version: 66.07
glider: 513
mission: 7
dive: 532
start: 9 26 111 17 54 59
data:
$ID,513
$MISSION,7
$DIVE,532
$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,-434099.5
$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,65
$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
$GPS1,260911,174707,1933.643,-15628.950,12,1.7,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.7
$GPS2,260911,175402,1933.627,-15628.936,13,1.8,13,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.057,-0.232
$KALMAN_X,21510.1,77.2,-136.7,21729.7,1189.6
$KALMAN_Y,-566038.5,-812.2,-167.7,518755.5,4815.1
$MHEAD_RNG_PITCHd_Wd,181.9,62306,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.80,-136.7,0.0,0.0,0,75,0.00,0.00,-53.17,0.000,2,0.000,0.000,49,2132,3584,0,0,0,0,0,0
$GC,80,-0.80,-136.7,3.2,-4.8,8,102,10.07,2.20,-4.72,0.000,4,0.245,0.052,2331,709,3859,0,0,0,0,0,0
$GC,128,-0.80,-136.7,24.8,-45.7,15,137,0.00,2.15,0.00,0.000,6,0.000,0.046,2323,2060,3861,0,0,0,0,0,0
$GC,400,-0.80,-136.7,107.8,-28.4,41,404,0.00,2.30,0.00,0.000,4,0.000,0.050,2312,3521,3863,0,0,0,0,0,0
$GC,442,-0.80,-136.7,118.7,-24.5,44,447,0.00,2.10,0.00,0.000,6,0.000,0.029,2312,2114,3864,0,0,0,0,0,0
$GC,708,-0.80,-136.7,180.0,-20.0,68,712,0.00,2.15,0.00,0.000,4,0.000,0.038,2312,695,3866,0,0,0,0,0,0
$GC,750,-0.80,-136.7,188.2,-19.4,71,755,0.15,2.17,0.00,0.000,6,0.179,0.043,2338,2118,3866,0,0,0,0,0,0
$GC,1006,-0.80,-136.7,229.5,-15.0,86,1010,0.00,2.17,0.00,0.000,4,0.000,0.049,2329,3505,3868,0,0,0,0,0,0
$GC,1074,-0.80,-136.7,240.3,-15.5,89,1078,0.00,2.10,0.00,0.000,6,0.000,0.029,2329,2097,3868,0,0,0,0,0,0
$GC,1333,-0.80,-136.7,283.7,-17.4,102,1337,0.00,2.10,0.00,0.000,4,0.000,0.041,2329,701,3869,0,0,0,0,0,0
$GC,1369,-0.80,-136.7,289.5,-16.8,103,1376,0.00,2.15,0.00,0.000,6,0.000,0.044,2319,2100,3869,0,0,0,0,0,0
$GC,1641,-0.80,-136.7,330.3,-14.8,112,1645,0.00,2.20,0.00,0.000,4,0.000,0.049,2308,3522,3870,0,0,0,0,0,0
$GC,1778,-0.80,-136.7,351.7,-15.0,115,1783,0.12,2.12,0.00,0.000,6,0.163,0.030,2339,2102,3869,0,0,0,0,0,0
$GC,2065,-0.80,-136.7,389.6,-13.1,122,2069,0.00,2.12,0.00,0.000,4,0.000,0.039,2340,693,3869,0,0,0,0,0,0
$GC,2143,-0.80,-136.7,401.4,-14.8,123,2150,0.00,2.15,0.00,0.000,6,0.000,0.041,2331,2109,3868,0,0,0,0,0,0
$GC,2395,-0.80,-136.7,438.1,-14.9,130,2399,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3508,3867,0,0,0,0,0,0
$GC,2439,-0.80,-136.7,444.8,-13.6,131,2443,0.00,2.12,0.00,0.000,6,0.000,0.031,2320,2097,3867,0,0,0,0,0,0
