version: 66.07
glider: 500
mission: 7
dive: 156
start: 10 4 110 22 54 45
data:
$ID,500
$MISSION,7
$DIVE,156
$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,558.0484
$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,-118384.65
$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
$GPS1,041010,223007,2104.768,-15755.239,46,1.2,46,9.8
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.5
$GPS2,041010,225350,2104.850,-15755.422,12,1.6,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.023
$KALMAN_X,-210286.0,395.1,114.7,204061.5,-3419.7
$KALMAN_Y,-10840.5,13.3,22.1,-6999.5,-452.5
$MHEAD_RNG_PITCHd_Wd,86.2,9610,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-66.20,0.000,2,0.000,0.000,124,1894,2980,0,0,0,0,0,0
$GC,88,-0.68,-116.8,3.7,-6.4,13,110,11.40,2.35,-4.25,0.000,4,0.235,0.048,3062,281,3229,0,0,0,0,0,0
$GC,133,-0.68,-116.8,23.0,-38.5,21,139,0.00,2.35,0.00,0.000,6,0.000,0.032,3051,1924,3230,0,0,0,0,0,0
$GC,337,-0.68,-116.8,62.8,-19.1,43,338,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1925,3231,0,0,0,0,0,0
$GC,592,-0.68,-116.8,105.5,-13.0,67,593,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1925,3232,0,0,0,0,0,0
$GC,847,-0.68,-116.8,137.0,-12.5,91,851,0.00,2.35,0.00,0.000,4,0.000,0.040,3051,294,3232,0,0,0,0,0,0
$GC,949,-0.68,-116.8,149.2,-12.2,100,954,0.10,2.28,0.00,0.000,6,0.147,0.030,3071,1905,3233,0,0,0,0,0,0
$GC,1209,-0.68,-116.8,174.3,-9.3,124,1213,0.00,2.30,0.00,0.000,4,0.000,0.040,3072,295,3234,0,0,0,0,0,0
$GC,1252,-0.68,-116.8,178.4,-9.5,127,1259,0.00,2.28,0.00,0.000,6,0.000,0.031,3069,1891,3234,0,0,0,0,0,0
$GC,1524,-0.68,-116.8,202.2,-8.9,152,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1892,3234,0,0,0,0,0,0
$GC,1833,-0.68,-116.8,227.8,-7.8,167,1837,0.00,2.33,0.00,0.000,4,0.000,0.043,3057,3485,3234,0,0,0,0,0,0
$GC,1878,-0.68,-116.8,231.1,-7.1,169,1882,0.00,2.25,0.00,0.000,6,0.000,0.026,3057,1866,3234,0,0,0,0,0,0
$GC,2210,-0.68,-116.8,256.5,-7.1,185,2214,0.00,2.22,0.00,0.000,4,0.000,0.040,3057,327,3234,0,0,0,0,0,0
$GC,2309,-0.68,-116.8,264.2,-7.7,189,2314,0.00,2.22,0.00,0.000,6,0.000,0.030,3047,1899,3234,0,0,0,0,0,0
$GC,2630,-0.68,-116.8,288.7,-8.3,205,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1899,3233,0,0,0,0,0,0
$GC,2937,-0.68,-116.8,315.9,-8.9,216,2941,0.00,2.30,0.00,0.000,4,0.000,0.040,3047,321,3232,0,0,0,0,0,0
$GC,3026,-0.68,-116.8,324.3,-9.2,218,3030,0.00,2.20,0.00,0.000,6,0.000,0.030,3042,1904,3231,0,0,0,0,0,0
$GC,3350,-0.68,-116.8,349.1,-7.5,226,3354,0.00,2.28,0.00,0.000,4,0.000,0.040,3042,328,3231,0,0,0,0,0,0
$GC,3410,-0.68,-116.8,354.2,-8.4,227,3415,0.12,2.20,0.00,0.000,6,0.132,0.030,3073,1907,3230,0,0,0,0,0,0
$GC,3723,-0.68,-116.8,372.8,-5.9,235,3728,0.00,2.28,0.00,0.000,4,0.000,0.040,3073,319,3228,0,0,0,0,0,0
$GC,3751,-0.68,-116.8,374.6,-6.4,235,3755,0.00,2.22,0.00,0.000,6,0.000,0.030,3064,1917,3228,0,0,0,0,0,0
$GC,4082,-0.68,-116.8,394.0,-5.9,243,4086,0.00,2.30,0.00,0.000,4,0.000,0.040,3064,320,3226,0,0,0,0,0,0
$GC,4120,-0.68,-116.8,396.6,-7.0,243,4126,0.00,2.25,0.00,0.000,6,0.000,0.030,3052,1904,3226,0,0,0,0,0,0
$GC,4451,-0.68,-116.8,427.1,-10.2,252,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1904,3224,0,0,0,0,0,0
$STATE,4774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4774,begin apogee
$GC,4779,-0.23,0.0,460.1,10.4,260,4871,0.45,0.00,88.88,0.884,6,0.094,0.000,3215,2014,2749,0,0,0,0,0,0
