version: 66.07
glider: 500
mission: 7
dive: 133
start: 10 1 110 21 2 6
data:
$ID,500
$MISSION,7
$DIVE,133
$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,-117836.43
$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
$GPS1,011010,204724,2059.281,-15754.375,37,1.0,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.2
$GPS2,011010,210113,2059.356,-15754.434,12,1.2,29,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,0.183
$KALMAN_X,-157319.8,-63.5,-312.5,153693.2,-543.8
$KALMAN_Y,5117.1,-492.1,-443.0,-32150.9,618.8
$MHEAD_RNG_PITCHd_Wd,23.1,20586,-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,-61.17,0.000,2,0.000,0.000,128,1882,2832,0,0,0,0,0,0
$GC,193,-0.68,-116.8,3.2,-5.9,12,220,11.12,2.40,-7.45,0.000,4,0.230,0.051,3051,3505,3230,0,0,0,0,0,0
$GC,315,-0.68,-116.8,31.7,-16.6,34,319,0.00,2.30,0.00,0.000,6,0.000,0.027,3052,1870,3232,0,0,0,0,0,0
$GC,575,-0.68,-116.8,79.1,-18.5,58,579,0.00,2.25,0.00,0.000,4,0.000,0.041,3051,314,3231,0,0,0,0,0,0
$GC,675,-0.68,-116.8,98.2,-17.3,66,680,0.00,2.28,0.00,0.000,6,0.000,0.031,3041,1926,3232,0,0,0,0,0,0
$GC,935,-0.68,-116.8,133.4,-11.4,91,937,0.10,0.00,0.00,0.000,6,0.156,0.000,3072,1926,3233,0,0,0,0,0,0
$GC,1192,-0.68,-116.8,153.8,-7.9,115,1196,0.00,2.30,0.00,0.000,4,0.000,0.039,3072,320,3235,0,0,0,0,0,0
$GC,1246,-0.68,-116.8,159.0,-8.9,119,1252,0.00,2.25,0.00,0.000,6,0.000,0.030,3069,1901,3235,0,0,0,0,0,0
$GC,1508,-0.68,-116.8,181.4,-8.5,144,1512,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,324,3235,0,0,0,0,0,0
$GC,1563,-0.68,-116.8,186.6,-9.3,148,1569,0.00,2.22,0.00,0.000,6,0.000,0.030,3058,1896,3235,0,0,0,0,0,0
$GC,1820,-0.68,-116.8,210.2,-9.3,168,1824,0.00,2.25,0.00,0.000,4,0.000,0.039,3058,319,3235,0,0,0,0,0,0
$GC,1847,-0.68,-116.8,212.8,-10.3,169,1851,0.00,2.20,0.00,0.000,6,0.000,0.030,3050,1908,3235,0,0,0,0,0,0
$GC,2168,-0.68,-116.8,247.6,-11.4,185,2172,0.00,2.25,0.00,0.000,4,0.000,0.039,3050,324,3235,0,0,0,0,0,0
$GC,2244,-0.68,-116.8,256.7,-11.3,188,2251,0.00,2.22,0.00,0.000,6,0.000,0.030,3041,1896,3235,0,0,0,0,0,0
$GC,2561,-0.68,-116.8,285.0,-8.2,204,2565,0.10,2.28,0.00,0.000,4,0.151,0.041,3064,3484,3234,0,0,0,0,0,0
$GC,2609,-0.68,-116.8,288.5,-6.9,206,2614,0.00,2.25,0.00,0.000,6,0.000,0.026,3064,1895,3234,0,0,0,0,0,0
$GC,2929,-0.68,-116.8,308.1,-6.1,219,2933,0.00,2.25,0.00,0.000,4,0.000,0.040,3063,317,3233,0,0,0,0,0,0
$GC,3051,-0.68,-116.8,318.2,-8.6,221,3055,0.00,2.20,0.00,0.000,6,0.000,0.029,3054,1902,3232,0,0,0,0,0,0
$GC,3387,-0.68,-116.8,345.5,-8.1,230,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1902,3231,0,0,0,0,0,0
$GC,3713,-0.68,-116.8,368.8,-6.7,238,3717,0.00,2.28,0.00,0.000,4,0.000,0.040,3054,313,3228,0,0,0,0,0,0
$GC,3763,-0.68,-116.8,372.4,-7.5,239,3767,0.00,2.25,0.00,0.000,6,0.000,0.030,3043,1899,3227,0,0,0,0,0,0
$GC,4081,-0.68,-116.8,397.9,-8.5,247,4085,0.00,2.28,0.00,0.000,4,0.000,0.040,3043,317,3225,0,0,0,0,0,0
$GC,4136,-0.68,-116.8,403.1,-9.7,248,4141,0.12,2.22,0.00,0.000,6,0.130,0.030,3074,1899,3225,0,0,0,0,0,0
$GC,4448,-0.68,-116.8,423.1,-5.8,256,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1900,3222,0,0,0,0,0,0
$GC,4773,-0.68,-116.8,442.2,-6.0,264,4777,0.00,2.30,0.00,0.000,4,0.000,0.041,3075,318,3220,0,0,0,0,0,0
$GC,4817,-0.68,-116.8,445.1,-6.6,265,4821,0.00,2.25,0.00,0.000,6,0.000,0.029,3065,1912,3219,0,0,0,0,0,0
$STATE,5051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5051,begin apogee
$GC,5056,-0.23,0.0,460.1,6.5,271,5147,0.43,0.00,88.32,0.887,6,0.094,0.000,3220,2025,2750,0,0,0,0,0,0
