version: 66.07
glider: 513
mission: 7
dive: 539
start: 9 27 111 20 42 0
data:
$ID,513
$MISSION,7
$DIVE,539
$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,-434240.31
$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,44
$R_STBD_OVSHOOT,58
$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
$GPS1,270911,203407,1919.533,-15629.383,27,1.5,28,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-80.3
$GPS2,270911,204102,1919.517,-15629.409,13,1.5,13,9.6
$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,36334.7,-1477.3,-702.3,8203.5,7329.8
$KALMAN_Y,-566566.0,349.2,76.8,491736.6,-27.1
$MHEAD_RNG_PITCHd_Wd,176.6,36160,-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,-136.7,0.0,0.0,0,79,0.00,0.00,-58.97,0.000,2,0.000,0.000,40,2122,3798,0,0,0,0,0,0
$GC,84,-0.80,-136.7,4.4,-7.0,9,100,10.02,2.22,-0.93,0.000,4,0.242,0.048,2332,684,3861,0,0,0,0,0,0
$GC,137,-0.80,-136.7,30.6,-41.3,17,141,0.00,2.12,0.00,0.000,6,0.000,0.041,2324,2075,3864,0,0,0,0,0,0
$GC,401,-0.80,-136.7,110.2,-25.4,41,405,0.00,2.33,0.00,0.000,4,0.000,0.050,2312,3509,3867,0,0,0,0,0,0
$GC,423,-0.80,-136.7,116.9,-26.5,42,431,0.00,2.22,0.00,0.000,6,0.000,0.031,2312,2099,3867,0,0,0,0,0,0
$GC,686,-0.80,-136.7,181.7,-24.5,67,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2092,3868,0,0,0,0,0,0
$GC,934,-0.80,-136.7,235.6,-20.8,83,938,0.00,2.30,0.00,0.000,4,0.000,0.054,2301,3508,3870,0,0,0,0,0,0
$GC,955,-0.80,-136.7,239.9,-18.5,84,960,0.15,2.17,0.00,0.000,6,0.159,0.031,2341,2083,3870,0,0,0,0,0,0
$GC,1215,-0.80,-136.7,280.8,-15.6,97,1219,0.00,2.10,0.00,0.000,4,0.000,0.038,2341,664,3872,0,0,0,0,0,0
$GC,1293,-0.80,-136.7,292.4,-14.6,100,1297,0.00,2.17,0.00,0.000,6,0.000,0.039,2332,2108,3872,0,0,0,0,0,0
$GC,1565,-0.80,-136.7,332.5,-14.7,108,1569,0.00,2.22,0.00,0.000,4,0.000,0.050,2321,3507,3872,0,0,0,0,0,0
$GC,1672,-0.80,-136.7,348.8,-14.9,110,1676,0.00,2.15,0.00,0.000,6,0.000,0.030,2321,2090,3872,0,0,0,0,0,0
$GC,1934,-0.80,-136.7,388.6,-15.0,117,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3872,0,0,0,0,0,0
$GC,2178,-0.80,-136.7,424.6,-14.8,123,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3871,0,0,0,0,0,0
$GC,2421,-0.80,-136.7,460.9,-14.8,129,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3869,0,0,0,0,0,0
$GC,2664,-0.80,-136.7,496.0,-14.2,135,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3866,0,0,0,0,0,0
$GC,2910,-0.80,-136.7,530.5,-14.4,141,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3865,0,0,0,0,0,0
$GC,3152,-0.80,-136.7,563.2,-13.2,147,3156,0.00,2.10,0.00,0.000,4,0.000,0.044,2321,703,3862,0,0,0,0,0,0
$GC,3168,-0.80,-136.7,565.5,-13.0,147,3172,0.00,2.12,0.00,0.000,6,0.000,0.041,2311,2101,3862,0,0,0,0,0,0
$GC,3430,-0.80,-136.7,598.4,-12.5,154,3434,0.00,2.33,0.00,0.000,4,0.000,0.054,2300,3512,3860,0,0,0,0,0,0
$GC,3486,-0.80,-136.7,605.5,-11.4,155,3491,0.15,2.17,0.00,0.000,6,0.161,0.034,2339,2103,3860,0,0,0,0,0,0
$GC,3754,-0.80,-136.7,632.8,-10.0,162,3758,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,697,3857,0,0,0,0,0,0
$GC,3794,-0.80,-136.7,637.1,-10.1,163,3798,0.00,2.12,0.00,0.000,6,0.000,0.040,2331,2104,3857,0,0,0,0,0,0
