version: 66.07
glider: 500
mission: 7
dive: 151
start: 10 4 110 6 43 57
data:
$ID,500
$MISSION,7
$DIVE,151
$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,-118247.03
$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
$GPS1,041010,062737,2104.174,-15754.162,67,0.9,68,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.1
$GPS2,041010,064302,2104.138,-15754.283,11,1.3,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.043
$KALMAN_X,-195873.2,-249.2,328.3,192045.3,-2710.9
$KALMAN_Y,-9485.0,44.8,158.7,-9842.5,-818.3
$MHEAD_RNG_PITCHd_Wd,68.9,9128,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.68,-116.8,0.0,0.0,0,83,0.00,0.00,-55.83,0.000,2,0.000,0.000,125,1883,2697,0,0,0,0,0,0
$GC,86,-0.68,-116.8,3.1,-6.4,11,112,11.25,0.00,-10.23,0.000,6,0.231,0.000,3058,1882,3229,0,0,0,0,0,0
$GC,313,-0.68,-116.8,48.8,-17.7,43,315,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1884,3230,0,0,0,0,0,0
$GC,569,-0.68,-116.8,89.4,-13.4,67,570,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1883,3233,0,0,0,0,0,0
$GC,824,-0.68,-116.8,124.3,-12.6,91,828,0.00,2.30,0.00,0.000,4,0.000,0.041,3059,287,3233,0,0,0,0,0,0
$GC,912,-0.68,-116.8,135.0,-11.6,98,918,0.00,2.33,0.00,0.000,6,0.000,0.029,3048,1921,3233,0,0,0,0,0,0
$GC,1174,-0.68,-116.8,164.7,-11.2,123,1178,0.00,2.35,0.00,0.000,4,0.000,0.039,3048,283,3234,0,0,0,0,0,0
$GC,1246,-0.68,-116.8,173.1,-11.7,129,1251,0.12,2.28,0.00,0.000,6,0.133,0.030,3078,1904,3234,0,0,0,0,0,0
$GC,1506,-0.68,-116.8,193.9,-7.4,153,1511,0.00,2.30,0.00,0.000,4,0.000,0.039,3078,293,3235,0,0,0,0,0,0
$GC,1579,-0.68,-116.8,199.9,-8.5,159,1583,0.00,2.25,0.00,0.000,6,0.000,0.030,3070,1910,3235,0,0,0,0,0,0
$GC,1832,-0.68,-116.8,223.3,-9.9,171,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1910,3235,0,0,0,0,0,0
$GC,2142,-0.68,-116.8,249.8,-7.3,186,2146,0.00,2.33,0.00,0.000,4,0.000,0.039,3070,282,3234,0,0,0,0,0,0
$GC,2205,-0.68,-116.8,254.2,-7.2,189,2209,0.00,2.25,0.00,0.000,6,0.000,0.030,3062,1898,3234,0,0,0,0,0,0
$GC,2532,-0.68,-116.8,274.7,-6.3,205,2536,0.00,2.30,0.00,0.000,4,0.000,0.042,3052,3486,3233,0,0,0,0,0,0
$GC,2558,-0.68,-116.8,276.6,-7.2,206,2563,0.00,2.30,0.00,0.000,6,0.000,0.026,3052,1860,3233,0,0,0,0,0,0
$GC,2899,-0.68,-116.8,304.4,-8.6,222,2903,0.00,2.22,0.00,0.000,4,0.000,0.040,3051,313,3232,0,0,0,0,0,0
$GC,2938,-0.68,-116.8,308.2,-10.0,223,2942,0.00,2.22,0.00,0.000,6,0.000,0.030,3042,1914,3232,0,0,0,0,0,0
$GC,3260,-0.68,-116.8,337.9,-9.1,231,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1914,3230,0,0,0,0,0,0
$GC,3585,-0.68,-116.8,364.3,-8.6,239,3589,0.00,2.33,0.00,0.000,4,0.000,0.040,3042,309,3228,0,0,0,0,0,0
$GC,3663,-0.68,-116.8,372.3,-10.7,240,3669,0.12,2.25,0.00,0.000,6,0.132,0.030,3073,1906,3227,0,0,0,0,0,0
$GC,3994,-0.68,-116.8,400.7,-8.6,249,3997,0.00,2.30,0.00,0.000,4,0.000,0.040,3073,315,3225,0,0,0,0,0,0
$GC,4020,-0.68,-116.8,403.2,-9.1,249,4025,0.00,2.25,0.00,0.000,6,0.000,0.030,3063,1899,3225,0,0,0,0,0,0
$GC,4363,-0.68,-116.8,428.9,-7.0,258,4367,0.00,2.30,0.00,0.000,4,0.000,0.040,3063,311,3221,0,0,0,0,0,0
$GC,4441,-0.68,-116.8,435.0,-7.8,259,4447,0.00,2.28,0.00,0.000,6,0.000,0.030,3052,1903,3220,0,0,0,0,0,0
$GC,4772,-0.68,-116.8,458.0,-6.5,268,4776,0.00,2.30,0.00,0.000,4,0.000,0.041,3051,321,3219,0,0,0,0,0,0
$STATE,4802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4802,begin apogee
$GC,4810,-0.23,0.0,460.3,7.1,268,4901,0.47,0.00,88.25,0.888,6,0.097,0.000,3215,2001,2750,0,0,0,0,0,0
