version: 66.07
glider: 513
mission: 7
dive: 514
start: 9 23 111 20 11 50
data:
$ID,513
$MISSION,7
$DIVE,514
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,300
$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,-433698.47
$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,2597
$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,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$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
$GPS1,230911,195400,2004.819,-15629.399,83,0.9,83,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.8
$GPS2,230911,201049,2004.711,-15629.405,10,1.6,15,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017,-0.239
$KALMAN_X,2037.2,-336.7,140.3,40485.6,7612.7
$KALMAN_Y,-589150.2,-567.1,322.0,598708.1,3921.8
$MHEAD_RNG_PITCHd_Wd,190.8,119849,-15.7,-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,-0.80,-136.7,0.0,0.0,0,72,0.00,0.00,-53.95,0.000,2,0.000,0.000,38,2125,3597,0,0,0,0,0,0
$GC,76,-0.80,-136.7,3.2,-4.4,8,99,9.95,2.17,-4.75,0.000,4,0.240,0.049,2328,724,3861,0,0,0,0,0,0
$GC,208,-0.80,-136.7,49.3,-31.7,25,212,0.00,2.10,0.00,0.000,6,0.000,0.047,2320,2076,3864,0,0,1,0,0,0
$GC,471,-0.80,-136.7,118.5,-23.6,49,475,0.00,2.05,0.00,0.000,4,0.000,0.037,2320,724,3865,0,0,0,0,0,0
$GC,485,-0.80,-136.7,121.8,-24.1,50,490,0.12,2.15,0.00,0.000,6,0.184,0.047,2339,2097,3865,0,0,0,0,0,0
$GC,748,-0.80,-136.7,177.4,-18.2,74,752,0.00,2.22,0.00,0.000,4,0.000,0.052,2330,3516,3866,0,0,0,0,0,0
$GC,836,-0.80,-136.7,192.0,-15.6,81,840,0.00,2.08,0.00,0.000,6,0.000,0.031,2330,2121,3866,0,0,0,0,0,0
$GC,1092,-0.80,-136.7,236.3,-18.6,95,1095,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,700,3867,0,0,0,0,0,0
$GC,1166,-0.80,-136.7,249.7,-16.9,98,1170,0.00,2.17,0.00,0.000,6,0.000,0.044,2319,2120,3868,0,0,0,0,0,0
$GC,1423,-0.80,-136.7,290.4,-15.8,110,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2119,3868,0,0,0,0,0,0
$GC,1686,-0.80,-136.7,334.1,-16.2,118,1690,0.00,2.17,0.00,0.000,4,0.000,0.049,2308,3519,3867,0,0,0,0,0,0
$GC,1735,-0.80,-136.7,342.3,-14.8,119,1740,0.12,2.10,0.00,0.000,6,0.164,0.030,2340,2092,3868,0,0,0,0,0,0
$GC,2011,-0.80,-136.7,377.2,-12.6,126,2015,0.00,2.08,0.00,0.000,4,0.000,0.039,2340,701,3867,0,0,0,0,0,0
$GC,2043,-0.80,-136.7,382.1,-12.9,126,2052,0.00,2.12,0.00,0.000,6,0.000,0.040,2332,2097,3867,0,0,0,0,0,0
$GC,2294,-0.80,-136.7,413.8,-12.7,133,2298,0.00,2.20,0.00,0.000,4,0.000,0.048,2321,3507,3865,0,0,0,0,0,0
$GC,2328,-0.80,-136.7,418.2,-12.7,133,2334,0.00,2.10,0.00,0.000,6,0.000,0.029,2321,2107,3864,0,0,0,0,0,0
$GC,2578,-0.80,-136.7,450.8,-13.3,140,2582,0.00,2.15,0.00,0.000,4,0.000,0.041,2321,688,3863,0,0,0,0,0,0
