version: 66.07
glider: 513
mission: 7
dive: 546
start: 9 28 111 23 48 52
data:
$ID,513
$MISSION,7
$DIVE,546
$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,-434395.59
$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,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
$GPS1,280911,233631,1904.920,-15629.906,51,1.1,52,9.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.9
$GPS2,280911,234755,1904.899,-15629.876,9,1.1,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.163,-0.175
$KALMAN_X,48601.4,-817.4,-488.5,-5759.3,8065.6
$KALMAN_Y,-565033.4,-5.1,153.6,463409.1,-165.6
$MHEAD_RNG_PITCHd_Wd,173.2,9075,-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,14,begin dive
$GC,17,-0.80,-136.7,0.0,0.0,0,73,0.00,0.00,-54.05,0.000,2,0.000,0.000,40,2141,3624,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.4,-3.3,8,100,9.93,2.22,-4.00,0.000,4,0.238,0.047,2331,692,3860,0,0,0,0,0,0
$GC,120,-0.80,-136.7,23.0,-45.7,14,128,0.00,2.15,0.00,0.000,6,0.000,0.042,2323,2054,3862,0,0,0,0,0,0
$GC,388,-0.80,-136.7,100.6,-25.2,40,392,0.00,2.30,0.00,0.000,4,0.000,0.051,2311,3513,3864,0,0,0,0,0,0
$GC,522,-0.80,-136.7,132.6,-20.5,51,526,0.00,2.15,0.00,0.000,6,0.000,0.032,2311,2100,3865,0,0,0,0,0,0
$GC,785,-0.80,-136.7,192.1,-23.4,75,789,0.00,2.10,0.00,0.000,4,0.000,0.041,2311,696,3866,0,0,0,0,0,0
$GC,829,-0.80,-136.7,200.6,-19.9,78,834,0.15,2.15,0.00,0.000,6,0.168,0.042,2339,2116,3866,0,0,0,0,0,0
$GC,1099,-0.80,-136.7,249.3,-17.1,91,1103,0.00,2.12,0.00,0.000,4,0.000,0.038,2339,691,3868,0,0,0,0,0,0
$GC,1140,-0.80,-136.7,255.9,-16.6,93,1144,0.00,2.15,0.00,0.000,6,0.000,0.043,2331,2096,3868,0,0,0,0,0,0
$GC,1406,-0.80,-136.7,295.8,-15.6,106,1410,0.00,2.22,0.00,0.000,4,0.000,0.050,2320,3510,3869,0,0,0,0,0,0
$GC,1468,-0.80,-136.7,305.9,-14.9,108,1472,0.00,2.15,0.00,0.000,6,0.000,0.031,2320,2089,3868,0,0,0,0,0,0
$GC,1730,-0.80,-136.7,349.6,-16.7,115,1733,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,703,3868,0,0,0,0,0,0
$GC,1832,-0.80,-136.7,366.1,-15.7,117,1836,0.10,2.15,0.00,0.000,6,0.177,0.042,2335,2100,3868,0,0,0,0,0,0
$GC,2104,-0.80,-136.7,405.2,-14.6,124,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2099,3867,0,0,0,0,0,0
$GC,2348,-0.80,-136.7,438.7,-13.3,130,2352,0.00,2.22,0.00,0.000,4,0.000,0.053,2326,3504,3865,0,0,0,0,0,0
$GC,2371,-0.80,-136.7,442.0,-13.7,130,2375,0.00,2.12,0.00,0.000,6,0.000,0.030,2326,2094,3865,0,0,0,0,0,0
$GC,2626,-0.80,-136.7,476.6,-13.3,137,2630,0.00,2.10,0.00,0.000,4,0.000,0.041,2326,697,3863,0,0,0,0,0,0
$GC,2682,-0.80,-136.7,484.2,-13.0,138,2686,0.00,2.15,0.00,0.000,6,0.000,0.041,2316,2109,3863,0,0,0,0,0,0
$GC,2957,-0.80,-136.7,520.2,-13.2,145,2961,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3504,3860,0,0,0,0,0,0
$GC,3002,-0.80,-136.7,526.9,-14.3,146,3007,0.12,2.12,0.00,0.000,6,0.161,0.031,2337,2104,3860,0,0,0,0,0,0
$GC,3295,-0.80,-136.7,560.5,-11.4,153,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2098,3856,0,0,0,0,0,0
$GC,3535,-0.80,-136.7,588.8,-11.7,159,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2099,3854,0,0,0,0,0,0
$GC,3779,-0.80,-136.7,617.0,-11.6,165,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2098,3852,0,0,0,0,0,0
$GC,4024,-0.80,-136.7,645.5,-11.6,171,4028,0.00,2.12,0.00,0.000,4,0.000,0.039,2337,698,3850,0,0,0,0,0,0
