version: 66.07
glider: 513
mission: 7
dive: 531
start: 9 26 111 14 3 6
data:
$ID,513
$MISSION,7
$DIVE,531
$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,-434083.69
$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,46
$R_STBD_OVSHOOT,51
$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
$GPS1,260911,135114,1935.494,-15628.651,16,2.0,17,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.7
$GPS2,260911,140207,1935.348,-15628.606,36,0.9,36,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.031,-0.237
$KALMAN_X,23869.8,-828.7,-1010.6,21719.9,6615.0
$KALMAN_Y,-568187.7,-407.8,-103.9,523627.2,2825.2
$MHEAD_RNG_PITCHd_Wd,193.9,65509,-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,-136.7,0.0,0.0,0,78,0.00,0.00,-59.20,0.000,2,0.000,0.000,41,2124,3797,0,0,0,0,0,0
$GC,82,-0.80,-136.7,4.2,-6.8,9,98,10.20,2.28,-0.95,0.000,4,0.248,0.066,2320,3500,3860,0,0,0,0,0,0
$GC,326,-0.80,-136.7,87.0,-27.3,34,334,0.00,2.15,0.00,0.000,6,0.000,0.034,2320,2115,3865,0,0,0,0,0,0
$GC,590,-0.80,-136.7,149.4,-20.3,59,594,0.00,2.20,0.00,0.000,4,0.000,0.052,2309,3495,3867,0,0,0,0,0,0
$GC,669,-0.80,-136.7,165.2,-18.6,65,677,0.08,2.12,0.00,0.000,6,0.144,0.031,2333,2098,3867,0,0,0,0,0,0
$GC,932,-0.80,-136.7,208.4,-17.7,88,936,0.00,2.10,0.00,0.000,4,0.000,0.039,2333,699,3868,0,0,0,0,0,0
$GC,1005,-0.80,-136.7,221.1,-15.8,91,1009,0.00,2.10,0.00,0.000,6,0.000,0.040,2325,2080,3868,0,0,0,0,0,0
$GC,1264,-0.80,-136.7,265.5,-17.3,103,1268,0.00,2.25,0.00,0.000,4,0.000,0.049,2313,3520,3870,0,0,0,0,0,0
$GC,1336,-0.80,-136.7,279.1,-16.0,106,1340,0.00,2.10,0.00,0.000,6,0.000,0.029,2313,2097,3870,0,0,0,0,0,0
$GC,1589,-0.80,-136.7,321.4,-16.6,115,1593,0.00,2.10,0.00,0.000,4,0.000,0.041,2314,702,3870,0,0,0,0,0,0
$GC,1606,-0.80,-136.7,324.5,-15.3,115,1610,0.12,2.15,0.00,0.000,6,0.173,0.041,2334,2109,3870,0,0,0,0,0,0
$GC,1867,-0.80,-136.7,363.8,-15.4,122,1871,0.00,2.17,0.00,0.000,4,0.000,0.050,2325,3508,3870,0,0,0,0,0,0
$GC,1896,-0.80,-136.7,368.2,-15.8,122,1900,0.00,2.10,0.00,0.000,6,0.000,0.031,2325,2104,3870,0,0,0,0,0,0
$GC,2152,-0.80,-136.7,405.7,-14.2,129,2156,0.00,2.12,0.00,0.000,4,0.000,0.040,2325,700,3869,0,0,0,0,0,0
$GC,2263,-0.80,-136.7,421.1,-13.0,131,2267,0.00,2.12,0.00,0.000,6,0.000,0.039,2315,2100,3868,0,0,0,0,0,0
$GC,2521,-0.80,-136.7,455.8,-13.9,138,2525,0.00,2.22,0.00,0.000,4,0.000,0.050,2304,3519,3866,0,0,0,0,0,0
$GC,2576,-0.80,-136.7,464.3,-13.9,139,2581,0.12,2.12,0.00,0.000,6,0.168,0.030,2335,2094,3866,0,0,0,0,0,0
$GC,2844,-0.80,-136.7,498.2,-12.8,146,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2089,3863,0,0,0,0,0,0
$GC,3087,-0.80,-136.7,530.0,-13.0,152,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2089,3861,0,0,0,0,0,0
$GC,3330,-0.80,-136.7,559.9,-12.1,158,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2089,3859,0,0,0,0,0,0
$GC,3576,-0.80,-136.7,587.6,-11.2,164,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2089,3857,0,0,0,0,0,0
$GC,3818,-0.80,-136.7,614.4,-10.9,170,3822,0.00,2.12,0.00,0.000,4,0.000,0.043,2335,700,3855,0,0,0,0,0,0
$GC,3840,-0.80,-136.7,616.9,-10.8,170,3844,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2103,3855,0,0,0,0,0,0
