version: 66.07
glider: 513
mission: 7
dive: 560
start: 10 1 111 5 40 3
data:
$ID,513
$MISSION,7
$DIVE,560
$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,-434683.06
$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,48
$R_STBD_OVSHOOT,60
$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
$GPS1,011011,052527,1901.717,-15614.424,67,2.5,87,9.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.6
$GPS2,011011,053904,1901.862,-15614.307,34,2.7,53,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.201,0.079
$KALMAN_X,45899.0,179.1,138.4,22383.6,-4108.4
$KALMAN_Y,-594552.8,869.2,84.8,486492.8,-14377.1
$MHEAD_RNG_PITCHd_Wd,327.9,135457,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-136.7,0.0,0.0,0,72,0.00,0.00,-53.05,0.000,2,0.000,0.000,37,2133,3591,0,0,0,0,0,0
$GC,76,-0.80,-136.7,3.5,-5.0,8,99,10.02,2.25,-4.57,0.000,4,0.241,0.051,2328,708,3860,0,0,0,0,0,0
$GC,263,-0.80,-136.7,64.3,-29.4,30,267,0.00,2.15,0.00,0.000,6,0.000,0.047,2320,2073,3862,0,0,0,0,0,0
$GC,533,-0.80,-136.7,136.1,-21.7,55,537,0.00,2.08,0.00,0.000,4,0.000,0.038,2320,705,3864,0,0,0,0,0,0
$GC,544,-0.80,-136.7,139.6,-21.8,55,553,0.00,2.17,0.00,0.000,6,0.000,0.042,2310,2098,3864,0,0,0,0,0,0
$GC,811,-0.80,-136.7,195.8,-19.5,80,816,0.12,2.15,0.00,0.000,4,0.189,0.036,2340,700,3865,0,0,0,0,0,0
$GC,838,-0.80,-136.7,202.9,-20.8,81,842,0.00,2.15,0.00,0.000,6,0.000,0.043,2331,2098,3865,0,0,0,0,0,0
$GC,1095,-0.80,-136.7,247.9,-17.7,93,1099,0.00,2.12,0.00,0.000,4,0.000,0.038,2331,705,3867,0,0,0,0,0,0
$GC,1135,-0.80,-136.7,254.9,-16.7,95,1139,0.00,2.15,0.00,0.000,6,0.000,0.041,2321,2101,3867,0,0,0,0,0,0
$GC,1402,-0.80,-136.7,302.5,-17.1,108,1406,0.00,2.20,0.00,0.000,4,0.000,0.053,2310,3511,3867,0,0,0,0,0,0
$GC,1446,-0.80,-136.7,310.4,-15.9,109,1451,0.10,2.12,0.00,0.000,6,0.173,0.031,2334,2103,3867,0,0,0,0,0,0
$GC,1727,-0.80,-136.7,351.5,-14.6,116,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2097,3867,0,0,0,0,0,0
$GC,1969,-0.80,-136.7,387.2,-14.3,122,1973,0.00,2.15,0.00,0.000,4,0.000,0.039,2335,688,3867,0,0,0,0,0,0
$GC,1997,-0.80,-136.7,391.4,-14.4,122,2001,0.00,2.20,0.00,0.000,6,0.000,0.042,2326,2104,3867,0,0,0,0,0,0
$GC,2248,-0.80,-136.7,424.4,-12.8,128,2251,0.00,2.22,0.00,0.000,4,0.000,0.053,2315,3521,3865,0,0,0,0,0,0
$GC,2288,-0.80,-136.7,429.1,-12.1,128,2294,0.00,2.15,0.00,0.000,6,0.000,0.029,2315,2088,3865,0,0,0,0,0,0
$GC,2538,-0.80,-136.7,462.2,-13.6,135,2542,0.00,2.10,0.00,0.000,4,0.000,0.036,2315,696,3863,0,0,0,0,0,0
$GC,2565,-0.80,-136.7,466.3,-14.7,135,2570,0.12,2.17,0.00,0.000,6,0.170,0.040,2336,2113,3863,0,0,0,0,0,0
$GC,2817,-0.80,-136.7,498.5,-12.9,141,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2113,3861,0,0,0,0,0,0
$GC,3059,-0.80,-136.7,529.4,-12.6,147,3063,0.00,2.20,0.00,0.000,4,0.000,0.053,2327,3517,3859,0,0,0,0,0,0
$GC,3104,-0.80,-136.7,535.4,-13.4,148,3108,0.00,2.15,0.00,0.000,6,0.000,0.031,2327,2100,3858,0,0,0,0,0,0
$GC,3383,-0.80,-136.7,570.6,-12.7,155,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2094,3855,0,0,0,0,0,0
$GC,3626,-0.80,-136.7,599.7,-11.8,161,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2094,3853,0,0,0,0,0,0
$GC,3872,-0.80,-136.7,631.2,-13.1,167,3875,0.00,2.15,0.00,0.000,4,0.000,0.043,2327,705,3850,0,0,0,0,0,0
$GC,3922,-0.80,-136.7,638.3,-13.6,168,3926,0.00,2.17,0.00,0.000,6,0.000,0.042,2317,2103,3850,0,0,0,0,0,0
