version: 66.07
glider: 513
mission: 7
dive: 517
start: 9 24 111 7 58 39
data:
$ID,513
$MISSION,7
$DIVE,517
$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,-433791.97
$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,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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,240911,074600,1959.852,-15629.389,47,1.3,53,9.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.9
$GPS2,240911,075743,1959.795,-15629.324,12,1.3,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.016,-0.239
$KALMAN_X,8500.2,-957.2,-239.8,35209.0,6819.2
$KALMAN_Y,-582483.5,-626.0,-203.9,583525.5,5626.6
$MHEAD_RNG_PITCHd_Wd,186.4,110747,-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,-136.7,0.0,0.0,0,71,0.00,0.00,-53.03,0.000,2,0.000,0.000,38,2104,3594,0,0,0,0,0,0
$GC,75,-0.80,-136.7,3.4,-5.1,8,98,10.07,2.25,-4.65,0.000,4,0.244,0.062,2318,3519,3860,0,0,0,0,0,0
$GC,218,-0.80,-136.7,48.0,-24.0,26,222,0.00,2.15,0.00,0.000,6,0.000,0.034,2318,2108,3863,0,0,0,0,0,0
$GC,483,-0.80,-136.7,119.6,-25.8,50,487,0.00,2.17,0.00,0.000,4,0.000,0.042,2318,692,3864,0,0,0,0,0,0
$GC,536,-0.80,-136.7,131.8,-23.0,54,541,0.12,2.15,0.00,0.000,6,0.179,0.043,2338,2094,3864,0,0,0,0,0,0
$GC,800,-0.80,-136.7,183.2,-19.6,78,804,0.00,2.20,0.00,0.000,4,0.000,0.048,2328,3507,3865,0,0,0,0,0,0
$GC,876,-0.80,-136.7,197.5,-18.5,84,880,0.00,2.15,0.00,0.000,6,0.000,0.032,2328,2085,3866,0,0,0,0,0,0
$GC,1137,-0.80,-136.7,246.8,-18.5,97,1141,0.00,2.22,0.00,0.000,4,0.000,0.050,2318,3516,3867,0,0,0,0,0,0
$GC,1156,-0.80,-136.7,250.5,-18.5,98,1160,0.00,2.10,0.00,0.000,6,0.000,0.029,2318,2098,3867,0,0,0,0,0,0
$GC,1421,-0.80,-136.7,295.3,-16.4,111,1425,0.00,2.10,0.00,0.000,4,0.000,0.041,2318,700,3868,0,0,0,0,0,0
$GC,1468,-0.80,-136.7,302.6,-16.1,113,1472,0.12,2.17,0.00,0.000,6,0.175,0.044,2338,2102,3868,0,0,0,0,0,0
$GC,1758,-0.80,-136.7,344.8,-15.0,120,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2102,3868,0,0,0,0,0,0
$GC,2002,-0.80,-136.7,379.5,-13.8,126,2006,0.00,2.20,0.00,0.000,4,0.000,0.051,2329,3522,3868,0,0,0,0,0,0
$GC,2035,-0.80,-136.7,384.4,-13.8,126,2041,0.00,2.10,0.00,0.000,6,0.000,0.030,2329,2096,3868,0,0,0,0,0,0
$GC,2285,-0.80,-136.7,420.9,-14.9,133,2289,0.00,2.10,0.00,0.000,4,0.000,0.041,2329,704,3866,0,0,0,0,0,0
$GC,2312,-0.80,-136.7,425.1,-14.5,133,2316,0.00,2.15,0.00,0.000,6,0.000,0.043,2319,2103,3865,0,0,0,0,0,0
$GC,2569,-0.80,-136.7,463.9,-15.1,140,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3864,0,0,0,0,0,0