$GC,4103,-0.80,-136.7,645.1,-10.6,177,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2103,3852,0,0,0,0,0,0
$GC,4345,-0.80,-136.7,670.3,-10.1,183,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2103,3851,0,0,0,0,0,0
$GC,4589,-0.80,-136.7,696.4,-10.6,189,4593,0.00,2.25,0.00,0.000,4,0.000,0.053,2317,3514,3848,0,0,0,0,0,0
$GC,4630,-0.80,-136.7,700.9,-11.8,190,4634,0.00,2.15,0.00,0.000,6,0.000,0.032,2317,2094,3848,0,0,0,0,0,0
$GC,4914,-0.80,-136.7,732.3,-11.0,197,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2088,3846,0,0,0,0,0,0
$GC,5159,-0.80,-136.7,758.5,-10.7,203,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2088,3844,0,0,0,0,0,0
$GC,5401,-0.80,-136.7,786.5,-11.6,209,5405,0.00,2.28,0.00,0.000,4,0.000,0.054,2306,3508,3843,0,0,0,0,0,0
$GC,5441,-0.80,-136.7,791.1,-12.3,210,5446,0.12,2.12,0.00,0.000,6,0.174,0.033,2337,2103,3842,0,0,0,0,0,0
$GC,5729,-0.80,-136.7,821.3,-10.7,217,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2097,3840,0,0,0,0,0,0
$GC,5969,-0.80,-136.7,847.3,-10.8,223,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2097,3839,0,0,0,0,0,0
$GC,6213,-0.80,-136.7,872.7,-10.2,229,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2097,3838,0,0,0,0,0,0
$GC,6458,-0.80,-136.7,895.2,-9.0,235,6462,0.00,2.15,0.00,0.000,4,0.000,0.044,2337,698,3836,0,0,0,0,0,0
$GC,6498,-0.80,-136.7,899.4,-9.3,236,6502,0.00,2.10,0.00,0.000,3,0.000,0.041,2329,2052,3836,0,0,0,0,0,0
$STATE,6502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6510,-0.28,0.0,900.0,9.6,236,6627,0.55,0.00,114.45,1.065,6,0.143,0.000,2496,1942,3300,0,0,0,0,0,0
$STATE,6628,end apogee,CONTROL_FINISHED_OK
$STATE,6628,begin climb
$GC,6633,0.80,136.7,902.8,0.0,239,6759,1.08,0.00,122.97,1.030,6,0.096,0.000,2848,1942,2742,0,0,0,0,0,0
$GC,6992,0.80,136.7,849.0,18.2,248,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1942,2734,0,0,0,0,0,0
$GC,7235,0.80,136.7,806.7,17.3,254,7239,0.00,2.28,0.00,0.000,4,0.000,0.051,2848,3351,2731,0,0,0,0,0,0
$GC,7285,0.80,136.7,797.7,17.2,255,7289,0.00,2.12,0.00,0.000,6,0.000,0.030,2858,1967,2731,0,0,0,0,0,0
$GC,7557,0.80,136.7,750.7,17.1,262,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1966,2730,0,0,0,0,0,0
$GC,7802,0.80,136.7,707.3,17.9,268,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1966,2728,0,0,0,0,0,0
$GC,8045,0.80,136.7,663.4,18.1,274,8049,0.00,2.22,0.00,0.000,4,0.000,0.050,2858,3364,2728,0,0,0,0,0,0
$GC,8100,0.80,136.7,652.6,19.1,275,8104,0.00,2.15,0.00,0.000,6,0.000,0.031,2869,1958,2728,0,0,0,0,0,0
$GC,8369,0.80,136.7,604.8,17.8,282,8373,0.00,2.15,0.00,0.000,4,0.000,0.039,2879,560,2727,0,0,0,0,0,0
$GC,8441,0.80,136.7,591.1,18.9,283,8445,0.00,2.12,0.00,0.000,6,0.000,0.033,2879,1958,2724,0,0,0,0,0,0
$GC,8693,0.80,136.7,545.8,18.0,289,8697,0.00,2.22,0.00,0.000,4,0.000,0.050,2879,3363,2725,0,0,0,0,0,0
$GC,8715,0.80,136.7,541.0,19.2,289,8720,0.15,2.15,0.00,0.000,6,0.198,0.030,2854,1950,2725,0,0,0,0,0,0
$GC,8971,0.80,136.7,500.8,15.6,296,8975,0.00,2.28,0.00,0.000,4,0.000,0.049,2850,3369,2725,0,0,0,0,0,0
$GC,9018,0.80,136.7,493.7,16.2,297,9022,0.00,2.15,0.00,0.000,6,0.000,0.030,2859,1954,2725,0,0,0,0,0,0
