version: 66.07
glider: 513
mission: 7
dive: 525
start: 9 25 111 15 11 6
data:
$ID,513
$MISSION,7
$DIVE,525
$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,-433925.78
$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,57
$R_STBD_OVSHOOT,57
$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
$GPS1,250911,150236,1946.551,-15629.623,36,1.0,43,9.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.0
$GPS2,250911,151007,1946.521,-15629.574,10,1.0,15,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.207,-0.117
$KALMAN_X,13623.9,-41.7,-806.9,29293.6,4368.4
$KALMAN_Y,-571379.6,-748.3,-301.9,548060.7,5458.9
$MHEAD_RNG_PITCHd_Wd,176.4,86161,-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,-59.65,0.000,2,0.000,0.000,38,2128,3792,0,0,0,0,0,0
$GC,83,-0.80,-136.7,4.2,-6.9,9,105,10.12,2.22,-1.05,0.000,4,0.245,0.049,2331,702,3862,0,0,0,0,0,0
$GC,215,-0.80,-136.7,53.8,-27.3,24,219,0.00,2.15,0.00,0.000,6,0.000,0.043,2323,2085,3865,0,0,0,0,0,0
$GC,485,-0.80,-136.7,122.1,-23.4,49,489,0.00,2.28,0.00,0.000,4,0.000,0.054,2311,3520,3866,0,0,0,0,0,0
$GC,587,-0.80,-136.7,144.1,-19.8,57,595,0.00,2.12,0.00,0.000,6,0.000,0.030,2312,2118,3867,0,0,0,0,0,0
$GC,854,-0.80,-136.7,198.7,-19.5,82,858,0.00,2.15,0.00,0.000,4,0.000,0.041,2311,694,3869,0,0,0,0,0,0
$GC,909,-0.80,-136.7,210.9,-19.0,84,917,0.15,2.15,0.00,0.000,6,0.173,0.043,2339,2099,3869,0,0,0,0,0,0
$GC,1164,-0.80,-136.7,250.3,-15.9,97,1168,0.00,2.20,0.00,0.000,4,0.000,0.049,2329,3522,3871,0,0,0,0,0,0
$GC,1255,-0.80,-136.7,263.7,-14.9,101,1259,0.00,2.12,0.00,0.000,6,0.000,0.028,2329,2085,3871,0,0,0,0,0,0
$GC,1519,-0.80,-136.7,306.8,-16.1,113,1523,0.00,2.08,0.00,0.000,4,0.000,0.038,2329,700,3871,0,0,0,0,0,0
$GC,1552,-0.80,-136.7,313.1,-17.0,113,1558,0.00,2.17,0.00,0.000,6,0.000,0.040,2319,2112,3871,0,0,0,0,0,0
$GC,1802,-0.80,-136.7,353.0,-15.7,120,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2112,3871,0,0,0,0,0,0
$GC,2051,-0.80,-136.7,387.3,-14.0,126,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2112,3870,0,0,0,0,0,0
$GC,2290,-0.80,-136.7,422.0,-14.6,132,2294,0.00,2.20,0.00,0.000,4,0.000,0.051,2308,3509,3869,0,0,0,0,0,0
$GC,2369,-0.80,-136.7,433.4,-14.2,133,2375,0.12,2.10,0.00,0.000,6,0.163,0.031,2340,2108,3868,0,0,0,0,0,0
$GC,2619,-0.80,-136.7,464.8,-12.5,140,2623,0.00,2.12,0.00,0.000,4,0.000,0.038,2340,694,3866,0,0,0,0,0,0
$GC,2674,-0.80,-136.7,472.4,-12.8,141,2678,0.00,2.15,0.00,0.000,6,0.000,0.039,2331,2098,3865,0,0,0,0,0,0
$GC,2948,-0.80,-136.7,507.7,-12.9,148,2952,0.00,2.22,0.00,0.000,4,0.000,0.048,2321,3518,3864,0,0,0,0,0,0
$GC,2998,-0.80,-136.7,514.7,-13.4,149,3002,0.00,2.12,0.00,0.000,6,0.000,0.029,2321,2097,3863,0,0,0,0,0,0
$GC,3272,-0.80,-136.7,551.2,-13.5,156,3275,0.00,2.12,0.00,0.000,4,0.000,0.041,2321,698,3860,0,0,0,0,0,0
$GC,3322,-0.80,-136.7,558.4,-14.1,157,3326,0.10,2.15,0.00,0.000,6,0.181,0.040,2334,2101,3860,0,0,0,0,0,0
$GC,3594,-0.80,-136.7,593.6,-13.0,164,3598,0.00,2.22,0.00,0.000,4,0.000,0.052,2325,3505,3858,0,0,0,0,0,0
$GC,3680,-0.80,-136.7,604.6,-12.4,166,3684,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2107,3858,0,0,0,0,0,0
$GC,3965,-0.80,-136.7,641.4,-12.9,173,3969,0.00,2.15,0.00,0.000,4,0.000,0.041,2325,686,3855,0,0,0,0,0,0
