version: 66.07
glider: 500
mission: 7
dive: 130
start: 10 1 110 11 26 44
data:
$ID,500
$MISSION,7
$DIVE,130
$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,-117772.2
$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
$PASSWD,500680
$TEL_NUM,18089569178
$ALT_TEL_NUM,18089562271
$GPS1,011010,110530,2056.916,-15754.908,36,1.3,42,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.4
$GPS2,011010,112550,2056.990,-15755.135,9,1.1,9,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.112
$KALMAN_X,-154465.3,-275.3,250.5,149255.5,-2010.6
$KALMAN_Y,5142.1,71.3,216.8,-37798.6,-828.9
$MHEAD_RNG_PITCHd_Wd,49.3,25131,-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,-61.20,0.000,2,0.000,0.000,127,1889,2814,0,0,0,0,0,0
$GC,193,-0.68,-116.8,3.0,-4.6,12,220,11.27,2.33,-7.85,0.000,4,0.235,0.054,3058,294,3231,0,0,0,0,0,0
$GC,242,-0.68,-116.8,18.4,-27.0,21,248,0.00,2.33,0.00,0.000,6,0.000,0.032,3048,1923,3230,0,0,0,0,0,0
$GC,442,-0.68,-116.8,57.1,-19.8,45,443,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1923,3231,0,0,0,0,0,0
$GC,698,-0.68,-116.8,102.0,-14.7,69,702,0.00,2.35,0.00,0.000,4,0.000,0.040,3048,285,3232,0,0,0,0,0,0
$GC,718,-0.68,-116.8,104.9,-13.5,70,725,0.08,2.30,0.00,0.000,6,0.118,0.031,3077,1898,3232,0,0,0,0,0,0
$GC,980,-0.68,-116.8,135.0,-10.7,95,984,0.00,2.30,0.00,0.000,4,0.000,0.039,3077,287,3233,0,0,0,0,0,0
$GC,1023,-0.68,-116.8,139.9,-10.5,98,1029,0.00,2.28,0.00,0.000,6,0.000,0.031,3069,1904,3233,0,0,0,0,0,0
$GC,1285,-0.68,-116.8,166.6,-10.1,123,1289,0.00,2.30,0.00,0.000,4,0.000,0.040,3069,293,3233,0,0,0,0,0,0
$GC,1313,-0.68,-116.8,169.7,-10.7,125,1317,0.00,2.25,0.00,0.000,6,0.000,0.032,3062,1903,3234,0,0,0,0,0,0
$GC,1573,-0.68,-116.8,195.3,-8.7,149,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1903,3234,0,0,0,0,0,0
$GC,1832,-0.68,-116.8,219.5,-8.6,164,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1903,3233,0,0,0,0,0,0
$GC,2142,-0.68,-116.8,241.5,-7.2,179,2146,0.00,2.30,0.00,0.000,4,0.000,0.041,3062,293,3233,0,0,0,0,0,0
$GC,2197,-0.68,-116.8,246.0,-7.7,181,2203,0.00,2.28,0.00,0.000,6,0.000,0.032,3056,1890,3233,0,0,0,0,0,0
$GC,2513,-0.68,-116.8,268.8,-7.9,197,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1890,3232,0,0,0,0,0,0
$GC,2822,-0.68,-116.8,293.1,-7.4,212,2826,0.00,2.28,0.00,0.000,4,0.000,0.042,3056,297,3230,0,0,0,0,0,0
$GC,2870,-0.68,-116.8,297.1,-8.6,214,2875,0.00,2.28,0.00,0.000,6,0.000,0.031,3045,1899,3230,0,0,0,0,0,0
$GC,3208,-0.68,-116.8,327.7,-9.5,224,3213,0.00,2.33,0.00,0.000,4,0.000,0.041,3045,292,3228,0,0,0,0,0,0
$GC,3263,-0.68,-116.8,333.5,-10.3,225,3268,0.08,2.30,0.00,0.000,6,0.104,0.031,3069,1910,3228,0,0,0,0,0,0
$GC,3576,-0.68,-116.8,354.6,-6.0,233,3580,0.00,2.35,0.00,0.000,4,0.000,0.041,3070,285,3226,0,0,0,0,0,0
$GC,3660,-0.68,-116.8,360.3,-7.7,235,3664,0.00,2.28,0.00,0.000,6,0.000,0.031,3060,1912,3226,0,0,0,0,0,0
$GC,3983,-0.68,-116.8,382.3,-6.7,243,3987,0.00,2.33,0.00,0.000,4,0.000,0.041,3060,293,3223,0,0,0,0,0,0
$GC,4003,-0.68,-116.8,383.8,-6.8,243,4008,0.00,2.30,0.00,0.000,6,0.000,0.032,3048,1900,3223,0,0,0,0,0,0
$GC,4347,-0.68,-116.8,408.1,-6.8,252,4351,0.00,2.33,0.00,0.000,4,0.000,0.043,3048,297,3221,0,0,0,0,0,0
$GC,4379,-0.68,-116.8,410.4,-7.3,252,4386,0.05,2.30,0.00,0.000,6,0.114,0.031,3072,1906,3220,0,0,0,0,0,0
$GC,4710,-0.68,-116.8,426.1,-4.7,261,4714,0.00,2.33,0.00,0.000,4,0.000,0.042,3072,291,3218,0,0,0,0,0,0
$GC,4776,-0.68,-116.8,430.0,-5.8,262,4780,0.00,2.28,0.00,0.000,6,0.000,0.032,3062,1912,3218,0,0,0,0,0,0
$GC,5112,-0.68,-116.8,449.0,-5.5,271,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1913,3216,0,0,0,0,0,0
