version: 66.07
glider: 513
mission: 7
dive: 521
start: 9 24 111 23 37 41
data:
$ID,513
$MISSION,7
$DIVE,521
$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,-433860.47
$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,52
$R_STBD_OVSHOOT,88
$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
$GPS1,240911,231736,1953.289,-15629.217,112,1.8,113,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.6
$GPS2,240911,233644,1953.268,-15629.279,12,1.6,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.015,-0.239
$KALMAN_X,10864.1,355.4,-1046.5,32404.6,5468.3
$KALMAN_Y,-577493.3,-402.2,-412.4,566435.4,5425.8
$MHEAD_RNG_PITCHd_Wd,192.8,98661,-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,14,begin dive
$GC,17,-0.80,-136.7,0.0,0.0,0,71,0.00,0.00,-52.60,0.000,2,0.000,0.000,37,2151,3557,0,0,0,0,0,0
$GC,75,-0.80,-136.7,3.0,-4.1,8,98,10.07,2.20,-5.55,0.000,4,0.243,0.048,2331,703,3858,0,0,0,0,0,0
$GC,220,-0.80,-136.7,45.8,-24.6,27,228,0.00,2.12,0.00,0.000,6,0.000,0.045,2323,2037,3861,0,0,0,0,0,0
$GC,484,-0.80,-136.7,112.7,-23.8,52,488,0.00,2.22,0.00,0.000,4,0.000,0.050,2312,3452,3863,0,0,0,0,0,0
$GC,517,-0.80,-136.7,120.9,-22.5,54,526,0.00,2.08,0.00,0.000,6,0.000,0.030,2312,2104,3863,0,0,0,0,0,0
$GC,781,-0.80,-136.7,177.2,-20.8,79,785,0.00,2.10,0.00,0.000,4,0.000,0.039,2312,699,3864,0,0,0,0,0,0
$GC,815,-0.80,-136.7,184.5,-19.8,81,823,0.08,2.10,0.00,0.000,6,0.155,0.044,2325,2043,3864,0,0,0,0,0,0
$GC,1071,-0.80,-136.7,231.7,-17.9,98,1075,0.00,2.22,0.00,0.000,4,0.000,0.050,2316,3459,3864,0,0,0,0,0,0
$GC,1100,-0.80,-136.7,236.5,-16.7,99,1104,0.00,2.05,0.00,0.000,6,0.000,0.031,2316,2089,3865,0,0,0,0,0,0
$GC,1356,-0.80,-136.7,277.7,-15.6,111,1360,0.00,2.08,0.00,0.000,4,0.000,0.041,2316,701,3865,0,0,0,0,0,0
$GC,1402,-0.80,-136.7,285.3,-15.5,113,1406,0.12,2.08,0.00,0.000,6,0.173,0.043,2337,2042,3865,0,0,0,0,0,0
$GC,1681,-0.80,-136.7,324.4,-14.1,123,1685,0.00,2.22,0.00,0.000,4,0.000,0.051,2328,3453,3864,0,0,0,0,0,0
$GC,1725,-0.80,-136.7,331.6,-14.7,124,1729,0.00,2.03,0.00,0.000,6,0.000,0.029,2328,2090,3864,0,0,0,0,0,0
$GC,2005,-0.80,-136.7,374.7,-15.7,131,2009,0.00,2.17,0.00,0.000,4,0.000,0.050,2318,3468,3864,0,0,0,0,0,0
$GC,2045,-0.80,-136.7,381.0,-15.0,132,2049,0.00,2.08,0.00,0.000,6,0.000,0.030,2318,2092,3864,0,0,0,0,0,0
$GC,2330,-0.80,-136.7,422.7,-14.2,139,2334,0.00,2.08,0.00,0.000,4,0.000,0.037,2318,698,3862,0,0,0,0,0,0
$GC,2415,-0.80,-136.7,434.6,-14.1,141,2420,0.12,2.08,0.00,0.000,6,0.174,0.039,2339,2057,3862,0,0,0,0,0,0
