version: 66.07
glider: 513
mission: 7
dive: 543
start: 9 28 111 12 5 51
data:
$ID,513
$MISSION,7
$DIVE,543
$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,-434330.38
$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,39
$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
$GPS1,280911,115737,1910.872,-15629.805,26,1.7,26,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-80.1
$GPS2,280911,120454,1910.806,-15629.802,41,1.4,41,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.098,-0.213
$KALMAN_X,37682.7,429.9,316.5,3213.0,2047.6
$KALMAN_Y,-562548.1,-780.6,-416.8,473224.5,3354.3
$MHEAD_RNG_PITCHd_Wd,169.5,20016,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.80,-136.7,0.0,0.0,0,73,0.00,0.00,-52.75,0.000,2,0.000,0.000,42,2116,3578,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.3,-4.7,8,100,10.00,2.28,-4.80,0.000,4,0.241,0.063,2321,3517,3860,0,0,0,0,0,0
$GC,109,-0.80,-136.7,18.4,-37.5,12,117,0.00,2.25,0.00,0.000,6,0.000,0.035,2321,2101,3862,0,0,0,0,0,0
$GC,376,-0.80,-136.7,102.0,-27.6,39,380,0.00,2.15,0.00,0.000,4,0.000,0.046,2321,696,3864,0,0,0,0,0,0
$GC,399,-0.80,-136.7,109.3,-27.1,40,406,0.00,2.20,0.00,0.000,6,0.000,0.046,2311,2100,3864,0,0,0,0,0,0
$GC,664,-0.80,-136.7,170.3,-20.0,65,671,0.10,0.00,0.00,0.000,6,0.193,0.000,2334,2100,3866,0,0,0,0,0,0
$GC,922,-0.80,-136.7,219.7,-18.5,85,926,0.00,2.12,0.00,0.000,4,0.000,0.039,2334,685,3868,0,0,0,0,0,0
$GC,949,-0.80,-136.7,224.6,-17.9,86,953,0.00,2.17,0.00,0.000,6,0.000,0.044,2326,2105,3868,0,0,0,0,0,0
$GC,1206,-0.80,-136.7,268.6,-16.6,98,1210,0.00,2.22,0.00,0.000,4,0.000,0.052,2314,3517,3869,0,0,0,0,0,0
$GC,1253,-0.80,-136.7,276.3,-15.1,100,1257,0.00,2.17,0.00,0.000,6,0.000,0.031,2315,2087,3869,0,0,0,0,0,0
$GC,1546,-0.80,-136.7,321.4,-15.2,111,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2081,3869,0,0,0,0,0,0
$GC,1786,-0.80,-136.7,360.9,-15.9,117,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2081,3869,0,0,0,0,0,0
$GC,2030,-0.80,-136.7,397.6,-15.4,123,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2081,3868,0,0,0,0,0,0
$GC,2275,-0.80,-136.7,435.8,-15.7,129,2279,0.00,2.10,0.00,0.000,4,0.000,0.041,2314,691,3867,0,0,0,0,0,0
$GC,2347,-0.80,-136.7,447.3,-15.3,130,2352,0.12,2.17,0.00,0.000,6,0.173,0.044,2335,2108,3866,0,0,0,0,0,0
$GC,2598,-0.80,-136.7,480.7,-13.2,136,2602,0.00,2.28,0.00,0.000,4,0.000,0.054,2327,3519,3865,0,0,0,0,0,0
$GC,2690,-0.80,-136.7,492.6,-12.8,138,2694,0.00,2.20,0.00,0.000,6,0.000,0.033,2327,2096,3865,0,0,0,0,0,0
$GC,2968,-0.80,-136.7,529.9,-13.2,145,2972,0.00,2.12,0.00,0.000,4,0.000,0.043,2327,701,3862,0,0,0,0,0,0
$GC,3025,-0.80,-136.7,537.5,-13.4,146,3029,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,2103,3862,0,0,0,0,0,0
$GC,3292,-0.80,-136.7,573.4,-13.5,153,3296,0.00,2.25,0.00,0.000,4,0.000,0.051,2306,3515,3859,0,0,0,0,0,0
$GC,3359,-0.80,-136.7,582.5,-13.0,154,3363,0.12,2.15,0.00,0.000,6,0.165,0.032,2338,2109,3858,0,0,0,0,0,0
$GC,3615,-0.80,-136.7,611.2,-11.1,161,3619,0.00,2.17,0.00,0.000,4,0.000,0.044,2338,690,3856,0,0,0,0,0,0
$GC,3671,-0.80,-136.7,617.5,-11.0,162,3675,0.00,2.17,0.00,0.000,6,0.000,0.044,2330,2104,3855,0,0,0,0,0,0
$GC,3939,-0.80,-136.7,645.3,-10.5,169,3943,0.00,2.25,0.00,0.000,4,0.000,0.052,2319,3515,3853,0,0,0,0,0,0
$GC,3979,-0.80,-136.7,649.9,-11.3,170,3983,0.00,2.20,0.00,0.000,6,0.000,0.033,2319,2096,3852,0,0,0,0,0,0
