version: 66.07
glider: 500
mission: 7
dive: 121
start: 9 30 110 5 30 2
data:
$ID,500
$MISSION,7
$DIVE,121
$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,412
$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,-117635.59
$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
$GPS1,300910,051201,2045.469,-15751.760,36,1.6,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-78.1
$GPS2,300910,052907,2045.600,-15751.955,11,1.5,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.167
$KALMAN_X,-136515.9,-381.3,683.0,136479.0,-3270.7
$KALMAN_Y,12312.3,-343.7,-394.2,-65018.6,1026.8
$MHEAD_RNG_PITCHd_Wd,30.1,45218,-16.1,-8.010
$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,125,end surface,CONTROL_FINISHED_OK
$STATE,125,begin dive
$GC,127,-0.68,-116.8,0.0,0.0,0,194,0.00,0.00,-65.30,0.000,2,0.000,0.000,130,1874,2996,0,0,0,0,0,0
$GC,197,-0.68,-116.8,4.2,-9.1,13,219,11.25,2.33,-4.00,0.000,4,0.232,0.048,3063,287,3228,0,0,0,0,0,0
$GC,265,-0.68,-116.8,27.3,-23.2,25,271,0.00,2.35,0.00,0.000,6,0.000,0.031,3053,1932,3230,0,0,0,0,0,0
$GC,463,-0.68,-116.8,62.8,-17.2,45,464,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1932,3232,0,0,0,0,0,0
$GC,717,-0.68,-116.8,102.1,-13.7,69,721,0.00,2.28,0.00,0.000,4,0.000,0.042,3040,3480,3233,0,0,0,0,0,0
$GC,749,-0.68,-116.8,106.4,-13.2,71,756,0.00,2.30,0.00,0.000,6,0.000,0.026,3041,1865,3233,0,0,0,0,0,0
$GC,1011,-0.68,-116.8,139.2,-12.2,96,1015,0.00,2.22,0.00,0.000,4,0.000,0.041,3041,321,3233,0,0,0,0,0,0
$GC,1049,-0.68,-116.8,144.0,-12.2,99,1054,0.12,2.25,0.00,0.000,6,0.140,0.030,3070,1916,3233,0,0,0,0,0,0
$GC,1309,-0.68,-116.8,168.7,-9.3,123,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1917,3234,0,0,0,0,0,0
$GC,1564,-0.68,-116.8,192.9,-9.9,147,1568,0.00,2.30,0.00,0.000,4,0.000,0.039,3070,321,3234,0,0,0,0,0,0
$GC,1595,-0.68,-116.8,196.5,-10.9,149,1602,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,1904,3233,0,0,0,0,0,0
$GC,1861,-0.68,-116.8,220.4,-8.2,164,1865,0.00,2.28,0.00,0.000,4,0.000,0.039,3067,324,3233,0,0,0,0,0,0
$GC,1899,-0.68,-116.8,223.5,-8.1,166,1903,0.00,2.22,0.00,0.000,6,0.000,0.030,3057,1907,3233,0,0,0,0,0,0
$GC,2225,-0.68,-116.8,248.4,-8.0,182,2229,0.00,2.28,0.00,0.000,4,0.000,0.038,3057,323,3232,0,0,0,0,0,0
$GC,2308,-0.68,-116.8,255.3,-7.8,186,2312,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1910,3232,0,0,0,0,0,0
$GC,2636,-0.68,-116.8,280.1,-7.2,202,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1910,3230,0,0,0,0,0,0
$GC,2944,-0.68,-116.8,303.6,-7.6,216,2948,0.00,2.28,0.00,0.000,4,0.000,0.039,3046,319,3229,0,0,0,0,0,0
$GC,3027,-0.68,-116.8,311.1,-9.6,218,3032,0.12,2.22,0.00,0.000,6,0.130,0.031,3079,1900,3228,0,0,0,0,0,0
$GC,3351,-0.68,-116.8,331.2,-6.0,226,3355,0.00,2.28,0.00,0.000,4,0.000,0.041,3079,328,3226,0,0,0,0,0,0
$GC,3394,-0.68,-116.8,334.4,-7.4,227,3399,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1909,3226,0,0,0,0,0,0
$GC,3719,-0.68,-116.8,354.9,-6.2,235,3723,0.00,2.30,0.00,0.000,4,0.000,0.041,3069,328,3224,0,0,0,0,0,0
$GC,3764,-0.68,-116.8,358.1,-7.1,236,3768,0.00,2.22,0.00,0.000,6,0.000,0.031,3059,1911,3223,0,0,0,0,0,0
