version: 66.07
glider: 500
mission: 7
dive: 127
start: 10 1 110 1 50 56
data:
$ID,500
$MISSION,7
$DIVE,127
$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,-117729.39
$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
$GPS1,011010,013830,2054.431,-15755.027,40,1.3,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-77.2
$GPS2,011010,015002,2054.436,-15755.214,13,1.2,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.203
$KALMAN_X,-152739.7,1595.5,499.3,145263.7,-4580.2
$KALMAN_Y,4276.0,904.4,381.2,-42674.3,-1760.0
$MHEAD_RNG_PITCHd_Wd,11.4,29729,-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,-116.8,0.0,0.0,0,195,0.00,0.00,-66.15,0.000,2,0.000,0.000,130,1866,2975,0,0,0,0,0,0
$GC,198,-0.68,-116.8,3.8,-7.2,13,220,11.18,2.38,-4.47,0.000,4,0.233,0.046,3053,3514,3228,0,0,0,0,0,0
$GC,259,-0.68,-116.8,24.3,-22.4,24,265,0.00,2.35,0.00,0.000,6,0.000,0.028,3053,1861,3231,0,0,0,0,0,0
$GC,463,-0.68,-116.8,61.8,-17.3,46,467,0.00,2.20,0.00,0.000,4,0.000,0.039,3053,315,3230,0,0,0,0,0,0
$GC,512,-0.68,-116.8,70.7,-17.6,50,516,0.00,2.28,0.00,0.000,6,0.000,0.031,3042,1933,3231,0,0,0,0,0,0
$GC,773,-0.68,-116.8,112.5,-14.1,74,777,0.00,2.30,0.00,0.000,4,0.000,0.038,3042,321,3232,0,0,0,0,0,0
$GC,817,-0.68,-116.8,119.1,-14.8,78,822,0.12,2.22,0.00,0.000,6,0.142,0.030,3070,1918,3233,0,0,0,0,0,0
$GC,1083,-0.68,-116.8,148.1,-10.0,103,1087,0.00,2.25,0.00,0.000,4,0.000,0.041,3061,3485,3234,0,0,0,0,0,0
$GC,1138,-0.68,-116.8,153.6,-9.5,107,1144,0.00,2.25,0.00,0.000,6,0.000,0.026,3061,1894,3234,0,0,0,0,0,0
$GC,1400,-0.68,-116.8,179.4,-9.2,132,1404,0.00,2.25,0.00,0.000,4,0.000,0.039,3061,316,3234,0,0,0,0,0,0
$GC,1432,-0.68,-116.8,182.9,-10.3,134,1439,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1908,3234,0,0,0,0,0,0
$GC,1702,-0.68,-116.8,208.1,-9.3,156,1706,0.00,2.28,0.00,0.000,4,0.000,0.038,3055,311,3234,0,0,0,0,0,0
$GC,1762,-0.68,-116.8,214.0,-9.1,158,1768,0.00,2.20,0.00,0.000,6,0.000,0.029,3043,1903,3234,0,0,0,0,0,0
$GC,2077,-0.68,-116.8,242.1,-9.7,174,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1903,3234,0,0,0,0,0,0
$GC,2387,-0.68,-116.8,268.1,-8.1,189,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1903,3233,0,0,0,0,0,0
$GC,2697,-0.68,-116.8,297.9,-10.1,204,2701,0.00,2.25,0.00,0.000,4,0.000,0.039,3043,324,3231,0,0,0,0,0,0
$GC,2808,-0.68,-116.8,308.8,-9.6,207,2812,0.08,2.22,0.00,0.000,6,0.109,0.031,3068,1893,3231,0,0,0,0,0,0
$GC,3156,-0.68,-116.8,332.8,-6.8,216,3160,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,320,3229,0,0,0,0,0,0
$GC,3211,-0.68,-116.8,337.3,-7.5,217,3215,0.00,2.20,0.00,0.000,6,0.000,0.030,3059,1910,3228,0,0,0,0,0,0
$GC,3558,-0.68,-116.8,361.8,-7.0,226,3562,0.00,2.25,0.00,0.000,4,0.000,0.040,3059,325,3226,0,0,0,0,0,0
$GC,3602,-0.68,-116.8,365.3,-7.5,227,3606,0.00,2.17,0.00,0.000,6,0.000,0.031,3048,1898,3226,0,0,0,0,0,0
$GC,3919,-0.68,-116.8,389.8,-7.2,235,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1899,3224,0,0,0,0,0,0
$GC,4244,-0.68,-116.8,410.9,-6.7,243,4248,0.00,2.28,0.00,0.000,4,0.000,0.041,3048,314,3221,0,0,0,0,0,0
$GC,4294,-0.68,-116.8,414.9,-8.3,244,4298,0.12,2.20,0.00,0.000,6,0.130,0.030,3079,1899,3220,0,0,0,0,0,0
$GC,4612,-0.68,-116.8,433.7,-5.9,252,4616,0.00,2.28,0.00,0.000,4,0.000,0.041,3079,325,3218,0,0,0,0,0,0
$GC,4673,-0.68,-116.8,437.8,-6.8,253,4677,0.00,2.22,0.00,0.000,6,0.000,0.030,3070,1898,3218,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5019,begin apogee