$GC,9307,0.80,136.7,449.2,15.6,304,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1954,2724,0,0,0,0,0,0
$GC,9552,0.80,136.7,411.5,15.5,310,9556,0.00,2.25,0.00,0.000,4,0.000,0.050,2859,3369,2724,0,0,0,0,0,0
$GC,9613,0.80,136.7,400.8,16.6,311,9617,0.00,2.15,0.00,0.000,6,0.000,0.029,2870,1951,2725,0,0,0,0,0,0
$GC,9879,0.80,136.7,361.2,14.3,318,9883,0.00,2.10,0.00,0.000,4,0.000,0.039,2880,563,2724,0,0,0,0,0,0
$GC,9970,0.80,136.7,348.8,14.3,320,9974,0.00,2.12,0.00,0.000,6,0.000,0.032,2880,1967,2722,0,0,0,0,0,0
$GC,10248,0.80,136.7,310.1,13.7,327,10252,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3366,2722,0,0,0,0,0,0
$GC,10416,0.80,136.7,285.3,15.3,332,10424,0.15,2.12,0.00,0.000,6,0.192,0.029,2855,1955,2722,0,0,0,0,0,0
$GC,10672,0.80,136.7,253.9,12.7,345,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1954,2722,0,0,0,0,0,0
$GC,10920,0.80,136.7,226.1,10.5,357,10924,0.00,2.25,0.00,0.000,4,0.000,0.048,2850,3373,2722,0,0,0,0,0,0
$GC,10938,0.80,136.7,224.0,10.4,358,10942,0.00,2.12,0.00,0.000,6,0.000,0.028,2859,1960,2722,0,0,0,0,0,0
$GC,11203,0.80,139.0,198.2,8.5,371,11207,0.00,2.22,0.00,0.000,4,0.000,0.048,2859,3365,2721,0,0,0,0,0,0
$GC,11358,0.80,139.0,183.7,9.0,384,11362,0.00,2.15,0.00,0.000,6,0.000,0.028,2870,1953,2722,0,0,0,0,0,0
$GC,11623,0.84,172.9,164.6,7.1,408,11661,0.00,2.17,28.62,0.555,4,0.000,0.038,2880,564,2592,0,0,0,0,0,0
$GC,11913,0.84,172.9,132.1,11.8,433,11921,0.00,2.15,0.00,0.000,6,0.000,0.032,2880,1957,2589,0,0,0,0,0,0
$GC,12176,0.84,172.9,102.1,9.7,458,12180,0.00,2.12,0.00,0.000,4,0.000,0.035,2890,562,2589,0,0,0,0,0,0
$GC,12279,0.84,172.9,92.8,8.6,466,12287,0.00,2.15,0.00,0.000,6,0.000,0.031,2891,1961,2589,0,0,0,0,0,0
$GC,12544,0.84,172.9,72.1,9.5,491,12548,0.00,2.20,0.00,0.000,4,0.000,0.048,2890,3368,2590,0,0,0,0,0,0
$GC,12801,0.89,215.3,49.4,6.8,513,12846,0.00,2.15,36.47,0.450,6,0.000,0.028,2896,1958,2421,0,0,0,0,0,0
$GC,13103,0.89,215.3,21.0,11.2,548,13112,0.00,2.15,0.00,0.000,4,0.000,0.038,2899,569,2418,0,0,0,0,0,0
$GC,13142,0.89,215.3,17.1,10.1,554,13150,0.00,2.12,0.00,0.000,6,0.000,0.030,2899,1959,2417,0,0,0,0,0,0
$STATE,13274,end climb,SURFACE_DEPTH_REACHED
$STATE,13274,begin surface coast
$FINISH,0.4,1.009514
$STATE,13305,end surface coast,CONTROL_FINISHED_OK
$STATE,13305,begin surface
$SM_CCo,13326,42.85,0.412,0,0,2075,300.24
$SM_GC,2.05,0.00,0.00,42.85,0.000,0.000,0.412,57,2131,2075,-7.94,0.88,300.24
$IRIDIUM_FIX,1929.80,-15628.26,210313,080828
$TT8_MAMPS,0.027612
$HUMID,1078943861
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.4,71.925
$10V_AH,8.7,66.612
$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,20.300,112.850,302.525,42.850,0.000,54.309,72.432,276.755,0.500,0.000,39.791,1335.096,9474.883,430.670,2312.283,467.912,33.369,1224.521,0.000,1939.018,0.000,0.541,0.000
$DEVICE_MAMPS,247.741,73.632,1064.596,411.879,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.031,0.000,978.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30240,582
$CAP_FILE_SIZE,157549,0
$CFSIZE,260165632,167034880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,130.3,1
$GPS,260911,174707,1933.643,-15628.950,12,1.7,29,9.7