version: 66.07
glider: 500
mission: 7
dive: 179
start: 10 7 110 21 0 33
data:
$ID,500
$MISSION,7
$DIVE,179
$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,-118937.38
$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
$GPS1,071010,205030,2101.911,-15801.966,37,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-77.3
$GPS2,071010,205938,2101.850,-15802.074,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.069
$KALMAN_X,-276597.5,313.6,406.6,258673.4,-3645.7
$KALMAN_Y,-10262.8,-49.2,63.1,-13110.3,35.5
$MHEAD_RNG_PITCHd_Wd,98.7,22264,-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,-61.45,0.000,2,0.000,0.000,128,1891,2839,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.4,-6.6,12,110,11.27,2.38,-7.10,0.000,4,0.232,0.052,3062,297,3231,0,0,0,0,0,0
$GC,128,-0.68,-116.8,19.2,-32.3,20,134,0.00,2.33,0.00,0.000,6,0.000,0.031,3052,1924,3231,0,0,0,0,0,0
$GC,333,-0.68,-116.8,59.5,-19.6,44,337,0.00,2.35,0.00,0.000,4,0.000,0.039,3051,297,3232,0,0,0,0,0,0
$GC,383,-0.68,-116.8,69.1,-19.7,48,388,0.10,2.30,0.00,0.000,6,0.165,0.030,3069,1912,3232,0,0,0,0,0,0
$GC,643,-0.68,-116.8,108.1,-14.8,72,647,0.00,2.33,0.00,0.000,4,0.000,0.038,3069,294,3233,0,0,0,0,0,0
$GC,665,-0.68,-116.8,111.2,-14.4,73,671,0.00,2.25,0.00,0.000,6,0.000,0.031,3059,1901,3233,0,0,0,0,0,0
$GC,926,-0.68,-116.8,145.3,-10.6,98,927,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1902,3235,0,0,0,0,0,0
$GC,1180,-0.68,-116.8,175.6,-12.0,122,1184,0.00,2.30,0.00,0.000,4,0.000,0.042,3047,3484,3236,0,0,0,0,0,0
$GC,1208,-0.68,-116.8,179.0,-12.2,124,1213,0.00,2.28,0.00,0.000,6,0.000,0.027,3047,1854,3236,0,0,0,0,0,0
$GC,1476,-0.68,-116.8,212.5,-11.8,144,1480,0.00,2.20,0.00,0.000,4,0.000,0.038,3047,321,3237,0,0,0,0,0,0
$GC,1502,-0.68,-116.8,215.8,-12.6,145,1507,0.12,2.20,0.00,0.000,6,0.139,0.030,3076,1911,3237,0,0,0,0,0,0
$GC,1823,-0.68,-116.8,246.5,-8.8,161,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1911,3237,0,0,0,0,0,0
$GC,2132,-0.68,-116.8,272.1,-7.7,176,2136,0.00,2.28,0.00,0.000,4,0.000,0.039,3076,320,3237,0,0,0,0,0,0
$GC,2153,-0.68,-116.8,273.9,-8.3,177,2158,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1890,3237,0,0,0,0,0,0
$GC,2480,-0.68,-116.8,301.6,-8.9,193,2484,0.00,2.30,0.00,0.000,4,0.000,0.041,3058,3488,3237,0,0,0,0,0,0
$GC,2512,-0.68,-116.8,304.5,-8.4,193,2518,0.00,2.25,0.00,0.000,6,0.000,0.026,3058,1900,3237,0,0,0,0,0,0
$GC,2843,-0.68,-116.8,332.1,-8.1,202,2847,0.00,2.28,0.00,0.000,4,0.000,0.040,3057,321,3237,0,0,0,0,0,0
$GC,2881,-0.68,-116.8,335.5,-9.1,202,2888,0.00,2.25,0.00,0.000,6,0.000,0.029,3046,1903,3237,0,0,0,0,0,0
$GC,3213,-0.68,-116.8,363.6,-8.2,211,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1903,3236,0,0,0,0,0,0
$GC,3537,-0.68,-116.8,390.0,-8.2,219,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1903,3234,0,0,0,0,0,0
$GC,3862,-0.68,-116.8,418.4,-9.0,227,3866,0.00,2.30,0.00,0.000,4,0.000,0.043,3034,3481,3232,0,0,0,0,0,0
$GC,3906,-0.68,-116.8,422.5,-9.0,228,3911,0.12,2.20,0.00,0.000,6,0.123,0.027,3078,1900,3232,0,0,0,0,0,0
$GC,4231,-0.68,-116.8,446.5,-7.3,236,4235,0.00,2.28,0.00,0.000,4,0.000,0.040,3078,328,3230,0,0,0,0,0,0
$GC,4309,-0.68,-116.8,452.8,-7.6,237,4313,0.00,2.20,0.00,0.000,6,0.000,0.029,3068,1906,3229,0,0,0,0,0,0
$STATE,4440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4440,begin apogee
