version: 66.07
glider: 513
mission: 7
dive: 516
start: 9 24 111 4 7 18
data:
$ID,513
$MISSION,7
$DIVE,516
$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,-433766.22
$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,58
$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
$GPS1,240911,035930,2001.406,-15629.809,85,1.2,86,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.1
$GPS2,240911,040620,2001.436,-15629.797,8,1.4,8,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,-0.238
$KALMAN_X,7468.3,-520.4,-129.9,34830.6,9277.6
$KALMAN_Y,-584779.6,-165.2,-10.4,588207.5,5275.3
$MHEAD_RNG_PITCHd_Wd,177.2,113780,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.80,-136.7,0.0,0.0,0,79,0.00,0.00,-59.00,0.000,2,0.000,0.000,39,2137,3787,0,0,0,0,0,0
$GC,84,-0.80,-136.7,4.2,-6.8,9,100,10.07,2.28,-1.12,0.000,4,0.245,0.052,2327,701,3860,0,0,0,0,0,0
$GC,203,-0.80,-136.7,49.4,-26.4,23,207,0.00,2.17,0.00,0.000,6,0.000,0.045,2319,2078,3864,0,0,0,0,0,0
$GC,467,-0.80,-136.7,116.4,-25.6,47,471,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3513,3866,0,0,0,0,0,0
$GC,580,-0.80,-136.7,141.5,-22.3,56,584,0.12,2.12,0.00,0.000,6,0.173,0.031,2338,2101,3867,0,0,0,0,0,0
$GC,845,-0.80,-136.7,200.2,-19.6,80,849,0.00,2.10,0.00,0.000,4,0.000,0.041,2338,706,3868,0,0,0,0,0,0
$GC,878,-0.80,-136.7,207.3,-17.9,81,884,0.00,2.17,0.00,0.000,6,0.000,0.042,2329,2120,3868,0,0,0,0,0,0
$GC,1135,-0.80,-136.7,251.4,-18.5,94,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2119,3870,0,0,0,0,0,0
$GC,1379,-0.80,-136.7,296.0,-17.2,106,1383,0.00,2.17,0.00,0.000,4,0.000,0.051,2319,3510,3870,0,0,0,0,0,0
$GC,1407,-0.80,-136.7,301.2,-17.9,107,1411,0.00,2.10,0.00,0.000,6,0.000,0.031,2319,2097,3870,0,0,0,0,0,0
$GC,1663,-0.80,-136.7,342.1,-15.9,114,1667,0.00,2.10,0.00,0.000,4,0.000,0.043,2319,703,3871,0,0,0,0,0,0
$GC,1696,-0.80,-136.7,347.6,-15.5,114,1703,0.12,2.15,0.00,0.000,6,0.173,0.045,2339,2096,3871,0,0,0,0,0,0
$GC,1947,-0.80,-136.7,379.7,-12.3,121,1951,0.00,2.22,0.00,0.000,4,0.000,0.053,2330,3506,3871,0,0,0,0,0,0
$GC,2026,-0.80,-136.7,390.3,-12.9,122,2032,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2100,3871,0,0,0,0,0,0
$GC,2276,-0.80,-136.7,427.3,-15.2,129,2280,0.00,2.15,0.00,0.000,4,0.000,0.042,2330,699,3869,0,0,0,0,0,0
$GC,2323,-0.80,-136.7,434.1,-15.4,130,2327,0.00,2.15,0.00,0.000,6,0.000,0.042,2320,2099,3869,0,0,0,0,0,0
$GC,2613,-0.80,-136.7,477.3,-14.6,137,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2099,3867,0,0,0,0,0,0
$GC,2856,-0.80,-136.7,509.0,-12.9,143,2860,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3510,3865,0,0,0,0,0,0
$GC,2880,-0.80,-136.7,511.9,-13.0,143,2885,0.12,2.12,0.00,0.000,6,0.166,0.031,2341,2099,3865,0,0,0,0,0,0
$GC,3135,-0.80,-136.7,541.0,-11.2,150,3139,0.00,2.15,0.00,0.000,4,0.000,0.042,2341,696,3862,0,0,0,0,0,0
$GC,3180,-0.80,-136.7,546.1,-11.2,151,3184,0.00,2.15,0.00,0.000,6,0.000,0.041,2337,2096,3862,0,0,0,0,0,0
$GC,3470,-0.80,-136.7,580.4,-12.2,158,3474,0.00,2.25,0.00,0.000,4,0.000,0.053,2326,3515,3860,0,0,0,0,0,0
$GC,3520,-0.80,-136.7,587.2,-12.8,159,3524,0.00,2.15,0.00,0.000,6,0.000,0.032,2326,2097,3859,0,0,0,0,0,0
$GC,3794,-0.80,-136.7,622.8,-13.2,166,3798,0.00,2.17,0.00,0.000,4,0.000,0.044,2326,694,3857,0,0,0,0,0,0
