version: 66.07
glider: 500
mission: 7
dive: 131
start: 10 1 110 14 36 15
data:
$ID,500
$MISSION,7
$DIVE,131
$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,-117786.22
$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
$GPS1,011010,142455,2057.656,-15754.306,36,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.0
$GPS2,011010,143520,2057.673,-15754.375,11,1.0,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,0.186
$KALMAN_X,-154764.3,-659.0,107.1,151394.6,-840.5
$KALMAN_Y,5680.2,-477.0,212.0,-36519.4,-282.3
$MHEAD_RNG_PITCHd_Wd,21.9,23562,-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,124,begin dive
$GC,126,-0.68,-116.8,0.0,0.0,0,188,0.00,0.00,-60.40,0.000,2,0.000,0.000,129,1881,2794,0,0,0,0,0,0
$GC,191,-0.68,-116.8,3.1,-5.7,12,218,11.18,2.38,-8.35,0.000,4,0.232,0.053,3049,3511,3231,0,0,0,0,0,0
$GC,274,-0.68,-116.8,23.7,-15.7,27,279,0.00,2.33,0.00,0.000,6,0.000,0.027,3049,1859,3232,0,0,0,0,0,0
$GC,473,-0.68,-116.8,61.0,-18.1,49,477,0.00,2.22,0.00,0.000,4,0.000,0.040,3049,317,3233,0,0,0,0,0,0
$GC,515,-0.68,-116.8,70.0,-20.2,52,522,0.08,2.30,0.00,0.000,6,0.127,0.030,3067,1924,3232,0,0,0,0,0,0
$GC,778,-0.68,-116.8,107.8,-12.9,77,782,0.00,2.28,0.00,0.000,4,0.000,0.039,3067,328,3234,0,0,0,0,0,0
$GC,865,-0.68,-116.8,120.6,-13.7,84,872,0.00,2.25,0.00,0.000,6,0.000,0.030,3057,1915,3234,0,0,0,0,0,0
$GC,1127,-0.68,-116.8,155.3,-11.0,109,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1915,3235,0,0,0,0,0,0
$GC,1382,-0.68,-116.8,180.6,-9.2,133,1386,0.00,2.28,0.00,0.000,4,0.000,0.039,3057,318,3236,0,0,0,0,0,0
$GC,1409,-0.68,-116.8,183.3,-10.4,135,1413,0.00,2.20,0.00,0.000,6,0.000,0.030,3046,1905,3236,0,0,0,0,0,0
$GC,1677,-0.68,-116.8,211.8,-10.5,155,1681,0.00,2.25,0.00,0.000,4,0.000,0.039,3046,320,3236,0,0,0,0,0,0
$GC,1743,-0.68,-116.8,218.5,-10.3,158,1748,0.08,2.22,0.00,0.000,6,0.108,0.030,3070,1893,3236,0,0,0,0,0,0
$GC,2070,-0.68,-116.8,244.6,-8.3,174,2074,0.00,2.25,0.00,0.000,4,0.000,0.042,3063,3477,3236,0,0,0,0,0,0
$GC,2113,-0.68,-116.8,248.0,-7.5,176,2117,0.00,2.22,0.00,0.000,6,0.000,0.025,3063,1902,3236,0,0,0,0,0,0
$GC,2439,-0.68,-116.8,271.4,-8.2,192,2443,0.00,2.25,0.00,0.000,4,0.000,0.040,3062,316,3236,0,0,0,0,0,0
$GC,2517,-0.68,-116.8,279.1,-10.4,195,2523,0.00,2.20,0.00,0.000,6,0.000,0.030,3056,1904,3236,0,0,0,0,0,0
$GC,2852,-0.68,-116.8,306.4,-7.5,210,2856,0.00,2.25,0.00,0.000,4,0.000,0.039,3056,323,3235,0,0,0,0,0,0
$GC,2918,-0.68,-116.8,312.5,-9.7,211,2922,0.00,2.22,0.00,0.000,6,0.000,0.029,3045,1903,3235,0,0,0,0,0,0
