version: 66.07
glider: 500
mission: 7
dive: 128
start: 10 1 110 4 54 50
data:
$ID,500
$MISSION,7
$DIVE,128
$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,-117744.98
$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
$GPS1,011010,044236,2055.711,-15755.192,25,1.1,26,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.0
$GPS2,011010,045356,2055.753,-15755.365,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,0.202
$KALMAN_X,-153176.2,1218.7,338.7,145964.9,-3856.7
$KALMAN_Y,4660.0,983.7,141.5,-40455.2,-1433.9
$MHEAD_RNG_PITCHd_Wd,12.5,27440,-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,124,end surface,CONTROL_FINISHED_OK
$STATE,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,189,0.00,0.00,-61.03,0.000,2,0.000,0.000,128,1883,2809,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.0,-5.4,12,218,11.18,2.38,-7.97,0.000,4,0.233,0.054,3051,3511,3231,0,0,0,0,0,0
$GC,258,-0.68,-116.8,22.0,-20.8,24,264,0.00,2.33,0.00,0.000,6,0.000,0.028,3051,1870,3232,0,0,0,0,0,0
$GC,458,-0.68,-116.8,58.6,-19.5,47,461,0.00,2.22,0.00,0.000,4,0.000,0.040,3051,325,3233,0,0,0,0,0,0
$GC,518,-0.68,-116.8,72.0,-22.4,52,522,0.00,2.28,0.00,0.000,6,0.000,0.031,3040,1935,3233,0,0,0,0,0,0
$GC,779,-0.68,-116.8,120.5,-16.4,76,783,0.10,2.22,0.00,0.000,4,0.161,0.041,3060,3482,3234,0,0,0,0,0,0
$GC,806,-0.68,-116.8,124.5,-13.9,78,810,0.00,2.20,0.00,0.000,6,0.000,0.027,3060,1904,3234,0,0,0,0,0,0
$GC,1067,-0.68,-116.8,154.2,-10.7,102,1072,0.00,2.28,0.00,0.000,4,0.000,0.039,3060,318,3236,0,0,0,0,0,0
$GC,1185,-0.68,-116.8,167.9,-11.0,112,1189,0.00,2.20,0.00,0.000,6,0.000,0.030,3052,1908,3235,0,0,0,0,0,0
$GC,1446,-0.68,-116.8,192.2,-8.4,136,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1909,3236,0,0,0,0,0,0
$GC,1706,-0.68,-116.8,221.0,-12.7,153,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1908,3236,0,0,0,0,0,0
$GC,2015,-0.68,-116.8,251.2,-9.8,168,2019,0.00,2.28,0.00,0.000,4,0.000,0.039,3052,313,3236,0,0,0,0,0,0
$GC,2054,-0.68,-116.8,254.7,-9.8,170,2058,0.00,2.20,0.00,0.000,6,0.000,0.030,3042,1900,3236,0,0,0,0,0,0
$GC,2379,-0.68,-116.8,283.7,-9.7,186,2383,0.00,2.25,0.00,0.000,4,0.000,0.038,3042,316,3237,0,0,0,0,0,0
$GC,2418,-0.68,-116.8,287.5,-10.0,188,2423,0.12,2.20,0.00,0.000,6,0.133,0.030,3074,1901,3236,0,0,0,0,0,0
$GC,2742,-0.68,-116.8,307.5,-5.8,201,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1901,3235,0,0,0,0,0,0
$GC,3067,-0.68,-116.8,330.2,-7.4,209,3071,0.00,2.28,0.00,0.000,4,0.000,0.040,3073,315,3233,0,0,0,0,0,0
$GC,3121,-0.68,-116.8,334.1,-7.2,210,3126,0.00,2.25,0.00,0.000,6,0.000,0.031,3065,1905,3233,0,0,0,0,0,0
$GC,3435,-0.68,-116.8,352.9,-6.1,218,3439,0.00,2.28,0.00,0.000,4,0.000,0.040,3065,314,3231,0,0,0,0,0,0
$GC,3484,-0.68,-116.8,356.5,-6.8,219,3488,0.00,2.25,0.00,0.000,6,0.000,0.030,3055,1896,3230,0,0,0,0,0,0
$GC,3803,-0.68,-116.8,377.1,-6.6,227,3807,0.00,2.28,0.00,0.000,4,0.000,0.040,3055,314,3227,0,0,0,0,0,0
$GC,3853,-0.68,-116.8,380.7,-7.2,228,3857,0.00,2.22,0.00,0.000,6,0.000,0.030,3044,1910,3227,0,0,0,0,0,0
$GC,4171,-0.68,-116.8,405.7,-8.5,236,4175,0.00,2.30,0.00,0.000,4,0.000,0.040,3044,315,3225,0,0,0,0,0,0
$GC,4317,-0.68,-116.8,419.4,-9.0,239,4321,0.12,2.22,0.00,0.000,6,0.130,0.030,3075,1909,3223,0,0,0,0,0,0
$GC,4663,-0.68,-116.8,440.3,-5.5,248,4667,0.00,2.28,0.00,0.000,4,0.000,0.041,3075,319,3221,0,0,0,0,0,0
$GC,4713,-0.68,-116.8,443.5,-6.3,249,4717,0.00,2.20,0.00,0.000,6,0.000,0.030,3065,1902,3220,0,0,0,0,0,0
$STATE,4983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4983,begin apogee
$GC,4988,-0.23,0.0,461.6,6.9,256,5079,0.43,0.00,88.35,0.890,6,0.093,0.000,3221,2014,2750,0,0,0,0,0,0
