version: 66.07
glider: 513
mission: 7
dive: 152
start: 7 28 111 9 4 21
data:
$ID,513
$MISSION,7
$DIVE,152
$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,-423988.81
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,280711,084406,1929.813,-15650.160,535,1.2,536,9.6
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.0
$GPS2,280711,090326,1929.986,-15650.541,9,1.8,9,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.068,-0.237
$KALMAN_X,-33161.6,416.5,247.3,12783.6,-8327.0
$KALMAN_Y,50911.2,-673.7,-585.7,-83453.5,6842.8
$MHEAD_RNG_PITCHd_Wd,154.3,56375,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.5,0.0,0.0,0,65,0.00,0.00,-46.45,0.000,2,0.000,0.000,36,1958,3801,0,0,0,0,0,0
$GC,68,-0.78,-146.5,4.1,-7.0,7,90,9.52,2.08,-2.67,0.000,4,0.242,0.051,2346,600,3965,0,0,0,0,0,0
$GC,241,-0.78,-146.5,63.8,-25.1,27,249,0.00,2.15,0.00,0.000,6,0.000,0.046,2338,1980,3967,0,0,0,0,0,0
$GC,504,-0.78,-146.5,131.7,-24.7,52,508,0.00,2.20,0.00,0.000,4,0.000,0.050,2326,3411,3969,0,0,0,0,0,0
$GC,516,-0.78,-146.5,135.3,-25.9,52,524,0.00,2.12,0.00,0.000,6,0.000,0.031,2326,2010,3969,0,0,0,0,0,0
$GC,779,-0.78,-146.5,196.8,-23.0,77,783,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3413,3971,0,0,0,0,0,0
$GC,851,-0.78,-146.5,212.5,-18.6,80,856,0.12,2.15,0.00,0.000,6,0.174,0.032,2346,1987,3971,0,0,0,0,0,0
$GC,1105,-0.78,-146.5,257.6,-17.7,92,1108,0.00,2.20,0.00,0.000,4,0.000,0.050,2337,3404,3971,0,0,0,0,0,0
$GC,1183,-0.78,-146.5,271.4,-16.5,95,1187,0.00,2.10,0.00,0.000,6,0.000,0.032,2337,1988,3971,0,0,0,0,0,0
$GC,1437,-0.78,-146.5,315.7,-17.3,105,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1983,3971,0,0,0,0,0,0
$GC,1680,-0.78,-146.5,356.5,-16.8,111,1684,0.00,2.08,0.00,0.000,4,0.000,0.042,2338,581,3971,0,0,0,0,0,0
$GC,1708,-0.78,-146.5,361.7,-17.1,111,1712,0.00,2.15,0.00,0.000,6,0.000,0.042,2327,1995,3971,0,0,0,0,0,0
$GC,1963,-0.78,-146.5,404.3,-16.9,118,1967,0.00,2.12,0.00,0.000,4,0.000,0.048,2316,3392,3969,0,0,0,0,0,0
$GC,2048,-0.78,-146.5,418.3,-15.3,120,2053,0.12,2.10,0.00,0.000,6,0.168,0.034,2348,1990,3968,0,0,0,0,0,0
$GC,2333,-0.78,-146.5,458.2,-13.9,127,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1984,3966,0,0,0,0,0,0
$GC,2576,-0.78,-146.5,490.4,-13.1,133,2580,0.00,2.17,0.00,0.000,4,0.000,0.052,2339,3391,3964,0,0,0,0,0,0
$GC,2615,-0.78,-146.5,495.9,-13.3,133,2621,0.00,2.10,0.00,0.000,6,0.000,0.035,2339,1995,3963,0,0,0,0,0,0
$GC,2865,-0.78,-146.5,529.0,-13.3,140,2869,0.00,2.10,0.00,0.000,4,0.000,0.045,2339,584,3959,0,0,0,0,0,0
$GC,2887,-0.78,-146.5,532.2,-13.9,140,2891,0.00,2.12,0.00,0.000,6,0.000,0.044,2329,1994,3960,0,0,0,0,0,0
$GC,3143,-0.78,-146.5,569.3,-14.7,147,3147,0.00,2.15,0.00,0.000,4,0.000,0.052,2317,3393,3957,0,0,0,0,0,0
$GC,3170,-0.78,-146.5,573.6,-16.4,147,3174,0.00,2.10,0.00,0.000,6,0.000,0.035,2318,1987,3957,0,0,0,0,0,0
$GC,3421,-0.78,-146.5,612.6,-15.8,153,3426,0.10,2.22,0.00,0.000,4,0.200,0.054,2331,3401,3955,0,0,0,0,0,0