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4874,0.68,116.8,465.0,0.0,262,4980,0.75,2.45,96.22,0.864,4,0.038,0.041,3544,3565,2271,0,0,0,0,0,0
$GC,5036,0.69,127.1,467.3,7.5,265,5051,0.15,2.30,8.50,0.725,6,0.164,0.028,3516,2000,2232,0,0,0,0,0,0
$GC,5369,0.69,127.1,434.7,10.9,274,5373,0.00,2.30,0.00,0.000,4,0.000,0.040,3526,426,2223,0,0,0,0,0,0
$GC,5515,0.69,127.1,416.0,13.1,277,5519,0.00,2.22,0.00,0.000,6,0.000,0.031,3526,1986,2221,0,0,0,0,0,0
$GC,5827,0.69,127.1,382.1,10.2,285,5832,0.00,2.33,0.00,0.000,4,0.000,0.041,3527,3591,2218,0,0,0,0,0,0
$GC,6084,0.69,127.1,354.4,10.4,290,6091,0.00,2.30,0.00,0.000,6,0.000,0.028,3538,1996,2216,0,0,0,0,0,0
$GC,6417,0.70,131.2,326.0,7.8,299,6421,0.00,2.33,0.00,0.000,4,0.000,0.040,3539,3590,2214,0,0,0,0,0,0
$GC,6528,0.70,131.6,317.5,8.0,301,6532,0.10,2.30,0.00,0.000,6,0.153,0.028,3501,1996,2212,0,0,0,0,0,0
$GC,6852,0.74,165.2,296.6,6.5,310,6886,0.00,2.35,28.60,0.783,4,0.000,0.040,3512,432,2075,0,0,0,0,0,0
$GC,7072,0.74,165.2,271.6,12.1,320,7077,0.00,2.25,0.00,0.000,6,0.000,0.030,3512,2012,2070,0,0,0,0,0,0
$GC,7399,0.74,165.2,243.2,8.0,336,7403,0.00,2.33,0.00,0.000,4,0.000,0.039,3524,421,2067,0,0,0,0,0,0
$GC,7550,0.74,165.2,231.2,9.2,343,7554,0.00,2.25,0.00,0.000,6,0.000,0.031,3524,2013,2067,0,0,0,0,0,0
$GC,7875,0.74,165.2,200.3,9.0,359,7879,0.00,2.25,0.00,0.000,4,0.000,0.041,3524,3579,2067,0,0,0,0,0,0
$GC,7964,0.74,165.2,192.1,9.4,366,7970,0.00,2.22,0.00,0.000,6,0.000,0.028,3535,1996,2066,0,0,0,0,0,0
$GC,8224,0.74,165.2,168.1,8.7,391,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1996,2067,0,0,0,0,0,0
$GC,8479,0.74,165.2,145.6,8.6,415,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1996,2066,0,0,0,0,0,0
$GC,8735,0.74,165.2,124.7,8.4,439,8739,0.00,2.28,0.00,0.000,4,0.000,0.039,3547,420,2066,0,0,0,0,0,0
$GC,8909,0.79,208.8,109.5,6.0,454,8951,0.00,2.22,35.20,0.624,6,0.000,0.030,3547,2004,1898,0,0,0,0,0,0
$GC,9205,0.85,251.6,87.3,6.0,482,9245,0.00,0.00,34.00,0.595,6,0.000,0.000,3547,2003,1723,0,0,0,0,0,0
$GC,9500,0.85,251.6,63.5,8.5,510,9504,0.00,2.30,0.00,0.000,4,0.000,0.039,3559,419,1716,0,0,0,0,0,0
$GC,9538,0.85,251.6,60.1,9.1,513,9542,0.00,2.28,0.00,0.000,6,0.000,0.030,3559,2005,1716,0,0,0,0,0,0
$GC,9798,0.85,251.6,39.4,8.3,537,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2005,1715,0,0,0,0,0,0
$GC,10061,0.85,251.6,14.8,10.7,574,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2006,1715,0,0,0,0,0,0
$STATE,10176,end climb,SURFACE_DEPTH_REACHED
$STATE,10176,begin surface coast
$FINISH,0.3,1.023076
$STATE,10205,end surface coast,CONTROL_FINISHED_OK
$STATE,10205,begin surface
$SM_CCo,10222,150.60,0.483,1,0,474,558.05
$SM_GC,1.03,0.00,0.00,150.60,0.000,0.000,0.483,138,1874,474,-9.83,-0.74,558.05
$IRIDIUM_FIX,2059.45,-15756.04,290312,171730
$TT8_MAMPS,0.027612
$HUMID,1078684506
$INTERNAL_PRESSURE,9.51087
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.5,16.754
$10V_AH,10.4,13.897
$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,21.600,82.425,291.400,150.600,0.000,144.905,174.134,702.139,0.000,0.000,14.671,1189.493,7531.844,528.720,2314.431,241.702,33.379,1243.458,0.000,1287.483,0.000,0.542,0.000
$DEVICE_MAMPS,235.469,102.778,884.351,483.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,404.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334596
$DATA_FILE_SIZE,20061,600
$CAP_FILE_SIZE,156335,0
$CFSIZE,260165632,226816000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,014852,2104.615,-15755.727,12,2.3,31,9.8