version: 66.07
glider: 500
mission: 7
dive: 129
start: 10 1 110 7 57 2
data:
$ID,500
$MISSION,7
$DIVE,129
$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,-117760.51
$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
$PASSWD,500680
$TEL_NUM,18089569178
$ALT_TEL_NUM,18089562271
$GPS1,011010,074436,2056.762,-15755.673,10,0.9,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-80.4
$GPS2,011010,075608,2056.819,-15755.776,12,1.0,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,0.035
$KALMAN_X,-153744.2,390.7,185.0,146818.4,-2572.2
$KALMAN_Y,4914.2,651.6,-64.6,-38190.0,-718.3
$MHEAD_RNG_PITCHd_Wd,70.8,25768,-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,123,begin dive
$GC,125,-0.68,-116.8,0.0,0.0,0,193,0.00,0.00,-65.82,0.000,2,0.000,0.000,129,1883,2984,0,0,0,0,0,0
$GC,196,-0.68,-116.8,4.1,-8.5,13,217,11.30,2.30,-4.25,0.000,4,0.237,0.048,3059,276,3228,0,0,0,0,0,0
$GC,302,-0.68,-116.8,33.2,-17.4,30,307,0.00,2.33,0.00,0.000,6,0.000,0.031,3049,1926,3230,0,0,0,0,0,0
$GC,562,-0.68,-116.8,81.0,-17.4,55,566,0.00,2.25,0.00,0.000,4,0.000,0.041,3037,3486,3230,0,0,0,0,0,0
$GC,616,-0.68,-116.8,90.4,-15.3,59,623,0.08,2.30,0.00,0.000,6,0.114,0.027,3068,1860,3232,0,0,0,0,0,0
$GC,878,-0.68,-116.8,120.7,-11.1,84,882,0.00,2.17,0.00,0.000,4,0.000,0.040,3068,325,3232,0,0,0,0,0,0
$GC,962,-0.68,-116.8,130.5,-11.2,91,966,0.00,2.20,0.00,0.000,6,0.000,0.030,3058,1911,3233,0,0,0,0,0,0
$GC,1225,-0.68,-116.8,158.8,-10.6,115,1229,0.00,2.28,0.00,0.000,4,0.000,0.039,3058,321,3234,0,0,0,0,0,0
$GC,1265,-0.68,-116.8,163.6,-11.9,118,1269,0.00,2.20,0.00,0.000,6,0.000,0.030,3047,1909,3234,0,0,0,0,0,0
$GC,1526,-0.68,-116.8,189.0,-9.7,142,1530,0.00,2.25,0.00,0.000,4,0.000,0.038,3047,320,3234,0,0,0,0,0,0
$GC,1564,-0.68,-116.8,192.9,-10.6,145,1569,0.12,2.20,0.00,0.000,6,0.134,0.031,3077,1909,3234,0,0,0,0,0,0
$GC,1830,-0.68,-116.8,212.4,-7.2,162,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1909,3235,0,0,0,0,0,0
$GC,2140,-0.68,-116.8,233.0,-6.4,177,2144,0.00,2.25,0.00,0.000,4,0.000,0.040,3077,327,3235,0,0,0,0,0,0
$GC,2200,-0.68,-116.8,238.1,-8.5,179,2206,0.00,2.22,0.00,0.000,6,0.000,0.031,3070,1895,3235,0,0,0,0,0,0
$GC,2515,-0.68,-116.8,267.1,-8.4,195,2519,0.00,2.25,0.00,0.000,4,0.000,0.040,3070,322,3234,0,0,0,0,0,0
$GC,2566,-0.68,-116.8,271.4,-8.9,197,2570,0.00,2.22,0.00,0.000,6,0.000,0.031,3064,1909,3234,0,0,0,0,0,0
$GC,2886,-0.68,-116.8,297.5,-8.2,213,2890,0.00,2.28,0.00,0.000,4,0.000,0.040,3064,319,3232,0,0,0,0,0,0
