version: 66.07
glider: 500
mission: 7
dive: 184
start: 10 8 110 11 51 9
data:
$ID,500
$MISSION,7
$DIVE,184
$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,-119047.55
$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
$GPS1,081010,114136,2059.388,-15804.362,11,0.9,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-79.0
$GPS2,081010,115014,2059.420,-15804.459,10,1.0,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,0.108
$KALMAN_X,-291471.5,90.7,543.6,269512.8,-4174.6
$KALMAN_Y,-9186.5,288.5,150.0,-19116.2,311.4
$MHEAD_RNG_PITCHd_Wd,50.6,28160,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-66.18,0.000,2,0.000,0.000,129,1895,2992,0,0,0,0,0,0
$GC,87,-0.68,-116.8,4.2,-8.5,13,108,11.23,0.00,-3.95,0.000,6,0.230,0.000,3060,1895,3229,0,0,0,0,0,0
$GC,308,-0.68,-116.8,57.2,-16.7,40,312,0.00,2.38,0.00,0.000,4,0.000,0.041,3050,3501,3231,0,0,0,0,0,0
$GC,325,-0.68,-116.8,59.8,-15.7,41,329,0.00,2.33,0.00,0.000,6,0.000,0.026,3050,1860,3231,0,0,0,0,0,0
$GC,585,-0.68,-116.8,101.4,-14.8,65,589,0.00,2.20,0.00,0.000,4,0.000,0.038,3050,328,3233,0,0,0,0,0,0
$GC,640,-0.68,-116.8,108.9,-13.0,69,647,0.08,2.28,0.00,0.000,6,0.120,0.029,3069,1926,3233,0,0,0,0,0,0
$GC,901,-0.68,-116.8,140.2,-11.3,94,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1926,3235,0,0,0,0,0,0
$GC,1156,-0.68,-116.8,168.6,-10.5,118,1160,0.00,2.25,0.00,0.000,4,0.000,0.041,3059,3484,3236,0,0,0,0,0,0
$GC,1178,-0.68,-116.8,170.9,-10.9,120,1182,0.00,2.20,0.00,0.000,6,0.000,0.026,3059,1903,3236,0,0,0,0,0,0
$GC,1438,-0.68,-116.8,198.0,-9.7,144,1442,0.00,2.25,0.00,0.000,4,0.000,0.039,3059,320,3236,0,0,0,0,0,0
$GC,1537,-0.68,-116.8,208.4,-10.0,149,1543,0.00,2.22,0.00,0.000,6,0.000,0.029,3048,1910,3236,0,0,0,0,0,0
$GC,1852,-0.68,-116.8,242.3,-11.6,165,1856,0.00,2.22,0.00,0.000,4,0.000,0.041,3036,3473,3237,0,0,0,0,0,0
$GC,1902,-0.68,-116.8,248.5,-11.9,167,1907,0.12,2.17,0.00,0.000,6,0.126,0.025,3078,1897,3236,0,0,0,0,0,0
$GC,2223,-0.68,-116.8,276.6,-7.8,183,2227,0.00,2.22,0.00,0.000,4,0.000,0.039,3078,327,3237,0,0,0,0,0,0
$GC,2262,-0.68,-116.8,279.7,-8.4,185,2266,0.00,2.17,0.00,0.000,6,0.000,0.029,3069,1902,3237,0,0,0,0,0,0
$GC,2587,-0.68,-116.8,303.3,-7.5,200,2591,0.00,2.28,0.00,0.000,4,0.000,0.041,3057,3481,3237,0,0,0,0,0,0
$GC,2638,-0.68,-116.8,307.2,-7.7,201,2642,0.00,2.20,0.00,0.000,6,0.000,0.026,3057,1895,3236,0,0,0,0,0,0
$GC,2955,-0.68,-116.8,333.2,-8.3,209,2959,0.00,2.22,0.00,0.000,4,0.000,0.039,3057,327,3235,0,0,0,0,0,0
$GC,3045,-0.68,-116.8,341.9,-9.9,211,3049,0.00,2.20,0.00,0.000,6,0.000,0.029,3046,1911,3235,0,0,0,0,0,0
$GC,3363,-0.68,-116.8,373.6,-10.2,219,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1912,3233,0,0,0,0,0,0
$GC,3687,-0.68,-116.8,404.5,-9.4,227,3691,0.00,2.30,0.00,0.000,4,0.000,0.040,3046,325,3231,0,0,0,0,0,0
$GC,3714,-0.68,-116.8,407.0,-9.4,227,3719,0.12,2.20,0.00,0.000,6,0.132,0.029,3077,1901,3231,0,0,0,0,0,0
$GC,4051,-0.68,-116.8,429.8,-6.2,236,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1902,3229,0,0,0,0,0,0
$GC,4376,-0.68,-116.8,450.5,-6.7,244,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1902,3226,0,0,0,0,0,0
$STATE,4536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4536,begin apogee
$GC,4541,-0.23,0.0,462.2,7.3,248,4633,0.40,0.00,89.45,0.891,6,0.096,0.000,3222,2017,2750,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,0.68,116.8,465.2,0.0,250,4743,0.73,2.45,96.07,0.871,4,0.044,0.041,3531,3566,2272,0,0,0,0,0,0
