version: 66.07
glider: 513
mission: 7
dive: 519
start: 9 24 111 15 43 15
data:
$ID,513
$MISSION,7
$DIVE,519
$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,-433831.19
$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,29
$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
$GPS1,240911,153436,1956.243,-15629.845,65,1.7,75,9.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.1
$GPS2,240911,154218,1956.234,-15629.878,14,2.0,24,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180,-0.188
$KALMAN_X,7183.8,-1726.2,75.5,36021.8,3779.4
$KALMAN_Y,-579637.4,-1028.0,-201.9,574497.2,6114.2
$MHEAD_RNG_PITCHd_Wd,170.4,104146,-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,-136.7,0.0,0.0,0,78,0.00,0.00,-59.25,0.000,2,0.000,0.000,38,2097,3771,0,0,0,0,0,0
$GC,83,-0.80,-136.7,3.9,-5.7,9,105,10.02,2.20,-1.40,0.000,4,0.242,0.051,2329,701,3861,0,0,0,0,0,0
$GC,191,-0.80,-136.7,44.6,-28.3,23,195,0.00,2.17,0.00,0.000,6,0.000,0.044,2321,2101,3863,0,0,0,0,0,0
$GC,455,-0.80,-136.7,113.7,-21.8,47,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3865,0,0,0,0,0,0
$GC,711,-0.80,-136.7,174.7,-23.4,71,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3867,0,0,0,0,0,0
$GC,960,-0.80,-136.7,226.6,-21.0,89,964,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3518,3868,0,0,0,0,0,0
$GC,1099,-0.80,-136.7,250.8,-15.7,95,1104,0.12,2.10,0.00,0.000,6,0.169,0.030,2341,2102,3869,0,0,0,0,0,0
$GC,1353,-0.80,-136.7,287.7,-14.3,107,1357,0.00,2.12,0.00,0.000,4,0.000,0.041,2341,703,3870,0,0,0,0,0,0
$GC,1385,-0.80,-136.7,292.8,-14.6,108,1392,0.00,2.15,0.00,0.000,6,0.000,0.043,2332,2106,3870,0,0,0,0,0,0
$GC,1659,-0.80,-136.7,331.4,-13.8,117,1663,0.00,2.20,0.00,0.000,4,0.000,0.050,2322,3513,3870,0,0,0,0,0,0
$GC,1725,-0.80,-136.7,341.2,-14.4,118,1729,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2099,3870,0,0,0,0,0,0
$GC,1988,-0.80,-136.7,381.4,-15.2,125,1992,0.00,2.10,0.00,0.000,4,0.000,0.040,2321,699,3870,0,0,0,0,0,0
$GC,2027,-0.80,-136.7,387.8,-15.3,126,2032,0.00,2.15,0.00,0.000,6,0.000,0.040,2311,2112,3870,0,0,0,0,0,0
$GC,2312,-0.80,-136.7,432.3,-15.7,133,2316,0.00,2.17,0.00,0.000,4,0.000,0.050,2300,3508,3868,0,0,0,0,0,0
$GC,2346,-0.80,-136.7,438.1,-17.1,133,2353,0.15,2.10,0.00,0.000,6,0.166,0.031,2339,2105,3867,0,0,0,0,0,0
$GC,2596,-0.80,-136.7,472.3,-13.5,140,2600,0.00,2.22,0.00,0.000,4,0.000,0.050,2330,3517,3865,0,0,0,0,0,0
$GC,2637,-0.80,-136.7,477.6,-13.1,141,2641,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2096,3865,0,0,0,0,0,0
$GC,2922,-0.80,-136.7,515.5,-13.1,148,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2092,3864,0,0,0,0,0,0
$GC,3164,-0.80,-136.7,547.2,-12.9,154,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2091,3861,0,0,0,0,0,0
$GC,3409,-0.80,-136.7,578.6,-12.8,160,3413,0.00,2.12,0.00,0.000,4,0.000,0.042,2330,704,3859,0,0,0,0,0,0
$GC,3505,-0.80,-136.7,590.9,-12.8,162,3509,0.00,2.12,0.00,0.000,6,0.000,0.042,2320,2100,3858,0,0,0,0,0,0
$GC,3778,-0.80,-136.7,624.9,-12.3,169,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2100,3855,0,0,0,0,0,0
$GC,4022,-0.80,-136.7,654.3,-12.1,175,4026,0.00,2.28,0.00,0.000,4,0.000,0.052,2309,3512,3853,0,0,0,0,0,0
$GC,4095,-0.80,-136.7,663.4,-12.3,176,4100,0.12,2.15,0.00,0.000,6,0.170,0.033,2340,2105,3853,0,0,0,0,0,0