$GC,4264,-0.80,-136.7,681.7,-11.3,177,4268,0.00,2.15,0.00,0.000,4,0.000,0.045,2319,690,3850,0,0,0,0,0,0
$GC,4297,-0.80,-136.7,685.7,-11.4,177,4303,0.12,2.17,0.00,0.000,6,0.174,0.044,2339,2101,3849,0,0,0,0,0,0
$GC,4547,-0.80,-136.7,709.2,-9.2,184,4551,0.00,2.30,0.00,0.000,4,0.000,0.054,2330,3522,3847,0,0,0,0,0,0
$GC,4599,-0.80,-136.7,714.4,-10.6,185,4603,0.00,2.20,0.00,0.000,6,0.000,0.034,2330,2094,3846,0,0,0,0,0,0
$GC,4871,-0.80,-136.7,742.7,-10.4,192,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2089,3845,0,0,0,0,0,0
$GC,5115,-0.80,-136.7,769.2,-11.1,198,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2089,3843,0,0,0,0,0,0
$GC,5360,-0.80,-136.7,796.5,-11.2,204,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2089,3842,0,0,0,0,0,0
$GC,5602,-0.80,-136.7,823.8,-11.1,210,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2089,3840,0,0,0,0,0,0
$GC,5846,-0.80,-136.7,850.0,-10.6,216,5850,0.00,2.33,0.00,0.000,4,0.000,0.058,2320,3510,3838,0,0,0,0,0,0
$GC,5887,-0.80,-136.7,854.6,-11.4,216,5892,0.00,2.17,0.00,0.000,6,0.000,0.033,2320,2103,3838,0,0,0,0,0,0
$GC,6137,-0.80,-136.7,882.1,-10.9,223,6141,0.00,2.17,0.00,0.000,4,0.000,0.047,2320,689,3837,0,0,0,0,0,0
$GC,6164,-0.80,-136.7,885.4,-11.6,223,6169,0.12,2.17,0.00,0.000,6,0.176,0.043,2340,2101,3837,0,0,0,0,0,0
$STATE,6330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6330,begin apogee
$GC,6339,-0.28,0.0,901.0,9.3,227,6457,0.52,0.00,114.53,1.067,6,0.139,0.000,2499,1907,3301,0,0,0,0,0,0
$STATE,6458,end apogee,CONTROL_FINISHED_OK
$STATE,6458,begin climb
$GC,6460,0.80,136.7,904.3,0.0,230,6590,1.05,0.00,121.97,1.035,6,0.095,0.000,2847,1907,2742,0,0,0,0,0,0
$GC,6826,0.80,136.7,851.9,17.3,239,6830,0.00,2.42,0.00,0.000,4,0.000,0.054,2847,3377,2733,0,0,0,0,0,0
$GC,6861,0.80,136.7,845.8,18.3,239,6868,0.00,2.17,0.00,0.000,6,0.000,0.031,2858,1995,2733,0,0,0,0,0,0
$GC,7113,0.80,136.7,801.6,17.6,246,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1996,2731,0,0,0,0,0,0
$GC,7355,0.80,136.7,759.6,17.3,252,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1996,2730,0,0,0,0,0,0
$GC,7599,0.80,136.7,718.3,17.1,258,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1996,2729,0,0,0,0,0,0
$GC,7844,0.80,136.7,677.3,16.9,264,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1996,2728,0,0,0,0,0,0
$GC,8086,0.80,136.7,636.3,16.9,270,8090,0.00,2.17,0.00,0.000,4,0.000,0.041,2869,559,2727,0,0,0,0,0,0
$GC,8119,0.80,136.7,630.5,17.7,270,8124,0.00,2.15,0.00,0.000,6,0.000,0.037,2869,1969,2724,0,0,0,0,0,0
$GC,8370,0.80,136.7,588.3,16.8,277,8374,0.00,2.25,0.00,0.000,4,0.000,0.053,2869,3364,2725,0,0,0,0,0,0
$GC,8426,0.80,136.7,577.6,18.3,278,8430,0.00,2.20,0.00,0.000,6,0.000,0.031,2880,1952,2725,0,0,0,0,0,0
$GC,8699,0.80,136.7,530.8,17.1,285,8704,0.00,2.30,0.00,0.000,4,0.000,0.052,2880,3366,2724,0,0,0,0,0,0
$GC,8744,0.80,136.7,522.4,17.8,286,8749,0.15,2.17,0.00,0.000,6,0.199,0.030,2855,1950,2724,0,0,0,0,0,0
$GC,9024,0.80,136.7,480.6,14.6,293,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1950,2724,0,0,0,0,0,0
$GC,9267,0.80,136.7,447.1,13.3,299,9271,0.00,2.10,0.00,0.000,4,0.000,0.038,2864,553,2724,0,0,0,0,0,0
$GC,9311,0.80,136.7,440.3,14.4,300,9315,0.00,2.12,0.00,0.000,6,0.000,0.033,2864,1968,2722,0,0,0,0,0,0
$GC,9590,0.80,136.7,399.4,14.8,307,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1969,2722,0,0,0,0,0,0
