version: 66.07
glider: 513
mission: 7
dive: 153
start: 7 28 111 12 37 9
data:
$ID,513
$MISSION,7
$DIVE,153
$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,-424005.97
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,280711,122236,1928.507,-15650.640,38,1.5,38,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-79.4
$GPS2,280711,123614,1928.763,-15650.786,14,1.6,14,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.076,-0.234
$KALMAN_X,-35316.9,920.3,721.4,13512.5,-9414.3
$KALMAN_Y,52739.3,-583.0,-259.1,-87973.5,6908.5
$MHEAD_RNG_PITCHd_Wd,152.4,54224,-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,-146.5,0.0,0.0,0,72,0.00,0.00,-53.17,0.000,2,0.000,0.000,36,1983,3817,0,0,0,0,0,0
$GC,76,-0.78,-146.5,4.1,-7.0,8,91,9.45,0.00,-2.35,0.000,6,0.240,0.000,2337,1982,3963,0,0,0,0,0,0
$GC,350,-0.78,-146.5,99.4,-26.8,37,354,0.00,2.20,0.00,0.000,4,0.000,0.054,2328,3389,3968,0,0,0,0,0,0
$GC,424,-0.78,-146.5,118.8,-22.8,43,428,0.00,2.12,0.00,0.000,6,0.000,0.033,2328,1986,3968,0,0,0,0,0,0
$GC,687,-0.78,-146.5,181.2,-23.3,67,691,0.00,2.22,0.00,0.000,4,0.000,0.060,2317,3389,3971,0,0,0,0,0,0
$GC,729,-0.78,-146.5,190.2,-21.1,70,733,0.10,2.12,0.00,0.000,6,0.184,0.033,2341,1983,3971,0,0,0,0,0,0
$GC,983,-0.78,-146.5,239.0,-18.6,84,987,0.00,2.22,0.00,0.000,4,0.000,0.057,2332,3384,3972,0,0,0,0,0,0
$GC,1048,-0.78,-146.5,252.0,-20.1,87,1052,0.00,2.10,0.00,0.000,6,0.000,0.031,2333,1985,3972,0,0,0,0,0,0
$GC,1332,-0.78,-146.5,307.9,-18.9,100,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1979,3972,0,0,0,0,0,0
$GC,1577,-0.78,-146.5,351.8,-18.1,106,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1979,3972,0,0,0,0,0,0
$GC,1820,-0.78,-146.5,392.8,-16.4,112,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1979,3972,0,0,0,0,0,0
$GC,2064,-0.78,-146.5,430.6,-15.0,118,2068,0.00,2.20,0.00,0.000,4,0.000,0.057,2322,3384,3969,0,0,0,0,0,0
$GC,2149,-0.78,-146.5,443.8,-15.7,120,2153,0.00,2.10,0.00,0.000,6,0.000,0.035,2321,1992,3969,0,0,0,0,0,0
$GC,2434,-0.78,-146.5,489.4,-16.1,127,2438,0.00,2.20,0.00,0.000,4,0.000,0.058,2310,3388,3966,0,0,0,0,0,0
$GC,2506,-0.78,-146.5,501.1,-15.3,128,2511,0.12,2.12,0.00,0.000,6,0.171,0.036,2342,1981,3966,0,0,0,0,0,0
$GC,2763,-0.78,-146.5,536.6,-13.6,135,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1976,3964,0,0,0,0,0,0
$GC,3005,-0.78,-146.5,570.3,-14.0,141,3009,0.00,2.22,0.00,0.000,4,0.000,0.058,2333,3392,3961,0,0,0,0,0,0
$GC,3067,-0.78,-146.5,579.4,-14.4,142,3071,0.00,2.12,0.00,0.000,6,0.000,0.036,2333,1991,3961,0,0,0,0,0,0
$GC,3328,-0.78,-146.5,618.1,-14.9,149,3332,0.00,2.22,0.00,0.000,4,0.000,0.059,2322,3382,3957,0,0,0,0,0,0
$GC,3352,-0.78,-146.5,621.6,-14.9,149,3356,0.00,2.12,0.00,0.000,6,0.000,0.037,2322,1985,3957,0,0,0,0,0,0
