version: 66.07
glider: 500
mission: 7
dive: 187
start: 10 8 110 21 0 21
data:
$ID,500
$MISSION,7
$DIVE,187
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$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,250
$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,-119094.88
$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,40
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,5
$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
$GPS1,081010,203831,2059.576,-15805.511,35,1.5,36,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.5
$GPS2,081010,205926,2059.622,-15805.815,11,1.1,11,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.322,-0.039
$KALMAN_X,-300715.1,403.9,143.3,276507.7,-7004.0
$KALMAN_Y,-8328.8,-51.5,-48.0,-19057.3,397.1
$MHEAD_RNG_PITCHd_Wd,87.2,29928,-13.1,-10.000
$D_GRID,990
$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,-0.73,-243.3,0.0,0.0,0,84,0.00,0.00,-65.60,0.000,2,0.000,0.000,128,1920,2974,0,0,0,0,0,0
$GC,87,-0.73,-243.3,3.7,-10.5,13,114,11.18,0.00,-12.75,0.000,6,0.231,0.000,3041,1920,3746,0,0,0,0,0,0
$GC,309,-0.73,-243.3,58.7,-19.4,41,313,0.00,2.38,0.00,0.000,4,0.000,0.041,3041,285,3749,0,0,0,0,0,0
$GC,342,-0.73,-243.3,65.4,-19.7,43,347,0.00,2.35,0.00,0.000,6,0.000,0.032,3030,1929,3749,0,0,0,0,0,0
$GC,602,-0.73,-243.3,112.9,-17.1,68,606,0.00,2.38,0.00,0.000,4,0.000,0.039,3031,290,3750,0,0,0,0,0,0
$GC,618,-0.73,-243.3,115.7,-17.1,69,623,0.12,2.28,0.00,0.000,6,0.147,0.031,3060,1909,3749,0,0,0,0,0,0
$GC,878,-0.73,-243.3,150.0,-11.4,93,882,0.00,2.33,0.00,0.000,4,0.000,0.039,3060,295,3750,0,0,0,0,0,0
$GC,904,-0.73,-243.3,153.5,-12.7,95,911,0.00,2.28,0.00,0.000,6,0.000,0.030,3055,1894,3750,0,0,0,0,0,0
$GC,1165,-0.73,-243.3,186.3,-13.5,120,1170,0.00,2.33,0.00,0.000,4,0.000,0.042,3043,3480,3750,0,0,0,0,0,0
$GC,1239,-0.73,-243.3,195.1,-11.3,126,1243,0.00,2.28,0.00,0.000,6,0.000,0.026,3042,1864,3750,0,0,0,0,0,0
$GC,1493,-0.73,-243.3,226.2,-12.1,140,1497,0.00,2.22,0.00,0.000,4,0.000,0.039,3042,313,3750,0,0,0,0,0,0
$GC,1537,-0.73,-243.3,231.9,-12.4,142,1541,0.00,2.22,0.00,0.000,6,0.000,0.030,3032,1903,3750,0,0,0,0,0,0
$GC,1863,-0.73,-243.3,273.0,-12.5,158,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1903,3750,0,0,0,0,0,0
$GC,2172,-0.73,-243.3,310.9,-11.7,171,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1903,3750,0,0,0,0,0,0
$GC,2496,-0.73,-243.3,345.6,-10.2,179,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1903,3750,0,0,0,0,0,0
$GC,2822,-0.73,-243.3,377.1,-9.7,187,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1902,3749,0,0,0,0,0,0
