version: 66.07
glider: 513
mission: 7
dive: 150
start: 7 28 111 1 45 33
data:
$ID,513
$MISSION,7
$DIVE,150
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$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,350
$T_MISSION,700
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$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,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,240
$N_FILEKB,4
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-423961.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$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,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$GPS1,280711,013458,1930.890,-15651.301,13,3.2,32,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-80.1
$GPS2,280711,014438,1930.846,-15651.465,12,1.5,12,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.172,-0.177
$KALMAN_X,-26030.4,-72.0,83.6,4699.2,-4620.8
$KALMAN_Y,49125.8,-1110.4,-634.3,-79582.0,8837.1
$MHEAD_RNG_PITCHd_Wd,126.2,58237,-15.1,-8.571
$D_GRID,900
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.5,0.0,0.0,0,73,0.00,0.00,-53.30,0.000,2,0.000,0.000,41,1989,3826,0,0,0,0,0,0
$GC,77,-0.78,-146.5,4.1,-7.2,8,99,9.55,2.15,-2.22,0.000,4,0.245,0.050,2346,580,3964,0,0,0,0,0,0
$GC,238,-0.78,-146.5,60.4,-26.3,27,242,0.00,2.17,0.00,0.000,6,0.000,0.044,2337,1995,3967,0,0,0,0,0,0
$GC,500,-0.78,-146.5,131.9,-26.7,51,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1996,3969,0,0,0,0,0,0
$GC,755,-0.78,-146.5,187.8,-21.5,75,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1996,3971,0,0,0,0,0,0
$GC,1005,-0.78,-146.5,236.2,-18.4,90,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1996,3972,0,0,0,0,0,0
$GC,1250,-0.78,-146.5,280.0,-18.9,102,1254,0.00,2.20,0.00,0.000,4,0.000,0.052,2326,3404,3973,0,0,0,0,0,0
$GC,1376,-0.78,-146.5,303.1,-16.9,107,1382,0.00,2.12,0.00,0.000,6,0.000,0.033,2327,1996,3972,0,0,0,0,0,0
$GC,1626,-0.78,-146.5,348.6,-18.3,114,1630,0.00,2.20,0.00,0.000,4,0.000,0.054,2316,3396,3972,0,0,0,0,0,0
$GC,1688,-0.78,-146.5,359.9,-17.5,115,1692,0.12,2.12,0.00,0.000,6,0.171,0.034,2347,1984,3972,0,0,0,0,0,0
$GC,1954,-0.78,-146.5,401.6,-15.7,122,1958,0.00,2.10,0.00,0.000,4,0.000,0.047,2347,579,3971,0,0,0,0,0,0
$GC,2009,-0.78,-146.5,410.5,-15.1,123,2013,0.00,2.17,0.00,0.000,6,0.000,0.048,2338,1994,3971,0,0,0,0,0,0
$GC,2283,-0.78,-146.5,452.2,-15.4,130,2287,0.00,2.17,0.00,0.000,4,0.000,0.053,2328,3403,3968,0,0,0,0,0,0
$GC,2332,-0.78,-146.5,460.1,-15.4,131,2336,0.00,2.12,0.00,0.000,6,0.000,0.032,2328,1987,3968,0,0,0,0,0,0
$GC,2611,-0.78,-146.5,500.3,-14.1,138,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1981,3966,0,0,0,0,0,0
$GC,2854,-0.78,-146.5,533.2,-13.4,144,2858,0.00,2.20,0.00,0.000,4,0.000,0.054,2316,3400,3964,0,0,0,0,0,0
$GC,2875,-0.78,-146.5,536.2,-13.4,144,2880,0.10,2.15,0.00,0.000,6,0.178,0.034,2341,1977,3964,0,0,0,0,0,0
$GC,3137,-0.78,-146.5,567.1,-11.8,151,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1971,3961,0,0,0,0,0,0
