version: 66.07
glider: 513
mission: 7
dive: 526
start: 9 25 111 18 58 16
data:
$ID,513
$MISSION,7
$DIVE,526
$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,-433951.78
$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,54
$R_STBD_OVSHOOT,68
$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
$GPS1,250911,185024,1944.972,-15629.361,52,1.6,53,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.9
$GPS2,250911,185719,1944.912,-15629.302,11,1.2,22,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.163,-0.176
$KALMAN_X,16729.1,171.0,696.9,24911.7,3436.5
$KALMAN_Y,-572007.5,-885.5,-642.2,546196.7,4495.7
$MHEAD_RNG_PITCHd_Wd,183.3,83187,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.80,-136.7,0.0,0.0,0,74,0.00,0.00,-53.38,0.000,2,0.000,0.000,39,2145,3579,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.1,-4.7,8,101,10.10,2.22,-4.93,0.000,4,0.245,0.051,2330,708,3860,0,0,0,0,0,0
$GC,278,-0.80,-136.7,68.1,-29.9,31,282,0.00,2.15,0.00,0.000,6,0.000,0.044,2322,2074,3864,0,0,0,0,0,0
$GC,543,-0.80,-136.7,133.2,-21.1,55,547,0.00,2.25,0.00,0.000,4,0.000,0.048,2311,3514,3865,0,0,0,0,0,0
$GC,619,-0.80,-136.7,149.0,-21.0,61,623,0.00,2.12,0.00,0.000,6,0.000,0.029,2311,2107,3866,0,0,0,0,0,0
$GC,892,-0.80,-136.7,205.2,-19.5,85,895,0.00,2.10,0.00,0.000,4,0.000,0.037,2311,697,3869,0,0,0,0,0,0
$GC,919,-0.80,-136.7,211.5,-20.8,86,924,0.15,2.15,0.00,0.000,6,0.173,0.041,2338,2102,3868,0,0,0,0,0,0
$GC,1173,-0.80,-136.7,257.7,-17.9,98,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2101,3870,0,0,0,0,0,0
$GC,1420,-0.80,-136.7,297.6,-15.4,110,1424,0.00,2.20,0.00,0.000,4,0.000,0.050,2329,3510,3870,0,0,0,0,0,0
$GC,1449,-0.80,-136.7,302.2,-15.5,111,1454,0.00,2.10,0.00,0.000,6,0.000,0.030,2329,2096,3870,0,0,0,0,0,0
$GC,1699,-0.80,-136.7,338.2,-14.0,117,1703,0.00,2.10,0.00,0.000,4,0.000,0.040,2329,701,3870,0,0,0,0,0,0
$GC,1738,-0.80,-136.7,343.4,-13.3,117,1744,0.00,2.15,0.00,0.000,6,0.000,0.039,2319,2099,3870,0,0,0,0,0,0
$GC,1990,-0.80,-136.7,376.5,-13.4,124,1994,0.00,2.20,0.00,0.000,4,0.000,0.049,2308,3506,3869,0,0,0,0,0,0
$GC,2080,-0.80,-136.7,389.2,-13.1,126,2085,0.12,2.10,0.00,0.000,6,0.164,0.032,2340,2106,3870,0,0,0,0,0,0
$GC,2361,-0.80,-136.7,424.2,-12.9,133,2365,0.00,2.15,0.00,0.000,4,0.000,0.038,2340,693,3868,0,0,0,0,0,0
$GC,2411,-0.80,-136.7,431.6,-13.5,134,2416,0.00,2.15,0.00,0.000,6,0.000,0.041,2331,2098,3868,0,0,0,0,0,0
$GC,2684,-0.80,-136.7,468.0,-13.5,141,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2098,3865,0,0,0,0,0,0
$GC,2929,-0.80,-136.7,500.3,-13.2,147,2933,0.00,2.20,0.00,0.000,4,0.000,0.049,2321,3515,3864,0,0,0,0,0,0
$GC,2970,-0.80,-136.7,505.8,-12.9,148,2974,0.00,2.12,0.00,0.000,6,0.000,0.031,2321,2091,3864,0,0,0,0,0,0
$GC,3255,-0.80,-136.7,544.7,-13.9,155,3258,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,698,3862,0,0,0,0,0,0
$GC,3295,-0.80,-136.7,550.4,-13.6,156,3300,0.10,2.17,0.00,0.000,6,0.182,0.040,2334,2106,3861,0,0,0,0,0,0
$GC,3580,-0.80,-136.7,585.1,-12.1,163,3584,0.00,2.22,0.00,0.000,4,0.000,0.052,2325,3508,3859,0,0,0,0,0,0
$GC,3654,-0.80,-136.7,594.1,-11.3,164,3659,0.00,2.15,0.00,0.000,6,0.000,0.032,2325,2108,3858,0,0,0,0,0,0
$GC,3905,-0.80,-136.7,625.3,-12.6,170,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2101,3856,0,0,0,0,0,0