$GC,3994,-0.80,-136.7,645.1,-12.7,173,3998,0.00,2.20,0.00,0.000,6,0.000,0.041,2314,2100,3855,0,0,0,0,0,0
$GC,4244,-0.80,-136.7,677.3,-12.7,179,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2099,3853,0,0,0,0,0,0
$GC,4488,-0.80,-136.7,707.9,-12.6,185,4492,0.00,2.22,0.00,0.000,4,0.000,0.051,2303,3517,3852,0,0,0,0,0,0
$GC,4517,-0.80,-136.7,711.7,-13.9,185,4521,0.12,2.15,0.00,0.000,6,0.169,0.031,2334,2086,3851,0,0,0,0,0,0
$GC,4772,-0.80,-136.7,740.8,-11.2,192,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2080,3850,0,0,0,0,0,0
$GC,5016,-0.80,-136.7,768.1,-11.1,198,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2080,3847,0,0,0,0,0,0
$GC,5261,-0.80,-136.7,795.4,-11.2,204,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2080,3846,0,0,0,0,0,0
$GC,5503,-0.80,-136.7,823.2,-11.6,210,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2080,3845,0,0,0,0,0,0
$GC,5747,-0.80,-136.7,851.4,-11.5,216,5751,0.00,2.12,0.00,0.000,4,0.000,0.041,2335,701,3843,0,0,0,0,0,0
$GC,5776,-0.80,-136.7,854.8,-11.7,216,5780,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2099,3843,0,0,0,0,0,0
$GC,6031,-0.80,-136.7,884.8,-11.7,223,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2098,3841,0,0,0,0,0,0
$STATE,6191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6191,begin apogee
$GC,6200,-0.28,0.0,902.9,11.2,227,6318,0.60,0.00,115.62,1.065,6,0.145,0.000,2503,1917,3300,0,0,0,0,0,0
$STATE,6319,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6322,0.80,136.7,906.6,0.0,230,6452,1.02,2.17,121.85,1.037,4,0.094,0.036,2854,593,2741,0,0,0,0,0,0
$GC,6488,0.80,136.7,889.2,16.7,234,6492,0.00,2.22,0.00,0.000,6,0.000,0.035,2854,1956,2735,0,0,0,0,0,0
$GC,6772,0.80,136.7,836.9,18.4,241,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1958,2732,0,0,0,0,0,0
$GC,7016,0.80,136.7,792.9,18.0,247,7021,0.00,2.28,0.00,0.000,4,0.000,0.052,2855,3373,2730,0,0,0,0,0,0
$GC,7050,0.80,136.7,786.2,19.7,247,7056,0.00,2.12,0.00,0.000,6,0.000,0.029,2865,1981,2730,0,0,0,0,0,0
$GC,7300,0.80,136.7,741.2,17.9,254,7304,0.00,2.17,0.00,0.000,4,0.000,0.039,2876,559,2729,0,0,0,0,0,0
$GC,7335,0.80,136.7,735.0,18.2,254,7341,0.00,2.17,0.00,0.000,6,0.000,0.034,2875,1968,2726,0,0,0,0,0,0
$GC,7586,0.80,136.7,690.1,17.7,261,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1970,2726,0,0,0,0,0,0
$GC,7829,0.80,136.7,646.2,18.1,267,7833,0.00,2.22,0.00,0.000,4,0.000,0.053,2876,3369,2726,0,0,0,0,0,0
$GC,7891,0.80,136.7,634.7,18.7,268,7896,0.12,2.12,0.00,0.000,6,0.206,0.030,2858,1954,2726,0,0,0,0,0,0
$GC,8158,0.80,136.7,590.2,16.7,275,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1954,2725,0,0,0,0,0,0
$GC,8402,0.80,136.7,549.8,16.3,281,8406,0.00,2.25,0.00,0.000,4,0.000,0.053,2857,3365,2724,0,0,0,0,0,0
$GC,8438,0.80,136.7,543.7,17.4,281,8444,0.00,2.15,0.00,0.000,6,0.000,0.030,2865,1964,2725,0,0,0,0,0,0
$GC,8689,0.80,136.7,502.9,15.9,288,8692,0.00,2.12,0.00,0.000,4,0.000,0.037,2876,559,2724,0,0,0,0,0,0
$GC,8729,0.80,136.7,496.2,16.4,289,8733,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1964,2722,0,0,0,0,0,0
$GC,9014,0.80,136.7,450.6,15.8,296,9018,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3359,2723,0,0,0,0,0,0