$GC,4346,-0.80,-136.7,689.9,-10.5,182,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2100,3851,0,0,0,0,0,0
$GC,4589,-0.80,-136.7,715.3,-10.4,188,4593,0.00,2.17,0.00,0.000,4,0.000,0.044,2340,698,3849,0,0,0,0,0,0
$GC,4611,-0.80,-136.7,717.8,-11.4,188,4615,0.00,2.15,0.00,0.000,6,0.000,0.041,2332,2100,3849,0,0,0,0,0,0
$GC,4866,-0.80,-136.7,746.8,-11.5,195,4870,0.00,2.22,0.00,0.000,4,0.000,0.053,2321,3506,3846,0,0,0,0,0,0
$GC,4912,-0.80,-136.7,752.3,-11.8,196,4916,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2096,3846,0,0,0,0,0,0
$GC,5201,-0.80,-136.7,787.4,-12.1,203,5205,0.00,2.25,0.00,0.000,4,0.000,0.053,2311,3504,3844,0,0,0,0,0,0
$GC,5235,-0.80,-136.7,791.7,-12.8,203,5241,0.00,2.15,0.00,0.000,6,0.000,0.031,2310,2092,3844,0,0,0,0,0,0
$GC,5485,-0.80,-136.7,823.3,-12.9,210,5487,0.10,0.00,0.00,0.000,6,0.191,0.000,2334,2086,3843,0,0,0,0,0,0
$GC,5730,-0.80,-136.7,850.7,-11.0,216,5734,0.00,2.28,0.00,0.000,4,0.000,0.054,2325,3510,3841,0,0,0,0,0,0
$GC,5792,-0.80,-136.7,858.0,-11.4,217,5795,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2100,3840,0,0,0,0,0,0
$GC,6059,-0.80,-136.7,888.9,-11.8,224,6063,0.00,2.15,0.00,0.000,4,0.000,0.044,2325,699,3839,0,0,0,0,0,0
$GC,6093,-0.80,-136.7,893.0,-12.2,224,6097,0.00,2.15,0.00,0.000,6,0.000,0.041,2314,2100,3839,0,0,0,0,0,0
$STATE,6178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6178,begin apogee
$GC,6185,-0.28,0.0,903.4,11.7,226,6305,0.65,0.00,116.78,1.062,6,0.149,0.000,2504,1922,3300,0,0,0,0,0,0
$STATE,6306,end apogee,CONTROL_FINISHED_OK
$STATE,6306,begin climb
$GC,6309,0.80,136.7,907.1,0.0,229,6436,1.02,0.00,122.40,1.035,6,0.095,0.000,2844,1922,2742,0,0,0,0,0,0
$GC,6675,0.80,136.7,854.1,17.7,238,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1922,2734,0,0,0,0,0,0
$GC,6920,0.80,136.7,810.8,17.7,244,6924,0.00,2.35,0.00,0.000,4,0.000,0.051,2844,3370,2731,0,0,0,0,0,0
$GC,6953,0.80,136.7,804.2,19.1,244,6959,0.00,2.12,0.00,0.000,6,0.000,0.031,2854,1982,2731,0,0,0,0,0,0
$GC,7203,0.80,136.7,758.6,18.0,251,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1982,2729,0,0,0,0,0,0
$GC,7448,0.80,136.7,717.0,16.8,257,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1982,2728,0,0,0,0,0,0
$GC,7690,0.80,136.7,677.0,16.5,263,7694,0.00,2.17,0.00,0.000,4,0.000,0.039,2865,561,2728,0,0,0,0,0,0
$GC,7729,0.80,136.7,670.4,16.9,263,7735,0.00,2.15,0.00,0.000,6,0.000,0.033,2865,1961,2725,0,0,0,0,0,0
$GC,7981,0.80,136.7,627.8,17.2,270,7985,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3363,2726,0,0,0,0,0,0
$GC,8025,0.80,136.7,619.4,19.1,271,8029,0.00,2.17,0.00,0.000,6,0.000,0.031,2876,1949,2726,0,0,0,0,0,0
$GC,8303,0.80,136.7,568.4,18.4,278,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1946,2725,0,0,0,0,0,0
$GC,8548,0.80,136.7,526.9,16.9,284,8552,0.00,2.10,0.00,0.000,4,0.000,0.037,2886,561,2724,0,0,0,0,0,0
$GC,8610,0.80,136.7,515.5,17.2,285,8614,0.12,2.15,0.00,0.000,6,0.195,0.032,2858,1970,2723,0,0,0,0,0,0
$GC,8877,0.80,136.7,475.0,14.9,292,8882,0.00,2.22,0.00,0.000,4,0.000,0.052,2858,3368,2723,0,0,0,0,0,0
$GC,8905,0.80,136.7,470.3,15.6,292,8909,0.00,2.15,0.00,0.000,6,0.000,0.031,2866,1959,2723,0,0,0,0,0,0
