version: 66.07
glider: 513
mission: 7
dive: 562
start: 10 1 111 13 29 18
data:
$ID,513
$MISSION,7
$DIVE,562
$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,-434721.31
$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,56
$R_STBD_OVSHOOT,54
$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
$GPS1,011011,131927,1905.012,-15614.742,36,4.3,56,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.3
$GPS2,011011,132819,1905.113,-15614.663,12,1.0,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.012,0.239
$KALMAN_X,40067.3,571.3,1047.1,26275.4,-7456.9
$KALMAN_Y,-594835.7,2598.3,782.7,490321.5,-11588.7
$MHEAD_RNG_PITCHd_Wd,340.3,129432,-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,17,-0.80,-136.7,0.0,0.0,0,73,0.00,0.00,-53.15,0.000,2,0.000,0.000,40,2127,3569,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.2,-3.7,8,99,9.98,0.00,-5.05,0.000,6,0.239,0.000,2329,2126,3860,0,0,0,0,0,0
$GC,366,-0.80,-136.7,103.0,-32.0,39,370,0.00,2.20,0.00,0.000,4,0.000,0.044,2329,715,3865,0,0,0,0,0,0
$GC,421,-0.80,-136.7,119.1,-25.3,43,430,0.00,2.15,0.00,0.000,6,0.000,0.044,2321,2075,3865,0,0,0,0,0,0
$GC,685,-0.80,-136.7,175.0,-19.3,68,689,0.00,2.25,0.00,0.000,4,0.000,0.055,2310,3513,3867,0,0,0,0,0,0
$GC,718,-0.80,-136.7,181.8,-18.9,70,726,0.08,2.12,0.00,0.000,6,0.150,0.031,2333,2109,3867,0,0,0,0,0,0
$GC,986,-0.80,-136.7,228.0,-17.0,88,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2104,3869,0,0,0,0,0,0
$GC,1235,-0.80,-136.7,268.6,-17.0,100,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2104,3870,0,0,0,0,0,0
$GC,1480,-0.80,-136.7,306.3,-14.8,111,1483,0.00,2.12,0.00,0.000,4,0.000,0.038,2333,690,3870,0,0,0,0,0,0
$GC,1613,-0.80,-136.7,326.1,-14.9,114,1617,0.00,2.17,0.00,0.000,6,0.000,0.041,2325,2113,3871,0,0,0,0,0,0
$GC,1896,-0.80,-136.7,368.7,-15.0,121,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2112,3870,0,0,0,0,0,0
$GC,2145,-0.80,-136.7,405.1,-14.9,127,2149,0.00,2.17,0.00,0.000,4,0.000,0.052,2314,3504,3869,0,0,0,0,0,0
$GC,2195,-0.80,-136.7,413.0,-13.2,128,2199,0.00,2.12,0.00,0.000,6,0.000,0.031,2314,2093,3869,0,0,0,0,0,0
$GC,2467,-0.80,-136.7,448.4,-12.7,135,2471,0.00,2.12,0.00,0.000,4,0.000,0.040,2314,701,3866,0,0,0,0,0,0
$GC,2497,-0.80,-136.7,452.3,-13.9,135,2502,0.12,2.15,0.00,0.000,6,0.174,0.040,2335,2101,3866,0,0,0,0,0,0
$GC,2747,-0.80,-136.7,479.5,-10.6,141,2751,0.00,2.20,0.00,0.000,4,0.000,0.052,2326,3511,3865,0,0,0,0,0,0
$GC,2796,-0.80,-136.7,485.2,-11.1,142,2800,0.00,2.12,0.00,0.000,6,0.000,0.031,2326,2098,3865,0,0,0,0,0,0
