version: 66.07
glider: 513
mission: 7
dive: 544
start: 9 28 111 16 0 30
data:
$ID,513
$MISSION,7
$DIVE,544
$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,-434344.81
$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,47
$R_STBD_OVSHOOT,74
$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
$GPS1,280911,155236,1908.762,-15629.380,30,1.4,35,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-79.9
$GPS2,280911,155932,1908.712,-15629.381,13,2.0,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.224,-0.083
$KALMAN_X,41339.9,111.8,-152.7,1069.4,4729.7
$KALMAN_Y,-562865.0,-502.1,-63.2,469032.1,2089.2
$MHEAD_RNG_PITCHd_Wd,187.3,16170,-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,-136.7,0.0,0.0,0,74,0.00,0.00,-53.45,0.000,2,0.000,0.000,46,2141,3613,0,0,0,0,0,0
$GC,79,-0.80,-136.7,3.8,-5.5,8,101,9.85,2.25,-4.12,0.000,4,0.238,0.054,2329,713,3861,0,0,0,0,0,0
$GC,127,-0.80,-136.7,25.7,-43.6,15,136,0.00,2.12,0.00,0.000,6,0.000,0.044,2321,2057,3863,0,0,0,0,0,0
$GC,399,-0.80,-136.7,108.3,-25.8,41,404,0.00,2.35,0.00,0.000,4,0.000,0.054,2309,3514,3864,0,0,0,0,0,0
$GC,488,-0.80,-136.7,129.3,-21.7,48,496,0.08,2.17,0.00,0.000,6,0.153,0.033,2332,2109,3865,0,0,0,0,0,0
$GC,751,-0.80,-136.7,183.3,-21.6,73,755,0.00,2.12,0.00,0.000,4,0.000,0.039,2332,699,3867,0,0,0,0,0,0
$GC,805,-0.80,-136.7,193.7,-18.5,77,809,0.00,2.15,0.00,0.000,6,0.000,0.042,2325,2107,3867,0,0,0,0,0,0
$GC,1072,-0.80,-136.7,247.5,-18.5,91,1076,0.00,2.22,0.00,0.000,4,0.000,0.051,2313,3511,3868,0,0,0,0,0,0
$GC,1140,-0.80,-136.7,259.5,-16.7,94,1144,0.00,2.12,0.00,0.000,6,0.000,0.031,2313,2096,3868,0,0,0,0,0,0
$GC,1419,-0.80,-136.7,307.7,-16.5,107,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2089,3870,0,0,0,0,0,0
$GC,1664,-0.80,-136.7,347.8,-16.8,113,1668,0.00,2.10,0.00,0.000,4,0.000,0.041,2313,694,3870,0,0,0,0,0,0
$GC,1719,-0.80,-136.7,357.5,-15.6,114,1724,0.12,2.15,0.00,0.000,6,0.170,0.041,2334,2100,3869,0,0,0,0,0,0
$GC,1993,-0.80,-136.7,396.1,-14.0,121,1997,0.00,2.10,0.00,0.000,4,0.000,0.040,2334,701,3869,0,0,0,0,0,0
$GC,2015,-0.80,-136.7,399.5,-14.1,121,2019,0.00,2.15,0.00,0.000,6,0.000,0.041,2326,2101,3869,0,0,0,0,0,0
$GC,2273,-0.80,-136.7,435.9,-14.3,128,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2100,3868,0,0,0,0,0,0
$GC,2516,-0.80,-136.7,468.2,-13.2,134,2520,0.00,2.25,0.00,0.000,4,0.000,0.049,2315,3515,3866,0,0,0,0,0,0
$GC,2577,-0.80,-136.7,476.2,-11.8,135,2581,0.00,2.15,0.00,0.000,6,0.000,0.031,2315,2092,3866,0,0,0,0,0,0
$GC,2838,-0.80,-136.7,510.5,-13.4,142,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2088,3863,0,0,0,0,0,0
$GC,3084,-0.80,-136.7,542.5,-13.4,148,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2087,3862,0,0,0,0,0,0
$GC,3325,-0.80,-136.7,575.9,-13.8,154,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2087,3859,0,0,0,0,0,0
$GC,3569,-0.80,-136.7,609.5,-13.8,160,3573,0.00,2.30,0.00,0.000,4,0.000,0.052,2304,3515,3857,0,0,0,0,0,0
$GC,3611,-0.80,-136.7,614.9,-13.1,161,3616,0.12,2.15,0.00,0.000,6,0.170,0.033,2335,2106,3857,0,0,0,0,0,0
$GC,3897,-0.80,-136.7,646.2,-10.8,168,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2101,3854,0,0,0,0,0,0