$GC,2663,-0.80,-136.7,462.8,-13.8,142,2667,0.00,2.15,0.00,0.000,6,0.000,0.041,2311,2099,3862,0,0,0,0,0,0
$GC,2949,-0.80,-136.7,503.0,-14.3,149,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2098,3860,0,0,0,0,0,0
$GC,3191,-0.80,-136.7,537.5,-14.5,155,3193,0.10,0.00,0.00,0.000,6,0.193,0.000,2335,2099,3857,0,0,0,0,0,0
$GC,3436,-0.80,-136.7,568.4,-12.5,161,3440,0.00,2.22,0.00,0.000,4,0.000,0.050,2326,3516,3855,0,0,0,0,0,0
$GC,3469,-0.80,-136.7,572.8,-12.7,161,3475,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2090,3854,0,0,0,0,0,0
$GC,3719,-0.80,-136.7,602.9,-11.9,168,3723,0.00,2.25,0.00,0.000,4,0.000,0.051,2315,3507,3852,0,0,0,0,0,0
$GC,3748,-0.80,-136.7,606.5,-11.9,168,3752,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2089,3852,0,0,0,0,0,0
$GC,3998,-0.80,-136.7,635.6,-11.5,174,4002,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,701,3849,0,0,0,0,0,0
$GC,4037,-0.80,-136.7,640.4,-11.7,174,4044,0.12,2.15,0.00,0.000,6,0.181,0.044,2335,2099,3849,0,0,0,0,0,0
$GC,4289,-0.80,-136.7,665.7,-10.3,181,4293,0.00,2.22,0.00,0.000,4,0.000,0.051,2326,3505,3847,0,0,0,0,0,0
$GC,4316,-0.80,-136.7,668.8,-10.6,181,4320,0.00,2.10,0.00,0.000,6,0.000,0.029,2327,2109,3847,0,0,0,0,0,0
$GC,4572,-0.80,-136.7,697.6,-11.6,188,4576,0.00,2.15,0.00,0.000,4,0.000,0.041,2327,689,3844,0,0,0,0,0,0
$GC,4595,-0.80,-136.7,700.5,-12.6,188,4599,0.00,2.17,0.00,0.000,6,0.000,0.041,2316,2099,3844,0,0,0,0,0,0
$GC,4852,-0.80,-136.7,731.4,-12.1,195,4856,0.00,2.22,0.00,0.000,4,0.000,0.051,2305,3507,3843,0,0,0,0,0,0
$GC,4885,-0.80,-136.7,735.9,-12.7,195,4892,0.12,2.15,0.00,0.000,6,0.173,0.030,2336,2090,3842,0,0,0,0,0,0
$GC,5137,-0.80,-136.7,761.8,-10.3,202,5141,0.00,2.10,0.00,0.000,4,0.000,0.041,2336,701,3840,0,0,0,0,0,0
$GC,5158,-0.80,-136.7,764.3,-10.6,202,5162,0.00,2.17,0.00,0.000,6,0.000,0.042,2328,2111,3840,0,0,0,0,0,0
$GC,5414,-0.80,-136.7,792.0,-11.1,209,5418,0.00,2.17,0.00,0.000,4,0.000,0.044,2328,703,3838,0,0,0,0,0,0
$GC,5437,-0.80,-136.7,794.6,-11.2,209,5441,0.00,2.17,0.00,0.000,6,0.000,0.042,2318,2098,3838,0,0,0,0,0,0
$GC,5698,-0.80,-136.7,824.1,-11.4,216,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2097,3837,0,0,0,0,0,0
$GC,5943,-0.80,-136.7,852.3,-11.7,222,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2097,3835,0,0,0,0,0,0
$GC,6185,-0.80,-136.7,880.6,-11.5,228,6189,0.00,2.25,0.00,0.000,4,0.000,0.053,2307,3512,3833,0,0,0,0,0,0
$GC,6229,-0.80,-136.7,885.9,-11.8,229,6234,0.12,2.12,0.00,0.000,6,0.176,0.030,2338,2097,3832,0,0,0,0,0,0
$STATE,6382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6382,begin apogee
