version: 66.07
glider: 513
mission: 7
dive: 549
start: 9 29 111 11 12 51
data:
$ID,513
$MISSION,7
$DIVE,549
$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,-434443.56
$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,63
$R_STBD_OVSHOOT,61
$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
$GPS1,290911,110425,1900.529,-15630.296,57,1.1,58,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.2
$GPS2,290911,111150,1900.534,-15630.294,12,1.3,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,0.014
$KALMAN_X,59313.3,-691.5,-822.6,-16985.4,11823.0
$KALMAN_Y,-566281.1,-121.3,340.2,456506.8,-1678.8
$MHEAD_RNG_PITCHd_Wd,125.3,1115,-43.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.74,-20.8,0.0,0.0,0,66,0.00,0.00,-47.03,0.000,6,0.000,0.000,40,2122,3386,0,0,0,0,0,0
$GC,71,-1.77,-39.9,2.9,-3.3,7,86,8.45,0.00,-1.58,0.000,6,0.234,0.000,2021,2119,3463,0,0,0,0,0,0
$GC,347,-1.77,-39.9,112.0,-38.5,38,351,0.00,2.17,0.00,0.000,4,0.000,0.050,2012,3492,3467,0,0,0,0,0,0
$GC,607,-1.77,-39.9,188.9,-24.4,60,614,0.00,2.12,0.00,0.000,6,0.000,0.031,2012,2124,3469,0,0,0,0,0,0
$GC,872,-1.77,-39.9,249.5,-23.3,76,876,0.00,2.17,0.00,0.000,4,0.000,0.049,2002,3499,3471,0,0,0,0,0,0
$GC,1131,-1.77,-39.9,308.6,-21.4,86,1138,0.00,2.15,0.00,0.000,6,0.000,0.031,2002,2081,3472,0,0,0,0,0,0
$GC,1383,-1.77,-39.9,357.8,-19.4,93,1387,0.00,2.25,0.00,0.000,4,0.000,0.051,1991,3495,3472,0,0,0,0,0,0
$GC,1514,-1.77,-39.9,383.9,-20.3,96,1519,0.15,2.12,0.00,0.000,6,0.224,0.032,2022,2096,3472,0,0,0,0,0,0
$GC,1802,-1.77,-39.9,437.5,-18.4,103,1806,0.00,2.22,0.00,0.000,4,0.000,0.053,2013,3496,3472,0,0,0,0,0,0
$GC,2050,-1.77,-39.9,483.0,-16.4,108,2054,0.00,2.12,0.00,0.000,6,0.000,0.031,2013,2102,3472,0,0,0,0,0,0
$GC,2306,-1.77,-39.9,526.2,-16.8,115,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2096,3471,0,0,0,0,0,0
$GC,2549,-1.77,-39.9,566.7,-17.0,121,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2096,3469,0,0,0,0,0,0
$GC,2793,-1.77,-39.9,608.0,-16.7,127,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2096,3467,0,0,0,0,0,0
$GC,3036,-1.77,-39.9,648.5,-16.5,133,3040,0.00,2.22,0.00,0.000,4,0.000,0.051,2003,3491,3464,0,0,0,0,0,0
$GC,3276,-1.77,-39.9,689.5,-16.0,138,3281,0.00,2.12,0.00,0.000,6,0.000,0.032,2003,2102,3461,0,0,0,0,0,0
$GC,3538,-1.77,-39.9,731.5,-16.0,145,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2098,3459,0,0,0,0,0,0
$GC,3783,-1.77,-39.9,768.0,-15.0,151,3787,0.00,2.22,0.00,0.000,4,0.000,0.051,1993,3488,3457,0,0,0,0,0,0
$GC,4041,-1.77,-39.9,809.0,-14.4,156,4048,0.15,2.15,0.00,0.000,6,0.230,0.033,2024,2095,3455,0,0,0,0,0,0
$GC,4294,-1.77,-39.9,843.2,-13.4,163,4298,0.00,2.22,0.00,0.000,4,0.000,0.051,2015,3488,3453,0,0,0,0,0,0
