version: 66.07
glider: 513
mission: 7
dive: 533
start: 9 26 111 21 41 53
data:
$ID,513
$MISSION,7
$DIVE,533
$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,-434118.16
$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,51
$R_STBD_OVSHOOT,62
$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
$GPS1,260911,213407,1931.801,-15628.853,50,1.9,50,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-80.5
$GPS2,260911,214056,1931.806,-15628.802,17,1.9,17,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040,-0.235
$KALMAN_X,22502.5,219.9,140.0,20517.4,832.7
$KALMAN_Y,-564945.6,-588.4,-306.6,514215.9,4994.1
$MHEAD_RNG_PITCHd_Wd,187.1,58942,-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,19,-0.80,-136.7,0.0,0.0,0,80,0.00,0.00,-59.33,0.000,2,0.000,0.000,42,2142,3802,0,0,0,0,0,0
$GC,85,-0.80,-136.7,4.3,-7.0,9,101,10.12,2.28,-0.85,0.000,4,0.246,0.052,2328,700,3861,0,0,0,0,0,0
$GC,149,-0.80,-136.7,35.0,-36.3,18,153,0.00,2.15,0.00,0.000,6,0.000,0.044,2320,2076,3863,0,0,0,0,0,0
$GC,414,-0.80,-136.7,111.8,-26.6,42,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2078,3866,0,0,0,0,0,0
$GC,677,-0.80,-136.7,171.8,-18.8,67,681,0.00,2.25,0.00,0.000,4,0.000,0.049,2309,3518,3868,0,0,0,0,0,0
$GC,731,-0.80,-136.7,182.0,-17.6,71,740,0.08,2.12,0.00,0.000,6,0.150,0.029,2332,2110,3868,0,0,0,0,0,0
$GC,999,-0.80,-136.7,229.1,-16.8,89,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2105,3870,0,0,0,0,0,0
$GC,1246,-0.80,-136.7,271.3,-16.5,101,1250,0.00,2.12,0.00,0.000,4,0.000,0.038,2332,698,3871,0,0,0,0,0,0
$GC,1275,-0.80,-136.7,276.0,-15.9,102,1280,0.00,2.17,0.00,0.000,6,0.000,0.039,2324,2114,3871,0,0,0,0,0,0
$GC,1558,-0.80,-136.7,319.6,-15.5,113,1562,0.00,2.15,0.00,0.000,4,0.000,0.049,2313,3506,3871,0,0,0,0,0,0
$GC,1586,-0.80,-136.7,325.1,-17.6,113,1590,0.00,2.10,0.00,0.000,6,0.000,0.031,2313,2100,3871,0,0,0,0,0,0
$GC,1842,-0.80,-136.7,365.5,-15.7,120,1846,0.00,2.10,0.00,0.000,4,0.000,0.041,2313,703,3871,0,0,0,0,0,0
$GC,1892,-0.80,-136.7,373.6,-14.8,121,1896,0.12,2.12,0.00,0.000,6,0.171,0.040,2334,2099,3871,0,0,0,0,0,0
$GC,2166,-0.80,-136.7,409.4,-13.1,128,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2098,3870,0,0,0,0,0,0
$GC,2407,-0.80,-136.7,442.0,-13.4,134,2411,0.00,2.20,0.00,0.000,4,0.000,0.049,2325,3507,3868,0,0,0,0,0,0
$GC,2446,-0.80,-136.7,447.5,-14.0,134,2452,0.00,2.12,0.00,0.000,6,0.000,0.029,2325,2098,3868,0,0,0,0,0,0
$GC,2699,-0.80,-136.7,481.6,-13.8,141,2702,0.00,2.12,0.00,0.000,4,0.000,0.041,2325,695,3865,0,0,0,0,0,0
$GC,2720,-0.80,-136.7,485.1,-14.2,141,2724,0.00,2.15,0.00,0.000,6,0.000,0.040,2314,2099,3865,0,0,0,0,0,0
$GC,2983,-0.80,-136.7,520.7,-13.9,148,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2098,3864,0,0,0,0,0,0
$GC,3225,-0.80,-136.7,555.0,-14.3,154,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2099,3861,0,0,0,0,0,0
$GC,3469,-0.80,-136.7,588.5,-13.6,160,3473,0.00,2.22,0.00,0.000,4,0.000,0.050,2304,3512,3859,0,0,0,0,0,0
$GC,3521,-0.80,-136.7,595.6,-14.2,161,3526,0.12,2.12,0.00,0.000,6,0.171,0.031,2335,2105,3859,0,0,0,0,0,0
$GC,3795,-0.80,-136.7,626.8,-11.1,168,3799,0.00,2.12,0.00,0.000,4,0.000,0.040,2335,698,3856,0,0,0,0,0,0
$GC,3817,-0.80,-136.7,629.7,-11.9,168,3821,0.00,2.15,0.00,0.000,6,0.000,0.039,2327,2104,3856,0,0,0,0,0,0