$GC,4149,-0.80,-136.7,655.2,-12.2,176,4153,0.00,2.15,0.00,0.000,4,0.000,0.040,2324,686,3854,0,0,0,0,0,0
$GC,4172,-0.80,-136.7,658.2,-12.7,176,4176,0.00,2.17,0.00,0.000,6,0.000,0.041,2314,2100,3854,0,0,0,0,0,0
$GC,4433,-0.80,-136.7,691.3,-12.7,183,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2099,3852,0,0,0,0,0,0
$GC,4677,-0.80,-136.7,722.1,-12.7,189,4681,0.00,2.22,0.00,0.000,4,0.000,0.054,2304,3507,3851,0,0,0,0,0,0
$GC,4706,-0.80,-136.7,725.8,-13.6,189,4711,0.12,2.12,0.00,0.000,6,0.170,0.030,2335,2089,3849,0,0,0,0,0,0
$GC,4962,-0.80,-136.7,754.1,-10.9,196,4966,0.00,2.10,0.00,0.000,4,0.000,0.042,2335,699,3848,0,0,0,0,0,0
$GC,4984,-0.80,-136.7,756.7,-11.2,196,4988,0.00,2.17,0.00,0.000,6,0.000,0.041,2327,2099,3848,0,0,0,0,0,0
$GC,5246,-0.80,-136.7,785.1,-10.8,203,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2099,3846,0,0,0,0,0,0
$GC,5488,-0.80,-136.7,810.5,-10.3,209,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2099,3845,0,0,0,0,0,0
$GC,5733,-0.80,-136.7,835.7,-10.4,215,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2099,3844,0,0,0,0,0,0
$GC,5976,-0.80,-136.7,861.0,-10.5,221,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2099,3843,0,0,0,0,0,0
$GC,6219,-0.80,-136.7,887.0,-10.7,227,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2099,3841,0,0,0,0,0,0
$STATE,6338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6338,begin apogee
$GC,6347,-0.28,0.0,900.2,10.8,230,6465,0.60,0.00,115.12,1.071,6,0.144,0.000,2503,1934,3300,0,0,0,0,0,0
$STATE,6466,end apogee,CONTROL_FINISHED_OK
$STATE,6466,begin climb
$GC,6469,0.80,136.7,903.9,0.0,233,6599,1.02,0.00,121.97,1.041,6,0.094,0.000,2845,1933,2742,0,0,0,0,0,0
$GC,6835,0.80,136.7,850.4,18.0,242,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1934,2733,0,0,0,0,0,0
$GC,7079,0.80,136.7,807.5,17.4,248,7083,0.00,2.10,0.00,0.000,4,0.000,0.038,2855,572,2731,0,0,0,0,0,0
$GC,7100,0.80,136.7,803.5,18.0,248,7104,0.00,2.15,0.00,0.000,6,0.000,0.035,2855,1959,2730,0,0,0,0,0,0
$GC,7358,0.80,136.7,758.0,17.8,255,7362,0.00,2.25,0.00,0.000,4,0.000,0.053,2855,3368,2730,0,0,0,0,0,0
$GC,7398,0.80,136.7,750.4,18.9,256,7403,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1978,2730,0,0,0,0,0,0
$GC,7684,0.80,136.7,699.6,17.7,263,7688,0.00,2.17,0.00,0.000,4,0.000,0.039,2877,560,2729,0,0,0,0,0,0
$GC,7724,0.80,136.7,692.1,17.6,264,7728,0.00,2.15,0.00,0.000,6,0.000,0.034,2877,1964,2726,0,0,0,0,0,0
$GC,8008,0.80,136.7,639.9,18.5,271,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1966,2726,0,0,0,0,0,0
$GC,8253,0.80,136.7,596.6,17.6,277,8257,0.00,2.25,0.00,0.000,4,0.000,0.053,2877,3364,2726,0,0,0,0,0,0
$GC,8303,0.80,136.7,586.9,17.7,278,8308,0.12,2.15,0.00,0.000,6,0.205,0.031,2859,1948,2726,0,0,0,0,0,0
$GC,8579,0.80,136.7,544.0,15.8,285,8583,0.00,2.28,0.00,0.000,4,0.000,0.052,2855,3374,2725,0,0,0,0,0,0
$GC,8618,0.80,136.7,536.8,17.4,286,8622,0.00,2.17,0.00,0.000,6,0.000,0.031,2864,1954,2725,0,0,0,0,0,0
$GC,8902,0.80,136.7,491.7,15.9,293,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1954,2725,0,0,0,0,0,0
$GC,9147,0.80,136.7,454.8,15.0,299,9151,0.00,2.12,0.00,0.000,4,0.000,0.039,2875,558,2724,0,0,0,0,0,0
$GC,9194,0.80,136.7,447.5,15.4,300,9198,0.00,2.15,0.00,0.000,6,0.000,0.032,2874,1967,2722,0,0,0,0,0,0
