version: 66.07
glider: 513
mission: 7
dive: 558
start: 9 30 111 21 54 27
data:
$ID,513
$MISSION,7
$DIVE,558
$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,-434614.12
$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,64
$R_STBD_OVSHOOT,50
$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
$GPS1,300911,214425,1900.002,-15615.591,40,0.9,41,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-78.3
$GPS2,300911,215326,1900.073,-15615.609,13,1.3,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G8
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093,0.220
$KALMAN_X,49268.9,-50.7,-210.2,17327.1,-2717.3
$KALMAN_Y,-581586.6,115.6,518.3,470532.0,-9038.1
$MHEAD_RNG_PITCHd_Wd,88.5,1076,-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,-20.8,0.0,0.0,0,66,0.00,0.00,-47.58,0.000,6,0.000,0.000,40,2111,3385,0,0,0,0,0,0
$GC,71,-1.77,-44.1,2.5,-2.2,7,87,8.57,2.22,-1.98,0.000,4,0.239,0.059,2009,3500,3480,0,0,0,0,0,0
$GC,338,-1.77,-44.1,113.5,-40.7,36,346,0.00,2.12,0.00,0.000,6,0.000,0.031,2009,2117,3482,0,0,0,0,0,0
$GC,603,-1.77,-44.1,188.0,-24.9,61,607,0.00,2.20,0.00,0.000,4,0.000,0.050,1999,3509,3484,0,0,0,0,0,0
$GC,812,-1.77,-44.1,239.2,-22.3,72,816,0.00,2.12,0.00,0.000,6,0.000,0.031,1999,2097,3487,0,0,0,0,0,0
$GC,1069,-1.77,-44.1,292.6,-19.2,84,1073,0.00,2.10,0.00,0.000,4,0.000,0.038,1999,691,3488,0,0,0,0,0,0
$GC,1089,-1.77,-44.1,296.3,-17.5,85,1094,0.15,2.15,0.00,0.000,6,0.250,0.045,2018,2083,3488,0,0,0,0,0,0
$GC,1372,-1.77,-44.1,348.5,-19.4,93,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2082,3488,0,0,0,0,0,0
$GC,1614,-1.77,-44.1,390.9,-17.2,99,1618,0.00,2.25,0.00,0.000,4,0.000,0.052,2009,3522,3488,0,0,0,0,0,0
$GC,1871,-1.77,-44.1,439.1,-18.3,104,1875,0.00,2.15,0.00,0.000,6,0.000,0.031,2009,2094,3488,0,0,0,0,0,0
$GC,2124,-1.77,-44.1,484.4,-18.3,110,2128,0.00,2.25,0.00,0.000,4,0.000,0.051,1998,3518,3487,0,0,0,0,0,0
$GC,2299,-1.77,-44.1,519.8,-20.3,114,2303,0.00,2.15,0.00,0.000,6,0.000,0.033,1998,2105,3487,0,0,0,0,0,0
$GC,2585,-1.77,-44.1,573.5,-18.6,121,2589,0.00,2.25,0.00,0.000,4,0.000,0.053,1988,3518,3484,0,0,0,0,0,0
$GC,2702,-1.77,-44.1,595.9,-17.4,123,2707,0.15,2.15,0.00,0.000,6,0.237,0.031,2018,2094,3483,0,0,0,0,0,0
$GC,2960,-1.77,-44.1,639.6,-16.6,130,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2090,3480,0,0,0,0,0,0
$GC,3201,-1.77,-44.1,682.6,-18.0,136,3205,0.00,2.12,0.00,0.000,4,0.000,0.040,2018,690,3479,0,0,0,0,0,0
$GC,3279,-1.77,-44.1,696.9,-18.3,137,3284,0.00,2.22,0.00,0.000,6,0.000,0.048,2010,2106,3478,0,0,0,0,0,0
$GC,3531,-1.77,-44.1,741.3,-17.9,143,3535,0.00,2.25,0.00,0.000,4,0.000,0.054,1998,3519,3475,0,0,0,0,0,0
$GC,3790,-1.77,-44.1,789.2,-18.0,148,3794,0.00,2.15,0.00,0.000,6,0.000,0.033,1999,2105,3472,0,0,0,0,0,0