$GC,2702,-0.80,-136.7,468.0,-11.7,148,2706,0.00,2.30,0.00,0.000,4,0.000,0.051,2329,3512,3859,0,0,0,0,0,0
$GC,2791,-0.80,-136.7,480.1,-12.1,150,2795,0.00,2.15,0.00,0.000,6,0.000,0.030,2329,2095,3858,0,0,0,0,0,0
$GC,3070,-0.80,-136.7,516.0,-12.9,157,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2089,3856,0,0,0,0,0,0
$GC,3313,-0.80,-136.7,546.5,-12.4,163,3317,0.00,2.12,0.00,0.000,4,0.000,0.039,2329,688,3853,0,0,0,0,0,0
$GC,3346,-0.80,-136.7,551.0,-12.5,163,3350,0.00,2.15,0.00,0.000,6,0.000,0.040,2319,2100,3853,0,0,0,0,0,0
$GC,3597,-0.80,-136.7,583.7,-13.1,169,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2100,3851,0,0,0,0,0,0
$GC,3840,-0.80,-136.7,615.4,-13.1,175,3844,0.00,2.25,0.00,0.000,4,0.000,0.053,2308,3503,3848,0,0,0,0,0,0
$GC,3890,-0.80,-136.7,622.1,-13.1,176,3895,0.12,2.12,0.00,0.000,6,0.166,0.030,2339,2095,3848,0,0,0,0,0,0
$GC,4166,-0.80,-136.7,653.0,-11.3,183,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2088,3845,0,0,0,0,0,0
$GC,4406,-0.80,-136.7,680.1,-11.2,189,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2088,3843,0,0,0,0,0,0
$GC,4650,-0.80,-136.7,705.6,-10.3,195,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2088,3841,0,0,0,0,0,0
$GC,4895,-0.80,-136.7,730.5,-10.4,201,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3839,0,0,0,0,0,0
$GC,5138,-0.80,-136.7,756.0,-10.4,207,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2088,3837,0,0,0,0,0,0
$GC,5381,-0.80,-136.7,782.2,-10.7,213,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2088,3835,0,0,0,0,0,0
$GC,5627,-0.80,-136.7,807.9,-10.5,219,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2088,3833,0,0,0,0,0,0
$GC,5869,-0.80,-136.7,832.1,-9.8,225,5872,0.00,2.15,0.00,0.000,4,0.000,0.041,2340,687,3831,0,0,0,0,0,0
$GC,5890,-0.80,-136.7,834.4,-10.3,225,5894,0.00,2.17,0.00,0.000,6,0.000,0.041,2331,2099,3831,0,0,0,0,0,0
$GC,6153,-0.80,-136.7,858.9,-9.4,232,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2097,3830,0,0,0,0,0,0
$GC,6396,-0.80,-136.7,881.2,-9.2,238,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2097,3829,0,0,0,0,0,0
$STATE,6596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6597,begin apogee
$GC,6605,-0.28,0.0,900.5,9.6,243,6722,0.57,0.00,113.38,1.068,6,0.143,0.000,2502,1927,3300,0,0,0,0,0,0
$STATE,6722,end apogee,CONTROL_FINISHED_OK
$STATE,6723,begin climb
$GC,6725,0.80,136.7,903.7,0.0,246,6855,1.05,2.20,121.55,1.039,4,0.097,0.038,2859,584,2741,0,0,0,0,0,0
$GC,6873,0.80,136.7,888.6,16.1,249,6877,0.00,2.20,0.00,0.000,6,0.000,0.034,2859,1956,2736,0,0,0,0,0,0