$GC,3482,-0.78,-146.5,622.3,-15.2,154,3486,0.00,2.15,0.00,0.000,6,0.000,0.034,2331,1992,3953,0,0,0,0,0,0
$GC,3749,-0.78,-146.5,662.9,-15.6,161,3753,0.00,2.20,0.00,0.000,4,0.000,0.054,2321,3394,3952,0,0,0,0,0,0
$GC,3776,-0.78,-146.5,667.2,-15.2,161,3780,0.00,2.12,0.00,0.000,6,0.000,0.036,2320,1993,3951,0,0,0,0,0,0
$GC,4031,-0.78,-146.5,704.6,-14.8,168,4035,0.00,2.20,0.00,0.000,4,0.000,0.054,2309,3394,3948,0,0,0,0,0,0
$GC,4116,-0.78,-146.5,716.8,-14.3,169,4122,0.12,2.15,0.00,0.000,6,0.170,0.035,2341,1982,3949,0,0,0,0,0,0
$GC,4366,-0.78,-146.5,747.3,-12.0,176,4370,0.00,2.20,0.00,0.000,4,0.000,0.054,2332,3386,3946,0,0,0,0,0,0
$GC,4415,-0.78,-146.5,753.7,-12.0,177,4419,0.00,2.10,0.00,0.000,6,0.000,0.037,2332,1986,3946,0,0,0,0,0,0
$GC,4694,-0.78,-146.5,789.7,-13.2,184,4698,0.00,2.25,0.00,0.000,4,0.000,0.064,2321,3396,3944,0,0,0,0,0,0
$GC,4761,-0.78,-146.5,799.2,-13.9,185,4765,0.00,2.15,0.00,0.000,6,0.000,0.038,2321,2005,3943,0,0,0,0,0,0
$GC,5022,-0.78,-146.5,836.3,-14.4,192,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1999,3941,0,0,0,0,0,0
$GC,5266,-0.78,-146.5,870.5,-14.1,198,5270,0.00,2.22,0.00,0.000,4,0.000,0.064,2310,3386,3940,0,0,0,0,0,0
$GC,5326,-0.78,-146.5,879.2,-13.7,199,5331,0.12,2.15,0.00,0.000,6,0.172,0.037,2341,1979,3939,0,0,0,0,0,0
$STATE,5515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5515,begin apogee
$GC,5522,-0.28,0.0,901.8,11.7,204,5638,0.52,0.00,113.72,1.124,6,0.150,0.000,2503,1974,3380,0,0,0,0,0,0
$STATE,5639,end apogee,CONTROL_FINISHED_OK
$STATE,5639,begin climb
$GC,5642,0.78,146.5,905.6,0.0,207,5773,1.02,0.00,125.80,1.083,6,0.094,0.000,2846,1974,2782,0,0,0,0,0,0
$GC,6008,0.78,146.5,849.1,19.0,216,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1974,2774,0,0,0,0,0,0
$GC,6252,0.78,146.5,802.5,18.9,222,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1974,2773,0,0,0,0,0,0
$GC,6495,0.78,146.5,757.0,18.8,228,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1974,2771,0,0,0,0,0,0
$GC,6739,0.78,146.5,711.3,18.6,234,6743,0.00,2.25,0.00,0.000,4,0.000,0.060,2846,3365,2770,0,0,0,0,0,0
$GC,6760,0.78,146.5,707.0,19.3,234,6764,0.00,2.15,0.00,0.000,6,0.000,0.033,2857,1937,2770,0,0,0,0,0,0
$GC,7022,0.78,146.5,658.2,18.9,241,7026,0.00,2.05,0.00,0.000,4,0.000,0.041,2868,557,2769,0,0,0,0,0,0
$GC,7049,0.78,146.5,652.6,20.5,241,7053,0.00,2.15,0.00,0.000,6,0.000,0.039,2868,1960,2766,0,0,0,0,0,0
$GC,7300,0.78,146.5,603.9,19.6,247,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1963,2766,0,0,0,0,0,0
$GC,7543,0.78,146.5,556.7,19.4,253,7547,0.00,2.25,0.00,0.000,4,0.000,0.060,2868,3364,2766,0,0,0,0,0,0
$GC,7634,0.78,146.5,537.9,20.3,255,7638,0.00,2.12,0.00,0.000,6,0.000,0.033,2878,1954,2766,0,0,0,0,0,0
$GC,7918,0.78,146.5,482.3,19.6,262,7922,0.00,2.08,0.00,0.000,4,0.000,0.040,2889,554,2765,0,0,0,0,0,0
$GC,7968,0.78,146.5,472.3,20.1,263,7973,0.15,2.15,0.00,0.000,6,0.205,0.038,2855,1970,2763,0,0,0,0,0,0
