version: 66.07
glider: 513
mission: 7
dive: 566
start: 10 2 111 5 16 15
data:
$ID,513
$MISSION,7
$DIVE,566
$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,-434782.62
$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,49
$R_STBD_OVSHOOT,40
$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
$GPS1,021011,050230,1912.370,-15614.160,57,1.1,58,9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-80.0
$GPS2,021011,051514,1912.378,-15614.158,13,1.8,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.225,0.030
$KALMAN_X,36744.3,-1196.7,115.9,33197.1,-4721.9
$KALMAN_Y,-593128.1,2.5,89.8,505406.4,-1108.8
$MHEAD_RNG_PITCHd_Wd,333.3,115986,-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,-136.7,0.0,0.0,0,72,0.00,0.00,-52.72,0.000,2,0.000,0.000,37,2157,3570,0,0,0,0,0,0
$GC,75,-0.80,-136.7,3.2,-4.4,8,99,9.98,2.25,-5.07,0.000,4,0.239,0.048,2328,695,3860,0,0,0,0,0,0
$GC,290,-0.80,-136.7,71.6,-26.5,32,298,0.00,2.22,0.00,0.000,6,0.000,0.047,2319,2089,3863,0,0,0,0,0,0
$GC,554,-0.80,-136.7,141.9,-21.8,57,558,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3523,3864,0,0,0,0,0,0
$GC,575,-0.80,-136.7,146.0,-20.9,58,580,0.12,2.15,0.00,0.000,6,0.172,0.030,2339,2092,3864,0,0,0,0,0,0
$GC,840,-0.80,-136.7,196.5,-17.8,82,844,0.00,2.10,0.00,0.000,4,0.000,0.040,2339,702,3866,0,0,0,0,0,0
$GC,873,-0.80,-136.7,203.5,-18.5,83,879,0.00,2.17,0.00,0.000,6,0.000,0.043,2331,2117,3866,0,0,0,0,0,0
$GC,1129,-0.80,-136.7,247.7,-17.2,96,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2115,3867,0,0,0,0,0,0
$GC,1376,-0.80,-136.7,286.6,-15.3,108,1380,0.00,2.15,0.00,0.000,4,0.000,0.038,2331,702,3868,0,0,0,0,0,0
$GC,1421,-0.80,-136.7,293.2,-13.7,110,1425,0.00,2.15,0.00,0.000,6,0.000,0.040,2320,2100,3869,0,0,0,0,0,0
$GC,1689,-0.80,-136.7,330.2,-13.9,118,1693,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3509,3869,0,0,0,0,0,0
$GC,1723,-0.80,-136.7,335.7,-14.8,118,1730,0.12,2.12,0.00,0.000,6,0.166,0.031,2341,2090,3869,0,0,0,0,0,0
$GC,1973,-0.80,-136.7,371.1,-14.2,125,1977,0.00,2.08,0.00,0.000,4,0.000,0.038,2342,704,3868,0,0,0,0,0,0
$GC,2007,-0.80,-136.7,375.7,-13.9,125,2013,0.00,2.12,0.00,0.000,6,0.000,0.039,2333,2105,3868,0,0,0,0,0,0
$GC,2257,-0.80,-136.7,410.3,-13.5,132,2261,0.00,2.17,0.00,0.000,4,0.000,0.050,2322,3511,3866,0,0,0,0,0,0
$GC,2314,-0.80,-136.7,418.0,-13.0,133,2319,0.00,2.12,0.00,0.000,6,0.000,0.030,2322,2105,3865,0,0,0,0,0,0
$GC,2581,-0.80,-136.7,454.9,-13.9,140,2585,0.00,2.15,0.00,0.000,4,0.000,0.038,2322,686,3864,0,0,0,0,0,0
$GC,2626,-0.80,-136.7,461.7,-15.2,141,2630,0.00,2.17,0.00,0.000,6,0.000,0.041,2312,2102,3864,0,0,0,0,0,0