$GC,3608,-0.78,-146.5,659.0,-14.4,156,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1978,3956,0,0,0,0,0,0
$GC,3851,-0.78,-146.5,695.2,-15.1,162,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1978,3954,0,0,0,0,0,0
$GC,4094,-0.78,-146.5,730.2,-14.3,168,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1978,3952,0,0,0,0,0,0
$GC,4339,-0.78,-146.5,765.1,-14.3,174,4343,0.00,2.22,0.00,0.000,4,0.000,0.059,2311,3391,3949,0,0,0,0,0,0
$GC,4406,-0.78,-146.5,774.9,-14.4,175,4411,0.12,2.15,0.00,0.000,6,0.171,0.037,2343,1984,3949,0,0,0,0,0,0
$GC,4662,-0.78,-146.5,805.8,-12.0,182,4666,0.00,2.22,0.00,0.000,4,0.000,0.059,2334,3389,3947,0,0,0,0,0,0
$GC,4694,-0.78,-146.5,810.1,-12.4,182,4700,0.00,2.10,0.00,0.000,6,0.000,0.036,2334,1990,3946,0,0,0,0,0,0
$GC,4944,-0.78,-146.5,843.7,-13.6,189,4948,0.00,2.22,0.00,0.000,4,0.000,0.058,2323,3383,3945,0,0,0,0,0,0
$GC,5001,-0.78,-146.5,851.7,-14.1,190,5005,0.00,2.12,0.00,0.000,6,0.000,0.036,2323,1994,3945,0,0,0,0,0,0
$GC,5273,-0.78,-146.5,889.7,-13.9,197,5278,0.00,2.20,0.00,0.000,4,0.000,0.058,2311,3382,3943,0,0,0,0,0,0
$GC,5306,-0.78,-146.5,894.5,-14.4,197,5313,0.12,2.12,0.00,0.000,6,0.175,0.037,2343,1986,3942,0,0,0,0,0,0
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5351,begin apogee
$GC,5358,-0.28,0.0,900.3,13.0,199,5475,0.52,0.00,114.43,1.125,6,0.147,0.000,2504,1980,3380,0,0,0,0,0,0
$STATE,5476,end apogee,CONTROL_FINISHED_OK
$STATE,5476,begin climb
$GC,5479,0.78,146.5,904.4,0.0,202,5610,1.05,0.00,127.35,1.081,6,0.095,0.000,2849,1979,2782,0,0,0,0,0,0
$GC,5840,0.78,146.5,848.6,19.4,211,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1979,2774,0,0,0,0,0,0
$GC,6081,0.78,146.5,802.8,18.8,217,6085,0.00,2.25,0.00,0.000,4,0.000,0.060,2843,3359,2772,0,0,0,0,0,0
$GC,6108,0.78,146.5,797.4,19.6,217,6111,0.00,2.17,0.00,0.000,6,0.000,0.032,2852,1947,2773,0,0,0,0,0,0
$GC,6364,0.78,146.5,748.8,19.1,224,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1944,2771,0,0,0,0,0,0
$GC,6607,0.78,146.5,703.0,18.9,230,6611,0.00,2.08,0.00,0.000,4,0.000,0.041,2863,554,2770,0,0,0,0,0,0
$GC,6647,0.78,146.5,695.6,19.1,231,6651,0.00,2.15,0.00,0.000,6,0.000,0.039,2863,1956,2767,0,0,0,0,0,0
$GC,6931,0.78,146.5,641.6,19.0,238,6935,0.00,2.10,0.00,0.000,4,0.000,0.041,2874,553,2767,0,0,0,0,0,0
$GC,6971,0.78,146.5,633.8,19.5,239,6975,0.00,2.12,0.00,0.000,6,0.000,0.039,2873,1962,2766,0,0,0,0,0,0
$GC,7255,0.78,146.5,581.5,18.4,246,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1963,2766,0,0,0,0,0,0
$GC,7498,0.78,146.5,535.4,18.9,252,7502,0.00,2.22,0.00,0.000,4,0.000,0.058,2873,3373,2766,0,0,0,0,0,0
$GC,7621,0.78,146.5,510.7,19.4,254,7629,0.12,2.12,0.00,0.000,6,0.216,0.032,2857,1954,2766,0,0,0,0,0,0
$GC,7872,0.78,146.5,467.6,16.8,261,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1950,2765,0,0,0,0,0,0
