version: 66.07
glider: 513
mission: 7
dive: 156
start: 7 28 111 23 19 44
data:
$ID,513
$MISSION,7
$DIVE,156
$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,732.45386
$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,-424096.69
$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,43
$R_STBD_OVSHOOT,36
$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
$GPS1,280711,230544,1925.575,-15651.221,90,2.2,109,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.0
$GPS2,280711,231850,1925.586,-15651.477,13,2.3,32,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.083,-0.232
$KALMAN_X,-39110.6,992.5,776.5,15974.4,-8771.1
$KALMAN_Y,60276.4,-742.6,-496.8,-100988.1,9106.8
$MHEAD_RNG_PITCHd_Wd,150.8,48723,-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,-146.5,0.0,0.0,0,61,0.00,0.00,-40.17,0.000,2,0.000,0.000,38,1964,3553,0,0,0,0,0,0
$GC,64,-0.78,-146.5,3.3,-5.6,6,86,9.45,2.08,-7.32,0.000,4,0.242,0.053,2349,589,3961,0,0,0,0,0,0
$GC,205,-0.78,-146.5,49.7,-29.4,25,213,0.00,2.17,0.00,0.000,6,0.000,0.047,2340,1984,3965,0,0,0,0,0,0
$GC,470,-0.78,-146.5,118.5,-25.3,50,474,0.00,2.17,0.00,0.000,4,0.000,0.051,2329,3401,3967,0,0,0,0,0,0
$GC,511,-0.78,-146.5,128.7,-24.4,53,515,0.00,2.12,0.00,0.000,6,0.000,0.032,2331,1990,3967,0,0,0,0,0,0
$GC,774,-0.78,-146.5,186.0,-21.2,77,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1985,3969,0,0,0,0,0,0
$GC,1031,-0.78,-146.5,239.5,-20.5,93,1035,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3399,3970,0,0,0,0,0,0
$GC,1104,-0.78,-146.5,253.4,-18.2,96,1108,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,1979,3970,0,0,0,0,0,0
$GC,1363,-0.78,-146.5,302.3,-18.8,109,1367,0.00,2.20,0.00,0.000,4,0.000,0.053,2311,3404,3970,0,0,0,0,0,0
$GC,1413,-0.78,-146.5,311.4,-16.9,110,1417,0.12,2.12,0.00,0.000,6,0.173,0.033,2342,1983,3970,0,0,0,0,0,0
$GC,1692,-0.78,-146.5,358.7,-16.6,117,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1977,3970,0,0,0,0,0,0
$GC,1935,-0.78,-146.5,396.0,-14.8,123,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1977,3969,0,0,0,0,0,0
$GC,2179,-0.78,-146.5,432.9,-15.2,129,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1977,3967,0,0,0,0,0,0
$GC,2423,-0.78,-146.5,470.5,-15.6,135,2427,0.00,2.10,0.00,0.000,4,0.000,0.044,2344,585,3965,0,0,0,0,0,0
$GC,2451,-0.78,-146.5,475.2,-15.2,135,2454,0.00,2.15,0.00,0.000,6,0.000,0.045,2336,1998,3965,0,0,0,0,0,0
$GC,2712,-0.78,-146.5,515.6,-15.4,142,2716,0.00,2.15,0.00,0.000,4,0.000,0.053,2325,3398,3962,0,0,0,0,0,0
$GC,2797,-0.78,-146.5,529.1,-16.1,144,2801,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,1992,3961,0,0,0,0,0,0
$GC,3080,-0.78,-146.5,576.1,-16.6,151,3084,0.00,2.20,0.00,0.000,4,0.000,0.057,2313,3398,3959,0,0,0,0,0,0
$GC,3181,-0.78,-146.5,591.4,-15.7,153,3186,0.12,2.12,0.00,0.000,6,0.172,0.035,2345,1992,3957,0,0,0,0,0,0
$GC,3447,-0.78,-146.5,627.5,-13.6,160,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1987,3955,0,0,0,0,0,0