$GC,2905,-0.80,-136.7,504.2,-15.6,148,2909,0.00,2.20,0.00,0.000,4,0.000,0.051,2301,3517,3861,0,0,0,0,0,0
$GC,2938,-0.80,-136.7,509.8,-16.1,148,2944,0.15,2.15,0.00,0.000,6,0.163,0.031,2340,2097,3860,0,0,0,0,0,0
$GC,3189,-0.80,-136.7,542.8,-13.0,155,3192,0.00,2.15,0.00,0.000,4,0.000,0.041,2340,689,3858,0,0,0,0,0,0
$GC,3251,-0.80,-136.7,550.7,-13.0,156,3255,0.00,2.20,0.00,0.000,6,0.000,0.041,2331,2107,3858,0,0,0,0,0,0
$GC,3513,-0.80,-136.7,583.3,-12.5,163,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2107,3855,0,0,0,0,0,0
$GC,3758,-0.80,-136.7,612.6,-12.1,169,3762,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3513,3853,0,0,0,0,0,0
$GC,3813,-0.80,-136.7,620.2,-13.3,170,3817,0.00,2.15,0.00,0.000,6,0.000,0.033,2321,2096,3852,0,0,0,0,0,0
$GC,4085,-0.80,-136.7,656.2,-13.4,177,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2090,3850,0,0,0,0,0,0
$GC,4331,-0.80,-136.7,687.7,-12.7,183,4335,0.00,2.15,0.00,0.000,4,0.000,0.041,2321,696,3847,0,0,0,0,0,0
$GC,4365,-0.80,-136.7,692.3,-13.5,183,4371,0.00,2.17,0.00,0.000,6,0.000,0.041,2311,2111,3847,0,0,0,0,0,0
$GC,4616,-0.80,-136.7,722.4,-11.8,190,4620,0.10,2.20,0.00,0.000,4,0.193,0.041,2335,697,3845,0,0,0,0,0,0
$GC,4650,-0.80,-136.7,726.1,-11.2,190,4658,0.00,2.15,0.00,0.000,6,0.000,0.040,2327,2097,3844,0,0,0,0,0,0
$GC,4900,-0.80,-136.7,751.9,-10.3,197,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2096,3843,0,0,0,0,0,0
$GC,5144,-0.80,-136.7,777.5,-10.6,203,5148,0.00,2.22,0.00,0.000,4,0.000,0.051,2315,3518,3841,0,0,0,0,0,0
$GC,5207,-0.80,-136.7,784.3,-10.4,204,5211,0.00,2.15,0.00,0.000,6,0.000,0.031,2315,2091,3840,0,0,0,0,0,0
$GC,5474,-0.80,-136.7,815.8,-12.1,211,5478,0.00,2.15,0.00,0.000,4,0.000,0.044,2315,692,3838,0,0,0,0,0,0
$GC,5502,-0.80,-136.7,819.6,-13.2,211,5507,0.12,2.17,0.00,0.000,6,0.184,0.042,2335,2096,3838,0,0,0,0,0,0
$GC,5753,-0.80,-136.7,847.3,-11.0,217,5757,0.00,2.25,0.00,0.000,4,0.000,0.052,2326,3515,3836,0,0,0,0,0,0
$GC,5791,-0.80,-136.7,851.6,-10.4,217,5797,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2109,3836,0,0,0,0,0,0
$GC,6043,-0.80,-136.7,879.9,-11.4,224,6047,0.00,2.15,0.00,0.000,4,0.000,0.040,2326,690,3834,0,0,0,0,0,0
$GC,6083,-0.80,-136.7,884.8,-11.7,225,6087,0.00,2.17,0.00,0.000,6,0.000,0.041,2316,2104,3834,0,0,0,0,0,0
$STATE,6242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6242,begin apogee
$GC,6251,-0.28,0.0,903.8,11.8,229,6368,0.62,0.00,113.80,1.068,6,0.146,0.000,2500,1913,3300,0,0,0,0,0,0
$STATE,6369,end apogee,CONTROL_FINISHED_OK
