version: 66.07
glider: 500
mission: 7
dive: 126
start: 9 30 110 22 43 2
data:
$ID,500
$MISSION,7
$DIVE,126
$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,-117713.2
$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
$GPS1,300910,223037,2053.157,-15754.468,24,1.3,25,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.0
$GPS2,300910,224208,2053.180,-15754.633,9,1.2,9,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,0.208
$KALMAN_X,-151058.6,1388.9,586.4,144677.4,-4475.0
$KALMAN_Y,4068.9,693.1,668.5,-44895.2,-2518.1
$MHEAD_RNG_PITCHd_Wd,8.0,31775,-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,125,end surface,CONTROL_FINISHED_OK
$STATE,125,begin dive
$GC,127,-0.68,-116.8,0.0,0.0,0,190,0.00,0.00,-61.28,0.000,2,0.000,0.000,135,1891,2830,0,0,0,0,0,0
$GC,193,-0.68,-116.8,3.2,-5.1,12,220,11.10,2.40,-7.57,0.000,4,0.232,0.051,3049,3510,3231,0,0,0,0,0,0
$GC,266,-0.68,-116.8,22.6,-19.2,25,272,0.00,2.35,0.00,0.000,6,0.000,0.027,3049,1858,3232,0,0,0,0,0,0
$GC,470,-0.68,-116.8,62.4,-20.0,48,474,0.00,2.20,0.00,0.000,4,0.000,0.038,3049,313,3231,0,0,0,0,0,0
$GC,531,-0.68,-116.8,73.6,-17.8,53,536,0.12,2.28,0.00,0.000,6,0.150,0.031,3075,1933,3232,0,0,0,0,0,0
$GC,792,-0.68,-116.8,108.5,-11.0,77,794,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1933,3233,0,0,0,0,0,0
$GC,1046,-0.68,-116.8,137.4,-10.3,101,1050,0.00,2.30,0.00,0.000,4,0.000,0.038,3075,321,3234,0,0,0,0,0,0
$GC,1073,-0.68,-116.8,140.1,-10.1,103,1079,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1903,3234,0,0,0,0,0,0
$GC,1335,-0.68,-116.8,163.7,-7.4,128,1339,0.00,2.25,0.00,0.000,4,0.000,0.039,3069,316,3235,0,0,0,0,0,0
$GC,1373,-0.68,-116.8,166.8,-8.2,131,1378,0.00,2.22,0.00,0.000,6,0.000,0.031,3060,1919,3235,0,0,0,0,0,0
$GC,1634,-0.68,-116.8,190.4,-9.0,155,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1919,3235,0,0,0,0,0,0
$GC,1884,-0.68,-116.8,216.0,-10.9,172,1888,0.00,2.28,0.00,0.000,4,0.000,0.039,3060,318,3236,0,0,0,0,0,0
$GC,1927,-0.68,-116.8,220.6,-10.0,174,1931,0.00,2.20,0.00,0.000,6,0.000,0.031,3055,1900,3236,0,0,0,0,0,0
$GC,2254,-0.68,-116.8,244.2,-6.8,190,2258,0.00,2.30,0.00,0.000,4,0.000,0.043,3043,3485,3236,0,0,0,0,0,0
$GC,2280,-0.68,-116.8,246.2,-7.3,191,2284,0.00,2.20,0.00,0.000,6,0.000,0.027,3043,1887,3236,0,0,0,0,0,0
$GC,2603,-0.68,-116.8,275.6,-9.5,207,2607,0.00,2.22,0.00,0.000,4,0.000,0.040,3042,324,3235,0,0,0,0,0,0
$GC,2668,-0.68,-116.8,281.8,-9.6,210,2673,0.10,2.22,0.00,0.000,6,0.101,0.029,3074,1902,3235,0,0,0,0,0,0
$GC,3014,-0.68,-116.8,310.5,-8.6,224,3018,0.00,2.28,0.00,0.000,4,0.000,0.039,3074,316,3233,0,0,0,0,0,0
$GC,3080,-0.68,-116.8,316.2,-8.3,225,3085,0.00,2.25,0.00,0.000,6,0.000,0.030,3069,1902,3233,0,0,0,0,0,0
$GC,3423,-0.68,-116.8,341.9,-7.1,234,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1902,3232,0,0,0,0,0,0
$GC,3748,-0.68,-116.8,359.2,-4.8,242,3752,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,324,3230,0,0,0,0,0,0
$GC,3837,-0.68,-116.8,364.3,-6.3,244,3841,0.00,2.22,0.00,0.000,6,0.000,0.030,3059,1903,3229,0,0,0,0,0,0
$GC,4161,-0.68,-116.8,384.1,-6.2,252,4165,0.00,2.25,0.00,0.000,4,0.000,0.040,3059,324,3226,0,0,0,0,0,0
$GC,4201,-0.68,-116.8,387.0,-8.0,253,4205,0.00,2.20,0.00,0.000,6,0.000,0.030,3048,1908,3227,0,0,0,0,0,0
$GC,4524,-0.68,-116.8,410.3,-7.3,261,4528,0.00,2.28,0.00,0.000,4,0.000,0.040,3048,314,3225,0,0,0,0,0,0
$GC,4567,-0.68,-116.8,413.8,-8.0,262,4572,0.12,2.22,0.00,0.000,6,0.130,0.031,3079,1908,3225,0,0,0,0,0,0
$GC,4891,-0.68,-116.8,434.7,-6.7,270,4895,0.00,2.28,0.00,0.000,4,0.000,0.041,3079,324,3223,0,0,0,0,0,0
$GC,4946,-0.68,-116.8,438.8,-7.8,271,4950,0.00,2.22,0.00,0.000,6,0.000,0.030,3070,1912,3222,0,0,0,0,0,0
