version: 66.07
glider: 500
mission: 7
dive: 182
start: 10 8 110 5 58 54
data:
$ID,500
$MISSION,7
$DIVE,182
$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,-119019.83
$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
$GPS1,081010,054837,2100.054,-15804.083,31,1.2,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-77.9
$GPS2,081010,055801,2100.136,-15804.222,13,1.3,30,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,-0.115
$KALMAN_X,-286009.3,-24.2,-239.7,265364.4,-3356.4
$KALMAN_Y,-9809.5,-205.2,-133.8,-16384.4,528.9
$MHEAD_RNG_PITCHd_Wd,111.9,27087,-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,-116.8,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,2,0.000,0.000,128,1898,2836,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.4,-6.6,12,105,11.43,0.00,-7.03,0.000,6,0.236,0.000,3062,1898,3230,0,0,0,0,0,0
$GC,307,-0.68,-116.8,52.5,-15.5,41,311,0.00,2.33,0.00,0.000,4,0.000,0.039,3062,297,3233,0,0,0,0,0,0
$GC,324,-0.68,-116.8,55.0,-14.6,42,329,0.00,2.35,0.00,0.000,6,0.000,0.031,3052,1937,3233,0,0,0,0,0,0
$GC,585,-0.68,-116.8,94.3,-13.4,66,589,0.00,2.38,0.00,0.000,4,0.000,0.038,3052,290,3234,0,0,0,0,0,0
$GC,605,-0.68,-116.8,97.3,-13.0,67,612,0.00,2.30,0.00,0.000,6,0.000,0.030,3041,1899,3234,0,0,0,0,0,0
$GC,867,-0.68,-116.8,131.1,-10.9,92,871,0.00,2.28,0.00,0.000,4,0.000,0.041,3029,3479,3236,0,0,0,0,0,0
$GC,894,-0.68,-116.8,134.3,-11.5,94,899,0.12,2.28,0.00,0.000,6,0.133,0.025,3069,1855,3236,0,0,0,0,0,0
$GC,1154,-0.68,-116.8,162.3,-11.5,118,1158,0.00,2.17,0.00,0.000,4,0.000,0.039,3070,324,3236,0,0,0,0,0,0
$GC,1210,-0.68,-116.8,169.2,-12.3,122,1216,0.00,2.22,0.00,0.000,6,0.000,0.029,3060,1911,3236,0,0,0,0,0,0
$GC,1481,-0.68,-116.8,202.5,-10.5,147,1485,0.00,2.25,0.00,0.000,4,0.000,0.041,3049,3473,3237,0,0,0,0,0,0
$GC,1523,-0.68,-116.8,207.1,-10.1,149,1528,0.00,2.20,0.00,0.000,6,0.000,0.025,3049,1913,3236,0,0,0,0,0,0
$GC,1851,-0.68,-116.8,242.9,-10.6,165,1855,0.00,2.28,0.00,0.000,4,0.000,0.039,3049,313,3237,0,0,0,0,0,0
$GC,1889,-0.68,-116.8,247.6,-12.9,167,1894,0.10,2.22,0.00,0.000,6,0.150,0.030,3070,1900,3237,0,0,0,0,0,0
$GC,2216,-0.68,-116.8,275.7,-7.2,183,2220,0.00,2.28,0.00,0.000,4,0.000,0.039,3070,323,3237,0,0,0,0,0,0
$GC,2270,-0.68,-116.8,280.1,-8.2,185,2276,0.00,2.22,0.00,0.000,6,0.000,0.030,3065,1895,3237,0,0,0,0,0,0
$GC,2586,-0.68,-116.8,304.4,-7.7,200,2590,0.00,2.25,0.00,0.000,4,0.000,0.039,3065,320,3236,0,0,0,0,0,0
$GC,2606,-0.68,-116.8,306.3,-8.5,200,2611,0.00,2.25,0.00,0.000,6,0.000,0.029,3055,1899,3236,0,0,0,0,0,0
$GC,2949,-0.68,-116.8,337.7,-9.7,209,2953,0.00,2.30,0.00,0.000,4,0.000,0.041,3043,3475,3235,0,0,0,0,0,0
$GC,2982,-0.68,-116.8,341.1,-10.3,209,2987,0.00,2.22,0.00,0.000,6,0.000,0.025,3044,1889,3235,0,0,0,0,0,0
$GC,3312,-0.68,-116.8,373.6,-9.7,218,3316,0.00,2.25,0.00,0.000,4,0.000,0.040,3043,328,3233,0,0,0,0,0,0
$GC,3356,-0.68,-116.8,378.2,-10.1,219,3361,0.12,2.20,0.00,0.000,6,0.134,0.029,3073,1905,3233,0,0,0,0,0,0
$GC,3686,-0.68,-116.8,400.3,-6.6,227,3690,0.00,2.30,0.00,0.000,4,0.000,0.040,3074,322,3231,0,0,0,0,0,0
$GC,3746,-0.68,-116.8,404.9,-6.3,228,3750,0.00,2.25,0.00,0.000,6,0.000,0.028,3064,1909,3231,0,0,0,0,0,0
$GC,4096,-0.68,-116.8,429.3,-7.3,237,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1909,3228,0,0,0,0,0,0
$GC,4419,-0.68,-116.8,452.7,-7.4,245,4423,0.00,2.28,0.00,0.000,4,0.000,0.041,3064,327,3225,0,0,0,0,0,0
$GC,4459,-0.68,-116.8,456.4,-9.4,246,4463,0.00,2.22,0.00,0.000,6,0.000,0.030,3053,1906,3225,0,0,0,0,0,0
$STATE,4536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4536,begin apogee
