version: 66.07
glider: 513
mission: 7
dive: 557
start: 9 30 111 17 52 20
data:
$ID,513
$MISSION,7
$DIVE,557
$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,-434599.56
$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,57
$R_STBD_OVSHOOT,39
$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
$GPS1,300911,174236,1900.324,-15616.062,32,1.0,36,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-80.0
$GPS2,300911,175119,1900.431,-15616.012,12,1.5,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G8
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.163,0.175
$KALMAN_X,50814.2,474.6,304.1,14013.4,-3637.3
$KALMAN_Y,-576824.6,-44.6,14.0,467111.3,-6643.0
$MHEAD_RNG_PITCHd_Wd,149.6,1943,-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,16,-1.74,-20.8,0.0,0.0,0,71,0.00,0.00,-47.88,0.000,6,0.000,0.000,40,2088,3385,0,0,0,0,0,0
$GC,76,-1.77,-39.8,3.0,-3.4,8,91,8.65,2.17,-1.55,0.000,4,0.241,0.051,2018,706,3465,0,0,0,0,0,0
$GC,286,-1.77,-39.8,88.0,-41.0,32,290,0.00,2.20,0.00,0.000,6,0.000,0.048,2009,2101,3467,0,0,0,0,0,0
$GC,551,-1.77,-39.8,172.3,-24.5,56,555,0.00,2.25,0.00,0.000,4,0.000,0.051,1998,3520,3470,0,0,0,0,0,0
$GC,783,-1.77,-39.8,230.9,-23.2,70,788,0.12,2.12,0.00,0.000,6,0.223,0.031,2023,2095,3471,0,0,0,0,0,0
$GC,1037,-1.77,-39.8,283.4,-21.2,82,1041,0.00,2.25,0.00,0.000,4,0.000,0.051,2014,3524,3473,0,0,0,0,0,0
$GC,1217,-1.77,-39.8,322.0,-22.3,88,1221,0.00,2.15,0.00,0.000,6,0.000,0.031,2014,2102,3474,0,0,0,0,0,0
$GC,1495,-1.77,-39.8,375.5,-18.8,95,1499,0.00,2.25,0.00,0.000,4,0.000,0.052,2003,3524,3474,0,0,0,0,0,0
$GC,1708,-1.77,-39.8,416.5,-20.0,99,1715,0.00,2.15,0.00,0.000,6,0.000,0.031,2003,2091,3474,0,0,0,0,0,0
$GC,1959,-1.77,-39.8,464.2,-19.0,106,1963,0.00,2.25,0.00,0.000,4,0.000,0.051,1993,3521,3474,0,0,0,0,0,0
$GC,1981,-1.77,-39.8,469.0,-19.1,106,1986,0.15,2.12,0.00,0.000,6,0.219,0.031,2025,2093,3474,0,0,0,0,0,0
$GC,2242,-1.77,-39.8,517.1,-18.5,113,2246,0.00,2.25,0.00,0.000,4,0.000,0.052,2016,3519,3473,0,0,0,0,0,0
$GC,2271,-1.77,-39.8,522.3,-18.6,113,2275,0.00,2.15,0.00,0.000,6,0.000,0.031,2016,2096,3472,0,0,0,0,0,0
$GC,2522,-1.77,-39.8,564.9,-16.7,119,2526,0.00,2.25,0.00,0.000,4,0.000,0.053,2005,3519,3471,0,0,0,0,0,0
$GC,2749,-1.77,-39.8,601.7,-16.4,124,2753,0.00,2.15,0.00,0.000,6,0.000,0.032,2005,2097,3469,0,0,0,0,0,0
$GC,3033,-1.77,-39.8,645.9,-15.2,131,3037,0.00,2.25,0.00,0.000,4,0.000,0.053,1994,3519,3467,0,0,0,0,0,0
$GC,3291,-1.77,-39.8,689.0,-17.4,136,3297,0.15,2.15,0.00,0.000,6,0.225,0.032,2026,2093,3464,0,0,0,0,0,0
$GC,3541,-1.77,-39.8,729.5,-15.9,143,3545,0.00,2.25,0.00,0.000,4,0.000,0.054,2017,3517,3462,0,0,0,0,0,0
$GC,3742,-1.77,-39.8,763.5,-17.0,147,3746,0.00,2.15,0.00,0.000,6,0.000,0.033,2016,2108,3460,0,0,0,0,0,0
