version: 66.07
glider: 513
mission: 7
dive: 545
start: 9 28 111 19 49 45
data:
$ID,513
$MISSION,7
$DIVE,545
$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,-434378.5
$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,50
$R_STBD_OVSHOOT,68
$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
$GPS1,280911,194136,1906.768,-15629.641,38,1.0,45,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.3
$GPS2,280911,194849,1906.745,-15629.651,15,1.0,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.129,-0.201
$KALMAN_X,45876.5,-259.4,-124.7,-3587.9,7567.6
$KALMAN_Y,-564971.4,-301.9,-453.9,467692.6,275.1
$MHEAD_RNG_PITCHd_Wd,180.6,12506,-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,-136.7,0.0,0.0,0,75,0.00,0.00,-54.35,0.000,2,0.000,0.000,43,2135,3632,0,0,0,0,0,0
$GC,80,-0.80,-136.7,3.5,-5.1,8,102,9.95,2.25,-3.83,0.000,4,0.241,0.052,2328,703,3860,0,0,0,0,0,0
$GC,145,-0.80,-136.7,30.4,-34.2,18,149,0.00,2.10,0.00,0.000,6,0.000,0.042,2320,2068,3862,0,0,0,0,0,0
$GC,410,-0.80,-136.7,113.4,-28.1,42,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2071,3864,0,0,0,0,0,0
$GC,673,-0.80,-136.7,176.1,-21.2,67,677,0.00,2.30,0.00,0.000,4,0.000,0.052,2308,3509,3866,0,0,0,0,0,0
$GC,772,-0.80,-136.7,196.0,-18.4,75,777,0.12,2.12,0.00,0.000,6,0.161,0.032,2340,2106,3867,0,0,0,0,0,0
$GC,1027,-0.80,-136.7,241.4,-17.4,88,1031,0.00,2.12,0.00,0.000,4,0.000,0.039,2341,693,3869,0,0,0,0,0,0
$GC,1112,-0.80,-136.7,255.8,-16.3,92,1116,0.00,2.15,0.00,0.000,6,0.000,0.041,2333,2103,3869,0,0,0,0,0,0
$GC,1377,-0.80,-136.7,297.6,-15.9,105,1381,0.00,2.15,0.00,0.000,4,0.000,0.041,2333,695,3870,0,0,0,0,0,0
$GC,1399,-0.80,-136.7,301.5,-16.6,106,1403,0.00,2.12,0.00,0.000,6,0.000,0.041,2323,2098,3870,0,0,0,0,0,0
$GC,1657,-0.80,-136.7,341.6,-15.9,113,1661,0.00,2.22,0.00,0.000,4,0.000,0.050,2311,3508,3870,0,0,0,0,0,0
$GC,1742,-0.80,-136.7,356.1,-15.5,115,1746,0.00,2.12,0.00,0.000,6,0.000,0.031,2311,2093,3870,0,0,0,0,0,0
$GC,2027,-0.80,-136.7,399.8,-15.1,122,2030,0.00,2.10,0.00,0.000,4,0.000,0.040,2311,696,3869,0,0,0,0,0,0
$GC,2050,-0.80,-136.7,403.7,-15.8,122,2055,0.15,2.15,0.00,0.000,6,0.166,0.040,2340,2098,3869,0,0,0,0,0,0
$GC,2306,-0.80,-136.7,439.2,-13.8,129,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2097,3868,0,0,0,0,0,0
$GC,2551,-0.80,-136.7,469.3,-12.1,135,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2097,3866,0,0,0,0,0,0
$GC,2793,-0.80,-136.7,497.1,-11.2,141,2797,0.00,2.22,0.00,0.000,4,0.000,0.052,2330,3505,3865,0,0,0,0,0,0
$GC,2820,-0.80,-136.7,500.4,-12.1,141,2824,0.00,2.15,0.00,0.000,6,0.000,0.031,2330,2100,3864,0,0,0,0,0,0
$GC,3072,-0.80,-136.7,530.0,-12.0,147,3076,0.00,2.25,0.00,0.000,4,0.000,0.051,2320,3517,3862,0,0,0,0,0,0
$GC,3112,-0.80,-136.7,535.3,-12.9,148,3116,0.00,2.15,0.00,0.000,6,0.000,0.031,2320,2098,3862,0,0,0,0,0,0
$GC,3398,-0.80,-136.7,572.8,-13.4,155,3401,0.00,2.12,0.00,0.000,4,0.000,0.040,2320,700,3859,0,0,0,0,0,0
$GC,3442,-0.80,-136.7,579.3,-13.7,156,3447,0.12,2.15,0.00,0.000,6,0.171,0.041,2341,2112,3859,0,0,0,0,0,0
$GC,3722,-0.80,-136.7,610.2,-10.7,163,3726,0.00,2.22,0.00,0.000,4,0.000,0.052,2331,3502,3857,0,0,0,0,0,0
$GC,3750,-0.80,-136.7,613.5,-10.9,163,3755,0.00,2.12,0.00,0.000,6,0.000,0.030,2331,2095,3856,0,0,0,0,0,0
$GC,4001,-0.80,-136.7,640.2,-10.8,169,4005,0.00,2.12,0.00,0.000,4,0.000,0.041,2331,697,3854,0,0,0,0,0,0
