version: 66.07
glider: 513
mission: 7
dive: 538
start: 9 27 111 16 51 29
data:
$ID,513
$MISSION,7
$DIVE,538
$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,-434226.44
$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,41
$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
$GPS1,270911,163900,1921.758,-15629.073,46,1.7,46,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-80.2
$GPS2,270911,165032,1921.751,-15629.067,36,1.8,36,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.054,-0.233
$KALMAN_X,35798.1,-534.9,-895.2,8585.9,7762.1
$KALMAN_Y,-566750.9,-562.1,372.8,496678.6,268.9
$MHEAD_RNG_PITCHd_Wd,182.4,40316,-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,13,begin dive
$GC,16,-0.80,-136.7,0.0,0.0,0,72,0.00,0.00,-53.15,0.000,2,0.000,0.000,41,2094,3598,0,0,0,0,0,0
$GC,75,-0.80,-136.7,3.4,-5.5,8,97,10.07,2.15,-4.60,0.000,4,0.243,0.051,2331,712,3860,0,0,0,0,0,0
$GC,108,-0.80,-136.7,17.4,-35.6,12,116,0.00,2.17,0.00,0.000,6,0.000,0.047,2323,2080,3861,0,0,0,0,0,0
$GC,382,-0.80,-136.7,102.4,-26.0,40,386,0.00,2.33,0.00,0.000,4,0.000,0.051,2311,3525,3863,0,0,0,0,0,0
$GC,459,-0.80,-136.7,123.9,-25.3,46,467,0.00,2.20,0.00,0.000,6,0.000,0.031,2311,2117,3864,0,0,0,0,0,0
$GC,724,-0.80,-136.7,185.0,-24.5,71,728,0.00,2.15,0.00,0.000,4,0.000,0.041,2311,695,3865,0,0,0,0,0,0
$GC,767,-0.80,-136.7,195.6,-25.7,74,772,0.15,2.15,0.00,0.000,6,0.170,0.041,2339,2105,3866,0,0,0,0,0,0
$GC,1021,-0.80,-136.7,241.2,-16.4,87,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2104,3868,0,0,0,0,0,0
$GC,1270,-0.80,-136.7,281.9,-15.7,99,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2104,3869,0,0,0,0,0,0
$GC,1515,-0.80,-136.7,320.2,-15.6,108,1519,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3509,3869,0,0,0,0,0,0
$GC,1548,-0.80,-136.7,325.6,-15.7,108,1554,0.00,2.15,0.00,0.000,6,0.000,0.029,2330,2094,3869,0,0,0,0,0,0
$GC,1799,-0.80,-136.7,360.0,-13.9,115,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2088,3869,0,0,0,0,0,0
$GC,2042,-0.80,-136.7,395.4,-14.4,121,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2089,3868,0,0,0,0,0,0
$GC,2287,-0.80,-136.7,429.0,-13.6,127,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2089,3866,0,0,0,0,0,0
$GC,2531,-0.80,-136.7,463.4,-14.2,133,2535,0.00,2.10,0.00,0.000,4,0.000,0.039,2329,698,3865,0,0,0,0,0,0
$GC,2547,-0.80,-136.7,466.2,-14.5,133,2551,0.00,2.12,0.00,0.000,6,0.000,0.038,2319,2103,3865,0,0,0,0,0,0
$GC,2814,-0.80,-136.7,505.0,-14.5,140,2818,0.00,2.25,0.00,0.000,4,0.000,0.051,2308,3513,3862,0,0,0,0,0,0
$GC,2870,-0.80,-136.7,513.1,-13.7,141,2875,0.12,2.17,0.00,0.000,6,0.161,0.031,2340,2097,3861,0,0,0,0,0,0
$GC,3138,-0.80,-136.7,543.9,-11.3,148,3141,0.00,2.10,0.00,0.000,4,0.000,0.039,2341,700,3859,0,0,0,0,0,0
$GC,3167,-0.80,-136.7,547.4,-12.1,148,3171,0.00,2.10,0.00,0.000,6,0.000,0.038,2332,2096,3859,0,0,0,0,0,0
$GC,3417,-0.80,-136.7,577.2,-12.1,154,3421,0.00,2.30,0.00,0.000,4,0.000,0.051,2321,3518,3856,0,0,0,0,0,0
$GC,3450,-0.80,-136.7,581.4,-13.0,154,3455,0.00,2.20,0.00,0.000,6,0.000,0.032,2321,2100,3855,0,0,0,0,0,0
$GC,3701,-0.80,-136.7,613.5,-13.0,161,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2095,3853,0,0,0,0,0,0