$GC,4093,-0.68,-116.8,379.7,-6.3,244,4097,0.00,2.30,0.00,0.000,4,0.000,0.040,3059,321,3220,0,0,0,0,0,0
$GC,4136,-0.68,-116.8,382.9,-7.4,245,4140,0.00,2.25,0.00,0.000,6,0.000,0.031,3049,1899,3219,0,0,0,0,0,0
$GC,4461,-0.68,-116.8,407.6,-8.0,253,4465,0.00,2.25,0.00,0.000,4,0.000,0.040,3048,327,3218,0,0,0,0,0,0
$GC,4500,-0.68,-116.8,410.8,-7.8,254,4504,0.10,2.22,0.00,0.000,6,0.143,0.030,3072,1907,3217,0,0,0,0,0,0
$GC,4823,-0.68,-116.8,430.4,-5.8,262,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1908,3215,0,0,0,0,0,0
$GC,5148,-0.68,-116.8,448.5,-5.4,270,5152,0.00,2.28,0.00,0.000,4,0.000,0.041,3072,326,3213,0,0,0,0,0,0
$GC,5225,-0.68,-116.8,452.9,-5.3,271,5232,0.00,2.25,0.00,0.000,6,0.000,0.031,3063,1905,3212,0,0,0,0,0,0
$GC,5557,-0.68,-116.8,469.8,-5.5,280,5561,0.00,2.30,0.00,0.000,4,0.000,0.041,3062,321,3210,0,0,0,0,0,0
$GC,5628,-0.68,-116.8,475.0,-7.2,281,5633,0.00,2.25,0.00,0.000,6,0.000,0.031,3052,1900,3209,0,0,0,0,0,0
$GC,5971,-0.68,-116.8,499.3,-6.7,290,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1900,3208,0,0,0,0,0,0
$GC,6296,-0.68,-116.8,518.3,-5.7,298,6300,0.00,2.30,0.00,0.000,4,0.000,0.042,3052,325,3206,0,0,0,0,0,0
$GC,6329,-0.68,-116.8,520.4,-6.3,298,6335,0.00,2.25,0.00,0.000,6,0.000,0.031,3042,1898,3206,0,0,0,0,0,0
$GC,6660,-0.68,-116.8,537.5,-5.1,307,6664,0.00,2.30,0.00,0.000,4,0.000,0.041,3042,319,3204,0,0,0,0,0,0
$GC,6705,-0.68,-116.8,539.9,-5.5,308,6710,0.12,2.25,0.00,0.000,6,0.132,0.030,3073,1914,3203,0,0,0,0,0,0
$GC,7029,-0.68,-116.8,551.6,-3.8,316,7033,0.00,2.33,0.00,0.000,4,0.000,0.041,3073,320,3201,0,0,0,0,0,0
$GC,7069,-0.68,-116.8,553.4,-5.3,317,7073,0.00,2.22,0.00,0.000,6,0.000,0.031,3063,1907,3201,0,0,0,0,0,0
$GC,7393,-0.68,-116.8,567.7,-4.4,325,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1907,3200,0,0,0,0,0,0
$GC,7717,-0.68,-116.8,582.2,-4.2,333,7721,0.00,2.30,0.00,0.000,4,0.000,0.041,3063,328,3198,0,0,0,0,0,0
$GC,7772,-0.68,-116.8,584.9,-5.3,334,7776,0.00,2.20,0.00,0.000,6,0.000,0.031,3052,1901,3197,0,0,0,0,0,0
$GC,8091,-0.68,-116.8,600.2,-4.9,342,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1901,3196,0,0,0,0,0,0
$GC,8415,-0.68,-116.8,620.5,-6.4,350,8419,0.00,2.30,0.00,0.000,4,0.000,0.042,3052,320,3195,0,0,0,0,0,0
$GC,8447,-0.68,-116.8,623.2,-7.8,350,8451,0.00,2.28,0.00,0.000,6,0.000,0.030,3040,1908,3195,0,0,0,0,0,0
$GC,8784,-0.68,-116.8,647.7,-6.8,359,8786,0.10,0.00,0.00,0.000,6,0.143,0.000,3075,1907,3194,0,0,0,0,0,0
$GC,9109,-0.68,-116.8,662.3,-4.6,367,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1907,3193,0,0,0,0,0,0
$GC,9434,-0.68,-116.8,681.4,-5.7,375,9438,0.00,2.30,0.00,0.000,4,0.000,0.042,3075,327,3192,0,0,0,0,0,0
$GC,9495,-0.68,-116.8,685.2,-6.7,376,9499,0.00,2.22,0.00,0.000,6,0.000,0.031,3065,1898,3191,0,0,0,0,0,0
$GC,9836,-0.68,-116.8,705.8,-6.5,385,9840,0.00,2.28,0.00,0.000,4,0.000,0.042,3065,333,3191,0,0,0,0,0,0
$GC,9884,-0.68,-116.8,710.8,-10.4,386,9889,0.00,2.28,0.00,0.000,6,0.000,0.031,3054,1910,3191,0,0,0,0,0,0
$GC,10204,-0.68,-116.8,721.8,-0.2,394,10208,0.00,2.25,0.00,0.000,4,0.000,0.043,3041,3479,3189,0,0,0,0,0,0
$STATE,10279,end dive,NO_VERTICAL_VELOCITY
$STATE,10279,begin apogee