$GC,7128,0.80,136.7,841.2,18.6,256,7132,0.00,2.28,0.00,0.000,4,0.000,0.053,2859,3365,2732,0,0,0,0,0,0
$GC,7166,0.80,136.7,833.6,19.9,256,7172,0.00,2.17,0.00,0.000,6,0.000,0.032,2870,1970,2732,0,0,0,0,0,0
$GC,7418,0.80,136.7,786.4,18.8,263,7422,0.00,2.15,0.00,0.000,4,0.000,0.038,2880,557,2730,0,0,0,0,0,0
$GC,7440,0.80,136.7,781.6,18.7,263,7444,0.00,2.15,0.00,0.000,6,0.000,0.033,2880,1963,2728,0,0,0,0,0,0
$GC,7703,0.80,136.7,732.4,18.9,270,7707,0.00,2.22,0.00,0.000,4,0.000,0.052,2881,3364,2728,0,0,0,0,0,0
$GC,7758,0.80,136.7,720.6,21.0,271,7763,0.15,2.15,0.00,0.000,6,0.207,0.031,2856,1962,2728,0,0,0,0,0,0
$GC,8030,0.80,136.7,671.1,18.0,278,8034,0.00,2.15,0.00,0.000,4,0.000,0.040,2865,560,2726,0,0,0,0,0,0
$GC,8054,0.80,136.7,667.0,17.6,278,8058,0.00,2.15,0.00,0.000,6,0.000,0.034,2865,1961,2725,0,0,0,0,0,0
$GC,8309,0.80,136.7,619.2,18.9,285,8313,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3363,2725,0,0,0,0,0,0
$GC,8348,0.80,136.7,611.5,20.1,285,8354,0.00,2.17,0.00,0.000,6,0.000,0.031,2876,1948,2725,0,0,0,0,0,0
$GC,8600,0.80,136.7,566.1,17.9,292,8604,0.00,2.25,0.00,0.000,4,0.000,0.048,2875,3370,2724,0,0,0,0,0,0
$GC,8649,0.80,136.7,556.5,19.3,293,8654,0.12,2.15,0.00,0.000,6,0.206,0.030,2858,1952,2725,0,0,0,0,0,0
$GC,8923,0.80,136.7,513.9,15.6,300,8927,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,561,2724,0,0,0,0,0,0
$GC,8951,0.80,136.7,508.8,16.1,300,8955,0.00,2.15,0.00,0.000,6,0.000,0.032,2867,1965,2722,0,0,0,0,0,0
$GC,9201,0.80,136.7,466.4,17.2,306,9205,0.00,2.22,0.00,0.000,4,0.000,0.051,2867,3369,2722,0,0,0,0,0,0
$GC,9257,0.80,136.7,456.3,18.2,307,9262,0.00,2.15,0.00,0.000,6,0.000,0.029,2877,1951,2722,0,0,0,0,0,0
$GC,9530,0.80,136.7,411.9,15.9,314,9534,0.00,2.25,0.00,0.000,4,0.000,0.048,2877,3371,2723,0,0,0,0,0,0
$GC,9570,0.80,136.7,405.5,16.7,315,9575,0.12,2.12,0.00,0.000,6,0.202,0.029,2859,1957,2723,0,0,0,0,0,0
$GC,9855,0.80,136.7,366.7,13.6,322,9859,0.00,2.10,0.00,0.000,4,0.000,0.039,2868,567,2722,0,0,0,0,0,0
$GC,9939,0.80,136.7,354.5,14.2,323,9945,0.00,2.12,0.00,0.000,6,0.000,0.033,2869,1968,2720,0,0,0,0,0,0
$GC,10191,0.80,136.7,322.3,12.3,330,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1968,2720,0,0,0,0,0,0
$GC,10434,0.80,136.7,291.2,12.1,337,10438,0.00,2.22,0.00,0.000,4,0.000,0.050,2868,3367,2721,0,0,0,0,0,0
$GC,10520,0.80,136.7,280.7,12.9,341,10524,0.00,2.12,0.00,0.000,6,0.000,0.029,2879,1963,2721,0,0,0,0,0,0
$GC,10786,0.80,136.7,246.2,13.2,354,10790,0.00,2.22,0.00,0.000,4,0.000,0.048,2879,3366,2721,0,0,0,0,0,0
