version: 66.07
glider: 513
mission: 7
dive: 522
start: 9 25 111 3 37 50
data:
$ID,513
$MISSION,7
$DIVE,522
$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,-433874.69
$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,62
$R_STBD_OVSHOOT,70
$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
$GPS1,250911,032506,1951.672,-15629.758,69,1.1,75,9.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.2
$GPS2,250911,033650,1951.698,-15629.771,11,1.6,11,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.073,-0.243
$KALMAN_X,9391.0,36.4,-376.7,32674.8,1527.4
$KALMAN_Y,-576122.4,-307.9,-107.9,561754.1,4340.5
$MHEAD_RNG_PITCHd_Wd,175.6,95746,-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,-59.83,0.000,2,0.000,0.000,37,2143,3821,0,0,0,0,0,0
$GC,83,-0.80,-136.7,4.4,-7.5,9,99,10.10,2.25,-0.55,0.000,4,0.245,0.050,2329,716,3860,0,0,0,0,0,0
$GC,193,-0.80,-136.7,48.7,-29.3,23,200,0.00,2.12,0.00,0.000,6,0.000,0.044,2322,2054,3864,0,0,0,0,0,0
$GC,458,-0.80,-136.7,117.4,-22.1,48,462,0.00,2.33,0.00,0.000,4,0.000,0.052,2310,3520,3865,0,0,0,0,0,0
$GC,535,-0.80,-136.7,136.4,-23.0,54,540,0.12,2.10,0.00,0.000,6,0.176,0.030,2339,2116,3866,0,0,0,0,0,0
$GC,805,-0.80,-136.7,191.4,-19.8,79,809,0.00,2.12,0.00,0.000,4,0.000,0.040,2340,697,3868,0,0,0,0,0,0
$GC,913,-0.80,-136.7,211.0,-17.9,86,917,0.00,2.15,0.00,0.000,6,0.000,0.042,2331,2105,3868,0,0,0,0,0,0
$GC,1177,-0.80,-136.7,255.0,-16.2,99,1181,0.00,2.20,0.00,0.000,4,0.000,0.051,2320,3516,3868,0,0,0,0,0,0
$GC,1205,-0.80,-136.7,259.4,-14.9,100,1209,0.00,2.10,0.00,0.000,6,0.000,0.030,2320,2100,3868,0,0,0,0,0,0
$GC,1464,-0.80,-136.7,298.3,-14.8,113,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2094,3869,0,0,0,0,0,0
$GC,1728,-0.80,-136.7,337.5,-15.5,120,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2093,3868,0,0,0,0,0,0
$GC,1975,-0.80,-136.7,375.2,-15.8,126,1979,0.00,2.12,0.00,0.000,4,0.000,0.041,2320,701,3868,0,0,0,0,0,0
$GC,2004,-0.80,-136.7,380.2,-15.9,126,2009,0.10,2.15,0.00,0.000,6,0.183,0.042,2334,2107,3868,0,0,0,0,0,0
$GC,2260,-0.80,-136.7,414.5,-13.0,133,2264,0.00,2.22,0.00,0.000,4,0.000,0.051,2326,3517,3866,0,0,0,0,0,0
$GC,2281,-0.80,-136.7,417.6,-13.5,133,2285,0.00,2.12,0.00,0.000,6,0.000,0.030,2325,2101,3866,0,0,0,0,0,0
$GC,2538,-0.80,-136.7,450.4,-12.6,140,2542,0.00,2.10,0.00,0.000,4,0.000,0.039,2325,697,3863,0,0,0,0,0,0
$GC,2572,-0.80,-136.7,455.1,-13.1,140,2578,0.00,2.12,0.00,0.000,6,0.000,0.040,2315,2102,3863,0,0,0,0,0,0
$GC,2822,-0.80,-136.7,488.6,-13.3,147,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2102,3862,0,0,0,0,0,0
$GC,3067,-0.80,-136.7,523.3,-14.5,153,3071,0.00,2.20,0.00,0.000,4,0.000,0.050,2304,3514,3859,0,0,0,0,0,0
$GC,3095,-0.80,-136.7,527.8,-14.8,153,3100,0.12,2.15,0.00,0.000,6,0.172,0.031,2335,2101,3859,0,0,0,0,0,0
$GC,3345,-0.80,-136.7,559.8,-12.6,159,3349,0.00,2.25,0.00,0.000,4,0.000,0.052,2326,3518,3856,0,0,0,0,0,0
$GC,3379,-0.80,-136.7,564.2,-12.9,159,3383,0.00,2.15,0.00,0.000,6,0.000,0.031,2327,2090,3857,0,0,0,0,0,0
$GC,3630,-0.80,-136.7,593.5,-11.5,165,3634,0.00,2.10,0.00,0.000,4,0.000,0.039,2326,694,3854,0,0,0,0,0,0
$GC,3687,-0.80,-136.7,599.7,-10.9,166,3691,0.00,2.15,0.00,0.000,6,0.000,0.042,2316,2101,3854,0,0,0,0,0,0
$GC,3954,-0.80,-136.7,630.7,-11.9,173,3958,0.00,2.22,0.00,0.000,4,0.000,0.051,2305,3505,3852,0,0,0,0,0,0