$GC,4541,-0.23,0.0,463.1,8.3,248,4633,0.45,0.00,89.28,0.893,6,0.097,0.000,3213,2014,2750,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,0.68,116.8,466.8,0.0,250,4739,0.77,0.00,97.15,0.871,6,0.046,0.000,3530,2015,2272,0,0,0,0,0,0
$GC,5065,0.68,119.2,445.0,7.9,261,5069,0.00,2.35,0.00,0.000,4,0.000,0.040,3541,432,2259,0,0,0,0,0,0
$GC,5182,0.69,122.3,434.9,7.9,263,5186,0.00,2.22,0.00,0.000,6,0.000,0.030,3541,1986,2257,0,0,0,0,0,0
$GC,5518,0.69,122.3,408.0,8.1,272,5521,0.00,2.28,0.00,0.000,4,0.000,0.039,3554,422,2254,0,0,0,0,0,0
$GC,5775,0.70,134.9,388.9,7.4,277,5794,0.10,2.28,12.48,0.792,6,0.143,0.031,3520,1996,2200,0,0,0,0,0,0
$GC,6113,0.71,141.4,362.7,7.7,286,6125,0.00,2.33,6.45,0.689,4,0.000,0.038,3531,425,2173,0,0,0,0,0,0
$GC,6378,0.71,141.4,339.5,9.0,292,6382,0.00,2.28,0.00,0.000,6,0.000,0.031,3531,2010,2171,0,0,0,0,0,0
$GC,6702,0.71,141.4,311.8,8.5,300,6706,0.00,2.30,0.00,0.000,4,0.000,0.039,3542,423,2170,0,0,0,0,0,0
$GC,6959,0.75,176.5,293.5,6.4,307,6994,0.00,2.22,29.60,0.788,6,0.000,0.030,3542,1999,2029,0,0,0,0,0,0
$GC,7316,0.75,176.5,261.2,10.6,325,7320,0.00,2.33,0.00,0.000,4,0.000,0.040,3554,422,2021,0,0,0,0,0,0
$GC,7573,0.75,176.5,234.2,10.0,336,7579,0.00,2.25,0.00,0.000,6,0.000,0.031,3554,2005,2019,0,0,0,0,0,0
$GC,7888,0.78,201.5,209.8,6.9,352,7910,0.00,0.00,20.10,0.711,6,0.000,0.000,3554,2005,1928,0,0,0,0,0,0
$GC,8224,0.78,201.5,175.6,11.9,378,8228,0.00,2.30,0.00,0.000,4,0.000,0.039,3565,421,1922,0,0,0,0,0,0
$GC,8380,0.78,201.5,158.4,10.5,391,8387,0.00,2.28,0.00,0.000,6,0.000,0.030,3565,1996,1921,0,0,0,0,0,0
$GC,8641,0.78,201.5,132.5,8.6,416,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1996,1921,0,0,0,0,0,0
$GC,8896,0.78,201.5,108.5,9.1,440,8900,0.00,2.30,0.00,0.000,4,0.000,0.041,3565,3576,1921,0,0,0,0,0,0
$GC,8951,0.78,201.5,103.1,9.8,444,8958,0.08,2.28,0.00,0.000,6,0.145,0.028,3550,1997,1920,0,0,0,0,0,0
$GC,9212,0.78,201.5,83.1,8.7,469,9216,0.00,2.30,0.00,0.000,4,0.000,0.040,3550,3585,1921,0,0,0,0,0,0
$GC,9318,0.78,201.5,74.5,8.4,478,9322,0.00,2.25,0.00,0.000,6,0.000,0.028,3560,1990,1920,0,0,0,0,0,0
$GC,9579,0.79,205.4,54.5,7.8,502,9583,0.00,2.22,0.00,0.000,4,0.000,0.038,3572,423,1920,0,0,0,0,0,0
$GC,9655,0.79,205.4,47.9,8.1,508,9666,0.00,2.25,3.90,0.383,6,0.000,0.029,3572,1998,1912,0,0,0,0,0,0
$GC,9924,0.82,231.2,29.1,6.8,534,9955,0.00,2.35,22.42,0.535,4,0.000,0.038,3584,422,1806,0,0,0,0,0,0
$GC,10107,0.82,231.2,13.5,8.7,567,10112,0.00,2.25,0.00,0.000,6,0.000,0.030,3584,2005,1802,0,0,0,0,0,0
$STATE,10229,end climb,SURFACE_DEPTH_REACHED
$STATE,10229,begin surface coast
$FINISH,0.2,1.022977
$STATE,10265,end surface coast,CONTROL_FINISHED_OK
$STATE,10265,begin surface
$SM_CCo,10282,87.35,0.461,1,0,1159,390.02
$SM_GC,1.10,0.00,0.00,87.35,0.000,0.000,0.461,129,1888,1159,-9.88,-0.34,390.02
$IRIDIUM_FIX,2054.83,-15759.92,010412,212115
$TT8_MAMPS,0.027612
$HUMID,1078723216
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,19.620
$10V_AH,10.4,15.239
$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,21.850,100.075,281.375,87.350,0.000,28.562,36.660,359.789,0.000,0.000,32.710,1205.609,7263.134,493.606,1779.799,200.391,33.372,1217.354,0.000,1325.243,0.000,0.541,0.000
$DEVICE_MAMPS,236.236,103.545,892.788,460.967,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,401.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20110,595
$CAP_FILE_SIZE,145224,0
$CFSIZE,260165632,225464320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,085306,2059.694,-15804.128,39,0.9,40,9.8