version: 66.07
glider: 500
mission: 7
dive: 123
start: 9 30 110 12 27 9
data:
$ID,500
$MISSION,7
$DIVE,123
$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,-117669.96
$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
$GPS1,300910,121301,2048.295,-15752.731,40,0.9,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-78.4
$GPS2,300910,122614,2048.358,-15752.932,14,1.2,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.204
$KALMAN_X,-144691.2,180.6,514.9,142584.5,-13397.1
$KALMAN_Y,8053.6,-50.6,-242.6,-56095.6,-4851.2
$MHEAD_RNG_PITCHd_Wd,10.6,40219,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,123,begin dive
$GC,125,-0.68,-116.8,0.0,0.0,0,193,0.00,0.00,-65.90,0.000,2,0.000,0.000,128,1882,2982,0,0,0,0,0,0
$GC,196,-0.68,-116.8,4.0,-7.2,13,218,11.12,2.38,-4.25,0.000,4,0.232,0.048,3050,3514,3228,0,0,0,0,0,0
$GC,241,-0.68,-116.8,22.2,-36.5,21,246,0.00,2.33,0.00,0.000,6,0.000,0.026,3050,1865,3231,0,0,0,0,0,0
$GC,445,-0.68,-116.8,59.0,-17.0,44,449,0.00,2.20,0.00,0.000,4,0.000,0.039,3050,327,3232,0,0,0,0,0,0
$GC,510,-0.68,-116.8,70.3,-16.0,49,517,0.10,2.25,0.00,0.000,6,0.160,0.031,3069,1927,3232,0,0,0,0,0,0
$GC,773,-0.68,-116.8,106.4,-13.5,74,777,0.00,2.25,0.00,0.000,4,0.000,0.041,3060,3484,3233,0,0,0,0,0,0
$GC,814,-0.68,-116.8,111.5,-12.0,77,818,0.00,2.22,0.00,0.000,6,0.000,0.026,3059,1892,3233,0,0,0,0,0,0
$GC,1075,-0.68,-116.8,141.9,-10.6,101,1079,0.00,2.22,0.00,0.000,4,0.000,0.040,3059,321,3234,0,0,0,0,0,0
$GC,1163,-0.68,-116.8,152.3,-11.8,108,1169,0.00,2.25,0.00,0.000,6,0.000,0.030,3050,1910,3234,0,0,0,0,0,0
$GC,1425,-0.68,-116.8,182.9,-11.9,133,1430,0.00,2.28,0.00,0.000,4,0.000,0.038,3050,310,3235,0,0,0,0,0,0
$GC,1487,-0.68,-116.8,190.4,-12.2,138,1491,0.00,2.20,0.00,0.000,6,0.000,0.030,3041,1900,3235,0,0,0,0,0,0
$GC,1742,-0.68,-116.8,215.1,-8.6,154,1747,0.10,2.28,0.00,0.000,4,0.153,0.040,3074,315,3235,0,0,0,0,0,0
$GC,1759,-0.68,-116.8,216.5,-8.0,155,1763,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,1908,3235,0,0,0,0,0,0
$GC,2091,-0.68,-116.8,239.9,-7.6,171,2095,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,316,3236,0,0,0,0,0,0
$GC,2173,-0.68,-116.8,246.8,-8.2,174,2179,0.00,2.25,0.00,0.000,6,0.000,0.030,3059,1909,3236,0,0,0,0,0,0
$GC,2489,-0.68,-116.8,272.1,-7.1,190,2493,0.00,2.25,0.00,0.000,4,0.000,0.039,3059,321,3235,0,0,0,0,0,0
$GC,2550,-0.68,-116.8,276.2,-6.5,193,2555,0.00,2.20,0.00,0.000,6,0.000,0.030,3055,1909,3235,0,0,0,0,0,0
$GC,2876,-0.68,-116.8,298.6,-8.1,209,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1909,3234,0,0,0,0,0,0
$GC,3181,-0.68,-116.8,329.4,-10.7,217,3185,0.00,2.28,0.00,0.000,4,0.000,0.042,3042,3473,3232,0,0,0,0,0,0
$GC,3236,-0.68,-116.8,335.0,-10.1,218,3240,0.00,2.20,0.00,0.000,6,0.000,0.026,3042,1885,3232,0,0,0,0,0,0
$GC,3548,-0.68,-116.8,362.2,-8.1,226,3552,0.00,2.22,0.00,0.000,4,0.000,0.040,3043,321,3230,0,0,0,0,0,0
