version: 66.07
glider: 513
mission: 7
dive: 527
start: 9 25 111 22 47 6
data:
$ID,513
$MISSION,7
$DIVE,527
$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,-433966.59
$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,47
$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
$GPS1,250911,223924,1943.201,-15628.858,35,1.2,54,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.2
$GPS2,250911,224608,1943.165,-15628.811,12,1.0,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.026,-0.238
$KALMAN_X,21985.0,43.7,-69.4,21401.3,7086.4
$KALMAN_Y,-572414.0,-784.9,-290.3,542903.9,3352.1
$MHEAD_RNG_PITCHd_Wd,199.6,79968,-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,-136.7,0.0,0.0,0,73,0.00,0.00,-52.65,0.000,2,0.000,0.000,40,2140,3550,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.1,-4.0,8,100,10.07,2.17,-5.50,0.000,4,0.245,0.064,2321,3494,3859,0,0,0,0,0,0
$GC,245,-0.80,-136.7,55.9,-27.9,28,252,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,2108,3863,0,0,0,0,0,0
$GC,508,-0.80,-136.7,126.2,-24.9,53,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3864,0,0,0,0,0,0
$GC,763,-0.80,-136.7,181.4,-21.6,77,767,0.00,2.12,0.00,0.000,4,0.000,0.037,2321,686,3866,0,0,0,0,0,0
$GC,817,-0.80,-136.7,192.2,-19.5,81,821,0.00,2.12,0.00,0.000,6,0.000,0.040,2310,2069,3866,0,0,0,0,0,0
$GC,1084,-0.80,-136.7,241.8,-19.2,95,1088,0.10,2.25,0.00,0.000,4,0.193,0.048,2324,3506,3869,0,0,0,0,0,0
$GC,1152,-0.80,-136.7,253.1,-15.1,98,1156,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2087,3869,0,0,0,0,0,0
$GC,1411,-0.80,-136.7,295.0,-15.5,111,1415,0.00,2.08,0.00,0.000,4,0.000,0.035,2325,698,3869,0,0,0,0,0,0
$GC,1490,-0.80,-136.7,307.5,-16.2,113,1496,0.00,2.15,0.00,0.000,6,0.000,0.038,2314,2106,3869,0,0,0,0,0,0
$GC,1741,-0.80,-136.7,344.9,-14.5,120,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2106,3870,0,0,0,0,0,0
$GC,1984,-0.80,-136.7,381.5,-15.2,126,1988,0.00,2.17,0.00,0.000,4,0.000,0.050,2304,3507,3869,0,0,0,0,0,0
$GC,2062,-0.80,-136.7,393.6,-14.5,127,2067,0.12,2.10,0.00,0.000,6,0.166,0.031,2335,2092,3869,0,0,0,0,0,0
$GC,2312,-0.80,-136.7,426.9,-13.1,133,2316,0.00,2.10,0.00,0.000,4,0.000,0.041,2336,703,3868,0,0,0,0,0,0
$GC,2334,-0.80,-136.7,430.2,-14.2,133,2338,0.00,2.15,0.00,0.000,6,0.000,0.040,2327,2099,3868,0,0,0,0,0,0
$GC,2592,-0.80,-136.7,462.1,-12.3,140,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2098,3866,0,0,0,0,0,0
$GC,2834,-0.80,-136.7,492.6,-12.6,146,2838,0.00,2.10,0.00,0.000,4,0.000,0.038,2327,701,3864,0,0,0,0,0,0
$GC,2861,-0.80,-136.7,496.0,-12.4,146,2865,0.00,2.15,0.00,0.000,6,0.000,0.040,2317,2100,3864,0,0,0,0,0,0
$GC,3113,-0.80,-136.7,528.5,-13.1,152,3117,0.00,2.20,0.00,0.000,4,0.000,0.049,2306,3517,3862,0,0,0,0,0,0
$GC,3208,-0.80,-136.7,541.8,-12.7,154,3213,0.12,2.12,0.00,0.000,6,0.173,0.031,2337,2107,3861,0,0,0,0,0,0
$GC,3490,-0.80,-136.7,575.4,-12.1,161,3494,0.00,2.15,0.00,0.000,4,0.000,0.040,2337,686,3858,0,0,0,0,0,0
$GC,3512,-0.80,-136.7,578.8,-12.6,161,3516,0.00,2.15,0.00,0.000,6,0.000,0.039,2329,2100,3858,0,0,0,0,0,0
$GC,3775,-0.80,-136.7,612.4,-13.0,168,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2100,3856,0,0,0,0,0,0
$GC,4017,-0.80,-136.7,643.4,-12.7,174,4021,0.00,2.25,0.00,0.000,4,0.000,0.051,2318,3507,3854,0,0,0,0,0,0