$GC,4004,-1.77,-39.8,807.5,-16.9,154,4008,0.00,2.25,0.00,0.000,4,0.000,0.052,2006,3520,3457,0,0,0,0,0,0
$GC,4044,-1.77,-39.8,814.6,-17.5,155,4048,0.00,2.17,0.00,0.000,6,0.000,0.031,2006,2092,3457,0,0,0,0,0,0
$GC,4328,-1.77,-39.8,859.4,-15.4,162,4332,0.00,2.28,0.00,0.000,4,0.000,0.051,1995,3520,3455,0,0,0,0,0,0
$GC,4465,-1.77,-39.8,881.4,-15.7,165,4470,0.12,2.17,0.00,0.000,6,0.231,0.031,2020,2090,3454,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4626,-0.28,0.0,905.0,14.7,169,4665,1.92,0.00,34.28,1.021,6,0.215,0.000,2496,1926,3300,0,0,0,0,0,0
$STATE,4665,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4670,1.77,39.8,907.6,0.0,170,4711,1.92,0.00,36.08,1.009,6,0.092,0.000,3158,1925,3137,0,0,0,0,0,0
$GC,4957,1.77,39.8,863.8,16.9,177,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1925,3134,0,0,0,0,0,0
$GC,5200,1.77,39.8,823.5,16.6,183,5205,0.00,2.30,0.00,0.000,4,0.000,0.042,3153,3387,3132,0,0,0,0,0,0
$GC,5279,1.77,39.8,810.0,16.4,184,5284,0.00,2.15,0.00,0.000,6,0.000,0.025,3162,1965,3131,0,0,0,0,0,0
$GC,5529,1.77,39.8,772.8,14.8,191,5533,0.00,2.22,0.00,0.000,4,0.000,0.042,3153,3379,3129,0,0,0,0,0,0
$GC,5703,1.77,39.8,746.2,14.8,195,5707,0.00,2.15,0.00,0.000,6,0.000,0.025,3162,1949,3129,0,0,0,0,0,0
$GC,5988,1.77,39.8,707.6,13.4,202,5992,0.00,2.25,0.00,0.000,4,0.000,0.042,3153,3385,3127,0,0,0,0,0,0
$GC,6245,1.77,39.8,674.8,13.5,207,6252,0.00,2.15,0.00,0.000,6,0.000,0.025,3162,1954,3126,0,0,0,0,0,0
$GC,6497,1.77,39.8,647.5,10.7,214,6501,0.00,2.25,0.00,0.000,4,0.000,0.043,3153,3388,3125,0,0,0,0,0,0
$GC,6756,1.77,39.8,617.3,12.2,219,6763,0.00,2.15,0.00,0.000,6,0.000,0.025,3162,1944,3124,0,0,0,0,0,0
$GC,7006,1.77,39.8,589.6,10.4,226,7010,0.00,2.25,0.00,0.000,4,0.000,0.041,3154,3387,3123,0,0,0,0,0,0
$GC,7264,1.77,39.8,562.0,9.7,231,7271,0.00,2.12,0.00,0.000,6,0.000,0.024,3162,1962,3122,0,0,0,0,0,0
$GC,7514,1.77,39.8,539.9,8.7,238,7518,0.00,2.22,0.00,0.000,4,0.000,0.041,3153,3388,3121,0,0,0,0,0,0
$GC,7772,1.77,40.4,518.1,8.4,243,7778,0.00,2.12,0.00,0.000,6,0.000,0.024,3162,1945,3121,0,0,0,0,0,0
$GC,8023,1.77,44.2,499.0,7.5,250,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1944,3120,0,0,0,0,0,0
$GC,8266,1.79,55.5,485.1,5.5,256,8282,0.00,2.25,11.27,0.721,4,0.000,0.039,3153,3378,3074,0,0,0,0,0,0
$GC,8537,1.79,55.5,460.5,9.6,262,8541,0.00,2.10,0.00,0.000,6,0.000,0.025,3162,1968,3074,0,0,0,0,0,0
$GC,8815,1.79,55.5,434.8,9.0,269,8818,0.00,2.20,0.00,0.000,4,0.000,0.039,3153,3380,3072,0,0,0,0,0,0
$GC,9073,1.79,58.8,413.2,7.7,274,9082,0.00,2.12,4.40,0.515,6,0.000,0.025,3162,1949,3060,0,0,0,0,0,0
$GC,9373,1.80,63.8,391.1,7.2,282,9384,0.00,2.25,6.28,0.589,4,0.000,0.041,3153,3376,3039,0,0,0,0,0,0
$GC,9640,1.80,65.8,370.0,8.0,288,9645,0.00,2.10,0.00,0.000,6,0.000,0.025,3162,1966,3038,0,0,0,0,0,0
$GC,9927,1.81,70.5,348.4,7.3,295,9940,0.00,2.15,7.18,0.588,4,0.000,0.031,3173,570,3010,0,0,0,0,0,0