$GC,2953,-0.68,-116.8,303.3,-8.8,215,2957,0.00,2.22,0.00,0.000,6,0.000,0.031,3056,1906,3232,0,0,0,0,0,0
$GC,3289,-0.68,-116.8,327.6,-6.6,224,3293,0.00,2.28,0.00,0.000,4,0.000,0.040,3056,328,3231,0,0,0,0,0,0
$GC,3322,-0.68,-116.8,330.1,-7.6,224,3328,0.00,2.22,0.00,0.000,6,0.000,0.031,3045,1894,3230,0,0,0,0,0,0
$GC,3653,-0.68,-116.8,354.5,-7.3,233,3657,0.00,2.25,0.00,0.000,4,0.000,0.041,3045,327,3228,0,0,0,0,0,0
$GC,3704,-0.68,-116.8,358.9,-8.8,234,3709,0.12,2.20,0.00,0.000,6,0.131,0.030,3076,1909,3228,0,0,0,0,0,0
$GC,4021,-0.68,-116.8,378.4,-5.9,242,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1909,3226,0,0,0,0,0,0
$GC,4347,-0.68,-116.8,395.9,-5.1,250,4351,0.00,2.28,0.00,0.000,4,0.000,0.041,3076,329,3224,0,0,0,0,0,0
$GC,4397,-0.68,-116.8,398.7,-5.9,251,4401,0.00,2.20,0.00,0.000,6,0.000,0.031,3069,1909,3224,0,0,0,0,0,0
$GC,4714,-0.68,-116.8,414.6,-5.0,259,4718,0.00,2.28,0.00,0.000,4,0.000,0.040,3069,321,3221,0,0,0,0,0,0
$GC,4748,-0.68,-116.8,416.7,-6.0,259,4753,0.00,2.22,0.00,0.000,6,0.000,0.030,3057,1904,3221,0,0,0,0,0,0
$GC,5078,-0.68,-116.8,437.1,-6.2,268,5082,0.00,2.28,0.00,0.000,4,0.000,0.041,3057,325,3219,0,0,0,0,0,0
$GC,5167,-0.68,-116.8,443.4,-7.2,270,5171,0.00,2.22,0.00,0.000,6,0.000,0.031,3046,1900,3219,0,0,0,0,0,0
$STATE,5447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5452,-0.23,0.0,462.5,6.6,277,5544,0.47,0.00,88.22,0.892,6,0.091,0.000,3220,2013,2749,0,0,0,0,0,0
$STATE,5590,end apogee,CONTROL_FINISHED_OK
$STATE,5590,begin climb
$GC,5592,0.68,116.8,465.0,0.0,279,5697,0.73,2.42,97.03,0.875,4,0.039,0.041,3541,3559,2272,0,0,0,0,0,0
$GC,5755,0.68,116.8,468.0,8.5,283,5760,0.15,2.28,0.00,0.000,6,0.166,0.029,3514,2001,2265,0,0,0,0,0,0
$GC,6085,0.68,116.8,441.4,8.2,291,6089,0.00,2.30,0.00,0.000,4,0.000,0.041,3514,3567,2258,0,0,0,0,0,0
$GC,6168,0.68,116.8,433.5,9.2,292,6174,0.00,2.22,0.00,0.000,6,0.000,0.029,3525,1997,2257,0,0,0,0,0,0
$GC,6498,0.68,116.8,406.8,8.0,301,6502,0.00,2.25,0.00,0.000,4,0.000,0.040,3537,432,2255,0,0,0,0,0,0
$GC,6609,0.68,116.8,397.5,8.0,303,6614,0.00,2.25,0.00,0.000,6,0.000,0.031,3536,1989,2254,0,0,0,0,0,0
$GC,6952,0.70,135.0,373.1,7.2,312,6972,0.00,2.35,12.65,0.788,4,0.000,0.040,3548,428,2198,0,0,0,0,0,0
$GC,7050,0.70,135.0,365.4,8.9,314,7055,0.08,2.30,0.00,0.000,6,0.149,0.031,3523,2012,2197,0,0,0,0,0,0
$GC,7370,0.71,140.4,339.9,7.8,322,7377,0.00,0.00,5.47,0.641,6,0.000,0.000,3522,2012,2177,0,0,0,0,0,0
$GC,7694,0.71,140.4,307.2,10.7,330,7698,0.00,2.33,0.00,0.000,4,0.000,0.040,3533,433,2174,0,0,0,0,0,0
