,0.000,4,0.000,0.040,3046,324,3234,0,0,0,0,0,0
$GC,2434,-0.68,-116.8,300.5,-11.1,188,2439,0.08,2.22,0.00,0.000,6,0.107,0.029,3069,1900,3234,0,0,0,0,0,0
$GC,2773,-0.68,-116.8,328.1,-7.5,197,2777,0.00,2.28,0.00,0.000,4,0.000,0.042,3058,3475,3232,0,0,0,0,0,0
$GC,2812,-0.68,-116.8,330.9,-7.2,198,2816,0.00,2.20,0.00,0.000,6,0.000,0.027,3059,1892,3232,0,0,0,0,0,0
$GC,3137,-0.68,-116.8,353.2,-7.6,206,3141,0.00,2.28,0.00,0.000,4,0.000,0.040,3058,320,3230,0,0,0,0,0,0
$GC,3185,-0.68,-116.8,358.1,-10.2,207,3190,0.00,2.25,0.00,0.000,6,0.000,0.029,3047,1902,3230,0,0,0,0,0,0
$GC,3505,-0.68,-116.8,389.1,-9.8,215,3509,0.00,2.30,0.00,0.000,4,0.000,0.042,3035,3475,3227,0,0,0,0,0,0
$GC,3564,-0.68,-116.8,395.0,-9.5,216,3570,0.08,2.25,0.00,0.000,6,0.101,0.026,3070,1898,3226,0,0,0,0,0,0
$GC,3913,-0.68,-116.8,424.4,-9.1,225,3917,0.00,2.25,0.00,0.000,4,0.000,0.040,3070,324,3224,0,0,0,0,0,0
$GC,3974,-0.68,-116.8,428.7,-6.5,226,3978,0.00,2.25,0.00,0.000,6,0.000,0.028,3060,1909,3223,0,0,0,0,0,0
$GC,4323,-0.68,-116.8,451.0,-6.1,235,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1910,3220,0,0,0,0,0,0
$STATE,4483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4483,begin apogee
$GC,4488,-0.23,0.0,462.1,6.8,239,4579,0.45,0.00,88.40,0.886,6,0.097,0.000,3222,2018,2750,0,0,0,0,0,0
$STATE,4580,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4582,0.68,116.8,464.4,0.0,241,4689,0.73,2.45,96.12,0.865,4,0.044,0.041,3531,3566,2272,0,0,0,0,0,0
$GC,4733,0.69,126.9,463.9,7.6,244,4750,0.00,2.35,8.88,0.731,6,0.000,0.028,3543,1996,2231,0,0,0,0,0,0
$GC,5076,0.69,126.9,430.9,9.8,253,5080,0.00,2.30,0.00,0.000,4,0.000,0.040,3555,421,2224,0,0,0,0,0,0
$GC,5332,0.69,126.9,400.6,11.3,258,5340,0.12,2.28,0.00,0.000,6,0.145,0.031,3513,1988,2223,0,0,0,0,0,0
$GC,5666,0.69,126.9,370.9,8.4,267,5670,0.00,2.28,0.00,0.000,4,0.000,0.040,3524,426,2221,0,0,0,0,0,0
$GC,5760,0.69,126.9,362.9,8.2,269,5764,0.00,2.28,0.00,0.000,6,0.000,0.031,3524,1996,2221,0,0,0,0,0,0
$GC,6079,0.71,144.7,338.9,7.2,277,6098,0.00,2.35,14.05,0.776,4,0.000,0.041,3536,428,2159,0,0,0,0,0,0
$GC,6352,0.71,144.7,315.7,8.9,283,6356,0.00,2.28,0.00,0.000,6,0.000,0.031,3536,2015,2156,0,0,0,0,0,0
$GC,6677,0.71,144.7,285.6,9.4,294,6682,0.00,2.33,0.00,0.000,4,0.000,0.041,3547,430,2153,0,0,0,0,0,0
$GC,6733,0.71,144.7,280.1,9.7,296,6739,0.00,2.25,0.00,0.000,6,0.000,0.031,3547,2001,2153,0,0,0,0,0,0
