version: 66.07
glider: 500
mission: 7
dive: 134
start: 10 2 110 0 12 57
data:
$ID,500
$MISSION,7
$DIVE,134
$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,-117847.65
$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,0
$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
$GPS1,021010,000107,2100.094,-15754.530,36,1.1,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.9
$GPS2,021010,001202,2100.167,-15754.594,8,1.5,8,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME1
$TGT_LATLONG,2110.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,0.156
$KALMAN_X,-159319.0,260.8,-259.5,155038.3,-1053.4
$KALMAN_Y,4012.1,-142.9,-266.7,-30069.1,268.5
$MHEAD_RNG_PITCHd_Wd,34.7,19238,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-66.40,0.000,2,0.000,0.000,137,1860,3005,0,0,0,0,0,0
$GC,88,-0.68,-116.8,4.0,-7.7,13,110,11.23,2.40,-3.75,0.000,4,0.233,0.049,3052,3513,3230,0,0,0,0,0,0
$GC,139,-0.68,-116.8,25.5,-34.7,22,145,0.00,2.35,0.00,0.000,6,0.000,0.028,3052,1871,3232,0,0,0,0,0,0
$GC,342,-0.68,-116.8,66.4,-19.2,43,346,0.00,2.22,0.00,0.000,4,0.000,0.039,3052,319,3231,0,0,0,0,0,0
$GC,408,-0.68,-116.8,79.0,-17.3,48,414,0.00,2.28,0.00,0.000,6,0.000,0.031,3042,1926,3232,0,0,0,0,0,0
$GC,669,-0.68,-116.8,120.7,-14.6,73,671,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1926,3233,0,0,0,0,0,0
$GC,924,-0.68,-116.8,154.4,-11.9,97,928,0.00,2.33,0.00,0.000,4,0.000,0.038,3042,316,3234,0,0,0,0,0,0
$GC,1001,-0.68,-116.8,163.7,-11.7,103,1008,0.12,2.22,0.00,0.000,6,0.137,0.030,3072,1921,3234,0,0,0,0,0,0
$GC,1262,-0.68,-116.8,184.7,-8.2,128,1266,0.00,2.30,0.00,0.000,4,0.000,0.039,3072,318,3235,0,0,0,0,0,0
$GC,1352,-0.68,-116.8,193.5,-9.6,136,1356,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,1906,3235,0,0,0,0,0,0
$GC,1621,-0.68,-116.8,220.2,-9.7,152,1625,0.00,2.25,0.00,0.000,4,0.000,0.039,3069,323,3235,0,0,0,0,0,0
$GC,1698,-0.68,-116.8,228.2,-9.3,155,1705,0.00,2.22,0.00,0.000,6,0.000,0.029,3059,1899,3235,0,0,0,0,0,0
$GC,2014,-0.68,-116.8,259.3,-10.4,171,2018,0.00,2.25,0.00,0.000,4,0.000,0.039,3059,313,3235,0,0,0,0,0,0
$GC,2075,-0.68,-116.8,265.5,-10.0,174,2079,0.00,2.20,0.00,0.000,6,0.000,0.031,3054,1899,3235,0,0,0,0,0,0
$GC,2401,-0.68,-116.8,290.6,-6.0,190,2405,0.00,2.25,0.00,0.000,4,0.000,0.041,3042,3480,3235,0,0,0,0,0,0
$GC,2440,-0.68,-116.8,293.0,-6.9,192,2444,0.00,2.20,0.00,0.000,6,0.000,0.026,3042,1891,3234,0,0,0,0,0,0
$GC,2784,-0.68,-116.8,318.8,-7.6,203,2788,0.00,2.22,0.00,0.000,4,0.000,0.040,3042,325,3234,0,0,0,0,0,0