$GC,7824,0.73,154.4,296.2,7.4,334,7845,0.00,2.22,13.12,0.749,6,0.000,0.031,3533,2005,2119,0,0,0,0,0,0
$GC,8154,0.73,154.4,270.0,8.7,350,8158,0.00,2.30,0.00,0.000,4,0.000,0.041,3544,434,2115,0,0,0,0,0,0
$GC,8411,0.73,154.4,245.0,10.2,361,8416,0.00,2.22,0.00,0.000,6,0.000,0.031,3544,2012,2114,0,0,0,0,0,0
$GC,8726,0.73,154.4,217.0,8.3,377,8730,0.00,2.30,0.00,0.000,4,0.000,0.040,3556,431,2113,0,0,0,0,0,0
$GC,8819,0.73,154.4,207.6,10.1,381,8825,0.08,2.25,0.00,0.000,6,0.144,0.031,3530,1997,2114,0,0,0,0,0,0
$GC,9148,0.81,220.3,184.4,5.0,408,9203,0.00,0.00,53.12,0.699,6,0.000,0.000,3530,1998,1851,0,0,0,0,0,0
$GC,9453,0.81,220.3,153.7,11.6,437,9457,0.00,2.28,0.00,0.000,4,0.000,0.040,3540,434,1843,0,0,0,0,0,0
$GC,9605,0.81,220.3,136.0,11.6,450,9609,0.00,2.25,0.00,0.000,6,0.000,0.031,3540,2003,1841,0,0,0,0,0,0
$GC,9866,0.81,220.3,110.5,8.3,474,9870,0.00,2.28,0.00,0.000,4,0.000,0.040,3551,425,1840,0,0,0,0,0,0
$GC,10012,0.81,220.3,94.4,10.8,486,10017,0.00,2.25,0.00,0.000,6,0.000,0.030,3551,2008,1839,0,0,0,0,0,0
$GC,10274,0.87,273.5,77.7,5.6,511,10320,0.00,2.33,40.83,0.591,4,0.000,0.039,3551,3583,1634,0,0,0,0,0,0
$GC,10391,0.87,273.5,67.6,9.3,521,10398,0.00,2.30,0.00,0.000,6,0.000,0.028,3563,1998,1630,0,0,0,0,0,0
$GC,10654,0.87,273.5,41.1,10.8,546,10658,0.00,2.25,0.00,0.000,4,0.000,0.038,3575,425,1627,0,0,0,0,0,0
$GC,10719,0.87,273.5,33.3,10.7,551,10726,0.00,2.25,0.00,0.000,6,0.000,0.030,3574,2000,1626,0,0,0,0,0,0
$STATE,10969,end climb,SURFACE_DEPTH_REACHED
$STATE,10969,begin surface coast
$FINISH,0.3,1.023000
$STATE,10993,end surface coast,CONTROL_FINISHED_OK
$STATE,10993,begin surface
$SM_CCo,11072,57.25,0.074,0,0,1159,390.02
$SM_GC,0.95,0.00,0.00,57.25,0.000,0.000,0.074,145,1890,1159,-9.82,-0.28,390.02
$IRIDIUM_FIX,2047.91,-15757.78,250312,232338
$TT8_MAMPS,0.031447
$HUMID,1078774829
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_reportdisk
,(null)$24V_AH,24.4,13.898
$10V_AH,10.4,12.428
$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,21.725,108.725,310.450,57.250,0.000,28.787,45.827,319.513,0.000,0.000,14.896,1126.389,7947.637,483.882,2143.244,175.757,33.363,1205.730,0.000,1292.234,0.000,0.541,0.000
$DEVICE_MAMPS,237.003,103.545,892.021,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,402.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334980
$DATA_FILE_SIZE,20129,597
$CAP_FILE_SIZE,112834,0
$CFSIZE,260165632,228270080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,110530,2056.916,-15754.908,36,1.3,42,9.8