$STATE,6369,begin climb
$GC,6372,0.80,136.7,908.3,0.0,232,6497,1.08,0.00,122.18,1.038,6,0.094,0.000,2853,1913,2742,0,0,0,0,0,0
$GC,6731,0.80,136.7,857.8,17.3,241,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1913,2734,0,0,0,0,0,0
$GC,6974,0.80,136.7,815.5,17.4,247,6978,0.00,2.35,0.00,0.000,4,0.000,0.051,2853,3368,2732,0,0,0,0,0,0
$GC,7024,0.80,136.7,805.5,19.4,248,7028,0.00,2.15,0.00,0.000,6,0.000,0.028,2864,1965,2732,0,0,0,0,0,0
$GC,7299,0.80,136.7,754.3,19.0,255,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1964,2730,0,0,0,0,0,0
$GC,7541,0.80,136.7,708.4,18.9,261,7545,0.00,2.15,0.00,0.000,4,0.000,0.038,2875,557,2729,0,0,0,0,0,0
$GC,7568,0.80,136.7,702.9,19.6,261,7572,0.00,2.17,0.00,0.000,6,0.000,0.034,2875,1962,2727,0,0,0,0,0,0
$GC,7826,0.80,136.7,656.8,17.9,268,7830,0.00,2.15,0.00,0.000,4,0.000,0.038,2885,562,2727,0,0,0,0,0,0
$GC,7848,0.80,136.7,652.3,18.2,268,7852,0.12,2.17,0.00,0.000,6,0.196,0.035,2857,1967,2725,0,0,0,0,0,0
$GC,8103,0.80,136.7,611.3,15.6,275,8108,0.00,2.22,0.00,0.000,4,0.000,0.051,2858,3371,2725,0,0,0,0,0,0
$GC,8145,0.80,136.7,604.4,17.5,276,8149,0.00,2.12,0.00,0.000,6,0.000,0.030,2866,1961,2726,0,0,0,0,0,0
$GC,8429,0.80,136.7,560.9,15.0,283,8433,0.00,2.12,0.00,0.000,4,0.000,0.037,2876,561,2725,0,0,0,0,0,0
$GC,8451,0.80,136.7,557.1,15.8,283,8455,0.00,2.15,0.00,0.000,6,0.000,0.032,2877,1958,2723,0,0,0,0,0,0
$GC,8707,0.80,136.7,519.8,14.4,290,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1957,2723,0,0,0,0,0,0
$GC,8950,0.80,136.7,484.3,14.6,296,8954,0.00,2.25,0.00,0.000,4,0.000,0.053,2877,3364,2723,0,0,0,0,0,0
$GC,9007,0.80,136.7,475.7,14.6,297,9012,0.12,2.15,0.00,0.000,6,0.201,0.030,2858,1958,2723,0,0,0,0,0,0
$GC,9273,0.80,136.7,440.8,13.0,304,9277,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,561,2723,0,0,0,0,0,0
$GC,9301,0.80,136.7,436.6,14.8,304,9305,0.00,2.15,0.00,0.000,6,0.000,0.032,2865,1974,2722,0,0,0,0,0,0
$GC,9553,0.80,136.7,399.1,15.4,310,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1974,2722,0,0,0,0,0,0
$GC,9795,0.80,136.7,364.4,14.1,316,9799,0.00,2.20,0.00,0.000,4,0.000,0.049,2865,3365,2722,0,0,0,0,0,0
$GC,9873,0.80,136.7,353.7,13.3,317,9877,0.00,2.12,0.00,0.000,6,0.000,0.028,2874,1955,2722,0,0,0,0,0,0
$GC,10126,0.80,136.7,321.6,12.5,323,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1952,2722,0,0,0,0,0,0
$GC,10368,0.80,136.7,291.5,12.4,330,10372,0.00,2.15,0.00,0.000,4,0.000,0.038,2885,562,2722,0,0,0,0,0,0
$GC,10389,0.80,136.7,288.5,13.8,331,10394,0.12,2.12,0.00,0.000,6,0.188,0.031,2856,1960,2720,0,0,0,0,0,0
