version: 66.07
glider: 513
mission: 7
dive: 554
start: 9 30 111 6 55 53
data:
$ID,513
$MISSION,7
$DIVE,554
$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,-434557.06
$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,53
$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
$GPS1,300911,064524,1900.675,-15621.912,67,1.2,67,9.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.2
$GPS2,300911,065455,1900.820,-15621.874,13,1.1,18,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G8
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.236,0.037
$KALMAN_X,54609.3,-260.5,-859.2,1969.5,1511.0
$KALMAN_Y,-569094.9,35.1,-38.8,460065.7,-1601.1
$MHEAD_RNG_PITCHd_Wd,104.6,12132,-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,19,-0.80,-136.7,0.0,0.0,0,73,0.00,0.00,-52.33,0.000,2,0.000,0.000,38,2124,3558,0,0,0,0,0,0
$GC,77,-0.80,-136.7,3.5,-5.0,8,100,9.90,2.20,-5.38,0.000,4,0.237,0.064,2319,3496,3859,0,0,0,0,0,0
$GC,109,-0.80,-136.7,16.8,-33.1,12,117,0.00,2.15,0.00,0.000,6,0.000,0.031,2319,2099,3861,0,0,0,0,0,0
$GC,381,-0.80,-136.7,105.7,-28.6,40,385,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3494,3863,0,0,0,0,0,0
$GC,457,-0.80,-136.7,123.8,-23.5,46,462,0.12,2.10,0.00,0.000,6,0.173,0.030,2339,2093,3863,0,0,0,0,0,0
$GC,722,-0.80,-136.7,179.8,-19.8,70,726,0.00,2.10,0.00,0.000,4,0.000,0.039,2339,695,3864,0,0,0,0,0,0
$GC,753,-0.80,-136.7,185.8,-18.8,72,757,0.00,2.15,0.00,0.000,6,0.000,0.042,2331,2084,3865,0,0,0,0,0,0
$GC,1019,-0.80,-136.7,234.7,-16.7,88,1023,0.00,2.20,0.00,0.000,4,0.000,0.050,2320,3508,3867,0,0,0,0,0,0
$GC,1058,-0.80,-136.7,240.9,-15.7,90,1063,0.00,2.10,0.00,0.000,6,0.000,0.029,2320,2090,3867,0,0,0,0,0,0
$GC,1324,-0.80,-136.7,286.6,-18.0,103,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2085,3868,0,0,0,0,0,0
$GC,1569,-0.80,-136.7,326.1,-15.9,111,1573,0.00,2.12,0.00,0.000,4,0.000,0.038,2320,679,3868,0,0,0,0,0,0
$GC,1686,-0.80,-136.7,344.1,-14.9,113,1691,0.12,2.20,0.00,0.000,6,0.166,0.041,2341,2102,3869,0,0,0,0,0,0
$GC,1943,-0.80,-136.7,375.9,-12.4,120,1947,0.00,2.20,0.00,0.000,4,0.000,0.051,2332,3516,3868,0,0,0,0,0,0
$GC,1964,-0.80,-136.7,379.0,-12.6,120,1968,0.00,2.10,0.00,0.000,6,0.000,0.028,2332,2103,3868,0,0,0,0,0,0
$GC,2228,-0.80,-136.7,412.7,-13.6,127,2232,0.00,2.12,0.00,0.000,4,0.000,0.041,2332,695,3867,0,0,0,0,0,0
$GC,2284,-0.80,-136.7,421.3,-13.5,128,2288,0.00,2.15,0.00,0.000,6,0.000,0.043,2322,2103,3866,0,0,0,0,0,0
$GC,2551,-0.80,-136.7,460.0,-14.6,135,2555,0.00,2.22,0.00,0.000,4,0.000,0.051,2311,3513,3865,0,0,0,0,0,0
