version: 66.07
glider: 513
mission: 7
dive: 515
start: 9 24 111 0 14 2
data:
$ID,513
$MISSION,7
$DIVE,515
$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,-433754.81
$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,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,49
$R_STBD_OVSHOOT,56
$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
$GPS1,230911,235457,2003.172,-15629.709,72,3.4,92,9.7
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.0
$GPS2,240911,001304,2003.109,-15629.830,33,2.6,52,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.288,-0.286
$KALMAN_X,2176.5,-587.7,-830.3,40874.9,6044.6
$KALMAN_Y,-586588.1,-107.5,-836.6,593873.2,6562.9
$MHEAD_RNG_PITCHd_Wd,179.9,116878,-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,14,begin dive
$GC,17,-0.80,-136.7,0.0,0.0,0,78,0.00,0.00,-59.00,0.000,2,0.000,0.000,36,2127,3780,0,0,0,0,0,0
$GC,83,-0.80,-136.7,4.0,-5.6,9,105,10.12,2.22,-1.30,0.000,4,0.245,0.050,2331,697,3862,0,0,0,0,0,0
$GC,215,-0.80,-136.7,53.3,-28.5,24,219,0.00,2.15,0.00,0.000,6,0.000,0.043,2321,2080,3864,0,0,0,0,0,0
$GC,484,-0.80,-136.7,120.2,-24.2,49,488,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3512,3866,0,0,0,0,0,0
$GC,571,-0.80,-136.7,140.5,-21.8,56,576,0.10,2.12,0.00,0.000,6,0.182,0.033,2334,2099,3866,0,0,0,0,0,0
$GC,842,-0.80,-136.7,195.9,-18.0,81,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2092,3867,0,0,0,0,0,0
$GC,1100,-0.80,-136.7,237.3,-15.7,95,1104,0.00,2.12,0.00,0.000,4,0.000,0.043,2334,696,3868,0,0,0,0,0,0
$GC,1196,-0.80,-136.7,253.5,-15.1,99,1201,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2103,3869,0,0,0,0,0,0
$GC,1452,-0.80,-136.7,293.1,-17.1,111,1456,0.00,2.17,0.00,0.000,4,0.000,0.051,2315,3508,3868,0,0,0,0,0,0
$GC,1498,-0.80,-136.7,300.8,-15.0,113,1502,0.00,2.10,0.00,0.000,6,0.000,0.031,2315,2093,3868,0,0,0,0,0,0
$GC,1753,-0.80,-136.7,338.3,-14.4,120,1757,0.00,2.12,0.00,0.000,4,0.000,0.042,2315,699,3869,0,0,0,0,0,0
$GC,1833,-0.80,-136.7,350.4,-14.5,121,1839,0.12,2.15,0.00,0.000,6,0.174,0.041,2336,2108,3868,0,0,0,0,0,0
$GC,2083,-0.80,-136.7,382.7,-12.6,128,2087,0.00,2.20,0.00,0.000,4,0.000,0.052,2327,3505,3867,0,0,0,0,0,0
$GC,2104,-0.80,-136.7,385.6,-12.9,128,2108,0.00,2.10,0.00,0.000,6,0.000,0.031,2327,2102,3867,0,0,0,0,0,0
$GC,2361,-0.80,-136.7,420.1,-13.6,135,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2097,3865,0,0,0,0,0,0
$GC,2604,-0.80,-136.7,450.4,-12.4,141,2608,0.00,2.17,0.00,0.000,4,0.000,0.046,2327,695,3862,0,0,0,0,0,0
$GC,2654,-0.80,-136.7,457.4,-13.5,142,2658,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,2097,3862,0,0,0,0,0,0
$GC,2929,-0.80,-136.7,494.1,-13.6,149,2933,0.00,2.20,0.00,0.000,4,0.000,0.052,2306,3506,3859,0,0,0,0,0,0
$GC,2978,-0.80,-136.7,501.3,-13.3,150,2983,0.12,2.12,0.00,0.000,6,0.170,0.032,2337,2089,3859,0,0,0,0,0,0
$GC,3254,-0.80,-136.7,533.2,-11.7,157,3258,0.00,2.10,0.00,0.000,4,0.000,0.040,2337,696,3856,0,0,0,0,0,0
$GC,3282,-0.80,-136.7,537.0,-11.6,157,3286,0.00,2.15,0.00,0.000,6,0.000,0.041,2329,2099,3857,0,0,0,0,0,0
$GC,3532,-0.80,-136.7,566.8,-11.8,163,3536,0.00,2.22,0.00,0.000,4,0.000,0.053,2319,3512,3854,0,0,0,0,0,0
$GC,3600,-0.80,-136.7,574.7,-12.0,164,3604,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2106,3853,0,0,0,0,0,0