$GC,4781,0.68,116.8,465.3,8.3,253,4786,0.10,2.35,0.00,0.000,6,0.140,0.028,3511,1993,2267,0,0,0,0,0,0
$GC,5131,0.68,116.8,433.6,9.4,262,5135,0.00,2.30,0.00,0.000,4,0.000,0.040,3522,428,2258,0,0,0,0,0,0
$GC,5355,0.68,116.8,410.9,10.0,267,5359,0.00,2.20,0.00,0.000,6,0.000,0.031,3522,1982,2256,0,0,0,0,0,0
$GC,5680,0.71,140.2,385.7,6.9,275,5704,0.00,2.38,17.17,0.814,4,0.000,0.041,3534,422,2177,0,0,0,0,0,0
$GC,5951,0.71,140.2,363.1,8.4,281,5955,0.00,2.30,0.00,0.000,6,0.000,0.031,3534,1994,2172,0,0,0,0,0,0
$GC,6275,0.71,140.2,333.7,9.2,289,6279,0.00,2.30,0.00,0.000,4,0.000,0.039,3545,425,2170,0,0,0,0,0,0
$GC,6453,0.71,140.2,315.4,10.0,293,6457,0.00,2.30,0.00,0.000,6,0.000,0.031,3545,2006,2168,0,0,0,0,0,0
$GC,6779,0.71,140.2,286.7,8.4,304,6783,0.00,2.28,0.00,0.000,4,0.000,0.040,3557,430,2168,0,0,0,0,0,0
$GC,6890,0.71,140.2,276.2,10.1,309,6895,0.12,2.25,0.00,0.000,6,0.160,0.031,3522,2013,2167,0,0,0,0,0,0
$GC,7215,0.71,140.2,248.6,8.3,325,7219,0.00,2.30,0.00,0.000,4,0.000,0.039,3533,418,2166,0,0,0,0,0,0
$GC,7339,0.73,155.5,238.8,7.3,330,7358,0.00,2.25,11.98,0.712,6,0.000,0.031,3534,2002,2116,0,0,0,0,0,0
$GC,7679,0.77,192.3,215.4,6.3,347,7715,0.00,2.33,30.65,0.729,4,0.000,0.040,3533,3575,1964,0,0,0,0,0,0
$GC,7748,0.77,192.3,209.4,10.7,349,7752,0.00,2.28,0.00,0.000,6,0.000,0.029,3544,1996,1962,0,0,0,0,0,0
$GC,8076,0.77,192.3,170.7,11.2,376,8080,0.00,2.30,0.00,0.000,4,0.000,0.039,3557,421,1957,0,0,0,0,0,0
$GC,8216,0.77,192.3,155.9,11.1,388,8220,0.00,2.22,0.00,0.000,6,0.000,0.031,3557,2000,1956,0,0,0,0,0,0
$GC,8476,0.77,192.3,131.0,8.3,412,8480,0.00,2.28,0.00,0.000,4,0.000,0.041,3557,3576,1955,0,0,0,0,0,0
$GC,8565,0.77,192.3,122.2,11.0,419,8571,0.00,2.25,0.00,0.000,6,0.000,0.028,3568,1985,1955,0,0,0,0,0,0
$GC,8826,0.77,192.3,99.4,8.7,444,8830,0.00,2.22,0.00,0.000,4,0.000,0.039,3580,429,1955,0,0,0,0,0,0
$GC,9001,0.79,209.1,85.1,7.2,459,9023,0.12,2.22,13.12,0.584,6,0.155,0.029,3545,2004,1898,0,0,0,0,0,0
$GC,9278,0.82,227.1,64.0,7.2,485,9299,0.00,2.30,16.00,0.567,4,0.000,0.037,3556,423,1823,0,0,0,0,0,0
$GC,9344,0.82,227.1,58.8,8.1,491,9349,0.00,2.28,0.00,0.000,6,0.000,0.030,3556,2003,1821,0,0,0,0,0,0
$GC,9605,0.84,247.2,40.3,7.1,515,9627,0.00,2.38,16.65,0.542,4,0.000,0.039,3567,422,1741,0,0,0,0,0,0
$GC,9661,0.84,247.2,35.7,9.1,520,9665,0.00,2.28,0.00,0.000,6,0.000,0.030,3567,2010,1739,0,0,0,0,0,0
$GC,9932,0.84,247.2,13.1,8.4,562,9937,0.00,2.28,0.00,0.000,4,0.000,0.038,3578,429,1737,0,0,0,0,0,0
$STATE,10048,end climb,SURFACE_DEPTH_REACHED
$STATE,10048,begin surface coast
$FINISH,0.3,1.022947
$STATE,10085,end surface coast,CONTROL_FINISHED_OK
$STATE,10085,begin surface
$SM_CCo,10103,79.80,0.460,1,0,1158,390.02
$SM_GC,1.24,0.00,0.00,79.80,0.000,0.000,0.460,141,1911,1158,-9.84,0.31,390.02
$IRIDIUM_FIX,2050.21,-15802.06,020412,030345
$TT8_MAMPS,0.027612
$HUMID,1078752893
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,19.821
$10V_AH,10.5,15.335
$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,21.550,99.775,291.100,79.800,0.000,31.280,32.153,338.736,0.000,0.000,12.532,1196.334,7120.570,460.012,1737.114,198.511,33.365,1200.526,0.000,1323.286,0.000,0.541,0.000
$DEVICE_MAMPS,230.100,103.545,891.254,460.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20137,589
$CAP_FILE_SIZE,143356,0
$CFSIZE,260165632,225366016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,144207,2100.029,-15804.752,32,0.9,33,9.8