version: 66.07
glider: 500
mission: 7
dive: 153
start: 10 4 110 13 16 46
data:
$ID,500
$MISSION,7
$DIVE,153
$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,-118321.27
$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
$GPS1,041010,125931,2104.080,-15755.201,36,2.0,37,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-75.0
$GPS2,041010,131553,2104.056,-15755.330,16,2.2,35,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,0.074
$KALMAN_X,-201418.7,-592.5,-529.7,196985.8,-1825.5
$KALMAN_Y,-10124.2,111.5,-61.5,-9203.8,-340.6
$MHEAD_RNG_PITCHd_Wd,60.2,10454,-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,-116.8,0.0,0.0,0,189,0.00,0.00,-60.33,0.000,2,0.000,0.000,126,1903,2794,0,0,0,0,0,0
$GC,192,-0.68,-116.8,3.0,-5.2,12,218,11.23,0.00,-8.35,0.000,6,0.232,0.000,3060,1903,3232,0,0,0,0,0,0
$GC,414,-0.68,-116.8,46.0,-16.6,44,418,0.00,2.33,0.00,0.000,4,0.000,0.041,3061,295,3232,0,0,0,0,0,0
$GC,435,-0.68,-116.8,49.5,-16.7,45,442,0.00,2.35,0.00,0.000,6,0.000,0.031,3051,1929,3232,0,0,0,0,0,0
$GC,697,-0.68,-116.8,92.4,-14.5,70,701,0.00,2.25,0.00,0.000,4,0.000,0.041,3039,3482,3232,0,0,0,0,0,0
$GC,729,-0.68,-116.8,97.0,-13.5,73,734,0.10,2.28,0.00,0.000,6,0.140,0.028,3072,1869,3233,0,0,0,0,0,0
$GC,990,-0.68,-116.8,127.6,-10.8,97,994,0.00,2.20,0.00,0.000,4,0.000,0.041,3072,320,3234,0,0,0,0,0,0
$GC,1086,-0.68,-116.8,138.0,-10.4,105,1090,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1908,3234,0,0,0,0,0,0
$GC,1347,-0.68,-116.8,164.1,-10.0,129,1351,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,313,3235,0,0,0,0,0,0
$GC,1480,-0.68,-116.8,177.1,-10.2,140,1486,0.00,2.20,0.00,0.000,6,0.000,0.030,3058,1908,3235,0,0,0,0,0,0
$GC,1740,-0.68,-116.8,200.9,-9.5,165,1745,0.00,2.25,0.00,0.000,4,0.000,0.039,3058,324,3235,0,0,0,0,0,0
$GC,1796,-0.68,-116.8,206.8,-10.8,167,1801,0.00,2.20,0.00,0.000,6,0.000,0.030,3048,1900,3235,0,0,0,0,0,0
$GC,2111,-0.68,-116.8,241.8,-10.9,183,2115,0.00,2.28,0.00,0.000,4,0.000,0.040,3048,323,3235,0,0,0,0,0,0
$GC,2194,-0.68,-116.8,251.4,-11.0,187,2199,0.10,2.22,0.00,0.000,6,0.144,0.030,3072,1909,3235,0,0,0,0,0,0
$GC,2520,-0.68,-116.8,277.9,-8.2,203,2524,0.00,2.30,0.00,0.000,4,0.000,0.039,3072,313,3235,0,0,0,0,0,0
$GC,2581,-0.68,-116.8,283.5,-9.8,206,2585,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,1899,3235,0,0,0,0,0,0
$GC,2905,-0.68,-116.8,310.3,-7.5,219,2909,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,320,3234,0,0,0,0,0,0
$GC,2944,-0.68,-116.8,313.3,-7.7,220,2948,0.00,2.22,0.00,0.000,6,0.000,0.029,3059,1909,3234,0,0,0,0,0,0
$GC,3267,-0.68,-116.8,335.5,-6.7,228,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1909,3232,0,0,0,0,0,0
$GC,3592,-0.68,-116.8,358.0,-7.0,236,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1909,3231,0,0,0,0,0,0
$GC,3917,-0.68,-116.8,381.3,-7.3,244,3921,0.00,2.33,0.00,0.000,4,0.000,0.041,3059,322,3229,0,0,0,0,0,0
$GC,3949,-0.68,-116.8,383.8,-7.9,244,3955,0.00,2.25,0.00,0.000,6,0.000,0.030,3056,1900,3228,0,0,0,0,0,0
$GC,4280,-0.68,-116.8,407.1,-7.1,253,4284,0.00,2.30,0.00,0.000,4,0.000,0.041,3056,316,3226,0,0,0,0,0,0
$GC,4319,-0.68,-116.8,410.3,-8.5,254,4324,0.00,2.22,0.00,0.000,6,0.000,0.031,3046,1909,3226,0,0,0,0,0,0
$GC,4643,-0.68,-116.8,434.3,-7.4,262,4647,0.00,2.33,0.00,0.000,4,0.000,0.041,3046,324,3224,0,0,0,0,0,0
$GC,4686,-0.68,-116.8,437.9,-8.6,263,4691,0.12,2.22,0.00,0.000,6,0.130,0.030,3078,1900,3223,0,0,0,0,0,0
$GC,5010,-0.68,-116.8,454.9,-4.9,271,5014,0.00,2.33,0.00,0.000,4,0.000,0.041,3078,318,3220,0,0,0,0,0,0
$GC,5031,-0.68,-116.8,456.0,-5.1,271,5035,0.00,2.22,0.00,0.000,6,0.000,0.030,3068,1909,3220,0,0,0,0,0,0