$GC,3692,-0.78,-146.5,659.6,-13.2,166,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1987,3954,0,0,0,0,0,0
$GC,3934,-0.78,-146.5,691.7,-13.1,172,3939,0.00,2.25,0.00,0.000,4,0.000,0.061,2336,3400,3951,0,0,0,0,0,0
$GC,3962,-0.78,-146.5,695.4,-12.8,172,3966,0.00,2.15,0.00,0.000,6,0.000,0.036,2336,2003,3951,0,0,0,0,0,0
$GC,4218,-0.78,-146.5,728.1,-12.8,179,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1997,3949,0,0,0,0,0,0
$GC,4461,-0.78,-146.5,760.1,-13.0,185,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1997,3947,0,0,0,0,0,0
$GC,4704,-0.78,-146.5,792.4,-13.3,191,4708,0.00,2.20,0.00,0.000,4,0.000,0.057,2326,3403,3945,0,0,0,0,0,0
$GC,4755,-0.78,-146.5,799.0,-13.0,192,4759,0.00,2.15,0.00,0.000,6,0.000,0.036,2326,1983,3945,0,0,0,0,0,0
$GC,5027,-0.78,-146.5,836.5,-13.7,199,5031,0.00,2.25,0.00,0.000,4,0.000,0.058,2315,3398,3943,0,0,0,0,0,0
$GC,5094,-0.78,-146.5,846.2,-14.0,200,5098,0.12,2.15,0.00,0.000,6,0.175,0.035,2346,1982,3942,0,0,0,0,0,0
$GC,5349,-0.78,-146.5,877.4,-12.1,207,5353,0.00,2.22,0.00,0.000,4,0.000,0.057,2337,3398,3941,0,0,0,0,0,0
$GC,5376,-0.78,-146.5,880.8,-12.0,207,5380,0.00,2.12,0.00,0.000,6,0.000,0.035,2337,1993,3941,0,0,0,0,0,0
$STATE,5542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5542,begin apogee
$GC,5549,-0.28,0.0,902.1,12.6,211,5666,0.55,0.00,114.38,1.122,6,0.148,0.000,2503,1987,3380,0,0,0,0,0,0
$STATE,5667,end apogee,CONTROL_FINISHED_OK
$STATE,5667,begin climb
$GC,5670,0.78,146.5,907.2,0.0,214,5804,1.02,0.00,126.93,1.081,6,0.092,0.000,2848,1986,2782,0,0,0,0,0,0
$GC,6035,0.78,146.5,850.7,19.8,223,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1986,2774,0,0,0,0,0,0
$GC,6279,0.78,146.5,802.3,19.8,229,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1986,2772,0,0,0,0,0,0
$GC,6524,0.78,146.5,753.3,20.0,235,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1986,2771,0,0,0,0,0,0
$GC,6767,0.78,146.5,705.6,19.3,241,6771,0.00,2.17,0.00,0.000,4,0.000,0.044,2859,554,2770,0,0,0,0,0,0
$GC,6794,0.78,146.5,700.1,19.0,241,6798,0.00,2.17,0.00,0.000,6,0.000,0.040,2859,1949,2767,0,0,0,0,0,0
$GC,7050,0.78,146.5,652.5,18.4,248,7054,0.00,2.28,0.00,0.000,4,0.000,0.056,2859,3372,2768,0,0,0,0,0,0
$GC,7105,0.78,146.5,641.2,20.7,249,7109,0.00,2.17,0.00,0.000,6,0.000,0.034,2869,1959,2768,0,0,0,0,0,0
$GC,7377,0.78,146.5,591.7,17.6,256,7381,0.00,2.12,0.00,0.000,4,0.000,0.042,2880,558,2767,0,0,0,0,0,0
$GC,7426,0.78,146.5,582.1,18.7,257,7430,0.00,2.15,0.00,0.000,6,0.000,0.041,2880,1965,2765,0,0,0,0,0,0
$GC,7704,0.78,146.5,532.8,17.7,264,7708,0.00,2.20,0.00,0.000,4,0.000,0.054,2880,3371,2765,0,0,0,0,0,0
$GC,7747,0.78,146.5,524.1,19.6,265,7752,0.15,2.15,0.00,0.000,6,0.213,0.033,2857,1957,2765,0,0,0,0,0,0
$GC,8033,0.78,146.5,478.4,16.0,272,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1951,2765,0,0,0,0,0,0
$GC,8274,0.78,146.5,440.4,16.2,278,8278,0.00,2.10,0.00,0.000,4,0.000,0.043,2866,552,2764,0,0,0,0,0,0
