version: 66.07
glider: 500
mission: 7
dive: 122
start: 9 30 110 9 48 26
data:
$ID,500
$MISSION,7
$DIVE,122
$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,-117653.5
$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
$GPS1,300910,093537,2047.250,-15752.082,32,1.0,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.2
$GPS2,300910,094731,2047.285,-15752.270,10,1.8,15,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,0.191
$KALMAN_X,-139433.7,148.5,-930.2,139943.1,-2390.2
$KALMAN_Y,10863.3,-145.3,-170.0,-60872.1,-603.3
$MHEAD_RNG_PITCHd_Wd,19.1,42125,-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,124,end surface,CONTROL_FINISHED_OK
$STATE,125,begin dive
$GC,127,-0.68,-116.8,0.0,0.0,0,189,0.00,0.00,-60.50,0.000,2,0.000,0.000,136,1882,2818,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.1,-5.5,12,218,11.15,2.42,-7.78,0.000,4,0.232,0.051,3050,3504,3230,0,0,0,0,0,0
$GC,241,-0.68,-116.8,18.8,-28.2,21,247,0.00,2.33,0.00,0.000,6,0.000,0.027,3050,1865,3232,0,0,0,0,0,0
$GC,441,-0.68,-116.8,55.5,-17.5,45,445,0.00,2.22,0.00,0.000,4,0.000,0.038,3050,320,3232,0,0,0,0,0,0
$GC,496,-0.68,-116.8,66.7,-20.7,50,501,0.10,2.28,0.00,0.000,6,0.164,0.030,3067,1935,3232,0,0,0,0,0,0
$GC,757,-0.68,-116.8,108.9,-14.3,74,761,0.00,2.25,0.00,0.000,4,0.000,0.041,3057,3488,3234,0,0,0,0,0,0
$GC,796,-0.68,-116.8,113.7,-11.5,77,800,0.00,2.25,0.00,0.000,6,0.000,0.025,3057,1893,3234,0,0,0,0,0,0
$GC,1058,-0.68,-116.8,140.2,-9.8,101,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1892,3235,0,0,0,0,0,0
$GC,1311,-0.68,-116.8,167.5,-10.8,125,1315,0.00,2.22,0.00,0.000,4,0.000,0.038,3057,323,3237,0,0,0,0,0,0
$GC,1411,-0.68,-116.8,179.1,-12.0,133,1418,0.00,2.25,0.00,0.000,6,0.000,0.029,3048,1910,3237,0,0,0,0,0,0
$GC,1680,-0.68,-116.8,206.8,-8.0,155,1684,0.00,2.28,0.00,0.000,4,0.000,0.038,3048,322,3237,0,0,0,0,0,0
$GC,1756,-0.68,-116.8,213.4,-8.5,158,1763,0.08,2.25,0.00,0.000,6,0.108,0.029,3070,1908,3237,0,0,0,0,0,0
$GC,2073,-0.68,-116.8,235.2,-6.9,174,2077,0.00,2.25,0.00,0.000,4,0.000,0.038,3070,320,3237,0,0,0,0,0,0
$GC,2150,-0.68,-116.8,240.9,-7.0,177,2156,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1891,3238,0,0,0,0,0,0
$GC,2466,-0.68,-116.8,263.4,-7.4,193,2470,0.00,2.22,0.00,0.000,4,0.000,0.038,3069,322,3238,0,0,0,0,0,0
$GC,2549,-0.68,-116.8,268.8,-6.0,197,2553,0.00,2.20,0.00,0.000,6,0.000,0.029,3057,1910,3238,0,0,0,0,0,0
$GC,2876,-0.68,-116.8,289.0,-7.4,213,2880,0.00,2.25,0.00,0.000,4,0.000,0.041,3046,3475,3237,0,0,0,0,0,0
$GC,2947,-0.68,-116.8,295.6,-10.0,216,2951,0.00,2.22,0.00,0.000,6,0.000,0.026,3046,1901,3237,0,0,0,0,0,0
$GC,3284,-0.68,-116.8,329.9,-9.7,226,3288,0.00,2.30,0.00,0.000,4,0.000,0.040,3046,316,3235,0,0,0,0,0,0
$GC,3378,-0.68,-116.8,340.1,-9.9,228,3383,0.12,2.20,0.00,0.000,6,0.130,0.029,3079,1899,3235,0,0,0,0,0,0
$GC,3696,-0.68,-116.8,359.9,-5.6,236,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1900,3234,0,0,0,0,0,0
$GC,4021,-0.68,-116.8,379.9,-6.3,244,4025,0.00,2.30,0.00,0.000,4,0.000,0.040,3079,321,3232,0,0,0,0,0,0
$GC,4071,-0.68,-116.8,383.4,-7.1,245,4075,0.00,2.20,0.00,0.000,6,0.000,0.028,3070,1909,3232,0,0,0,0,0,0
$GC,4384,-0.68,-116.8,404.0,-6.6,253,4388,0.00,2.28,0.00,0.000,4,0.000,0.043,3058,3472,3229,0,0,0,0,0,0
