version: 66.07
glider: 500
mission: 7
dive: 177
start: 10 7 110 14 59 18
data:
$ID,500
$MISSION,7
$DIVE,177
$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,-118885.57
$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
$GPS1,071010,144225,2102.354,-15801.812,35,1.4,36,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-76.2
$GPS2,071010,145825,2102.470,-15801.971,11,1.4,28,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.062
$KALMAN_X,-270578.3,72.5,-338.4,253813.0,-2896.5
$KALMAN_Y,-10265.9,226.7,-155.1,-12020.2,440.2
$MHEAD_RNG_PITCHd_Wd,96.7,21541,-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,-116.8,0.0,0.0,0,85,0.00,0.00,-65.97,0.000,2,0.000,0.000,127,1884,2963,0,0,0,0,0,0
$GC,89,-0.68,-116.8,3.6,-6.8,13,111,11.27,2.33,-4.55,0.000,4,0.232,0.048,3060,290,3228,0,0,0,0,0,0
$GC,134,-0.68,-116.8,22.4,-37.5,21,140,0.00,2.35,0.00,0.000,6,0.000,0.030,3050,1938,3230,0,0,0,0,0,0
$GC,333,-0.68,-116.8,58.0,-16.2,43,337,0.00,2.40,0.00,0.000,4,0.000,0.038,3050,291,3230,0,0,0,0,0,0
$GC,376,-0.68,-116.8,65.3,-17.4,46,383,0.08,2.30,0.00,0.000,6,0.123,0.030,3067,1900,3231,0,0,0,0,0,0
$GC,637,-0.68,-116.8,99.4,-12.9,71,641,0.00,2.33,0.00,0.000,4,0.000,0.041,3057,3484,3232,0,0,0,0,0,0
$GC,699,-0.68,-116.8,107.2,-11.8,76,703,0.00,2.28,0.00,0.000,6,0.000,0.026,3057,1853,3232,0,0,0,0,0,0
$GC,964,-0.68,-116.8,142.5,-13.4,101,969,0.00,2.35,0.00,0.000,4,0.000,0.041,3046,3476,3233,0,0,0,0,0,0
$GC,1038,-0.68,-116.8,152.1,-13.4,107,1042,0.00,2.20,0.00,0.000,6,0.000,0.026,3046,1894,3233,0,0,0,0,0,0
$GC,1299,-0.68,-116.8,183.8,-11.5,131,1303,0.00,2.22,0.00,0.000,4,0.000,0.039,3046,324,3234,0,0,0,0,0,0
$GC,1342,-0.68,-116.8,189.2,-11.4,134,1349,0.08,2.22,0.00,0.000,6,0.113,0.029,3067,1899,3234,0,0,0,0,0,0
$GC,1599,-0.68,-116.8,211.1,-8.6,153,1603,0.00,2.25,0.00,0.000,4,0.000,0.041,3057,3478,3234,0,0,0,0,0,0
$GC,1616,-0.68,-116.8,212.5,-8.6,154,1620,0.00,2.20,0.00,0.000,6,0.000,0.025,3057,1894,3234,0,0,0,0,0,0
$GC,1941,-0.68,-116.8,241.8,-9.6,170,1945,0.00,2.25,0.00,0.000,4,0.000,0.040,3057,314,3233,0,0,0,0,0,0
$GC,1979,-0.68,-116.8,245.6,-10.3,172,1983,0.00,2.20,0.00,0.000,6,0.000,0.029,3046,1902,3234,0,0,0,0,0,0
$GC,2305,-0.68,-116.8,279.5,-10.7,188,2309,0.00,2.28,0.00,0.000,4,0.000,0.039,3046,321,3232,0,0,0,0,0,0
$GC,2393,-0.68,-116.8,288.8,-10.2,192,2398,0.08,2.22,0.00,0.000,6,0.107,0.028,3070,1897,3232,0,0,0,0,0,0
$GC,2736,-0.68,-116.8,317.1,-8.0,204,2741,0.00,2.25,0.00,0.000,4,0.000,0.038,3070,324,3230,0,0,0,0,0,0
$GC,2758,-0.68,-116.8,318.8,-7.9,204,2762,0.00,2.22,0.00,0.000,6,0.000,0.028,3061,1901,3230,0,0,0,0,0,0
$GC,3102,-0.68,-116.8,345.1,-7.7,213,3106,0.00,2.30,0.00,0.000,4,0.000,0.040,3061,316,3228,0,0,0,0,0,0
$GC,3141,-0.68,-116.8,348.3,-8.0,214,3145,0.00,2.22,0.00,0.000,6,0.000,0.030,3049,1895,3228,0,0,0,0,0,0
$GC,3465,-0.68,-116.8,374.7,-8.6,222,3469,0.00,2.25,0.00,0.000,4,0.000,0.039,3049,323,3226,0,0,0,0,0,0
$GC,3509,-0.68,-116.8,379.3,-9.9,223,3514,0.08,2.25,0.00,0.000,6,0.103,0.029,3072,1899,3225,0,0,0,0,0,0
$GC,3834,-0.68,-116.8,407.3,-8.8,231,3838,0.00,2.28,0.00,0.000,4,0.000,0.041,3061,3485,3224,0,0,0,0,0,0
$GC,3866,-0.68,-116.8,410.1,-8.0,231,3870,0.00,2.25,0.00,0.000,6,0.000,0.025,3061,1900,3223,0,0,0,0,0,0
$GC,4203,-0.68,-116.8,435.1,-7.0,240,4207,0.00,2.30,0.00,0.000,4,0.000,0.040,3061,323,3221,0,0,0,0,0,0
$GC,4242,-0.68,-116.8,438.1,-8.1,241,4246,0.00,2.22,0.00,0.000,6,0.000,0.028,3049,1905,3220,0,0,0,0,0,0
$STATE,4522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4522,begin apogee
$GC,4527,-0.23,0.0,462.1,9.1,248,4618,0.47,0.00,88.10,0.887,6,0.098,0.000,3219,2020,2750,0,0,0,0,0,0
