version: 66.07
glider: 513
mission: 7
dive: 551
start: 9 29 111 19 7 47
data:
$ID,513
$MISSION,7
$DIVE,551
$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,-434482.56
$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,49
$R_STBD_OVSHOOT,56
$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
$GPS1,290911,190006,1900.297,-15627.717,75,0.9,75,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.8
$GPS2,290911,190650,1900.283,-15627.735,14,1.4,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G8
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.239,-0.008
$KALMAN_X,63529.6,-1654.6,-1450.6,-15121.4,9871.4
$KALMAN_Y,-567045.6,46.7,-318.7,457295.2,-189.9
$MHEAD_RNG_PITCHd_Wd,85.3,22306,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.80,-136.7,0.0,0.0,0,74,0.00,0.00,-52.58,0.000,2,0.000,0.000,38,2133,3553,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.0,-3.8,8,102,9.93,2.17,-5.35,0.000,4,0.238,0.063,2323,3496,3858,0,0,0,0,0,0
$GC,151,-0.80,-136.7,31.9,-30.0,19,159,0.00,2.15,0.00,0.000,6,0.000,0.031,2323,2113,3861,0,0,0,0,0,0
$GC,416,-0.80,-136.7,109.5,-28.3,44,420,0.00,2.15,0.00,0.000,4,0.000,0.038,2323,683,3862,0,0,0,0,0,0
$GC,469,-0.80,-136.7,122.3,-22.0,48,473,0.00,2.15,0.00,0.000,6,0.000,0.040,2312,2091,3862,0,0,0,0,0,0
$GC,734,-0.80,-136.7,181.9,-20.2,72,738,0.00,2.12,0.00,0.000,4,0.000,0.038,2312,681,3864,0,0,0,0,0,0
$GC,765,-0.80,-136.7,188.3,-19.6,74,770,0.12,2.17,0.00,0.000,6,0.173,0.040,2334,2100,3864,0,0,0,0,0,0
$GC,1021,-0.80,-136.7,232.1,-16.7,89,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2099,3866,0,0,0,0,0,0
$GC,1270,-0.80,-136.7,270.9,-15.4,101,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2099,3868,0,0,0,0,0,0
$GC,1515,-0.80,-136.7,306.9,-14.8,112,1519,0.00,2.20,0.00,0.000,4,0.000,0.049,2325,3506,3868,0,0,0,0,0,0
$GC,1578,-0.80,-136.7,315.9,-13.6,113,1582,0.00,2.10,0.00,0.000,6,0.000,0.028,2325,2083,3868,0,0,0,0,0,0
$GC,1845,-0.80,-136.7,355.9,-15.2,120,1848,0.00,2.05,0.00,0.000,4,0.000,0.038,2325,706,3868,0,0,0,0,0,0
$GC,1872,-0.80,-136.7,360.1,-14.2,120,1876,0.00,2.10,0.00,0.000,6,0.000,0.039,2315,2101,3868,0,0,0,0,0,0
$GC,2124,-0.80,-136.7,396.2,-14.2,126,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2101,3866,0,0,0,0,0,0
$GC,2366,-0.80,-136.7,429.0,-13.2,132,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2100,3865,0,0,0,0,0,0
$GC,2610,-0.80,-136.7,463.4,-14.2,138,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2101,3863,0,0,0,0,0,0
$GC,2855,-0.80,-136.7,496.0,-13.4,144,2859,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3503,3861,0,0,0,0,0,0
$GC,2910,-0.80,-136.7,504.5,-15.1,145,2915,0.12,2.10,0.00,0.000,6,0.164,0.030,2336,2098,3860,0,0,0,0,0,0
$GC,3184,-0.80,-136.7,538.2,-12.4,152,3188,0.00,2.10,0.00,0.000,4,0.000,0.039,2336,707,3858,0,0,0,0,0,0
$GC,3205,-0.80,-136.7,541.3,-13.0,152,3209,0.00,2.15,0.00,0.000,6,0.000,0.040,2328,2096,3858,0,0,0,0,0,0
$GC,3467,-0.80,-136.7,574.0,-12.6,159,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2096,3855,0,0,0,0,0,0
$GC,3712,-0.80,-136.7,603.5,-12.1,165,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2096,3853,0,0,0,0,0,0
$GC,3955,-0.80,-136.7,630.9,-11.0,171,3959,0.00,2.25,0.00,0.000,4,0.000,0.053,2317,3520,3851,0,0,0,0,0,0
$GC,4006,-0.80,-136.7,636.5,-10.7,172,4010,0.00,2.15,0.00,0.000,6,0.000,0.031,2317,2100,3850,0,0,0,0,0,0