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5123,0.68,116.8,464.3,0.0,258,5229,0.73,2.45,96.43,0.873,4,0.041,0.041,3537,3569,2271,0,0,0,0,0,0
$GC,5246,0.74,169.1,468.0,5.6,261,5296,0.00,2.33,42.75,0.848,6,0.000,0.029,3549,1991,2059,0,0,0,0,0,0
$GC,5614,0.74,169.1,421.3,13.1,270,5618,0.00,2.30,0.00,0.000,4,0.000,0.041,3561,423,2045,0,0,0,0,0,0
$GC,5679,0.74,169.1,412.8,13.1,271,5684,0.08,2.28,0.00,0.000,6,0.144,0.031,3536,1979,2044,0,0,0,0,0,0
$GC,6027,0.74,169.1,370.8,12.4,280,6031,0.00,2.25,0.00,0.000,4,0.000,0.041,3546,428,2041,0,0,0,0,0,0
$GC,6167,0.74,169.1,351.6,13.2,283,6171,0.00,2.28,0.00,0.000,6,0.000,0.032,3546,2016,2040,0,0,0,0,0,0
$GC,6479,0.74,169.1,314.2,11.7,291,6483,0.00,2.30,0.00,0.000,4,0.000,0.041,3558,423,2038,0,0,0,0,0,0
$GC,6511,0.74,169.1,310.2,12.5,291,6517,0.00,2.22,0.00,0.000,6,0.000,0.031,3558,1999,2038,0,0,0,0,0,0
$GC,6825,0.74,169.1,276.9,10.0,305,6829,0.00,2.28,0.00,0.000,4,0.000,0.041,3569,421,2037,0,0,0,0,0,0
$GC,6896,0.74,169.1,268.2,12.2,308,6901,0.12,2.28,0.00,0.000,6,0.145,0.032,3528,1995,2036,0,0,0,0,0,0
$GC,7217,0.74,169.1,234.9,9.7,324,7221,0.00,2.30,0.00,0.000,4,0.000,0.042,3528,3593,2034,0,0,0,0,0,0
$GC,7237,0.74,169.1,232.6,10.6,325,7242,0.00,2.28,0.00,0.000,6,0.000,0.030,3538,2008,2034,0,0,0,0,0,0
$GC,7564,0.74,169.1,201.5,8.6,341,7568,0.00,2.30,0.00,0.000,4,0.000,0.042,3538,3588,2033,0,0,0,0,0,0
$GC,7820,0.74,169.1,175.5,9.7,362,7827,0.00,2.28,0.00,0.000,6,0.000,0.028,3550,1996,2032,0,0,0,0,0,0
$GC,8083,0.76,185.0,153.8,7.3,387,8097,0.00,2.25,9.30,0.612,4,0.000,0.038,3562,428,1995,0,0,0,0,0,0
$GC,8147,0.76,185.0,148.7,8.3,392,8153,0.00,2.25,0.00,0.000,6,0.000,0.031,3562,1997,1993,0,0,0,0,0,0
$GC,8408,0.76,185.0,125.8,8.9,417,8412,0.00,2.25,0.00,0.000,4,0.000,0.040,3573,426,1993,0,0,0,0,0,0
$GC,8617,0.79,202.0,108.1,7.2,435,8639,0.00,2.20,15.18,0.596,6,0.000,0.030,3573,1998,1926,0,0,0,0,0,0
$GC,8893,0.83,236.6,87.4,6.4,461,8927,0.00,2.35,28.33,0.588,4,0.000,0.040,3584,430,1784,0,0,0,0,0,0
$GC,8983,0.83,236.6,80.1,9.5,469,8989,0.00,2.28,0.00,0.000,6,0.000,0.030,3585,1995,1781,0,0,0,0,0,0
$GC,9244,0.83,236.6,58.9,8.2,494,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1996,1778,0,0,0,0,0,0
$GC,9498,0.83,236.6,34.8,10.3,518,9502,0.00,2.25,0.00,0.000,4,0.000,0.039,3596,430,1778,0,0,0,0,0,0
$GC,9520,0.83,236.6,32.3,11.3,519,9526,0.15,2.22,0.00,0.000,6,0.154,0.031,3553,2021,1777,0,0,0,0,0,0
$GC,9794,0.83,236.6,6.2,10.5,566,9799,0.00,2.28,0.00,0.000,4,0.000,0.039,3563,425,1777,0,0,0,0,0,0
$STATE,9826,end climb,SURFACE_DEPTH_REACHED
$STATE,9826,begin surface coast
$FINISH,0.6,1.022982
$STATE,9855,end surface coast,CONTROL_FINISHED_OK
$STATE,9855,begin surface
$SM_CCo,9937,78.30,0.073,0,0,1159,390.02
$SM_GC,1.19,0.00,0.00,78.30,0.000,0.000,0.073,136,1882,1159,-9.86,-0.51,390.02
$IRIDIUM_FIX,2047.91,-15752.63,250312,202044
$TT8_MAMPS,0.027612
$HUMID,1078680635
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,13.803
$10V_AH,10.4,12.373
$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,21.575,104.200,280.325,78.300,0.000,27.420,31.879,324.375,0.000,0.000,14.950,1076.522,7000.031,451.825,2065.475,163.953,33.360,1146.944,0.000,1221.879,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,103.545,890.487,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,389.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334992
$DATA_FILE_SIZE,20127,577
$CAP_FILE_SIZE,107932,0
$CFSIZE,260165632,228319232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,074436,2056.762,-15755.673,10,0.9,27,9.8