$GC,9832,0.80,136.7,363.8,14.6,313,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1969,2722,0,0,0,0,0,0
$GC,10076,0.80,136.7,330.1,13.5,319,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1969,2722,0,0,0,0,0,0
$GC,10321,0.80,136.7,299.4,12.4,325,10325,0.00,2.28,0.00,0.000,4,0.000,0.051,2864,3367,2722,0,0,0,0,0,0
$GC,10411,0.80,136.7,287.5,12.6,329,10415,0.00,2.20,0.00,0.000,6,0.000,0.031,2874,1949,2722,0,0,0,0,0,0
$GC,10671,0.80,136.7,254.7,13.0,342,10674,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,548,2721,0,0,0,0,0,0
$GC,10692,0.80,136.7,252.1,11.5,343,10697,0.12,2.12,0.00,0.000,6,0.189,0.031,2856,1969,2720,0,0,0,0,0,0
$GC,10954,0.80,136.7,228.5,9.0,356,10958,0.00,2.25,0.00,0.000,4,0.000,0.050,2855,3364,2720,0,0,0,0,0,0
$GC,11054,0.80,136.7,218.2,9.6,360,11060,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1952,2721,0,0,0,0,0,0
$GC,11311,0.83,161.5,197.8,7.5,374,11337,0.00,2.12,18.77,0.566,4,0.000,0.037,2875,562,2641,0,0,0,0,0,0
$GC,11363,0.83,161.5,193.4,8.9,378,11367,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,1959,2639,0,0,0,0,0,0
$GC,11626,0.83,161.5,166.9,9.0,402,11630,0.00,2.28,0.00,0.000,4,0.000,0.049,2875,3365,2639,0,0,0,0,0,0
$GC,11703,0.83,161.5,159.9,9.4,408,11707,0.00,2.17,0.00,0.000,6,0.000,0.029,2886,1961,2639,0,0,0,0,0,0
$GC,11967,0.83,161.5,132.9,9.3,432,11971,0.00,2.12,0.00,0.000,4,0.000,0.036,2895,553,2639,0,0,0,0,0,0
$GC,12101,0.83,164.0,121.0,8.5,443,12106,0.12,2.10,0.00,0.000,6,0.179,0.030,2864,1965,2639,0,0,0,0,0,0
$GC,12365,0.85,184.0,101.0,7.7,467,12391,0.00,2.25,20.67,0.474,4,0.000,0.047,2864,3365,2549,0,0,0,0,0,0
$GC,12444,0.85,184.0,94.2,8.8,473,12452,0.00,2.20,0.00,0.000,6,0.000,0.028,2871,1961,2549,0,0,0,0,0,0
$GC,12710,0.86,190.4,69.2,8.3,498,12723,0.00,2.12,7.20,0.391,4,0.000,0.035,2880,552,2522,0,0,0,0,0,0
$GC,12750,0.88,204.5,65.8,8.0,501,12767,0.00,2.10,13.30,0.429,6,0.000,0.029,2880,1963,2466,0,0,0,0,0,0
$GC,13034,0.90,221.4,43.1,7.9,527,13057,0.00,0.00,15.90,0.417,6,0.000,0.000,2880,1963,2395,0,0,0,0,0,0
$GC,13313,0.90,221.4,16.8,9.7,565,13321,0.00,2.25,0.00,0.000,4,0.000,0.047,2880,3352,2395,0,0,0,0,0,0
$GC,13384,0.90,221.4,9.4,11.6,576,13392,0.00,2.17,0.00,0.000,6,0.000,0.028,2888,1954,2395,0,0,0,0,0,0
$STATE,13439,end climb,SURFACE_DEPTH_REACHED
$STATE,13439,begin surface coast
$FINISH,0.4,1.006069
$STATE,13471,end surface coast,CONTROL_FINISHED_OK
$STATE,13471,begin surface
$SM_CCo,13491,37.10,0.403,0,0,2075,300.24
$SM_GC,1.96,0.00,0.00,37.10,0.000,0.000,0.403,57,2139,2075,-7.94,1.10,300.24
$IRIDIUM_FIX,1906.95,-15628.90,230313,020253
$TT8_MAMPS,0.029146
$HUMID,1078916764
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.90
$XPDR_PINGS,8
$24V_AH,23.3,73.149
$10V_AH,8.0,67.694
$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,20.175,123.050,312.350,37.100,0.000,28.985,34.437,187.414,2.000,0.000,41.351,1337.645,9653.998,432.645,2090.307,448.186,33.362,1213.805,0.000,1849.635,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,65.195,1066.897,402.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,403.582,0.000,985.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30243,591
$CAP_FILE_SIZE,158292,0
$CFSIZE,260165632,166273024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,134.3,1
$GPS,280911,155236,1908.762,-15629.380,30,1.4,35,9.6