version: 66.07
glider: 500
mission: 7
dive: 142
start: 10 3 110 1 34 29
data:
$ID,500
$MISSION,7
$DIVE,142
$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,-118028.66
$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,2
$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
$GPS1,031010,011958,2102.584,-15753.768,11,3.6,31,9.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.7
$GPS2,031010,013336,2102.518,-15753.820,14,0.9,30,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,0.111
$KALMAN_X,-174894.5,284.1,-211.1,171868.3,-1740.7
$KALMAN_Y,-2268.5,-120.4,-194.1,-19536.8,-412.1
$MHEAD_RNG_PITCHd_Wd,49.6,11261,-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,124,end surface,CONTROL_FINISHED_OK
$STATE,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,189,0.00,0.00,-60.72,0.000,2,0.000,0.000,127,1889,2814,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.2,-5.7,12,219,11.23,2.40,-7.70,0.000,4,0.232,0.052,3053,3507,3232,0,0,0,0,0,0
$GC,253,-0.68,-116.8,21.8,-22.8,23,258,0.00,2.33,0.00,0.000,6,0.000,0.028,3053,1858,3233,0,0,0,0,0,0
$GC,457,-0.68,-116.8,60.5,-19.0,46,461,0.00,2.20,0.00,0.000,4,0.000,0.041,3053,326,3233,0,0,0,0,0,0
$GC,513,-0.68,-116.8,73.8,-24.7,51,517,0.00,2.25,0.00,0.000,6,0.000,0.031,3042,1929,3233,0,0,0,0,0,0
$GC,773,-0.68,-116.8,114.7,-13.8,75,777,0.00,2.30,0.00,0.000,4,0.000,0.039,3042,323,3234,0,0,0,0,0,0
$GC,839,-0.68,-116.8,123.8,-14.2,80,846,0.12,2.22,0.00,0.000,6,0.140,0.031,3073,1905,3235,0,0,0,0,0,0
$GC,1102,-0.68,-116.8,151.8,-10.7,105,1106,0.00,2.25,0.00,0.000,4,0.000,0.039,3073,323,3236,0,0,0,0,0,0
$GC,1146,-0.68,-116.8,156.6,-10.3,108,1151,0.00,2.22,0.00,0.000,6,0.000,0.030,3064,1910,3236,0,0,0,0,0,0
$GC,1406,-0.68,-116.8,181.8,-8.6,133,1410,0.00,2.25,0.00,0.000,4,0.000,0.039,3064,325,3235,0,0,0,0,0,0
$GC,1482,-0.68,-116.8,189.4,-9.9,139,1489,0.00,2.22,0.00,0.000,6,0.000,0.029,3053,1899,3236,0,0,0,0,0,0
$GC,1750,-0.68,-116.8,211.9,-8.2,158,1754,0.00,2.28,0.00,0.000,4,0.000,0.039,3053,314,3235,0,0,0,0,0,0
$GC,1812,-0.68,-116.8,217.6,-9.4,161,1816,0.00,2.22,0.00,0.000,6,0.000,0.030,3042,1899,3236,0,0,0,0,0,0
$GC,2138,-0.68,-116.8,246.4,-7.6,177,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1900,3235,0,0,0,0,0,0
$GC,2447,-0.68,-116.8,269.1,-8.1,192,2451,0.00,2.28,0.00,0.000,4,0.000,0.039,3042,323,3235,0,0,0,0,0,0
$GC,2576,-0.68,-116.8,281.4,-9.2,198,2581,0.12,2.20,0.00,0.000,6,0.133,0.029,3073,1910,3235,0,0,0,0,0,0
$GC,2901,-0.68,-116.8,303.1,-5.7,213,2905,0.00,2.28,0.00,0.000,4,0.000,0.039,3073,316,3233,0,0,0,0,0,0
$GC,2967,-0.68,-116.8,307.1,-5.9,214,2972,0.00,2.25,0.00,0.000,6,0.000,0.030,3063,1901,3233,0,0,0,0,0,0
$GC,3310,-0.68,-116.8,328.4,-6.8,223,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1902,3231,0,0,0,0,0,0
$GC,3634,-0.68,-116.8,353.6,-7.7,231,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1902,3229,0,0,0,0,0,0
$GC,3959,-0.68,-116.8,372.4,-5.3,239,3963,0.00,2.25,0.00,0.000,4,0.000,0.040,3063,328,3226,0,0,0,0,0,0
$GC,4048,-0.68,-116.8,377.6,-5.4,241,4052,0.00,2.20,0.00,0.000,6,0.000,0.030,3052,1900,3225,0,0,0,0,0,0
$GC,4372,-0.68,-116.8,396.1,-5.9,249,4376,0.00,2.28,0.00,0.000,4,0.000,0.041,3052,325,3223,0,0,0,0,0,0
$GC,4484,-0.68,-116.8,402.6,-5.6,251,4488,0.00,2.20,0.00,0.000,6,0.000,0.031,3041,1899,3222,0,0,0,0,0,0
$GC,4820,-0.68,-116.8,423.6,-6.6,260,4821,0.10,0.00,0.00,0.000,6,0.144,0.000,3075,1900,3219,0,0,0,0,0,0
$GC,5145,-0.68,-116.8,448.9,-7.9,268,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1900,3218,0,0,0,0,0,0
$STATE,5346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5346,begin apogee
$GC,5351,-0.23,0.0,461.0,5.8,273,5442,0.40,0.00,87.88,0.894,6,0.092,0.000,3223,2005,2750,0,0,0,0,0,0