$GC,4046,-0.80,-136.7,645.3,-10.8,170,4050,0.00,2.15,0.00,0.000,6,0.000,0.042,2322,2095,3853,0,0,0,0,0,0
$GC,4337,-0.80,-136.7,679.6,-12.1,177,4341,0.00,2.25,0.00,0.000,4,0.000,0.051,2310,3512,3851,0,0,0,0,0,0
$GC,4371,-0.80,-136.7,684.3,-13.2,177,4377,0.10,2.12,0.00,0.000,6,0.176,0.031,2334,2107,3850,0,0,0,0,0,0
$GC,4623,-0.80,-136.7,712.0,-10.9,184,4627,0.00,2.12,0.00,0.000,4,0.000,0.041,2335,697,3849,0,0,0,0,0,0
$GC,4650,-0.80,-136.7,715.6,-12.0,184,4654,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2101,3848,0,0,0,0,0,0
$GC,4900,-0.80,-136.7,742.8,-11.0,190,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2100,3846,0,0,0,0,0,0
$GC,5146,-0.80,-136.7,770.5,-11.2,196,5150,0.00,2.30,0.00,0.000,4,0.000,0.054,2315,3507,3845,0,0,0,0,0,0
$GC,5190,-0.80,-136.7,775.9,-11.1,197,5194,0.00,2.15,0.00,0.000,6,0.000,0.032,2315,2104,3844,0,0,0,0,0,0
$GC,5468,-0.80,-136.7,809.3,-12.2,204,5472,0.00,2.15,0.00,0.000,4,0.000,0.042,2315,688,3843,0,0,0,0,0,0
$GC,5513,-0.80,-136.7,814.9,-12.1,205,5518,0.12,2.17,0.00,0.000,6,0.181,0.040,2335,2114,3842,0,0,0,0,0,0
$GC,5794,-0.80,-136.7,844.0,-10.2,212,5798,0.00,2.25,0.00,0.000,4,0.000,0.053,2327,3509,3841,0,0,0,0,0,0
$GC,5828,-0.80,-136.7,847.9,-10.7,212,5834,0.00,2.17,0.00,0.000,6,0.000,0.032,2326,2092,3840,0,0,0,0,0,0
$GC,6078,-0.80,-136.7,874.3,-10.4,219,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2086,3839,0,0,0,0,0,0
$GC,6322,-0.80,-136.7,899.4,-10.3,225,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2086,3837,0,0,0,0,0,0
$STATE,6360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6360,begin apogee
$GC,6368,-0.28,0.0,903.6,10.4,226,6486,0.60,0.00,114.68,1.067,6,0.141,0.000,2504,1934,3300,0,0,0,0,0,0
$STATE,6487,end apogee,CONTROL_FINISHED_OK
$STATE,6487,begin climb
$GC,6490,0.80,136.7,906.0,0.0,229,6617,1.05,0.00,122.85,1.036,6,0.092,0.000,2850,1933,2741,0,0,0,0,0,0
$GC,6850,0.80,136.7,850.0,19.0,238,6854,0.00,2.33,0.00,0.000,4,0.000,0.050,2850,3363,2733,0,0,0,0,0,0
$GC,6890,0.80,136.7,841.4,20.4,239,6894,0.00,2.20,0.00,0.000,6,0.000,0.029,2861,1963,2733,0,0,0,0,0,0
$GC,7174,0.80,136.7,788.5,18.2,246,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1964,2732,0,0,0,0,0,0
$GC,7420,0.80,136.7,745.8,17.3,252,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1964,2730,0,0,0,0,0,0
$GC,7662,0.80,136.7,704.2,17.3,258,7666,0.00,2.15,0.00,0.000,4,0.000,0.038,2872,549,2729,0,0,0,0,0,0
$GC,7689,0.80,136.7,699.3,17.2,258,7693,0.00,2.15,0.00,0.000,6,0.000,0.033,2872,1968,2726,0,0,0,0,0,0
$GC,7947,0.80,136.7,652.9,18.4,265,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1970,2726,0,0,0,0,0,0
$GC,8189,0.80,136.7,609.2,17.9,271,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1971,2726,0,0,0,0,0,0
$GC,8432,0.80,136.7,567.7,17.0,277,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1971,2726,0,0,0,0,0,0
$GC,8678,0.80,136.7,530.5,14.9,283,8682,0.00,2.25,0.00,0.000,4,0.000,0.051,2872,3361,2725,0,0,0,0,0,0
$GC,8767,0.80,136.7,515.2,16.7,285,8771,0.00,2.17,0.00,0.000,6,0.000,0.031,2883,1953,2725,0,0,0,0,0,0
$GC,9047,0.80,136.7,469.5,16.4,292,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1953,2724,0,0,0,0,0,0
$GC,9289,0.80,136.7,431.6,15.3,298,9293,0.00,2.12,0.00,0.000,4,0.000,0.038,2894,549,2724,0,0,0,0,0,0