$GC,2718,-0.80,-136.7,482.0,-12.8,138,2722,0.00,2.25,0.00,0.000,4,0.000,0.050,2310,3518,3865,0,0,0,0,0,0
$GC,2763,-0.80,-136.7,488.2,-12.4,139,2768,0.10,2.12,0.00,0.000,6,0.170,0.032,2335,2102,3864,0,0,0,0,0,0
$GC,3043,-0.80,-136.7,519.5,-11.2,146,3047,0.00,2.12,0.00,0.000,4,0.000,0.041,2335,698,3862,0,0,0,0,0,0
$GC,3094,-0.80,-136.7,525.9,-11.4,147,3098,0.00,2.15,0.00,0.000,6,0.000,0.040,2327,2103,3861,0,0,0,0,0,0
$GC,3367,-0.80,-136.7,559.8,-12.7,154,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2102,3859,0,0,0,0,0,0
$GC,3613,-0.80,-136.7,591.8,-13.3,160,3617,0.00,2.22,0.00,0.000,4,0.000,0.052,2316,3518,3857,0,0,0,0,0,0
$GC,3664,-0.80,-136.7,598.8,-12.8,161,3668,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2100,3856,0,0,0,0,0,0
$GC,3943,-0.80,-136.7,635.5,-12.8,168,3947,0.00,2.15,0.00,0.000,4,0.000,0.045,2315,698,3854,0,0,0,0,0,0
$GC,3966,-0.80,-136.7,638.5,-12.8,168,3970,0.12,2.15,0.00,0.000,6,0.180,0.041,2336,2101,3854,0,0,0,0,0,0
$GC,4227,-0.80,-136.7,666.5,-10.6,175,4231,0.00,2.25,0.00,0.000,4,0.000,0.051,2326,3521,3852,0,0,0,0,0,0
$GC,4277,-0.80,-136.7,672.1,-10.7,176,4281,0.00,2.15,0.00,0.000,6,0.000,0.031,2327,2093,3851,0,0,0,0,0,0
$GC,4551,-0.80,-136.7,704.0,-12.1,183,4555,0.00,2.12,0.00,0.000,4,0.000,0.041,2327,696,3849,0,0,0,0,0,0
$GC,4591,-0.80,-136.7,709.4,-12.9,184,4595,0.00,2.15,0.00,0.000,6,0.000,0.041,2316,2103,3849,0,0,0,0,0,0
$GC,4877,-0.80,-136.7,746.7,-13.0,191,4881,0.00,2.25,0.00,0.000,4,0.000,0.052,2305,3516,3846,0,0,0,0,0,0
$GC,4949,-0.80,-136.7,756.9,-13.3,192,4954,0.12,2.15,0.00,0.000,6,0.169,0.032,2336,2100,3845,0,0,0,0,0,0
$GC,5200,-0.80,-136.7,785.1,-11.1,198,5204,0.00,2.15,0.00,0.000,4,0.000,0.044,2337,699,3844,0,0,0,0,0,0
$GC,5245,-0.80,-136.7,790.5,-11.0,199,5249,0.00,2.17,0.00,0.000,6,0.000,0.040,2328,2107,3844,0,0,0,0,0,0
$GC,5523,-0.80,-136.7,821.5,-11.3,206,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2107,3843,0,0,0,0,0,0
$GC,5769,-0.80,-136.7,848.5,-11.3,212,5773,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3514,3841,0,0,0,0,0,0
$GC,5818,-0.80,-136.7,854.7,-11.6,213,5822,0.00,2.15,0.00,0.000,6,0.000,0.032,2318,2103,3840,0,0,0,0,0,0
$GC,6091,-0.80,-136.7,886.0,-11.4,220,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2097,3839,0,0,0,0,0,0
$STATE,6251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6260,-0.28,0.0,904.1,11.2,224,6378,0.62,0.00,114.72,1.068,6,0.146,0.000,2501,1926,3300,0,0,0,0,0,0
$STATE,6378,end apogee,CONTROL_FINISHED_OK
$STATE,6379,begin climb