$GC,3867,-0.80,-136.7,633.1,-13.0,167,3871,0.00,2.17,0.00,0.000,6,0.000,0.041,2316,2099,3856,0,0,0,0,0,0
$GC,4124,-0.80,-136.7,667.6,-13.8,174,4128,0.00,2.25,0.00,0.000,4,0.000,0.054,2306,3514,3854,0,0,0,0,0,0
$GC,4173,-0.80,-136.7,674.8,-13.9,175,4178,0.12,2.17,0.00,0.000,6,0.177,0.033,2336,2089,3854,0,0,0,0,0,0
$GC,4448,-0.80,-136.7,707.6,-12.0,182,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2083,3851,0,0,0,0,0,0
$GC,4691,-0.80,-136.7,735.5,-11.3,188,4695,0.00,2.12,0.00,0.000,4,0.000,0.043,2336,700,3849,0,0,0,0,0,0
$GC,4743,-0.80,-136.7,741.9,-11.6,189,4747,0.00,2.17,0.00,0.000,6,0.000,0.042,2328,2098,3849,0,0,0,0,0,0
$GC,5022,-0.80,-136.7,774.7,-11.9,196,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2098,3847,0,0,0,0,0,0
$GC,5264,-0.80,-136.7,802.1,-11.2,202,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2098,3845,0,0,0,0,0,0
$GC,5508,-0.80,-136.7,829.0,-10.9,208,5512,0.00,2.22,0.00,0.000,4,0.000,0.051,2317,3509,3844,0,0,0,0,0,0
$GC,5542,-0.80,-136.7,832.8,-11.4,208,5546,0.00,2.12,0.00,0.000,6,0.000,0.030,2317,2108,3844,0,0,0,0,0,0
$GC,5793,-0.80,-136.7,862.3,-12.1,214,5797,0.00,2.15,0.00,0.000,4,0.000,0.041,2317,694,3842,0,0,0,0,0,0
$GC,5827,-0.80,-136.7,866.7,-12.6,214,5834,0.12,2.20,0.00,0.000,6,0.190,0.041,2336,2106,3843,0,0,0,0,0,0
$GC,6079,-0.80,-136.7,892.9,-10.3,221,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3841,0,0,0,0,0,0
$STATE,6156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6156,begin apogee
$GC,6163,-0.28,0.0,901.1,10.2,223,6282,0.55,0.00,115.88,1.068,6,0.145,0.000,2500,1921,3300,0,0,0,0,0,0
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6283,begin climb
$GC,6286,0.80,136.7,904.9,0.0,226,6416,1.05,2.22,122.32,1.038,4,0.098,0.040,2856,578,2740,0,0,0,0,0,0
$GC,6432,0.80,136.7,889.9,15.7,229,6437,0.00,2.25,0.00,0.000,6,0.000,0.037,2856,1955,2736,0,0,0,0,0,0
$GC,6690,0.80,136.7,842.5,18.6,236,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1956,2732,0,0,0,0,0,0
$GC,6932,0.80,136.7,796.8,18.6,242,6936,0.00,2.30,0.00,0.000,4,0.000,0.054,2856,3372,2729,0,0,0,0,0,0
$GC,7038,0.80,136.7,776.4,18.8,244,7043,0.00,2.12,0.00,0.000,6,0.000,0.030,2867,1975,2729,0,0,0,0,0,0
$GC,7301,0.80,136.7,729.2,17.7,251,7305,0.00,2.15,0.00,0.000,4,0.000,0.039,2878,561,2727,0,0,0,0,0,0
$GC,7335,0.80,136.7,722.9,18.2,251,7342,0.00,2.17,0.00,0.000,6,0.000,0.035,2877,1976,2726,0,0,0,0,0,0
$GC,7585,0.80,136.7,678.2,17.8,258,7589,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3367,2725,0,0,0,0,0,0
$GC,7607,0.80,136.7,673.8,19.5,258,7612,0.12,2.15,0.00,0.000,6,0.208,0.031,2859,1948,2726,0,0,0,0,0,0
$GC,7863,0.80,136.7,632.0,16.2,265,7867,0.00,2.28,0.00,0.000,4,0.000,0.052,2857,3363,2725,0,0,0,0,0,0
$GC,7891,0.80,136.7,627.3,16.4,265,7895,0.00,2.15,0.00,0.000,6,0.000,0.031,2866,1961,2724,0,0,0,0,0,0
$GC,8148,0.80,136.7,587.5,15.3,272,8152,0.00,2.15,0.00,0.000,4,0.000,0.038,2877,558,2724,0,0,0,0,0,0
$GC,8188,0.80,136.7,581.1,16.1,273,8192,0.00,2.17,0.00,0.000,6,0.000,0.035,2877,1971,2723,0,0,0,0,0,0
$GC,8473,0.80,136.7,533.4,17.7,280,8477,0.00,2.20,0.00,0.000,4,0.000,0.052,2877,3358,2723,0,0,0,0,0,0
$GC,8512,0.80,136.7,525.5,20.1,281,8517,0.12,2.12,0.00,0.000,6,0.205,0.031,2859,1951,2723,0,0,0,0,0,0