$GC,5265,-0.68,-116.8,459.2,-6.0,279,5269,0.00,2.28,0.00,0.000,4,0.000,0.041,3070,324,3220,0,0,0,0,0,0
$STATE,5278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5278,begin apogee
$GC,5285,-0.23,0.0,460.2,5.6,279,5377,0.40,0.00,88.55,0.885,6,0.095,0.000,3210,1996,2750,0,0,0,0,0,0
$STATE,5418,end apogee,CONTROL_FINISHED_OK
$STATE,5419,begin climb
$GC,5421,0.68,116.8,462.0,0.0,281,5527,0.77,2.47,96.28,0.869,4,0.041,0.040,3556,425,2271,0,0,0,0,0,0
$GC,5549,0.74,168.2,466.0,5.6,284,5596,0.00,2.35,41.50,0.841,6,0.000,0.032,3556,1989,2064,0,0,0,0,0,0
$GC,5908,0.74,168.2,419.0,12.9,293,5912,0.00,2.30,0.00,0.000,4,0.000,0.040,3568,425,2053,0,0,0,0,0,0
$GC,6042,0.74,168.2,400.3,13.8,296,6047,0.12,2.25,0.00,0.000,6,0.169,0.031,3535,2011,2051,0,0,0,0,0,0
$GC,6365,0.74,168.2,360.9,11.9,304,6369,0.00,2.30,0.00,0.000,4,0.000,0.041,3545,428,2049,0,0,0,0,0,0
$GC,6425,0.74,168.2,353.4,11.8,305,6430,0.00,2.28,0.00,0.000,6,0.000,0.031,3545,1997,2049,0,0,0,0,0,0
$GC,6773,0.74,168.2,312.7,11.6,314,6777,0.00,2.30,0.00,0.000,4,0.000,0.041,3557,422,2048,0,0,0,0,0,0
$GC,6875,0.74,168.2,300.9,11.4,316,6879,0.00,2.25,0.00,0.000,6,0.000,0.032,3557,2008,2047,0,0,0,0,0,0
$GC,7207,0.74,168.2,269.0,9.5,332,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2008,2046,0,0,0,0,0,0
$GC,7515,0.74,168.2,239.5,8.4,347,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2008,2046,0,0,0,0,0,0
$GC,7825,0.74,168.2,210.6,11.0,362,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2008,2046,0,0,0,0,0,0
$GC,8140,0.77,188.2,184.7,7.1,386,8161,0.00,2.30,14.68,0.664,4,0.000,0.041,3568,427,1982,0,0,0,0,0,0
$GC,8268,0.77,188.2,174.8,9.3,397,8274,0.10,2.25,0.00,0.000,6,0.167,0.031,3542,2003,1979,0,0,0,0,0,0
$GC,8531,0.77,188.2,148.1,9.4,422,8535,0.00,2.28,0.00,0.000,4,0.000,0.040,3552,417,1979,0,0,0,0,0,0
$GC,8625,0.77,188.2,137.9,10.6,430,8630,0.00,2.25,0.00,0.000,6,0.000,0.031,3552,2000,1979,0,0,0,0,0,0
$GC,8886,0.77,188.2,116.1,8.7,454,8890,0.00,2.30,0.00,0.000,4,0.000,0.041,3552,3592,1979,0,0,0,0,0,0
$GC,8964,0.78,196.9,110.1,7.6,460,8981,0.00,2.25,8.20,0.551,6,0.000,0.029,3564,1994,1947,0,0,0,0,0,0
$GC,9235,0.82,231.5,90.5,6.4,486,9270,0.00,2.33,29.12,0.592,4,0.000,0.040,3576,429,1805,0,0,0,0,0,0
$GC,9456,0.84,246.5,72.6,7.3,506,9477,0.00,2.22,12.52,0.543,6,0.000,0.030,3576,2005,1744,0,0,0,0,0,0
$GC,9731,0.84,246.5,46.4,9.6,532,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2005,1740,0,0,0,0,0,0
$GC,9991,0.84,246.5,22.7,9.4,562,9996,0.00,2.28,0.00,0.000,4,0.000,0.039,3587,419,1740,0,0,0,0,0,0
$GC,10014,0.84,246.5,20.5,9.4,566,10019,0.00,2.22,0.00,0.000,6,0.000,0.031,3587,2007,1739,0,0,0,0,0,0
$STATE,10164,end climb,SURFACE_DEPTH_REACHED
$STATE,10165,begin surface coast
$FINISH,0.3,1.022824
$STATE,10187,end surface coast,CONTROL_FINISHED_OK
$STATE,10187,begin surface
$SM_CCo,10266,74.18,0.445,1,0,1159,390.02
$SM_GC,1.08,0.00,0.00,74.18,0.000,0.000,0.445,137,1866,1159,-9.85,-0.96,390.02
$IRIDIUM_FIX,2043.29,-15756.50,250312,131300
$TT8_MAMPS,0.026845
$HUMID,1078703861
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,13.617
$10V_AH,10.5,12.270
$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,21.425,100.100,290.850,74.175,0.000,28.902,31.174,330.710,0.000,0.000,11.487,1106.404,7282.372,451.383,2081.436,174.945,33.361,1159.013,0.000,1234.689,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,78.234,885.118,444.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,402.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20065,597
$CAP_FILE_SIZE,109829,0
$CFSIZE,260165632,228413440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,013830,2054.431,-15755.027,40,1.3,40,9.8