$GC,4140,-0.80,-136.7,671.3,-10.4,174,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2101,3852,0,0,0,0,0,0
$GC,4382,-0.80,-136.7,697.7,-11.0,180,4386,0.00,2.15,0.00,0.000,4,0.000,0.041,2336,697,3850,0,0,0,0,0,0
$GC,4416,-0.80,-136.7,701.7,-11.3,180,4421,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2099,3850,0,0,0,0,0,0
$GC,4667,-0.80,-136.7,729.4,-11.0,187,4671,0.00,2.25,0.00,0.000,4,0.000,0.051,2316,3509,3847,0,0,0,0,0,0
$GC,4695,-0.80,-136.7,732.7,-11.5,187,4699,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2090,3846,0,0,0,0,0,0
$GC,4950,-0.80,-136.7,759.9,-10.7,194,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2084,3845,0,0,0,0,0,0
$GC,5196,-0.80,-136.7,786.6,-11.1,200,5200,0.00,2.30,0.00,0.000,4,0.000,0.053,2306,3507,3844,0,0,0,0,0,0
$GC,5245,-0.80,-136.7,792.6,-11.0,201,5250,0.12,2.17,0.00,0.000,6,0.173,0.031,2337,2103,3843,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,819.2,-9.7,208,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2097,3842,0,0,0,0,0,0
$GC,5763,-0.80,-136.7,843.5,-9.9,214,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2097,3840,0,0,0,0,0,0
$GC,6005,-0.80,-136.7,868.9,-10.5,220,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2098,3838,0,0,0,0,0,0
$GC,6249,-0.80,-136.7,894.1,-10.2,226,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2098,3837,0,0,0,0,0,0
$STATE,6328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6328,begin apogee
$GC,6336,-0.28,0.0,902.2,10.1,228,6454,0.55,0.00,114.70,1.060,6,0.140,0.000,2503,1920,3300,0,0,0,0,0,0
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6458,0.80,136.7,905.5,0.0,231,6584,1.05,0.00,122.78,1.033,6,0.092,0.000,2850,1917,2741,0,0,0,0,0,0
$GC,6818,0.80,136.7,851.1,18.9,240,6822,0.00,2.40,0.00,0.000,4,0.000,0.052,2850,3373,2732,0,0,0,0,0,0
$GC,6873,0.80,136.7,839.1,19.3,241,6877,0.00,2.17,0.00,0.000,6,0.000,0.030,2860,1974,2733,0,0,0,0,0,0
$GC,7140,0.80,136.7,787.0,19.4,248,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1974,2731,0,0,0,0,0,0
$GC,7385,0.80,136.7,741.0,18.7,254,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1974,2729,0,0,0,0,0,0
$GC,7627,0.80,136.7,696.4,18.2,260,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1974,2728,0,0,0,0,0,0
$GC,7871,0.80,136.7,651.8,18.5,266,7875,0.00,2.15,0.00,0.000,4,0.000,0.039,2872,551,2727,0,0,0,0,0,0
$GC,7900,0.80,136.7,646.6,18.2,266,7904,0.00,2.17,0.00,0.000,6,0.000,0.034,2871,1971,2725,0,0,0,0,0,0
$GC,8150,0.80,136.7,601.2,17.8,272,8154,0.00,2.22,0.00,0.000,4,0.000,0.051,2871,3362,2725,0,0,0,0,0,0
$GC,8206,0.80,136.7,590.6,18.8,273,8210,0.00,2.17,0.00,0.000,6,0.000,0.030,2881,1958,2726,0,0,0,0,0,0
$GC,8481,0.80,136.7,543.2,17.6,280,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1956,2724,0,0,0,0,0,0
$GC,8723,0.80,136.7,500.8,17.3,286,8727,0.00,2.28,0.00,0.000,4,0.000,0.050,2882,3361,2724,0,0,0,0,0,0
$GC,8836,0.80,136.7,480.2,17.6,288,8841,0.15,2.15,0.00,0.000,6,0.201,0.030,2857,1956,2724,0,0,0,0,0,0
$GC,9091,0.80,136.7,442.9,14.3,295,9095,0.00,2.25,0.00,0.000,4,0.000,0.049,2855,3363,2724,0,0,0,0,0,0
$GC,9107,0.80,136.7,440.4,14.5,295,9111,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1960,2724,0,0,0,0,0,0