$GC,3260,-0.68,-116.8,345.5,-9.5,220,3264,0.00,2.25,0.00,0.000,4,0.000,0.040,3045,325,3233,0,0,0,0,0,0
$GC,3366,-0.68,-116.8,355.7,-9.2,222,3371,0.08,2.22,0.00,0.000,6,0.105,0.030,3069,1895,3232,0,0,0,0,0,0
$GC,3714,-0.68,-116.8,376.6,-5.3,231,3718,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,319,3230,0,0,0,0,0,0
$GC,3774,-0.68,-116.8,380.2,-6.1,232,3778,0.00,2.25,0.00,0.000,6,0.000,0.030,3060,1904,3229,0,0,0,0,0,0
$GC,4122,-0.68,-116.8,400.4,-6.0,241,4126,0.00,2.28,0.00,0.000,4,0.000,0.041,3060,321,3226,0,0,0,0,0,0
$GC,4194,-0.68,-116.8,405.0,-6.3,242,4198,0.00,2.22,0.00,0.000,6,0.000,0.030,3048,1908,3225,0,0,0,0,0,0
$GC,4529,-0.68,-116.8,423.9,-5.3,251,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1908,3223,0,0,0,0,0,0
$GC,4854,-0.68,-116.8,443.9,-6.7,259,4858,0.00,2.30,0.00,0.000,4,0.000,0.041,3048,318,3220,0,0,0,0,0,0
$GC,4905,-0.68,-116.8,447.7,-8.3,260,4910,0.12,2.22,0.00,0.000,6,0.130,0.031,3079,1906,3220,0,0,0,0,0,0
$STATE,5140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5140,begin apogee
$GC,5145,-0.23,0.0,461.1,5.6,266,5236,0.38,0.00,88.35,0.897,6,0.092,0.000,3219,2015,2750,0,0,0,0,0,0
$STATE,5283,end apogee,CONTROL_FINISHED_OK
$STATE,5283,begin climb
$GC,5285,0.68,116.8,464.3,0.0,268,5391,0.73,2.45,96.38,0.879,4,0.042,0.041,3532,3566,2271,0,0,0,0,0,0
$GC,5486,0.68,116.8,463.1,9.8,272,5491,0.12,2.28,0.00,0.000,6,0.170,0.028,3512,1996,2263,0,0,0,0,0,0
$GC,5822,0.68,116.8,434.7,8.2,281,5826,0.00,2.28,0.00,0.000,4,0.000,0.040,3523,429,2257,0,0,0,0,0,0
$GC,5870,0.68,116.8,430.2,9.6,282,5875,0.00,2.25,0.00,0.000,6,0.000,0.031,3523,1983,2256,0,0,0,0,0,0
$GC,6189,0.68,116.8,400.4,9.5,290,6193,0.00,2.33,0.00,0.000,4,0.000,0.041,3523,3588,2254,0,0,0,0,0,0
$GC,6441,0.68,116.8,375.7,8.4,295,6445,0.00,2.30,0.00,0.000,6,0.000,0.028,3535,1991,2252,0,0,0,0,0,0
$GC,6784,0.74,163.2,353.4,5.9,304,6825,0.00,2.33,35.03,0.830,4,0.000,0.041,3547,434,2083,0,0,0,0,0,0
$GC,6875,0.74,163.2,346.4,10.3,306,6880,0.00,2.30,0.00,0.000,6,0.000,0.031,3546,1996,2079,0,0,0,0,0,0
$GC,7200,0.74,163.2,315.1,9.9,314,7204,0.00,2.30,0.00,0.000,4,0.000,0.041,3558,435,2074,0,0,0,0,0,0
$GC,7310,0.74,163.2,300.5,13.9,316,7315,0.08,2.28,0.00,0.000,6,0.142,0.031,3532,2002,2073,0,0,0,0,0,0
$GC,7637,0.74,163.2,264.8,9.7,332,7641,0.00,2.28,0.00,0.000,4,0.000,0.041,3543,430,2072,0,0,0,0,0,0
$GC,7653,0.74,163.2,263.3,9.6,333,7658,0.00,2.25,0.00,0.000,6,0.000,0.032,3543,2015,2072,0,0,0,0,0,0