$GC,3694,-0.68,-116.8,374.8,-9.1,229,3699,0.12,2.20,0.00,0.000,6,0.132,0.029,3074,1904,3229,0,0,0,0,0,0
$GC,4040,-0.68,-116.8,402.8,-8.4,238,4044,0.00,2.28,0.00,0.000,4,0.000,0.040,3074,319,3226,0,0,0,0,0,0
$GC,4089,-0.68,-116.8,407.4,-9.1,239,4094,0.00,2.25,0.00,0.000,6,0.000,0.029,3065,1903,3226,0,0,0,0,0,0
$GC,4409,-0.68,-116.8,434.5,-8.5,247,4413,0.00,2.25,0.00,0.000,4,0.000,0.040,3064,328,3224,0,0,0,0,0,0
$GC,4441,-0.68,-116.8,437.7,-9.5,247,4447,0.00,2.22,0.00,0.000,6,0.000,0.030,3054,1895,3223,0,0,0,0,0,0
$GC,4772,-0.68,-116.8,460.5,-5.9,256,4776,0.00,2.28,0.00,0.000,4,0.000,0.043,3041,3472,3220,0,0,0,0,0,0
$GC,4794,-0.68,-116.8,461.7,-5.6,256,4798,0.00,2.20,0.00,0.000,6,0.000,0.028,3041,1900,3220,0,0,0,0,0,0
$GC,5135,-0.68,-116.8,478.3,-4.2,265,5139,0.00,2.28,0.00,0.000,4,0.000,0.041,3041,324,3218,0,0,0,0,0,0
$GC,5196,-0.68,-116.8,481.9,-5.6,266,5201,0.08,2.25,0.00,0.000,6,0.103,0.030,3073,1903,3218,0,0,0,0,0,0
$GC,5509,-0.68,-116.8,495.8,-4.2,274,5513,0.00,2.28,0.00,0.000,4,0.000,0.041,3074,328,3216,0,0,0,0,0,0
$GC,5576,-0.68,-116.8,498.9,-4.8,275,5580,0.00,2.22,0.00,0.000,6,0.000,0.030,3064,1894,3215,0,0,0,0,0,0
$GC,5918,-0.68,-116.8,516.6,-5.5,284,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1894,3213,0,0,0,0,0,0
$GC,6244,-0.68,-116.8,535.2,-5.6,292,6248,0.00,2.25,0.00,0.000,4,0.000,0.041,3064,330,3211,0,0,0,0,0,0
$GC,6287,-0.68,-116.8,538.1,-6.6,293,6291,0.00,2.25,0.00,0.000,6,0.000,0.031,3052,1909,3211,0,0,0,0,0,0
$GC,6612,-0.68,-116.8,559.1,-6.4,301,6616,0.00,2.28,0.00,0.000,4,0.000,0.041,3052,328,3209,0,0,0,0,0,0
$GC,6644,-0.68,-116.8,561.7,-8.1,301,6650,0.00,2.20,0.00,0.000,6,0.000,0.031,3041,1899,3209,0,0,0,0,0,0
$STATE,6933,end dive,NO_VERTICAL_VELOCITY
$STATE,6933,begin apogee
$GC,6938,-0.23,0.0,563.2,0.0,309,7029,0.47,0.00,88.07,0.976,6,0.077,0.000,3224,2009,2750,0,0,0,0,0,0
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7073,0.68,116.8,563.2,0.0,311,7177,0.75,0.00,98.93,0.950,6,0.074,0.000,3507,2010,2272,0,0,0,0,0,0
$GC,7484,0.68,116.8,531.4,10.5,322,7489,0.00,2.35,0.00,0.000,4,0.000,0.041,3518,421,2258,0,0,0,0,0,0
$GC,7647,0.68,116.8,516.5,9.7,325,7652,0.00,2.25,0.00,0.000,6,0.000,0.031,3519,1985,2256,0,0,0,0,0,0
$GC,7978,0.70,132.3,489.7,7.3,333,7992,0.00,0.00,10.98,0.842,6,0.000,0.000,3518,1985,2209,0,0,0,0,0,0
$GC,8305,0.70,132.3,461.0,9.3,341,8309,0.00,2.28,0.00,0.000,4,0.000,0.040,3531,428,2205,0,0,0,0,0,0
$GC,8444,0.70,132.3,445.4,12.0,344,8448,0.00,2.25,0.00,0.000,6,0.000,0.031,3531,2010,2204,0,0,0,0,0,0
$GC,8768,0.70,132.3,410.9,10.7,352,8772,0.00,2.28,0.00,0.000,4,0.000,0.041,3531,3578,2204,0,0,0,0,0,0
$GC,8839,0.70,132.3,403.0,11.7,353,8843,0.00,2.25,0.00,0.000,6,0.000,0.030,3542,1995,2202,0,0,0,0,0,0