$GC,10821,0.80,136.7,241.5,13.2,355,10827,0.15,2.12,0.00,0.000,6,0.190,0.029,2853,1956,2721,0,0,0,0,0,0
$GC,11075,0.80,136.7,213.1,11.8,368,11079,0.00,2.12,0.00,0.000,4,0.000,0.038,2862,563,2721,0,0,0,0,0,0
$GC,11285,0.80,136.7,190.8,10.2,381,11289,0.00,2.10,0.00,0.000,6,0.000,0.032,2860,1963,2719,0,0,0,0,0,0
$GC,11548,0.80,136.7,167.4,8.6,405,11552,0.00,2.20,0.00,0.000,4,0.000,0.048,2860,3359,2720,0,0,0,0,0,0
$GC,11704,0.80,136.7,153.7,10.3,418,11708,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,1954,2721,0,0,0,0,0,0
$GC,11975,0.80,136.7,129.6,8.8,443,11979,0.00,2.10,0.00,0.000,4,0.000,0.037,2878,561,2721,0,0,0,0,0,0
$GC,12052,0.83,162.5,123.1,7.5,449,12077,0.00,2.12,19.65,0.505,6,0.000,0.030,2878,1952,2637,0,0,0,0,0,0
$GC,12338,0.83,162.5,96.2,8.7,475,12342,0.00,2.22,0.00,0.000,4,0.000,0.048,2878,3360,2636,0,0,0,0,0,0
$GC,12438,0.83,162.5,85.8,10.1,483,12442,0.00,2.12,0.00,0.000,6,0.000,0.028,2889,1941,2636,0,0,0,0,0,0
$GC,12709,0.83,162.5,61.9,9.7,508,12712,0.00,2.08,0.00,0.000,4,0.000,0.036,2900,570,2636,0,0,0,0,0,0
$GC,12783,0.83,162.5,54.5,8.9,514,12788,0.12,2.08,0.00,0.000,6,0.173,0.029,2868,1963,2636,0,0,0,0,0,0
$GC,13047,0.90,218.4,37.6,6.2,538,13104,0.00,0.00,47.75,0.446,6,0.000,0.000,2868,1963,2407,0,0,0,0,0,0
$GC,13372,0.90,222.3,9.5,8.4,586,13382,0.00,2.20,4.20,0.299,4,0.000,0.039,2870,576,2392,0,0,0,0,0,0
$GC,13408,0.91,231.3,6.7,8.2,591,13423,0.00,2.12,8.95,0.371,6,0.000,0.031,2870,1955,2355,0,0,0,0,0,0
$STATE,13440,end climb,SURFACE_DEPTH_REACHED
$STATE,13440,begin surface coast
$FINISH,0.6,1.023140
$STATE,13473,end surface coast,CONTROL_FINISHED_OK
$STATE,13473,begin surface
$SM_CCo,13492,34.62,0.410,0,0,2075,300.24
$SM_GC,2.61,0.00,0.00,34.62,0.000,0.000,0.410,51,2144,2075,-7.96,1.24,300.24
$IRIDIUM_FIX,1948.12,-15734.45,190313,171736
$TT8_MAMPS,0.027612
$HUMID,1078933539
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.4,70.915
$10V_AH,9.8,65.696
$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,20.525,133.875,315.475,34.625,0.000,107.757,181.647,476.160,0.000,0.000,14.079,1379.745,9646.108,414.467,2713.772,517.100,33.364,1250.196,0.000,2002.256,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,69.030,1067.664,410.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,410.798,0.000,1044.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353660
$DATA_FILE_SIZE,30227,601
$CAP_FILE_SIZE,171684,0
$CFSIZE,260165632,167661568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,109.0,1
$GPS,250911,032506,1951.672,-15629.758,69,1.1,75,9.7