$GC,9370,0.80,136.7,402.3,14.4,302,9374,0.00,2.12,0.00,0.000,4,0.000,0.037,2874,556,2724,0,0,0,0,0,0
$GC,9431,0.80,136.7,392.3,15.6,303,9435,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1971,2721,0,0,0,0,0,0
$GC,9693,0.80,136.7,352.7,15.0,310,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1973,2721,0,0,0,0,0,0
$GC,9936,0.80,136.7,320.6,13.2,316,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1974,2721,0,0,0,0,0,0
$GC,10181,0.80,136.7,288.9,12.5,324,10185,0.00,2.22,0.00,0.000,4,0.000,0.049,2875,3369,2722,0,0,0,0,0,0
$GC,10222,0.80,136.7,283.9,12.4,326,10227,0.12,2.15,0.00,0.000,6,0.202,0.029,2856,1952,2721,0,0,0,0,0,0
$GC,10487,0.80,136.7,253.8,10.8,339,10491,0.00,2.10,0.00,0.000,4,0.000,0.037,2865,555,2721,0,0,0,0,0,0
$GC,10538,0.80,136.7,248.0,11.5,341,10542,0.00,2.10,0.00,0.000,6,0.000,0.031,2862,1961,2720,0,0,0,0,0,0
$GC,10794,0.80,136.7,221.5,10.3,353,10798,0.00,2.25,0.00,0.000,4,0.000,0.050,2862,3361,2720,0,0,0,0,0,0
$GC,10846,0.80,136.7,215.4,12.4,355,10850,0.00,2.15,0.00,0.000,6,0.000,0.029,2871,1954,2721,0,0,0,0,0,0
$GC,11111,0.80,136.7,189.9,10.1,373,11115,0.00,2.12,0.00,0.000,4,0.000,0.038,2881,554,2721,0,0,0,0,0,0
$GC,11256,0.80,136.7,175.8,9.0,385,11264,0.00,2.15,0.00,0.000,6,0.000,0.032,2881,1959,2720,0,0,0,0,0,0
$GC,11520,0.80,136.7,153.1,8.7,410,11524,0.00,2.22,0.00,0.000,4,0.000,0.048,2881,3361,2721,0,0,0,0,0,0
$GC,11620,0.80,139.4,144.4,8.5,418,11625,0.15,2.12,0.00,0.000,6,0.183,0.028,2854,1959,2721,0,0,0,0,0,0
$GC,11886,0.85,184.5,124.3,6.7,442,11928,0.00,0.00,37.75,0.509,6,0.000,0.000,2854,1955,2549,0,0,0,0,0,0
$GC,12188,0.88,203.1,99.6,7.8,470,12208,0.00,0.00,17.33,0.467,6,0.000,0.000,2854,1956,2471,0,0,0,0,0,0
$GC,12466,0.92,234.2,77.0,7.3,496,12503,0.10,2.17,26.80,0.459,4,0.110,0.036,2909,559,2344,0,0,0,0,0,0
$GC,12533,0.92,234.2,70.5,10.1,501,12540,0.00,2.15,0.00,0.000,6,0.000,0.030,2910,1957,2342,0,0,0,0,0,0
$GC,12796,0.92,234.2,41.9,11.7,526,12800,0.00,2.15,0.00,0.000,4,0.000,0.037,2920,550,2342,0,0,0,0,0,0
$GC,12840,0.92,234.2,36.7,12.3,529,12844,0.00,2.10,0.00,0.000,6,0.000,0.029,2920,1962,2341,0,0,0,0,0,0
$STATE,13099,end climb,SURFACE_DEPTH_REACHED
$STATE,13100,begin surface coast
$FINISH,0.3,1.022953
$STATE,13125,end surface coast,CONTROL_FINISHED_OK
$STATE,13125,begin surface
$SM_CCo,13144,33.35,0.405,0,0,2075,300.24
$SM_GC,1.76,0.00,0.00,33.35,0.000,0.000,0.405,57,2135,2075,-7.94,0.99,300.24
$IRIDIUM_FIX,1902.38,-15628.90,230313,060654
$TT8_MAMPS,0.028379
$HUMID,1078960635
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.70
$XPDR_PINGS,13
$24V_AH,23.3,73.250
$10V_AH,8.0,67.781
$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,20.175,105.000,319.350,33.350,0.000,30.063,38.731,188.340,3.250,0.000,13.822,1290.932,9456.147,436.676,1970.483,439.962,33.361,1148.052,0.000,1758.874,0.000,0.542,0.000
$DEVICE_MAMPS,237.770,67.496,1059.994,404.976,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.423,0.000,959.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,30268,574
$CAP_FILE_SIZE,148328,0
$CFSIZE,260165632,166219776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.058,150.1,1
$GPS,280911,194136,1906.768,-15629.641,38,1.0,45,9.6