$GC,2608,-0.80,-136.7,468.8,-14.8,136,2611,0.00,2.15,0.00,0.000,6,0.000,0.032,2311,2091,3864,0,0,0,0,0,0
$GC,2875,-0.80,-136.7,508.0,-14.4,143,2877,0.10,0.00,0.00,0.000,6,0.181,0.000,2335,2084,3862,0,0,0,0,0,0
$GC,3120,-0.80,-136.7,536.7,-11.3,149,3124,0.00,2.10,0.00,0.000,4,0.000,0.040,2335,700,3860,0,0,0,0,0,0
$GC,3147,-0.80,-136.7,540.3,-12.4,149,3151,0.00,2.17,0.00,0.000,6,0.000,0.041,2327,2102,3860,0,0,0,0,0,0
$GC,3402,-0.80,-136.7,572.0,-12.6,156,3406,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3511,3857,0,0,0,0,0,0
$GC,3464,-0.80,-136.7,579.9,-12.5,157,3468,0.00,2.12,0.00,0.000,6,0.000,0.032,2316,2104,3856,0,0,0,0,0,0
$GC,3726,-0.80,-136.7,614.4,-13.1,164,3730,0.00,2.15,0.00,0.000,4,0.000,0.042,2316,693,3854,0,0,0,0,0,0
$GC,3766,-0.80,-136.7,619.5,-12.6,165,3770,0.12,2.20,0.00,0.000,6,0.178,0.042,2337,2105,3853,0,0,0,0,0,0
$GC,4053,-0.80,-136.7,649.9,-10.5,172,4057,0.00,2.25,0.00,0.000,4,0.000,0.054,2328,3514,3851,0,0,0,0,0,0
$GC,4086,-0.80,-136.7,653.8,-10.5,172,4092,0.00,2.12,0.00,0.000,6,0.000,0.033,2327,2114,3850,0,0,0,0,0,0
$GC,4338,-0.80,-136.7,681.3,-11.2,179,4342,0.00,2.17,0.00,0.000,4,0.000,0.043,2328,682,3848,0,0,0,0,0,0
$GC,4359,-0.80,-136.7,684.2,-12.0,179,4363,0.00,2.20,0.00,0.000,6,0.000,0.041,2317,2110,3848,0,0,0,0,0,0
$GC,4621,-0.80,-136.7,717.2,-12.9,186,4625,0.00,2.25,0.00,0.000,4,0.000,0.054,2306,3517,3846,0,0,0,0,0,0
$GC,4650,-0.80,-136.7,721.1,-14.0,186,4655,0.12,2.20,0.00,0.000,6,0.170,0.034,2337,2090,3846,0,0,0,0,0,0
$GC,4902,-0.80,-136.7,752.1,-12.4,192,4906,0.00,2.12,0.00,0.000,4,0.000,0.041,2338,690,3844,0,0,0,0,0,0
$GC,4924,-0.80,-136.7,755.4,-12.7,192,4928,0.00,2.17,0.00,0.000,6,0.000,0.042,2330,2102,3844,0,0,0,0,0,0
$GC,5182,-0.80,-136.7,787.6,-12.7,199,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2101,3842,0,0,0,0,0,0
$GC,5423,-0.80,-136.7,816.6,-11.6,205,5427,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3513,3840,0,0,0,0,0,0
$GC,5463,-0.80,-136.7,821.2,-11.9,206,5467,0.00,2.15,0.00,0.000,6,0.000,0.033,2318,2110,3840,0,0,0,0,0,0
$GC,5749,-0.80,-136.7,854.2,-11.5,213,5753,0.00,2.17,0.00,0.000,4,0.000,0.044,2318,683,3838,0,0,0,0,0,0
$GC,5771,-0.80,-136.7,857.3,-12.2,213,5776,0.12,2.22,0.00,0.000,6,0.179,0.044,2338,2105,3838,0,0,0,0,0,0
$GC,6028,-0.80,-136.7,882.6,-9.9,220,6032,0.00,2.28,0.00,0.000,4,0.000,0.056,2329,3517,3836,0,0,0,0,0,0
$GC,6055,-0.80,-136.7,885.8,-10.7,220,6059,0.00,2.20,0.00,0.000,6,0.000,0.032,2329,2085,3837,0,0,0,0,0,0