$GC,4010,-0.80,-136.7,637.4,-11.4,174,4015,0.12,2.10,0.00,0.000,6,0.174,0.030,2336,2102,3851,0,0,0,0,0,0
$GC,4279,-0.80,-136.7,664.9,-10.1,181,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2097,3849,0,0,0,0,0,0
$GC,4520,-0.80,-136.7,689.4,-10.1,187,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2097,3847,0,0,0,0,0,0
$GC,4764,-0.80,-136.7,715.1,-10.5,193,4768,0.00,2.25,0.00,0.000,4,0.000,0.054,2327,3511,3845,0,0,0,0,0,0
$GC,4800,-0.80,-136.7,718.9,-11.2,193,4806,0.00,2.15,0.00,0.000,6,0.000,0.032,2327,2107,3844,0,0,0,0,0,0
$GC,5051,-0.80,-136.7,747.6,-11.4,200,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2100,3843,0,0,0,0,0,0
$GC,5294,-0.80,-136.7,775.6,-11.3,206,5298,0.00,2.15,0.00,0.000,4,0.000,0.042,2327,691,3841,0,0,0,0,0,0
$GC,5323,-0.80,-136.7,779.0,-12.6,206,5327,0.00,2.17,0.00,0.000,6,0.000,0.042,2317,2102,3841,0,0,0,0,0,0
$GC,5580,-0.80,-136.7,809.0,-11.8,213,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2101,3839,0,0,0,0,0,0
$GC,5824,-0.80,-136.7,837.4,-11.7,219,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2101,3838,0,0,0,0,0,0
$GC,6067,-0.80,-136.7,865.5,-11.5,225,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2101,3836,0,0,0,0,0,0
$GC,6310,-0.80,-136.7,893.6,-11.4,231,6314,0.00,2.25,0.00,0.000,4,0.000,0.054,2306,3505,3834,0,0,0,0,0,0
$GC,6360,-0.80,-136.7,899.8,-11.9,232,6364,0.00,2.10,0.00,0.000,3,0.000,0.030,2306,2112,3834,0,0,0,0,0,0
$STATE,6365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6365,begin apogee
$GC,6373,-0.28,0.0,900.3,12.4,232,6491,0.65,0.00,114.25,1.069,6,0.152,0.000,2498,1923,3300,0,0,0,0,0,0
$STATE,6492,end apogee,CONTROL_FINISHED_OK
$STATE,6492,begin climb
$GC,6495,0.80,136.7,904.2,0.0,235,6625,1.05,0.00,122.00,1.038,6,0.097,0.000,2844,1923,2742,0,0,0,0,0,0
$GC,6861,0.80,136.7,852.2,17.4,244,6865,0.00,2.35,0.00,0.000,4,0.000,0.051,2844,3364,2733,0,0,0,0,0,0
$GC,6927,0.80,136.7,839.7,18.5,245,6931,0.00,2.17,0.00,0.000,6,0.000,0.031,2855,1972,2733,0,0,0,0,0,0
$GC,7184,0.80,136.7,793.5,18.1,252,7188,0.00,2.17,0.00,0.000,4,0.000,0.039,2865,561,2730,0,0,0,0,0,0
$GC,7212,0.80,136.7,788.1,17.5,252,7216,0.00,2.17,0.00,0.000,6,0.000,0.033,2865,1963,2729,0,0,0,0,0,0
$GC,7462,0.80,136.7,742.1,18.5,258,7466,0.00,2.25,0.00,0.000,4,0.000,0.051,2865,3375,2729,0,0,0,0,0,0
$GC,7495,0.80,136.7,735.4,20.0,258,7501,0.00,2.15,0.00,0.000,6,0.000,0.030,2876,1961,2729,0,0,0,0,0,0
$GC,7746,0.80,136.7,688.8,18.7,265,7750,0.00,2.25,0.00,0.000,4,0.000,0.050,2876,3368,2728,0,0,0,0,0,0
$GC,7775,0.80,136.7,683.2,20.0,265,7780,0.12,2.15,0.00,0.000,6,0.210,0.031,2858,1960,2728,0,0,0,0,0,0
$GC,8030,0.80,136.7,640.5,16.2,272,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1954,2726,0,0,0,0,0,0
$GC,8274,0.80,136.7,601.6,16.0,278,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1955,2726,0,0,0,0,0,0
$GC,8519,0.80,136.7,561.6,16.1,284,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1954,2726,0,0,0,0,0,0
$GC,8762,0.80,136.7,524.9,14.9,290,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1955,2725,0,0,0,0,0,0
$GC,9005,0.80,136.7,490.1,14.1,296,9009,0.00,2.15,0.00,0.000,4,0.000,0.040,2867,551,2725,0,0,0,0,0,0
$GC,9063,0.80,136.7,481.9,15.1,297,9067,0.00,2.15,0.00,0.000,6,0.000,0.033,2867,1968,2722,0,0,0,0,0,0
$GC,9335,0.80,136.7,443.2,14.3,304,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1969,2723,0,0,0,0,0,0