$GC,6391,-0.28,0.0,901.7,10.1,233,6509,0.55,0.00,114.80,1.065,6,0.143,0.000,2502,1936,3300,0,0,0,0,0,0
$STATE,6509,end apogee,CONTROL_FINISHED_OK
$STATE,6510,begin climb
$GC,6512,0.80,136.7,905.0,0.0,236,6648,1.08,2.50,122.50,1.041,4,0.094,0.050,2854,3370,2739,0,0,0,0,0,0
$GC,6666,0.80,136.7,888.3,17.6,239,6672,0.00,2.25,0.00,0.000,6,0.000,0.028,2865,1966,2738,0,0,0,0,0,0
$GC,6916,0.80,136.7,840.7,19.1,246,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1965,2732,0,0,0,0,0,0
$GC,7160,0.80,136.7,793.3,19.4,252,7164,0.00,2.17,0.00,0.000,4,0.000,0.038,2876,561,2730,0,0,0,0,0,0
$GC,7222,0.80,136.7,780.9,19.3,253,7226,0.00,2.15,0.00,0.000,6,0.000,0.033,2875,1960,2727,0,0,0,0,0,0
$GC,7484,0.80,136.7,728.7,20.2,260,7487,0.00,2.15,0.00,0.000,4,0.000,0.039,2884,560,2727,0,0,0,0,0,0
$GC,7501,0.80,136.7,725.1,20.0,260,7506,0.12,2.17,0.00,0.000,6,0.196,0.035,2856,1962,2726,0,0,0,0,0,0
$GC,7768,0.80,136.7,675.6,18.2,267,7772,0.00,2.22,0.00,0.000,4,0.000,0.053,2856,3364,2726,0,0,0,0,0,0
$GC,7829,0.80,136.7,663.7,19.2,268,7833,0.00,2.15,0.00,0.000,6,0.000,0.031,2864,1950,2726,0,0,0,0,0,0
$GC,8098,0.80,136.7,615.4,17.7,275,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1949,2725,0,0,0,0,0,0
$GC,8339,0.80,136.7,574.5,16.5,281,8343,0.00,2.15,0.00,0.000,4,0.000,0.039,2875,552,2724,0,0,0,0,0,0
$GC,8367,0.80,136.7,569.4,18.0,281,8371,0.00,2.17,0.00,0.000,6,0.000,0.035,2875,1970,2723,0,0,0,0,0,0
$GC,8624,0.80,136.7,527.1,16.6,288,8628,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3359,2723,0,0,0,0,0,0
$GC,8685,0.80,136.7,515.6,18.4,289,8690,0.12,2.12,0.00,0.000,6,0.204,0.031,2857,1958,2723,0,0,0,0,0,0
$GC,8953,0.80,136.7,473.3,15.6,296,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1953,2722,0,0,0,0,0,0
$GC,9195,0.80,136.7,437.5,14.5,302,9199,0.00,2.15,0.00,0.000,4,0.000,0.040,2866,561,2722,0,0,0,0,0,0
$GC,9273,0.80,136.7,425.5,15.8,303,9278,0.00,2.12,0.00,0.000,6,0.000,0.034,2865,1957,2720,0,0,0,0,0,0
$GC,9524,0.80,136.7,387.9,15.1,310,9528,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3363,2721,0,0,0,0,0,0
$GC,9635,0.80,136.7,369.5,16.9,312,9640,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1948,2721,0,0,0,0,0,0
$GC,9893,0.80,136.7,332.6,14.1,319,9897,0.00,2.25,0.00,0.000,4,0.000,0.049,2874,3370,2721,0,0,0,0,0,0
$GC,9914,0.80,136.7,329.2,13.6,319,9919,0.12,2.12,0.00,0.000,6,0.199,0.031,2856,1964,2721,0,0,0,0,0,0
$GC,10175,0.80,136.7,297.8,12.1,326,10179,0.00,2.15,0.00,0.000,4,0.000,0.038,2865,558,2720,0,0,0,0,0,0
$GC,10232,0.80,136.7,290.7,13.4,328,10238,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1963,2719,0,0,0,0,0,0
$GC,10486,0.80,136.7,257.4,12.2,341,10490,0.00,2.22,0.00,0.000,4,0.000,0.051,2864,3366,2719,0,0,0,0,0,0