$GC,5024,-0.23,0.0,461.1,6.9,262,5115,0.40,0.00,87.80,0.886,6,0.092,0.000,3216,2009,2750,0,0,0,0,0,0
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5158,0.68,116.8,463.9,0.0,264,5265,0.75,2.45,95.95,0.870,4,0.041,0.041,3545,3566,2271,0,0,0,0,0,0
$GC,5410,0.68,116.8,453.7,12.5,269,5417,0.12,2.33,0.00,0.000,6,0.148,0.028,3517,1991,2261,0,0,0,0,0,0
$GC,5742,0.68,116.8,424.1,8.6,278,5746,0.00,2.28,0.00,0.000,4,0.000,0.040,3529,423,2255,0,0,0,0,0,0
$GC,5910,0.69,122.2,409.7,7.8,281,5915,0.00,2.25,0.00,0.000,6,0.000,0.031,3528,1986,2254,0,0,0,0,0,0
$GC,6241,0.71,141.3,385.9,7.1,290,6265,0.00,2.40,17.75,0.811,4,0.000,0.041,3529,3586,2172,0,0,0,0,0,0
$GC,6332,0.71,141.3,378.2,9.3,292,6336,0.00,2.30,0.00,0.000,6,0.000,0.029,3540,2001,2169,0,0,0,0,0,0
$GC,6656,0.71,141.3,347.4,9.2,300,6660,0.00,2.30,0.00,0.000,4,0.000,0.041,3552,422,2167,0,0,0,0,0,0
$GC,6912,0.71,141.3,319.8,10.3,305,6919,0.08,2.28,0.00,0.000,6,0.146,0.031,3526,2000,2166,0,0,0,0,0,0
$GC,7224,0.76,184.0,295.9,6.0,315,7266,0.00,2.33,34.62,0.782,4,0.000,0.041,3537,433,1999,0,0,0,0,0,0
$GC,7349,0.76,184.0,285.6,9.7,320,7355,0.00,2.30,0.00,0.000,6,0.000,0.031,3537,1996,1994,0,0,0,0,0,0
$GC,7664,0.76,184.0,253.2,10.3,336,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1995,1990,0,0,0,0,0,0
$GC,7974,0.76,184.0,221.5,10.9,351,7978,0.00,2.30,0.00,0.000,4,0.000,0.042,3536,3588,1988,0,0,0,0,0,0
$GC,8022,0.76,184.0,215.3,12.6,353,8027,0.00,2.30,0.00,0.000,6,0.000,0.029,3548,1998,1987,0,0,0,0,0,0
$GC,8351,0.76,184.0,174.2,12.9,378,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1998,1986,0,0,0,0,0,0
$GC,8604,0.78,196.3,147.1,7.5,402,8619,0.00,2.28,9.27,0.608,4,0.000,0.040,3560,426,1949,0,0,0,0,0,0
$GC,8704,0.78,196.3,137.5,10.2,411,8709,0.00,2.25,0.00,0.000,6,0.000,0.031,3560,2023,1947,0,0,0,0,0,0
$GC,8965,0.78,196.3,114.6,9.9,435,8969,0.00,2.30,0.00,0.000,4,0.000,0.040,3571,421,1946,0,0,0,0,0,0
$GC,9054,0.78,196.3,105.9,10.1,442,9061,0.08,2.25,0.00,0.000,6,0.138,0.031,3545,1990,1946,0,0,0,0,0,0
$GC,9316,0.90,298.8,91.3,3.3,467,9401,0.10,0.00,81.12,0.605,6,0.102,0.000,3599,1990,1530,0,0,0,0,0,0
$GC,9650,0.90,298.8,54.3,13.7,499,9654,0.00,2.30,0.00,0.000,4,0.000,0.039,3611,418,1522,0,0,0,0,0,0
$GC,9689,0.90,298.8,48.5,15.9,502,9693,0.00,2.28,0.00,0.000,6,0.000,0.030,3611,2009,1522,0,0,0,0,0,0
$GC,9956,0.90,298.8,7.2,16.5,538,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2010,1522,0,0,0,0,0,0
$STATE,9987,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FINISH,0.2,1.012772
$STATE,10005,end surface coast,CONTROL_FINISHED_OK
$STATE,10005,begin surface
$SM_CCo,10085,45.88,0.074,0,0,1160,390.02
$SM_GC,1.30,0.00,0.00,45.88,0.000,0.000,0.074,132,1882,1160,-9.87,-0.51,390.02
$IRIDIUM_FIX,2045.60,-15755.64,250312,161645
$TT8_MAMPS,0.027612
$HUMID,1078794184
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,13.714
$10V_AH,10.4,12.322
$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,21.775,91.200,326.525,45.875,0.000,31.090,34.952,322.237,0.000,0.000,15.565,1019.648,7197.230,461.419,2035.866,169.466,33.350,1138.758,0.000,1188.484,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,102.778,885.885,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,368.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20058,547
$CAP_FILE_SIZE,104369,0
$CFSIZE,260165632,228368384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,044236,2055.711,-15755.192,25,1.1,26,9.8