version: 66.07
glider: 513
mission: 7
dive: 518
start: 9 24 111 11 51 5
data:
$ID,513
$MISSION,7
$DIVE,518
$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,-433804.09
$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,51
$R_STBD_OVSHOOT,47
$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
$GPS1,240911,113837,1957.976,-15629.492,53,1.1,54,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.6
$GPS2,240911,115008,1957.921,-15629.517,9,1.4,9,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.021,-0.238
$KALMAN_X,9472.5,-1199.3,-1627.6,35525.5,9380.2
$KALMAN_Y,-580370.2,-1031.1,-766.2,578912.4,7839.6
$MHEAD_RNG_PITCHd_Wd,180.6,107273,-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,-53.00,0.000,2,0.000,0.000,38,2121,3589,0,0,0,0,0,0
$GC,76,-0.80,-136.7,3.6,-5.4,8,99,10.05,2.20,-4.68,0.000,4,0.244,0.047,2329,703,3860,0,0,0,0,0,0
$GC,175,-0.80,-136.7,37.9,-27.8,22,179,0.00,2.17,0.00,0.000,6,0.000,0.046,2320,2083,3863,0,0,0,0,0,0
$GC,444,-0.80,-136.7,113.0,-25.8,47,448,0.00,2.25,0.00,0.000,4,0.000,0.049,2309,3519,3864,0,0,0,0,0,0
$GC,479,-0.80,-136.7,121.6,-22.8,49,487,0.08,2.15,0.00,0.000,6,0.162,0.030,2332,2098,3865,0,0,0,0,0,0
$GC,744,-0.80,-136.7,176.3,-20.8,74,748,0.00,2.25,0.00,0.000,4,0.000,0.048,2323,3523,3866,0,0,0,0,0,0
$GC,818,-0.80,-136.7,190.4,-16.1,80,823,0.00,2.10,0.00,0.000,6,0.000,0.030,2323,2106,3867,0,0,0,0,0,0
$GC,1084,-0.80,-136.7,238.6,-16.6,95,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2099,3868,0,0,0,0,0,0
$GC,1332,-0.80,-136.7,281.6,-18.3,107,1336,0.00,2.12,0.00,0.000,4,0.000,0.040,2323,697,3869,0,0,0,0,0,0
$GC,1396,-0.80,-136.7,291.8,-16.4,110,1400,0.00,2.15,0.00,0.000,6,0.000,0.041,2312,2103,3869,0,0,0,0,0,0
$GC,1658,-0.80,-136.7,336.5,-17.0,118,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2103,3869,0,0,0,0,0,0
$GC,1902,-0.80,-136.7,375.3,-15.5,124,1906,0.00,2.20,0.00,0.000,4,0.000,0.051,2301,3513,3869,0,0,0,0,0,0
$GC,1941,-0.80,-136.7,381.8,-16.6,124,1948,0.15,2.12,0.00,0.000,6,0.165,0.031,2340,2088,3869,0,0,0,0,0,0
$GC,2192,-0.80,-136.7,414.8,-12.8,131,2196,0.00,2.10,0.00,0.000,4,0.000,0.039,2340,700,3867,0,0,0,0,0,0
$GC,2249,-0.80,-136.7,422.4,-13.4,132,2253,0.00,2.15,0.00,0.000,6,0.000,0.040,2332,2104,3867,0,0,0,0,0,0
$GC,2521,-0.80,-136.7,456.9,-12.6,139,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2104,3865,0,0,0,0,0,0
$GC,2765,-0.80,-136.7,486.9,-12.3,145,2769,0.00,2.12,0.00,0.000,4,0.000,0.041,2332,701,3864,0,0,0,0,0,0
$GC,2782,-0.80,-136.7,489.1,-12.5,145,2786,0.00,2.15,0.00,0.000,6,0.000,0.042,2322,2102,3863,0,0,0,0,0,0
$GC,3044,-0.80,-136.7,523.1,-13.3,152,3048,0.00,2.22,0.00,0.000,4,0.000,0.051,2311,3511,3860,0,0,0,0,0,0
$GC,3110,-0.80,-136.7,532.6,-13.2,153,3114,0.00,2.10,0.00,0.000,6,0.000,0.033,2311,2106,3860,0,0,0,0,0,0
$GC,3368,-0.80,-136.7,567.5,-13.7,160,3372,0.00,2.15,0.00,0.000,4,0.000,0.041,2311,697,3857,0,0,0,0,0,0
$GC,3408,-0.80,-136.7,573.6,-14.5,161,3413,0.15,2.15,0.00,0.000,6,0.171,0.041,2338,2099,3857,0,0,0,0,0,0
$GC,3696,-0.80,-136.7,606.2,-11.2,168,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2099,3854,0,0,0,0,0,0
$GC,3935,-0.80,-136.7,632.3,-10.6,174,3939,0.00,2.22,0.00,0.000,4,0.000,0.053,2329,3510,3852,0,0,0,0,0,0
