version: 66.07
glider: 500
mission: 7
dive: 185
start: 10 8 110 15 2 7
data:
$ID,500
$MISSION,7
$DIVE,185
$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,-119063.34
$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
$GPS1,081010,144207,2100.029,-15804.752,32,0.9,33,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-78.2
$GPS2,081010,150113,2100.147,-15805.027,13,0.9,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.047
$KALMAN_X,-294262.2,325.5,-29.8,271659.1,-3560.4
$KALMAN_Y,-9038.3,338.9,61.2,-17875.5,-134.0
$MHEAD_RNG_PITCHd_Wd,92.6,28260,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.68,-116.8,0.0,0.0,0,81,0.00,0.00,-61.50,0.000,2,0.000,0.000,128,1913,2831,0,0,0,0,0,0
$GC,85,-0.68,-116.8,3.0,-5.3,12,111,11.27,2.42,-7.30,0.000,4,0.232,0.051,3060,293,3230,0,0,0,0,0,0
$GC,196,-0.68,-116.8,31.2,-17.5,32,200,0.00,2.35,0.00,0.000,6,0.000,0.031,3050,1936,3231,0,0,0,0,0,0
$GC,456,-0.68,-116.8,70.8,-15.3,56,460,0.00,2.25,0.00,0.000,4,0.000,0.042,3038,3480,3232,0,0,0,0,0,0
$GC,484,-0.68,-116.8,74.9,-15.4,58,489,0.10,2.28,0.00,0.000,6,0.148,0.026,3068,1856,3233,0,0,0,0,0,0
$GC,745,-0.68,-116.8,106.7,-11.9,82,746,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1856,3234,0,0,0,0,0,0
$GC,999,-0.68,-116.8,136.2,-10.9,106,1003,0.00,2.20,0.00,0.000,4,0.000,0.039,3069,320,3235,0,0,0,0,0,0
$GC,1065,-0.68,-116.8,143.9,-11.1,111,1071,0.00,2.20,0.00,0.000,6,0.000,0.029,3059,1909,3235,0,0,0,0,0,0
$GC,1326,-0.68,-116.8,169.9,-10.0,136,1330,0.00,2.25,0.00,0.000,4,0.000,0.041,3047,3477,3235,0,0,0,0,0,0
$GC,1347,-0.68,-116.8,172.1,-9.8,138,1352,0.00,2.20,0.00,0.000,6,0.000,0.025,3048,1896,3235,0,0,0,0,0,0
$GC,1608,-0.68,-116.8,199.8,-10.0,162,1612,0.00,2.22,0.00,0.000,4,0.000,0.039,3048,324,3235,0,0,0,0,0,0
$GC,1685,-0.68,-116.8,208.7,-12.1,165,1692,0.08,2.22,0.00,0.000,6,0.110,0.030,3069,1895,3235,0,0,0,0,0,0
$GC,2000,-0.68,-116.8,240.5,-10.2,181,2004,0.00,2.28,0.00,0.000,4,0.000,0.041,3058,3475,3235,0,0,0,0,0,0
$GC,2063,-0.68,-116.8,247.0,-10.5,184,2067,0.00,2.22,0.00,0.000,6,0.000,0.025,3058,1885,3235,0,0,0,0,0,0
$GC,2388,-0.68,-116.8,281.1,-9.7,200,2392,0.00,2.22,0.00,0.000,4,0.000,0.039,3058,320,3235,0,0,0,0,0,0
$GC,2443,-0.68,-116.8,286.6,-9.8,202,2450,0.00,2.22,0.00,0.000,6,0.000,0.028,3047,1915,3234,0,0,0,0,0,0
$GC,2757,-0.68,-116.8,316.5,-9.7,214,2761,0.00,2.33,0.00,0.000,4,0.000,0.038,3047,320,3233,0,0,0,0,0,0
$GC,2841,-0.68,-116.8,324.7,-9.8,216,2846,0.12,2.20,0.00,0.000,6,0.132,0.029,3077,1902,3233,0,0,0,0,0,0
$GC,3165,-0.68,-116.8,349.1,-7.3,224,3169,0.00,2.28,0.00,0.000,4,0.000,0.040,3078,328,3231,0,0,0,0,0,0
$GC,3191,-0.68,-116.8,351.3,-8.5,224,3195,0.00,2.22,0.00,0.000,6,0.000,0.029,3068,1898,3231,0,0,0,0,0,0
$GC,3529,-0.68,-116.8,376.4,-7.2,233,3533,0.00,2.30,0.00,0.000,4,0.000,0.041,3056,3476,3229,0,0,0,0,0,0
$GC,3567,-0.68,-116.8,379.2,-6.8,234,3571,0.00,2.20,0.00,0.000,6,0.000,0.026,3056,1896,3228,0,0,0,0,0,0
$GC,3893,-0.68,-116.8,404.0,-7.7,242,3897,0.00,2.25,0.00,0.000,4,0.000,0.040,3057,321,3226,0,0,0,0,0,0
$GC,3964,-0.68,-116.8,410.9,-9.2,243,3969,0.00,2.25,0.00,0.000,6,0.000,0.028,3045,1906,3225,0,0,0,0,0,0
$GC,4302,-0.68,-116.8,440.6,-8.6,252,4306,0.00,2.30,0.00,0.000,4,0.000,0.040,3045,323,3223,0,0,0,0,0,0
$GC,4322,-0.68,-116.8,442.5,-8.9,252,4327,0.08,2.25,0.00,0.000,6,0.107,0.029,3069,1900,3222,0,0,0,0,0,0
$STATE,4623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4623,begin apogee