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6228,-0.28,0.0,903.1,10.3,224,6346,0.57,0.00,114.32,1.062,6,0.140,0.000,2501,1907,3300,0,0,0,0,0,0
$STATE,6347,end apogee,CONTROL_FINISHED_OK
$STATE,6347,begin climb
$GC,6351,0.80,136.7,906.4,0.0,227,6477,1.02,0.00,121.97,1.033,6,0.094,0.000,2843,1904,2742,0,0,0,0,0,0
$GC,6716,0.80,136.7,852.6,17.9,236,6721,0.00,2.38,0.00,0.000,4,0.000,0.054,2843,3366,2734,0,0,0,0,0,0
$GC,6774,0.80,136.7,842.1,18.7,237,6778,0.00,2.12,0.00,0.000,6,0.000,0.030,2853,1988,2734,0,0,0,0,0,0
$GC,7041,0.80,136.7,792.9,18.2,244,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1988,2732,0,0,0,0,0,0
$GC,7286,0.80,136.7,748.2,18.2,250,7290,0.00,2.17,0.00,0.000,4,0.000,0.040,2865,561,2730,0,0,0,0,0,0
$GC,7326,0.80,136.7,740.4,18.5,251,7330,0.00,2.15,0.00,0.000,6,0.000,0.035,2865,1960,2727,0,0,0,0,0,0
$GC,7610,0.80,136.7,688.2,18.2,258,7614,0.00,2.28,0.00,0.000,4,0.000,0.053,2865,3374,2727,0,0,0,0,0,0
$GC,7667,0.80,136.7,677.2,19.6,259,7671,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1954,2728,0,0,0,0,0,0
$GC,7939,0.80,136.7,626.4,18.4,266,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1953,2726,0,0,0,0,0,0
$GC,8183,0.80,136.7,580.8,18.6,272,8187,0.00,2.12,0.00,0.000,4,0.000,0.040,2887,559,2726,0,0,0,0,0,0
$GC,8217,0.80,136.7,574.5,18.4,272,8224,0.12,2.17,0.00,0.000,6,0.193,0.035,2858,1968,2724,0,0,0,0,0,0
$GC,8468,0.80,136.7,534.3,15.7,279,8472,0.00,2.22,0.00,0.000,4,0.000,0.053,2857,3363,2724,0,0,0,0,0,0
$GC,8554,0.80,136.7,521.0,16.4,281,8558,0.00,2.15,0.00,0.000,6,0.000,0.030,2866,1964,2725,0,0,0,0,0,0
$GC,8837,0.80,136.7,478.7,14.7,288,8841,0.00,2.15,0.00,0.000,4,0.000,0.039,2876,547,2724,0,0,0,0,0,0
$GC,8928,0.80,136.7,464.3,16.5,290,8932,0.00,2.20,0.00,0.000,6,0.000,0.035,2876,1969,2722,0,0,0,0,0,0
$GC,9206,0.80,136.7,421.4,15.5,297,9210,0.00,2.22,0.00,0.000,4,0.000,0.052,2876,3367,2722,0,0,0,0,0,0
$GC,9250,0.80,136.7,414.2,16.2,298,9254,0.12,2.17,0.00,0.000,6,0.200,0.032,2858,1957,2723,0,0,0,0,0,0
$GC,9531,0.80,136.7,376.4,13.9,305,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1954,2722,0,0,0,0,0,0
$GC,9772,0.80,136.7,344.4,12.5,311,9776,0.00,2.30,0.00,0.000,4,0.000,0.053,2857,3374,2722,0,0,0,0,0,0
$GC,9845,0.80,136.7,334.8,14.5,312,9849,0.00,2.17,0.00,0.000,6,0.000,0.031,2866,1955,2722,0,0,0,0,0,0
$GC,10095,0.80,136.7,303.5,12.1,318,10099,0.00,2.15,0.00,0.000,4,0.000,0.039,2876,559,2722,0,0,0,0,0,0
$GC,10162,0.80,136.7,295.0,13.6,320,10167,0.00,2.17,0.00,0.000,6,0.000,0.035,2877,1970,2720,0,0,0,0,0,0