$GC,3071,-0.80,-136.7,520.3,-13.3,149,3075,0.00,2.12,0.00,0.000,4,0.000,0.041,2325,698,3862,0,0,0,0,0,0
$GC,3121,-0.80,-136.7,527.3,-13.1,150,3125,0.00,2.17,0.00,0.000,6,0.000,0.040,2316,2103,3862,0,0,0,0,0,0
$GC,3395,-0.80,-136.7,563.0,-13.1,157,3399,0.00,2.20,0.00,0.000,4,0.000,0.053,2304,3506,3859,0,0,0,0,0,0
$GC,3434,-0.80,-136.7,568.4,-13.3,158,3439,0.12,2.12,0.00,0.000,6,0.167,0.032,2336,2107,3859,0,0,0,0,0,0
$GC,3721,-0.80,-136.7,599.5,-10.9,165,3725,0.00,2.12,0.00,0.000,4,0.000,0.038,2336,696,3857,0,0,0,0,0,0
$GC,3760,-0.80,-136.7,604.4,-10.7,165,3766,0.00,2.15,0.00,0.000,6,0.000,0.040,2328,2100,3856,0,0,0,0,0,0
$GC,4011,-0.80,-136.7,633.8,-12.0,172,4015,0.00,2.17,0.00,0.000,4,0.000,0.041,2328,696,3854,0,0,1,0,0,0
$GC,4045,-0.80,-136.7,638.1,-12.6,172,4051,0.00,2.17,0.00,0.000,6,0.000,0.041,2318,2108,3854,0,0,0,0,0,0
$GC,4295,-0.80,-136.7,669.3,-12.4,179,4299,0.00,2.20,0.00,0.000,4,0.000,0.053,2307,3505,3852,0,0,0,0,0,0
$GC,4329,-0.80,-136.7,673.7,-12.4,179,4336,0.12,2.15,0.00,0.000,6,0.170,0.032,2338,2089,3851,0,0,0,0,0,0
$GC,4580,-0.80,-136.7,698.3,-9.5,186,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2084,3849,0,0,0,0,0,0
$GC,4823,-0.80,-136.7,721.6,-9.6,192,4827,0.00,2.12,0.00,0.000,4,0.000,0.042,2338,700,3847,0,0,0,0,0,0
$GC,4863,-0.80,-136.7,725.8,-9.9,193,4867,0.00,2.17,0.00,0.000,6,0.000,0.040,2330,2099,3847,0,0,0,0,0,0
$GC,5149,-0.80,-136.7,757.0,-11.5,200,5153,0.00,2.22,0.00,0.000,4,0.000,0.053,2319,3512,3845,0,0,0,0,0,0
$GC,5189,-0.80,-136.7,762.0,-12.3,201,5193,0.00,2.15,0.00,0.000,6,0.000,0.033,2319,2109,3844,0,0,0,0,0,0
$GC,5474,-0.80,-136.7,797.2,-12.6,208,5478,0.00,2.17,0.00,0.000,4,0.000,0.041,2319,684,3843,0,0,0,0,0,0
$GC,5536,-0.80,-136.7,805.7,-12.6,209,5541,0.12,2.22,0.00,0.000,6,0.181,0.044,2338,2103,3843,0,0,0,0,0,0
$GC,5803,-0.80,-136.7,835.1,-10.9,216,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2102,3841,0,0,0,0,0,0
$GC,6048,-0.80,-136.7,859.5,-9.8,222,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2102,3839,0,0,0,0,0,0
$GC,6290,-0.80,-136.7,882.5,-9.3,228,6294,0.00,2.28,0.00,0.000,4,0.000,0.056,2329,3520,3838,0,0,0,0,0,0
$GC,6318,-0.80,-136.7,885.3,-9.6,228,6322,0.00,2.17,0.00,0.000,6,0.000,0.032,2329,2087,3837,0,0,0,0,0,0
$STATE,6485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6485,begin apogee
$GC,6493,-0.28,0.0,902.2,10.2,232,6611,0.57,0.00,114.85,1.068,6,0.144,0.000,2499,1925,3300,0,0,0,0,0,0
$STATE,6612,end apogee,CONTROL_FINISHED_OK
$STATE,6612,begin climb
$GC,6615,0.80,136.7,905.6,0.0,235,6745,1.05,2.50,121.35,1.042,4,0.096,0.051,2847,3361,2741,0,0,0,0,0,0
