version: 66.07
glider: 513
mission: 7
dive: 520
start: 9 24 111 19 34 36
data:
$ID,513
$MISSION,7
$DIVE,520
$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,-433845.75
$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,50
$R_STBD_OVSHOOT,69
$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
$GPS1,240911,192601,1954.916,-15629.360,42,1.4,43,9.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-80.4
$GPS2,240911,193338,1954.928,-15629.341,12,1.5,12,9.7
$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,10865.1,-691.4,104.3,32159.8,6205.6
$KALMAN_Y,-578564.2,-728.7,-520.5,571017.3,6120.1
$MHEAD_RNG_PITCHd_Wd,186.9,101733,-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,-136.7,0.0,0.0,0,77,0.00,0.00,-58.85,0.000,2,0.000,0.000,39,2134,3769,0,0,0,0,0,0
$GC,82,-0.80,-136.7,4.0,-6.0,9,104,10.05,2.25,-1.45,0.000,4,0.243,0.047,2329,678,3862,0,0,0,0,0,0
$GC,248,-0.80,-136.7,60.5,-24.8,28,252,0.00,2.17,0.00,0.000,6,0.000,0.042,2321,2071,3865,0,0,0,0,0,0
$GC,512,-0.80,-136.7,124.8,-25.5,52,516,0.00,2.28,0.00,0.000,4,0.000,0.051,2310,3521,3867,0,0,0,0,0,0
$GC,614,-0.80,-136.7,147.6,-21.7,60,622,0.00,2.15,0.00,0.000,6,0.000,0.030,2309,2114,3867,0,0,0,0,0,0
$GC,879,-0.80,-136.7,201.8,-20.7,85,883,0.12,2.15,0.00,0.000,4,0.178,0.041,2341,692,3869,0,0,0,0,0,0
$GC,911,-0.80,-136.7,209.0,-18.4,86,917,0.00,2.17,0.00,0.000,6,0.000,0.043,2332,2102,3869,0,0,0,0,0,0
$GC,1169,-0.80,-136.7,255.1,-18.5,99,1172,0.00,2.12,0.00,0.000,4,0.000,0.041,2332,691,3870,0,0,0,0,0,0
$GC,1188,-0.80,-136.7,259.1,-18.7,100,1192,0.00,2.15,0.00,0.000,6,0.000,0.042,2323,2100,3871,0,0,0,0,0,0
$GC,1473,-0.80,-136.7,310.8,-18.1,113,1477,0.00,2.22,0.00,0.000,4,0.000,0.049,2312,3520,3871,0,0,0,0,0,0
$GC,1506,-0.80,-136.7,316.8,-17.8,113,1512,0.00,2.12,0.00,0.000,6,0.000,0.029,2311,2091,3871,0,0,0,0,0,0
$GC,1758,-0.80,-136.7,360.2,-17.4,120,1762,0.00,2.22,0.00,0.000,4,0.000,0.048,2300,3518,3871,0,0,0,0,0,0
$GC,1813,-0.80,-136.7,370.1,-15.5,121,1818,0.15,2.10,0.00,0.000,6,0.163,0.030,2340,2095,3871,0,0,0,0,0,0
$GC,2089,-0.80,-136.7,404.1,-12.5,128,2093,0.00,2.08,0.00,0.000,4,0.000,0.038,2340,704,3871,0,0,0,0,0,0
$GC,2158,-0.80,-136.7,413.4,-12.1,129,2162,0.00,2.12,0.00,0.000,6,0.000,0.041,2332,2101,3870,0,0,0,0,0,0
$GC,2413,-0.80,-136.7,448.2,-13.7,136,2417,0.00,2.22,0.00,0.000,4,0.000,0.049,2321,3516,3868,0,0,0,0,0,0
$GC,2463,-0.80,-136.7,455.4,-13.7,137,2467,0.00,2.12,0.00,0.000,6,0.000,0.030,2321,2098,3868,0,0,0,0,0,0
$GC,2738,-0.80,-136.7,495.2,-15.0,144,2742,0.00,2.25,0.00,0.000,4,0.000,0.051,2310,3511,3865,0,0,0,0,0,0
$GC,2778,-0.80,-136.7,501.3,-14.8,145,2783,0.10,2.15,0.00,0.000,6,0.175,0.032,2334,2095,3865,0,0,0,0,0,0
$GC,3065,-0.80,-136.7,536.8,-12.3,152,3069,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3506,3863,0,0,0,0,0,0
$GC,3098,-0.80,-136.7,541.4,-12.5,152,3104,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2096,3862,0,0,0,0,0,0
$GC,3349,-0.80,-136.7,572.8,-12.9,159,3353,0.00,2.10,0.00,0.000,4,0.000,0.039,2325,700,3860,0,0,0,0,0,0
$GC,3422,-0.80,-136.7,582.5,-13.2,160,3426,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2105,3860,0,0,0,0,0,0
$GC,3672,-0.80,-136.7,615.1,-13.0,166,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2104,3857,0,0,0,0,0,0