$GC,2901,-0.68,-116.8,330.0,-10.2,205,2906,0.10,2.22,0.00,0.000,6,0.098,0.029,3074,1900,3233,0,0,0,0,0,0
$GC,3238,-0.68,-116.8,353.2,-7.0,214,3242,0.00,2.28,0.00,0.000,4,0.000,0.041,3074,328,3231,0,0,0,0,0,0
$GC,3270,-0.68,-116.8,355.7,-7.8,214,3274,0.00,2.22,0.00,0.000,6,0.000,0.031,3064,1896,3231,0,0,0,0,0,0
$GC,3608,-0.68,-116.8,378.7,-6.5,223,3612,0.00,2.25,0.00,0.000,4,0.000,0.040,3065,321,3228,0,0,0,0,0,0
$GC,3674,-0.68,-116.8,383.8,-7.5,224,3678,0.00,2.20,0.00,0.000,6,0.000,0.029,3055,1906,3228,0,0,0,0,0,0
$GC,4017,-0.68,-116.8,405.5,-6.1,233,4021,0.00,2.25,0.00,0.000,4,0.000,0.040,3055,327,3225,0,0,0,0,0,0
$GC,4049,-0.68,-116.8,407.9,-7.0,233,4055,0.00,2.22,0.00,0.000,6,0.000,0.030,3044,1892,3224,0,0,0,0,0,0
$GC,4381,-0.68,-116.8,430.2,-7.2,242,4384,0.00,2.30,0.00,0.000,4,0.000,0.043,3032,3480,3222,0,0,0,0,0,0
$GC,4407,-0.68,-116.8,432.4,-8.1,242,4412,0.10,2.25,0.00,0.000,6,0.090,0.027,3076,1897,3222,0,0,0,0,0,0
$GC,4750,-0.68,-116.8,452.8,-5.8,251,4754,0.00,2.28,0.00,0.000,4,0.000,0.041,3076,322,3219,0,0,0,0,0,0
$GC,4811,-0.68,-116.8,456.7,-5.8,252,4816,0.00,2.22,0.00,0.000,6,0.000,0.030,3066,1912,3218,0,0,0,0,0,0
$STATE,4873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4873,begin apogee
$GC,4877,-0.23,0.0,460.5,5.9,254,4969,0.43,0.00,88.43,0.892,6,0.091,0.000,3222,1994,2750,0,0,0,0,0,0
$STATE,4970,end apogee,CONTROL_FINISHED_OK
$STATE,4970,begin climb
$GC,4972,0.68,116.8,463.1,0.0,256,5078,0.75,2.45,96.57,0.870,4,0.038,0.040,3543,3578,2272,0,0,0,0,0,0
$GC,5195,0.68,116.8,455.0,11.0,261,5200,0.10,2.33,0.00,0.000,6,0.155,0.029,3509,2008,2263,0,0,0,0,0,0
$GC,5539,0.68,119.3,425.6,7.9,270,5543,0.00,2.30,0.00,0.000,4,0.000,0.040,3520,421,2257,0,0,0,0,0,0
$GC,5674,0.68,119.3,413.6,8.6,273,5678,0.00,2.28,0.00,0.000,6,0.000,0.031,3520,1994,2255,0,0,0,0,0,0
$GC,5992,0.68,120.0,387.7,8.0,281,5996,0.00,2.33,0.00,0.000,4,0.000,0.041,3520,3588,2253,0,0,0,0,0,0
$GC,6138,0.68,120.0,372.9,9.6,284,6142,0.00,2.30,0.00,0.000,6,0.000,0.029,3531,1983,2251,0,0,0,0,0,0
$GC,6451,0.72,147.7,349.6,6.7,292,6480,0.00,2.33,22.67,0.814,4,0.000,0.041,3544,437,2146,0,0,0,0,0,0
$GC,6565,0.72,147.7,339.6,9.6,294,6569,0.00,2.25,0.00,0.000,6,0.000,0.032,3543,2004,2142,0,0,0,0,0,0
$GC,6900,0.72,147.7,310.8,8.3,303,6904,0.00,2.30,0.00,0.000,4,0.000,0.041,3543,3592,2139,0,0,0,0,0,0
$GC,6944,0.72,147.7,306.4,10.3,304,6949,0.10,2.30,0.00,0.000,6,0.156,0.029,3523,2006,2137,0,0,0,0,0,0
$GC,7271,0.72,147.7,277.2,8.9,318,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2006,2136,0,0,0,0,0,0