$GC,4194,-0.80,-136.7,673.6,-12.9,175,4198,0.00,2.22,0.00,0.000,4,0.000,0.053,2306,3519,3847,0,0,0,0,0,0
$GC,4229,-0.80,-136.7,678.2,-13.8,175,4236,0.12,2.17,0.00,0.000,6,0.173,0.032,2337,2093,3847,0,0,0,0,0,0
$GC,4479,-0.80,-136.7,706.7,-11.1,182,4483,0.00,2.12,0.00,0.000,4,0.000,0.041,2337,700,3845,0,0,0,0,0,0
$GC,4507,-0.80,-136.7,710.2,-12.6,182,4511,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2103,3845,0,0,0,0,0,0
$GC,4763,-0.80,-136.7,740.3,-11.9,189,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2103,3844,0,0,0,0,0,0
$GC,5006,-0.80,-136.7,768.3,-11.4,195,5010,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3512,3841,0,0,0,0,0,0
$GC,5033,-0.80,-136.7,771.6,-11.9,195,5037,0.00,2.15,0.00,0.000,6,0.000,0.033,2318,2105,3840,0,0,0,0,0,0
$GC,5285,-0.80,-136.7,799.4,-11.2,201,5288,0.00,2.15,0.00,0.000,4,0.000,0.042,2318,697,3839,0,0,0,0,0,0
$GC,5330,-0.80,-136.7,804.6,-10.5,202,5335,0.12,2.17,0.00,0.000,6,0.180,0.042,2338,2101,3839,0,0,0,0,0,0
$GC,5623,-0.80,-136.7,832.2,-9.4,209,5627,0.00,2.28,0.00,0.000,4,0.000,0.053,2329,3514,3836,0,0,0,0,0,0
$GC,5684,-0.80,-136.7,838.6,-10.2,210,5688,0.00,2.17,0.00,0.000,6,0.000,0.032,2329,2100,3836,0,0,0,0,0,0
$GC,5946,-0.80,-136.7,864.5,-9.9,217,5950,0.00,2.17,0.00,0.000,4,0.000,0.044,2329,692,3834,0,0,0,0,0,0
$GC,5986,-0.80,-136.7,868.8,-9.6,218,5990,0.00,2.20,0.00,0.000,6,0.000,0.042,2319,2101,3834,0,0,0,0,0,0
$GC,6270,-0.80,-136.7,898.7,-10.4,225,6274,0.00,2.25,0.00,0.000,4,0.000,0.052,2307,3514,3832,0,0,0,0,0,0
$STATE,6284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6284,begin apogee
$GC,6295,-0.28,0.0,900.6,10.9,225,6412,0.62,0.00,113.60,1.062,6,0.148,0.000,2495,1942,3300,0,0,0,0,0,0
$STATE,6413,end apogee,CONTROL_FINISHED_OK
$STATE,6413,begin climb
$GC,6416,0.80,136.7,903.8,0.0,228,6545,1.05,2.30,120.82,1.036,4,0.097,0.038,2854,564,2741,0,0,0,0,0,0
$GC,6562,0.80,136.7,888.1,16.4,231,6566,0.00,2.28,0.00,0.000,6,0.000,0.034,2853,1962,2737,0,0,0,0,0,0
$GC,6824,0.80,136.7,839.0,18.7,238,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1964,2733,0,0,0,0,0,0
$GC,7069,0.80,136.7,795.5,17.7,244,7074,0.00,2.25,0.00,0.000,4,0.000,0.054,2854,3369,2731,0,0,0,0,0,0
$GC,7086,0.80,136.7,791.8,18.2,244,7090,0.00,2.17,0.00,0.000,6,0.000,0.030,2864,1956,2731,0,0,0,0,0,0
$GC,7347,0.80,136.7,743.6,18.5,251,7351,0.00,2.12,0.00,0.000,4,0.000,0.039,2875,562,2730,0,0,0,0,0,0
$GC,7376,0.80,136.7,738.3,18.7,251,7380,0.00,2.17,0.00,0.000,6,0.000,0.034,2876,1973,2728,0,0,0,0,0,0
$GC,7631,0.80,136.7,690.9,18.3,258,7635,0.00,2.25,0.00,0.000,4,0.000,0.053,2875,3371,2728,0,0,0,0,0,0
$GC,7655,0.80,136.7,686.6,18.8,258,7660,0.12,2.17,0.00,0.000,6,0.202,0.031,2857,1957,2728,0,0,0,0,0,0
$GC,7912,0.80,136.7,644.2,16.0,265,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1954,2727,0,0,0,0,0,0
$GC,8154,0.80,136.7,604.7,16.4,271,8158,0.00,2.12,0.00,0.000,4,0.000,0.039,2866,564,2726,0,0,0,0,0,0
$GC,8240,0.80,136.7,590.3,17.8,273,8244,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1960,2724,0,0,0,0,0,0
$GC,8530,0.80,136.7,540.7,17.3,280,8534,0.00,2.28,0.00,0.000,4,0.000,0.052,2866,3370,2724,0,0,0,0,0,0
$GC,8622,0.80,136.7,523.5,18.0,282,8626,0.00,2.17,0.00,0.000,6,0.000,0.030,2876,1946,2724,0,0,0,0,0,0
