version: 66.07
glider: 500
mission: 7
dive: 144
start: 10 3 110 7 57 15
data:
$ID,500
$MISSION,7
$DIVE,144
$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,-118057.37
$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
$GPS1,031010,074024,2102.911,-15753.699,30,1.1,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.4
$GPS2,031010,075620,2102.967,-15753.812,11,1.6,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,0.073
$KALMAN_X,-179103.7,-240.7,109.9,176295.1,-2506.1
$KALMAN_Y,-4204.1,10.9,130.3,-17229.3,-1124.5
$MHEAD_RNG_PITCHd_Wd,60.7,10511,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,193,0.00,0.00,-65.38,0.000,2,0.000,0.000,128,1919,2967,0,0,0,0,0,0
$GC,196,-0.68,-116.8,3.8,-7.3,13,218,11.30,2.38,-4.57,0.000,4,0.235,0.049,3060,291,3227,0,0,0,0,0,0
$GC,264,-0.68,-116.8,27.9,-26.5,25,270,0.00,2.33,0.00,0.000,6,0.000,0.031,3050,1932,3229,0,0,0,0,0,0
$GC,467,-0.68,-116.8,66.7,-17.7,45,468,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1932,3230,0,0,0,0,0,0
$GC,721,-0.68,-116.8,106.6,-13.5,69,725,0.00,2.25,0.00,0.000,4,0.000,0.041,3038,3488,3230,0,0,0,0,0,0
$GC,761,-0.68,-116.8,111.6,-12.7,72,766,0.10,2.30,0.00,0.000,6,0.143,0.027,3070,1857,3231,0,0,0,0,0,0
$GC,1022,-0.68,-116.8,138.5,-11.0,96,1026,0.00,2.20,0.00,0.000,4,0.000,0.040,3070,325,3232,0,0,0,0,0,0
$GC,1206,-0.68,-116.8,158.3,-9.9,112,1210,0.00,2.20,0.00,0.000,6,0.000,0.030,3062,1912,3232,0,0,0,0,0,0
$GC,1469,-0.68,-116.8,181.9,-9.1,136,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1912,3233,0,0,0,0,0,0
$GC,1720,-0.68,-116.8,204.2,-9.1,158,1725,0.00,2.28,0.00,0.000,4,0.000,0.040,3062,314,3233,0,0,0,0,0,0
$GC,1764,-0.68,-116.8,208.7,-10.2,160,1768,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1897,3233,0,0,0,0,0,0
$GC,2091,-0.68,-116.8,234.1,-7.4,176,2095,0.00,2.25,0.00,0.000,4,0.000,0.039,3056,319,3233,0,0,0,0,0,0
$GC,2140,-0.68,-116.8,238.0,-8.3,178,2144,0.00,2.22,0.00,0.000,6,0.000,0.030,3045,1906,3233,0,0,0,0,0,0
$GC,2461,-0.68,-116.8,263.6,-8.2,194,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1906,3233,0,0,0,0,0,0
$GC,2770,-0.68,-116.8,289.2,-8.5,209,2774,0.00,2.28,0.00,0.000,4,0.000,0.041,3044,317,3232,0,0,0,0,0,0
$GC,2864,-0.68,-116.8,298.7,-10.4,213,2868,0.12,2.22,0.00,0.000,6,0.133,0.030,3076,1901,3231,0,0,0,0,0,0
$GC,3179,-0.68,-116.8,325.2,-8.7,222,3183,0.00,2.28,0.00,0.000,4,0.000,0.040,3076,321,3230,0,0,0,0,0,0
$GC,3240,-0.68,-116.8,330.7,-9.2,223,3244,0.00,2.22,0.00,0.000,6,0.000,0.029,3069,1908,3230,0,0,0,0,0,0
$GC,3588,-0.68,-116.8,352.6,-5.6,232,3592,0.00,2.28,0.00,0.000,4,0.000,0.040,3069,324,3228,0,0,0,0,0,0
$GC,3648,-0.68,-116.8,356.1,-5.7,233,3652,0.00,2.25,0.00,0.000,6,0.000,0.031,3059,1901,3228,0,0,0,0,0,0
$GC,3961,-0.68,-116.8,373.3,-5.8,241,3966,0.00,2.28,0.00,0.000,4,0.000,0.040,3059,316,3225,0,0,0,0,0,0
$GC,4001,-0.68,-116.8,376.3,-7.7,242,4005,0.00,2.22,0.00,0.000,6,0.000,0.031,3055,1910,3225,0,0,0,0,0,0
$GC,4324,-0.68,-116.8,403.1,-8.4,250,4328,0.00,2.28,0.00,0.000,4,0.000,0.040,3055,323,3222,0,0,0,0,0,0
$GC,4367,-0.68,-116.8,407.1,-9.4,251,4371,0.00,2.22,0.00,0.000,6,0.000,0.030,3044,1906,3222,0,0,0,0,0,0
$GC,4691,-0.68,-116.8,432.3,-7.1,259,4695,0.00,2.28,0.00,0.000,4,0.000,0.040,3044,323,3219,0,0,0,0,0,0
$GC,4763,-0.68,-116.8,437.3,-6.4,260,4768,0.12,2.22,0.00,0.000,6,0.131,0.030,3076,1899,3218,0,0,0,0,0,0
$GC,5093,-0.68,-116.8,449.6,-3.4,268,5098,0.00,2.25,0.00,0.000,4,0.000,0.040,3076,327,3217,0,0,0,0,0,0
$GC,5120,-0.68,-116.8,450.7,-3.9,268,5125,0.00,2.22,0.00,0.000,6,0.000,0.030,3066,1896,3217,0,0,0,0,0,0