$GC,9181,0.72,148.9,374.8,7.2,362,9201,0.00,2.33,14.38,0.818,4,0.000,0.041,3554,430,2142,0,0,0,0,0,0
$GC,9324,0.74,169.4,364.2,7.1,365,9349,0.00,2.28,18.00,0.818,6,0.000,0.031,3554,1997,2060,0,0,0,0,0,0
$GC,9679,0.74,169.4,330.9,9.8,374,9684,0.00,2.33,0.00,0.000,4,0.000,0.042,3554,3590,2052,0,0,0,0,0,0
$GC,9718,0.74,169.4,325.9,14.0,375,9723,0.12,2.28,0.00,0.000,6,0.176,0.030,3533,2002,2051,0,0,0,0,0,0
$GC,10043,0.74,169.4,284.8,14.6,385,10047,0.00,2.28,0.00,0.000,4,0.000,0.040,3543,428,2050,0,0,0,0,0,0
$GC,10126,0.74,169.4,272.9,13.8,389,10130,0.00,2.25,0.00,0.000,6,0.000,0.031,3543,1998,2049,0,0,0,0,0,0
$GC,10458,0.74,169.4,238.0,8.7,405,10462,0.00,2.30,0.00,0.000,4,0.000,0.041,3554,419,2049,0,0,0,0,0,0
$GC,10710,0.74,169.4,214.4,10.2,416,10714,0.00,2.28,0.00,0.000,6,0.000,0.031,3555,1994,2048,0,0,0,0,0,0
$GC,11033,0.74,169.4,181.0,9.8,440,11037,0.00,2.28,0.00,0.000,4,0.000,0.040,3566,421,2048,0,0,0,0,0,0
$GC,11291,0.78,198.9,161.5,6.6,462,11321,0.00,2.22,23.75,0.665,6,0.000,0.031,3566,2002,1938,0,0,0,0,0,0
$GC,11582,0.78,198.9,138.5,9.8,490,11586,0.00,2.30,0.00,0.000,4,0.000,0.041,3566,3591,1932,0,0,0,0,0,0
$GC,11626,0.78,198.9,134.1,10.4,493,11632,0.12,2.28,0.00,0.000,6,0.173,0.028,3545,1989,1932,0,0,0,0,0,0
$GC,11887,0.78,198.9,108.1,9.6,518,11891,0.00,2.25,0.00,0.000,4,0.000,0.039,3555,419,1932,0,0,0,0,0,0
$GC,12065,0.87,272.5,95.2,4.6,533,12132,0.00,2.28,57.75,0.605,6,0.000,0.030,3556,1998,1638,0,0,0,0,0,0
$GC,12386,0.87,272.5,64.5,11.1,564,12387,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1998,1630,0,0,0,0,0,0
$GC,12641,0.87,272.5,38.3,10.5,588,12645,0.00,2.30,0.00,0.000,4,0.000,0.039,3566,425,1630,0,0,0,0,0,0
$GC,12706,0.87,272.5,30.7,11.3,593,12713,0.00,2.28,0.00,0.000,6,0.000,0.030,3567,2008,1629,0,0,0,0,0,0
$STATE,12957,end climb,SURFACE_DEPTH_REACHED
$STATE,12957,begin surface coast
$FINISH,0.3,1.023021
$STATE,12981,end surface coast,CONTROL_FINISHED_OK
$STATE,12981,begin surface
$SM_CCo,13061,60.08,0.431,1,0,1159,390.02
$SM_GC,0.88,0.00,0.00,60.08,0.000,0.000,0.431,148,1890,1159,-9.82,-0.28,390.02
$IRIDIUM_FIX,2040.99,-15753.50,250312,060602
$TT8_MAMPS,0.027612
$HUMID,1078687087
$INTERNAL_PRESSURE,9.52063
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.3,13.315
$10V_AH,10.3,12.112
$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,21.600,126.775,311.850,60.075,0.000,55.652,67.502,352.647,0.000,0.000,15.832,1240.741,9661.307,482.419,2392.131,207.448,33.356,1326.070,0.000,1499.729,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,102.011,976.391,431.054,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,433.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334904
$DATA_FILE_SIZE,23411,641
$CAP_FILE_SIZE,130458,0
$CFSIZE,260165632,228540416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,160854,2049.907,-15753.431,35,1.6,36,9.8