$GC,8114,0.78,146.5,427.4,16.4,267,8118,0.00,2.08,0.00,0.000,4,0.000,0.041,2866,554,2764,0,0,0,0,0,0
$GC,8136,0.78,146.5,423.5,16.8,267,8140,0.00,2.12,0.00,0.000,6,0.000,0.038,2857,1970,2762,0,0,0,0,0,0
$GC,8398,0.78,146.5,382.8,15.1,274,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1970,2762,0,0,0,0,0,0
$GC,8641,0.78,146.5,345.4,15.7,280,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1970,2762,0,0,0,0,0,0
$GC,8886,0.78,146.5,308.2,15.2,286,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1970,2762,0,0,0,0,0,0
$GC,9131,0.78,146.5,271.5,15.1,296,9135,0.00,2.12,0.00,0.000,4,0.000,0.040,2867,553,2762,0,0,0,0,0,0
$GC,9231,0.78,146.5,257.0,13.8,300,9235,0.00,2.15,0.00,0.000,6,0.000,0.036,2867,1959,2761,0,0,0,0,0,0
$GC,9492,0.78,146.5,222.6,13.9,313,9496,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,555,2761,0,0,0,0,0,0
$GC,9514,0.78,146.5,218.6,15.5,314,9518,0.00,2.10,0.00,0.000,6,0.000,0.036,2877,1960,2761,0,0,0,0,0,0
$GC,9779,0.78,146.5,179.1,14.3,333,9783,0.00,2.20,0.00,0.000,4,0.000,0.055,2877,3369,2760,0,0,0,0,0,0
$GC,9906,0.78,146.5,161.1,11.6,344,9911,0.15,2.12,0.00,0.000,6,0.209,0.031,2853,1956,2762,0,0,0,0,0,0
$GC,10170,0.78,146.5,135.1,9.6,368,10173,0.00,2.08,0.00,0.000,4,0.000,0.038,2861,555,2761,0,0,0,0,0,0
$GC,10427,0.78,146.5,108.3,10.1,391,10431,0.00,2.10,0.00,0.000,6,0.000,0.034,2862,1974,2761,0,0,0,0,0,0
$GC,10691,0.78,146.5,82.0,10.6,415,10695,0.00,2.12,0.00,0.000,4,0.000,0.051,2862,3358,2761,0,0,0,0,0,0
$GC,10946,0.78,146.5,60.7,9.0,437,10955,0.00,2.12,0.00,0.000,6,0.000,0.030,2873,1950,2763,0,0,0,0,0,0
$GC,11210,0.82,173.7,43.9,7.5,462,11235,0.00,2.20,19.42,0.499,4,0.000,0.048,2871,3367,2671,0,0,0,0,0,0
$GC,11483,0.87,213.3,16.8,7.0,499,11526,0.00,2.12,32.55,0.483,6,0.000,0.030,2880,1959,2509,0,0,0,0,0,0
$STATE,11638,end climb,SURFACE_DEPTH_REACHED
$STATE,11638,begin surface coast
$FINISH,0.0,1.023357
$STATE,11666,end surface coast,CONTROL_FINISHED_OK
$STATE,11666,begin surface
$SM_CCo,11684,12.18,0.440,0,0,2400,240.14
$SM_GC,3.84,0.00,0.00,12.18,0.000,0.000,0.440,59,1958,2400,-7.94,-0.90,240.14
$IRIDIUM_FIX,1922.94,-15651.69,200113,060626
$TT8_MAMPS,0.026845
$HUMID,1078981281
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.1,20.980
$10V_AH,10.4,19.826
$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,19.250,94.675,293.750,12.175,0.000,84.836,102.341,354.698,0.000,0.000,16.542,1133.902,8405.824,382.088,2237.563,356.225,33.358,1066.096,0.000,1731.929,0.000,0.541,0.000
$DEVICE_MAMPS,240.071,59.826,1125.189,440.258,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.902,0.000,936.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26921,531
$CAP_FILE_SIZE,141420,0
$CFSIZE,260165632,194605056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,155536,1928.467,-15650.846,169,1.3,170,9.6