$GC,4041,-1.77,-44.1,830.2,-16.1,154,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2102,3470,0,0,0,0,0,0
$GC,4284,-1.77,-44.1,870.1,-16.6,160,4288,0.00,2.28,0.00,0.000,4,0.000,0.057,1989,3518,3468,0,0,0,0,0,0
$GC,4408,-1.77,-44.1,890.6,-16.7,162,4415,0.15,2.17,0.00,0.000,6,0.239,0.032,2018,2095,3467,0,0,0,0,0,0
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4493,begin apogee
$GC,4500,-0.28,0.0,904.1,15.4,165,4542,1.95,0.00,37.10,1.025,6,0.217,0.000,2497,1938,3300,0,0,0,0,0,0
$STATE,4543,end apogee,CONTROL_FINISHED_OK
$STATE,4543,begin climb
$GC,4547,1.77,44.1,906.9,0.0,166,4596,1.95,2.20,39.92,1.008,4,0.094,0.028,3173,561,3120,0,0,0,0,0,0
$GC,4641,1.77,44.1,896.0,17.2,168,4645,0.00,2.20,0.00,0.000,6,0.000,0.030,3169,1975,3116,0,0,0,0,0,0
$GC,4921,1.77,44.1,847.4,17.2,175,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1974,3114,0,0,0,0,0,0
$GC,5163,1.77,44.1,804.2,18.0,181,5167,0.00,2.20,0.00,0.000,4,0.000,0.044,3158,3366,3112,0,0,0,0,0,0
$GC,5213,1.77,44.1,794.5,19.3,182,5217,0.00,2.12,0.00,0.000,6,0.000,0.025,3167,1951,3112,0,0,0,0,0,0
$GC,5486,1.77,44.1,748.9,16.3,189,5490,0.00,2.25,0.00,0.000,4,0.000,0.043,3158,3375,3109,0,0,0,0,0,0
$GC,5745,1.77,44.1,705.3,16.0,194,5751,0.00,2.12,0.00,0.000,6,0.000,0.025,3167,1960,3108,0,0,0,0,0,0
$GC,5995,1.77,44.1,667.0,15.4,201,5999,0.00,2.20,0.00,0.000,4,0.000,0.043,3157,3369,3107,0,0,0,0,0,0
$GC,6253,1.77,44.1,628.5,14.1,206,6257,0.00,2.12,0.00,0.000,6,0.000,0.023,3167,1947,3106,0,0,0,0,0,0
$GC,6503,1.77,44.1,596.6,12.7,212,6507,0.00,2.22,0.00,0.000,4,0.000,0.040,3157,3372,3105,0,0,0,0,0,0
$GC,6762,1.77,44.1,563.2,11.9,217,6769,0.00,2.10,0.00,0.000,6,0.000,0.024,3167,1965,3104,0,0,0,0,0,0
$GC,7012,1.77,44.1,536.3,10.5,224,7016,0.00,2.20,0.00,0.000,4,0.000,0.041,3157,3369,3103,0,0,0,0,0,0
$GC,7269,1.77,44.1,509.9,10.2,229,7276,0.00,2.12,0.00,0.000,6,0.000,0.023,3167,1932,3102,0,0,0,0,0,0
$GC,7521,1.77,45.2,488.7,8.3,236,7525,0.00,2.25,0.00,0.000,4,0.000,0.042,3158,3369,3102,0,0,0,0,0,0
$GC,7781,1.78,48.8,467.7,7.6,241,7788,0.00,2.08,0.00,0.000,6,0.000,0.022,3167,1954,3101,0,0,0,0,0,0
$GC,8032,1.79,56.1,451.1,6.6,248,8046,0.00,2.28,7.95,0.660,4,0.000,0.041,3158,3363,3071,0,0,0,0,0,0
$GC,8267,1.79,56.1,429.4,10.0,253,8271,0.00,2.10,0.00,0.000,6,0.000,0.025,3167,1973,3070,0,0,0,0,0,0
$GC,8545,1.79,56.1,404.3,9.0,260,8549,0.00,2.20,0.00,0.000,4,0.000,0.039,3158,3376,3069,0,0,0,0,0,0
$GC,8802,1.79,56.1,381.5,8.6,265,8806,0.00,2.12,0.00,0.000,6,0.000,0.025,3167,1957,3069,0,0,0,0,0,0
$GC,9053,1.79,56.1,360.6,8.6,271,9057,0.00,2.22,0.00,0.000,4,0.000,0.041,3158,3368,3068,0,0,0,0,0,0