$GC,6381,0.80,136.7,907.8,0.0,227,6507,1.08,0.00,122.43,1.042,6,0.094,0.000,2853,1925,2742,0,0,0,0,0,0
$GC,6741,0.80,136.7,853.2,18.8,236,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1925,2733,0,0,0,0,0,0
$GC,6981,0.80,136.7,808.6,18.3,242,6985,0.00,2.33,0.00,0.000,4,0.000,0.052,2854,3370,2731,0,0,0,0,0,0
$GC,7026,0.80,136.7,799.9,18.4,243,7030,0.00,2.17,0.00,0.000,6,0.000,0.030,2864,1965,2732,0,0,0,0,0,0
$GC,7305,0.80,136.7,746.5,19.3,250,7309,0.00,2.15,0.00,0.000,4,0.000,0.038,2875,555,2730,0,0,0,0,0,0
$GC,7354,0.80,136.7,736.5,20.0,251,7358,0.00,2.15,0.00,0.000,6,0.000,0.034,2875,1965,2727,0,0,0,0,0,0
$GC,7629,0.80,136.7,683.8,19.1,258,7633,0.00,2.22,0.00,0.000,4,0.000,0.052,2875,3367,2727,0,0,0,0,0,0
$GC,7679,0.80,136.7,673.6,19.5,259,7683,0.12,2.15,0.00,0.000,6,0.206,0.031,2857,1957,2727,0,0,0,0,0,0
$GC,7952,0.80,136.7,627.2,16.9,266,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1955,2726,0,0,0,0,0,0
$GC,8195,0.80,136.7,585.9,16.9,272,8199,0.00,2.15,0.00,0.000,4,0.000,0.040,2867,561,2725,0,0,0,0,0,0
$GC,8256,0.80,136.7,575.2,16.7,273,8260,0.00,2.15,0.00,0.000,6,0.000,0.033,2867,1972,2724,0,0,0,0,0,0
$GC,8525,0.80,136.7,531.1,16.7,280,8529,0.00,2.22,0.00,0.000,4,0.000,0.052,2867,3370,2724,0,0,0,0,0,0
$GC,8581,0.80,136.7,521.0,17.1,281,8585,0.00,2.15,0.00,0.000,6,0.000,0.030,2877,1951,2724,0,0,0,0,0,0
$GC,8854,0.80,136.7,475.6,16.7,288,8858,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,564,2723,0,0,0,0,0,0
$GC,8888,0.80,136.7,469.8,17.2,288,8893,0.12,2.12,0.00,0.000,6,0.196,0.032,2860,1964,2722,0,0,0,0,0,0
$GC,9138,0.80,136.7,433.0,14.6,294,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1965,2722,0,0,0,0,0,0
$GC,9384,0.80,136.7,399.1,13.9,300,9388,0.00,2.22,0.00,0.000,4,0.000,0.051,2859,3363,2722,0,0,0,0,0,0
$GC,9462,0.80,136.7,386.6,15.6,301,9468,0.00,2.12,0.00,0.000,6,0.000,0.030,2868,1964,2722,0,0,0,0,0,0
$GC,9713,0.80,136.7,351.2,13.8,308,9717,0.00,2.12,0.00,0.000,4,0.000,0.037,2879,561,2722,0,0,0,0,0,0
$GC,9747,0.80,136.7,346.6,14.3,308,9751,0.00,2.15,0.00,0.000,6,0.000,0.032,2879,1963,2721,0,0,0,0,0,0
$GC,9997,0.80,136.7,312.8,13.3,314,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1963,2721,0,0,0,0,0,0
$GC,10243,0.80,136.7,279.0,13.7,323,10247,0.00,2.25,0.00,0.000,4,0.000,0.051,2879,3368,2721,0,0,0,0,0,0
$GC,10369,0.80,136.7,262.5,11.7,328,10374,0.15,2.15,0.00,0.000,6,0.189,0.028,2853,1951,2721,0,0,0,0,0,0
$GC,10626,0.80,136.7,237.4,10.4,340,10630,0.00,2.25,0.00,0.000,4,0.000,0.048,2847,3364,2721,0,0,0,0,0,0