$GC,3917,-0.80,-136.7,647.7,-13.3,172,3921,0.00,2.22,0.00,0.000,4,0.000,0.051,2304,3505,3855,0,0,0,0,0,0
$GC,3961,-0.80,-136.7,653.8,-13.0,173,3965,0.12,2.15,0.00,0.000,6,0.172,0.030,2335,2096,3855,0,0,0,0,0,0
$GC,4240,-0.80,-136.7,684.4,-10.9,180,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2090,3853,0,0,0,0,0,0
$GC,4484,-0.80,-136.7,710.0,-10.6,186,4488,0.00,2.12,0.00,0.000,4,0.000,0.041,2334,698,3851,0,0,0,0,0,0
$GC,4506,-0.80,-136.7,712.7,-11.2,186,4509,0.00,2.17,0.00,0.000,6,0.000,0.041,2327,2104,3851,0,0,0,0,0,0
$GC,4762,-0.80,-136.7,741.4,-11.3,193,4766,0.00,2.22,0.00,0.000,4,0.000,0.051,2316,3517,3848,0,0,0,0,0,0
$GC,4796,-0.80,-136.7,745.6,-12.8,193,4802,0.00,2.15,0.00,0.000,6,0.000,0.031,2315,2100,3848,0,0,0,0,0,0
$GC,5046,-0.80,-136.7,776.5,-12.3,200,5050,0.00,2.15,0.00,0.000,4,0.000,0.044,2315,693,3847,0,0,0,0,0,0
$GC,5067,-0.80,-136.7,779.3,-12.3,200,5072,0.12,2.20,0.00,0.000,6,0.188,0.043,2334,2104,3846,0,0,0,0,0,0
$GC,5324,-0.80,-136.7,806.0,-10.2,207,5328,0.00,2.22,0.00,0.000,4,0.000,0.052,2325,3508,3845,0,0,0,0,0,0
$GC,5407,-0.80,-136.7,814.7,-10.1,208,5414,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2107,3844,0,0,0,0,0,0
$GC,5659,-0.80,-136.7,840.3,-10.4,215,5663,0.00,2.17,0.00,0.000,4,0.000,0.043,2325,694,3843,0,0,0,0,0,0
$GC,5680,-0.80,-136.7,843.0,-11.2,215,5684,0.00,2.17,0.00,0.000,6,0.000,0.042,2315,2101,3843,0,0,0,0,0,0
$GC,5935,-0.80,-136.7,871.3,-11.3,222,5939,0.00,2.28,0.00,0.000,4,0.000,0.053,2304,3506,3841,0,0,0,0,0,0
$GC,5960,-0.80,-136.7,873.8,-11.3,222,5965,0.12,2.15,0.00,0.000,6,0.174,0.031,2334,2089,3840,0,0,0,0,0,0
$GC,6216,-0.80,-136.7,898.5,-9.5,229,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2083,3840,0,0,0,0,0,0
$STATE,6254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6254,begin apogee
$GC,6261,-0.28,0.0,902.4,9.5,230,6379,0.55,0.00,115.68,1.066,6,0.143,0.000,2498,1920,3300,0,0,0,0,0,0
$STATE,6380,end apogee,CONTROL_FINISHED_OK
$STATE,6380,begin climb
$GC,6385,0.80,136.7,904.8,0.0,233,6512,1.08,0.00,123.70,1.032,6,0.096,0.000,2849,1921,2741,0,0,0,0,0,0
$GC,6742,0.80,136.7,849.9,18.6,242,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1920,2733,0,0,0,0,0,0
$GC,6985,0.80,136.7,805.5,18.0,248,6990,0.00,2.33,0.00,0.000,4,0.000,0.051,2849,3369,2731,0,0,0,0,0,0
$GC,7030,0.80,136.7,796.6,20.1,249,7034,0.00,2.12,0.00,0.000,6,0.000,0.029,2859,1979,2731,0,0,0,0,0,0
$GC,7307,0.80,136.7,745.4,18.3,256,7311,0.00,2.22,0.00,0.000,4,0.000,0.051,2860,3365,2729,0,0,0,0,0,0
$GC,7336,0.80,136.7,740.1,19.2,256,7341,0.00,2.15,0.00,0.000,6,0.000,0.030,2870,1959,2729,0,0,0,0,0,0
$GC,7586,0.80,136.7,692.4,19.1,262,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1959,2728,0,0,0,0,0,0
$GC,7830,0.80,136.7,647.1,18.4,268,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1959,2728,0,0,0,0,0,0
$GC,8075,0.80,136.7,602.5,18.4,274,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1959,2727,0,0,0,0,0,0
$GC,8318,0.80,136.7,562.6,16.1,280,8322,0.00,2.12,0.00,0.000,4,0.000,0.039,2881,560,2726,0,0,0,0,0,0
$GC,8397,0.80,136.7,549.5,17.7,281,8401,0.00,2.12,0.00,0.000,6,0.000,0.033,2881,1963,2724,0,0,0,0,0,0
$GC,8647,0.80,136.7,507.7,16.5,287,8651,0.00,2.25,0.00,0.000,4,0.000,0.051,2881,3371,2724,0,0,0,0,0,0
$GC,8675,0.80,136.7,502.7,18.2,287,8680,0.15,2.15,0.00,0.000,6,0.209,0.029,2857,1954,2724,0,0,0,0,0,0