$GC,3146,-0.73,-243.3,408.9,-10.0,195,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1903,3746,0,0,0,0,0,0
$GC,3474,-0.73,-243.3,441.4,-9.9,203,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1903,3743,0,0,0,0,0,0
$GC,3798,-0.73,-243.3,472.8,-9.4,211,3802,0.00,2.33,0.00,0.000,4,0.000,0.045,3023,3472,3740,0,0,0,0,0,0
$GC,3831,-0.73,-243.3,476.3,-9.4,211,3836,0.10,2.22,0.00,0.000,6,0.130,0.028,3061,1885,3739,0,0,0,0,0,0
$GC,4162,-0.73,-243.3,499.4,-6.9,219,4166,0.00,2.28,0.00,0.000,4,0.000,0.041,3061,324,3736,0,0,0,0,0,0
$GC,4211,-0.73,-243.3,502.8,-6.8,220,4216,0.00,2.22,0.00,0.000,6,0.000,0.029,3052,1908,3736,0,0,0,0,0,0
$GC,4530,-0.73,-243.3,527.7,-8.1,228,4534,0.00,2.25,0.00,0.000,4,0.000,0.044,3040,3468,3733,0,0,0,0,0,0
$GC,4558,-0.73,-243.3,530.1,-8.7,228,4562,0.00,2.20,0.00,0.000,6,0.000,0.027,3039,1897,3733,0,0,0,0,0,0
$GC,4890,-0.73,-243.3,558.4,-8.3,236,4894,0.00,2.28,0.00,0.000,4,0.000,0.041,3040,321,3730,0,0,0,0,0,0
$GC,4940,-0.73,-243.3,563.2,-9.7,237,4944,0.00,2.22,0.00,0.000,6,0.000,0.030,3029,1909,3730,0,0,0,0,0,0
$GC,5259,-0.73,-243.3,592.8,-9.3,245,5262,0.00,2.28,0.00,0.000,4,0.000,0.044,3016,3472,3727,0,0,0,0,0,0
$GC,5286,-0.73,-243.3,595.5,-8.9,245,5291,0.12,2.22,0.00,0.000,6,0.117,0.028,3064,1900,3727,0,0,0,0,0,0
$GC,5622,-0.73,-243.3,617.6,-6.3,254,5626,0.00,2.28,0.00,0.000,4,0.000,0.041,3064,321,3724,0,0,0,0,0,0
$GC,5688,-0.73,-243.3,621.7,-6.2,255,5692,0.00,2.25,0.00,0.000,6,0.000,0.029,3055,1913,3724,0,0,0,0,0,0
$GC,6024,-0.73,-243.3,645.3,-7.5,264,6028,0.00,2.30,0.00,0.000,4,0.000,0.040,3055,323,3722,0,0,0,0,0,0
$GC,6045,-0.73,-243.3,647.1,-7.7,264,6050,0.00,2.20,0.00,0.000,6,0.000,0.029,3055,1894,3721,0,0,0,0,0,0
$GC,6382,-0.73,-243.3,674.2,-8.7,273,6387,0.00,2.28,0.00,0.000,4,0.000,0.041,3055,321,3720,0,0,0,0,0,0
$GC,6449,-0.73,-243.3,681.0,-10.2,274,6453,0.00,2.25,0.00,0.000,6,0.000,0.029,3055,1894,3719,0,0,0,0,0,0
$GC,6793,-0.73,-243.3,720.2,-11.9,283,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1894,3717,0,0,0,0,0,0
$GC,7117,-0.73,-243.3,758.5,-11.6,291,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1894,3716,0,0,0,0,0,0
$GC,7444,-0.73,-243.3,793.2,-10.4,299,7448,0.00,2.28,0.00,0.000,4,0.000,0.042,3055,321,3714,0,0,0,0,0,0
$GC,7527,-0.73,-243.3,802.2,-10.4,301,7532,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1900,3714,0,0,0,0,0,0
$GC,7852,-0.73,-243.3,833.2,-9.3,309,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1900,3712,0,0,0,0,0,0
$GC,8179,-0.73,-243.3,863.6,-9.4,317,8183,0.00,2.28,0.00,0.000,4,0.000,0.042,3055,327,3712,0,0,0,0,0,0