$GC,6756,0.80,136.7,892.1,15.3,238,6760,0.00,2.25,0.00,0.000,6,0.000,0.029,2858,1976,2739,0,0,0,0,0,0
$GC,7024,0.80,136.7,845.0,17.6,245,7028,0.00,2.22,0.00,0.000,4,0.000,0.040,2869,561,2732,0,0,0,0,0,0
$GC,7057,0.80,136.7,838.6,17.9,245,7062,0.00,2.20,0.00,0.000,6,0.000,0.034,2869,1963,2731,0,0,0,0,0,0
$GC,7308,0.80,136.7,794.0,17.8,251,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1967,2730,0,0,0,0,0,0
$GC,7551,0.80,136.7,749.5,18.3,257,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1967,2729,0,0,0,0,0,0
$GC,7795,0.80,136.7,707.0,17.3,263,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1966,2728,0,0,0,0,0,0
$GC,8039,0.80,136.7,665.6,16.8,269,8043,0.00,2.25,0.00,0.000,4,0.000,0.053,2869,3367,2727,0,0,0,0,0,0
$GC,8073,0.80,136.7,659.6,17.3,269,8079,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1954,2727,0,0,0,0,0,0
$GC,8326,0.80,136.7,616.5,17.1,276,8330,0.00,2.12,0.00,0.000,4,0.000,0.039,2890,561,2726,0,0,0,0,0,0
$GC,8381,0.80,136.7,606.0,18.4,277,8386,0.15,2.15,0.00,0.000,6,0.188,0.033,2854,1964,2724,0,0,0,0,0,0
$GC,8656,0.80,136.7,562.7,15.8,284,8660,0.00,2.25,0.00,0.000,4,0.000,0.052,2854,3365,2723,0,0,0,0,0,0
$GC,8672,0.80,136.7,559.5,15.5,284,8676,0.00,2.15,0.00,0.000,6,0.000,0.030,2863,1951,2724,0,0,0,0,0,0
$GC,8933,0.80,136.7,517.7,15.9,291,8937,0.00,2.15,0.00,0.000,4,0.000,0.040,2874,559,2724,0,0,0,0,0,0
$GC,8956,0.80,136.7,513.9,15.5,291,8960,0.00,2.15,0.00,0.000,6,0.000,0.034,2874,1966,2723,0,0,0,0,0,0
$GC,9217,0.80,136.7,472.3,15.7,298,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1967,2723,0,0,0,0,0,0
$GC,9461,0.80,136.7,437.7,14.0,304,9465,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3371,2723,0,0,0,0,0,0
$GC,9548,0.80,136.7,423.7,17.2,306,9552,0.12,2.15,0.00,0.000,6,0.200,0.030,2856,1952,2723,0,0,0,0,0,0
$GC,9833,0.80,136.7,383.9,13.5,313,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1949,2722,0,0,0,0,0,0
$GC,10078,0.80,136.7,349.2,14.3,319,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1949,2722,0,0,0,0,0,0
$GC,10319,0.80,136.7,317.1,12.8,325,10323,0.00,2.28,0.00,0.000,4,0.000,0.049,2856,3366,2722,0,0,0,0,0,0
$GC,10352,0.80,136.7,312.7,12.6,325,10358,0.00,2.15,0.00,0.000,6,0.000,0.029,2865,1961,2722,0,0,0,0,0,0
$GC,10605,0.80,136.7,277.5,14.8,335,10609,0.00,2.15,0.00,0.000,4,0.000,0.038,2875,553,2722,0,0,0,0,0,0
$GC,10728,0.80,136.7,259.6,13.8,340,10734,0.00,2.17,0.00,0.000,6,0.000,0.033,2875,1966,2720,0,0,0,0,0,0
