version: 66.07
glider: 500
mission: 7
dive: 183
start: 10 8 110 9 2 57
data:
$ID,500
$MISSION,7
$DIVE,183
$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,-119034.39
$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
$GPS1,081010,085306,2059.694,-15804.128,39,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-78.9
$GPS2,081010,090202,2059.763,-15804.174,12,1.9,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,-0.123
$KALMAN_X,-288681.8,-29.0,408.5,267465.6,-3388.2
$KALMAN_Y,-9579.9,56.4,-4.1,-17699.1,523.7
$MHEAD_RNG_PITCHd_Wd,114.6,27396,-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,-61.42,0.000,2,0.000,0.000,128,1889,2847,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.4,-6.8,12,105,11.38,0.00,-6.85,0.000,6,0.234,0.000,3062,1889,3230,0,0,0,0,0,0
$GC,302,-0.68,-116.8,51.5,-17.4,41,306,0.00,2.33,0.00,0.000,4,0.000,0.039,3062,286,3233,0,0,0,0,0,0
$GC,319,-0.68,-116.8,54.5,-17.0,42,324,0.00,2.35,0.00,0.000,6,0.000,0.031,3052,1926,3233,0,0,0,0,0,0
$GC,580,-0.68,-116.8,96.1,-15.8,66,584,0.00,2.28,0.00,0.000,4,0.000,0.041,3040,3476,3234,0,0,0,0,0,0
$GC,618,-0.68,-116.8,102.9,-16.7,69,623,0.10,2.25,0.00,0.000,6,0.144,0.026,3071,1864,3234,0,0,0,0,0,0
$GC,879,-0.68,-116.8,136.5,-12.3,93,882,0.00,2.20,0.00,0.000,4,0.000,0.039,3071,323,3236,0,0,0,0,0,0
$GC,911,-0.68,-116.8,140.5,-11.9,95,917,0.00,2.25,0.00,0.000,6,0.000,0.029,3062,1909,3236,0,0,0,0,0,0
$GC,1172,-0.68,-116.8,165.8,-9.7,120,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1909,3236,0,0,0,0,0,0
$GC,1427,-0.68,-116.8,192.0,-10.4,144,1431,0.00,2.25,0.00,0.000,4,0.000,0.038,3062,328,3237,0,0,0,0,0,0
$GC,1458,-0.68,-116.8,195.8,-11.7,146,1465,0.00,2.22,0.00,0.000,6,0.000,0.030,3051,1900,3237,0,0,0,0,0,0
$GC,1723,-0.68,-116.8,227.5,-11.8,161,1727,0.00,2.28,0.00,0.000,4,0.000,0.041,3039,3478,3237,0,0,0,0,0,0
$GC,1744,-0.68,-116.8,229.8,-10.7,162,1749,0.08,2.22,0.00,0.000,6,0.101,0.025,3072,1904,3237,0,0,0,0,0,0
$GC,2070,-0.68,-116.8,258.9,-8.8,178,2074,0.00,2.28,0.00,0.000,4,0.000,0.040,3062,3480,3237,0,0,0,0,0,0
$GC,2087,-0.68,-116.8,260.3,-8.5,179,2091,0.00,2.20,0.00,0.000,6,0.000,0.025,3062,1890,3237,0,0,0,0,0,0
$GC,2412,-0.68,-116.8,288.7,-8.6,195,2416,0.00,2.22,0.00,0.000,4,0.000,0.039,3062,321,3236,0,0,0,0,0,0
$GC,2451,-0.68,-116.8,292.2,-9.5,197,2455,0.00,2.22,0.00,0.000,6,0.000,0.028,3051,1911,3236,0,0,0,0,0,0
$GC,2795,-0.68,-116.8,321.7,-8.3,208,2799,0.00,2.28,0.00,0.000,4,0.000,0.038,3051,327,3235,0,0,0,0,0,0
$GC,2856,-0.68,-116.8,327.6,-9.3,209,2861,0.00,2.22,0.00,0.000,6,0.000,0.030,3040,1897,3235,0,0,0,0,0,0
$GC,3204,-0.68,-116.8,358.7,-9.0,218,3209,0.10,2.28,0.00,0.000,4,0.150,0.039,3073,318,3233,0,0,0,0,0,0
$GC,3243,-0.68,-116.8,362.0,-8.6,219,3247,0.00,2.22,0.00,0.000,6,0.000,0.029,3063,1906,3233,0,0,0,0,0,0
$GC,3567,-0.68,-116.8,388.3,-8.2,227,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1906,3232,0,0,0,0,0,0
$GC,3890,-0.68,-116.8,415.5,-8.7,235,3895,0.00,2.28,0.00,0.000,4,0.000,0.040,3063,323,3229,0,0,0,0,0,0
$GC,3917,-0.68,-116.8,418.1,-9.3,235,3922,0.00,2.25,0.00,0.000,6,0.000,0.029,3052,1901,3229,0,0,0,0,0,0
$GC,4254,-0.68,-116.8,449.4,-9.3,244,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1902,3226,0,0,0,0,0,0
$STATE,4415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4415,begin apogee