$GC,10643,0.80,136.7,235.4,10.2,341,10647,0.00,2.15,0.00,0.000,6,0.000,0.029,2856,1953,2721,0,0,0,0,0,0
$GC,10909,0.80,136.7,204.6,11.1,354,10913,0.00,2.28,0.00,0.000,4,0.000,0.048,2856,3367,2721,0,0,0,0,0,0
$GC,11053,0.83,162.0,191.4,7.5,364,11078,0.00,2.12,19.38,0.571,6,0.000,0.028,2866,1950,2639,0,0,0,0,0,0
$GC,11335,0.83,162.0,159.6,12.6,390,11339,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,567,2637,0,0,0,0,0,0
$GC,11458,0.83,162.0,145.6,10.7,400,11462,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1970,2634,0,0,0,0,0,0
$GC,11724,0.83,168.6,121.0,8.3,424,11737,0.00,2.22,6.95,0.443,4,0.000,0.047,2877,3363,2612,0,0,0,0,0,0
$GC,11866,0.83,168.6,105.3,11.2,436,11870,0.00,2.12,0.00,0.000,6,0.000,0.029,2886,1955,2612,0,0,0,0,0,0
$GC,12132,0.86,187.0,81.5,7.8,460,12157,0.00,2.17,17.10,0.467,4,0.000,0.039,2886,565,2537,0,0,0,0,0,0
$GC,12242,0.86,187.0,71.4,8.7,469,12249,0.00,2.15,0.00,0.000,6,0.000,0.031,2885,1960,2535,0,0,0,0,0,0
$GC,12506,0.90,224.3,52.0,7.0,494,12543,0.00,2.15,32.25,0.453,4,0.000,0.035,2896,564,2384,0,0,0,0,0,0
$GC,12572,0.90,224.3,46.0,10.2,499,12583,0.00,2.17,0.00,0.000,6,0.000,0.031,2896,1964,2382,0,0,0,0,0,0
$GC,12842,0.90,224.3,16.8,10.7,534,12850,0.00,2.25,0.00,0.000,4,0.000,0.046,2896,3370,2382,0,0,0,0,0,0
$GC,12952,0.90,224.3,3.8,11.8,553,12960,0.00,2.15,0.00,0.000,6,0.000,0.028,2904,1969,2382,0,0,0,0,0,0
$STATE,12965,end climb,SURFACE_DEPTH_REACHED
$STATE,12966,begin surface coast
$FINISH,0.3,1.022713
$STATE,12996,end surface coast,CONTROL_FINISHED_OK
$STATE,12996,begin surface
$SM_CCo,13017,36.35,0.412,0,0,2075,300.24
$SM_GC,1.97,0.00,0.00,36.35,0.000,0.000,0.412,59,2142,2075,-7.93,1.19,300.24
$IRIDIUM_FIX,1927.51,-15628.26,210313,080821
$TT8_MAMPS,0.028379
$HUMID,1078950313
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.3,72.025
$10V_AH,8.6,66.701
$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,20.475,143.575,312.825,36.350,0.000,30.647,38.555,187.221,0.000,0.000,15.186,1330.922,9107.718,456.078,2117.852,455.388,33.370,1265.928,0.000,1895.683,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,63.661,1068.431,411.879,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,382.830,0.000,922.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26924,560
$CAP_FILE_SIZE,160096,0
$CFSIZE,260165632,166969344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,116.5,1
$GPS,260911,213407,1931.801,-15628.853,50,1.9,50,9.7