$GC,2812,-0.80,-136.7,499.0,-14.2,146,2816,0.00,2.15,0.00,0.000,4,0.000,0.041,2319,699,3861,0,0,0,0,0,0
$GC,2845,-0.80,-136.7,503.7,-13.9,146,2849,0.12,2.15,0.00,0.000,6,0.176,0.042,2339,2100,3861,0,0,0,0,0,0
$GC,3096,-0.80,-136.7,534.1,-12.3,152,3100,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3507,3860,0,0,0,0,0,0
$GC,3174,-0.80,-136.7,543.9,-11.8,153,3180,0.00,2.10,0.00,0.000,6,0.000,0.030,2330,2108,3859,0,0,0,0,0,0
$GC,3426,-0.80,-136.7,573.2,-11.6,160,3430,0.00,2.12,0.00,0.000,4,0.000,0.040,2330,694,3856,0,0,0,0,0,0
$GC,3493,-0.80,-136.7,581.5,-11.4,161,3497,0.00,2.15,0.00,0.000,6,0.000,0.039,2320,2099,3855,0,0,0,0,0,0
$GC,3750,-0.80,-136.7,610.6,-11.5,168,3754,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3504,3853,0,0,0,0,0,0
$GC,3822,-0.80,-136.7,619.4,-12.0,169,3827,0.12,2.12,0.00,0.000,6,0.170,0.030,2340,2093,3853,0,0,0,0,0,0
$GC,4073,-0.80,-136.7,645.0,-10.3,175,4077,0.00,2.12,0.00,0.000,4,0.000,0.042,2340,695,3851,0,0,0,0,0,0
$GC,4107,-0.80,-136.7,648.7,-10.7,175,4113,0.00,2.15,0.00,0.000,6,0.000,0.041,2332,2100,3850,0,0,0,0,0,0
$GC,4357,-0.80,-136.7,675.9,-10.8,182,4361,0.00,2.25,0.00,0.000,4,0.000,0.053,2322,3503,3848,0,0,0,0,0,0
$GC,4379,-0.80,-136.7,678.4,-10.7,182,4383,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2098,3847,0,0,0,0,0,0
$GC,4636,-0.80,-136.7,706.1,-10.9,189,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2092,3845,0,0,0,0,0,0
$GC,4879,-0.80,-136.7,731.6,-10.7,195,4882,0.00,2.17,0.00,0.000,4,0.000,0.043,2321,688,3844,0,0,0,0,0,0
$GC,4940,-0.80,-136.7,739.0,-11.2,196,4944,0.00,2.20,0.00,0.000,6,0.000,0.044,2311,2104,3844,0,0,0,0,0,0
$GC,5208,-0.80,-136.7,771.6,-12.8,203,5212,0.00,2.25,0.00,0.000,4,0.000,0.055,2300,3509,3841,0,0,0,0,0,0
$GC,5229,-0.80,-136.7,775.0,-13.3,203,5234,0.15,2.15,0.00,0.000,6,0.166,0.033,2338,2086,3841,0,0,0,0,0,0
$GC,5486,-0.80,-136.7,804.0,-11.4,210,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2080,3840,0,0,0,0,0,0
$GC,5728,-0.80,-136.7,830.9,-10.9,216,5733,0.00,2.30,0.00,0.000,4,0.000,0.054,2330,3516,3838,0,0,0,0,0,0
$GC,5784,-0.80,-136.7,837.3,-11.0,217,5788,0.00,2.15,0.00,0.000,6,0.000,0.032,2330,2107,3837,0,0,0,0,0,0
$GC,6053,-0.80,-136.7,866.3,-10.9,224,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2101,3836,0,0,0,0,0,0
$GC,6295,-0.80,-136.7,892.6,-10.7,230,6299,0.00,2.15,0.00,0.000,4,0.000,0.041,2330,695,3834,0,0,0,0,0,0
$GC,6339,-0.80,-136.7,897.5,-10.7,231,6343,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2102,3834,0,0,0,0,0,0
$STATE,6363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6364,begin apogee