$GC,3380,-0.78,-146.5,596.6,-12.2,157,3384,0.00,2.25,0.00,0.000,4,0.000,0.057,2332,3397,3959,0,0,0,0,0,0
$GC,3407,-0.78,-146.5,600.2,-12.9,157,3411,0.00,2.15,0.00,0.000,6,0.000,0.036,2332,1985,3958,0,0,0,0,0,0
$GC,3663,-0.78,-146.5,634.6,-13.7,164,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1980,3956,0,0,0,0,0,0
$GC,3906,-0.78,-146.5,667.5,-13.5,170,3910,0.00,2.22,0.00,0.000,4,0.000,0.054,2322,3394,3955,0,0,0,0,0,0
$GC,3946,-0.78,-146.5,673.1,-14.1,171,3950,0.00,2.15,0.00,0.000,6,0.000,0.037,2321,1985,3954,0,0,0,0,0,0
$GC,4230,-0.78,-146.5,715.1,-14.9,178,4234,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3395,3951,0,0,0,0,0,0
$GC,4257,-0.78,-146.5,719.4,-15.2,178,4262,0.12,2.15,0.00,0.000,6,0.170,0.037,2342,1987,3951,0,0,0,0,0,0
$GC,4508,-0.78,-146.5,750.4,-12.0,184,4512,0.00,2.20,0.00,0.000,4,0.000,0.054,2333,3392,3949,0,0,0,0,0,0
$GC,4535,-0.78,-146.5,754.0,-12.4,184,4539,0.00,2.15,0.00,0.000,6,0.000,0.036,2333,1986,3949,0,0,0,0,0,0
$GC,4790,-0.78,-146.5,784.7,-12.0,191,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1981,3948,0,0,0,0,0,0
$GC,5035,-0.78,-146.5,813.8,-12.0,197,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1981,3946,0,0,0,0,0,0
$GC,5278,-0.78,-146.5,843.5,-12.3,203,5282,0.00,2.22,0.00,0.000,4,0.000,0.054,2322,3393,3945,0,0,0,0,0,0
$GC,5333,-0.78,-146.5,850.5,-11.9,204,5336,0.00,2.15,0.00,0.000,6,0.000,0.035,2322,1985,3945,0,0,0,0,0,0
$GC,5606,-0.78,-146.5,885.9,-13.0,211,5610,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3394,3943,0,0,0,0,0,0
$GC,5639,-0.78,-146.5,890.8,-13.5,211,5646,0.12,2.15,0.00,0.000,6,0.176,0.035,2342,1986,3942,0,0,0,0,0,0
$STATE,5724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5724,begin apogee
$GC,5730,-0.28,0.0,901.5,12.4,214,5848,0.52,0.00,114.80,1.131,6,0.148,0.000,2503,1980,3380,0,0,0,0,0,0
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5853,0.78,146.5,906.0,0.0,217,5985,1.05,0.00,127.95,1.085,6,0.093,0.000,2849,1980,2782,0,0,0,0,0,0
$GC,6212,0.78,146.5,850.2,19.9,226,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1980,2775,0,0,0,0,0,0
$GC,6456,0.78,146.5,801.8,20.1,232,6460,0.00,2.22,0.00,0.000,4,0.000,0.054,2849,3370,2773,0,0,0,0,0,0
$GC,6483,0.78,146.5,795.5,21.8,232,6487,0.00,2.17,0.00,0.000,6,0.000,0.031,2860,1941,2773,0,0,0,0,0,0
$GC,6739,0.78,146.5,742.7,20.7,239,6742,0.00,2.08,0.00,0.000,4,0.000,0.039,2871,556,2771,0,0,0,0,0,0
$GC,6785,0.78,146.5,733.2,21.5,240,6789,0.00,2.12,0.00,0.000,6,0.000,0.035,2863,1966,2768,0,0,0,0,0,0
$GC,7074,0.78,146.5,675.2,19.6,247,7078,0.00,2.22,0.00,0.000,4,0.000,0.053,2863,3369,2768,0,0,0,0,0,0
$GC,7164,0.78,146.5,656.5,20.6,249,7168,0.00,2.12,0.00,0.000,6,0.000,0.032,2872,1958,2768,0,0,0,0,0,0
$GC,7443,0.78,146.5,600.9,20.1,256,7447,0.00,2.08,0.00,0.000,4,0.000,0.041,2882,557,2768,0,0,0,0,0,0
$GC,7487,0.78,146.5,592.0,18.7,257,7491,0.00,2.12,0.00,0.000,6,0.000,0.035,2881,1961,2766,0,0,0,0,0,0
$GC,7772,0.78,146.5,538.7,18.6,264,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1962,2766,0,0,0,0,0,0