$GC,3968,-0.80,-136.7,636.1,-11.0,174,3972,0.00,2.12,0.00,0.000,6,0.000,0.031,2329,2102,3852,0,0,0,0,0,0
$GC,4221,-0.80,-136.7,664.0,-11.2,180,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2096,3851,0,0,0,0,0,0
$GC,4462,-0.80,-136.7,691.2,-11.2,186,4466,0.00,2.15,0.00,0.000,4,0.000,0.041,2329,686,3848,0,0,0,0,0,0
$GC,4518,-0.80,-136.7,697.7,-11.5,187,4522,0.00,2.20,0.00,0.000,6,0.000,0.042,2319,2098,3848,0,0,0,0,0,0
$GC,4786,-0.80,-136.7,728.3,-11.8,194,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2097,3845,0,0,0,0,0,0
$GC,5028,-0.80,-136.7,756.2,-11.5,200,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2097,3844,0,0,0,0,0,0
$GC,5272,-0.80,-136.7,785.6,-12.1,206,5276,0.00,2.25,0.00,0.000,4,0.000,0.053,2308,3509,3843,0,0,0,0,0,0
$GC,5323,-0.80,-136.7,791.9,-12.2,207,5328,0.12,2.15,0.00,0.000,6,0.173,0.031,2339,2086,3842,0,0,0,0,0,0
$GC,5597,-0.80,-136.7,821.5,-10.8,214,5601,0.00,2.28,0.00,0.000,4,0.000,0.051,2330,3508,3840,0,0,0,0,0,0
$GC,5631,-0.80,-136.7,825.6,-11.3,214,5637,0.00,2.12,0.00,0.000,6,0.000,0.030,2330,2103,3839,0,0,0,0,0,0
$GC,5881,-0.80,-136.7,853.2,-11.0,221,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2096,3838,0,0,0,0,0,0
$GC,6125,-0.80,-136.7,878.8,-10.4,227,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2096,3836,0,0,0,0,0,0
$STATE,6366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6366,begin apogee
$GC,6375,-0.28,0.0,903.5,10.1,233,6493,0.57,0.00,114.93,1.071,6,0.145,0.000,2499,1918,3300,0,0,0,0,0,0
$STATE,6494,end apogee,CONTROL_FINISHED_OK
$STATE,6494,begin climb
$GC,6496,0.80,136.7,906.5,0.0,236,6624,1.05,0.00,122.65,1.031,6,0.097,0.000,2845,1917,2742,0,0,0,0,0,0
$GC,6862,0.80,136.7,849.0,18.9,245,6866,0.00,2.35,0.00,0.000,4,0.000,0.053,2846,3367,2733,0,0,0,0,0,0
$GC,6897,0.80,136.7,842.4,19.3,245,6903,0.00,2.17,0.00,0.000,6,0.000,0.031,2855,1979,2733,0,0,0,0,0,0
$GC,7149,0.80,136.7,794.2,19.3,252,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1978,2731,0,0,0,0,0,0
$GC,7391,0.80,136.7,748.9,18.6,258,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1978,2729,0,0,0,0,0,0
$GC,7635,0.80,136.7,705.8,17.5,264,7639,0.00,2.17,0.00,0.000,4,0.000,0.040,2866,558,2728,0,0,0,0,0,0
$GC,7669,0.80,136.7,700.0,16.7,264,7675,0.00,2.17,0.00,0.000,6,0.000,0.032,2866,1970,2726,0,0,0,0,0,0
$GC,7919,0.80,136.7,656.9,17.2,271,7923,0.00,2.17,0.00,0.000,4,0.000,0.038,2877,558,2726,0,0,0,0,0,0
$GC,7935,0.80,136.7,654.1,16.8,271,7940,0.00,2.15,0.00,0.000,6,0.000,0.033,2877,1963,2725,0,0,0,0,0,0
$GC,8204,0.80,136.7,609.0,16.8,278,8208,0.00,2.25,0.00,0.000,4,0.000,0.052,2877,3364,2725,0,0,0,0,0,0
$GC,8293,0.80,136.7,592.4,17.7,280,8298,0.12,2.15,0.00,0.000,6,0.208,0.031,2859,1955,2725,0,0,0,0,0,0
$GC,8574,0.80,136.7,550.6,14.8,287,8578,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,558,2724,0,0,0,0,0,0
$GC,8608,0.80,136.7,544.8,14.9,287,8614,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1961,2723,0,0,0,0,0,0
$GC,8858,0.80,136.7,503.7,16.5,294,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1962,2723,0,0,0,0,0,0
$GC,9104,0.80,136.7,460.5,17.6,300,9108,0.00,2.25,0.00,0.000,4,0.000,0.053,2868,3364,2723,0,0,0,0,0,0
$GC,9204,0.80,136.7,440.9,19.7,302,9208,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1947,2723,0,0,0,0,0,0
