version: 66.07
glider: 500
mission: 7
dive: 181
start: 10 8 110 3 1 37
data:
$ID,500
$MISSION,7
$DIVE,181
$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,-118986.48
$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
$GPS1,081010,025137,2100.709,-15803.229,26,1.1,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-78.9
$GPS2,081010,030043,2100.818,-15803.406,7,1.5,18,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.109
$KALMAN_X,-282613.0,122.2,-217.0,263201.8,-3626.9
$KALMAN_Y,-9785.4,-338.8,-12.5,-15137.8,343.9
$MHEAD_RNG_PITCHd_Wd,110.3,25223,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-65.62,0.000,2,0.000,0.000,129,1902,2977,0,0,0,0,0,0
$GC,87,-0.68,-116.8,4.0,-8.1,13,109,11.30,2.35,-4.25,0.000,4,0.232,0.046,3063,287,3228,0,0,0,0,0,0
$GC,177,-0.68,-116.8,33.3,-18.4,28,182,0.00,2.38,0.00,0.000,6,0.000,0.031,3053,1930,3230,0,0,0,0,0,0
$GC,437,-0.68,-116.8,74.4,-14.7,52,439,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1931,3232,0,0,0,0,0,0
$GC,692,-0.68,-116.8,110.6,-12.2,76,696,0.00,2.28,0.00,0.000,4,0.000,0.043,3040,3479,3234,0,0,0,0,0,0
$GC,724,-0.68,-116.8,114.1,-10.5,78,731,0.00,2.30,0.00,0.000,6,0.000,0.026,3041,1870,3234,0,0,0,0,0,0
$GC,986,-0.68,-116.8,146.9,-13.2,103,990,0.10,2.20,0.00,0.000,4,0.146,0.040,3072,321,3235,0,0,0,0,0,0
$GC,1018,-0.68,-116.8,151.1,-12.6,105,1024,0.00,2.22,0.00,0.000,6,0.000,0.031,3064,1906,3235,0,0,0,0,0,0
$GC,1279,-0.68,-116.8,180.8,-10.9,130,1283,0.00,2.28,0.00,0.000,4,0.000,0.042,3052,3480,3235,0,0,0,0,0,0
$GC,1351,-0.68,-116.8,188.7,-11.0,136,1355,0.00,2.20,0.00,0.000,6,0.000,0.026,3052,1897,3235,0,0,0,0,0,0
$GC,1617,-0.68,-116.8,220.2,-11.1,153,1621,0.00,2.22,0.00,0.000,4,0.000,0.040,3052,327,3235,0,0,0,0,0,0
$GC,1688,-0.68,-116.8,227.8,-9.6,156,1692,0.00,2.22,0.00,0.000,6,0.000,0.030,3042,1896,3235,0,0,0,0,0,0
$GC,2009,-0.68,-116.8,259.2,-10.6,172,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1896,3235,0,0,0,0,0,0
$GC,2318,-0.68,-116.8,291.1,-9.9,187,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1896,3235,0,0,0,0,0,0
$GC,2625,-0.68,-116.8,320.0,-9.4,197,2629,0.00,2.30,0.00,0.000,4,0.000,0.041,3041,322,3234,0,0,0,0,0,0
$GC,2651,-0.68,-116.8,323.0,-11.0,197,2656,0.10,2.25,0.00,0.000,6,0.105,0.031,3071,1897,3234,0,0,0,0,0,0
$GC,2994,-0.68,-116.8,352.3,-8.7,206,2998,0.00,2.25,0.00,0.000,4,0.000,0.040,3072,327,3233,0,0,0,0,0,0
$GC,3038,-0.68,-116.8,356.4,-8.7,207,3042,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1902,3233,0,0,0,0,0,0
$GC,3364,-0.68,-116.8,378.2,-5.7,215,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1902,3231,0,0,0,0,0,0
$GC,3687,-0.68,-116.8,395.7,-5.7,223,3692,0.00,2.28,0.00,0.000,4,0.000,0.040,3069,320,3228,0,0,0,0,0,0
$GC,3760,-0.68,-116.8,400.6,-7.3,224,3764,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1916,3228,0,0,0,0,0,0
$GC,4096,-0.68,-116.8,426.2,-8.0,233,4100,0.00,2.30,0.00,0.000,4,0.000,0.040,3058,318,3225,0,0,0,0,0,0
$GC,4128,-0.68,-116.8,429.5,-9.7,233,4135,0.00,2.25,0.00,0.000,6,0.000,0.029,3048,1891,3225,0,0,0,0,0,0
$STATE,4458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4464,-0.23,0.0,460.9,9.3,242,4556,0.47,0.00,88.95,0.889,6,0.099,0.000,3216,2028,2750,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4558,0.68,116.8,464.4,0.0,244,4664,0.77,2.35,96.40,0.867,4,0.047,0.039,3531,3556,2272,0,0,0,0,0,0