$GC,7048,0.71,144.7,253.6,8.7,312,7052,0.00,2.28,0.00,0.000,4,0.000,0.041,3559,429,2152,0,0,0,0,0,0
$GC,7305,0.73,158.6,232.7,7.4,323,7322,0.08,2.28,11.80,0.698,6,0.139,0.030,3532,2015,2103,0,0,0,0,0,0
$GC,7638,0.76,177.6,207.4,7.1,340,7659,0.00,2.40,16.50,0.698,4,0.000,0.039,3542,424,2025,0,0,0,0,0,0
$GC,7749,0.76,177.6,198.1,9.0,345,7753,0.00,2.22,0.00,0.000,6,0.000,0.030,3542,1993,2021,0,0,0,0,0,0
$GC,8010,0.76,177.6,173.2,10.6,369,8014,0.00,2.30,0.00,0.000,4,0.000,0.039,3554,421,2019,0,0,0,0,0,0
$GC,8183,0.76,177.6,155.0,11.7,384,8187,0.00,2.25,0.00,0.000,6,0.000,0.031,3554,2016,2017,0,0,0,0,0,0
$GC,8443,0.76,177.6,130.6,9.4,408,8447,0.00,2.30,0.00,0.000,4,0.000,0.040,3565,423,2017,0,0,0,0,0,0
$GC,8651,0.76,177.6,112.5,8.1,426,8656,0.12,2.22,0.00,0.000,6,0.153,0.031,3529,2001,2016,0,0,0,0,0,0
$GC,8911,0.79,205.4,96.4,6.7,450,8943,0.00,2.38,22.62,0.604,4,0.000,0.041,3530,3592,1911,0,0,0,0,0,0
$GC,9104,0.79,205.4,81.0,8.9,467,9111,0.00,2.30,0.00,0.000,6,0.000,0.027,3541,1997,1908,0,0,0,0,0,0
$GC,9366,0.81,222.4,62.4,7.2,492,9387,0.00,2.30,14.48,0.551,4,0.000,0.039,3552,431,1842,0,0,0,0,0,0
$GC,9640,0.83,239.5,41.2,7.2,516,9659,0.00,2.22,14.68,0.531,6,0.000,0.028,3551,2012,1772,0,0,0,0,0,0
$GC,9923,0.83,239.5,18.7,8.4,554,9929,0.00,2.28,0.00,0.000,4,0.000,0.038,3563,430,1767,0,0,0,0,0,0
$GC,9980,0.83,239.5,13.3,9.6,564,9986,0.00,2.20,0.00,0.000,6,0.000,0.028,3563,1994,1766,0,0,0,0,0,0
$STATE,10096,end climb,SURFACE_DEPTH_REACHED
$STATE,10096,begin surface coast
$FINISH,0.1,1.010000
$STATE,10137,end surface coast,CONTROL_FINISHED_OK
$STATE,10138,begin surface
$SM_CCo,10154,82.15,0.457,1,0,1158,390.02
$SM_GC,1.14,0.00,0.00,82.15,0.000,0.000,0.457,141,1886,1158,-9.84,-0.40,390.02
$IRIDIUM_FIX,2052.52,-15759.92,010412,030333
$TT8_MAMPS,0.027612
$HUMID,1078742571
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,18.864
$10V_AH,10.5,14.883
$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,21.625,109.625,287.525,82.150,0.000,50.692,65.950,458.059,0.000,0.000,16.252,1215.631,7115.092,477.964,1997.293,214.636,33.366,1256.463,0.000,1401.817,0.000,0.542,0.000
$DEVICE_MAMPS,233.168,101.244,885.885,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334616
$DATA_FILE_SIZE,20141,592
$CAP_FILE_SIZE,152772,0
$CFSIZE,260165632,225828864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,114634,2102.639,-15801.335,6,3.5,25,9.8