$GC,4074,-0.80,-136.7,660.0,-12.1,175,4078,0.00,2.20,0.00,0.000,4,0.000,0.052,2316,3504,3855,0,0,0,0,0,0
$GC,4113,-0.80,-136.7,665.3,-13.3,176,4118,0.00,2.12,0.00,0.000,6,0.000,0.031,2316,2102,3854,0,0,0,0,0,0
$GC,4399,-0.80,-136.7,702.0,-12.8,183,4403,0.00,2.15,0.00,0.000,4,0.000,0.041,2316,687,3852,0,0,0,0,0,0
$GC,4421,-0.80,-136.7,705.2,-13.2,183,4426,0.12,2.20,0.00,0.000,6,0.183,0.041,2336,2103,3852,0,0,0,0,0,0
$GC,4676,-0.80,-136.7,734.0,-11.2,190,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2103,3850,0,0,0,0,0,0
$GC,4921,-0.80,-136.7,760.1,-10.6,196,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2103,3848,0,0,0,0,0,0
$GC,5164,-0.80,-136.7,783.9,-9.6,202,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2103,3846,0,0,0,0,0,0
$GC,5407,-0.80,-136.7,807.1,-9.4,208,5411,0.00,2.25,0.00,0.000,4,0.000,0.054,2327,3510,3845,0,0,0,0,0,0
$GC,5461,-0.80,-136.7,812.0,-10.0,209,5465,0.00,2.15,0.00,0.000,6,0.000,0.032,2327,2092,3844,0,0,0,0,0,0
$GC,5739,-0.80,-136.7,840.4,-10.3,216,5743,0.00,2.15,0.00,0.000,4,0.000,0.044,2327,700,3843,0,0,0,0,0,0
$GC,5755,-0.80,-136.7,842.3,-10.7,216,5759,0.00,2.20,0.00,0.000,6,0.000,0.041,2317,2113,3843,0,0,0,0,0,0
$GC,6017,-0.80,-136.7,870.9,-11.1,223,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2113,3841,0,0,0,0,0,0
$GC,6260,-0.80,-136.7,898.2,-11.3,229,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2113,3839,0,0,0,0,0,0
$STATE,6297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6297,begin apogee
$GC,6304,-0.28,0.0,903.2,11.6,230,6423,0.62,0.00,115.03,1.065,6,0.149,0.000,2499,1938,3300,0,0,0,0,0,0
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6428,0.80,136.7,906.7,0.0,233,6556,1.05,0.00,121.85,1.043,6,0.096,0.000,2847,1938,2742,0,0,0,0,0,0
$GC,6795,0.80,136.7,853.2,18.0,242,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1937,2733,0,0,0,0,0,0
$GC,7038,0.80,136.7,809.0,18.1,248,7042,0.00,2.28,0.00,0.000,4,0.000,0.051,2847,3363,2731,0,0,0,0,0,0
$GC,7110,0.80,136.7,795.2,18.8,249,7115,0.00,2.15,0.00,0.000,6,0.000,0.030,2858,1963,2731,0,0,0,0,0,0
$GC,7362,0.80,136.7,749.2,18.3,255,7366,0.00,2.17,0.00,0.000,4,0.000,0.038,2869,558,2730,0,0,0,0,0,0
$GC,7389,0.80,136.7,743.6,19.0,255,7393,0.00,2.17,0.00,0.000,6,0.000,0.033,2869,1963,2727,0,0,0,0,0,0
$GC,7641,0.80,136.7,698.8,17.9,261,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1965,2727,0,0,0,0,0,0
$GC,7884,0.80,136.7,656.2,17.3,267,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1965,2726,0,0,0,0,0,0
$GC,8127,0.80,136.7,615.0,17.0,273,8131,0.00,2.25,0.00,0.000,4,0.000,0.052,2869,3368,2726,0,0,0,0,0,0
$GC,8222,0.80,136.7,598.7,16.5,275,8226,0.00,2.17,0.00,0.000,6,0.000,0.031,2879,1950,2726,0,0,0,0,0,0
$GC,8496,0.80,136.7,554.5,16.6,282,8500,0.00,2.25,0.00,0.000,4,0.000,0.049,2879,3370,2725,0,0,0,0,0,0
$GC,8523,0.80,136.7,549.1,17.8,282,8528,0.15,2.12,0.00,0.000,6,0.196,0.030,2854,1956,2725,0,0,0,0,0,0
$GC,8775,0.80,136.7,508.4,16.7,288,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1955,2725,0,0,0,0,0,0
$GC,9017,0.80,136.7,468.3,16.5,294,9021,0.00,2.25,0.00,0.000,4,0.000,0.050,2850,3371,2724,0,0,0,0,0,0
$GC,9050,0.80,136.7,462.3,18.0,294,9055,0.00,2.15,0.00,0.000,6,0.000,0.030,2859,1963,2724,0,0,0,0,0,0
$GC,9302,0.80,136.7,423.8,15.3,301,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1963,2724,0,0,0,0,0,0
