version: 66.07
glider: 500
mission: 7
dive: 125
start: 9 30 110 19 27 20
data:
$ID,500
$MISSION,7
$DIVE,125
$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,-117701.08
$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
$GPS1,300910,191454,2051.618,-15753.938,36,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.1
$GPS2,300910,192626,2051.643,-15754.085,12,1.3,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,0.208
$KALMAN_X,-149729.0,1394.8,383.2,144507.7,-6634.2
$KALMAN_Y,3331.8,685.2,421.5,-46721.7,-4355.1
$MHEAD_RNG_PITCHd_Wd,7.6,34413,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,188,0.00,0.00,-60.38,0.000,2,0.000,0.000,134,1873,2801,0,0,0,0,0,0
$GC,191,-0.68,-116.8,3.0,-4.8,12,218,11.15,2.40,-8.30,0.000,4,0.234,0.053,3047,3517,3231,0,0,0,0,0,0
$GC,234,-0.68,-116.8,16.1,-27.6,20,240,0.00,2.33,0.00,0.000,6,0.000,0.026,3047,1864,3232,0,0,0,0,0,0
$GC,442,-0.68,-116.8,56.9,-20.1,46,446,0.00,2.20,0.00,0.000,4,0.000,0.038,3047,323,3232,0,0,0,0,0,0
$GC,480,-0.68,-116.8,65.1,-20.5,49,485,0.12,2.25,0.00,0.000,6,0.148,0.030,3074,1926,3232,0,0,0,0,0,0
$GC,742,-0.68,-116.8,105.5,-15.4,73,743,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1926,3233,0,0,0,0,0,0
$GC,996,-0.68,-116.8,136.0,-8.7,97,1000,0.00,2.30,0.00,0.000,4,0.000,0.038,3073,317,3234,0,0,0,0,0,0
$GC,1073,-0.68,-116.8,143.8,-10.6,103,1079,0.00,2.20,0.00,0.000,6,0.000,0.031,3066,1902,3234,0,0,0,0,0,0
$GC,1334,-0.68,-116.8,169.7,-10.3,128,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1902,3235,0,0,0,0,0,0
$GC,1589,-0.68,-116.8,190.7,-8.0,152,1593,0.00,2.25,0.00,0.000,4,0.000,0.039,3066,321,3236,0,0,0,0,0,0
$GC,1633,-0.68,-116.8,194.9,-9.5,155,1639,0.00,2.25,0.00,0.000,6,0.000,0.029,3056,1908,3236,0,0,0,0,0,0
$GC,1898,-0.68,-116.8,219.3,-8.8,171,1902,0.00,2.28,0.00,0.000,4,0.000,0.038,3056,318,3236,0,0,0,0,0,0
$GC,1966,-0.68,-116.8,226.7,-11.5,174,1970,0.00,2.20,0.00,0.000,6,0.000,0.030,3046,1903,3236,0,0,0,0,0,0
$GC,2291,-0.68,-116.8,261.2,-10.6,190,2295,0.00,2.25,0.00,0.000,4,0.000,0.041,3034,3482,3236,0,0,0,0,0,0
$GC,2353,-0.68,-116.8,268.5,-11.7,193,2357,0.12,2.20,0.00,0.000,6,0.122,0.026,3078,1891,3236,0,0,0,0,0,0
$GC,2679,-0.68,-116.8,297.1,-8.0,209,2683,0.00,2.22,0.00,0.000,4,0.000,0.040,3079,321,3235,0,0,0,0,0,0
$GC,2756,-0.68,-116.8,302.8,-6.8,211,2762,0.00,2.20,0.00,0.000,6,0.000,0.029,3069,1911,3234,0,0,0,0,0,0
$GC,3088,-0.68,-116.8,321.7,-5.5,220,3092,0.00,2.25,0.00,0.000,4,0.000,0.042,3057,3474,3233,0,0,0,0,0,0
$GC,3143,-0.68,-116.8,325.4,-6.8,221,3147,0.00,2.17,0.00,0.000,6,0.000,0.026,3057,1899,3233,0,0,0,0,0,0
$GC,3461,-0.68,-116.8,348.5,-7.6,229,3465,0.00,2.22,0.00,0.000,4,0.000,0.040,3057,329,3230,0,0,0,0,0,0
$GC,3551,-0.68,-116.8,356.1,-7.9,231,3555,0.00,2.17,0.00,0.000,6,0.000,0.030,3047,1899,3230,0,0,0,0,0,0
$GC,3869,-0.68,-116.8,378.6,-7.0,239,3873,0.00,2.28,0.00,0.000,4,0.000,0.040,3047,323,3227,0,0,0,0,0,0
$GC,3923,-0.68,-116.8,383.7,-9.4,240,3929,0.10,2.22,0.00,0.000,6,0.095,0.030,3080,1893,3226,0,0,0,0,0,0
$GC,4237,-0.68,-116.8,401.1,-4.8,248,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1893,3224,0,0,0,0,0,0
$GC,4562,-0.68,-116.8,415.2,-4.1,256,4566,0.00,2.28,0.00,0.000,4,0.000,0.040,3079,323,3222,0,0,0,0,0,0
$GC,4611,-0.68,-116.8,417.8,-5.0,257,4616,0.00,2.20,0.00,0.000,6,0.000,0.030,3070,1903,3221,0,0,0,0,0,0
$GC,4924,-0.68,-116.8,436.9,-6.8,265,4928,0.00,2.28,0.00,0.000,4,0.000,0.040,3070,319,3219,0,0,0,0,0,0
$GC,5046,-0.68,-116.8,445.4,-7.6,267,5052,0.00,2.25,0.00,0.000,6,0.000,0.029,3059,1899,3218,0,0,0,0,0,0
$STATE,5334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5334,begin apogee