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5191,0.68,116.8,463.0,0.0,273,5297,0.73,2.42,96.38,0.872,4,0.042,0.041,3534,3559,2271,0,0,0,0,0,0
$GC,5420,0.68,116.8,458.1,10.7,278,5425,0.10,2.33,0.00,0.000,6,0.149,0.029,3514,1995,2262,0,0,0,0,0,0
$GC,5733,0.70,128.7,433.6,7.5,286,5747,0.00,2.35,8.57,0.742,4,0.000,0.041,3525,426,2225,0,0,0,0,0,0
$GC,5764,0.72,146.1,431.2,7.2,286,5785,0.00,2.28,15.68,0.804,6,0.000,0.031,3525,1979,2154,0,0,0,0,0,0
$GC,6104,0.72,146.1,399.7,9.3,295,6108,0.00,2.35,0.00,0.000,4,0.000,0.041,3525,3583,2148,0,0,0,0,0,0
$GC,6225,0.72,146.1,387.0,10.4,297,6230,0.00,2.30,0.00,0.000,6,0.000,0.029,3536,2001,2145,0,0,0,0,0,0
$GC,6562,0.72,146.1,353.0,10.3,306,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2000,2143,0,0,0,0,0,0
$GC,6888,0.72,146.1,317.7,11.0,314,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2000,2141,0,0,0,0,0,0
$GC,7193,0.72,146.1,285.4,10.1,324,7197,0.00,2.28,0.00,0.000,4,0.000,0.041,3548,419,2141,0,0,0,0,0,0
$GC,7356,0.72,146.1,268.5,9.2,331,7360,0.00,2.25,0.00,0.000,6,0.000,0.031,3548,2010,2139,0,0,0,0,0,0
$GC,7671,0.72,146.1,241.8,8.6,346,7675,0.00,2.25,0.00,0.000,4,0.000,0.041,3549,3578,2138,0,0,0,0,0,0
$GC,7698,0.72,146.1,239.2,9.4,347,7703,0.12,2.25,0.00,0.000,6,0.177,0.030,3526,1991,2137,0,0,0,0,0,0
$GC,8013,0.76,185.0,216.4,6.2,362,8048,0.00,2.33,29.92,0.723,4,0.000,0.041,3537,421,1994,0,0,0,0,0,0
$GC,8250,0.76,185.0,197.1,9.1,373,8254,0.00,2.25,0.00,0.000,6,0.000,0.030,3537,1996,1988,0,0,0,0,0,0
$GC,8512,0.76,185.0,172.2,9.4,397,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1996,1986,0,0,0,0,0,0
$GC,8765,0.76,185.0,145.4,10.9,421,8769,0.00,2.28,0.00,0.000,4,0.000,0.040,3548,415,1985,0,0,0,0,0,0
$GC,8917,0.76,185.0,130.7,8.9,434,8922,0.00,2.28,0.00,0.000,6,0.000,0.030,3548,2022,1985,0,0,0,0,0,0
$GC,9184,0.80,213.2,109.9,6.7,459,9214,0.00,2.33,22.62,0.613,4,0.000,0.041,3548,3574,1879,0,0,0,0,0,0
$GC,9264,0.82,226.2,104.0,7.4,466,9281,0.00,2.28,11.52,0.567,6,0.000,0.028,3559,1985,1827,0,0,0,0,0,0
$GC,9535,0.82,226.2,78.2,9.7,492,9539,0.00,2.25,0.00,0.000,4,0.000,0.039,3571,420,1823,0,0,0,0,0,0
$GC,9578,0.82,226.2,73.8,10.3,495,9584,0.00,2.28,0.00,0.000,6,0.000,0.030,3571,1997,1822,0,0,0,0,0,0
$GC,9839,0.82,226.2,49.8,8.2,520,9843,0.00,2.28,0.00,0.000,4,0.000,0.039,3583,425,1822,0,0,0,0,0,0
$GC,9916,0.83,237.6,43.7,7.5,526,9933,0.00,2.22,9.70,0.504,6,0.000,0.030,3582,2019,1781,0,0,0,0,0,0
$GC,10192,0.83,237.6,20.6,9.2,561,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2019,1778,0,0,0,0,0,0
$STATE,10371,end climb,SURFACE_DEPTH_REACHED
$STATE,10371,begin surface coast
$FINISH,0.1,1.022854
$STATE,10404,end surface coast,CONTROL_FINISHED_OK
$STATE,10404,begin surface
$SM_CCo,10483,83.80,0.073,0,0,1160,390.02
$SM_GC,1.30,0.00,0.00,83.80,0.000,0.000,0.073,144,1861,1160,-9.83,-1.10,390.02
$IRIDIUM_FIX,2052.52,-15754.77,260312,151532
$TT8_MAMPS,0.031447
$HUMID,1078699990
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,44
$AR_reportdisk
,(null)$24V_AH,24.4,14.304
$10V_AH,10.4,12.646
$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,21.325,95.775,282.725,83.800,0.000,54.952,111.352,326.204,11.000,0.000,31.247,1106.599,7533.270,454.317,2180.808,174.103,33.360,1165.800,0.000,1262.861,0.000,0.543,0.000
$DEVICE_MAMPS,230.100,103.545,886.652,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,404.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20125,599
$CAP_FILE_SIZE,109009,0
$CFSIZE,260165632,228065280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,000107,2100.094,-15754.530,36,1.1,37,9.8