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5314,begin apogee
$GC,5319,-0.23,0.0,460.9,5.9,276,5409,0.43,0.00,87.53,0.892,6,0.095,0.000,3215,2018,2750,0,0,0,0,0,0
$STATE,5456,end apogee,CONTROL_FINISHED_OK
$STATE,5456,begin climb
$GC,5458,0.68,116.8,462.6,0.0,278,5564,0.73,2.45,95.97,0.872,4,0.040,0.041,3537,3568,2272,0,0,0,0,0,0
$GC,5614,0.68,116.8,460.8,10.2,281,5619,0.08,2.40,0.00,0.000,6,0.149,0.028,3514,1963,2265,0,0,0,0,0,0
$GC,5950,0.68,116.8,427.9,9.5,290,5953,0.00,2.38,0.00,0.000,4,0.000,0.041,3514,3575,2260,0,0,0,0,0,0
$GC,6106,0.68,116.8,411.8,9.8,293,6110,0.00,2.30,0.00,0.000,6,0.000,0.028,3524,1992,2258,0,0,0,0,0,0
$GC,6454,0.73,160.3,388.0,6.0,302,6495,0.00,2.33,34.05,0.832,4,0.000,0.041,3537,432,2095,0,0,0,0,0,0
$GC,6557,0.73,160.3,379.6,9.9,304,6561,0.00,2.25,0.00,0.000,6,0.000,0.031,3536,1987,2090,0,0,0,0,0,0
$GC,6903,0.73,160.3,342.3,10.9,313,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1988,2085,0,0,0,0,0,0
$GC,7228,0.73,160.3,309.4,10.2,321,7232,0.00,2.28,0.00,0.000,4,0.000,0.041,3547,431,2083,0,0,0,0,0,0
$GC,7402,0.73,160.3,288.3,13.2,326,7407,0.00,2.22,0.00,0.000,6,0.000,0.031,3548,2005,2082,0,0,0,0,0,0
$GC,7716,0.73,160.3,255.0,8.9,342,7720,0.00,2.30,0.00,0.000,4,0.000,0.042,3548,3586,2080,0,0,0,0,0,0
$GC,7742,0.73,160.3,251.9,11.7,343,7747,0.08,2.30,0.00,0.000,6,0.155,0.030,3534,1995,2079,0,0,0,0,0,0
$GC,8063,0.73,160.3,224.6,8.6,359,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1994,2078,0,0,0,0,0,0
$GC,8373,0.74,167.9,198.2,7.7,375,8383,0.00,2.28,4.43,0.515,4,0.000,0.040,3544,425,2065,0,0,0,0,0,0
$GC,8445,0.76,178.1,192.5,7.6,381,8461,0.00,2.25,10.38,0.650,6,0.000,0.031,3544,2010,2023,0,0,0,0,0,0
$GC,8715,0.76,178.1,168.6,9.4,407,8719,0.00,2.30,0.00,0.000,4,0.000,0.040,3556,419,2020,0,0,0,0,0,0
$GC,8900,0.77,193.1,152.0,7.3,423,8921,0.00,2.22,13.57,0.630,6,0.000,0.031,3556,2000,1961,0,0,0,0,0,0
$GC,9175,0.77,193.1,125.5,9.3,449,9179,0.00,2.30,0.00,0.000,4,0.000,0.041,3567,425,1957,0,0,0,0,0,0
$GC,9382,0.77,193.1,104.5,8.1,467,9386,0.00,2.22,0.00,0.000,6,0.000,0.030,3567,2011,1957,0,0,0,0,0,0
$GC,9644,0.91,300.7,92.0,3.0,491,9734,0.00,0.00,84.32,0.600,6,0.000,0.000,3567,2011,1523,0,0,0,0,0,0
$GC,9989,0.91,300.7,52.4,14.1,524,9993,0.00,2.33,0.00,0.000,4,0.000,0.040,3578,427,1515,0,0,0,0,0,0
$GC,10033,0.91,300.7,46.4,13.4,527,10039,0.00,2.25,0.00,0.000,6,0.000,0.030,3578,2004,1514,0,0,0,0,0,0
$GC,10301,0.91,300.7,11.6,15.0,564,10306,0.00,2.30,0.00,0.000,4,0.000,0.040,3590,422,1514,0,0,0,0,0,0
$GC,10324,0.91,300.7,8.6,13.5,568,10329,0.00,2.25,0.00,0.000,6,0.000,0.031,3590,1996,1513,0,0,0,0,0,0
$STATE,10367,end climb,SURFACE_DEPTH_REACHED
$STATE,10367,begin surface coast
$FINISH,0.8,1.023005
$STATE,10392,end surface coast,CONTROL_FINISHED_OK
$STATE,10392,begin surface
$SM_CCo,10471,45.33,0.074,0,0,1159,390.27
$SM_GC,1.35,0.00,0.00,45.33,0.000,0.000,0.074,143,1886,1159,-9.84,-0.51,390.27
$IRIDIUM_FIX,2050.21,-15817.49,260312,050506
$TT8_MAMPS,0.031447
$HUMID,1078764506
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_reportdisk
,(null)$24V_AH,24.4,14.014
$10V_AH,10.5,12.484
$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,21.325,96.750,330.250,45.325,0.000,124.043,154.688,491.995,0.000,0.000,11.060,1060.986,7710.347,461.275,2369.940,188.518,33.367,1149.844,0.000,1191.200,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,105.846,892.021,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334928
$DATA_FILE_SIZE,20073,580
$CAP_FILE_SIZE,112440,0
$CFSIZE,260165632,228216832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,142455,2057.656,-15754.306,36,1.2,37,9.8