$GC,8015,0.78,146.5,494.2,18.0,270,8019,0.00,2.10,0.00,0.000,4,0.000,0.042,2890,556,2765,0,0,0,0,0,0
$GC,8064,0.78,146.5,485.4,17.6,271,8069,0.15,2.12,0.00,0.000,6,0.210,0.038,2856,1965,2764,0,0,0,0,0,0
$GC,8343,0.78,146.5,441.7,15.4,278,8347,0.00,2.17,0.00,0.000,4,0.000,0.052,2846,3363,2764,0,0,0,0,0,0
$GC,8416,0.78,146.5,430.7,14.5,279,8419,0.00,2.12,0.00,0.000,6,0.000,0.033,2855,1959,2765,0,0,0,0,0,0
$GC,8672,0.78,146.5,392.2,14.9,286,8676,0.00,2.08,0.00,0.000,4,0.000,0.040,2866,556,2764,0,0,0,0,0,0
$GC,8757,0.78,146.5,378.2,17.3,288,8761,0.00,2.12,0.00,0.000,6,0.000,0.035,2866,1971,2763,0,0,0,0,0,0
$GC,9041,0.78,146.5,335.1,14.5,295,9045,0.00,2.17,0.00,0.000,4,0.000,0.051,2866,3361,2763,0,0,0,0,0,0
$GC,9085,0.78,146.5,328.2,15.0,296,9089,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1949,2763,0,0,0,0,0,0
$GC,9348,0.78,146.5,292.1,13.7,303,9352,0.00,2.05,0.00,0.000,4,0.000,0.041,2887,560,2763,0,0,0,0,0,0
$GC,9434,0.78,146.5,280.5,14.3,307,9439,0.12,2.10,0.00,0.000,6,0.209,0.035,2859,1960,2761,0,0,0,0,0,0
$GC,9700,0.78,146.5,249.5,11.1,320,9704,0.00,2.20,0.00,0.000,4,0.000,0.053,2859,3370,2762,0,0,0,0,0,0
$GC,9941,0.78,146.5,216.7,15.6,331,9945,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1953,2762,0,0,0,0,0,0
$GC,10208,0.78,146.5,182.2,11.9,350,10211,0.00,2.08,0.00,0.000,4,0.000,0.040,2879,561,2762,0,0,0,0,0,0
$GC,10465,0.78,146.5,149.0,11.8,373,10469,0.00,2.10,0.00,0.000,6,0.000,0.035,2879,1966,2761,0,0,0,0,0,0
$GC,10728,0.78,146.5,119.4,11.3,397,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1966,2761,0,0,0,0,0,0
$GC,10983,0.82,180.0,94.3,7.2,421,11012,0.00,2.17,24.15,0.565,4,0.000,0.048,2879,3360,2645,0,0,0,0,0,0
$GC,11083,0.82,180.0,83.2,14.0,429,11087,0.00,2.12,0.00,0.000,6,0.000,0.031,2889,1959,2645,0,0,0,0,0,0
$GC,11347,0.82,180.0,51.9,11.2,453,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1955,2643,0,0,0,0,0,0
$GC,11613,0.82,180.0,23.8,9.1,484,11620,0.00,2.22,0.00,0.000,4,0.000,0.049,2889,3359,2644,0,0,0,0,0,0
$STATE,11835,end climb,SURFACE_DEPTH_REACHED
$STATE,11835,begin surface coast
$FINISH,0.1,1.023112
$STATE,11864,end surface coast,CONTROL_FINISHED_OK
$STATE,11864,begin surface
$SM_CCo,11885,37.95,0.480,0,0,2401,240.14
$SM_GC,3.67,0.00,0.00,37.95,0.000,0.000,0.480,57,1984,2401,-7.95,-0.17,240.14
$IRIDIUM_FIX,1922.94,-15651.69,190113,161643
$TT8_MAMPS,0.026845
$HUMID,1078986863
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.1,20.632
$10V_AH,10.4,19.550
$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,19.350,107.575,266.900,37.950,0.000,30.705,34.437,298.400,0.000,0.000,16.111,1164.532,8386.287,402.975,2139.879,399.680,33.360,1113.713,0.000,1799.923,0.000,0.540,0.000
$DEVICE_MAMPS,244.673,56.758,1130.558,480.142,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,364.485,0.000,906.509,0.000,0.000,0.000,0.000,649.729,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,26907,531
$CAP_FILE_SIZE,144563,0
$CFSIZE,260165632,194785280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,050807,1930.033,-15650.891,190,1.2,191,9.6