$GC,4410,-0.68,-116.8,405.8,-6.5,253,4414,0.00,2.22,0.00,0.000,6,0.000,0.027,3057,1898,3229,0,0,0,0,0,0
$GC,4747,-0.68,-116.8,428.7,-6.8,262,4751,0.00,2.25,0.00,0.000,4,0.000,0.041,3058,321,3227,0,0,0,0,0,0
$GC,4786,-0.68,-116.8,432.9,-11.2,263,4791,0.00,2.22,0.00,0.000,6,0.000,0.029,3048,1909,3227,0,0,0,0,0,0
$GC,5110,-0.68,-116.8,453.2,-5.7,271,5114,0.00,2.25,0.00,0.000,4,0.000,0.039,3043,3478,3225,0,0,0,0,0,0
$GC,5138,-0.68,-116.8,453.2,0.1,271,5142,0.00,2.20,0.00,0.000,6,0.000,0.028,3043,1895,3225,0,0,0,0,0,0
$STATE,5265,end dive,NO_VERTICAL_VELOCITY
$STATE,5265,begin apogee
$GC,5270,-0.23,0.0,453.6,0.0,274,5362,0.47,0.00,89.40,0.881,6,0.097,0.000,3212,1998,2750,0,0,0,0,0,0
$STATE,5404,end apogee,CONTROL_FINISHED_OK
$STATE,5404,begin climb
$GC,5406,0.68,116.8,453.4,0.0,276,5512,0.80,2.47,96.22,0.857,4,0.082,0.041,3518,436,2272,0,0,0,0,0,0
$GC,5764,0.89,284.1,453.1,0.3,284,5906,0.12,2.28,133.60,0.864,6,0.048,0.032,3595,1986,1589,0,0,0,0,0,0
$GC,6243,0.89,284.1,368.4,23.7,296,6247,0.00,2.38,0.00,0.000,4,0.000,0.041,3590,3590,1578,0,0,0,0,0,0
$GC,6448,0.89,284.1,321.4,23.1,300,6453,0.00,2.33,0.00,0.000,6,0.000,0.030,3601,1999,1576,0,0,0,0,0,0
$GC,6768,0.89,284.1,252.4,20.4,313,6772,0.00,2.30,0.00,0.000,4,0.000,0.041,3613,424,1575,0,0,0,0,0,0
$GC,6819,0.89,284.1,241.9,20.3,315,6824,0.12,2.25,0.00,0.000,6,0.178,0.031,3580,2011,1574,0,0,0,0,0,0
$GC,7143,0.89,284.1,183.0,16.7,335,7147,0.00,2.33,0.00,0.000,4,0.000,0.041,3591,425,1573,0,0,0,0,0,0
$GC,7264,0.89,284.1,159.6,20.4,345,7271,0.00,2.28,0.00,0.000,6,0.000,0.031,3590,2000,1573,0,0,0,0,0,0
$GC,7527,0.89,284.1,116.2,14.9,370,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2001,1572,0,0,0,0,0,0
$GC,7780,0.89,284.1,77.2,14.1,394,7784,0.00,2.28,0.00,0.000,4,0.000,0.041,3591,3584,1572,0,0,0,0,0,0
$GC,7812,0.89,284.1,72.1,15.7,396,7818,0.00,2.28,0.00,0.000,6,0.000,0.030,3602,1999,1572,0,0,0,0,0,0
$GC,8073,0.89,284.1,38.2,13.3,421,8077,0.00,2.28,0.00,0.000,4,0.000,0.040,3614,423,1572,0,0,0,0,0,0
$GC,8163,0.89,284.1,24.6,15.3,432,8169,0.12,2.22,0.00,0.000,6,0.166,0.031,3579,2015,1572,0,0,0,0,0,0
$STATE,8325,end climb,SURFACE_DEPTH_REACHED
$STATE,8325,begin surface coast
$FINISH,0.2,1.022909
$STATE,8349,end surface coast,CONTROL_FINISHED_OK
$STATE,8349,begin surface
$SM_CCo,8432,53.88,0.418,1,0,1159,390.02
$SM_GC,1.16,0.00,0.00,53.88,0.000,0.000,0.418,133,1881,1159,-9.87,-0.54,390.02
$IRIDIUM_FIX,2036.38,-15752.23,240312,232304
$TT8_MAMPS,0.027612
$HUMID,1078756764
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.3,13.205
$10V_AH,10.5,12.051
$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,21.700,86.425,319.225,53.875,0.000,31.257,36.468,383.426,0.000,0.000,17.291,899.288,5834.682,442.312,1927.699,160.402,33.365,1060.722,0.000,1057.450,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,95.108,881.283,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,313.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334968
$DATA_FILE_SIZE,16827,465
$CAP_FILE_SIZE,95696,0
$CFSIZE,260165632,228622336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,121301,2048.295,-15752.731,40,0.9,40,9.8