version: 66.07
glider: 513
mission: 7
dive: 151
start: 7 28 111 5 16 16
data:
$ID,513
$MISSION,7
$DIVE,151
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,240
$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,-423977.22
$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,2600
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,3380
$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
$GPS1,280711,050807,1930.033,-15650.891,190,1.2,191,9.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-81.0
$GPS2,280711,051520,1930.021,-15651.034,12,1.8,12,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.234,-0.078
$KALMAN_X,-28932.8,108.1,142.5,8109.3,-6102.6
$KALMAN_Y,50145.0,-854.1,-490.7,-82534.3,7962.4
$MHEAD_RNG_PITCHd_Wd,98.9,56595,-15.1,-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,15,-0.78,-146.5,0.0,0.0,0,64,0.00,0.00,-46.08,0.000,2,0.000,0.000,40,1985,3796,0,0,0,0,0,0
$GC,68,-0.78,-146.5,4.4,-8.4,7,90,9.50,2.15,-2.65,0.000,4,0.244,0.052,2346,581,3965,0,0,0,0,0,0
$GC,142,-0.78,-146.5,38.7,-36.6,17,146,0.00,2.15,0.00,0.000,6,0.000,0.041,2337,1985,3968,0,0,0,0,0,0
$GC,411,-0.78,-146.5,116.1,-28.1,42,415,0.00,2.17,0.00,0.000,4,0.000,0.048,2327,3400,3971,0,0,0,0,0,0
$GC,487,-0.78,-146.5,133.4,-19.2,48,495,0.00,2.17,0.00,0.000,6,0.000,0.031,2326,1978,3971,0,0,0,0,0,0
$GC,753,-0.78,-146.5,190.3,-21.6,73,757,0.00,2.20,0.00,0.000,4,0.000,0.048,2316,3402,3974,0,0,0,0,0,0
$GC,785,-0.78,-146.5,198.2,-20.4,75,793,0.08,2.15,0.00,0.000,6,0.158,0.033,2339,1991,3974,0,0,0,0,0,0
$GC,1050,-0.78,-146.5,248.3,-19.8,89,1054,0.00,2.20,0.00,0.000,4,0.000,0.051,2330,3402,3976,0,0,0,0,0,0
$GC,1118,-0.78,-146.5,260.9,-17.4,92,1122,0.00,2.10,0.00,0.000,6,0.000,0.032,2330,1991,3975,0,0,0,0,0,0
$GC,1403,-0.78,-146.5,316.3,-19.9,104,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1989,3976,0,0,0,0,0,0
$GC,1646,-0.78,-146.5,360.3,-18.2,110,1650,0.00,2.08,0.00,0.000,4,0.000,0.044,2330,591,3976,0,0,0,0,0,0
$GC,1686,-0.78,-146.5,367.9,-18.2,111,1690,0.00,2.10,0.00,0.000,6,0.000,0.043,2319,1998,3976,0,0,0,0,0,0
$GC,1970,-0.78,-146.5,418.7,-17.7,118,1974,0.00,2.12,0.00,0.000,4,0.000,0.048,2308,3391,3974,0,0,0,0,0,0
$GC,2054,-0.78,-146.5,432.6,-15.9,120,2059,0.15,2.10,0.00,0.000,6,0.164,0.034,2348,1989,3974,0,0,0,0,0,0
$GC,2339,-0.78,-146.5,474.7,-14.8,127,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1983,3972,0,0,0,0,0,0
$GC,2581,-0.78,-146.5,508.9,-13.9,133,2585,0.00,2.17,0.00,0.000,4,0.000,0.051,2339,3389,3970,0,0,0,0,0,0
$GC,2608,-0.78,-146.5,512.9,-14.1,133,2611,0.00,2.10,0.00,0.000,6,0.000,0.034,2339,1982,3969,0,0,0,0,0,0
$GC,2864,-0.78,-146.5,549.7,-14.6,140,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1978,3968,0,0,0,0,0,0
$GC,3107,-0.78,-146.5,585.1,-14.6,146,3111,0.00,2.20,0.00,0.000,4,0.000,0.053,2329,3390,3966,0,0,0,0,0,0
$GC,3184,-0.78,-146.5,597.0,-14.9,147,3190,0.00,2.12,0.00,0.000,6,0.000,0.035,2328,1988,3965,0,0,0,0,0,0