$GC,9361,0.80,136.7,420.2,15.2,299,9366,0.15,2.12,0.00,0.000,6,0.194,0.032,2858,1971,2722,0,0,0,0,0,0
$GC,9618,0.80,136.7,384.5,14.3,306,9622,0.00,2.20,0.00,0.000,4,0.000,0.049,2858,3355,2722,0,0,0,0,0,0
$GC,9703,0.80,136.7,371.1,16.2,308,9707,0.00,2.15,0.00,0.000,6,0.000,0.029,2867,1952,2723,0,0,0,0,0,0
$GC,9993,0.80,136.7,331.1,13.0,315,9997,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,553,2722,0,0,0,0,0,0
$GC,10010,0.80,136.7,328.9,12.3,315,10014,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1969,2721,0,0,0,0,0,0
$GC,10271,0.80,136.7,295.0,13.0,322,10275,0.00,2.22,0.00,0.000,4,0.000,0.048,2877,3365,2721,0,0,0,0,0,0
$GC,10358,0.80,136.7,283.0,14.4,326,10363,0.12,2.17,0.00,0.000,6,0.193,0.029,2858,1948,2721,0,0,0,0,0,0
$GC,10626,0.80,136.7,249.8,11.7,339,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1949,2721,0,0,0,0,0,0
$GC,10872,0.80,136.7,224.4,9.0,351,10876,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,561,2722,0,0,0,0,0,0
$GC,11096,0.80,136.7,204.7,8.7,361,11100,0.00,2.10,0.00,0.000,6,0.000,0.031,2867,1960,2720,0,0,0,0,0,0
$GC,11360,0.80,136.7,182.2,9.0,383,11364,0.00,2.22,0.00,0.000,4,0.000,0.049,2867,3358,2721,0,0,0,0,0,0
$GC,11425,0.80,136.7,175.9,10.0,388,11429,0.00,2.15,0.00,0.000,6,0.000,0.029,2877,1954,2721,0,0,0,0,0,0
$GC,11689,0.80,136.7,153.6,8.8,412,11693,0.00,2.10,0.00,0.000,4,0.000,0.036,2888,568,2721,0,0,0,0,0,0
$GC,11947,0.84,174.9,132.1,7.0,434,11982,0.00,2.10,30.05,0.512,6,0.000,0.029,2888,1953,2587,0,0,0,0,0,0
$GC,12246,0.84,174.9,103.5,9.5,462,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1954,2585,0,0,0,0,0,0
$GC,12500,0.84,174.9,81.0,9.4,486,12504,0.00,2.22,0.00,0.000,4,0.000,0.048,2888,3355,2585,0,0,0,0,0,0
$GC,12724,0.86,190.6,61.2,7.9,505,12750,0.00,2.12,15.02,0.430,6,0.000,0.027,2898,1950,2522,0,0,0,0,0,0
$GC,13007,0.86,190.6,37.4,9.0,531,13011,0.00,2.22,0.00,0.000,4,0.000,0.044,2898,3364,2521,0,0,0,0,0,0
$GC,13040,0.86,190.6,34.1,10.1,533,13045,0.12,2.15,0.00,0.000,6,0.190,0.028,2876,1968,2521,0,0,0,0,0,0
$GC,13317,0.86,190.6,11.2,8.7,578,13325,0.00,2.22,0.00,0.000,4,0.000,0.045,2876,3349,2522,0,0,0,0,0,0
$GC,13373,0.86,190.6,5.1,10.0,587,13381,0.00,2.15,0.00,0.000,6,0.000,0.028,2879,1960,2523,0,0,0,0,0,0
$STATE,13394,end climb,SURFACE_DEPTH_REACHED
$STATE,13394,begin surface coast
$FINISH,0.4,1.009862
$STATE,13431,end surface coast,CONTROL_FINISHED_OK
$STATE,13431,begin surface
$SM_CCo,13450,58.60,0.408,0,0,2075,300.24
$SM_GC,1.54,0.00,0.00,58.60,0.000,0.000,0.408,60,2141,2075,-7.93,1.16,300.24
$IRIDIUM_FIX,1902.38,-15628.90,230313,101053
$TT8_MAMPS,0.029146
$HUMID,1078889668
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.30
$XPDR_PINGS,15
$24V_AH,23.3,73.349
$10V_AH,8.0,67.875
$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,20.175,126.200,282.600,58.600,0.000,27.385,35.223,192.391,3.750,0.000,33.058,1384.054,9426.432,446.489,2218.010,466.895,33.361,1240.385,0.000,1983.211,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,66.729,1066.897,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,407.577,0.000,1018.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30250,596
$CAP_FILE_SIZE,160882,0
$CFSIZE,260165632,166146048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,169.1,1
$GPS,280911,233631,1904.920,-15629.906,51,1.1,52,9.6