$GC,4628,-0.23,0.0,461.3,6.1,260,4719,0.40,0.00,88.43,0.888,6,0.095,0.000,3214,2013,2750,0,0,0,0,0,0
$STATE,4720,end apogee,CONTROL_FINISHED_OK
$STATE,4720,begin climb
$GC,4722,0.68,116.8,462.9,0.0,262,4828,0.75,2.45,96.05,0.866,4,0.047,0.041,3526,3562,2271,0,0,0,0,0,0
$GC,4946,0.68,116.8,452.8,9.7,267,4950,0.00,2.28,0.00,0.000,6,0.000,0.028,3538,1989,2263,0,0,0,0,0,0
$GC,5259,0.72,149.5,429.8,6.5,275,5289,0.00,2.33,25.42,0.834,4,0.000,0.038,3550,424,2140,0,0,0,0,0,0
$GC,5507,0.72,149.5,406.1,11.6,280,5512,0.00,2.28,0.00,0.000,6,0.000,0.030,3550,1989,2132,0,0,0,0,0,0
$GC,5845,0.72,149.5,365.7,12.3,289,5849,0.00,2.28,0.00,0.000,4,0.000,0.039,3561,429,2129,0,0,0,0,0,0
$GC,6040,0.72,149.5,342.2,10.8,293,6045,0.10,2.28,0.00,0.000,6,0.137,0.030,3527,2008,2127,0,0,0,0,0,0
$GC,6354,0.72,149.5,311.2,9.9,301,6358,0.00,2.30,0.00,0.000,4,0.000,0.040,3538,423,2126,0,0,0,0,0,0
$GC,6550,0.72,149.5,294.6,8.3,307,6554,0.00,2.25,0.00,0.000,6,0.000,0.031,3538,1997,2125,0,0,0,0,0,0
$GC,6876,0.78,199.0,272.5,5.7,323,6920,0.00,2.40,38.45,0.775,4,0.000,0.041,3538,3579,1937,0,0,0,0,0,0
$GC,7172,0.78,199.0,238.3,12.0,336,7176,0.00,2.30,0.00,0.000,6,0.000,0.028,3550,2001,1929,0,0,0,0,0,0
$GC,7493,0.78,199.0,201.0,12.1,352,7497,0.00,2.30,0.00,0.000,4,0.000,0.039,3562,424,1927,0,0,0,0,0,0
$GC,7603,0.78,199.0,186.6,12.4,361,7610,0.00,2.28,0.00,0.000,6,0.000,0.030,3562,1997,1925,0,0,0,0,0,0
$GC,7865,0.78,199.0,156.3,10.8,386,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1997,1925,0,0,0,0,0,0
$GC,8119,0.78,199.0,126.8,11.4,410,8123,0.00,2.33,0.00,0.000,4,0.000,0.041,3562,3590,1925,0,0,0,0,0,0
$GC,8220,0.78,199.0,115.0,11.5,418,8227,0.12,2.25,0.00,0.000,6,0.166,0.028,3539,1994,1924,0,0,0,0,0,0
$GC,8480,0.78,199.0,92.8,8.9,443,8484,0.00,2.25,0.00,0.000,4,0.000,0.038,3550,432,1924,0,0,0,0,0,0
$GC,8604,0.78,199.0,81.0,10.1,453,8610,0.00,2.25,0.00,0.000,6,0.000,0.029,3550,2023,1924,0,0,0,0,0,0
$GC,8864,0.78,199.0,58.8,8.6,478,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2023,1923,0,0,0,0,0,0
$GC,9119,0.78,199.0,38.2,8.8,502,9123,0.00,2.25,0.00,0.000,4,0.000,0.041,3550,3579,1923,0,0,0,0,0,0
$GC,9151,0.78,199.0,35.4,8.5,504,9157,0.00,2.20,0.00,0.000,6,0.000,0.028,3561,1996,1923,0,0,0,0,0,0
$GC,9423,0.89,288.7,20.6,3.9,546,9497,0.00,2.30,68.25,0.548,4,0.000,0.037,3573,430,1570,0,0,0,0,0,0
$GC,9587,0.89,288.7,7.7,11.2,576,9593,0.00,2.25,0.00,0.000,6,0.000,0.028,3573,1990,1565,0,0,0,0,0,0
$STATE,9630,end climb,SURFACE_DEPTH_REACHED
$STATE,9630,begin surface coast
$FINISH,0.2,1.022949
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9660,begin surface
$SM_CCo,9677,55.38,0.430,1,0,1159,390.02
$SM_GC,0.85,0.00,0.00,55.38,0.000,0.000,0.430,143,1907,1159,-9.83,0.20,390.02
$IRIDIUM_FIX,2054.83,-15804.20,020412,090951
$TT8_MAMPS,0.027612
$HUMID,1078774829
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.4,19.939
$10V_AH,10.3,15.389
$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,21.700,100.075,316.600,55.375,0.000,151.859,173.450,447.961,0.000,0.000,15.150,1176.106,6947.717,457.131,2103.827,203.467,33.371,1195.990,0.000,1313.217,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,116.584,888.186,430.287,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,396.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20126,589
$CAP_FILE_SIZE,146602,0
$CFSIZE,260165632,225308672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,174534,2059.895,-15805.348,12,3.2,32,9.8