$GC,9108,0.80,136.7,434.3,16.8,298,9113,0.12,2.12,0.00,0.000,6,0.204,0.031,2858,1955,2723,0,0,0,0,0,0
$GC,9384,0.80,136.7,396.5,13.8,305,9388,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,558,2723,0,0,0,0,0,0
$GC,9446,0.80,136.7,387.0,14.9,306,9450,0.00,2.15,0.00,0.000,6,0.000,0.032,2865,1962,2721,0,0,0,0,0,0
$GC,9715,0.80,136.7,347.1,14.9,313,9719,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3368,2721,0,0,0,0,0,0
$GC,9974,0.80,136.7,307.6,14.1,318,9980,0.00,2.12,0.00,0.000,6,0.000,0.028,2874,1954,2722,0,0,0,0,0,0
$GC,10230,0.80,136.7,276.6,12.0,329,10234,0.00,2.15,0.00,0.000,4,0.000,0.038,2885,561,2721,0,0,0,0,0,0
$GC,10317,0.80,136.7,264.7,13.3,333,10322,0.12,2.12,0.00,0.000,6,0.190,0.031,2856,1967,2720,0,0,0,0,0,0
$GC,10581,0.80,136.7,234.2,11.1,346,10585,0.00,2.22,0.00,0.000,4,0.000,0.051,2856,3360,2720,0,0,0,0,0,0
$GC,10655,0.80,136.7,225.0,13.3,349,10659,0.00,2.12,0.00,0.000,6,0.000,0.029,2865,1965,2721,0,0,0,0,0,0
$GC,10911,0.80,136.7,198.0,10.7,361,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1962,2721,0,0,0,0,0,0
$GC,11166,0.80,136.7,171.3,11.3,385,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1962,2721,0,0,0,0,0,0
$GC,11430,0.80,136.7,148.1,8.7,410,11434,0.00,2.20,0.00,0.000,4,0.000,0.046,2864,3366,2721,0,0,0,0,0,0
$GC,11482,0.80,136.7,143.2,10.2,414,11486,0.00,2.12,0.00,0.000,6,0.000,0.028,2875,1941,2721,0,0,0,0,0,0
$GC,11746,0.80,140.2,117.4,8.4,438,11750,0.00,2.25,0.00,0.000,4,0.000,0.044,2875,3366,2722,0,0,0,0,0,0
$GC,11925,0.83,166.4,102.4,7.5,453,11953,0.00,2.10,23.15,0.498,6,0.000,0.027,2886,1947,2620,0,0,0,0,0,0
$GC,12212,0.83,166.4,74.2,11.4,479,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1947,2618,0,0,0,0,0,0
$GC,12467,0.89,215.4,53.6,6.5,503,12516,0.00,2.28,41.70,0.469,4,0.000,0.044,2885,3351,2420,0,0,0,0,0,0
$GC,12567,0.91,226.4,46.5,8.1,511,12583,0.00,2.12,10.07,0.414,6,0.000,0.028,2892,1963,2377,0,0,0,0,0,0
$GC,12846,0.91,226.4,18.3,11.9,546,12853,0.00,2.17,0.00,0.000,4,0.000,0.038,2893,568,2374,0,0,0,0,0,0
$GC,12896,0.91,226.4,12.6,11.2,554,12904,0.00,2.15,0.00,0.000,6,0.000,0.031,2893,1957,2373,0,0,0,0,0,0
$STATE,12977,end climb,SURFACE_DEPTH_REACHED
$STATE,12977,begin surface coast
$FINISH,0.4,1.023261
$STATE,13006,end surface coast,CONTROL_FINISHED_OK
$STATE,13006,begin surface
$SM_CCo,13027,34.70,0.416,0,0,2075,300.24
$SM_GC,2.00,0.00,0.00,34.70,0.000,0.000,0.416,60,2146,2075,-7.93,1.30,300.24
$IRIDIUM_FIX,1941.24,-15630.63,200313,050510
$TT8_MAMPS,0.027612
$HUMID,1078981281
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.3,71.321
$10V_AH,9.6,66.069
$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,20.300,121.750,312.400,34.700,0.000,30.475,39.100,218.920,0.000,0.000,17.158,1323.191,9142.756,413.868,2191.669,439.145,33.367,1233.053,0.000,1929.872,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,62.127,1065.363,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,391.810,0.000,968.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,30184,573
$CAP_FILE_SIZE,157083,0
$CFSIZE,260165632,167411712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 79.5,1
$GPS,250911,185024,1944.972,-15629.361,52,1.6,53,9.7