version: 66.07
glider: 500
mission: 7
dive: 124
start: 9 30 110 16 21 57
data:
$ID,500
$MISSION,7
$DIVE,124
$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,-117685.48
$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
$GPS1,300910,160854,2049.907,-15753.431,35,1.6,36,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.2
$GPS2,300910,162102,2050.021,-15753.571,13,1.6,13,9.8
$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,-147214.4,261.2,901.9,143489.1,-11810.0
$KALMAN_Y,5363.8,107.7,563.6,-51314.3,-6944.1
$MHEAD_RNG_PITCHd_Wd,10.5,37266,-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,-116.8,0.0,0.0,0,189,0.00,0.00,-60.47,0.000,2,0.000,0.000,136,1889,2800,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.1,-5.4,12,219,11.12,2.33,-8.23,0.000,4,0.232,0.051,3060,284,3231,0,0,0,0,0,0
$GC,304,-0.68,-116.8,29.7,-18.0,32,310,0.00,2.33,0.00,0.000,6,0.000,0.031,3050,1925,3231,0,0,0,0,0,0
$GC,500,-0.68,-116.8,67.2,-19.7,51,501,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1925,3232,0,0,0,0,0,0
$GC,756,-0.68,-116.8,111.5,-15.6,75,757,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1925,3233,0,0,0,0,0,0
$GC,1010,-0.68,-116.8,142.9,-12.9,99,1014,0.00,2.35,0.00,0.000,4,0.000,0.038,3050,295,3234,0,0,0,0,0,0
$GC,1038,-0.68,-116.8,146.5,-14.0,101,1043,0.10,2.25,0.00,0.000,6,0.150,0.031,3070,1905,3234,0,0,0,0,0,0
$GC,1298,-0.68,-116.8,171.7,-7.8,125,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1905,3235,0,0,0,0,0,0
$GC,1553,-0.68,-116.8,194.1,-10.0,149,1557,0.00,2.33,0.00,0.000,4,0.000,0.039,3071,281,3235,0,0,0,0,0,0
$GC,1585,-0.68,-116.8,197.8,-11.2,151,1591,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,1900,3235,0,0,0,0,0,0
$GC,1839,-0.68,-116.8,218.9,-6.8,165,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1901,3235,0,0,0,0,0,0
$GC,2148,-0.68,-116.8,245.5,-10.9,180,2152,0.00,2.30,0.00,0.000,4,0.000,0.039,3068,292,3235,0,0,0,0,0,0
$GC,2191,-0.68,-116.8,250.4,-10.5,182,2195,0.00,2.25,0.00,0.000,6,0.000,0.031,3057,1908,3235,0,0,0,0,0,0
$GC,2518,-0.68,-116.8,274.8,-6.7,198,2522,0.00,2.30,0.00,0.000,4,0.000,0.040,3057,295,3234,0,0,0,0,0,0
$GC,2602,-0.68,-116.8,280.5,-6.7,202,2606,0.00,2.25,0.00,0.000,6,0.000,0.031,3046,1910,3234,0,0,0,0,0,0
$GC,2947,-0.68,-116.8,306.7,-8.1,217,2951,0.00,2.28,0.00,0.000,4,0.000,0.043,3035,3484,3233,0,0,0,0,0,0
$GC,2973,-0.68,-116.8,309.0,-8.4,217,2978,0.08,2.28,0.00,0.000,6,0.097,0.026,3070,1873,3233,0,0,0,0,0,0
$GC,3310,-0.68,-116.8,330.0,-5.8,226,3314,0.00,2.20,0.00,0.000,4,0.000,0.040,3070,321,3232,0,0,0,0,0,0
$GC,3371,-0.68,-116.8,334.6,-7.6,227,3375,0.00,2.25,0.00,0.000,6,0.000,0.029,3060,1908,3231,0,0,0,0,0,0
$GC,3718,-0.68,-116.8,363.8,-8.6,236,3722,0.00,2.25,0.00,0.000,4,0.000,0.043,3049,3474,3229,0,0,0,0,0,0
$GC,3758,-0.68,-116.8,367.3,-8.9,237,3762,0.00,2.20,0.00,0.000,6,0.000,0.027,3049,1888,3229,0,0,0,0,0,0
$GC,4081,-0.68,-116.8,391.0,-6.6,245,4085,0.00,2.25,0.00,0.000,4,0.000,0.041,3049,318,3227,0,0,0,0,0,0
$GC,4193,-0.68,-116.8,399.1,-7.4,247,4197,0.10,2.20,0.00,0.000,6,0.143,0.029,3072,1905,3226,0,0,0,0,0,0
$GC,4534,-0.68,-116.8,420.4,-6.2,256,4538,0.00,2.28,0.00,0.000,4,0.000,0.041,3072,320,3224,0,0,0,0,0,0
$GC,4566,-0.68,-116.8,422.5,-6.3,256,4572,0.00,2.25,0.00,0.000,6,0.000,0.030,3062,1907,3224,0,0,0,0,0,0
$GC,4898,-0.68,-116.8,441.9,-6.0,265,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1908,3221,0,0,0,0,0,0
$GC,5222,-0.68,-116.8,450.3,-0.0,273,5226,0.00,2.28,0.00,0.000,4,0.000,0.042,3056,3480,3219,0,0,0,0,0,0