$GC,4064,-0.80,-136.7,650.3,-12.0,172,4068,0.00,2.12,0.00,0.000,6,0.000,0.040,2329,2098,3849,0,0,0,0,0,0
$GC,4349,-0.80,-136.7,684.7,-11.9,179,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2097,3846,0,0,0,0,0,0
$GC,4591,-0.80,-136.7,712.7,-11.5,185,4595,0.00,2.28,0.00,0.000,4,0.000,0.053,2319,3514,3844,0,0,0,0,0,0
$GC,4624,-0.80,-136.7,716.8,-12.2,185,4629,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2103,3844,0,0,0,0,0,0
$GC,4878,-0.80,-136.7,747.7,-12.5,192,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2097,3843,0,0,0,0,0,0
$GC,5118,-0.80,-136.7,777.1,-11.9,198,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2097,3841,0,0,0,0,0,0
$GC,5362,-0.80,-136.7,806.7,-12.1,204,5366,0.00,2.15,0.00,0.000,4,0.000,0.042,2318,687,3839,0,0,0,0,0,0
$GC,5389,-0.80,-136.7,810.5,-13.7,204,5394,0.12,2.15,0.00,0.000,6,0.177,0.041,2339,2097,3839,0,0,0,0,0,0
$GC,5646,-0.80,-136.7,838.6,-10.9,211,5650,0.00,2.25,0.00,0.000,4,0.000,0.052,2330,3510,3837,0,0,0,0,0,0
$GC,5673,-0.80,-136.7,842.1,-11.4,211,5677,0.00,2.17,0.00,0.000,6,0.000,0.031,2330,2102,3837,0,0,0,0,0,0
$GC,5924,-0.80,-136.7,871.5,-11.8,217,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2097,3835,0,0,0,0,0,0
$GC,6167,-0.80,-136.7,898.6,-10.9,223,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2097,3834,0,0,0,0,0,0
$STATE,6205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6205,begin apogee
$GC,6212,-0.28,0.0,903.1,10.9,224,6329,0.57,0.00,113.93,1.060,6,0.139,0.000,2502,1919,3300,0,0,0,0,0,0
$STATE,6330,end apogee,CONTROL_FINISHED_OK
$STATE,6330,begin climb
$GC,6335,0.80,136.7,906.6,0.0,227,6460,1.05,0.00,122.20,1.031,6,0.092,0.000,2849,1919,2741,0,0,0,0,0,0
$GC,6694,0.80,136.7,851.7,18.9,236,6698,0.00,2.38,0.00,0.000,4,0.000,0.052,2849,3377,2733,0,0,0,0,0,0
$GC,6722,0.80,136.7,845.5,20.2,236,6727,0.00,2.20,0.00,0.000,6,0.000,0.030,2859,1961,2733,0,0,0,0,0,0
$GC,6974,0.80,136.7,795.8,19.8,242,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1960,2731,0,0,0,0,0,0
$GC,7217,0.80,136.7,750.2,18.5,248,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1961,2730,0,0,0,0,0,0
$GC,7462,0.80,136.7,707.3,17.4,254,7466,0.00,2.28,0.00,0.000,4,0.000,0.050,2859,3369,2729,0,0,0,0,0,0
$GC,7483,0.80,136.7,702.9,17.7,254,7487,0.00,2.17,0.00,0.000,6,0.000,0.031,2870,1950,2729,0,0,0,0,0,0
$GC,7745,0.80,136.7,655.4,18.4,261,7749,0.00,2.10,0.00,0.000,4,0.000,0.038,2880,561,2727,0,0,0,0,0,0
$GC,7772,0.80,136.7,650.1,19.3,261,7776,0.00,2.15,0.00,0.000,6,0.000,0.033,2880,1971,2725,0,0,0,0,0,0
$GC,8024,0.80,136.7,603.8,18.6,267,8028,0.00,2.22,0.00,0.000,4,0.000,0.049,2881,3362,2725,0,0,0,0,0,0
$GC,8062,0.80,136.7,595.5,20.4,267,8070,0.15,2.15,0.00,0.000,6,0.196,0.030,2855,1954,2725,0,0,0,0,0,0
$GC,8314,0.80,136.7,555.4,15.8,274,8318,0.00,2.25,0.00,0.000,4,0.000,0.049,2852,3359,2725,0,0,0,0,0,0
$GC,8363,0.80,136.7,546.6,17.1,275,8367,0.00,2.15,0.00,0.000,6,0.000,0.030,2860,1959,2725,0,0,0,0,0,0
$GC,8636,0.80,136.7,502.4,16.5,282,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1959,2724,0,0,0,0,0,0
$GC,8882,0.80,136.7,463.0,16.0,288,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1959,2724,0,0,0,0,0,0
