version: 66.07
glider: 513
mission: 7
dive: 541
start: 9 28 111 4 20 59
data:
$ID,513
$MISSION,7
$DIVE,541
$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,-434271.22
$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,42
$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
$GPS1,280911,041306,1915.183,-15629.445,68,1.0,68,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.8
$GPS2,280911,042002,1915.125,-15629.444,15,1.5,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.064,-0.231
$KALMAN_X,36854.7,-929.7,-808.0,7169.9,6495.6
$KALMAN_Y,-565206.9,393.0,447.4,481831.7,-847.0
$MHEAD_RNG_PITCHd_Wd,177.3,28029,-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,-136.7,0.0,0.0,0,74,0.00,0.00,-52.78,0.000,2,0.000,0.000,41,2166,3592,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.5,-5.4,8,102,9.93,2.22,-4.53,0.000,4,0.239,0.061,2318,3511,3860,0,0,0,0,0,0
$GC,323,-0.80,-136.7,80.9,-27.5,34,327,0.00,2.17,0.00,0.000,6,0.000,0.031,2318,2106,3864,0,0,0,0,0,0
$GC,588,-0.80,-136.7,142.7,-22.8,58,591,0.00,2.12,0.00,0.000,4,0.000,0.038,2318,691,3865,0,0,0,0,0,0
$GC,654,-0.80,-136.7,159.7,-23.4,63,662,0.08,2.17,0.00,0.000,6,0.159,0.041,2331,2096,3865,0,0,0,0,0,0
$GC,925,-0.80,-136.7,212.2,-18.5,86,929,0.00,2.25,0.00,0.000,4,0.000,0.048,2322,3510,3868,0,0,0,0,0,0
$GC,993,-0.80,-136.7,224.9,-17.5,89,997,0.00,2.12,0.00,0.000,6,0.000,0.028,2322,2097,3868,0,0,0,0,0,0
$GC,1252,-0.80,-136.7,271.1,-17.7,102,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2092,3869,0,0,0,0,0,0
$GC,1519,-0.80,-136.7,316.4,-16.7,113,1523,0.00,2.05,0.00,0.000,4,0.000,0.035,2322,698,3869,0,0,0,0,0,0
$GC,1564,-0.80,-136.7,323.8,-15.5,114,1568,0.00,2.10,0.00,0.000,6,0.000,0.039,2312,2105,3869,0,0,0,0,0,0
$GC,1842,-0.80,-136.7,367.4,-15.5,121,1846,0.00,2.22,0.00,0.000,4,0.000,0.048,2300,3503,3869,0,0,0,0,0,0
$GC,1915,-0.80,-136.7,379.6,-16.1,122,1920,0.15,2.12,0.00,0.000,6,0.156,0.029,2340,2098,3869,0,0,0,0,0,0
$GC,2165,-0.80,-136.7,413.1,-13.3,128,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2092,3869,0,0,0,0,0,0
$GC,2409,-0.80,-136.7,446.9,-14.0,134,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2092,3867,0,0,0,0,0,0
$GC,2654,-0.80,-136.7,478.4,-12.8,140,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2093,3865,0,0,0,0,0,0
$GC,2896,-0.80,-136.7,506.6,-11.3,146,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2093,3863,0,0,0,0,0,0
$GC,3140,-0.80,-136.7,533.2,-10.8,152,3144,0.00,2.25,0.00,0.000,4,0.000,0.050,2332,3502,3860,0,0,0,0,0,0
$GC,3168,-0.80,-136.7,536.4,-11.4,152,3173,0.00,2.15,0.00,0.000,6,0.000,0.028,2331,2097,3860,0,0,0,0,0,0
$GC,3425,-0.80,-136.7,566.7,-12.0,159,3429,0.00,2.10,0.00,0.000,4,0.000,0.041,2331,698,3858,0,0,0,0,0,0
$GC,3469,-0.80,-136.7,572.4,-12.3,160,3473,0.00,2.12,0.00,0.000,6,0.000,0.041,2322,2097,3858,0,0,0,0,0,0
$GC,3749,-0.80,-136.7,607.7,-13.1,167,3753,0.00,2.25,0.00,0.000,4,0.000,0.052,2310,3505,3855,0,0,0,0,0,0
$GC,3810,-0.80,-136.7,616.2,-13.2,168,3815,0.10,2.15,0.00,0.000,6,0.171,0.030,2335,2104,3855,0,0,0,0,0,0
$GC,4078,-0.80,-136.7,646.8,-11.5,175,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2099,3853,0,0,0,0,0,0
$GC,4320,-0.80,-136.7,673.0,-10.6,181,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2099,3850,0,0,0,0,0,0
$GC,4564,-0.80,-136.7,697.8,-10.2,187,4568,0.00,2.12,0.00,0.000,4,0.000,0.042,2335,696,3847,0,0,0,0,0,0