$GC,8217,-0.73,-243.3,867.6,-9.7,318,8222,0.00,2.22,0.00,0.000,6,0.000,0.031,3055,1900,3712,0,0,0,0,0,0
$GC,8541,-0.73,-243.3,899.2,-10.0,326,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1900,3710,0,0,0,0,0,0
$GC,8870,-0.73,-243.3,933.0,-10.4,334,8874,0.00,2.30,0.00,0.000,4,0.000,0.043,3055,328,3709,0,0,0,0,0,0
$GC,8987,-0.73,-243.3,945.7,-10.3,336,8991,0.00,2.25,0.00,0.000,6,0.000,0.031,3055,1897,3709,0,0,0,0,0,0
$GC,9317,-0.73,-243.3,979.5,-10.3,344,9322,0.00,2.30,0.00,0.000,4,0.000,0.041,3055,318,3708,0,0,0,0,0,0
$GC,9378,-0.73,-243.3,985.9,-10.2,345,9382,0.00,2.25,0.00,0.000,6,0.000,0.031,3055,1914,3708,0,0,0,0,0,0
$STATE,9446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9446,begin apogee
$GC,9450,-0.23,0.0,992.5,9.8,347,9650,0.43,0.00,196.60,1.310,6,0.051,0.000,3250,2017,2750,0,0,0,0,0,0
$STATE,9651,end apogee,CONTROL_FINISHED_OK
$STATE,9651,begin climb
$GC,9654,0.73,243.3,1004.8,0.0,352,9873,0.73,2.55,209.27,1.266,4,0.043,0.041,3561,425,1756,0,0,0,0,0,0
$GC,10025,0.73,243.3,960.0,19.0,360,10031,0.12,2.33,0.00,0.000,6,0.157,0.031,3529,1988,1745,0,0,0,0,0,0
$GC,10357,0.73,243.3,905.2,16.3,369,10361,0.00,2.33,0.00,0.000,4,0.000,0.041,3539,433,1742,0,0,0,0,0,0
$GC,10517,0.73,243.3,878.2,16.2,372,10522,0.00,2.30,0.00,0.000,6,0.000,0.031,3539,1998,1741,0,0,0,0,0,0
$GC,10855,0.73,243.3,821.2,17.5,381,10859,0.00,2.33,0.00,0.000,4,0.000,0.042,3551,421,1740,0,0,0,0,0,0
$GC,10960,0.73,243.3,801.3,19.6,383,10964,0.00,2.33,0.00,0.000,6,0.000,0.032,3551,2000,1740,0,0,0,0,0,0
$GC,11309,0.73,243.3,737.2,18.3,392,11313,0.00,2.33,0.00,0.000,4,0.000,0.043,3562,422,1739,0,0,0,0,0,0
$GC,11409,0.73,243.3,717.2,20.0,394,11414,0.10,2.33,0.00,0.000,6,0.138,0.033,3529,2009,1739,0,0,0,0,0,0
$GC,11729,0.73,243.3,659.3,18.2,402,11733,0.00,2.33,0.00,0.000,4,0.000,0.042,3539,422,1739,0,0,0,0,0,0
$GC,11863,0.73,243.3,636.4,16.5,405,11867,0.00,2.28,0.00,0.000,6,0.000,0.032,3539,2018,1738,0,0,0,0,0,0
$GC,12183,0.73,243.3,584.1,16.4,413,12187,0.00,2.33,0.00,0.000,4,0.000,0.042,3551,430,1738,0,0,0,0,0,0
$GC,12288,0.73,243.3,565.7,15.8,415,12292,0.00,2.28,0.00,0.000,6,0.000,0.031,3551,1991,1738,0,0,0,0,0,0
$GC,12637,0.73,243.3,505.8,17.2,424,12641,0.00,2.28,0.00,0.000,4,0.000,0.041,3562,428,1737,0,0,0,0,0,0
$GC,12737,0.73,243.3,487.5,18.1,426,12742,0.10,2.28,0.00,0.000,6,0.138,0.031,3529,2000,1737,0,0,0,0,0,0
$GC,13051,0.73,243.3,437.4,16.2,434,13055,0.00,2.30,0.00,0.000,4,0.000,0.043,3539,425,1737,0,0,0,0,0,0
$GC,13185,0.73,243.3,415.5,15.6,437,13189,0.00,2.25,0.00,0.000,6,0.000,0.033,3539,2005,1737,0,0,0,0,0,0