$GC,9155,0.80,136.7,431.8,15.8,298,9159,0.00,2.28,0.00,0.000,4,0.000,0.052,2867,3366,2723,0,0,0,0,0,0
$GC,9345,0.80,136.7,399.7,16.6,302,9349,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1946,2723,0,0,0,0,0,0
$GC,9617,0.80,136.7,357.1,15.6,309,9621,0.00,2.10,0.00,0.000,4,0.000,0.037,2888,560,2723,0,0,0,0,0,0
$GC,9704,0.80,136.7,344.6,15.2,311,9709,0.12,2.12,0.00,0.000,6,0.192,0.031,2859,1972,2721,0,0,0,0,0,0
$GC,9989,0.80,136.7,305.7,13.4,318,9993,0.00,2.20,0.00,0.000,4,0.000,0.049,2859,3359,2721,0,0,0,0,0,0
$GC,10174,0.80,136.7,281.2,12.3,325,10178,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1959,2721,0,0,0,0,0,0
$GC,10432,0.80,136.7,252.3,11.4,337,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1959,2721,0,0,0,0,0,0
$GC,10678,0.80,136.7,225.7,10.0,349,10682,0.00,2.12,0.00,0.000,4,0.000,0.038,2877,560,2721,0,0,0,0,0,0
$GC,10758,0.80,136.7,217.8,9.2,352,10762,0.00,2.10,0.00,0.000,6,0.000,0.030,2876,1962,2720,0,0,0,0,0,0
$GC,11016,0.80,136.7,193.5,10.0,367,11020,0.00,2.15,0.00,0.000,4,0.000,0.036,2887,558,2720,0,0,0,0,0,0
$GC,11080,0.80,136.7,186.8,10.0,372,11085,0.12,2.10,0.00,0.000,6,0.187,0.031,2857,1961,2720,0,0,0,0,0,0
$GC,11345,0.80,136.7,163.3,8.7,396,11349,0.00,2.22,0.00,0.000,4,0.000,0.047,2858,3364,2721,0,0,0,0,0,0
$GC,11583,0.80,136.7,138.5,11.5,416,11591,0.00,2.17,0.00,0.000,6,0.000,0.029,2865,1958,2721,0,0,0,0,0,0
$GC,11849,0.80,143.3,112.9,8.3,441,11852,0.00,2.10,0.00,0.000,4,0.000,0.038,2873,560,2721,0,0,0,0,0,0
$GC,11925,0.82,160.1,106.6,7.9,447,11951,0.00,2.10,17.42,0.485,6,0.000,0.029,2873,1970,2648,0,0,0,0,0,0
$GC,12207,0.84,168.8,84.4,8.2,473,12224,0.00,2.25,9.52,0.438,4,0.000,0.047,2873,3359,2611,0,0,0,0,0,0
$GC,12259,0.84,168.8,79.6,9.2,477,12267,0.00,2.17,0.00,0.000,6,0.000,0.029,2876,1953,2611,0,0,0,0,0,0
$GC,12524,0.84,168.8,57.2,8.7,502,12528,0.00,2.25,0.00,0.000,4,0.000,0.045,2876,3370,2610,0,0,0,0,0,0
$GC,12614,0.86,185.4,50.2,7.9,509,12639,0.00,2.12,15.57,0.436,6,0.000,0.028,2881,1951,2543,0,0,0,0,0,0
$GC,12895,0.86,185.4,28.9,9.2,536,12904,0.00,2.25,0.00,0.000,4,0.000,0.045,2881,3355,2542,0,0,0,0,0,0
$GC,12992,0.86,185.4,19.4,10.1,552,13001,0.00,2.12,0.00,0.000,6,0.000,0.028,2889,1974,2541,0,0,0,0,0,0
$STATE,13169,end climb,SURFACE_DEPTH_REACHED
$STATE,13169,begin surface coast
$FINISH,0.4,1.023231
$STATE,13204,end surface coast,CONTROL_FINISHED_OK
$STATE,13204,begin surface
$SM_CCo,13223,54.83,0.415,0,0,2074,300.24
$SM_GC,1.05,0.00,0.00,54.83,0.000,0.000,0.415,54,2133,2074,-7.95,0.93,300.24
$IRIDIUM_FIX,1952.70,-15626.70,190313,060649
$TT8_MAMPS,0.027612
$HUMID,1078911603
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.3,70.687
$10V_AH,9.8,65.501
$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,20.275,126.100,281.700,54.825,0.000,24.955,39.476,223.964,0.000,0.000,26.466,1357.819,9218.353,420.057,2303.989,439.242,33.365,1257.387,0.000,2027.151,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,65.195,1062.295,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,402.764,0.000,1024.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30266,589
$CAP_FILE_SIZE,160802,0
$CFSIZE,260165632,167800832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 60.6,1
$GPS,240911,192601,1954.916,-15629.360,42,1.4,43,9.7