$GC,8249,0.78,146.5,424.9,16.6,270,8253,0.00,2.20,0.00,0.000,4,0.000,0.055,2854,3361,2763,0,0,0,0,0,0
$GC,8264,0.78,146.5,421.7,16.0,270,8268,0.00,2.10,0.00,0.000,6,0.000,0.031,2864,1951,2764,0,0,0,0,0,0
$GC,8531,0.78,146.5,376.8,16.8,277,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1948,2763,0,0,0,0,0,0
$GC,8776,0.78,146.5,339.5,15.1,283,8780,0.00,2.08,0.00,0.000,4,0.000,0.041,2875,552,2763,0,0,0,0,0,0
$GC,8820,0.78,146.5,332.6,15.6,284,8824,0.00,2.12,0.00,0.000,6,0.000,0.037,2876,1960,2761,0,0,0,0,0,0
$GC,9084,0.78,146.5,292.6,15.2,291,9088,0.00,2.20,0.00,0.000,4,0.000,0.056,2872,3368,2761,0,0,0,0,0,0
$GC,9112,0.78,146.5,288.1,16.3,292,9116,0.00,2.12,0.00,0.000,6,0.000,0.032,2881,1958,2762,0,0,0,0,0,0
$GC,9367,0.78,146.5,250.9,14.0,304,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1954,2762,0,0,0,0,0,0
$GC,9614,0.78,146.5,214.6,16.4,316,9618,0.00,2.20,0.00,0.000,4,0.000,0.051,2881,3368,2762,0,0,0,0,0,0
$GC,9757,0.78,146.5,192.4,15.1,324,9762,0.15,2.10,0.00,0.000,6,0.205,0.031,2855,1957,2762,0,0,0,0,0,0
$GC,10021,0.78,146.5,161.7,10.3,348,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1952,2761,0,0,0,0,0,0
$GC,10275,0.78,146.5,136.1,11.4,372,10279,0.00,2.20,0.00,0.000,4,0.000,0.049,2855,3367,2761,0,0,0,0,0,0
$GC,10408,0.78,146.5,119.9,11.7,383,10416,0.00,2.12,0.00,0.000,6,0.000,0.030,2864,1958,2761,0,0,0,0,0,0
$GC,10673,0.78,146.5,95.0,9.8,408,10676,0.00,2.05,0.00,0.000,4,0.000,0.037,2875,561,2761,0,0,0,0,0,0
$GC,10697,0.78,146.5,92.6,9.4,410,10701,0.00,2.10,0.00,0.000,6,0.000,0.035,2875,1968,2761,0,0,0,0,0,0
$GC,10960,0.78,146.5,69.8,8.8,434,10964,0.00,2.15,0.00,0.000,4,0.000,0.051,2874,3363,2762,0,0,0,0,0,0
$GC,11215,0.79,151.3,48.3,8.4,456,11223,0.10,2.10,0.00,0.000,6,0.176,0.028,2856,1962,2763,0,0,0,0,0,0
$GC,11480,0.94,273.0,34.3,3.8,481,11586,0.12,2.22,95.90,0.500,4,0.096,0.047,2898,3361,2264,0,0,0,0,0,0
$STATE,11719,end climb,SURFACE_DEPTH_REACHED
$STATE,11722,begin surface coast
$FINISH,-0.0,1.010959
$STATE,11740,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11820,0.00,0.000,0,0,2255,275.96
$SM_GC,1.60,7.62,0.00,0.00,0.050,0.000,0.000,52,1983,2255,-7.91,-0.20,275.96
$IRIDIUM_FIX,1922.94,-15651.69,200113,030310
$TT8_MAMPS,0.026845
$HUMID,1078961926
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.1,20.867
$10V_AH,10.4,19.740
$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,19.825,115.925,335.425,0.000,0.000,121.331,145.223,553.361,0.000,0.000,10.976,1127.377,8565.091,368.461,2523.609,392.058,33.354,1128.821,0.000,1766.663,0.000,0.540,0.000
$DEVICE_MAMPS,242.372,63.661,1124.422,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,355.303,0.000,909.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,26889,519
$CAP_FILE_SIZE,154346,0
$CFSIZE,260165632,194654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,122236,1928.507,-15650.640,38,1.5,38,9.6