$GC,9543,0.80,136.7,389.5,13.7,307,9547,0.00,2.25,0.00,0.000,4,0.000,0.047,2859,3377,2724,0,0,0,0,0,0
$GC,9577,0.80,136.7,384.6,14.3,307,9581,0.00,2.12,0.00,0.000,6,0.000,0.029,2869,1962,2724,0,0,0,0,0,0
$GC,9829,0.80,136.7,350.6,13.7,313,9833,0.00,2.22,0.00,0.000,4,0.000,0.047,2869,3372,2723,0,0,0,0,0,0
$GC,9856,0.80,136.7,346.2,15.7,313,9860,0.00,2.17,0.00,0.000,6,0.000,0.029,2880,1935,2723,0,0,0,0,0,0
$GC,10113,0.80,136.7,310.4,14.1,320,10117,0.00,2.12,0.00,0.000,4,0.000,0.038,2891,556,2723,0,0,0,0,0,0
$GC,10142,0.80,136.7,306.2,13.8,320,10147,0.15,2.12,0.00,0.000,6,0.190,0.031,2855,1970,2721,0,0,0,0,0,0
$GC,10395,0.80,136.7,276.2,10.7,331,10399,0.00,2.20,0.00,0.000,4,0.000,0.050,2855,3361,2721,0,0,0,0,0,0
$GC,10437,0.80,136.7,271.9,11.1,333,10441,0.00,2.12,0.00,0.000,6,0.000,0.030,2864,1957,2722,0,0,0,0,0,0
$GC,10702,0.80,136.7,243.8,10.3,346,10706,0.00,2.10,0.00,0.000,4,0.000,0.038,2875,564,2721,0,0,0,0,0,0
$GC,10753,0.80,136.7,238.3,11.0,348,10757,0.00,2.10,0.00,0.000,6,0.000,0.032,2874,1957,2720,0,0,0,0,0,0
$GC,11007,0.80,136.7,210.6,11.3,360,11011,0.00,2.20,0.00,0.000,4,0.000,0.048,2875,3361,2720,0,0,0,0,0,0
$GC,11063,0.80,136.7,203.9,12.1,362,11070,0.12,2.12,0.00,0.000,6,0.193,0.028,2855,1949,2721,0,0,0,0,0,0
$GC,11326,0.80,136.7,178.0,9.5,385,11330,0.00,2.25,0.00,0.000,4,0.000,0.048,2855,3361,2721,0,0,0,0,0,0
$GC,11448,0.82,158.0,167.7,7.7,395,11474,0.00,2.10,15.85,0.535,6,0.000,0.028,2864,1947,2655,0,0,0,0,0,0
$GC,11731,0.84,175.3,145.4,7.8,421,11756,0.00,2.15,16.05,0.514,4,0.000,0.038,2875,582,2584,0,0,0,0,0,0
$GC,11773,0.84,175.3,141.2,9.0,424,11783,0.00,2.12,0.00,0.000,6,0.000,0.030,2875,1956,2583,0,0,0,0,0,0
$GC,12039,0.84,175.3,115.2,10.7,449,12043,0.00,2.25,0.00,0.000,4,0.000,0.047,2874,3378,2583,0,0,0,0,0,0
$GC,12126,0.84,175.3,104.4,12.9,456,12131,0.00,2.12,0.00,0.000,6,0.000,0.029,2884,1970,2583,0,0,0,0,0,0
$GC,12390,0.91,228.1,82.9,6.3,480,12442,0.00,2.30,45.03,0.479,4,0.000,0.045,2884,3368,2370,0,0,0,0,0,0
$GC,12601,0.91,228.1,62.9,10.5,498,12605,0.00,2.15,0.00,0.000,6,0.000,0.028,2891,1956,2368,0,0,0,0,0,0
$GC,12869,0.91,228.1,33.3,11.4,523,12873,0.00,2.12,0.00,0.000,4,0.000,0.038,2902,551,2366,0,0,0,0,0,0
$GC,12980,0.91,228.1,20.5,11.5,539,12987,0.00,2.17,0.00,0.000,6,0.000,0.030,2902,1971,2365,0,0,0,0,0,0
$STATE,13129,end climb,SURFACE_DEPTH_REACHED
$STATE,13129,begin surface coast
$FINISH,0.4,1.022793
$STATE,13163,end surface coast,CONTROL_FINISHED_OK
$STATE,13163,begin surface
$SM_CCo,13182,37.15,0.411,0,0,2075,300.24
$SM_GC,1.86,0.00,0.00,37.15,0.000,0.000,0.411,59,2124,2075,-7.93,0.68,300.24
$IRIDIUM_FIX,1925.22,-15631.27,210313,121226
$TT8_MAMPS,0.028379
$HUMID,1078938700
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.3,72.126
$10V_AH,8.6,66.789
$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,20.250,126.225,313.800,37.150,0.000,25.246,33.538,187.019,0.000,0.000,18.033,1303.823,9434.071,427.814,2007.586,450.696,33.363,1190.000,0.000,1796.375,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,75.166,1065.363,411.112,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.305,0.000,945.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,30317,571
$CAP_FILE_SIZE,155288,0
$CFSIZE,260165632,166907904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,132.9,1
$GPS,270911,012336,1929.710,-15628.709,42,1.9,43,9.6