$STATE,5484,end apogee,CONTROL_FINISHED_OK
$STATE,5484,begin climb
$GC,5486,0.68,116.8,462.4,0.0,275,5592,0.73,2.47,96.28,0.874,4,0.043,0.041,3538,3568,2272,0,0,0,0,0,0
$GC,5844,0.68,116.8,435.2,12.0,283,5849,0.10,2.30,0.00,0.000,6,0.142,0.028,3517,1996,2259,0,0,0,0,0,0
$GC,6163,0.68,116.8,407.1,8.1,291,6168,0.00,2.30,0.00,0.000,4,0.000,0.041,3516,3573,2255,0,0,0,0,0,0
$GC,6420,0.68,116.8,384.7,9.1,296,6427,0.00,2.28,0.00,0.000,6,0.000,0.028,3527,1994,2253,0,0,0,0,0,0
$GC,6752,0.68,116.8,357.4,8.4,305,6756,0.00,2.25,0.00,0.000,4,0.000,0.039,3539,428,2252,0,0,0,0,0,0
$GC,6791,0.68,116.8,353.8,9.8,306,6795,0.00,2.25,0.00,0.000,6,0.000,0.031,3539,1999,2251,0,0,0,0,0,0
$GC,7114,0.68,116.8,325.9,8.3,314,7118,0.00,2.28,0.00,0.000,4,0.000,0.040,3550,422,2249,0,0,0,0,0,0
$GC,7169,0.70,133.9,321.9,7.2,315,7185,0.12,2.25,11.10,0.753,6,0.169,0.032,3518,2012,2204,0,0,0,0,0,0
$GC,7516,0.75,173.2,298.7,6.2,324,7557,0.00,2.38,32.90,0.790,4,0.000,0.041,3517,3575,2042,0,0,0,0,0,0
$GC,7647,0.75,173.2,285.7,12.5,330,7651,0.00,2.28,0.00,0.000,6,0.000,0.029,3528,2004,2037,0,0,0,0,0,0
$GC,7972,0.75,173.2,251.4,9.4,346,7976,0.00,2.30,0.00,0.000,4,0.000,0.040,3540,430,2034,0,0,0,0,0,0
$GC,8094,0.75,173.2,239.9,9.7,351,8100,0.00,2.22,0.00,0.000,6,0.000,0.030,3540,2002,2033,0,0,0,0,0,0
$GC,8409,0.75,173.2,209.6,10.8,367,8413,0.00,2.28,0.00,0.000,4,0.000,0.041,3540,3575,2032,0,0,0,0,0,0
$GC,8538,0.75,173.2,196.3,9.6,374,8542,0.00,2.28,0.00,0.000,6,0.000,0.028,3551,1986,2032,0,0,0,0,0,0
$GC,8799,0.75,177.4,174.3,7.8,398,8803,0.00,2.25,0.00,0.000,4,0.000,0.039,3564,416,2032,0,0,0,0,0,0
$GC,8976,0.75,177.4,156.6,10.4,413,8983,0.08,2.28,0.00,0.000,6,0.140,0.030,3538,1996,2031,0,0,0,0,0,0
$GC,9238,0.75,177.4,131.5,9.9,438,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1996,2031,0,0,0,0,0,0
$GC,9493,0.80,216.8,114.2,6.2,462,9534,0.00,2.33,34.47,0.630,4,0.000,0.040,3548,428,1865,0,0,0,0,0,0
$GC,9703,0.80,216.8,96.3,8.9,481,9707,0.00,2.25,0.00,0.000,6,0.000,0.029,3548,1998,1861,0,0,0,0,0,0
$GC,9966,0.83,235.1,77.6,7.2,505,9987,0.00,2.35,15.20,0.564,4,0.000,0.039,3559,423,1790,0,0,0,0,0,0
$GC,10071,0.83,235.1,67.1,10.3,515,10076,0.00,2.25,0.00,0.000,6,0.000,0.030,3560,2016,1787,0,0,0,0,0,0
$GC,10333,0.83,235.1,41.3,10.4,539,10337,0.00,2.33,0.00,0.000,4,0.000,0.039,3571,418,1785,0,0,0,0,0,0
$GC,10383,0.83,235.1,35.7,10.5,543,10387,0.00,2.22,0.00,0.000,6,0.000,0.031,3571,1994,1785,0,0,0,0,0,0
$GC,10654,0.83,238.1,10.7,7.9,586,10660,0.00,2.33,0.00,0.000,4,0.000,0.041,3571,3585,1785,0,0,0,0,0,0
$GC,10699,0.83,238.1,5.8,11.3,594,10704,0.00,2.22,0.00,0.000,6,0.000,0.028,3582,1996,1785,0,0,0,0,0,0
$STATE,10725,end climb,SURFACE_DEPTH_REACHED
$STATE,10725,begin surface coast
$FINISH,0.6,1.022998
$STATE,10750,end surface coast,CONTROL_FINISHED_OK
$STATE,10750,begin surface
$SM_CCo,10836,83.62,0.073,0,0,1160,390.02
$SM_GC,1.18,0.00,0.00,83.62,0.000,0.000,0.073,135,1869,1160,-9.86,-0.88,390.02
$IRIDIUM_FIX,2052.52,-15754.77,270312,161636
$TT8_MAMPS,0.027612
$HUMID,1078723216
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,15.203
$10V_AH,10.5,13.122
$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,21.575,100.175,277.825,83.625,0.000,23.245,37.125,437.159,0.000,0.000,32.621,1136.804,7687.356,455.798,2331.015,186.636,33.379,1209.326,0.000,1353.612,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,104.312,894.322,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,406.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334632
$DATA_FILE_SIZE,20062,603
$CAP_FILE_SIZE,115897,0
$CFSIZE,260165632,227577856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,043955,2102.890,-15753.762,62,1.0,63,9.8