$GC,7979,0.74,163.5,237.2,8.0,349,7983,0.00,2.30,0.00,0.000,4,0.000,0.041,3554,422,2070,0,0,0,0,0,0
$GC,8146,0.74,163.5,222.0,9.7,356,8153,0.00,2.28,0.00,0.000,6,0.000,0.031,3554,1998,2069,0,0,0,0,0,0
$GC,8463,0.74,163.5,194.4,8.9,374,8467,0.00,2.25,0.00,0.000,4,0.000,0.041,3566,433,2069,0,0,0,0,0,0
$GC,8506,0.74,163.5,190.0,10.6,377,8513,0.10,2.28,0.00,0.000,6,0.141,0.031,3532,2011,2068,0,0,0,0,0,0
$GC,8768,0.74,163.5,168.5,8.3,402,8772,0.00,2.28,0.00,0.000,4,0.000,0.040,3542,425,2067,0,0,0,0,0,0
$GC,8823,0.74,163.5,163.6,8.7,406,8829,0.00,2.25,0.00,0.000,6,0.000,0.031,3543,1997,2067,0,0,0,0,0,0
$GC,9086,0.78,197.7,146.8,6.4,431,9115,0.00,0.00,26.73,0.658,6,0.000,0.000,3542,1997,1943,0,0,0,0,0,0
$GC,9370,0.78,197.7,119.0,10.3,458,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1997,1937,0,0,0,0,0,0
$GC,9625,0.86,265.1,103.3,4.9,482,9680,0.00,0.00,53.30,0.614,6,0.000,0.000,3542,1997,1668,0,0,0,0,0,0
$GC,9931,0.86,265.1,73.7,11.5,511,9935,0.00,2.30,0.00,0.000,4,0.000,0.040,3554,431,1661,0,0,0,0,0,0
$GC,10087,0.86,265.1,58.1,9.3,524,10093,0.00,2.22,0.00,0.000,6,0.000,0.029,3554,2012,1659,0,0,0,0,0,0
$GC,10349,0.86,265.1,32.8,10.3,549,10353,0.00,2.28,0.00,0.000,4,0.000,0.039,3565,427,1659,0,0,0,0,0,0
$GC,10382,0.86,265.1,29.2,10.8,552,10387,0.00,2.20,0.00,0.000,6,0.000,0.030,3565,1998,1658,0,0,0,0,0,0
$GC,10590,0.86,265.1,6.2,11.2,589,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1997,1658,0,0,0,0,0,0
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10615,begin surface coast
$FINISH,0.3,1.022985
$STATE,10639,end surface coast,CONTROL_FINISHED_OK
$STATE,10639,begin surface
$SM_CCo,10718,64.25,0.074,0,0,1161,390.02
$SM_GC,0.93,0.00,0.00,64.25,0.000,0.000,0.074,145,1880,1161,-9.83,-0.57,390.02
$IRIDIUM_FIX,2047.91,-15755.64,260312,050521
$TT8_MAMPS,0.031447
$HUMID,1078714184
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_reportdisk
,(null)$24V_AH,24.4,14.106
$10V_AH,10.4,12.538
$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,21.450,104.525,299.775,64.250,0.000,29.084,33.057,309.120,0.000,0.000,13.379,1120.635,7619.611,462.080,2085.881,175.589,33.362,1200.186,0.000,1304.477,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,104.312,896.623,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,403.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,20093,598
$CAP_FILE_SIZE,111992,0
$CFSIZE,260165632,228167680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,173836,2058.639,-15754.084,11,1.7,21,9.8