$GC,4445,-0.23,0.0,462.2,7.1,241,4538,0.43,0.00,89.97,0.889,6,0.096,0.000,3221,2017,2750,0,0,0,0,0,0
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4540,0.68,116.8,464.8,0.0,243,4641,0.73,0.00,96.22,0.866,6,0.040,0.000,3539,2017,2272,0,0,0,0,0,0
$GC,4946,0.68,116.8,438.0,9.8,253,4950,0.00,2.35,0.00,0.000,4,0.000,0.040,3550,417,2259,0,0,0,0,0,0
$GC,5202,0.68,116.8,410.6,10.2,258,5210,0.12,2.28,0.00,0.000,6,0.149,0.030,3511,1985,2257,0,0,0,0,0,0
$GC,5536,0.69,121.3,382.4,7.8,267,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1985,2255,0,0,0,0,0,0
$GC,5859,0.77,186.6,363.9,5.0,275,5918,0.00,2.40,53.72,0.831,4,0.000,0.041,3521,429,1988,0,0,0,0,0,0
$GC,6150,0.77,186.6,340.2,9.9,281,6155,0.00,2.28,0.00,0.000,6,0.000,0.030,3521,2010,1980,0,0,0,0,0,0
$GC,6486,0.77,186.6,305.5,10.1,290,6490,0.00,2.33,0.00,0.000,4,0.000,0.041,3534,418,1976,0,0,0,0,0,0
$GC,6637,0.77,186.6,291.0,9.3,295,6642,0.00,2.25,0.00,0.000,6,0.000,0.031,3534,2003,1975,0,0,0,0,0,0
$GC,6963,0.77,186.6,255.2,11.0,311,6967,0.00,2.33,0.00,0.000,4,0.000,0.041,3545,417,1973,0,0,0,0,0,0
$GC,7024,0.77,186.6,247.9,12.2,314,7028,0.00,2.25,0.00,0.000,6,0.000,0.031,3545,2011,1972,0,0,0,0,0,0
$GC,7349,0.77,186.6,214.1,9.3,330,7353,0.00,2.33,0.00,0.000,4,0.000,0.040,3557,419,1971,0,0,0,0,0,0
$GC,7448,0.77,186.6,203.4,11.3,334,7455,0.00,2.28,0.00,0.000,6,0.000,0.031,3557,1998,1970,0,0,0,0,0,0
$GC,7773,0.77,186.6,171.1,11.1,363,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1998,1970,0,0,0,0,0,0
$GC,8027,0.77,186.6,146.8,9.1,387,8031,0.00,2.30,0.00,0.000,4,0.000,0.040,3568,418,1970,0,0,0,0,0,0
$GC,8284,0.81,221.8,126.2,6.4,409,8315,0.00,2.28,26.50,0.641,6,0.000,0.030,3568,1999,1845,0,0,0,0,0,0
$GC,8570,0.81,221.8,101.7,10.2,436,8574,0.00,2.33,0.00,0.000,4,0.000,0.041,3579,426,1840,0,0,0,0,0,0
$GC,8826,0.81,221.8,74.2,10.3,458,8833,0.00,2.28,0.00,0.000,6,0.000,0.029,3580,2005,1839,0,0,0,0,0,0
$GC,9087,0.81,221.8,47.0,9.5,483,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2005,1839,0,0,0,0,0,0
$GC,9346,0.85,254.1,25.3,6.5,513,9378,0.00,2.33,25.85,0.538,4,0.000,0.038,3591,420,1712,0,0,0,0,0,0
$GC,9451,0.85,254.1,17.8,9.7,532,9457,0.00,2.28,0.00,0.000,6,0.000,0.031,3591,2012,1709,0,0,0,0,0,0
$STATE,9602,end climb,SURFACE_DEPTH_REACHED
$STATE,9602,begin surface coast
$FINISH,0.3,1.022950
$STATE,9631,end surface coast,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$SM_CCo,9649,70.95,0.449,1,0,1159,390.02
$SM_GC,1.12,0.00,0.00,70.95,0.000,0.000,0.449,145,1892,1159,-9.83,-0.23,390.02
$IRIDIUM_FIX,2052.52,-15804.20,010412,121256
$TT8_MAMPS,0.027612
$HUMID,1078747732
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,19.309
$10V_AH,10.4,15.086
$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,21.500,82.500,292.275,70.950,0.000,28.685,36.778,359.583,0.000,0.000,15.838,1113.477,6900.427,452.408,1627.498,183.999,33.374,1117.164,0.000,1190.472,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,104.312,888.953,449.462,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,379.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20119,564
$CAP_FILE_SIZE,132642,0
$CFSIZE,260165632,225632256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,234354,2101.367,-15802.202,29,1.4,39,9.8