$GC,4697,0.72,146.5,465.5,6.6,247,4727,0.00,2.35,24.98,0.829,6,0.000,0.028,3543,1994,2151,0,0,0,0,0,0
$GC,5035,0.72,146.5,431.4,10.5,256,5039,0.00,2.30,0.00,0.000,4,0.000,0.040,3555,422,2139,0,0,0,0,0,0
$GC,5269,0.72,146.5,407.4,10.4,261,5274,0.10,2.28,0.00,0.000,6,0.141,0.031,3522,1979,2135,0,0,0,0,0,0
$GC,5583,0.72,146.5,380.2,8.9,269,5587,0.00,2.25,0.00,0.000,4,0.000,0.040,3533,429,2133,0,0,0,0,0,0
$GC,5841,0.72,146.5,353.3,11.5,274,5847,0.00,2.22,0.00,0.000,6,0.000,0.030,3533,2007,2132,0,0,0,0,0,0
$GC,6172,0.72,146.5,317.2,10.9,283,6175,0.00,2.30,0.00,0.000,4,0.000,0.040,3544,429,2130,0,0,0,0,0,0
$GC,6428,0.72,146.5,293.5,9.3,289,6433,0.00,2.25,0.00,0.000,6,0.000,0.031,3544,1987,2129,0,0,0,0,0,0
$GC,6750,0.72,146.5,265.3,8.3,305,6754,0.00,2.25,0.00,0.000,4,0.000,0.039,3556,426,2128,0,0,0,0,0,0
$GC,7007,0.72,146.5,242.1,8.8,316,7014,0.10,2.28,0.00,0.000,6,0.137,0.030,3521,2010,2127,0,0,0,0,0,0
$GC,7323,0.72,146.5,216.6,8.0,332,7327,0.00,2.28,0.00,0.000,4,0.000,0.039,3532,429,2127,0,0,0,0,0,0
$GC,7507,0.73,156.4,201.4,7.6,340,7519,0.00,2.25,4.68,0.536,6,0.000,0.029,3532,2000,2113,0,0,0,0,0,0
$GC,7836,0.73,156.4,175.7,8.3,370,7840,0.00,2.30,0.00,0.000,4,0.000,0.041,3532,3579,2112,0,0,0,0,0,0
$GC,7933,0.77,188.7,168.5,6.5,378,7967,0.00,2.25,28.05,0.682,6,0.000,0.028,3544,1993,1979,0,0,0,0,0,0
$GC,8228,0.77,188.7,143.9,9.5,406,8232,0.00,2.25,0.00,0.000,4,0.000,0.039,3555,433,1973,0,0,0,0,0,0
$GC,8300,0.77,188.7,136.0,11.4,412,8304,0.00,2.22,0.00,0.000,6,0.000,0.030,3555,2016,1972,0,0,0,0,0,0
$GC,8560,0.77,188.7,108.3,10.9,436,8564,0.00,2.30,0.00,0.000,4,0.000,0.040,3567,434,1972,0,0,0,0,0,0
$GC,8817,0.77,188.7,83.0,9.9,458,8824,0.08,2.25,0.00,0.000,6,0.130,0.030,3540,1999,1973,0,0,0,0,0,0
$GC,9078,0.84,245.7,64.7,5.4,483,9130,0.00,2.30,45.12,0.589,4,0.000,0.038,3550,434,1746,0,0,0,0,0,0
$GC,9299,0.84,245.7,47.2,9.4,503,9303,0.00,2.22,0.00,0.000,6,0.000,0.030,3550,2002,1740,0,0,0,0,0,0
$GC,9563,0.86,265.1,25.7,7.1,532,9585,0.00,2.30,15.70,0.527,4,0.000,0.038,3562,427,1667,0,0,0,0,0,0
$GC,9624,0.86,265.1,20.9,8.0,543,9630,0.00,2.22,0.00,0.000,6,0.000,0.030,3562,2001,1664,0,0,0,0,0,0
$STATE,9824,end climb,SURFACE_DEPTH_REACHED
$STATE,9824,begin surface coast
$FINISH,0.2,1.014964
$STATE,9859,end surface coast,CONTROL_FINISHED_OK
$STATE,9859,begin surface
$SM_CCo,9877,68.90,0.451,1,0,1158,390.02
$SM_GC,0.96,0.00,0.00,68.90,0.000,0.000,0.451,139,1898,1158,-9.84,-0.03,390.02
$IRIDIUM_FIX,2052.52,-15804.20,010412,181837
$TT8_MAMPS,0.027612
$HUMID,1078770958
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.4,19.518
$10V_AH,10.4,15.188
$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,21.600,90.975,303.875,68.900,0.000,25.812,36.939,357.064,0.000,0.000,20.292,1170.778,6900.378,464.907,1770.053,195.256,33.378,1198.617,0.000,1335.208,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,92.040,888.953,450.996,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20067,585
$CAP_FILE_SIZE,140578,0
$CFSIZE,260165632,225521664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,054837,2100.054,-15804.083,31,1.2,32,9.8