$GC,10005,1.81,70.9,342.3,8.5,296,10009,0.00,2.12,0.00,0.000,6,0.000,0.030,3173,1985,3009,0,0,0,0,0,0
$GC,10256,1.81,72.0,319.9,8.3,302,10260,0.00,2.15,0.00,0.000,4,0.000,0.040,3163,3365,3010,0,0,0,0,0,0
$GC,10272,1.82,79.5,318.8,6.5,302,10287,0.00,2.10,9.43,0.607,6,0.000,0.023,3171,1961,2974,0,0,0,0,0,0
$GC,10542,1.82,79.5,293.7,10.4,310,10546,0.00,2.08,0.00,0.000,4,0.000,0.031,3182,579,2972,0,0,0,0,0,0
$GC,10717,1.82,79.5,277.5,8.8,317,10723,0.00,2.10,0.00,0.000,6,0.000,0.028,3174,1969,2971,0,0,0,0,0,0
$GC,10973,1.83,87.1,257.9,6.5,330,10983,0.00,0.00,7.57,0.541,6,0.000,0.000,3174,1969,2945,0,0,0,0,0,0
$GC,11224,1.84,97.7,243.7,5.6,342,11239,0.00,2.20,10.88,0.568,4,0.000,0.041,3163,3362,2900,0,0,0,0,0,0
$GC,11496,1.84,97.7,215.8,10.4,353,11500,0.00,2.12,0.00,0.000,6,0.000,0.024,3172,1952,2900,0,0,0,0,0,0
$GC,11754,1.85,106.8,197.7,6.1,367,11768,0.00,2.28,9.20,0.514,4,0.000,0.040,3163,3360,2864,0,0,0,0,0,0
$GC,12020,1.85,107.3,176.8,8.4,390,12028,0.00,2.12,0.00,0.000,6,0.000,0.024,3172,1956,2863,0,0,0,0,0,0
$GC,12286,1.86,116.1,155.2,6.2,415,12300,0.00,2.12,9.68,0.482,4,0.000,0.031,3182,572,2825,0,0,0,0,0,0
$GC,12472,1.87,125.6,141.0,6.0,431,12487,0.00,2.10,9.15,0.466,6,0.000,0.031,3182,1962,2788,0,0,0,0,0,0
$GC,12745,1.89,137.1,124.7,5.4,456,12761,0.00,2.20,11.30,0.464,4,0.000,0.040,3173,3366,2740,0,0,0,0,0,0
$GC,13017,1.93,169.8,106.9,-0.4,480,13053,0.00,2.10,28.73,0.481,6,0.000,0.022,3182,1950,2606,0,0,0,0,0,0
$GC,13309,1.93,169.8,77.3,14.6,507,13314,0.10,2.25,0.00,0.000,4,0.130,0.041,3206,3369,2604,0,0,0,0,0,0
$GC,13567,1.93,169.8,29.8,20.0,529,13575,0.00,2.12,0.00,0.000,6,0.000,0.023,3215,1968,2604,0,0,0,0,0,0
$STATE,13726,end climb,SURFACE_DEPTH_REACHED
$STATE,13728,begin surface coast
$FINISH,0.4,1.023060
$STATE,13748,end surface coast,CONTROL_FINISHED_OK
$STATE,13748,begin surface
$SM_CCo,13768,72.22,0.413,0,0,2076,300.24
$SM_GC,1.28,0.00,0.00,72.22,0.000,0.000,0.413,57,2109,2076,-7.94,0.25,300.24
$IRIDIUM_FIX,1855.54,-15620.54,250313,080850
$TT8_MAMPS,0.029146
$HUMID,1078946442
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,11
$24V_AH,23.7,74.513
$10V_AH,8.0,68.984
$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,21.800,122.450,195.400,72.225,0.000,27.479,39.639,304.838,2.750,0.000,12.340,1464.627,9205.205,351.680,2820.495,526.236,33.357,1407.240,0.000,2515.103,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,78.234,1020.877,413.413,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,383.054,0.000,860.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,30235,560
$CAP_FILE_SIZE,173002,0
$CFSIZE,260165632,165367808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 94.0,1
$GPS,300911,214425,1900.002,-15615.591,40,0.9,41,9.6