$GC,10982,0.80,136.7,231.6,10.8,353,10986,0.00,2.22,0.00,0.000,4,0.000,0.050,2875,3363,2720,0,0,0,0,0,0
$GC,11005,0.80,136.7,229.1,10.7,354,11009,0.12,2.12,0.00,0.000,6,0.189,0.031,2854,1960,2721,0,0,0,0,0,0
$GC,11264,0.81,146.1,210.1,8.2,367,11274,0.00,2.15,5.93,0.482,4,0.000,0.036,2863,562,2703,0,0,0,0,0,0
$GC,11336,0.81,146.1,203.9,8.7,370,11340,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1966,2701,0,0,0,0,0,0
$GC,11599,0.82,157.5,182.2,8.1,392,11616,0.00,2.25,11.55,0.532,4,0.000,0.048,2862,3366,2657,0,0,0,0,0,0
$GC,11686,0.82,157.5,174.5,10.1,399,11695,0.00,2.17,0.00,0.000,6,0.000,0.028,2871,1961,2657,0,0,0,0,0,0
$GC,11953,0.84,174.2,152.3,7.9,424,11977,0.00,2.20,15.80,0.521,4,0.000,0.037,2882,562,2588,0,0,0,0,0,0
$GC,11994,0.84,174.2,148.3,9.4,427,12002,0.00,2.15,0.00,0.000,6,0.000,0.030,2882,1954,2586,0,0,0,0,0,0
$GC,12258,0.84,174.2,121.0,11.2,452,12262,0.00,2.12,0.00,0.000,4,0.000,0.035,2892,560,2586,0,0,0,0,0,0
$GC,12424,0.84,174.2,102.5,10.9,466,12428,0.00,2.15,0.00,0.000,6,0.000,0.030,2892,1969,2585,0,0,0,0,0,0
$GC,12689,0.96,269.1,85.3,4.6,490,12777,0.00,2.22,78.68,0.483,4,0.000,0.036,2903,559,2202,0,0,0,0,0,0
$GC,12863,0.96,269.1,69.1,12.7,504,12870,0.00,2.17,0.00,0.000,6,0.000,0.030,2902,1948,2198,0,0,0,0,0,0
$GC,13128,0.96,269.1,34.1,12.6,529,13132,0.00,2.15,0.00,0.000,4,0.000,0.039,2902,558,2197,0,0,0,0,0,0
$GC,13204,0.96,269.1,24.4,12.6,539,13212,0.00,2.17,0.00,0.000,6,0.000,0.033,2903,1953,2197,0,0,0,0,0,0
$STATE,13380,end climb,SURFACE_DEPTH_REACHED
$STATE,13380,begin surface coast
$FINISH,0.4,1.023023
$STATE,13403,end surface coast,CONTROL_FINISHED_OK
$STATE,13403,begin surface
$SM_CCo,13424,17.12,0.393,0,0,2075,300.24
$SM_GC,1.93,0.00,0.00,17.12,0.000,0.000,0.393,56,2134,2075,-7.94,0.96,300.24
$IRIDIUM_FIX,1848.70,-15612.20,260313,030354
$TT8_MAMPS,0.029146
$HUMID,1078967087
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.70
$XPDR_PINGS,7
$24V_AH,23.3,75.059
$10V_AH,8.0,69.453
$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,20.250,135.550,348.150,17.125,0.000,28.058,36.387,303.212,1.750,0.000,17.516,1318.758,9542.023,427.613,2166.074,517.845,33.361,1259.775,0.000,1885.339,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,70.564,1068.431,393.471,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,391.864,0.000,929.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,30238,574
$CAP_FILE_SIZE,161964,0
$CFSIZE,260165632,165040128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1
$CURRENT,0.115, 67.6,1
$GPS,011011,171436,1907.095,-15614.137,34,1.4,35,9.6