$STATE,4942,end apogee,CONTROL_FINISHED_OK
$STATE,4943,begin climb
$GC,4944,0.68,116.8,462.4,0.0,271,5051,0.73,2.50,95.65,0.869,4,0.038,0.040,3550,417,2274,0,0,0,0,0,0
$GC,5078,0.69,123.4,463.3,7.7,274,5090,0.10,2.38,6.12,0.658,6,0.148,0.031,3519,1990,2247,0,0,0,0,0,0
$GC,5431,0.69,123.4,428.8,9.6,283,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1990,2237,0,0,0,0,0,0
$GC,5757,0.69,123.4,401.0,8.4,291,5761,0.00,2.28,0.00,0.000,4,0.000,0.040,3530,422,2234,0,0,0,0,0,0
$GC,6008,0.71,137.5,379.8,7.4,296,6023,0.00,2.30,10.57,0.765,6,0.000,0.031,3530,2011,2189,0,0,0,0,0,0
$GC,6342,0.73,160.0,356.2,7.0,305,6367,0.00,2.38,19.45,0.804,4,0.000,0.041,3541,424,2095,0,0,0,0,0,0
$GC,6490,0.73,160.0,341.0,12.2,308,6495,0.00,2.28,0.00,0.000,6,0.000,0.031,3541,2001,2091,0,0,0,0,0,0
$GC,6803,0.73,160.0,308.1,10.1,316,6807,0.00,2.30,0.00,0.000,4,0.000,0.041,3541,3585,2087,0,0,0,0,0,0
$GC,6976,0.73,160.0,289.1,12.0,322,6980,0.00,2.30,0.00,0.000,6,0.000,0.029,3553,1984,2086,0,0,0,0,0,0
$GC,7302,0.73,160.0,255.6,10.8,338,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1984,2085,0,0,0,0,0,0
$GC,7610,0.73,160.0,221.0,10.4,353,7615,0.00,2.33,0.00,0.000,4,0.000,0.042,3553,3586,2084,0,0,0,0,0,0
$GC,7744,0.73,160.0,206.9,9.8,359,7749,0.12,2.25,0.00,0.000,6,0.175,0.029,3530,1990,2083,0,0,0,0,0,0
$GC,8066,0.73,160.0,180.9,8.8,385,8070,0.00,2.25,0.00,0.000,4,0.000,0.039,3541,430,2083,0,0,0,0,0,0
$GC,8277,0.73,160.0,161.4,9.3,403,8283,0.00,2.25,0.00,0.000,6,0.000,0.029,3541,1996,2082,0,0,0,0,0,0
$GC,8539,0.78,201.3,139.8,6.1,428,8580,0.00,2.40,31.95,0.657,4,0.000,0.041,3541,3588,1928,0,0,0,0,0,0
$GC,8653,0.78,201.3,130.8,8.6,438,8658,0.00,2.25,0.00,0.000,6,0.000,0.028,3553,2000,1924,0,0,0,0,0,0
$GC,8914,0.78,201.3,111.1,9.6,463,8918,0.00,2.28,0.00,0.000,4,0.000,0.039,3565,432,1922,0,0,0,0,0,0
$GC,9114,0.80,215.3,92.9,7.4,480,9131,0.00,2.25,11.68,0.568,6,0.000,0.028,3565,2004,1872,0,0,0,0,0,0
$GC,9385,0.80,215.3,69.6,8.3,506,9389,0.00,2.30,0.00,0.000,4,0.000,0.041,3565,3592,1869,0,0,0,0,0,0
$GC,9638,0.84,249.4,51.4,6.4,528,9672,0.00,2.22,27.92,0.556,6,0.000,0.027,3576,1997,1733,0,0,0,0,0,0
$GC,9932,0.84,249.4,22.3,8.3,563,9938,0.00,2.28,0.00,0.000,4,0.000,0.039,3588,428,1728,0,0,0,0,0,0
$GC,10017,0.84,249.4,13.2,11.4,578,10022,0.00,2.22,0.00,0.000,6,0.000,0.030,3588,2007,1727,0,0,0,0,0,0
$STATE,10099,end climb,SURFACE_DEPTH_REACHED
$STATE,10099,begin surface coast
$FINISH,0.3,1.022826
$STATE,10124,end surface coast,CONTROL_FINISHED_OK
$STATE,10124,begin surface
$SM_CCo,10203,72.40,0.072,0,0,1160,390.02
$SM_GC,0.94,0.00,0.00,72.40,0.000,0.000,0.072,138,1872,1160,-9.85,-0.76,390.02
$IRIDIUM_FIX,2054.83,-15751.76,290312,000010
$TT8_MAMPS,0.031447
$HUMID,1078730958
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,76
$AR_reportdisk
,(null)$24V_AH,24.5,16.170
$10V_AH,10.4,13.621
$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,21.600,91.925,291.600,72.400,0.000,49.187,78.021,596.274,19.000,0.000,13.384,1114.104,7302.083,443.655,2260.143,185.494,33.379,1172.773,0.000,1313.363,0.000,0.542,0.000
$DEVICE_MAMPS,230.867,89.739,888.186,72.098,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,402.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334616
$DATA_FILE_SIZE,20132,597
$CAP_FILE_SIZE,113265,0
$CFSIZE,260165632,227127296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,093757,2104.102,-15754.536,7,5.6,26,9.8