$GC,9124,0.80,136.7,426.3,14.7,294,9127,0.00,2.12,0.00,0.000,4,0.000,0.038,2872,552,2723,0,0,0,0,0,0
$GC,9168,0.80,136.7,419.3,15.2,295,9172,0.00,2.10,0.00,0.000,6,0.000,0.032,2871,1958,2721,0,0,0,0,0,0
$GC,9447,0.80,136.7,378.8,14.3,302,9451,0.00,2.25,0.00,0.000,4,0.000,0.050,2872,3368,2722,0,0,0,0,0,0
$GC,9525,0.80,136.7,365.8,17.1,303,9531,0.00,2.15,0.00,0.000,6,0.000,0.031,2881,1957,2722,0,0,0,0,0,0
$GC,9776,0.80,136.7,327.6,15.4,310,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1956,2722,0,0,0,0,0,0
$GC,10021,0.80,136.7,292.1,14.1,317,10025,0.00,2.12,0.00,0.000,4,0.000,0.038,2892,554,2722,0,0,0,0,0,0
$GC,10157,0.80,136.7,274.5,11.7,323,10162,0.15,2.15,0.00,0.000,6,0.186,0.032,2856,1974,2720,0,0,0,0,0,0
$GC,10417,0.80,136.7,248.6,10.6,336,10421,0.00,2.22,0.00,0.000,4,0.000,0.048,2855,3359,2720,0,0,0,0,0,0
$GC,10507,0.80,136.7,238.3,11.8,340,10511,0.00,2.12,0.00,0.000,6,0.000,0.028,2865,1961,2720,0,0,0,0,0,0
$GC,10768,0.80,136.7,210.2,10.7,353,10772,0.00,2.25,0.00,0.000,4,0.000,0.045,2865,3365,2720,0,0,0,0,0,0
$GC,10871,0.80,136.7,198.9,11.8,357,10876,0.00,2.17,0.00,0.000,6,0.000,0.029,2875,1951,2720,0,0,0,0,0,0
$GC,11136,0.80,138.8,173.6,8.5,382,11140,0.00,2.10,0.00,0.000,4,0.000,0.037,2885,553,2721,0,0,0,0,0,0
$GC,11201,0.80,138.8,167.0,10.1,387,11210,0.08,2.15,0.00,0.000,6,0.169,0.031,2862,1963,2719,0,0,0,0,0,0
$GC,11465,0.81,151.2,145.0,8.0,412,11481,0.00,2.28,10.12,0.482,4,0.000,0.048,2862,3351,2683,0,0,0,0,0,0
$GC,11583,0.83,162.9,135.4,8.1,422,11600,0.00,2.12,12.02,0.486,6,0.000,0.027,2871,1943,2635,0,0,0,0,0,0
$GC,11862,0.90,225.4,114.6,5.9,447,11924,0.00,2.15,53.10,0.503,4,0.000,0.036,2882,572,2378,0,0,0,0,0,0
$GC,12022,0.90,225.4,100.1,10.5,460,12029,0.00,2.12,0.00,0.000,6,0.000,0.030,2882,1952,2375,0,0,0,0,0,0
$GC,12288,0.90,225.4,71.0,11.1,485,12292,0.00,2.22,0.00,0.000,4,0.000,0.045,2882,3356,2374,0,0,0,0,0,0
$GC,12353,0.90,225.4,63.3,11.5,490,12357,0.00,2.12,0.00,0.000,6,0.000,0.028,2890,1964,2374,0,0,0,0,0,0
$GC,12616,0.90,225.4,36.3,10.4,514,12620,0.00,2.12,0.00,0.000,4,0.000,0.038,2900,560,2374,0,0,0,0,0,0
$GC,12660,0.90,225.4,31.4,10.4,517,12668,0.00,2.12,0.00,0.000,6,0.000,0.029,2900,1962,2374,0,0,0,0,0,0
$STATE,12920,end climb,SURFACE_DEPTH_REACHED
$STATE,12922,begin surface coast
$FINISH,0.8,1.023045
$STATE,12947,end surface coast,CONTROL_FINISHED_OK
$STATE,12948,begin surface
$SM_CCo,12967,37.88,0.407,0,0,2075,300.24
$SM_GC,1.83,0.00,0.00,37.88,0.000,0.000,0.407,52,2123,2075,-7.95,0.65,300.24
$IRIDIUM_FIX,1857.82,-15627.72,230313,171744
$TT8_MAMPS,0.028379
$HUMID,1078961926
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.80
$XPDR_PINGS,11
$24V_AH,23.4,73.459
$10V_AH,8.0,67.965
$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,20.150,121.950,311.375,37.875,0.000,61.927,70.639,322.694,2.750,0.000,16.472,1303.708,9250.334,445.052,2218.274,470.623,33.363,1194.116,0.000,1820.593,0.000,0.543,0.000
$DEVICE_MAMPS,237.770,72.098,1059.994,407.277,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,387.403,0.000,945.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353660
$DATA_FILE_SIZE,30224,567
$CAP_FILE_SIZE,156567,0
$CFSIZE,260165632,166084608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,128.5,1
$GPS,290911,032706,1903.122,-15629.793,43,1.2,44,9.6