$GC,9090,1.79,60.1,358.0,7.5,271,9099,0.00,2.12,4.90,0.520,6,0.000,0.023,3167,1929,3054,0,0,0,0,0,0
$GC,9380,1.80,66.1,338.0,6.9,279,9393,0.00,2.33,6.65,0.572,4,0.000,0.041,3158,3368,3030,0,0,0,0,0,0
$GC,9625,1.80,66.1,315.2,9.1,284,9629,0.00,2.08,0.00,0.000,6,0.000,0.022,3167,1974,3030,0,0,0,0,0,0
$GC,9888,1.82,85.8,303.3,3.1,291,9912,0.00,2.15,18.08,0.647,4,0.000,0.031,3178,574,2949,0,0,0,0,0,0
$GC,10169,1.82,85.8,273.0,10.9,301,10173,0.00,2.10,0.00,0.000,6,0.000,0.029,3169,1972,2947,0,0,0,0,0,0
$GC,10423,1.85,103.8,258.7,3.6,313,10446,0.00,2.25,16.52,0.611,4,0.000,0.042,3158,3356,2875,0,0,0,0,0,0
$GC,10698,1.85,103.8,229.4,8.6,325,10703,0.00,2.10,0.00,0.000,6,0.000,0.025,3167,1969,2874,0,0,0,0,0,0
$GC,10959,1.85,105.2,208.7,8.2,338,10963,0.00,2.10,0.00,0.000,4,0.000,0.031,3178,559,2873,0,0,0,0,0,0
$GC,11218,1.86,112.8,190.8,6.5,355,11238,0.00,2.12,8.98,0.506,6,0.000,0.027,3170,1968,2839,0,0,0,0,0,0
$GC,11495,1.86,112.8,161.4,10.8,381,11499,0.00,2.10,0.00,0.000,4,0.000,0.030,3178,563,2838,0,0,0,0,0,0
$GC,11756,1.88,129.1,141.1,4.1,403,11776,0.00,2.10,15.02,0.497,6,0.000,0.027,3170,1960,2773,0,0,0,0,0,0
$GC,12034,1.89,142.5,119.9,4.9,429,12052,0.10,2.10,12.68,0.468,4,0.137,0.028,3210,563,2717,0,0,0,0,0,0
$GC,12100,1.91,157.0,117.3,4.6,434,12124,0.00,2.08,13.75,0.466,6,0.000,0.027,3202,1957,2658,0,0,0,0,0,0
$GC,12384,1.91,157.0,90.4,8.9,460,12387,0.00,2.17,0.00,0.000,4,0.000,0.040,3198,3352,2658,0,0,0,0,0,0
$GC,12643,1.91,157.0,58.6,12.6,482,12652,0.00,2.10,0.00,0.000,6,0.000,0.024,3206,1961,2658,0,0,0,0,0,0
$GC,12910,1.91,157.0,23.8,12.4,511,12918,0.00,2.20,0.00,0.000,4,0.000,0.041,3206,3345,2658,0,0,0,0,0,0
$STATE,13088,end climb,SURFACE_DEPTH_REACHED
$STATE,13088,begin surface coast
$FINISH,0.6,1.022880
$STATE,13111,end surface coast,CONTROL_FINISHED_OK
$STATE,13111,begin surface
$SM_CCo,13135,79.55,0.410,0,0,2074,300.24
$SM_GC,1.18,0.00,0.00,79.55,0.000,0.000,0.410,59,2090,2074,-7.93,-0.17,300.24
$IRIDIUM_FIX,1855.54,-15615.45,250313,121240
$TT8_MAMPS,0.029146
$HUMID,1078914184
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.80
$XPDR_PINGS,12
$24V_AH,23.7,74.584
$10V_AH,8.0,69.081
$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,22.075,116.925,181.550,79.550,0.000,30.881,41.003,307.029,3.000,0.000,13.933,1419.441,8711.594,342.496,2745.740,535.892,33.386,1361.063,0.000,2444.632,0.000,0.541,0.000
$DEVICE_MAMPS,250.042,67.496,1024.712,410.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.928,0.000,883.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,26872,547
$CAP_FILE_SIZE,165601,0
$CFSIZE,260165632,165310464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,148.2,1
$GPS,011011,013600,1859.906,-15615.003,35,1.8,36,9.6