$GC,4066,-0.80,-136.7,650.1,-13.0,175,4070,0.00,2.12,0.00,0.000,6,0.000,0.031,2318,2095,3854,0,0,0,0,0,0
$GC,4340,-0.80,-136.7,686.3,-13.4,182,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2089,3851,0,0,0,0,0,0
$GC,4583,-0.80,-136.7,716.1,-11.8,188,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2089,3850,0,0,0,0,0,0
$GC,4826,-0.80,-136.7,743.1,-10.7,194,4830,0.00,2.12,0.00,0.000,4,0.000,0.042,2318,700,3847,0,0,0,0,0,0
$GC,4883,-0.80,-136.7,748.9,-10.5,195,4888,0.12,2.17,0.00,0.000,6,0.190,0.041,2337,2098,3847,0,0,0,0,0,0
$GC,5150,-0.80,-136.7,772.4,-8.7,202,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2098,3845,0,0,0,0,0,0
$GC,5396,-0.80,-136.7,793.3,-8.6,208,5400,0.00,2.25,0.00,0.000,4,0.000,0.051,2328,3516,3844,0,0,0,0,0,0
$GC,5423,-0.80,-136.7,796.1,-9.5,208,5427,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2109,3843,0,0,0,0,0,0
$GC,5673,-0.80,-136.7,819.3,-9.5,214,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2103,3842,0,0,0,0,0,0
$GC,5919,-0.80,-136.7,843.5,-9.9,220,5923,0.00,2.15,0.00,0.000,4,0.000,0.041,2328,694,3840,0,0,0,0,0,0
$GC,5991,-0.80,-136.7,851.3,-10.8,221,5995,0.00,2.17,0.00,0.000,6,0.000,0.041,2318,2101,3840,0,0,0,0,0,0
$GC,6241,-0.80,-136.7,879.0,-11.2,227,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2101,3839,0,0,0,0,0,0
$STATE,6442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6442,begin apogee
$GC,6451,-0.28,0.0,901.8,11.1,232,6569,0.62,0.00,114.65,1.077,6,0.150,0.000,2499,1912,3300,0,0,0,0,0,0
$STATE,6570,end apogee,CONTROL_FINISHED_OK
$STATE,6570,begin climb
$GC,6573,0.80,136.7,904.7,0.0,235,6702,1.05,2.22,121.55,1.036,4,0.097,0.037,2856,573,2741,0,0,0,0,0,0
$GC,6724,0.80,136.7,887.9,17.3,238,6729,0.00,2.25,0.00,0.000,6,0.000,0.035,2856,1963,2737,0,0,0,0,0,0
$GC,6980,0.80,136.7,839.7,19.0,245,6984,0.00,2.28,0.00,0.000,4,0.000,0.053,2856,3369,2733,0,0,0,0,0,0
$GC,7014,0.80,136.7,832.8,20.9,245,7018,0.00,2.17,0.00,0.000,6,0.000,0.030,2866,1966,2733,0,0,0,0,0,0
$GC,7264,0.80,136.7,782.3,20.1,251,7268,0.00,2.17,0.00,0.000,4,0.000,0.038,2877,559,2731,0,0,0,0,0,0
$GC,7320,0.80,136.7,770.6,20.0,252,7324,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1966,2729,0,0,0,0,0,0
$GC,7586,0.80,136.7,716.6,20.2,259,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1968,2729,0,0,0,0,0,0
$GC,7830,0.80,136.7,668.6,19.5,265,7834,0.00,2.22,0.00,0.000,4,0.000,0.051,2877,3365,2728,0,0,0,0,0,0
$GC,7863,0.80,136.7,661.9,21.0,265,7869,0.12,2.17,0.00,0.000,6,0.206,0.031,2859,1948,2728,0,0,0,0,0,0
$GC,8115,0.80,136.7,618.3,17.2,272,8119,0.00,2.25,0.00,0.000,4,0.000,0.049,2857,3367,2727,0,0,0,0,0,0
$GC,8136,0.80,136.7,613.8,18.2,272,8140,0.00,2.17,0.00,0.000,6,0.000,0.031,2866,1948,2727,0,0,0,0,0,0
$GC,8399,0.80,136.7,568.0,17.2,279,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1949,2726,0,0,0,0,0,0
$GC,8641,0.80,136.7,525.9,17.2,285,8645,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,563,2725,0,0,0,0,0,0
$GC,8691,0.80,136.7,517.5,17.0,286,8695,0.00,2.12,0.00,0.000,6,0.000,0.033,2877,1963,2723,0,0,0,0,0,0
$GC,8977,0.80,136.7,472.5,16.0,293,8981,0.00,2.22,0.00,0.000,4,0.000,0.051,2877,3362,2724,0,0,0,0,0,0
$GC,9049,0.80,136.7,459.6,17.4,294,9054,0.12,2.12,0.00,0.000,6,0.201,0.030,2859,1958,2724,0,0,0,0,0,0