$GC,3943,-0.80,-136.7,644.4,-12.5,167,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2095,3851,0,0,0,0,0,0
$GC,4187,-0.80,-136.7,674.9,-12.4,173,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2095,3849,0,0,0,0,0,0
$GC,4432,-0.80,-136.7,704.6,-12.2,179,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2095,3846,0,0,0,0,0,0
$GC,4675,-0.80,-136.7,733.6,-11.9,185,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2095,3845,0,0,0,0,0,0
$GC,4918,-0.80,-136.7,761.9,-11.8,191,4922,0.00,2.12,0.00,0.000,4,0.000,0.043,2321,694,3843,0,0,0,0,0,0
$GC,4947,-0.80,-136.7,765.4,-12.0,191,4952,0.00,2.15,0.00,0.000,6,0.000,0.041,2311,2101,3843,0,0,0,0,0,0
$GC,5199,-0.80,-136.7,796.0,-12.2,197,5203,0.00,2.35,0.00,0.000,4,0.000,0.054,2300,3517,3841,0,0,0,0,0,0
$GC,5249,-0.80,-136.7,802.8,-13.5,198,5254,0.15,2.22,0.00,0.000,6,0.161,0.033,2339,2092,3840,0,0,0,0,0,0
$GC,5525,-0.80,-136.7,829.6,-9.7,205,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2087,3839,0,0,0,0,0,0
$GC,5765,-0.80,-136.7,853.6,-9.8,211,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2088,3837,0,0,0,0,0,0
$GC,6009,-0.80,-136.7,877.7,-10.0,217,6013,0.00,2.35,0.00,0.000,4,0.000,0.053,2330,3520,3835,0,0,0,0,0,0
$GC,6050,-0.80,-136.7,881.9,-10.9,218,6054,0.00,2.22,0.00,0.000,6,0.000,0.033,2330,2100,3834,0,0,0,0,0,0
$STATE,6249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6249,begin apogee
$GC,6256,-0.28,0.0,904.1,11.0,223,6373,0.57,0.00,113.97,1.071,6,0.139,0.000,2502,1910,3300,0,0,0,0,0,0
$STATE,6374,end apogee,CONTROL_FINISHED_OK
$STATE,6374,begin climb
$GC,6379,0.80,136.7,907.8,0.0,226,6510,1.05,2.60,122.28,1.040,4,0.093,0.050,2848,3367,2741,0,0,0,0,0,0
$GC,6536,0.80,136.7,891.7,19.1,230,6540,0.00,2.28,0.00,0.000,6,0.000,0.029,2858,1978,2739,0,0,0,0,0,0
$GC,6821,0.80,136.7,836.7,19.6,237,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2733,0,0,0,0,0,0
$GC,7063,0.80,136.7,790.0,19.0,243,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2731,0,0,0,0,0,0
$GC,7307,0.80,136.7,745.0,18.3,249,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2730,0,0,0,0,0,0
$GC,7552,0.80,136.7,700.7,18.1,255,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2728,0,0,0,0,0,0
$GC,7796,0.80,136.7,658.7,17.0,261,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2728,0,0,0,0,0,0
$GC,8038,0.80,136.7,620.4,15.6,267,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2727,0,0,0,0,0,0
$GC,8283,0.80,136.7,583.5,15.2,273,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1979,2726,0,0,0,0,0,0
$GC,8525,0.80,136.7,546.1,15.3,279,8530,0.00,2.28,0.00,0.000,4,0.000,0.049,2858,3382,2726,0,0,0,0,0,0
$GC,8559,0.80,136.7,540.7,16.3,279,8565,0.00,2.22,0.00,0.000,6,0.000,0.030,2869,1956,2726,0,0,0,0,0,0
$GC,8810,0.80,136.7,502.1,15.5,286,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1953,2725,0,0,0,0,0,0
$GC,9053,0.80,136.7,464.4,15.6,292,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1954,2724,0,0,0,0,0,0
$GC,9296,0.80,136.7,426.1,15.6,298,9300,0.00,2.30,0.00,0.000,4,0.000,0.048,2870,3380,2724,0,0,0,0,0,0
$GC,9320,0.80,136.7,422.6,15.5,298,9324,0.00,2.20,0.00,0.000,6,0.000,0.030,2880,1956,2724,0,0,0,0,0,0