$GC,7582,0.72,147.7,251.8,8.1,333,7586,0.00,2.28,0.00,0.000,4,0.000,0.042,3522,3583,2135,0,0,0,0,0,0
$GC,7715,0.75,173.7,240.9,6.8,339,7740,0.00,2.28,20.38,0.740,6,0.000,0.029,3533,1997,2041,0,0,0,0,0,0
$GC,8061,0.76,185.5,215.2,7.5,356,8077,0.00,2.30,10.40,0.673,4,0.000,0.038,3545,422,1993,0,0,0,0,0,0
$GC,8205,0.76,185.5,200.9,10.2,361,8211,0.00,2.28,0.00,0.000,6,0.000,0.031,3545,1990,1989,0,0,0,0,0,0
$GC,8532,0.79,202.1,174.0,7.3,391,8553,0.00,2.30,14.20,0.660,4,0.000,0.040,3557,418,1926,0,0,0,0,0,0
$GC,8682,0.79,202.1,160.5,9.2,404,8688,0.00,2.28,0.00,0.000,6,0.000,0.031,3557,2005,1922,0,0,0,0,0,0
$GC,8943,0.79,202.1,135.2,10.7,429,8947,0.00,2.28,0.00,0.000,4,0.000,0.039,3568,428,1922,0,0,0,0,0,0
$GC,9095,0.79,202.1,116.1,11.5,442,9099,0.00,2.22,0.00,0.000,6,0.000,0.030,3568,2009,1920,0,0,0,0,0,0
$GC,9355,0.86,259.1,95.4,5.4,466,9407,0.00,2.33,45.72,0.608,4,0.000,0.038,3579,430,1691,0,0,0,0,0,0
$GC,9485,0.86,259.1,85.3,9.4,478,9489,0.00,2.25,0.00,0.000,6,0.000,0.030,3579,1998,1687,0,0,0,0,0,0
$GC,9745,0.86,259.1,59.9,9.1,502,9749,0.00,2.28,0.00,0.000,4,0.000,0.039,3591,422,1685,0,0,0,0,0,0
$GC,9795,0.86,259.1,54.7,10.5,506,9799,0.00,2.25,0.00,0.000,6,0.000,0.031,3591,2001,1684,0,0,0,0,0,0
$GC,10056,0.86,259.1,26.8,10.7,532,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2001,1684,0,0,0,0,0,0
$GC,10263,0.86,259.1,3.1,12.3,569,10268,0.00,2.25,0.00,0.000,4,0.000,0.040,3591,3577,1684,0,0,0,0,0,0
$STATE,10272,end climb,SURFACE_DEPTH_REACHED
$STATE,10273,begin surface coast
$FINISH,0.3,1.022950
$STATE,10296,end surface coast,CONTROL_FINISHED_OK
$STATE,10296,begin surface
$SM_CCo,10316,70.22,0.446,1,0,1159,390.02
$SM_GC,1.00,0.00,0.00,70.22,0.000,0.000,0.446,140,1886,1159,-9.84,-0.40,390.02
$IRIDIUM_FIX,2052.52,-15756.91,260312,151520
$TT8_MAMPS,0.027612
$HUMID,1078750313
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,14.404
$10V_AH,10.4,12.697
$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,21.575,113.825,298.375,70.225,0.000,26.769,34.779,315.765,0.000,0.000,10.584,1180.642,7350.302,475.079,1793.911,201.990,33.370,1214.336,0.000,1300.384,0.000,0.541,0.000
$DEVICE_MAMPS,233.168,122.720,892.021,446.394,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,387.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334960
$DATA_FILE_SIZE,20079,575
$CAP_FILE_SIZE,146952,0
$CFSIZE,260165632,227979264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,030713,2100.869,-15754.561,22,1.5,28,9.8