$GC,6372,-0.28,0.0,900.5,10.6,231,6490,0.60,0.00,114.80,1.069,6,0.151,0.000,2498,1913,3300,0,0,0,0,0,0
$STATE,6491,end apogee,CONTROL_FINISHED_OK
$STATE,6491,begin climb
$GC,6494,0.80,136.7,903.5,0.0,234,6624,1.05,2.20,122.30,1.039,4,0.099,0.035,2854,573,2740,0,0,0,0,0,0
$GC,6647,0.80,136.7,887.7,17.6,237,6652,0.00,2.25,0.00,0.000,6,0.000,0.034,2852,1965,2735,0,0,0,0,0,0
$GC,6898,0.80,136.7,842.2,18.1,243,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1967,2732,0,0,0,0,0,0
$GC,7143,0.80,136.7,798.8,17.9,249,7147,0.00,2.28,0.00,0.000,4,0.000,0.054,2852,3370,2730,0,0,0,0,0,0
$GC,7237,0.80,136.7,780.4,19.0,251,7241,0.00,2.15,0.00,0.000,6,0.000,0.031,2861,1974,2730,0,0,0,0,0,0
$GC,7511,0.80,136.7,729.1,18.9,258,7515,0.00,2.17,0.00,0.000,4,0.000,0.039,2873,564,2728,0,0,0,0,0,0
$GC,7567,0.80,136.7,717.7,20.4,259,7571,0.00,2.15,0.00,0.000,6,0.000,0.035,2873,1967,2726,0,0,0,0,0,0
$GC,7835,0.80,136.7,665.1,19.9,266,7839,0.00,2.22,0.00,0.000,4,0.000,0.053,2873,3369,2726,0,0,0,0,0,0
$GC,7862,0.80,136.7,658.7,22.3,266,7866,0.00,2.15,0.00,0.000,6,0.000,0.032,2881,1958,2727,0,0,0,0,0,0
$GC,8112,0.80,136.7,609.5,19.6,272,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1955,2725,0,0,0,0,0,0
$GC,8357,0.80,136.7,565.2,17.7,278,8361,0.00,2.22,0.00,0.000,4,0.000,0.051,2882,3362,2724,0,0,0,0,0,0
$GC,8378,0.80,136.7,560.9,18.5,278,8382,0.00,2.15,0.00,0.000,6,0.000,0.031,2881,1958,2724,0,0,0,0,0,0
$GC,8640,0.80,136.7,514.7,17.6,285,8644,0.00,2.15,0.00,0.000,4,0.000,0.038,2889,555,2724,0,0,0,0,0,0
$GC,8685,0.80,136.7,506.7,18.3,286,8690,0.15,2.17,0.00,0.000,6,0.190,0.033,2854,1972,2722,0,0,0,0,0,0
$GC,8965,0.80,136.7,464.8,14.8,293,8969,0.00,2.17,0.00,0.000,4,0.000,0.050,2853,3356,2723,0,0,0,0,0,0
$GC,8993,0.80,136.7,460.4,14.6,293,8997,0.00,2.10,0.00,0.000,6,0.000,0.030,2863,1959,2723,0,0,0,0,0,0
$GC,9245,0.80,136.7,423.9,14.6,299,9249,0.00,2.12,0.00,0.000,4,0.000,0.037,2874,559,2723,0,0,0,0,0,0
$GC,9277,0.80,136.7,418.8,14.9,299,9282,0.00,2.12,0.00,0.000,6,0.000,0.033,2874,1956,2721,0,0,0,0,0,0
$GC,9528,0.80,136.7,383.0,14.2,305,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1957,2721,0,0,0,0,0,0
$GC,9773,0.80,136.7,346.3,15.5,311,9777,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3363,2721,0,0,0,0,0,0
$GC,9841,0.80,136.7,335.5,16.0,312,9845,0.12,2.12,0.00,0.000,6,0.201,0.030,2855,1957,2722,0,0,0,0,0,0
$GC,10097,0.80,136.7,301.8,13.0,319,10100,0.00,2.15,0.00,0.000,4,0.000,0.039,2864,561,2721,0,0,0,0,0,0
$GC,10164,0.80,136.7,292.8,13.3,321,10168,0.00,2.12,0.00,0.000,6,0.000,0.032,2865,1960,2720,0,0,0,0,0,0