$GC,10671,0.80,136.7,234.4,11.4,349,10675,0.00,2.12,0.00,0.000,6,0.000,0.030,2872,1953,2719,0,0,0,0,0,0
$GC,10925,0.80,136.7,207.8,10.6,361,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1951,2720,0,0,0,0,0,0
$GC,11181,0.80,136.7,178.0,10.6,382,11185,0.00,2.12,0.00,0.000,4,0.000,0.038,2884,560,2720,0,0,0,0,0,0
$GC,11246,0.80,136.7,171.8,8.7,387,11251,0.12,2.12,0.00,0.000,6,0.179,0.031,2853,1966,2718,0,0,0,0,0,0
$GC,11511,0.80,136.7,153.2,8.6,411,11515,0.00,2.20,0.00,0.000,4,0.000,0.049,2853,3367,2719,0,0,0,0,0,0
$GC,11564,0.80,136.7,148.1,9.3,415,11568,0.00,2.10,0.00,0.000,6,0.000,0.028,2861,1961,2720,0,0,0,0,0,0
$GC,11828,0.83,161.0,126.9,7.5,439,11855,0.00,2.15,18.33,0.507,4,0.000,0.037,2862,557,2641,0,0,0,0,0,0
$GC,11871,0.87,193.7,123.7,7.2,442,11909,0.00,2.12,28.60,0.515,6,0.000,0.031,2862,1961,2509,0,0,0,0,0,0
$GC,12165,0.87,193.7,93.4,11.5,469,12169,0.00,2.22,0.00,0.000,4,0.000,0.048,2862,3361,2506,0,0,0,0,0,0
$GC,12364,0.87,193.7,71.3,8.7,486,12368,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1961,2506,0,0,0,0,0,0
$GC,12634,0.91,233.0,51.0,6.9,511,12674,0.00,2.20,33.33,0.453,4,0.000,0.038,2871,562,2348,0,0,0,0,0,0
$GC,12806,0.91,233.0,37.2,9.3,526,12810,0.00,2.12,0.00,0.000,6,0.000,0.033,2872,1959,2344,0,0,0,0,0,0
$GC,13079,0.91,233.0,11.2,10.0,568,13087,0.00,2.20,0.00,0.000,4,0.000,0.044,2872,564,2344,0,0,0,0,0,0
$GC,13116,0.91,233.0,7.1,10.2,574,13126,0.00,2.12,0.00,0.000,6,0.000,0.029,2872,1952,2344,0,0,0,0,0,0
$STATE,13164,end climb,SURFACE_DEPTH_REACHED
$STATE,13164,begin surface coast
$FINISH,0.3,1.010729
$STATE,13197,end surface coast,CONTROL_FINISHED_OK
$STATE,13197,begin surface
$SM_CCo,13216,33.30,0.410,0,0,2075,300.24
$SM_GC,1.60,0.00,0.00,33.30,0.000,0.000,0.410,58,2128,2075,-7.93,0.76,300.24
$IRIDIUM_FIX,2008.77,-15551.99,180313,141441
$TT8_MAMPS,0.026845
$HUMID,1078955474
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.4,70.144
$10V_AH,9.8,65.027
$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,20.550,147.475,317.550,33.300,0.000,53.797,82.170,557.834,0.000,0.000,17.156,1364.933,9287.705,448.556,2551.920,598.009,33.363,1270.956,0.000,1956.406,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,65.195,1064.596,410.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,401.260,0.000,1015.067,0.000,0.000,0.000,0.000,16466.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354144
$DATA_FILE_SIZE,30281,587
$CAP_FILE_SIZE,172040,0
$CFSIZE,260165632,168116224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040, 98.0,1
$GPS,230911,235457,2003.172,-15629.709,72,3.4,92,9.7