$GC,3861,-0.80,-136.7,608.1,-13.1,171,3864,0.00,2.17,0.00,0.000,4,0.000,0.042,2319,687,3851,0,0,0,0,0,0
$GC,3923,-0.80,-136.7,616.5,-13.0,172,3928,0.12,2.17,0.00,0.000,6,0.180,0.042,2339,2100,3851,0,0,0,0,0,0
$GC,4184,-0.80,-136.7,646.1,-11.0,179,4188,0.00,2.22,0.00,0.000,4,0.000,0.053,2330,3517,3848,0,0,0,0,0,0
$GC,4217,-0.80,-136.7,649.7,-11.0,179,4222,0.00,2.15,0.00,0.000,6,0.000,0.033,2329,2104,3848,0,0,0,0,0,0
$GC,4468,-0.80,-136.7,676.9,-10.9,186,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2099,3846,0,0,0,0,0,0
$GC,4710,-0.80,-136.7,702.7,-10.4,192,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2099,3844,0,0,0,0,0,0
$GC,4954,-0.80,-136.7,726.7,-9.9,198,4958,0.00,2.17,0.00,0.000,4,0.000,0.043,2330,679,3842,0,0,0,0,0,0
$GC,5006,-0.80,-136.7,732.1,-10.8,199,5010,0.00,2.20,0.00,0.000,6,0.000,0.044,2319,2099,3842,0,0,0,0,0,0
$GC,5278,-0.80,-136.7,761.6,-10.8,206,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2098,3840,0,0,0,0,0,0
$GC,5523,-0.80,-136.7,788.8,-11.2,212,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2098,3838,0,0,0,0,0,0
$GC,5766,-0.80,-136.7,816.8,-11.5,218,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2098,3836,0,0,0,0,0,0
$GC,6009,-0.80,-136.7,844.1,-11.1,224,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2098,3835,0,0,0,0,0,0
$GC,6255,-0.80,-136.7,870.6,-10.8,230,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2098,3833,0,0,0,0,0,0
$GC,6497,-0.80,-136.7,897.6,-11.1,236,6501,0.00,2.20,0.00,0.000,4,0.000,0.047,2319,692,3831,0,0,0,0,0,0
$STATE,6516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6516,begin apogee
$GC,6524,-0.28,0.0,900.3,12.3,236,6642,0.62,0.00,113.90,1.068,6,0.150,0.000,2496,1969,3301,0,0,0,0,0,0
$STATE,6642,end apogee,CONTROL_FINISHED_OK
$STATE,6643,begin climb
$GC,6647,0.80,136.7,903.7,0.0,239,6774,1.10,0.00,123.12,1.040,6,0.097,0.000,2854,1969,2742,0,0,0,0,0,0
$GC,6987,0.80,136.7,853.0,18.9,248,6991,0.00,2.28,0.00,0.000,4,0.000,0.043,2864,547,2734,0,0,0,0,0,0
$GC,7010,0.80,136.7,848.4,18.0,248,7014,0.00,2.22,0.00,0.000,6,0.000,0.038,2865,1956,2731,0,0,0,0,0,0
$GC,7271,0.80,136.7,799.6,18.8,255,7275,0.00,2.30,0.00,0.000,4,0.000,0.053,2864,3379,2730,0,0,0,0,0,0
$GC,7321,0.80,136.7,789.4,20.3,256,7325,0.00,2.20,0.00,0.000,6,0.000,0.031,2875,1944,2731,0,0,0,0,0,0
$GC,7595,0.80,136.7,737.9,19.0,263,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1943,2728,0,0,0,0,0,0
$GC,7837,0.80,136.7,694.5,17.7,269,7841,0.00,2.10,0.00,0.000,4,0.000,0.039,2886,559,2727,0,0,0,0,0,0
$GC,7893,0.80,136.7,683.9,18.7,270,7898,0.12,2.15,0.00,0.000,6,0.196,0.034,2857,1964,2726,0,0,0,0,0,0
$GC,8162,0.80,136.7,641.1,15.9,277,8166,0.00,2.25,0.00,0.000,4,0.000,0.054,2857,3370,2725,0,0,0,0,0,0
$GC,8234,0.80,136.7,628.3,17.3,278,8238,0.00,2.17,0.00,0.000,6,0.000,0.031,2866,1952,2726,0,0,0,0,0,0
$GC,8491,0.80,136.7,585.3,16.9,285,8495,0.00,2.12,0.00,0.000,4,0.000,0.040,2877,556,2726,0,0,0,0,0,0
$GC,8559,0.80,136.7,573.0,17.7,286,8563,0.00,2.17,0.00,0.000,6,0.000,0.035,2877,1962,2724,0,0,0,0,0,0
$GC,8816,0.80,136.7,527.6,17.8,293,8820,0.00,2.25,0.00,0.000,4,0.000,0.052,2877,3366,2724,0,0,0,0,0,0
$GC,8872,0.80,136.7,516.3,20.6,294,8877,0.12,2.17,0.00,0.000,6,0.199,0.031,2858,1943,2724,0,0,0,0,0,0
$GC,9145,0.80,136.7,469.5,16.9,301,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1942,2723,0,0,0,0,0,0