$GC,4078,-0.80,-136.7,669.5,-11.5,170,4082,0.00,2.28,0.00,0.000,4,0.000,0.052,2320,3503,3854,0,0,0,0,0,0
$GC,4124,-0.80,-136.7,674.8,-12.0,171,4128,0.00,2.20,0.00,0.000,6,0.000,0.031,2320,2093,3854,0,0,0,0,0,0
$GC,4402,-0.80,-136.7,709.8,-12.9,178,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2088,3852,0,0,0,0,0,0
$GC,4647,-0.80,-136.7,740.0,-12.3,184,4651,0.00,2.33,0.00,0.000,4,0.000,0.052,2309,3513,3850,0,0,0,0,0,0
$GC,4668,-0.80,-136.7,742.9,-12.2,184,4673,0.12,2.20,0.00,0.000,6,0.163,0.035,2341,2102,3849,0,0,0,0,0,0
$GC,4929,-0.80,-136.7,770.6,-10.5,191,4933,0.00,2.12,0.00,0.000,4,0.000,0.042,2341,693,3847,0,0,0,0,0,0
$GC,4971,-0.80,-136.7,775.1,-11.0,192,4975,0.00,2.15,0.00,0.000,6,0.000,0.041,2333,2107,3847,0,0,0,0,0,0
$GC,5255,-0.80,-136.7,806.8,-11.1,199,5259,0.00,2.28,0.00,0.000,4,0.000,0.054,2323,3513,3845,0,0,0,0,0,0
$GC,5288,-0.80,-136.7,811.0,-12.4,199,5293,0.00,2.20,0.00,0.000,6,0.000,0.033,2322,2098,3845,0,0,0,0,0,0
$GC,5539,-0.80,-136.7,840.7,-12.0,206,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2092,3844,0,0,0,0,0,0
$GC,5781,-0.80,-136.7,867.8,-10.8,212,5786,0.00,2.30,0.00,0.000,4,0.000,0.051,2312,3515,3843,0,0,0,0,0,0
$GC,5809,-0.80,-136.7,870.9,-11.1,212,5813,0.00,2.22,0.00,0.000,6,0.000,0.033,2312,2094,3842,0,0,0,0,0,0
$GC,6066,-0.80,-136.7,898.2,-10.8,219,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2087,3840,0,0,0,0,0,0
$STATE,6102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6102,begin apogee
$GC,6109,-0.28,0.0,902.6,10.8,220,6228,0.65,0.00,115.72,1.061,6,0.145,0.000,2503,1928,3300,0,0,0,0,0,0
$STATE,6229,end apogee,CONTROL_FINISHED_OK
$STATE,6229,begin climb
$GC,6233,0.80,136.7,904.6,0.0,223,6360,1.05,0.00,122.65,1.032,6,0.093,0.000,2848,1928,2741,0,0,0,0,0,0
$GC,6591,0.80,136.7,847.7,19.2,232,6595,0.00,2.38,0.00,0.000,4,0.000,0.051,2848,3368,2733,0,0,0,0,0,0
$GC,6657,0.80,136.7,834.1,19.2,233,6661,0.00,2.22,0.00,0.000,6,0.000,0.031,2859,1969,2733,0,0,0,0,0,0
$GC,6914,0.80,136.7,785.7,19.1,240,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1970,2731,0,0,0,0,0,0
$GC,7156,0.80,136.7,740.3,18.5,246,7160,0.00,2.17,0.00,0.000,4,0.000,0.041,2870,550,2729,0,0,0,0,0,0
$GC,7189,0.80,136.7,733.8,19.9,246,7195,0.00,2.15,0.00,0.000,6,0.000,0.033,2870,1964,2727,0,0,0,0,0,0
$GC,7441,0.80,136.7,686.7,18.8,253,7445,0.00,2.28,0.00,0.000,4,0.000,0.051,2870,3365,2727,0,0,0,0,0,0
$GC,7532,0.80,136.7,668.5,20.5,255,7536,0.00,2.22,0.00,0.000,6,0.000,0.032,2881,1954,2728,0,0,0,0,0,0
$GC,7817,0.80,136.7,615.7,18.0,262,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1954,2726,0,0,0,0,0,0
$GC,8059,0.80,136.7,573.6,17.2,268,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1954,2725,0,0,0,0,0,0
$GC,8303,0.80,136.7,533.4,16.7,274,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1954,2725,0,0,0,0,0,0
$GC,8548,0.80,136.7,491.6,17.1,280,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1954,2725,0,0,0,0,0,0
$GC,8790,0.80,136.7,452.2,15.9,286,8794,0.00,2.28,0.00,0.000,4,0.000,0.048,2881,3361,2724,0,0,0,0,0,0
$GC,8823,0.80,136.7,446.7,16.4,286,8829,0.15,2.17,0.00,0.000,6,0.206,0.030,2856,1950,2725,0,0,0,0,0,0