$GC,4287,-0.80,-136.7,669.3,-12.2,179,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2095,3847,0,0,0,0,0,0
$GC,4528,-0.80,-136.7,699.1,-12.3,185,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2095,3846,0,0,0,0,0,0
$GC,4773,-0.80,-136.7,729.5,-12.6,191,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2096,3844,0,0,0,0,0,0
$GC,5017,-0.80,-136.7,761.3,-13.1,197,5021,0.00,2.15,0.00,0.000,4,0.000,0.044,2317,694,3843,0,0,0,0,0,0
$GC,5062,-0.80,-136.7,767.3,-12.3,198,5066,0.12,2.17,0.00,0.000,6,0.179,0.042,2337,2103,3843,0,0,0,0,0,0
$GC,5341,-0.80,-136.7,798.4,-11.0,205,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2102,3841,0,0,0,0,0,0
$GC,5585,-0.80,-136.7,823.9,-10.4,211,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2102,3839,0,0,0,0,0,0
$GC,5827,-0.80,-136.7,848.3,-9.9,217,5831,0.00,2.22,0.00,0.000,4,0.000,0.052,2328,3506,3837,0,0,0,0,0,0
$GC,5882,-0.80,-136.7,854.1,-10.1,218,5886,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,2099,3836,0,0,0,0,0,0
$GC,6150,-0.80,-136.7,881.8,-10.5,225,6154,0.00,2.15,0.00,0.000,4,0.000,0.044,2328,693,3835,0,0,0,0,0,0
$GC,6205,-0.80,-136.7,888.1,-10.7,226,6209,0.00,2.20,0.00,0.000,6,0.000,0.044,2318,2097,3834,0,0,0,0,0,0
$STATE,6347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6347,begin apogee
$GC,6355,-0.28,0.0,904.0,11.1,230,6473,0.62,0.00,114.45,1.058,6,0.146,0.000,2502,1927,3300,0,0,0,0,0,0
$STATE,6474,end apogee,CONTROL_FINISHED_OK
$STATE,6474,begin climb
$GC,6477,0.80,136.7,907.7,0.0,233,6606,1.05,2.25,121.78,1.030,4,0.094,0.038,2860,565,2741,0,0,0,0,0,0
$GC,6640,0.80,136.7,889.9,17.7,236,6646,0.00,2.25,0.00,0.000,6,0.000,0.034,2860,1960,2736,0,0,0,0,0,0
$GC,6891,0.80,136.7,844.2,18.5,243,6895,0.00,2.28,0.00,0.000,4,0.000,0.052,2860,3369,2733,0,0,0,0,0,0
$GC,6914,0.80,136.7,839.8,19.1,243,6918,0.00,2.17,0.00,0.000,6,0.000,0.028,2870,1970,2733,0,0,0,0,0,0
$GC,7175,0.80,136.7,789.3,19.1,250,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1970,2731,0,0,0,0,0,0
$GC,7419,0.80,136.7,743.9,18.5,256,7423,0.00,2.15,0.00,0.000,4,0.000,0.038,2882,556,2730,0,0,0,0,0,0
$GC,7465,0.80,136.7,735.3,19.6,257,7469,0.00,2.15,0.00,0.000,6,0.000,0.035,2882,1962,2728,0,0,0,0,0,0
$GC,7754,0.80,136.7,681.1,18.7,264,7758,0.00,2.25,0.00,0.000,4,0.000,0.049,2882,3370,2728,0,0,0,0,0,0
$GC,7777,0.80,136.7,676.8,20.0,264,7782,0.15,2.15,0.00,0.000,6,0.199,0.029,2856,1956,2727,0,0,0,0,0,0
$GC,8038,0.80,136.7,633.7,16.2,271,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1956,2726,0,0,0,0,0,0
$GC,8281,0.80,136.7,595.3,15.8,277,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1956,2725,0,0,0,0,0,0
$GC,8527,0.80,136.7,556.7,16.0,283,8531,0.00,2.12,0.00,0.000,4,0.000,0.039,2865,557,2725,0,0,0,0,0,0
$GC,8555,0.80,136.7,551.6,16.4,283,8559,0.00,2.17,0.00,0.000,6,0.000,0.035,2865,1966,2723,0,0,0,0,0,0
$GC,8811,0.80,136.7,509.8,16.3,290,8815,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3366,2723,0,0,0,0,0,0
$GC,8840,0.80,136.7,504.9,16.6,290,8844,0.00,2.17,0.00,0.000,6,0.000,0.030,2876,1951,2724,0,0,0,0,0,0
$GC,9090,0.80,136.7,466.9,15.3,296,9094,0.00,2.28,0.00,0.000,4,0.000,0.049,2876,3370,2723,0,0,0,0,0,0
$GC,9157,0.80,136.7,456.6,14.7,297,9161,0.12,2.17,0.00,0.000,6,0.202,0.028,2857,1950,2724,0,0,0,0,0,0