$GC,4599,-0.80,-136.7,701.5,-11.1,187,4605,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2106,3847,0,0,0,0,0,0
$GC,4851,-0.80,-136.7,728.4,-10.8,194,4855,0.00,2.25,0.00,0.000,4,0.000,0.051,2315,3510,3845,0,0,0,0,0,0
$GC,4901,-0.80,-136.7,734.3,-11.2,195,4905,0.00,2.20,0.00,0.000,6,0.000,0.032,2315,2096,3845,0,0,0,0,0,0
$GC,5175,-0.80,-136.7,768.5,-12.8,202,5179,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,702,3843,0,0,0,0,0,0
$GC,5202,-0.80,-136.7,772.4,-13.2,202,5207,0.12,2.17,0.00,0.000,6,0.186,0.043,2335,2104,3844,0,0,0,0,0,0
$GC,5458,-0.80,-136.7,801.5,-11.3,209,5462,0.00,2.28,0.00,0.000,4,0.000,0.053,2326,3517,3841,0,0,0,0,0,0
$GC,5499,-0.80,-136.7,806.1,-11.7,210,5503,0.00,2.20,0.00,0.000,6,0.000,0.032,2326,2101,3840,0,0,0,0,0,0
$GC,5782,-0.80,-136.7,838.3,-11.1,217,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2096,3839,0,0,0,0,0,0
$GC,6028,-0.80,-136.7,863.7,-10.2,223,6032,0.00,2.12,0.00,0.000,4,0.000,0.044,2326,703,3837,0,0,0,0,0,0
$GC,6063,-0.80,-136.7,867.5,-10.8,223,6069,0.00,2.15,0.00,0.000,6,0.000,0.042,2316,2106,3837,0,0,0,0,0,0
$GC,6313,-0.80,-136.7,893.7,-10.5,230,6317,0.00,2.28,0.00,0.000,4,0.000,0.052,2304,3506,3836,0,0,0,0,0,0
$GC,6354,-0.80,-136.7,897.9,-11.0,231,6359,0.12,2.17,0.00,0.000,6,0.167,0.031,2336,2092,3836,0,0,0,0,0,0
$STATE,6373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6373,begin apogee
$GC,6380,-0.28,0.0,900.3,10.0,231,6498,0.52,0.00,114.50,1.066,6,0.140,0.000,2498,1919,3300,0,0,0,0,0,0
$STATE,6499,end apogee,CONTROL_FINISHED_OK
$STATE,6499,begin climb
$GC,6502,0.80,136.7,902.2,0.0,234,6628,1.08,0.00,122.50,1.038,6,0.095,0.000,2850,1919,2742,0,0,0,0,0,0
$GC,6845,0.80,136.7,850.6,18.6,243,6849,0.00,2.38,0.00,0.000,4,0.000,0.050,2850,3371,2734,0,0,0,0,0,0
$GC,6866,0.80,136.7,845.5,18.8,243,6870,0.00,2.17,0.00,0.000,6,0.000,0.029,2860,1982,2734,0,0,0,0,0,0
$GC,7128,0.80,136.7,796.7,18.6,250,7132,0.00,2.20,0.00,0.000,4,0.000,0.041,2871,552,2732,0,0,0,0,0,0
$GC,7184,0.80,136.7,785.8,19.2,251,7188,0.00,2.17,0.00,0.000,6,0.000,0.035,2871,1966,2729,0,0,0,0,0,0
$GC,7456,0.80,136.7,736.0,18.2,258,7460,0.00,2.28,0.00,0.000,4,0.000,0.052,2871,3371,2729,0,0,0,0,0,0
$GC,7490,0.80,136.7,729.5,19.0,258,7497,0.00,2.20,0.00,0.000,6,0.000,0.031,2882,1951,2729,0,0,0,0,0,0
$GC,7740,0.80,136.7,683.9,18.2,265,7744,0.00,2.12,0.00,0.000,4,0.000,0.038,2893,554,2728,0,0,0,0,0,0
$GC,7768,0.80,136.7,678.4,19.1,265,7773,0.15,2.12,0.00,0.000,6,0.198,0.033,2858,1963,2726,0,0,0,0,0,0
$GC,8024,0.80,136.7,635.7,16.8,272,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1967,2726,0,0,0,0,0,0
$GC,8267,0.80,136.7,594.0,17.3,278,8271,0.00,2.28,0.00,0.000,4,0.000,0.051,2858,3361,2725,0,0,0,0,0,0
$GC,8314,0.80,136.7,586.1,18.1,279,8318,0.00,2.17,0.00,0.000,6,0.000,0.030,2867,1949,2726,0,0,0,0,0,0
$GC,8603,0.80,136.7,534.4,18.0,286,8607,0.00,2.10,0.00,0.000,4,0.000,0.038,2878,552,2725,0,0,0,0,0,0
$GC,8643,0.80,136.7,527.2,18.0,287,8647,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1967,2723,0,0,0,0,0,0
$GC,8928,0.80,136.7,477.3,17.5,294,8932,0.00,2.25,0.00,0.000,4,0.000,0.051,2878,3366,2723,0,0,0,0,0,0
$GC,8994,0.80,136.7,464.9,18.1,295,8999,0.12,2.17,0.00,0.000,6,0.202,0.030,2859,1953,2723,0,0,0,0,0,0
$GC,9251,0.80,136.7,429.3,13.4,302,9255,0.00,2.30,0.00,0.000,4,0.000,0.049,2857,3364,2723,0,0,0,0,0,0