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4622,0.68,116.8,465.6,0.0,250,4725,0.77,0.00,96.68,0.866,6,0.050,0.000,3528,2020,2272,0,0,0,0,0,0
$GC,5050,0.70,134.3,447.8,7.2,261,5069,0.00,2.42,13.18,0.797,4,0.000,0.040,3541,424,2202,0,0,0,0,0,0
$GC,5248,0.70,134.3,429.3,9.6,265,5253,0.00,2.28,0.00,0.000,6,0.000,0.031,3541,1982,2197,0,0,0,0,0,0
$GC,5597,0.70,134.3,391.7,11.1,274,5601,0.00,2.28,0.00,0.000,4,0.000,0.039,3553,418,2193,0,0,0,0,0,0
$GC,5786,0.70,134.3,367.2,12.6,278,5791,0.10,2.28,0.00,0.000,6,0.140,0.030,3519,1997,2192,0,0,0,0,0,0
$GC,6101,0.70,134.3,333.9,10.0,286,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1997,2189,0,0,0,0,0,0
$GC,6423,0.74,167.1,310.5,6.5,294,6454,0.00,2.33,25.48,0.790,4,0.000,0.039,3530,421,2067,0,0,0,0,0,0
$GC,6649,0.74,167.1,291.5,9.5,300,6654,0.00,2.30,0.00,0.000,6,0.000,0.031,3530,1998,2062,0,0,0,0,0,0
$GC,6971,0.74,167.1,260.4,9.9,316,6975,0.00,2.30,0.00,0.000,4,0.000,0.040,3541,418,2059,0,0,0,0,0,0
$GC,7077,0.74,167.1,248.1,11.7,321,7082,0.00,2.25,0.00,0.000,6,0.000,0.031,3541,2004,2059,0,0,0,0,0,0
$GC,7403,0.74,167.1,212.9,9.7,337,7407,0.00,2.30,0.00,0.000,4,0.000,0.040,3553,426,2058,0,0,0,0,0,0
$GC,7496,0.74,167.1,204.3,9.1,341,7501,0.00,2.28,0.00,0.000,6,0.000,0.031,3553,2009,2058,0,0,0,0,0,0
$GC,7825,0.74,167.1,180.5,8.2,369,7829,0.00,2.30,0.00,0.000,4,0.000,0.040,3564,421,2057,0,0,0,0,0,0
$GC,7948,0.74,167.1,170.3,8.6,380,7953,0.12,2.25,0.00,0.000,6,0.156,0.031,3530,1997,2057,0,0,0,0,0,0
$GC,8208,0.76,182.7,149.3,7.3,404,8229,0.00,2.38,12.15,0.633,4,0.000,0.041,3530,3588,2004,0,0,0,0,0,0
$GC,8279,0.76,182.7,143.5,10.1,410,8285,0.00,2.30,0.00,0.000,6,0.000,0.028,3540,1992,2003,0,0,0,0,0,0
$GC,8540,0.76,182.7,122.2,9.1,435,8544,0.00,2.25,0.00,0.000,4,0.000,0.039,3552,421,2002,0,0,0,0,0,0
$GC,8726,0.78,199.2,108.7,7.3,451,8747,0.00,2.22,14.80,0.600,6,0.000,0.029,3552,2002,1936,0,0,0,0,0,0
$GC,9002,0.78,199.6,88.4,8.0,477,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2002,1934,0,0,0,0,0,0
$GC,9256,0.79,209.0,67.7,7.6,501,9270,0.00,2.33,9.07,0.526,4,0.000,0.040,3563,432,1897,0,0,0,0,0,0
$GC,9468,0.82,228.4,50.0,7.1,520,9490,0.00,2.22,16.90,0.545,6,0.000,0.029,3564,2013,1818,0,0,0,0,0,0
$GC,9745,0.84,243.1,30.9,7.3,546,9766,0.00,2.35,12.73,0.514,4,0.000,0.039,3575,432,1757,0,0,0,0,0,0
$GC,9814,0.84,243.1,25.4,8.1,556,9820,0.00,2.22,0.00,0.000,6,0.000,0.029,3575,2007,1754,0,0,0,0,0,0
$GC,10022,0.84,243.1,5.7,9.5,593,10028,0.00,2.30,0.00,0.000,4,0.000,0.038,3586,418,1754,0,0,0,0,0,0
$STATE,10050,end climb,SURFACE_DEPTH_REACHED
$STATE,10050,begin surface coast
$FINISH,0.2,1.022973
$STATE,10083,end surface coast,CONTROL_FINISHED_OK
$STATE,10083,begin surface
$SM_CCo,10102,78.90,0.456,1,0,1159,390.02
$SM_GC,1.23,0.00,0.00,78.90,0.000,0.000,0.456,131,1903,1159,-9.88,0.11,390.02
$IRIDIUM_FIX,2054.83,-15759.05,010412,090923
$TT8_MAMPS,0.026845
$HUMID,1078734829
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,19.095
$10V_AH,10.4,14.987
$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,21.675,109.275,289.075,78.900,0.000,84.207,100.709,506.215,0.000,0.000,30.513,1217.565,7209.561,487.999,2007.479,227.827,33.369,1213.684,0.000,1299.743,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,103.545,886.652,456.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,407.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,20087,604
$CAP_FILE_SIZE,153827,0
$CFSIZE,260165632,225718272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,175007,2102.087,-15802.049,25,1.4,26,9.8