$GC,9419,0.80,136.7,422.6,13.3,304,9423,0.00,2.12,0.00,0.000,4,0.000,0.037,2867,561,2723,0,0,0,0,0,0
$GC,9485,0.80,136.7,412.0,14.9,305,9490,0.00,2.15,0.00,0.000,6,0.000,0.032,2867,1963,2721,0,0,0,0,0,0
$GC,9748,0.80,136.7,372.7,15.2,312,9752,0.00,2.15,0.00,0.000,4,0.000,0.038,2877,555,2721,0,0,0,0,0,0
$GC,9798,0.80,136.7,365.2,14.9,313,9802,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1961,2721,0,0,0,0,0,0
$GC,10084,0.80,136.7,323.3,15.1,320,10088,0.00,2.15,0.00,0.000,4,0.000,0.035,2887,563,2721,0,0,0,0,0,0
$GC,10135,0.80,136.7,316.3,12.8,321,10140,0.12,2.15,0.00,0.000,6,0.189,0.033,2858,1962,2720,0,0,0,0,0,0
$GC,10391,0.80,136.7,288.2,10.9,330,10395,0.00,2.22,0.00,0.000,4,0.000,0.050,2858,3367,2721,0,0,0,0,0,0
$GC,10470,0.80,136.7,279.6,10.7,333,10476,0.00,2.15,0.00,0.000,6,0.000,0.028,2867,1956,2721,0,0,0,0,0,0
$GC,10724,0.80,136.7,251.6,10.8,346,10728,0.00,2.12,0.00,0.000,4,0.000,0.038,2876,566,2721,0,0,0,0,0,0
$GC,10758,0.80,136.7,247.8,11.1,347,10764,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1970,2720,0,0,0,0,0,0
$GC,11012,0.80,136.7,220.2,11.3,360,11016,0.00,2.22,0.00,0.000,4,0.000,0.050,2876,3367,2720,0,0,0,0,0,0
$GC,11058,0.80,136.7,214.7,12.2,362,11063,0.12,2.12,0.00,0.000,6,0.193,0.028,2856,1962,2721,0,0,0,0,0,0
$GC,11325,0.81,148.8,189.7,8.1,380,11338,0.00,2.15,8.07,0.502,4,0.000,0.036,2866,562,2692,0,0,0,0,0,0
$GC,11455,0.81,148.8,177.1,10.4,391,11459,0.00,2.12,0.00,0.000,6,0.000,0.032,2863,1963,2691,0,0,0,0,0,0
$GC,11721,0.86,187.4,154.3,6.9,415,11760,0.00,2.25,34.15,0.539,4,0.000,0.049,2863,3365,2536,0,0,0,0,0,0
$GC,11823,0.86,187.4,146.0,8.6,423,11827,0.00,2.15,0.00,0.000,6,0.000,0.028,2873,1955,2536,0,0,0,0,0,0
$GC,12088,0.86,187.4,116.0,12.6,447,12092,0.00,2.12,0.00,0.000,4,0.000,0.038,2882,556,2534,0,0,0,0,0,0
$GC,12264,0.86,187.4,96.2,9.4,462,12268,0.00,2.12,0.00,0.000,6,0.000,0.031,2882,1964,2532,0,0,0,0,0,0
$GC,12527,0.86,187.4,71.0,9.6,486,12531,0.00,2.20,0.00,0.000,4,0.000,0.047,2882,3366,2532,0,0,0,0,0,0
$GC,12739,0.86,192.7,54.3,8.3,504,12753,0.00,2.12,6.15,0.367,6,0.000,0.027,2890,1947,2515,0,0,0,0,0,0
$GC,13008,0.86,192.7,31.7,9.0,529,13012,0.00,2.10,0.00,0.000,4,0.000,0.035,2901,560,2515,0,0,0,0,0,0
$GC,13085,0.86,192.7,24.8,9.5,540,13093,0.00,2.15,0.00,0.000,6,0.000,0.030,2901,1964,2515,0,0,0,0,0,0
$STATE,13306,end climb,SURFACE_DEPTH_REACHED
$STATE,13306,begin surface coast
$FINISH,0.5,1.022980
$STATE,13337,end surface coast,CONTROL_FINISHED_OK
$STATE,13337,begin surface
$SM_CCo,13358,53.15,0.407,0,0,2075,300.24
$SM_GC,1.67,0.00,0.00,53.15,0.000,0.000,0.407,58,2131,2075,-7.94,0.88,300.24
$IRIDIUM_FIX,1855.54,-15630.72,240313,090935
$TT8_MAMPS,0.029146
$HUMID,1078919345
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.90
$XPDR_PINGS,7
$24V_AH,23.4,73.899
$10V_AH,8.0,68.435
$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,20.175,125.875,284.600,53.150,0.000,28.105,32.277,184.569,1.750,0.000,14.289,1345.019,9524.735,400.059,2105.856,437.109,33.368,1195.426,0.000,1887.326,0.000,0.542,0.000
$DEVICE_MAMPS,237.770,65.962,1058.460,407.277,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,400.230,0.000,975.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30251,585
$CAP_FILE_SIZE,157435,0
$CFSIZE,260165632,165761024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,354.0,1
$GPS,290911,225259,1900.367,-15626.043,36,2.9,56,9.6