$GC,13502,0.73,243.3,364.9,15.7,445,13506,0.00,2.30,0.00,0.000,4,0.000,0.042,3550,422,1738,0,0,0,0,0,0
$GC,13663,0.73,243.3,339.5,15.7,448,13668,0.00,2.28,0.00,0.000,6,0.000,0.032,3550,1990,1737,0,0,0,0,0,0
$GC,13980,0.73,243.3,292.4,14.3,457,13984,0.00,2.28,0.00,0.000,4,0.000,0.041,3562,419,1737,0,0,0,0,0,0
$GC,14065,0.73,243.3,280.2,15.0,461,14070,0.12,2.25,0.00,0.000,6,0.158,0.031,3528,2003,1737,0,0,0,0,0,0
$GC,14391,0.73,243.3,240.4,10.7,477,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2003,1737,0,0,0,0,0,0
$GC,14700,0.73,243.3,203.3,12.7,492,14704,0.00,2.30,0.00,0.000,4,0.000,0.041,3538,418,1737,0,0,0,0,0,0
$GC,14783,0.73,243.3,192.8,11.8,498,14788,0.00,2.28,0.00,0.000,6,0.000,0.031,3538,2006,1737,0,0,0,0,0,0
$GC,15044,0.73,243.3,158.5,12.8,522,15048,0.00,2.28,0.00,0.000,4,0.000,0.041,3549,430,1737,0,0,0,0,0,0
$GC,15194,0.73,243.3,139.8,11.3,535,15199,0.00,2.22,0.00,0.000,6,0.000,0.031,3549,2012,1737,0,0,0,0,0,0
$GC,15455,0.73,243.3,110.9,10.5,559,15459,0.00,2.25,0.00,0.000,4,0.000,0.041,3549,3571,1737,0,0,0,0,0,0
$GC,15471,0.73,243.3,109.1,11.1,560,15476,0.12,2.25,0.00,0.000,6,0.167,0.029,3526,1991,1738,0,0,0,0,0,0
$GC,15731,0.84,326.4,88.2,7.7,584,15805,0.00,2.35,64.45,0.617,4,0.000,0.040,3537,422,1418,0,0,0,0,0,0
$GC,15990,0.86,343.3,65.4,9.5,607,16009,0.00,2.25,14.25,0.557,6,0.000,0.028,3537,1995,1349,0,0,0,0,0,0
$GC,16270,0.86,343.3,36.5,10.1,634,16274,0.00,2.28,0.00,0.000,4,0.000,0.039,3548,429,1345,0,0,0,0,0,0
$GC,16428,0.86,343.3,20.9,10.8,655,16434,0.00,2.22,0.00,0.000,6,0.000,0.028,3548,2014,1343,0,0,0,0,0,0
$STATE,16600,end climb,SURFACE_DEPTH_REACHED
$STATE,16601,begin surface coast
$FINISH,0.1,1.022850
$STATE,16630,end surface coast,CONTROL_FINISHED_OK
$STATE,16630,begin surface
$SM_CCo,16647,29.95,0.351,1,0,1159,390.02
$SM_GC,0.81,0.00,0.00,29.95,0.000,0.000,0.351,139,1884,1159,-9.85,-0.45,390.02
$IRIDIUM_FIX,2052.52,-15805.06,020412,151533
$TT8_MAMPS,0.027612
$HUMID,1078839345
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.5,20.259
$10V_AH,10.3,15.509
$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,21.900,146.300,484.575,29.950,0.000,114.624,143.002,675.311,15.000,0.000,13.389,1497.505,12855.993,601.634,2693.573,293.302,33.373,1573.799,0.000,1686.294,0.000,129.509,0.000
$DEVICE_MAMPS,230.867,102.778,1310.036,351.286,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,470.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23426,691
$CAP_FILE_SIZE,216764,0
$CFSIZE,260165632,225124352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,013937,2058.938,-15804.813,35,1.0,35,9.8