$STATE,5414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5420,-0.23,0.0,461.1,3.6,276,5510,0.43,0.00,87.68,0.896,6,0.093,0.000,3221,2011,2749,0,0,0,0,0,0
$STATE,5552,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5554,0.68,116.8,462.1,0.0,278,5660,0.73,2.50,96.07,0.877,4,0.044,0.038,3541,426,2272,0,0,0,0,0,0
$GC,5812,0.68,116.8,455.3,8.2,284,5817,0.12,2.28,0.00,0.000,6,0.162,0.031,3509,1989,2262,0,0,0,0,0,0
$GC,6135,0.76,181.1,438.1,5.0,292,6193,0.00,2.38,51.12,0.864,4,0.000,0.038,3519,429,2009,0,0,0,0,0,0
$GC,6232,0.76,181.1,430.0,11.2,294,6237,0.00,2.33,0.00,0.000,6,0.000,0.030,3519,2009,2004,0,0,0,0,0,0
$GC,6545,0.76,181.1,392.7,12.6,302,6549,0.00,2.33,0.00,0.000,4,0.000,0.040,3531,424,1998,0,0,0,0,0,0
$GC,6629,0.76,181.1,380.9,13.9,304,6633,0.00,2.25,0.00,0.000,6,0.000,0.031,3531,1997,1997,0,0,0,0,0,0
$GC,6952,0.76,181.1,336.2,13.7,312,6956,0.00,2.28,0.00,0.000,4,0.000,0.041,3542,430,1994,0,0,0,0,0,0
$GC,7051,0.76,181.1,322.6,13.3,314,7056,0.00,2.28,0.00,0.000,6,0.000,0.031,3542,2005,1994,0,0,0,0,0,0
$GC,7367,0.76,181.1,283.3,12.3,325,7371,0.00,2.30,0.00,0.000,4,0.000,0.041,3554,419,1992,0,0,0,0,0,0
$GC,7461,0.76,181.1,271.6,12.6,329,7465,0.00,2.30,0.00,0.000,6,0.000,0.031,3554,2002,1991,0,0,0,0,0,0
$GC,7782,0.76,181.1,237.7,10.2,345,7786,0.00,2.30,0.00,0.000,4,0.000,0.043,3554,3581,1990,0,0,0,0,0,0
$GC,7826,0.76,181.1,232.4,12.7,347,7830,0.00,2.25,0.00,0.000,6,0.000,0.030,3565,1998,1989,0,0,0,0,0,0
$GC,8149,0.76,181.1,194.3,12.0,364,8153,0.00,2.25,0.00,0.000,4,0.000,0.040,3577,429,1989,0,0,0,0,0,0
$GC,8267,0.76,181.1,180.6,11.1,374,8272,0.15,2.25,0.00,0.000,6,0.160,0.031,3535,2011,1988,0,0,0,0,0,0
$GC,8527,0.76,183.9,159.0,7.9,398,8532,0.00,2.30,0.00,0.000,4,0.000,0.039,3546,425,1988,0,0,0,0,0,0
$GC,8662,0.77,191.4,147.9,7.7,409,8673,0.00,2.20,5.75,0.545,6,0.000,0.030,3546,1996,1969,0,0,0,0,0,0
$GC,8928,0.77,191.4,125.6,8.9,434,8932,0.00,2.33,0.00,0.000,4,0.000,0.041,3546,3585,1968,0,0,0,0,0,0
$GC,8949,0.77,191.4,123.8,8.8,435,8955,0.00,2.28,0.00,0.000,6,0.000,0.029,3557,1999,1968,0,0,0,0,0,0
$GC,9211,0.79,209.5,104.0,7.2,460,9232,0.00,2.30,16.42,0.602,4,0.000,0.038,3569,419,1895,0,0,0,0,0,0
$GC,9484,0.84,245.4,82.9,6.4,484,9521,0.00,2.25,29.52,0.590,6,0.000,0.030,3569,1992,1748,0,0,0,0,0,0
$GC,9775,0.84,245.4,59.2,9.9,512,9779,0.00,2.25,0.00,0.000,4,0.000,0.038,3580,428,1741,0,0,0,0,0,0
$GC,9836,0.84,245.4,53.1,10.0,517,9840,0.00,2.25,0.00,0.000,6,0.000,0.030,3580,2012,1740,0,0,0,0,0,0
$GC,10099,0.84,245.4,25.7,10.5,544,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2012,1740,0,0,0,0,0,0
$STATE,10299,end climb,SURFACE_DEPTH_REACHED
$STATE,10299,begin surface coast
$FINISH,0.2,1.023022
$STATE,10330,end surface coast,CONTROL_FINISHED_OK
$STATE,10330,begin surface
$SM_CCo,10409,77.35,0.073,0,0,1159,390.02
$SM_GC,1.18,0.00,0.00,77.35,0.000,0.000,0.073,131,1874,1159,-9.87,-0.74,390.02
$IRIDIUM_FIX,2054.83,-15751.76,280312,020233
$TT8_MAMPS,0.027612
$HUMID,1078755474
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,15.415
$10V_AH,10.4,13.232
$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,21.550,104.775,286.575,77.350,0.000,51.424,100.104,433.886,0.000,0.000,13.370,1110.739,7420.740,455.780,2331.554,184.552,33.372,1177.225,0.000,1286.402,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,101.244,895.856,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,395.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334604
$DATA_FILE_SIZE,20103,585
$CAP_FILE_SIZE,114535,0
$CFSIZE,260165632,227487744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,105501,2102.758,-15754.021,36,1.1,37,9.8