$GC,10422,0.80,136.7,262.9,10.9,333,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1971,2720,0,0,0,0,0,0
$GC,10671,0.80,136.7,237.9,10.5,345,10675,0.00,2.25,0.00,0.000,4,0.000,0.051,2877,3371,2721,0,0,0,0,0,0
$GC,10736,0.80,136.7,231.0,10.8,348,10740,0.12,2.15,0.00,0.000,6,0.192,0.029,2857,1949,2721,0,0,0,0,0,0
$GC,11007,0.80,136.7,204.8,10.0,361,11011,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,559,2721,0,0,0,0,0,0
$GC,11111,0.80,136.7,193.9,10.8,367,11119,0.00,2.15,0.00,0.000,6,0.000,0.031,2867,1956,2720,0,0,0,0,0,0
$GC,11374,0.80,136.7,170.9,8.7,392,11378,0.00,2.22,0.00,0.000,4,0.000,0.048,2867,3364,2721,0,0,0,0,0,0
$GC,11540,0.80,136.7,155.6,8.9,406,11544,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,1954,2722,0,0,0,0,0,0
$GC,11806,0.90,221.9,138.6,5.0,430,11878,0.00,0.00,69.07,0.527,6,0.000,0.000,2877,1953,2395,0,0,0,0,0,0
$GC,12133,0.90,221.9,104.4,10.3,460,12137,0.00,2.28,0.00,0.000,4,0.000,0.049,2877,3358,2390,0,0,0,0,0,0
$GC,12244,0.90,221.9,93.4,9.9,469,12248,0.00,2.15,0.00,0.000,6,0.000,0.030,2887,1959,2390,0,0,0,0,0,0
$GC,12509,0.90,221.9,67.2,9.4,493,12513,0.00,2.15,0.00,0.000,4,0.000,0.041,2887,567,2390,0,0,0,0,0,0
$GC,12541,0.90,221.9,64.2,9.7,495,12545,0.00,2.12,0.00,0.000,6,0.000,0.032,2887,1961,2388,0,0,0,0,0,0
$GC,12808,0.90,221.9,38.2,9.2,519,12812,0.00,2.20,0.00,0.000,4,0.000,0.047,2887,3367,2389,0,0,0,0,0,0
$GC,13039,0.90,221.9,12.8,12.1,552,13047,0.00,2.17,0.00,0.000,6,0.000,0.029,2895,1957,2391,0,0,0,0,0,0
$STATE,13118,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,0.4,1.023112
$STATE,13143,end surface coast,CONTROL_FINISHED_OK
$STATE,13143,begin surface
$SM_CCo,13163,33.03,0.403,0,0,2075,300.24
$SM_GC,1.51,0.00,0.00,33.03,0.000,0.000,0.403,56,2130,2075,-7.94,0.85,300.24
$IRIDIUM_FIX,1853.26,-15626.54,240313,212109
$TT8_MAMPS,0.029146
$HUMID,1078964506
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,7
$24V_AH,23.4,74.228
$10V_AH,8.0,68.713
$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,20.300,144.175,305.375,33.025,0.000,28.595,34.661,343.208,1.750,0.000,18.964,1338.787,9261.063,426.313,2217.927,520.644,33.361,1230.059,0.000,1901.792,0.000,0.542,0.000
$DEVICE_MAMPS,237.003,66.729,1061.528,403.442,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,389.742,0.000,939.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354164
$DATA_FILE_SIZE,30264,570
$CAP_FILE_SIZE,162783,0
$CFSIZE,260165632,165560320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 24.5,1
$GPS,300911,103806,1900.600,-15620.073,93,1.3,94,9.6