$GC,8900,0.80,136.7,475.5,16.9,289,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1946,2724,0,0,0,0,0,0
$GC,9143,0.80,136.7,440.9,13.9,295,9147,0.00,2.28,0.00,0.000,4,0.000,0.049,2876,3367,2723,0,0,0,0,0,0
$GC,9186,0.80,136.7,435.0,13.8,296,9190,0.12,2.15,0.00,0.000,6,0.199,0.029,2857,1954,2723,0,0,0,0,0,0
$GC,9471,0.80,136.7,395.8,14.0,303,9475,0.00,2.25,0.00,0.000,4,0.000,0.048,2857,3367,2723,0,0,0,0,0,0
$GC,9498,0.80,136.7,391.5,14.9,303,9502,0.00,2.12,0.00,0.000,6,0.000,0.030,2866,1963,2723,0,0,0,0,0,0
$GC,9750,0.80,136.7,353.1,15.2,309,9754,0.00,2.12,0.00,0.000,4,0.000,0.037,2876,559,2723,0,0,0,0,0,0
$GC,9777,0.80,136.7,348.5,15.9,309,9781,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1974,2721,0,0,0,0,0,0
$GC,10035,0.80,136.7,312.4,13.9,316,10039,0.00,2.20,0.00,0.000,4,0.000,0.049,2876,3358,2721,0,0,0,0,0,0
$GC,10091,0.80,136.7,304.2,14.9,317,10096,0.12,2.15,0.00,0.000,6,0.196,0.030,2857,1949,2722,0,0,0,0,0,0
$GC,10364,0.80,136.7,270.8,11.5,329,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1945,2722,0,0,0,0,0,0
$GC,10610,0.80,136.7,244.4,10.7,341,10614,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,561,2721,0,0,0,0,0,0
$GC,10846,0.80,136.7,221.1,10.8,351,10853,0.00,2.12,0.00,0.000,6,0.000,0.031,2867,1958,2720,0,0,0,0,0,0
$GC,11104,0.80,136.7,195.2,10.5,366,11108,0.00,2.22,0.00,0.000,4,0.000,0.050,2867,3367,2721,0,0,0,0,0,0
$GC,11294,0.80,136.7,175.0,10.6,382,11302,0.00,2.15,0.00,0.000,6,0.000,0.027,2877,1958,2721,0,0,0,0,0,0
$GC,11560,0.85,178.5,153.4,6.8,407,11599,0.00,2.20,33.03,0.539,4,0.000,0.037,2888,567,2571,0,0,0,0,0,0
$GC,11753,0.85,178.5,133.5,9.7,424,11757,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,1971,2567,0,0,0,0,0,0
$GC,12017,0.97,278.5,112.1,4.3,448,12103,0.00,0.00,83.47,0.507,6,0.000,0.000,2888,1971,2163,0,0,0,0,0,0
$GC,12359,0.97,278.5,78.6,11.4,480,12363,0.00,2.17,0.00,0.000,4,0.000,0.038,2898,572,2157,0,0,0,0,0,0
$GC,12400,0.97,278.5,73.4,12.0,483,12404,0.00,2.12,0.00,0.000,6,0.000,0.031,2898,1955,2156,0,0,0,0,0,0
$GC,12664,0.97,278.5,40.0,12.6,507,12668,0.00,2.12,0.00,0.000,4,0.000,0.037,2906,565,2156,0,0,0,0,0,0
$GC,12697,0.97,278.5,35.3,13.4,509,12704,0.00,2.15,0.00,0.000,6,0.000,0.029,2906,1958,2156,0,0,0,0,0,0
$STATE,12954,end climb,SURFACE_DEPTH_REACHED
$STATE,12954,begin surface coast
$FINISH,0.3,1.021091
$STATE,12981,end surface coast,CONTROL_FINISHED_OK
$STATE,12981,begin surface
$SM_CCo,13001,10.90,0.375,0,0,2075,300.24
$SM_GC,2.63,0.00,0.00,10.90,0.000,0.000,0.375,58,2142,2075,-7.94,1.19,300.24
$IRIDIUM_FIX,1855.54,-15613.36,250313,232346
$TT8_MAMPS,0.029146
$HUMID,1078997186
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,8
$24V_AH,23.4,74.814
$10V_AH,8.0,69.263
$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,20.325,139.750,350.925,10.900,0.000,59.872,70.695,418.470,2.000,0.000,54.075,1298.134,9245.826,407.882,2343.971,531.371,33.359,1234.449,0.000,1861.521,0.000,0.542,0.000
$DEVICE_MAMPS,240.838,62.127,1062.295,375.063,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,379.635,0.000,906.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26813,556
$CAP_FILE_SIZE,163266,0
$CFSIZE,260165632,165175296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 88.3,1
$GPS,011011,091907,1903.416,-15614.549,87,0.9,88,9.6