$GC,4394,-1.77,-39.9,857.6,-13.7,165,4398,0.00,2.12,0.00,0.000,6,0.000,0.032,2015,2100,3452,0,0,0,0,0,0
$GC,4662,-1.77,-39.9,893.4,-13.2,172,4666,0.00,2.22,0.00,0.000,4,0.000,0.051,2004,3488,3450,0,0,0,0,0,0
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4710,begin apogee
$GC,4719,-0.28,0.0,900.1,13.3,173,4757,1.98,0.00,33.25,1.016,6,0.214,0.000,2499,1952,3300,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4762,1.77,39.9,902.2,0.0,174,4806,1.92,2.25,36.03,1.008,4,0.093,0.028,3170,536,3137,0,0,0,0,0,0
$GC,4907,1.77,39.9,880.2,18.1,177,4911,0.00,2.15,0.00,0.000,6,0.000,0.029,3170,1950,3135,0,0,0,0,0,0
$GC,5181,1.77,39.9,833.7,16.8,184,5185,0.00,2.25,0.00,0.000,4,0.000,0.042,3161,3365,3133,0,0,0,0,0,0
$GC,5382,1.77,39.9,799.1,17.0,188,5387,0.00,2.17,0.00,0.000,6,0.000,0.025,3170,1934,3132,0,0,0,0,0,0
$GC,5640,1.77,39.9,762.4,14.1,195,5644,0.00,2.28,0.00,0.000,4,0.000,0.041,3161,3366,3130,0,0,0,0,0,0
$GC,5900,1.77,39.9,724.8,14.4,200,5905,0.00,2.12,0.00,0.000,6,0.000,0.024,3170,1960,3128,0,0,0,0,0,0
$GC,6151,1.77,39.9,692.2,12.8,207,6155,0.00,2.22,0.00,0.000,4,0.000,0.040,3161,3372,3126,0,0,0,0,0,0
$GC,6167,1.77,39.9,689.8,12.9,207,6171,0.00,2.12,0.00,0.000,6,0.000,0.023,3170,1955,3126,0,0,0,0,0,0
$GC,6429,1.77,39.9,655.7,13.1,214,6433,0.00,2.22,0.00,0.000,4,0.000,0.040,3161,3364,3126,0,0,0,0,0,0
$GC,6689,1.77,39.9,621.6,13.6,219,6694,0.00,2.12,0.00,0.000,6,0.000,0.025,3170,1950,3125,0,0,0,0,0,0
$GC,6939,1.77,39.9,590.7,12.3,226,6943,0.00,2.25,0.00,0.000,4,0.000,0.041,3161,3370,3124,0,0,0,0,0,0
$GC,7196,1.77,39.9,558.4,12.7,231,7202,0.00,2.12,0.00,0.000,6,0.000,0.022,3170,1959,3123,0,0,0,0,0,0
$GC,7446,1.77,39.9,531.8,10.3,238,7450,0.00,2.22,0.00,0.000,4,0.000,0.039,3161,3373,3121,0,0,0,0,0,0
$GC,7704,1.77,40.3,509.5,8.5,243,7710,0.00,2.15,0.00,0.000,6,0.000,0.023,3170,1951,3121,0,0,0,0,0,0
$GC,7958,1.79,55.2,496.6,4.5,250,7976,0.00,2.30,11.55,0.732,4,0.000,0.039,3161,3367,3074,0,0,0,0,0,0
$GC,8230,1.79,55.2,472.2,9.1,256,8234,0.00,2.12,0.00,0.000,6,0.000,0.024,3170,1959,3073,0,0,0,0,0,0
$GC,8510,1.79,55.2,447.9,9.2,263,8514,0.00,2.22,0.00,0.000,4,0.000,0.038,3161,3371,3071,0,0,0,0,0,0
$GC,8769,1.79,55.2,423.4,8.7,268,8775,0.00,2.15,0.00,0.000,6,0.000,0.022,3170,1946,3071,0,0,0,0,0,0
$GC,9020,1.79,58.1,403.0,7.8,275,9024,0.00,2.25,0.00,0.000,4,0.000,0.040,3161,3368,3071,0,0,0,0,0,0
$GC,9107,1.79,60.5,395.9,7.9,277,9117,0.00,2.12,5.45,0.563,6,0.000,0.023,3170,1947,3053,0,0,0,0,0,0
$GC,9392,1.79,60.5,370.8,8.6,284,9396,0.00,2.22,0.00,0.000,4,0.000,0.039,3161,3366,3052,0,0,0,0,0,0
$GC,9651,1.81,70.7,352.0,5.8,289,9666,0.00,2.12,10.38,0.637,6,0.000,0.023,3170,1955,3010,0,0,0,0,0,0
$GC,9940,1.81,70.7,327.0,9.8,297,9944,0.00,2.22,0.00,0.000,4,0.000,0.037,3161,3374,3009,0,0,0,0,0,0