$GC,9484,0.80,136.7,403.7,15.1,307,9488,0.00,2.20,0.00,0.000,4,0.000,0.051,2875,3361,2722,0,0,0,0,0,0
$GC,9525,0.80,136.7,396.9,17.2,308,9530,0.12,2.12,0.00,0.000,6,0.202,0.031,2857,1952,2723,0,0,0,0,0,0
$GC,9810,0.80,136.7,356.3,13.9,315,9815,0.00,2.25,0.00,0.000,4,0.000,0.050,2855,3370,2723,0,0,0,0,0,0
$GC,9946,0.80,136.7,336.6,15.5,318,9950,0.00,2.15,0.00,0.000,6,0.000,0.028,2864,1959,2723,0,0,0,0,0,0
$GC,10229,0.80,136.7,296.5,13.2,325,10233,0.00,2.12,0.00,0.000,4,0.000,0.038,2874,563,2722,0,0,0,0,0,0
$GC,10359,0.80,136.7,278.4,14.8,331,10363,0.00,2.12,0.00,0.000,6,0.000,0.034,2875,1962,2721,0,0,0,0,0,0
$GC,10631,0.80,136.7,247.0,10.7,344,10635,0.00,2.15,0.00,0.000,4,0.000,0.037,2884,562,2721,0,0,0,0,0,0
$GC,10703,0.80,136.7,237.8,12.0,347,10708,0.12,2.12,0.00,0.000,6,0.189,0.032,2855,1966,2720,0,0,0,0,0,0
$GC,10957,0.80,136.7,214.2,9.2,359,10961,0.00,2.22,0.00,0.000,4,0.000,0.050,2855,3362,2721,0,0,0,0,0,0
$GC,11046,0.80,136.7,204.8,10.7,363,11050,0.00,2.12,0.00,0.000,6,0.000,0.029,2863,1956,2721,0,0,0,0,0,0
$GC,11314,0.80,136.7,179.5,9.4,386,11318,0.00,2.25,0.00,0.000,4,0.000,0.048,2864,3369,2721,0,0,0,0,0,0
$GC,11345,0.80,136.7,176.4,10.1,388,11349,0.00,2.12,0.00,0.000,6,0.000,0.027,2874,1959,2722,0,0,0,0,0,0
$GC,11611,0.84,172.8,153.4,7.0,412,11644,0.00,0.00,28.20,0.545,6,0.000,0.000,2874,1957,2596,0,0,0,0,0,0
$GC,11903,0.84,172.8,126.6,9.7,439,11907,0.00,2.10,0.00,0.000,4,0.000,0.037,2885,568,2594,0,0,0,0,0,0
$GC,11948,0.84,172.8,121.8,8.7,442,11956,0.00,2.15,0.00,0.000,6,0.000,0.030,2885,1962,2592,0,0,0,0,0,0
$GC,12213,0.84,172.8,93.2,9.6,467,12217,0.00,2.20,0.00,0.000,4,0.000,0.048,2885,3367,2592,0,0,0,0,0,0
$GC,12403,0.84,172.8,72.3,11.0,483,12412,0.00,2.15,0.00,0.000,6,0.000,0.028,2894,1965,2594,0,0,0,0,0,0
$GC,12667,0.92,240.4,52.6,5.7,508,12730,0.00,2.20,56.97,0.460,4,0.000,0.039,2894,570,2318,0,0,0,0,0,0
$GC,12766,0.92,240.4,43.9,10.9,517,12770,0.00,2.12,0.00,0.000,6,0.000,0.031,2895,1960,2316,0,0,0,0,0,0
$GC,13038,0.92,240.4,10.4,13.1,555,13047,0.00,2.25,0.00,0.000,4,0.000,0.047,2895,3366,2315,0,0,0,0,0,0
$GC,13084,0.92,240.4,4.6,13.4,562,13092,0.00,2.17,0.00,0.000,6,0.000,0.028,2899,1959,2314,0,0,0,0,0,0
$STATE,13098,end climb,SURFACE_DEPTH_REACHED
$STATE,13098,begin surface coast
$FINISH,0.5,1.022647
$STATE,13121,end surface coast,CONTROL_FINISHED_OK
$STATE,13121,begin surface
$SM_CCo,13141,28.95,0.407,0,0,2075,300.24
$SM_GC,1.75,0.00,0.00,28.95,0.000,0.000,0.407,60,2138,2075,-7.93,1.10,300.24
$IRIDIUM_FIX,1938.95,-15631.55,200313,090956
$TT8_MAMPS,0.027612
$HUMID,1078956764
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.3,71.421
$10V_AH,9.5,66.158
$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,20.325,125.875,322.275,28.950,0.000,25.402,33.510,187.937,0.000,0.000,25.373,1317.500,9303.932,419.381,2105.131,438.042,33.365,1216.027,0.000,1876.304,0.000,0.540,0.000
$DEVICE_MAMPS,244.673,62.127,1070.732,407.277,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,388.685,0.000,942.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,26959,568
$CAP_FILE_SIZE,156539,0
$CFSIZE,260165632,167350272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112, 95.6,1
$GPS,250911,223924,1943.201,-15628.858,35,1.2,54,9.7