$STATE,5304,end dive,NO_VERTICAL_VELOCITY
$STATE,5304,begin apogee
$GC,5310,-0.23,0.0,450.4,0.0,275,5401,0.43,0.00,88.25,0.879,6,0.072,0.000,3224,1990,2750,0,0,0,0,0,0
$STATE,5443,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5445,0.68,116.8,450.2,0.0,277,5551,0.73,2.45,96.07,0.855,4,0.060,0.041,3523,435,2272,0,0,0,0,0,0
$GC,5769,0.68,116.8,431.8,10.0,284,5774,0.00,2.28,0.00,0.000,6,0.000,0.031,3523,1988,2261,0,0,0,0,0,0
$GC,6118,0.70,130.3,403.5,7.4,293,6133,0.00,2.38,9.82,0.752,4,0.000,0.042,3523,3585,2217,0,0,0,0,0,0
$GC,6205,0.70,130.3,395.2,10.6,295,6209,0.00,2.25,0.00,0.000,6,0.000,0.029,3536,2005,2215,0,0,0,0,0,0
$GC,6529,0.70,130.3,364.7,8.7,303,6533,0.00,2.33,0.00,0.000,4,0.000,0.041,3548,433,2211,0,0,0,0,0,0
$GC,6697,0.70,130.3,349.9,10.4,306,6703,0.12,2.22,0.00,0.000,6,0.167,0.030,3515,2011,2210,0,0,0,0,0,0
$GC,7027,0.70,130.3,320.7,8.9,315,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2011,2207,0,0,0,0,0,0
$GC,7352,0.79,203.6,301.1,4.6,323,7416,0.00,2.40,58.67,0.789,4,0.000,0.041,3515,3570,1918,0,0,0,0,0,0
$GC,7506,0.79,203.6,287.8,11.9,329,7511,0.00,2.33,0.00,0.000,6,0.000,0.028,3525,2001,1910,0,0,0,0,0,0
$GC,7833,0.79,203.6,243.5,14.0,345,7837,0.00,2.30,0.00,0.000,4,0.000,0.040,3537,421,1906,0,0,0,0,0,0
$GC,7962,0.79,203.6,225.4,13.7,351,7966,0.00,2.25,0.00,0.000,6,0.000,0.030,3537,2000,1904,0,0,0,0,0,0
$GC,8279,0.79,203.6,186.1,12.2,371,8283,0.00,2.30,0.00,0.000,4,0.000,0.040,3549,414,1902,0,0,0,0,0,0
$GC,8386,0.79,203.6,172.2,13.8,380,8390,0.00,2.28,0.00,0.000,6,0.000,0.031,3549,2012,1902,0,0,0,0,0,0
$GC,8652,0.80,217.7,144.7,7.4,405,8667,0.00,2.33,9.82,0.610,4,0.000,0.041,3561,418,1862,0,0,0,0,0,0
$GC,8746,0.80,217.7,136.9,9.0,413,8750,0.00,2.25,0.00,0.000,6,0.000,0.031,3561,2008,1860,0,0,0,0,0,0
$GC,9007,0.80,217.7,109.2,10.9,437,9011,0.00,2.30,0.00,0.000,4,0.000,0.040,3572,412,1860,0,0,0,0,0,0
$GC,9073,0.80,217.7,102.7,10.5,442,9080,0.00,2.25,0.00,0.000,6,0.000,0.031,3572,2009,1859,0,0,0,0,0,0
$GC,9335,0.87,270.9,82.5,5.5,467,9386,0.00,2.40,42.53,0.597,4,0.000,0.040,3583,425,1643,0,0,0,0,0,0
$GC,9464,0.87,270.9,72.8,9.2,479,9469,0.00,2.25,0.00,0.000,6,0.000,0.030,3583,2014,1639,0,0,0,0,0,0
$GC,9725,0.87,270.9,43.1,12.9,503,9729,0.00,2.33,0.00,0.000,4,0.000,0.040,3595,421,1637,0,0,0,0,0,0
$GC,9758,0.87,270.9,38.8,13.3,505,9764,0.00,2.22,0.00,0.000,6,0.000,0.030,3595,1998,1636,0,0,0,0,0,0
$STATE,10028,end climb,SURFACE_DEPTH_REACHED
$STATE,10028,begin surface coast
$FINISH,0.3,1.022970
$STATE,10051,end surface coast,CONTROL_FINISHED_OK
$STATE,10051,begin surface
$SM_CCo,10132,59.95,0.434,1,0,1159,390.02
$SM_GC,0.98,0.00,0.00,59.95,0.000,0.000,0.434,142,1875,1159,-9.84,-0.74,390.02
$IRIDIUM_FIX,2040.99,-15754.37,250312,060647
$TT8_MAMPS,0.027612
$HUMID,1078709023
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,13.419
$10V_AH,10.4,12.164
$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,21.375,95.950,305.175,59.950,0.000,31.213,31.810,406.273,0.000,0.000,14.880,1035.281,7239.036,445.670,2089.203,174.766,33.364,1136.305,0.000,1208.164,0.000,0.543,0.000
$DEVICE_MAMPS,231.634,81.302,878.982,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,371.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335012
$DATA_FILE_SIZE,20119,551
$CAP_FILE_SIZE,106563,0
$CFSIZE,260165632,228507648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,191454,2051.618,-15753.938,36,1.2,37,9.8