$GC,9306,0.80,136.7,421.0,15.3,301,9310,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,560,2723,0,0,0,0,0,0
$GC,9339,0.80,136.7,415.3,15.6,301,9343,0.00,2.12,0.00,0.000,6,0.000,0.031,2867,1965,2722,0,0,0,0,0,0
$GC,9589,0.80,136.7,378.1,14.5,307,9593,0.00,2.22,0.00,0.000,4,0.000,0.050,2867,3361,2722,0,0,0,0,0,0
$GC,9713,0.80,136.7,359.8,14.9,309,9719,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1962,2722,0,0,0,0,0,0
$GC,9964,0.80,136.7,324.9,13.8,316,9968,0.00,2.12,0.00,0.000,4,0.000,0.038,2886,562,2722,0,0,0,0,0,0
$GC,10077,0.80,136.7,309.3,14.2,318,10082,0.12,2.15,0.00,0.000,6,0.193,0.031,2858,1970,2721,0,0,0,0,0,0
$GC,10335,0.80,136.7,280.5,10.1,329,10339,0.00,2.20,0.00,0.000,4,0.000,0.050,2858,3362,2721,0,0,0,0,0,0
$GC,10386,0.80,136.7,275.1,11.2,331,10390,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1959,2721,0,0,0,0,0,0
$GC,10646,0.80,136.7,248.5,10.7,344,10650,0.00,2.15,0.00,0.000,4,0.000,0.038,2877,561,2722,0,0,0,0,0,0
$GC,10703,0.80,136.7,241.7,11.9,346,10708,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1960,2721,0,0,0,0,0,0
$GC,10960,0.80,136.7,212.8,10.8,359,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1960,2721,0,0,0,0,0,0
$GC,11210,0.80,136.7,189.0,10.0,376,11214,0.00,2.20,0.00,0.000,4,0.000,0.049,2877,3358,2721,0,0,0,0,0,0
$GC,11284,0.80,136.7,181.8,9.1,382,11289,0.12,2.12,0.00,0.000,6,0.190,0.028,2858,1941,2722,0,0,0,0,0,0
$GC,11549,0.81,151.0,162.0,8.0,406,11566,0.00,2.30,10.15,0.504,4,0.000,0.046,2858,3356,2684,0,0,0,0,0,0
$GC,11648,0.81,151.0,153.1,8.9,414,11655,0.00,2.15,0.00,0.000,6,0.000,0.028,2866,1960,2684,0,0,0,0,0,0
$GC,11913,0.81,151.0,127.8,9.3,439,11917,0.00,2.20,0.00,0.000,4,0.000,0.046,2867,3362,2684,0,0,0,0,0,0
$GC,12060,0.81,151.0,112.2,11.7,451,12069,0.00,2.15,0.00,0.000,6,0.000,0.028,2877,1954,2684,0,0,0,0,0,0
$GC,12326,0.84,173.2,90.2,7.6,476,12353,0.00,2.30,20.90,0.477,4,0.000,0.046,2877,3373,2592,0,0,0,0,0,0
$GC,12588,0.84,173.2,58.7,11.9,499,12592,0.00,2.12,0.00,0.000,6,0.000,0.028,2887,1955,2593,0,0,0,0,0,0
$GC,12854,0.88,204.9,36.1,7.2,523,12883,0.00,0.00,27.67,0.439,6,0.000,0.000,2887,1954,2464,0,0,0,0,0,0
$GC,13141,0.88,204.9,9.9,10.0,569,13148,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1954,2462,0,0,0,0,0,0
$STATE,13204,end climb,SURFACE_DEPTH_REACHED
$STATE,13204,begin surface coast
$FINISH,0.3,1.022737
$STATE,13236,end surface coast,CONTROL_FINISHED_OK
$STATE,13237,begin surface
$SM_CCo,13256,51.80,0.418,0,0,2074,300.24
$SM_GC,1.73,0.00,0.00,51.80,0.000,0.000,0.418,53,2131,2074,-7.95,0.88,300.24
$IRIDIUM_FIX,1936.66,-15631.55,200313,131333
$TT8_MAMPS,0.027612
$HUMID,1078919345
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.3,71.520
$10V_AH,9.4,66.250
$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,20.475,126.125,294.925,51.800,0.000,30.306,33.901,181.796,0.000,0.000,14.180,1353.130,9331.189,412.185,2170.250,442.767,33.365,1232.176,0.000,1959.465,0.000,0.540,0.000
$DEVICE_MAMPS,244.673,64.428,1076.868,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,400.097,0.000,998.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,30270,585
$CAP_FILE_SIZE,159388,0
$CFSIZE,260165632,167284736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,122.2,1
$GPS,260911,023006,1941.397,-15629.040,31,1.1,31,9.7