$GC,8387,0.78,146.5,421.9,16.4,280,8391,0.00,2.12,0.00,0.000,6,0.000,0.037,2866,1966,2762,0,0,0,0,0,0
$GC,8642,0.78,146.5,381.7,16.1,287,8646,0.00,2.12,0.00,0.000,4,0.000,0.041,2876,550,2762,0,0,0,0,0,0
$GC,8731,0.78,146.5,366.8,16.1,289,8735,0.00,2.12,0.00,0.000,6,0.000,0.038,2877,1957,2762,0,0,0,0,0,0
$GC,9015,0.78,146.5,322.2,15.6,296,9019,0.00,2.20,0.00,0.000,4,0.000,0.054,2877,3365,2762,0,0,0,0,0,0
$GC,9176,0.78,146.5,293.7,19.1,300,9181,0.12,2.10,0.00,0.000,6,0.214,0.034,2859,1959,2762,0,0,0,0,0,0
$GC,9435,0.78,146.5,256.0,15.0,313,9439,0.00,2.22,0.00,0.000,4,0.000,0.054,2849,3368,2762,0,0,0,0,0,0
$GC,9475,0.78,146.5,249.5,16.4,315,9479,0.00,2.10,0.00,0.000,6,0.000,0.033,2857,1960,2762,0,0,0,0,0,0
$GC,9740,0.78,146.5,211.1,13.5,328,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1955,2762,0,0,0,0,0,0
$GC,9994,0.78,146.5,181.0,12.1,347,9998,0.00,2.22,0.00,0.000,4,0.000,0.055,2849,3367,2762,0,0,0,0,0,0
$GC,10067,0.78,146.5,170.9,14.8,353,10071,0.00,2.12,0.00,0.000,6,0.000,0.033,2858,1955,2762,0,0,0,0,0,0
$GC,10330,0.78,146.5,140.6,12.0,377,10334,0.00,2.08,0.00,0.000,4,0.000,0.041,2869,554,2762,0,0,0,0,0,0
$GC,10373,0.78,146.5,136.2,10.3,380,10377,0.00,2.10,0.00,0.000,6,0.000,0.035,2869,1971,2761,0,0,0,0,0,0
$GC,10637,0.78,146.5,102.9,12.9,404,10641,0.00,2.15,0.00,0.000,4,0.000,0.051,2869,3359,2761,0,0,0,0,0,0
$GC,10734,0.78,146.5,90.5,12.0,412,10737,0.00,2.10,0.00,0.000,6,0.000,0.031,2879,1953,2762,0,0,0,0,0,0
$GC,11002,0.78,146.5,65.2,8.7,437,11006,0.00,2.17,0.00,0.000,4,0.000,0.050,2879,3362,2761,0,0,0,0,0,0
$GC,11157,0.78,146.5,50.2,9.6,450,11166,0.10,2.12,0.00,0.000,6,0.183,0.031,2861,1953,2763,0,0,0,0,0,0
$GC,11423,0.89,236.8,31.2,5.0,475,11500,0.00,2.22,68.15,0.508,4,0.000,0.048,2861,3361,2414,0,0,0,0,0,0
$GC,11520,0.89,236.8,24.4,9.2,488,11528,0.00,2.15,0.00,0.000,6,0.000,0.033,2870,1978,2413,0,0,0,0,0,0
$STATE,11696,end climb,SURFACE_DEPTH_REACHED
$STATE,11696,begin surface coast
$FINISH,0.6,1.023138
$STATE,11724,end surface coast,CONTROL_FINISHED_OK
$STATE,11724,begin surface
$SM_CCo,11742,289.00,0.465,0,0,393,732.45
$SM_GC,0.88,0.00,0.00,289.00,0.000,0.000,0.465,43,1973,393,-7.96,-0.48,732.45
$IRIDIUM_FIX,1909.23,-15107.15,200113,171743
$TT8_MAMPS,0.026078
$HUMID,1078800635
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.1,21.342
$10V_AH,10.4,20.098
$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,19.350,103.525,309.450,289.000,0.000,157.557,160.932,52.422,0.000,0.000,35.802,1132.382,8588.619,642.456,2144.480,308.909,33.360,1362.922,0.000,1740.591,0.000,0.539,0.000
$DEVICE_MAMPS,242.372,60.593,1122.121,464.802,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,360.064,0.000,909.697,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26922,525
$CAP_FILE_SIZE,140035,0
$CFSIZE,260165632,194408448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,024137,1924.312,-15651.397,40,1.1,41,9.6