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5133,-0.23,0.0,460.8,4.9,274,5224,0.40,0.00,88.55,0.890,6,0.092,0.000,3214,2015,2750,0,0,0,0,0,0
$STATE,5266,end apogee,CONTROL_FINISHED_OK
$STATE,5266,begin climb
$GC,5267,0.68,116.8,462.3,0.0,276,5373,0.73,2.45,95.40,0.871,4,0.041,0.041,3533,3565,2274,0,0,0,0,0,0
$GC,5406,0.69,123.4,462.8,7.7,279,5419,0.10,2.35,6.57,0.676,6,0.147,0.028,3499,1992,2246,0,0,0,0,0,0
$GC,5755,0.69,123.4,431.0,9.4,288,5759,0.00,2.30,0.00,0.000,4,0.000,0.040,3510,426,2237,0,0,0,0,0,0
$GC,5955,0.69,123.4,412.9,8.5,292,5960,0.00,2.28,0.00,0.000,6,0.000,0.031,3509,1985,2235,0,0,0,0,0,0
$GC,6298,0.70,134.5,386.9,7.5,301,6312,0.00,2.40,8.15,0.734,4,0.000,0.041,3510,3588,2200,0,0,0,0,0,0
$GC,6433,0.70,134.5,375.7,8.9,304,6438,0.00,2.28,0.00,0.000,6,0.000,0.028,3521,1996,2197,0,0,0,0,0,0
$GC,6757,0.70,134.5,347.5,8.7,312,6761,0.00,2.25,0.00,0.000,4,0.000,0.039,3534,432,2196,0,0,0,0,0,0
$GC,6817,0.70,134.5,341.7,10.0,313,6821,0.00,2.22,0.00,0.000,6,0.000,0.030,3534,2001,2196,0,0,0,0,0,0
$GC,7165,0.75,175.5,316.9,6.1,322,7206,0.00,2.40,33.72,0.800,4,0.000,0.042,3534,3583,2033,0,0,0,0,0,0
$GC,7312,0.75,175.5,303.1,10.9,325,7316,0.00,2.30,0.00,0.000,6,0.000,0.029,3545,1998,2027,0,0,0,0,0,0
$GC,7628,0.75,175.5,268.4,11.3,339,7632,0.00,2.28,0.00,0.000,4,0.000,0.040,3557,425,2024,0,0,0,0,0,0
$GC,7829,0.75,175.5,242.0,13.7,348,7834,0.00,2.30,0.00,0.000,6,0.000,0.030,3557,2015,2022,0,0,0,0,0,0
$GC,8156,0.75,175.5,208.6,9.3,364,8160,0.00,2.30,0.00,0.000,4,0.000,0.040,3568,421,2020,0,0,0,0,0,0
$GC,8329,0.75,175.5,190.1,11.3,375,8334,0.12,2.25,0.00,0.000,6,0.160,0.031,3534,2001,2019,0,0,0,0,0,0
$GC,8590,0.75,175.5,163.8,10.3,399,8594,0.00,2.28,0.00,0.000,4,0.000,0.040,3545,421,2019,0,0,0,0,0,0
$GC,8767,0.75,175.5,145.2,10.3,414,8774,0.00,2.25,0.00,0.000,6,0.000,0.030,3545,1989,2019,0,0,0,0,0,0
$GC,9030,0.77,191.1,123.1,7.3,439,9050,0.00,2.33,11.50,0.601,4,0.000,0.039,3557,426,1970,0,0,0,0,0,0
$GC,9301,0.84,245.6,106.3,5.5,463,9351,0.00,2.28,44.40,0.619,6,0.000,0.029,3556,2011,1747,0,0,0,0,0,0
$GC,9613,0.84,245.6,80.9,9.7,493,9617,0.00,2.30,0.00,0.000,4,0.000,0.039,3568,426,1738,0,0,0,0,0,0
$GC,9700,0.84,245.6,71.7,9.3,500,9707,0.00,2.28,0.00,0.000,6,0.000,0.029,3568,2001,1737,0,0,0,0,0,0
$GC,9962,0.84,245.6,47.0,10.6,525,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2001,1737,0,0,0,0,0,0
$GC,10221,0.84,245.6,22.5,10.0,555,10227,0.00,2.25,0.00,0.000,4,0.000,0.039,3579,426,1738,0,0,0,0,0,0
$GC,10255,0.84,245.6,18.7,11.0,561,10261,0.00,2.25,0.00,0.000,6,0.000,0.031,3579,2015,1737,0,0,0,0,0,0
$STATE,10408,end climb,SURFACE_DEPTH_REACHED
$STATE,10408,begin surface coast
$FINISH,0.4,1.023048
$STATE,10429,end surface coast,CONTROL_FINISHED_OK
$STATE,10429,begin surface
$SM_CCo,10508,73.70,0.450,1,0,1160,390.02
$SM_GC,1.20,0.00,0.00,73.70,0.000,0.000,0.450,132,1879,1160,-9.88,-0.57,390.02
$IRIDIUM_FIX,2057.14,-15751.76,290312,070740
$TT8_MAMPS,0.032214
$HUMID,1078754184
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,104
$AR_reportdisk
,(null)$24V_AH,24.5,16.403
$10V_AH,10.4,13.738
$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,21.425,105.050,288.300,73.700,0.000,50.824,71.061,497.501,26.000,0.000,38.325,1122.376,7441.871,459.843,2405.637,191.973,33.376,1215.079,0.000,1344.544,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,103.545,889.720,450.229,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,399.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334584
$DATA_FILE_SIZE,20128,592
$CAP_FILE_SIZE,117890,0
$CFSIZE,260165632,227020800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041010,161636,2104.351,-15755.323,65,0.9,66,9.8