$GC,9473,0.80,136.7,397.0,16.2,309,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1945,2723,0,0,0,0,0,0
$GC,9715,0.80,136.7,362.1,13.7,315,9719,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,560,2723,0,0,0,0,0,0
$GC,9816,0.80,136.7,347.7,13.4,317,9821,0.15,2.12,0.00,0.000,6,0.188,0.032,2853,1964,2721,0,0,0,0,0,0
$GC,10084,0.80,136.7,313.4,13.5,324,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1967,2721,0,0,0,0,0,0
$GC,10329,0.80,136.7,282.0,11.7,333,10333,0.00,2.22,0.00,0.000,4,0.000,0.050,2854,3359,2721,0,0,0,0,0,0
$GC,10463,0.80,136.7,265.0,13.2,339,10467,0.00,2.12,0.00,0.000,6,0.000,0.030,2862,1950,2721,0,0,0,0,0,0
$GC,10723,0.80,136.7,234.9,12.0,352,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1948,2721,0,0,0,0,0,0
$GC,10972,0.80,138.6,210.3,8.5,364,10976,0.00,2.25,0.00,0.000,4,0.000,0.049,2862,3361,2721,0,0,0,0,0,0
$GC,11011,0.80,138.6,206.2,9.9,365,11017,0.00,2.12,0.00,0.000,6,0.000,0.030,2873,1950,2721,0,0,0,0,0,0
$GC,11273,0.80,138.6,181.7,9.5,387,11277,0.00,2.25,0.00,0.000,4,0.000,0.049,2873,3368,2721,0,0,0,0,0,0
$GC,11530,0.80,138.6,153.8,9.8,409,11537,0.00,2.15,0.00,0.000,6,0.000,0.028,2882,1967,2721,0,0,0,0,0,0
$GC,11794,0.83,166.1,133.0,7.4,434,11822,0.00,2.28,22.92,0.523,4,0.000,0.046,2882,3366,2622,0,0,0,0,0,0
$GC,11868,0.83,166.1,126.7,10.7,440,11872,0.00,2.12,0.00,0.000,6,0.000,0.027,2892,1947,2622,0,0,0,0,0,0
$GC,12134,0.83,166.1,96.3,9.7,464,12138,0.00,2.08,0.00,0.000,4,0.000,0.036,2903,567,2619,0,0,0,0,0,0
$GC,12177,0.83,166.1,91.8,9.5,467,12186,0.10,2.15,0.00,0.000,6,0.159,0.031,2873,1968,2618,0,0,0,0,0,0
$GC,12440,0.84,175.4,69.7,8.2,492,12454,0.00,2.20,8.95,0.425,4,0.000,0.037,2881,568,2585,0,0,0,0,0,0
$GC,12483,0.85,178.4,66.0,8.4,495,12493,0.00,2.15,4.43,0.341,6,0.000,0.031,2881,1962,2571,0,0,0,0,0,0
$GC,12749,0.87,194.3,43.2,7.9,520,12774,0.00,2.25,15.25,0.430,4,0.000,0.047,2881,3355,2507,0,0,0,0,0,0
$GC,12834,0.87,194.3,34.8,10.9,527,12838,0.00,2.10,0.00,0.000,6,0.000,0.029,2890,1970,2507,0,0,0,0,0,0
$GC,13112,0.90,220.5,6.9,7.5,572,13141,0.00,2.15,22.73,0.413,4,0.000,0.034,2899,556,2400,0,0,0,0,0,0
$STATE,13171,end climb,SURFACE_DEPTH_REACHED
$STATE,13171,begin surface coast
$FINISH,0.2,1.011241
$STATE,13232,end surface coast,CONTROL_FINISHED_OK
$STATE,13232,begin surface
$SM_CCo,13255,37.75,0.413,0,0,2075,300.24
$SM_GC,2.11,0.00,0.00,37.75,0.000,0.000,0.413,50,2100,2075,-7.95,0.00,300.24
$IRIDIUM_FIX,1952.70,-15629.72,190313,060657
$TT8_MAMPS,0.026845
$HUMID,1078930958
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.4,70.587
$10V_AH,9.8,65.406
$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,20.250,122.100,311.850,37.750,0.000,89.904,144.674,174.986,0.000,0.000,11.491,1337.076,9491.259,410.885,2294.273,446.052,33.366,1209.973,0.000,1923.049,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,61.360,1070.732,412.646,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,404.601,0.000,1015.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,30292,592
$CAP_FILE_SIZE,158392,0
$CFSIZE,260165632,167870464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,181.1,1
$GPS,240911,153436,1956.243,-15629.845,65,1.7,75,9.7