$GC,9578,0.80,136.7,406.2,15.0,310,9582,0.00,2.25,0.00,0.000,4,0.000,0.051,2868,3370,2723,0,0,0,0,0,0
$GC,9665,0.80,136.7,392.2,16.9,312,9669,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1952,2723,0,0,0,0,0,0
$GC,9950,0.80,136.7,346.2,16.1,319,9954,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,561,2723,0,0,0,0,0,0
$GC,10019,0.80,136.7,335.0,15.2,320,10023,0.15,2.15,0.00,0.000,6,0.187,0.031,2853,1975,2721,0,0,0,0,0,0
$GC,10274,0.80,136.7,303.4,11.7,327,10278,0.00,2.20,0.00,0.000,4,0.000,0.051,2853,3360,2721,0,0,0,0,0,0
$GC,10383,0.80,136.7,290.3,11.9,330,10389,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1955,2721,0,0,0,0,0,0
$GC,10637,0.80,136.7,259.5,12.0,343,10640,0.00,2.10,0.00,0.000,4,0.000,0.038,2873,563,2721,0,0,0,0,0,0
$GC,10665,0.80,136.7,255.8,12.4,344,10670,0.00,2.10,0.00,0.000,6,0.000,0.033,2873,1958,2720,0,0,0,0,0,0
$GC,10919,0.80,136.7,223.4,13.5,356,10923,0.00,2.25,0.00,0.000,4,0.000,0.048,2873,3362,2720,0,0,0,0,0,0
$GC,11081,0.80,136.7,203.5,11.0,363,11085,0.00,2.15,0.00,0.000,6,0.000,0.030,2883,1949,2721,0,0,0,0,0,0
$GC,11346,0.80,136.7,179.4,8.6,385,11350,0.00,2.10,0.00,0.000,4,0.000,0.038,2893,566,2721,0,0,0,0,0,0
$GC,11433,0.80,136.7,171.4,8.9,392,11438,0.15,2.10,0.00,0.000,6,0.179,0.031,2855,1965,2719,0,0,0,0,0,0
$GC,11697,0.80,136.7,150.4,9.4,416,11701,0.00,2.12,0.00,0.000,4,0.000,0.037,2864,561,2720,0,0,0,0,0,0
$GC,11751,0.80,136.7,145.3,9.8,420,11755,0.00,2.10,0.00,0.000,6,0.000,0.031,2864,1957,2720,0,0,0,0,0,0
$GC,12016,0.84,175.6,124.3,6.9,444,12054,0.00,2.28,30.38,0.516,4,0.000,0.046,2864,3366,2584,0,0,0,0,0,0
$GC,12080,0.84,175.6,119.3,9.0,449,12084,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,1966,2584,0,0,0,0,0,0
$GC,12344,0.84,175.6,94.2,10.3,473,12348,0.00,2.22,0.00,0.000,4,0.000,0.046,2868,3363,2583,0,0,0,0,0,0
$GC,12434,0.84,175.6,85.7,9.3,480,12443,0.00,2.17,0.00,0.000,6,0.000,0.029,2868,1957,2583,0,0,0,0,0,0
$GC,12700,0.86,188.9,63.4,8.0,505,12724,0.00,2.20,13.10,0.438,4,0.000,0.039,2868,564,2527,0,0,0,0,0,0
$GC,12931,0.86,188.9,43.2,9.1,525,12935,0.00,2.10,0.00,0.000,6,0.000,0.031,2868,1961,2525,0,0,0,0,0,0
$GC,13199,0.86,188.9,18.9,8.6,561,13207,0.00,2.22,0.00,0.000,4,0.000,0.046,2868,3356,2528,0,0,0,0,0,0
$GC,13223,0.86,190.1,17.0,8.5,564,13231,0.00,2.15,0.00,0.000,6,0.000,0.029,2868,1961,2528,0,0,0,0,0,0
$STATE,13391,end climb,SURFACE_DEPTH_REACHED
$STATE,13391,begin surface coast
$FINISH,0.3,1.012179
$STATE,13431,end surface coast,CONTROL_FINISHED_OK
$STATE,13431,begin surface
$SM_CCo,13452,49.08,0.413,0,0,2075,300.24
$SM_GC,1.26,0.00,0.00,49.08,0.000,0.000,0.413,56,2104,2075,-7.93,0.11,300.24
$IRIDIUM_FIX,1941.24,-15628.53,190313,212116
$TT8_MAMPS,0.027612
$HUMID,1078928377
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.4,71.024
$10V_AH,9.8,65.794
$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,20.275,130.500,279.725,49.075,0.000,50.973,80.144,342.590,0.000,0.000,13.581,1376.984,9556.411,418.083,2393.026,458.384,33.367,1218.040,0.000,1956.294,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,81.302,1069.198,412.646,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,411.231,0.000,1051.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,30246,601
$CAP_FILE_SIZE,165571,0
$CFSIZE,260165632,167600128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048, 89.9,1
$GPS,250911,072424,1950.060,-15629.513,49,1.1,50,9.7