version: 66.07
glider: 500
mission: 7
dive: 186
start: 10 8 110 17 55 57
data:
$ID,500
$MISSION,7
$DIVE,186
$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,-119080.87
$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
$GPS1,081010,174534,2059.895,-15805.348,12,3.2,32,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.5
$GPS2,081010,175502,2059.934,-15805.441,15,1.1,15,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.056
$KALMAN_X,-297265.5,504.6,-348.7,274093.1,-3138.4
$KALMAN_Y,-8575.7,226.3,-143.6,-18418.3,209.4
$MHEAD_RNG_PITCHd_Wd,95.1,29076,-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,-61.45,0.000,2,0.000,0.000,129,1904,2834,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.2,-5.7,12,110,11.30,2.42,-7.18,0.000,4,0.232,0.050,3063,287,3230,0,0,0,0,0,0
$GC,128,-0.68,-116.8,18.7,-30.7,20,134,0.00,2.38,0.00,0.000,6,0.000,0.031,3053,1929,3232,0,0,0,0,0,0
$GC,333,-0.68,-116.8,57.0,-16.0,44,334,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1929,3232,0,0,0,0,0,0
$GC,588,-0.68,-116.8,94.7,-12.1,68,589,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1929,3234,0,0,0,0,0,0
$GC,844,-0.68,-116.8,126.5,-12.2,92,847,0.00,2.38,0.00,0.000,4,0.000,0.039,3052,292,3235,0,0,0,0,0,0
$GC,866,-0.68,-116.8,129.1,-11.8,94,870,0.00,2.28,0.00,0.000,6,0.000,0.031,3041,1913,3235,0,0,0,0,0,0
$GC,1126,-0.68,-116.8,164.8,-15.0,118,1130,0.00,2.25,0.00,0.000,4,0.000,0.041,3029,3473,3236,0,0,0,0,0,0
$GC,1215,-0.68,-116.8,178.1,-14.8,125,1222,0.12,2.25,0.00,0.000,6,0.133,0.026,3070,1862,3236,0,0,0,0,0,0
$GC,1475,-0.68,-116.8,204.4,-9.0,148,1479,0.00,2.17,0.00,0.000,4,0.000,0.039,3071,329,3236,0,0,0,0,0,0
$GC,1564,-0.68,-116.8,211.7,-7.8,152,1568,0.00,2.17,0.00,0.000,6,0.000,0.029,3061,1902,3236,0,0,0,0,0,0
$GC,1884,-0.68,-116.8,241.1,-9.9,168,1888,0.00,2.25,0.00,0.000,4,0.000,0.038,3061,321,3236,0,0,0,0,0,0
$GC,1901,-0.68,-116.8,242.8,-9.8,169,1904,0.00,2.20,0.00,0.000,6,0.000,0.029,3050,1901,3236,0,0,0,0,0,0
$GC,2232,-0.68,-116.8,278.2,-11.2,185,2236,0.00,2.25,0.00,0.000,4,0.000,0.041,3038,3476,3236,0,0,0,0,0,0
$GC,2254,-0.68,-116.8,280.6,-11.4,186,2259,0.10,2.20,0.00,0.000,6,0.137,0.026,3072,1906,3236,0,0,0,0,0,0
$GC,2577,-0.68,-116.8,310.9,-8.5,199,2581,0.00,2.28,0.00,0.000,4,0.000,0.039,3072,321,3236,0,0,0,0,0,0
$GC,2678,-0.68,-116.8,319.4,-8.3,201,2682,0.00,2.20,0.00,0.000,6,0.000,0.028,3063,1907,3235,0,0,0,0,0,0
$GC,2990,-0.68,-116.8,342.9,-7.7,209,2995,0.00,2.30,0.00,0.000,4,0.000,0.039,3063,316,3234,0,0,0,0,0,0
$GC,3035,-0.68,-116.8,347.0,-9.1,210,3039,0.00,2.20,0.00,0.000,6,0.000,0.030,3052,1900,3234,0,0,0,0,0,0
$GC,3354,-0.68,-116.8,372.9,-7.7,218,3358,0.00,2.30,0.00,0.000,4,0.000,0.043,3040,3475,3232,0,0,0,0,0,0
$GC,3385,-0.68,-116.8,375.5,-8.3,218,3392,0.08,2.25,0.00,0.000,6,0.096,0.026,3074,1892,3232,0,0,0,0,0,0
$GC,3718,-0.68,-116.8,395.1,-6.0,227,3722,0.00,2.25,0.00,0.000,4,0.000,0.041,3074,323,3230,0,0,0,0,0,0
$GC,3758,-0.68,-116.8,398.1,-7.4,228,3762,0.00,2.22,0.00,0.000,6,0.000,0.029,3065,1904,3230,0,0,0,0,0,0
$GC,4082,-0.68,-116.8,423.8,-8.2,236,4086,0.00,2.28,0.00,0.000,4,0.000,0.039,3064,323,3227,0,0,0,0,0,0
$GC,4104,-0.68,-116.8,425.9,-9.2,236,4108,0.00,2.22,0.00,0.000,6,0.000,0.029,3053,1910,3227,0,0,0,0,0,0
$GC,4440,-0.68,-116.8,454.3,-8.5,245,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1910,3225,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4525,-0.23,0.0,460.8,8.1,247,4617,0.45,0.00,89.32,0.892,6,0.096,0.000,3214,1995,2749,0,0,0,0,0,0