$GC,9581,0.80,136.7,384.1,14.6,305,9585,0.00,2.10,0.00,0.000,4,0.000,0.036,2890,551,2724,0,0,0,0,0,0
$GC,9630,0.80,136.7,376.8,15.5,306,9635,0.15,2.12,0.00,0.000,6,0.191,0.031,2855,1981,2721,0,0,0,0,0,0
$GC,9906,0.80,136.7,342.4,12.4,313,9910,0.00,2.25,0.00,0.000,4,0.000,0.050,2854,3354,2721,0,0,0,0,0,0
$GC,10059,0.80,136.7,321.1,14.3,316,10063,0.00,2.20,0.00,0.000,6,0.000,0.030,2864,1949,2722,0,0,0,0,0,0
$GC,10321,0.80,136.7,287.4,12.3,325,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1947,2721,0,0,0,0,0,0
$GC,10572,0.80,136.7,256.6,12.6,337,10576,0.00,2.30,0.00,0.000,4,0.000,0.048,2864,3365,2721,0,0,0,0,0,0
$GC,10662,0.80,136.7,244.8,10.8,341,10666,0.00,2.20,0.00,0.000,6,0.000,0.029,2874,1954,2722,0,0,0,0,0,0
$GC,10926,0.80,136.7,216.5,11.6,354,10930,0.00,2.08,0.00,0.000,4,0.000,0.036,2885,556,2721,0,0,0,0,0,0
$GC,11021,0.80,136.7,207.9,9.1,358,11026,0.12,2.10,0.00,0.000,6,0.186,0.029,2855,1966,2720,0,0,0,0,0,0
$GC,11282,0.80,136.7,183.2,9.4,378,11286,0.00,2.22,0.00,0.000,4,0.000,0.048,2855,3352,2720,0,0,0,0,0,0
$GC,11393,0.80,136.7,171.6,9.6,387,11397,0.00,2.15,0.00,0.000,6,0.000,0.026,2864,1961,2721,0,0,0,0,0,0
$GC,11658,0.81,147.7,151.0,8.1,411,11672,0.00,2.28,7.12,0.461,4,0.000,0.044,2864,3355,2698,0,0,0,0,0,0
$GC,11698,0.81,147.7,147.0,10.3,414,11702,0.00,2.15,0.00,0.000,6,0.000,0.028,2874,1959,2698,0,0,0,0,0,0
$GC,11963,0.84,175.1,125.3,7.4,438,11993,0.00,2.28,24.85,0.510,4,0.000,0.043,2876,3357,2586,0,0,0,0,0,0
$GC,12020,0.84,175.1,119.6,9.9,442,12030,0.00,2.22,0.00,0.000,6,0.000,0.028,2885,1951,2586,0,0,0,0,0,0
$GC,12285,0.84,175.1,91.9,9.8,467,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1952,2585,0,0,0,0,0,0
$GC,12549,0.91,229.8,70.9,6.3,492,12604,0.00,2.35,46.25,0.470,4,0.000,0.045,2885,3354,2361,0,0,0,0,0,0
$GC,12624,0.91,229.8,65.1,9.5,498,12631,0.00,2.22,0.00,0.000,6,0.000,0.029,2885,1968,2362,0,0,0,0,0,0
$GC,12888,0.91,229.8,36.9,11.3,523,12892,0.00,2.15,0.00,0.000,4,0.000,0.039,2891,555,2359,0,0,0,0,0,0
$GC,12941,0.91,229.8,30.9,10.4,527,12945,0.00,2.08,0.00,0.000,6,0.000,0.029,2891,1957,2357,0,0,0,0,0,0
$STATE,13204,end climb,SURFACE_DEPTH_REACHED
$STATE,13204,begin surface coast
$FINISH,0.3,1.010515
$STATE,13233,end surface coast,CONTROL_FINISHED_OK
$STATE,13233,begin surface
$SM_CCo,13252,34.92,0.408,0,0,2075,300.24
$SM_GC,1.88,0.00,0.00,34.92,0.000,0.000,0.408,57,2122,2075,-7.94,0.62,300.24
$IRIDIUM_FIX,1916.08,-15630.09,220313,111117
$TT8_MAMPS,0.029146
$HUMID,1078960635
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,8
$24V_AH,23.4,72.647
$10V_AH,8.0,67.238
$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,20.025,102.000,314.475,34.925,0.000,50.160,81.256,311.805,2.000,0.000,36.911,1283.198,9664.022,437.382,2144.090,447.585,33.364,1146.175,0.000,1735.135,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,70.564,1070.732,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,395.065,0.000,962.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353644
$DATA_FILE_SIZE,30261,578
$CAP_FILE_SIZE,150818,0
$CFSIZE,260165632,166596608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,168.1,1
$GPS,270911,203407,1919.533,-15629.383,27,1.5,28,9.6