$GC,10286,-0.23,0.0,721.9,0.0,395,10376,0.50,0.00,87.28,1.109,6,0.133,0.000,3210,1995,2749,0,0,0,0,0,0
$STATE,10423,end apogee,CONTROL_FINISHED_OK
$STATE,10423,begin climb
$GC,10425,0.68,116.8,721.6,0.0,398,10537,0.85,2.50,101.72,1.078,4,0.110,0.043,3510,440,2272,0,0,0,0,0,0
$GC,10761,0.90,293.0,721.2,-0.2,405,10914,0.15,2.33,146.30,1.072,6,0.046,0.031,3603,1987,1554,0,0,0,0,0,0
$GC,11259,0.90,293.0,628.3,26.1,418,11263,0.00,2.40,0.00,0.000,4,0.000,0.042,3603,3598,1542,0,0,0,0,0,0
$GC,11387,0.90,293.0,593.6,24.3,421,11392,0.12,2.33,0.00,0.000,6,0.196,0.032,3584,2008,1540,0,0,0,0,0,0
$GC,11711,0.90,293.0,514.8,24.6,429,11715,0.00,2.33,0.00,0.000,4,0.000,0.043,3594,431,1539,0,0,0,0,0,0
$GC,11838,0.90,293.0,484.3,22.5,431,11845,0.00,2.33,0.00,0.000,6,0.000,0.032,3594,2015,1538,0,0,0,0,0,0
$GC,12170,0.90,293.0,404.0,24.2,440,12174,0.00,2.33,0.00,0.000,4,0.000,0.043,3606,429,1537,0,0,0,0,0,0
$GC,12280,0.90,293.0,377.1,24.0,442,12285,0.00,2.30,0.00,0.000,6,0.000,0.033,3606,2004,1536,0,0,0,0,0,0
$GC,12623,0.90,293.0,296.9,23.6,451,12627,0.00,2.30,0.00,0.000,4,0.000,0.042,3618,429,1536,0,0,0,0,0,0
$GC,12672,0.90,293.0,285.4,23.2,453,12678,0.10,2.30,0.00,0.000,6,0.160,0.033,3586,2012,1536,0,0,0,0,0,0
$GC,12993,0.90,293.0,222.4,18.0,469,12997,0.00,2.30,0.00,0.000,4,0.000,0.041,3596,428,1535,0,0,0,0,0,0
$GC,13065,0.90,293.0,207.3,19.8,472,13070,0.00,2.28,0.00,0.000,6,0.000,0.032,3596,1994,1534,0,0,0,0,0,0
$GC,13394,0.90,293.0,144.7,19.0,501,13398,0.00,2.28,0.00,0.000,4,0.000,0.041,3607,423,1534,0,0,0,0,0,0
$GC,13494,0.90,293.0,125.2,18.8,509,13499,0.00,2.25,0.00,0.000,6,0.000,0.033,3608,2012,1534,0,0,0,0,0,0
$GC,13755,0.90,293.0,85.7,14.6,534,13759,0.00,2.28,0.00,0.000,4,0.000,0.042,3607,3592,1534,0,0,0,0,0,0
$GC,13821,0.90,293.0,74.0,17.2,539,13827,0.10,2.30,0.00,0.000,6,0.156,0.030,3576,1999,1533,0,0,0,0,0,0
$GC,14082,0.90,293.0,43.6,11.7,564,14087,0.00,2.25,0.00,0.000,4,0.000,0.040,3587,426,1533,0,0,0,0,0,0
$GC,14217,0.90,293.0,26.3,13.1,578,14223,0.00,2.25,0.00,0.000,6,0.000,0.030,3587,2021,1533,0,0,0,0,0,0
$STATE,14396,end climb,SURFACE_DEPTH_REACHED
$STATE,14396,begin surface coast
$FINISH,0.2,1.009405
$STATE,14419,end surface coast,CONTROL_FINISHED_OK
$STATE,14419,begin surface
$SM_CCo,14504,49.67,0.413,1,0,1159,390.02
$SM_GC,1.09,0.00,0.00,49.67,0.000,0.000,0.413,140,1882,1159,-9.85,-0.51,390.02
$IRIDIUM_FIX,2036.38,-15752.23,240312,161657
$TT8_MAMPS,0.027612
$HUMID,1078816119
$INTERNAL_PRESSURE,9.4425
$TCM_TEMP,24.00
$XPDR_PINGS,5
$24V_AH,24.0,13.094
$10V_AH,10.3,12.004
$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,22.275,136.850,335.300,49.675,0.000,30.985,33.061,668.015,1.250,0.000,13.237,1234.643,11055.075,482.375,2658.946,242.576,33.362,1339.875,0.000,1476.797,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,74.399,1109.082,412.646,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,417.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334952
$DATA_FILE_SIZE,20093,614
$CAP_FILE_SIZE,142842,0
$CFSIZE,260165632,228630528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,093537,2047.250,-15752.082,32,1.0,33,9.8