$GC,4420,-0.23,0.0,463.0,8.5,248,4512,0.47,0.00,89.22,0.885,6,0.097,0.000,3222,2015,2750,0,0,0,0,0,0
$STATE,4513,end apogee,CONTROL_FINISHED_OK
$STATE,4513,begin climb
$GC,4515,0.68,116.8,465.6,0.0,250,4621,0.73,2.45,96.03,0.864,4,0.043,0.040,3534,3564,2272,0,0,0,0,0,0
$GC,4638,0.73,156.4,466.2,6.2,253,4680,0.00,2.35,32.72,0.834,6,0.000,0.028,3546,1989,2111,0,0,0,0,0,0
$GC,5004,0.73,156.4,423.7,12.0,262,5008,0.00,2.28,0.00,0.000,4,0.000,0.039,3558,430,2097,0,0,0,0,0,0
$GC,5261,0.73,156.4,389.8,13.5,267,5268,0.10,2.25,0.00,0.000,6,0.138,0.029,3525,1983,2093,0,0,0,0,0,0
$GC,5593,0.73,156.4,351.1,11.7,276,5597,0.00,2.25,0.00,0.000,4,0.000,0.038,3535,429,2090,0,0,0,0,0,0
$GC,5815,0.73,156.4,326.9,9.6,281,5820,0.00,2.28,0.00,0.000,6,0.000,0.030,3535,2001,2089,0,0,0,0,0,0
$GC,6140,0.73,156.4,298.2,8.6,289,6144,0.00,2.30,0.00,0.000,4,0.000,0.040,3546,426,2087,0,0,0,0,0,0
$GC,6398,0.73,156.4,274.9,11.2,300,6402,0.00,2.22,0.00,0.000,6,0.000,0.030,3547,2006,2085,0,0,0,0,0,0
$GC,6719,0.73,156.4,244.8,9.3,316,6723,0.00,2.28,0.00,0.000,4,0.000,0.039,3559,428,2084,0,0,0,0,0,0
$GC,6953,0.73,156.4,217.4,11.3,326,6960,0.08,2.25,0.00,0.000,6,0.133,0.030,3532,2000,2083,0,0,0,0,0,0
$GC,7272,0.80,211.6,193.2,5.5,347,7318,0.00,2.33,40.75,0.709,4,0.000,0.038,3542,428,1886,0,0,0,0,0,0
$GC,7353,0.80,211.6,187.1,9.6,354,7357,0.00,2.28,0.00,0.000,6,0.000,0.031,3542,2011,1882,0,0,0,0,0,0
$GC,7613,0.80,211.6,159.4,10.2,378,7617,0.00,2.30,0.00,0.000,4,0.000,0.039,3554,429,1877,0,0,0,0,0,0
$GC,7870,0.80,211.6,130.6,10.7,400,7876,0.00,2.25,0.00,0.000,6,0.000,0.029,3554,2004,1876,0,0,0,0,0,0
$GC,8130,0.80,211.6,104.7,9.7,425,8134,0.00,2.28,0.00,0.000,4,0.000,0.039,3565,424,1875,0,0,0,0,0,0
$GC,8248,0.80,211.6,93.7,9.2,435,8252,0.00,2.22,0.00,0.000,6,0.000,0.030,3565,2012,1875,0,0,0,0,0,0
$GC,8513,0.80,215.1,70.0,7.9,460,8517,0.00,2.25,0.00,0.000,4,0.000,0.040,3565,3585,1875,0,0,0,0,0,0
$GC,8574,0.80,215.1,64.7,8.9,465,8578,0.00,2.25,0.00,0.000,6,0.000,0.028,3576,1996,1874,0,0,0,0,0,0
$GC,8835,0.85,256.1,48.0,6.1,489,8876,0.00,2.30,34.30,0.561,4,0.000,0.039,3588,430,1704,0,0,0,0,0,0
$GC,9130,0.85,256.1,22.8,9.8,522,9135,0.00,2.22,0.00,0.000,6,0.000,0.029,3588,2001,1699,0,0,0,0,0,0
$STATE,9330,end climb,SURFACE_DEPTH_REACHED
$STATE,9330,begin surface coast
$FINISH,0.2,1.010409
$STATE,9360,end surface coast,CONTROL_FINISHED_OK
$STATE,9360,begin surface
$SM_CCo,9377,71.90,0.449,1,0,1159,390.02
$SM_GC,1.28,0.00,0.00,71.90,0.000,0.000,0.449,138,1896,1159,-9.85,-0.11,390.02
$IRIDIUM_FIX,2052.52,-15807.20,020412,000015
$TT8_MAMPS,0.026845
$HUMID,1078752893
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,19.721
$10V_AH,10.4,15.286
$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,21.625,90.850,293.025,71.900,0.000,31.731,31.894,351.316,0.000,0.000,13.928,1133.910,6541.608,451.331,1682.159,186.545,33.368,1154.514,0.000,1257.615,0.000,0.540,0.000
$DEVICE_MAMPS,233.935,102.778,885.118,448.695,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,379.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334672
$DATA_FILE_SIZE,20117,563
$CAP_FILE_SIZE,135781,0
$CFSIZE,260165632,225419264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,114136,2059.388,-15804.362,11,0.9,27,9.8