$GC,10425,0.80,136.7,258.7,13.6,334,10429,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3368,2720,0,0,0,0,0,0
$GC,10475,0.80,136.7,251.1,14.3,336,10479,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,1954,2721,0,0,0,0,0,0
$GC,10734,0.80,136.7,222.0,10.5,348,10737,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,555,2720,0,0,0,0,0,0
$GC,10829,0.80,136.7,212.3,9.2,352,10833,0.12,2.12,0.00,0.000,6,0.186,0.031,2856,1966,2719,0,0,0,0,0,0
$GC,11088,0.80,136.7,189.6,10.3,369,11092,0.00,2.22,0.00,0.000,4,0.000,0.050,2856,3358,2719,0,0,0,0,0,0
$GC,11255,0.80,136.7,170.3,11.9,383,11259,0.00,2.10,0.00,0.000,6,0.000,0.029,2865,1955,2720,0,0,0,0,0,0
$GC,11525,0.80,136.7,145.2,9.3,408,11529,0.00,2.22,0.00,0.000,4,0.000,0.048,2865,3366,2720,0,0,0,0,0,0
$GC,11578,0.80,136.7,140.2,9.9,412,11582,0.00,2.10,0.00,0.000,6,0.000,0.028,2875,1952,2721,0,0,0,0,0,0
$GC,11843,0.82,156.6,119.5,7.7,436,11868,0.00,2.28,14.77,0.490,4,0.000,0.047,2875,3361,2661,0,0,0,0,0,0
$GC,12056,0.84,172.2,96.4,7.9,454,12078,0.00,2.12,14.50,0.472,6,0.000,0.027,2886,1972,2598,0,0,0,0,0,0
$GC,12338,0.84,172.2,72.9,9.3,480,12341,0.00,2.15,0.00,0.000,4,0.000,0.036,2897,559,2597,0,0,0,0,0,0
$GC,12390,0.84,172.2,67.5,9.0,484,12394,0.00,2.12,0.00,0.000,6,0.000,0.029,2897,1962,2596,0,0,0,0,0,0
$GC,12654,0.89,209.5,43.4,7.0,508,12692,0.00,2.28,32.42,0.447,4,0.000,0.047,2897,3360,2444,0,0,0,0,0,0
$GC,12815,0.89,209.5,25.6,12.6,525,12823,0.00,2.15,0.00,0.000,6,0.000,0.028,2906,1965,2444,0,0,0,0,0,0
$STATE,13002,end climb,SURFACE_DEPTH_REACHED
$STATE,13002,begin surface coast
$FINISH,0.3,1.010056
$STATE,13032,end surface coast,CONTROL_FINISHED_OK
$STATE,13032,begin surface
$SM_CCo,13052,48.75,0.417,0,0,2074,300.24
$SM_GC,2.02,0.00,0.00,48.75,0.000,0.000,0.417,61,2120,2074,-7.93,0.57,300.24
$IRIDIUM_FIX,1955.00,-15626.70,190313,020210
$TT8_MAMPS,0.026845
$HUMID,1078960635
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.4,70.482
$10V_AH,9.8,65.312
$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,20.400,147.900,298.800,48.750,0.000,49.965,82.331,332.469,0.000,0.000,25.097,1333.850,9237.942,419.563,2350.956,458.563,33.368,1244.608,0.000,1914.059,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,66.729,1069.198,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,385.316,0.000,952.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26944,563
$CAP_FILE_SIZE,166183,0
$CFSIZE,260165632,167931904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,132.0,1
$GPS,240911,113837,1957.976,-15629.492,53,1.1,54,9.7