$GC,10654,0.80,136.7,260.5,10.4,344,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1959,2720,0,0,0,0,0,0
$GC,10905,0.80,136.7,236.6,8.6,356,10909,0.00,2.17,0.00,0.000,4,0.000,0.037,2865,560,2720,0,0,0,0,0,0
$GC,10999,0.80,136.7,226.6,10.3,360,11003,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1963,2721,0,0,0,0,0,0
$GC,11259,0.80,136.7,201.7,9.1,372,11263,0.00,2.22,0.00,0.000,4,0.000,0.050,2865,3363,2721,0,0,0,0,0,0
$GC,11269,0.80,136.7,200.3,8.8,372,11275,0.00,2.10,0.00,0.000,6,0.000,0.028,2875,1950,2721,0,0,0,0,0,0
$GC,11535,0.80,142.9,178.3,8.3,397,11539,0.00,2.10,0.00,0.000,4,0.000,0.036,2886,575,2721,0,0,0,0,0,0
$GC,11546,0.82,153.2,176.9,8.1,397,11567,0.00,2.15,11.73,0.518,6,0.000,0.031,2886,1961,2676,0,0,0,0,0,0
$GC,11825,0.82,153.2,151.4,10.3,423,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1961,2675,0,0,0,0,0,0
$GC,12088,0.82,153.2,129.1,8.6,448,12092,0.00,2.25,0.00,0.000,4,0.000,0.048,2886,3369,2676,0,0,0,0,0,0
$GC,12346,0.92,237.4,109.7,5.0,470,12430,0.00,2.12,71.07,0.502,6,0.000,0.025,2896,1966,2330,0,0,0,0,0,0
$GC,12686,0.92,237.4,75.2,10.6,501,12690,0.00,2.22,0.00,0.000,4,0.000,0.046,2896,3365,2327,0,0,0,0,0,0
$GC,12821,0.92,237.4,59.0,10.3,512,12828,0.00,2.15,0.00,0.000,6,0.000,0.028,2901,1971,2327,0,0,0,0,0,0
$GC,13084,0.92,237.4,30.5,11.5,537,13088,0.00,2.15,0.00,0.000,4,0.000,0.038,2913,548,2327,0,0,0,0,0,0
$GC,13098,0.92,237.4,28.9,11.4,538,13107,0.00,2.17,0.00,0.000,6,0.000,0.031,2913,1958,2326,0,0,0,0,0,0
$STATE,13319,end climb,SURFACE_DEPTH_REACHED
$STATE,13319,begin surface coast
$FINISH,0.3,1.022910
$STATE,13346,end surface coast,CONTROL_FINISHED_OK
$STATE,13346,begin surface
$SM_CCo,13365,31.17,0.401,0,0,2075,300.24
$SM_GC,1.75,0.00,0.00,31.17,0.000,0.000,0.401,59,2147,2075,-7.93,1.33,300.24
$IRIDIUM_FIX,1904.66,-15616.62,260313,232351
$TT8_MAMPS,0.029146
$HUMID,1078968377
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,9
$24V_AH,23.4,75.519
$10V_AH,8.0,69.829
$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,20.350,139.225,318.775,31.175,0.000,52.683,74.583,409.334,2.250,0.000,14.066,1332.720,9544.129,458.851,2285.946,539.324,33.362,1246.016,0.000,1859.514,0.000,0.543,0.000
$DEVICE_MAMPS,238.537,62.894,1068.431,401.141,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,396.413,0.000,959.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354144
$DATA_FILE_SIZE,30354,581
$CAP_FILE_SIZE,163353,0
$CFSIZE,260165632,164777984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,108.8,1
$GPS,021011,090106,1913.727,-15614.387,45,1.4,51,9.6