$GC,8800,0.80,136.7,476.0,17.1,288,8804,0.00,2.28,0.00,0.000,4,0.000,0.051,2857,3369,2723,0,0,0,0,0,0
$GC,8861,0.80,136.7,464.8,17.2,289,8865,0.00,2.12,0.00,0.000,6,0.000,0.030,2866,1963,2722,0,0,0,0,0,0
$GC,9128,0.80,136.7,421.8,16.2,296,9132,0.00,2.15,0.00,0.000,4,0.000,0.037,2876,557,2722,0,0,0,0,0,0
$GC,9224,0.80,136.7,406.0,16.9,298,9228,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1959,2720,0,0,0,0,0,0
$GC,9496,0.80,136.7,365.0,14.7,305,9500,0.00,2.22,0.00,0.000,4,0.000,0.050,2876,3371,2720,0,0,0,0,0,0
$GC,9587,0.80,136.7,351.1,14.9,307,9592,0.12,2.12,0.00,0.000,6,0.202,0.028,2857,1957,2721,0,0,0,0,0,0
$GC,9867,0.80,136.7,313.1,13.7,314,9871,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,567,2721,0,0,0,0,0,0
$GC,10023,0.80,136.7,291.4,13.2,318,10028,0.00,2.15,0.00,0.000,6,0.000,0.034,2867,1977,2719,0,0,0,0,0,0
$GC,10289,0.80,136.7,259.4,11.3,331,10293,0.00,2.17,0.00,0.000,4,0.000,0.049,2867,3361,2719,0,0,0,0,0,0
$GC,10391,0.80,136.7,246.6,11.8,335,10398,0.00,2.10,0.00,0.000,6,0.000,0.028,2877,1964,2720,0,0,0,0,0,0
$GC,10648,0.80,136.7,215.8,12.3,348,10652,0.00,2.12,0.00,0.000,4,0.000,0.036,2888,558,2720,0,0,0,0,0,0
$GC,10692,0.80,136.7,209.9,11.8,350,10697,0.12,2.12,0.00,0.000,6,0.188,0.031,2859,1971,2719,0,0,0,0,0,0
$GC,10959,0.80,136.7,185.8,8.8,370,10963,0.00,2.17,0.00,0.000,4,0.000,0.048,2859,3358,2719,0,0,0,0,0,0
$GC,11172,0.80,136.7,163.7,9.8,388,11179,0.00,2.15,0.00,0.000,6,0.000,0.029,2867,1956,2720,0,0,0,0,0,0
$GC,11437,0.80,136.7,139.7,9.1,413,11441,0.00,2.20,0.00,0.000,4,0.000,0.046,2867,3359,2720,0,0,0,0,0,0
$GC,11617,0.84,172.3,122.4,7.1,428,11651,0.00,2.12,27.73,0.515,6,0.000,0.028,2877,1962,2596,0,0,0,0,0,0
$GC,11916,0.84,172.3,96.9,9.3,456,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1959,2594,0,0,0,0,0,0
$GC,12172,0.84,173.3,75.5,8.5,480,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1959,2594,0,0,0,0,0,0
$GC,12436,0.84,174.5,49.1,8.5,505,12440,0.00,2.20,0.00,0.000,4,0.000,0.044,2877,3366,2594,0,0,0,0,0,0
$GC,12459,0.84,174.5,46.8,8.9,506,12467,0.00,2.12,3.45,0.283,6,0.000,0.028,2886,1970,2587,0,0,0,0,0,0
$GC,12727,0.87,200.5,24.9,7.5,536,12757,0.00,2.17,23.55,0.426,4,0.000,0.042,2886,3360,2481,0,0,0,0,0,0
$STATE,12933,end climb,SURFACE_DEPTH_REACHED
$STATE,12934,begin surface coast
$FINISH,0.3,1.023190
$STATE,12951,end surface coast,CONTROL_FINISHED_OK
$STATE,12951,begin surface
$SM_CCo,12973,52.97,0.416,0,0,2075,300.24
$SM_GC,1.71,0.00,0.00,52.97,0.000,0.000,0.416,55,2102,2075,-7.95,0.06,300.24
$IRIDIUM_FIX,1955.00,-15628.81,180313,181813
$TT8_MAMPS,0.027612
$HUMID,1078932248
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.4,70.371
$10V_AH,9.8,65.219
$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,20.450,138.875,292.925,52.975,0.000,24.281,39.718,187.885,0.000,0.000,10.769,1350.337,9010.380,416.600,2216.345,440.597,33.367,1256.644,0.000,1994.149,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,60.593,1067.664,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,393.174,0.000,985.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,30237,575
$CAP_FILE_SIZE,161145,0
$CFSIZE,260165632,167997440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 88.0,1
$GPS,240911,074600,1959.852,-15629.389,47,1.3,53,9.7