$GC,9075,0.80,136.7,412.7,13.7,293,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1950,2724,0,0,0,0,0,0
$GC,9317,0.80,136.7,380.0,13.0,299,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1949,2724,0,0,0,0,0,0
$GC,9561,0.80,136.7,350.0,12.1,305,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1949,2723,0,0,0,0,0,0
$GC,9805,0.80,136.7,319.3,12.7,311,9810,0.00,2.33,0.00,0.000,4,0.000,0.048,2855,3370,2723,0,0,0,0,0,0
$GC,9873,0.80,136.7,309.7,13.8,312,9877,0.00,2.17,0.00,0.000,6,0.000,0.030,2864,1954,2723,0,0,0,0,0,0
$GC,10134,0.80,136.7,276.8,12.3,323,10138,0.00,2.12,0.00,0.000,4,0.000,0.038,2875,554,2722,0,0,0,0,0,0
$GC,10229,0.80,136.7,264.7,11.8,327,10234,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,1966,2720,0,0,0,0,0,0
$GC,10483,0.80,136.7,235.4,11.0,339,10487,0.00,2.15,0.00,0.000,4,0.000,0.035,2885,553,2721,0,0,0,0,0,0
$GC,10533,0.80,136.7,229.4,12.1,341,10538,0.12,2.12,0.00,0.000,6,0.187,0.031,2856,1965,2720,0,0,0,0,0,0
$GC,10788,0.80,139.8,206.7,8.4,353,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1967,2720,0,0,0,0,0,0
$GC,11043,0.80,139.8,186.0,10.0,372,11047,0.00,2.22,0.00,0.000,4,0.000,0.048,2856,3355,2720,0,0,0,0,0,0
$GC,11221,0.81,149.2,168.8,8.2,387,11241,0.00,2.20,8.48,0.492,6,0.000,0.029,2865,1952,2691,0,0,0,0,0,0
$GC,11498,0.84,168.8,145.4,7.7,413,11522,0.00,2.30,18.17,0.517,4,0.000,0.044,2865,3363,2612,0,0,0,0,0,0
$GC,11574,0.84,168.8,139.3,8.8,419,11578,0.00,2.20,0.00,0.000,6,0.000,0.029,2875,1951,2612,0,0,0,0,0,0
$GC,11838,0.84,168.8,115.6,9.3,443,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1951,2611,0,0,0,0,0,0
$GC,12104,0.85,180.8,94.5,8.1,468,12121,0.00,2.15,11.95,0.451,4,0.000,0.037,2886,557,2562,0,0,0,0,0,0
$GC,12187,0.89,213.6,88.5,7.2,475,12225,0.00,2.10,28.60,0.475,6,0.000,0.029,2886,1975,2429,0,0,0,0,0,0
$GC,12482,0.90,220.1,61.9,8.3,502,12496,0.00,0.00,6.72,0.380,6,0.000,0.000,2886,1975,2404,0,0,0,0,0,0
$GC,12750,0.90,220.1,36.7,10.4,527,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1975,2403,0,0,0,0,0,0
$GC,13013,0.90,220.1,8.8,9.8,568,13024,0.00,2.22,0.00,0.000,4,0.000,0.046,2886,3350,2404,0,0,0,0,0,0
$STATE,13073,end climb,SURFACE_DEPTH_REACHED
$STATE,13073,begin surface coast
$FINISH,0.4,1.022781
$STATE,13109,end surface coast,CONTROL_FINISHED_OK
$STATE,13109,begin surface
$SM_CCo,13132,40.20,0.407,0,0,2075,300.24
$SM_GC,1.93,0.00,0.00,40.20,0.000,0.000,0.407,52,2088,2075,-7.95,-0.34,300.24
$IRIDIUM_FIX,1913.80,-15630.09,220313,111135
$TT8_MAMPS,0.029146
$HUMID,1078945152
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,23.3,72.747
$10V_AH,8.0,67.327
$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,20.025,105.675,312.300,40.200,0.000,25.354,37.743,192.556,1.250,0.000,13.247,1304.837,9379.852,446.588,2024.878,428.861,33.366,1173.014,0.000,1805.771,0.000,0.541,0.000
$DEVICE_MAMPS,241.605,67.496,1060.761,406.510,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,399.169,0.000,991.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,30279,584
$CAP_FILE_SIZE,149564,0
$CFSIZE,260165632,166535168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,169.2,1
$GPS,280911,002300,1917.398,-15629.474,44,1.2,45,9.6