$STATE,4618,end apogee,CONTROL_FINISHED_OK
$STATE,4618,begin climb
$GC,4620,0.68,116.8,463.8,0.0,249,4726,0.75,2.50,95.95,0.871,4,0.046,0.041,3526,3574,2272,0,0,0,0,0,0
$GC,4744,0.75,171.5,465.2,5.5,252,4794,0.00,2.33,44.72,0.848,6,0.000,0.028,3538,1996,2050,0,0,0,0,0,0
$GC,5107,0.75,171.5,422.3,12.3,261,5111,0.00,2.30,0.00,0.000,4,0.000,0.040,3550,433,2037,0,0,0,0,0,0
$GC,5352,0.75,171.5,389.6,13.3,266,5357,0.00,2.28,0.00,0.000,6,0.000,0.030,3550,1992,2033,0,0,0,0,0,0
$GC,5701,0.75,171.5,348.9,10.6,275,5705,0.00,2.30,0.00,0.000,4,0.000,0.039,3561,421,2030,0,0,0,0,0,0
$GC,5778,0.75,171.5,340.9,10.9,276,5785,0.08,2.30,0.00,0.000,6,0.136,0.031,3536,2010,2029,0,0,0,0,0,0
$GC,6111,0.75,171.5,308.3,9.5,285,6115,0.00,2.33,0.00,0.000,4,0.000,0.040,3546,425,2027,0,0,0,0,0,0
$GC,6285,0.75,171.5,288.4,12.5,291,6289,0.00,2.25,0.00,0.000,6,0.000,0.031,3546,2004,2026,0,0,0,0,0,0
$GC,6610,0.75,171.5,252.6,10.3,307,6614,0.00,2.28,0.00,0.000,4,0.000,0.040,3557,432,2025,0,0,0,0,0,0
$GC,6793,0.75,171.5,234.3,9.5,315,6798,0.00,2.28,0.00,0.000,6,0.000,0.029,3557,2007,2024,0,0,0,0,0,0
$GC,7115,0.75,171.5,205.1,8.9,331,7119,0.00,2.30,0.00,0.000,4,0.000,0.039,3569,425,2022,0,0,0,0,0,0
$GC,7210,0.75,171.5,195.0,11.8,337,7215,0.12,2.22,0.00,0.000,6,0.156,0.031,3534,2008,2023,0,0,0,0,0,0
$GC,7470,0.75,171.5,173.7,8.2,361,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2009,2022,0,0,0,0,0,0
$GC,7726,0.75,175.1,153.5,7.9,385,7730,0.00,2.28,0.00,0.000,4,0.000,0.041,3534,3578,2022,0,0,0,0,0,0
$GC,7798,0.75,175.1,146.7,10.1,391,7802,0.00,2.22,0.00,0.000,6,0.000,0.028,3544,1996,2021,0,0,0,0,0,0
$GC,8059,0.77,187.9,124.6,7.4,415,8073,0.00,2.30,9.68,0.591,4,0.000,0.039,3556,419,1983,0,0,0,0,0,0
$GC,8258,0.77,187.9,106.2,9.8,432,8265,0.00,2.28,0.00,0.000,6,0.000,0.029,3556,2004,1981,0,0,0,0,0,0
$GC,8520,0.77,191.0,83.5,7.9,457,8531,0.00,2.33,4.05,0.416,4,0.000,0.039,3567,427,1971,0,0,0,0,0,0
$GC,8554,0.77,192.5,81.0,8.0,460,8558,0.00,2.25,0.00,0.000,6,0.000,0.031,3567,2009,1971,0,0,0,0,0,0
$GC,8815,0.80,210.0,60.4,7.2,484,8840,0.00,2.38,17.15,0.560,4,0.000,0.039,3579,422,1893,0,0,0,0,0,0
$GC,8861,0.80,210.0,56.6,8.5,488,8868,0.08,2.28,0.00,0.000,6,0.133,0.030,3551,1998,1891,0,0,0,0,0,0
$GC,9123,0.82,227.3,37.9,7.2,513,9145,0.00,2.33,15.05,0.532,4,0.000,0.040,3562,422,1822,0,0,0,0,0,0
$GC,9240,0.84,248.6,29.6,7.0,523,9266,0.00,2.25,17.65,0.525,6,0.000,0.030,3562,2001,1735,0,0,0,0,0,0
$GC,9469,0.84,248.6,12.3,8.6,564,9474,0.00,2.30,0.00,0.000,4,0.000,0.039,3573,425,1731,0,0,0,0,0,0
$STATE,9562,end climb,SURFACE_DEPTH_REACHED
$STATE,9562,begin surface coast
$FINISH,1.7,1.022912
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9593,82.07,0.459,1,0,1159,390.02
$SM_GC,1.15,0.00,0.00,82.07,0.000,0.000,0.459,143,1919,1159,-9.83,0.54,390.02
$IRIDIUM_FIX,2050.21,-15808.06,020412,090935
$TT8_MAMPS,0.027612
$HUMID,1078745152
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,20.043
$10V_AH,10.4,15.437
$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,22.050,104.750,293.575,82.075,0.000,28.882,39.371,376.603,0.000,0.000,16.902,1167.446,6704.578,474.861,1709.858,197.658,33.362,1187.300,0.000,1253.931,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,125.021,892.021,459.433,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20106,583
$CAP_FILE_SIZE,142705,0
$CFSIZE,260165632,225259520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,203831,2059.576,-15805.511,35,1.5,36,9.8