$GC,9389,0.80,136.7,431.7,15.1,307,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1942,2723,0,0,0,0,0,0
$GC,9632,0.80,136.7,395.3,14.7,313,9636,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,558,2723,0,0,0,0,0,0
$GC,9659,0.80,136.7,391.4,13.8,313,9663,0.00,2.15,0.00,0.000,6,0.000,0.033,2868,1972,2721,0,0,0,0,0,0
$GC,9909,0.80,136.7,358.0,13.0,319,9913,0.00,2.20,0.00,0.000,4,0.000,0.052,2869,3358,2721,0,0,0,0,0,0
$GC,10040,0.80,136.7,339.7,13.3,322,10045,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1949,2722,0,0,0,0,0,0
$GC,10326,0.80,136.7,302.2,13.6,329,10330,0.00,2.12,0.00,0.000,4,0.000,0.038,2889,566,2722,0,0,0,0,0,0
$GC,10436,0.80,136.7,288.2,12.0,333,10441,0.15,2.12,0.00,0.000,6,0.187,0.034,2853,1963,2720,0,0,0,0,0,0
$GC,10701,0.80,136.7,259.9,10.3,346,10705,0.00,2.22,0.00,0.000,4,0.000,0.052,2853,3365,2720,0,0,0,0,0,0
$GC,10756,0.80,136.7,253.5,11.5,348,10763,0.00,2.15,0.00,0.000,6,0.000,0.030,2861,1955,2721,0,0,0,0,0,0
$GC,11011,0.80,136.7,226.4,10.1,361,11015,0.00,2.15,0.00,0.000,4,0.000,0.040,2872,560,2720,0,0,0,0,0,0
$GC,11165,0.80,136.7,210.6,9.9,368,11168,0.00,2.15,0.00,0.000,6,0.000,0.035,2872,1961,2719,0,0,0,0,0,0
$GC,11426,0.80,136.7,186.5,9.5,387,11430,0.00,2.25,0.00,0.000,4,0.000,0.051,2872,3369,2720,0,0,0,0,0,0
$GC,11570,0.80,136.7,171.0,9.8,399,11574,0.00,2.12,0.00,0.000,6,0.000,0.029,2882,1948,2721,0,0,0,0,0,0
$GC,11834,0.84,176.2,151.5,6.9,423,11872,0.00,2.25,30.88,0.545,4,0.000,0.047,2882,3362,2581,0,0,0,0,0,0
$GC,12067,0.84,176.2,122.8,11.9,443,12071,0.00,2.12,0.00,0.000,6,0.000,0.030,2892,1957,2581,0,0,0,0,0,0
$GC,12336,0.84,176.2,90.5,11.9,468,12340,0.00,2.25,0.00,0.000,4,0.000,0.047,2892,3368,2579,0,0,0,0,0,0
$GC,12516,0.84,176.2,69.4,9.6,483,12524,0.08,2.15,0.00,0.000,6,0.176,0.030,2878,1972,2579,0,0,0,0,0,0
$GC,12782,0.87,200.3,50.7,7.5,508,12809,0.00,2.22,21.65,0.448,4,0.000,0.040,2878,561,2482,0,0,0,0,0,0
$GC,12915,0.87,200.3,39.3,9.4,519,12919,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1970,2479,0,0,0,0,0,0
$GC,13182,0.89,216.5,15.2,7.9,557,13204,0.00,2.20,14.85,0.405,4,0.000,0.038,2884,572,2416,0,0,0,0,0,0
$GC,13277,0.89,216.5,6.6,10.2,572,13285,0.00,2.15,0.00,0.000,6,0.000,0.032,2884,1960,2414,0,0,0,0,0,0
$STATE,13309,end climb,SURFACE_DEPTH_REACHED
$STATE,13309,begin surface coast
$FINISH,0.3,1.014618
$STATE,13339,end surface coast,CONTROL_FINISHED_OK
$STATE,13339,begin surface
$SM_CCo,13358,39.28,0.410,0,0,2075,300.24
$SM_GC,2.13,0.00,0.00,39.28,0.000,0.000,0.410,63,2135,2075,-7.92,0.99,300.24
$IRIDIUM_FIX,1957.29,-15630.91,180313,181828
$TT8_MAMPS,0.026845
$HUMID,1078965797
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.4,70.271
$10V_AH,9.8,65.126
$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,20.525,130.425,304.400,39.275,0.000,88.720,113.510,548.483,0.000,0.000,55.714,1353.664,9520.021,440.618,2673.960,495.142,33.366,1251.154,0.000,1947.152,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,62.894,1068.431,409.578,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.159,0.000,962.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353728
$DATA_FILE_SIZE,30295,582
$CAP_FILE_SIZE,168800,0
$CFSIZE,260165632,168054784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,107.4,1
$GPS,240911,035930,2001.406,-15629.809,85,1.2,86,9.7