$GC,8932,0.80,136.7,464.8,14.8,294,8936,0.00,2.28,0.00,0.000,4,0.000,0.049,2856,3367,2724,0,0,0,0,0,0
$GC,9021,0.80,136.7,450.9,15.0,296,9025,0.00,2.15,0.00,0.000,6,0.000,0.030,2865,1957,2724,0,0,0,0,0,0
$GC,9300,0.80,136.7,410.3,14.6,303,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1957,2723,0,0,0,0,0,0
$GC,9543,0.80,136.7,376.5,13.9,309,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1957,2723,0,0,0,0,0,0
$GC,9786,0.80,136.7,344.8,13.1,315,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1957,2723,0,0,0,0,0,0
$GC,10032,0.80,136.7,313.3,12.8,321,10036,0.00,2.28,0.00,0.000,4,0.000,0.050,2865,3364,2723,0,0,0,0,0,0
$GC,10143,0.80,136.7,299.0,11.9,323,10147,0.00,2.12,0.00,0.000,6,0.000,0.029,2875,1956,2723,0,0,0,0,0,0
$GC,10407,0.80,136.7,262.8,13.9,336,10411,0.00,2.10,0.00,0.000,4,0.000,0.038,2886,560,2722,0,0,0,0,0,0
$GC,10553,0.80,136.7,243.5,12.2,342,10559,0.12,2.12,0.00,0.000,6,0.186,0.030,2857,1966,2720,0,0,0,0,0,0
$GC,10807,0.80,136.7,216.6,10.2,355,10811,0.00,2.15,0.00,0.000,4,0.000,0.037,2866,562,2720,0,0,0,0,0,0
$GC,10907,0.80,136.7,205.9,9.6,359,10913,0.00,2.10,0.00,0.000,6,0.000,0.031,2865,1960,2720,0,0,0,0,0,0
$GC,11169,0.80,136.7,181.3,9.5,381,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1960,2720,0,0,0,0,0,0
$GC,11423,0.80,136.7,157.8,10.3,405,11427,0.00,2.22,0.00,0.000,4,0.000,0.048,2866,3360,2721,0,0,0,0,0,0
$GC,11612,0.80,136.7,139.9,8.7,421,11616,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1962,2722,0,0,0,0,0,0
$GC,11876,0.83,161.1,118.7,7.5,445,11901,0.00,2.12,18.62,0.499,4,0.000,0.035,2886,559,2643,0,0,0,0,0,0
$GC,12062,0.83,161.1,102.1,8.8,461,12066,0.00,2.10,0.00,0.000,6,0.000,0.030,2886,1959,2640,0,0,0,0,0,0
$GC,12333,0.83,161.1,80.8,8.7,486,12337,0.00,2.22,0.00,0.000,4,0.000,0.047,2886,3365,2641,0,0,0,0,0,0
$GC,12444,0.84,176.4,71.7,7.9,495,12465,0.00,2.15,14.55,0.448,6,0.000,0.028,2895,1964,2580,0,0,0,0,0,0
$GC,12722,0.90,221.4,51.5,6.7,521,12763,0.00,0.00,38.28,0.453,6,0.000,0.000,2895,1964,2397,0,0,0,0,0,0
$GC,13021,0.90,221.4,16.7,12.2,558,13029,0.00,2.15,0.00,0.000,4,0.000,0.038,2904,570,2393,0,0,0,0,0,0
$GC,13070,0.90,221.4,10.8,11.3,566,13080,0.00,2.12,0.00,0.000,6,0.000,0.029,2904,1959,2392,0,0,0,0,0,0
$STATE,13144,end climb,SURFACE_DEPTH_REACHED
$STATE,13144,begin surface coast
$FINISH,0.3,1.008388
$STATE,13167,end surface coast,CONTROL_FINISHED_OK
$STATE,13167,begin surface
$SM_CCo,13186,37.55,0.413,0,0,2074,300.24
$SM_GC,1.79,0.00,0.00,37.55,0.000,0.000,0.413,57,2151,2074,-7.94,1.44,300.24
$IRIDIUM_FIX,1948.12,-15632.74,190313,090952
$TT8_MAMPS,0.027612
$HUMID,1078941281
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.3,70.789
$10V_AH,9.8,65.594
$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,20.450,130.550,310.825,37.550,0.000,30.386,33.063,234.985,0.000,0.000,13.947,1344.953,9238.680,457.759,2193.576,444.412,33.361,1247.241,0.000,1930.996,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,63.661,1066.130,412.646,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,397.679,0.000,1001.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,30225,582
$CAP_FILE_SIZE,159605,0
$CFSIZE,260165632,167739392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,100.5,1
$GPS,240911,231736,1953.289,-15629.217,112,1.8,113,9.7