$GC,10199,1.82,78.8,306.2,6.3,302,10214,0.00,2.12,8.50,0.584,6,0.000,0.023,3170,1957,2978,0,0,0,0,0,0
$GC,10481,1.82,78.8,284.0,9.1,314,10485,0.00,2.22,0.00,0.000,4,0.000,0.038,3161,3377,2977,0,0,0,0,0,0
$GC,10740,1.82,80.7,262.8,8.1,325,10745,0.00,2.12,0.00,0.000,6,0.000,0.025,3170,1964,2977,0,0,0,0,0,0
$GC,10994,1.85,103.5,252.8,2.3,338,11020,0.00,2.10,22.02,0.608,4,0.000,0.028,3181,561,2876,0,0,0,0,0,0
$GC,11062,1.85,105.0,249.2,8.2,341,11066,0.00,2.10,0.00,0.000,6,0.000,0.027,3172,1974,2874,0,0,0,0,0,0
$GC,11321,1.85,105.0,219.4,13.1,354,11325,0.00,2.17,0.00,0.000,4,0.000,0.038,3161,3357,2874,0,0,0,0,0,0
$GC,11557,1.85,105.0,192.1,11.0,367,11565,0.00,2.15,0.00,0.000,6,0.000,0.025,3170,1962,2874,0,0,0,0,0,0
$GC,11823,1.86,113.5,167.6,6.2,392,11839,0.00,2.15,9.57,0.495,4,0.000,0.030,3181,543,2836,0,0,0,0,0,0
$GC,12029,1.86,113.5,148.3,9.4,410,12033,0.00,2.10,0.00,0.000,6,0.000,0.026,3181,1964,2835,0,0,0,0,0,0
$GC,12292,1.87,122.0,132.6,6.2,434,12307,0.00,2.15,8.80,0.459,4,0.000,0.031,3190,565,2801,0,0,0,0,0,0
$GC,12558,1.87,123.8,109.1,8.1,457,12566,0.00,2.08,0.00,0.000,6,0.000,0.026,3182,1956,2799,0,0,0,0,0,0
$GC,12824,1.91,157.7,102.9,-0.7,482,12863,0.00,2.12,30.70,0.481,4,0.000,0.031,3191,569,2656,0,0,0,0,0,0
$GC,12934,1.91,157.7,93.1,14.8,491,12942,0.00,2.10,0.00,0.000,6,0.000,0.028,3182,1951,2654,0,0,0,0,0,0
$GC,13197,1.91,157.7,57.7,10.2,516,13201,0.00,2.20,0.00,0.000,4,0.000,0.038,3171,3361,2654,0,0,0,0,0,0
$GC,13218,1.91,157.7,55.6,10.5,517,13222,0.00,2.12,0.00,0.000,6,0.000,0.024,3180,1946,2654,0,0,0,0,0,0
$GC,13486,1.91,157.7,26.3,11.2,544,13493,0.00,2.25,0.00,0.000,4,0.000,0.040,3171,3362,2655,0,0,0,0,0,0
$STATE,13670,end climb,SURFACE_DEPTH_REACHED
$STATE,13670,begin surface coast
$FINISH,0.5,1.023069
$STATE,13693,end surface coast,CONTROL_FINISHED_OK
$STATE,13693,begin surface
$SM_CCo,13715,77.82,0.408,0,0,2076,300.24
$SM_GC,1.06,0.00,0.00,77.82,0.000,0.000,0.408,57,2118,2076,-7.94,0.51,300.24
$IRIDIUM_FIX,1850.98,-15741.03,240313,010125
$TT8_MAMPS,0.028379
$HUMID,1078903861
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.90
$XPDR_PINGS,20
$24V_AH,23.8,73.689
$10V_AH,8.0,68.249
$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,21.175,121.700,176.250,77.825,0.000,27.155,43.410,213.118,5.000,0.000,13.072,1488.299,9089.176,340.758,2855.884,465.351,33.360,1406.227,0.000,2584.760,0.000,0.541,0.000
$DEVICE_MAMPS,233.935,52.923,1016.275,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,396.482,0.000,935.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30216,580
$CAP_FILE_SIZE,172195,0
$CFSIZE,260165632,165883904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,  9.4,1
$GPS,290911,150436,1900.357,-15629.842,62,0.8,68,9.6