$GC,9291,0.80,136.7,423.7,13.9,303,9295,0.00,2.17,0.00,0.000,6,0.000,0.030,2866,1952,2723,0,0,0,0,0,0
$GC,9575,0.80,136.7,387.8,12.4,310,9579,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,558,2722,0,0,0,0,0,0
$GC,9661,0.80,136.7,376.3,13.4,312,9665,0.00,2.12,0.00,0.000,6,0.000,0.034,2877,1966,2721,0,0,0,0,0,0
$GC,9945,0.80,136.7,334.6,14.9,319,9949,0.00,2.28,0.00,0.000,4,0.000,0.050,2877,3368,2721,0,0,0,0,0,0
$GC,10052,0.80,136.7,318.3,14.8,321,10057,0.12,2.17,0.00,0.000,6,0.200,0.029,2859,1949,2722,0,0,0,0,0,0
$GC,10316,0.80,136.7,286.8,11.0,330,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1949,2721,0,0,0,0,0,0
$GC,10565,0.80,136.7,262.3,10.2,342,10569,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,566,2721,0,0,0,0,0,0
$GC,10660,0.80,136.7,251.4,10.8,346,10664,0.00,2.12,0.00,0.000,6,0.000,0.033,2866,1964,2720,0,0,0,0,0,0
$GC,10920,0.80,136.7,225.3,9.1,359,10924,0.00,2.25,0.00,0.000,4,0.000,0.049,2866,3372,2721,0,0,0,0,0,0
$GC,11034,0.80,136.7,213.8,9.6,364,11038,0.00,2.17,0.00,0.000,6,0.000,0.029,2875,1947,2721,0,0,0,0,0,0
$GC,11299,0.80,136.7,187.5,11.1,382,11300,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1947,2721,0,0,0,0,0,0
$GC,11553,0.80,136.7,162.3,9.1,406,11557,0.00,2.28,0.00,0.000,4,0.000,0.047,2875,3373,2721,0,0,0,0,0,0
$GC,11699,0.80,136.7,147.7,9.1,418,11708,0.08,2.20,0.00,0.000,6,0.173,0.027,2863,1955,2721,0,0,0,0,0,0
$GC,11965,0.83,163.2,127.0,7.4,443,11992,0.00,2.20,20.77,0.502,4,0.000,0.038,2872,551,2632,0,0,0,0,0,0
$GC,12095,0.83,163.2,115.4,8.8,454,12103,0.00,2.15,0.00,0.000,6,0.000,0.031,2871,1960,2630,0,0,0,0,0,0
$GC,12361,0.86,187.9,94.3,7.5,479,12389,0.00,0.00,21.52,0.474,6,0.000,0.000,2871,1959,2536,0,0,0,0,0,0
$GC,12648,0.89,214.5,72.5,7.4,506,12680,0.00,0.00,23.95,0.453,6,0.000,0.000,2871,1959,2424,0,0,0,0,0,0
$GC,12941,0.89,214.5,46.5,8.7,533,12945,0.00,2.17,0.00,0.000,4,0.000,0.038,2875,562,2423,0,0,0,0,0,0
$GC,13005,0.90,224.8,40.8,8.1,538,13019,0.00,2.10,9.95,0.394,6,0.000,0.032,2875,1967,2382,0,0,0,0,0,0
$GC,13280,0.90,224.8,16.2,10.1,575,13287,0.00,2.25,0.00,0.000,4,0.000,0.045,2875,3361,2382,0,0,0,0,0,0
$GC,13357,0.90,224.8,8.8,9.1,588,13365,0.00,2.17,0.00,0.000,6,0.000,0.028,2881,1960,2382,0,0,0,0,0,0
$STATE,13425,end climb,SURFACE_DEPTH_REACHED
$STATE,13425,begin surface coast
$FINISH,0.4,1.014156
$STATE,13459,end surface coast,CONTROL_FINISHED_OK
$STATE,13460,begin surface
$SM_CCo,13480,40.75,0.405,0,0,2075,300.24
$SM_GC,1.96,0.00,0.00,40.75,0.000,0.000,0.405,60,2136,2075,-7.93,1.02,300.24
$IRIDIUM_FIX,1911.51,-15631.00,220313,181815
$TT8_MAMPS,0.029146
$HUMID,1078927087
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.00
$XPDR_PINGS,17
$24V_AH,23.3,72.949
$10V_AH,8.0,67.510
$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,20.175,131.275,313.200,40.750,0.000,23.153,34.340,196.780,4.250,0.000,15.739,1392.630,9406.153,455.939,2236.764,442.561,33.362,1275.901,0.000,2007.098,0.000,0.541,0.000
$DEVICE_MAMPS,239.304,62.127,1066.130,404.976,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,414.021,0.000,1044.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30301,606
$CAP_FILE_SIZE,162700,0
$CFSIZE,260165632,166404096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.059,171.3,1
$GPS,280911,080737,1913.083,-15629.570,31,1.1,32,9.6