$GC,5339,-0.23,0.0,461.0,5.1,275,5430,0.43,0.00,88.18,0.890,6,0.092,0.000,3215,2013,2750,0,0,0,0,0,0
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5474,0.68,116.8,462.0,0.0,277,5574,0.73,0.00,96.50,0.869,6,0.041,0.000,3536,2013,2273,0,0,0,0,0,0
$GC,5879,0.68,116.8,428.9,12.2,287,5883,0.00,2.33,0.00,0.000,4,0.000,0.039,3547,430,2259,0,0,0,0,0,0
$GC,6103,0.68,116.8,403.6,11.1,292,6108,0.12,2.20,0.00,0.000,6,0.166,0.030,3514,1985,2257,0,0,0,0,0,0
$GC,6426,0.68,116.8,373.7,9.4,300,6430,0.00,2.28,0.00,0.000,4,0.000,0.039,3525,424,2254,0,0,0,0,0,0
$GC,6470,0.68,116.8,369.6,9.8,301,6474,0.00,2.28,0.00,0.000,6,0.000,0.031,3525,2012,2255,0,0,0,0,0,0
$GC,6799,0.68,116.8,341.7,8.1,309,6803,0.00,2.28,0.00,0.000,4,0.000,0.041,3525,3591,2253,0,0,0,0,0,0
$GC,6831,0.68,119.3,339.0,7.9,309,6837,0.00,2.25,0.00,0.000,6,0.000,0.029,3537,1995,2252,0,0,0,0,0,0
$GC,7162,0.71,139.2,316.2,7.1,318,7183,0.00,2.28,16.12,0.766,4,0.000,0.039,3549,434,2181,0,0,0,0,0,0
$GC,7238,0.71,139.2,309.5,9.0,319,7245,0.12,2.22,0.00,0.000,6,0.166,0.031,3516,2001,2179,0,0,0,0,0,0
$GC,7551,0.71,139.2,280.4,9.7,332,7555,0.00,2.30,0.00,0.000,4,0.000,0.042,3516,3590,2177,0,0,0,0,0,0
$GC,7645,0.71,139.2,271.2,9.6,336,7650,0.00,2.30,0.00,0.000,6,0.000,0.028,3527,1994,2176,0,0,0,0,0,0
$GC,7967,0.75,176.0,246.9,6.3,352,8000,0.00,0.00,30.65,0.746,6,0.000,0.000,3527,1993,2031,0,0,0,0,0,0
$GC,8296,0.76,180.4,220.9,7.8,368,8302,0.00,0.00,3.78,0.470,6,0.000,0.000,3527,1993,2014,0,0,0,0,0,0
$GC,8608,0.76,180.4,192.4,9.1,386,8612,0.00,2.25,0.00,0.000,4,0.000,0.040,3538,433,2011,0,0,0,0,0,0
$GC,8691,0.76,180.4,183.7,11.0,393,8695,0.00,2.22,0.00,0.000,6,0.000,0.031,3539,2005,2011,0,0,0,0,0,0
$GC,8952,0.76,180.4,158.7,11.0,417,8956,0.00,2.28,0.00,0.000,4,0.000,0.041,3539,3585,2011,0,0,0,0,0,0
$GC,8996,0.76,180.4,153.6,11.0,420,9002,0.00,2.28,0.00,0.000,6,0.000,0.029,3550,2005,2009,0,0,0,0,0,0
$GC,9259,0.79,207.1,130.7,6.8,445,9289,0.00,2.38,22.50,0.636,4,0.000,0.040,3562,427,1904,0,0,0,0,0,0
$GC,9361,0.79,207.1,121.5,10.8,454,9368,0.00,2.28,0.00,0.000,6,0.000,0.031,3562,1996,1901,0,0,0,0,0,0
$GC,9624,0.84,247.8,100.1,6.1,479,9663,0.00,0.00,32.88,0.606,6,0.000,0.000,3562,1996,1738,0,0,0,0,0,0
$GC,9918,0.84,247.8,74.8,9.4,507,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1996,1732,0,0,0,0,0,0
$GC,10173,0.84,247.8,50.4,9.3,531,10177,0.00,2.28,0.00,0.000,4,0.000,0.039,3573,427,1732,0,0,0,0,0,0
$GC,10206,0.84,247.8,47.1,10.2,534,10210,0.00,2.22,0.00,0.000,6,0.000,0.030,3573,2016,1731,0,0,0,0,0,0
$GC,10471,0.84,247.8,20.6,9.8,566,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2016,1730,0,0,0,0,0,0
$STATE,10644,end climb,SURFACE_DEPTH_REACHED
$STATE,10644,begin surface coast
$FINISH,0.3,1.022776
$STATE,10671,end surface coast,CONTROL_FINISHED_OK
$STATE,10671,begin surface
$SM_CCo,10751,74.25,0.447,1,0,1159,390.02
$SM_GC,1.08,0.00,0.00,74.25,0.000,0.000,0.447,139,1892,1159,-9.85,-0.25,390.02
$IRIDIUM_FIX,2040.99,-15751.36,250312,101009
$TT8_MAMPS,0.027612
$HUMID,1078694829
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,13.518
$10V_AH,10.4,12.218
$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,21.525,94.950,290.600,74.250,0.000,22.908,40.646,327.976,0.000,0.000,14.972,1110.093,7741.430,478.989,2085.430,166.434,33.353,1171.284,0.000,1235.489,0.000,0.542,0.000
$DEVICE_MAMPS,233.935,102.778,889.720,447.161,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,406.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335004
$DATA_FILE_SIZE,20102,602
$CAP_FILE_SIZE,109011,0
$CFSIZE,260165632,228462592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,223037,2053.157,-15754.468,24,1.3,25,9.8