$GC,3436,-0.78,-146.5,635.0,-15.3,154,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1983,3963,0,0,0,0,0,0
$GC,3678,-0.78,-146.5,670.0,-14.2,160,3682,0.00,2.20,0.00,0.000,4,0.000,0.053,2318,3387,3961,0,0,0,0,0,0
$GC,3727,-0.78,-146.5,677.2,-14.0,161,3732,0.10,2.12,0.00,0.000,6,0.176,0.035,2341,1986,3961,0,0,0,0,0,0
$GC,4008,-0.78,-146.5,712.0,-12.6,168,4012,0.00,2.10,0.00,0.000,4,0.000,0.045,2342,584,3958,0,0,0,0,0,0
$GC,4035,-0.78,-146.5,716.0,-13.2,168,4039,0.00,2.10,0.00,0.000,6,0.000,0.045,2333,1980,3958,0,0,0,0,0,0
$GC,4297,-0.78,-146.5,749.8,-13.1,175,4301,0.00,2.22,0.00,0.000,4,0.000,0.055,2322,3396,3957,0,0,0,0,0,0
$GC,4392,-0.78,-146.5,762.2,-12.5,177,4396,0.00,2.15,0.00,0.000,6,0.000,0.038,2322,1989,3956,0,0,0,0,0,0
$GC,4670,-0.78,-146.5,799.2,-13.4,184,4674,0.00,2.22,0.00,0.000,4,0.000,0.054,2311,3398,3954,0,0,0,0,0,0
$GC,4699,-0.78,-146.5,803.0,-13.6,184,4704,0.12,2.12,0.00,0.000,6,0.175,0.037,2342,1990,3953,0,0,0,0,0,0
$GC,4949,-0.78,-146.5,833.4,-12.1,190,4953,0.00,2.25,0.00,0.000,4,0.000,0.057,2333,3402,3951,0,0,0,0,0,0
$GC,4992,-0.78,-146.5,838.8,-11.7,191,4996,0.00,2.12,0.00,0.000,6,0.000,0.033,2333,1981,3951,0,0,0,0,0,0
$GC,5277,-0.78,-146.5,875.3,-12.8,198,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1977,3950,0,0,0,0,0,0
$STATE,5477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5477,begin apogee
$GC,5483,-0.28,0.0,900.3,12.3,203,5602,0.57,0.00,116.25,1.127,6,0.152,0.000,2506,1977,3380,0,0,0,0,0,0
$STATE,5603,end apogee,CONTROL_FINISHED_OK
$STATE,5603,begin climb
$GC,5607,0.78,146.5,904.2,0.0,206,5740,1.00,2.30,125.88,1.085,4,0.093,0.039,2854,553,2782,0,0,0,0,0,0
$GC,5764,0.78,146.5,888.0,16.8,209,5769,0.00,2.25,0.00,0.000,6,0.000,0.035,2849,1958,2778,0,0,0,0,0,0
$GC,6013,0.78,146.5,842.0,18.3,216,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1961,2774,0,0,0,0,0,0
$GC,6257,0.78,146.5,797.9,18.1,222,6261,0.00,2.25,0.00,0.000,4,0.000,0.055,2846,3370,2773,0,0,0,0,0,0
$GC,6324,0.78,146.5,784.9,18.8,223,6328,0.00,2.17,0.00,0.000,6,0.000,0.033,2855,1947,2772,0,0,0,0,0,0
$GC,6579,0.78,146.5,736.7,19.0,230,6583,0.00,2.12,0.00,0.000,4,0.000,0.041,2867,548,2771,0,0,0,0,0,0
$GC,6606,0.78,146.5,731.4,18.6,230,6610,0.00,2.17,0.00,0.000,6,0.000,0.039,2866,1966,2769,0,0,0,0,0,0
$GC,6857,0.78,146.5,683.4,19.2,236,6861,0.00,2.20,0.00,0.000,4,0.000,0.053,2867,3363,2768,0,0,0,0,0,0
$GC,6889,0.78,146.5,676.5,20.8,236,6895,0.00,2.15,0.00,0.000,6,0.000,0.033,2878,1959,2769,0,0,0,0,0,0
$GC,7139,0.78,146.5,628.3,19.4,243,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1954,2768,0,0,0,0,0,0
$GC,7384,0.78,146.5,584.0,18.1,249,7388,0.00,2.12,0.00,0.000,4,0.000,0.040,2888,545,2767,0,0,0,0,0,0
$GC,7411,0.78,146.5,578.7,18.6,249,7416,0.10,2.15,0.00,0.000,6,0.197,0.036,2848,1954,2766,0,0,0,0,0,0
$GC,7667,0.78,146.5,539.2,15.0,256,7671,0.00,2.20,0.00,0.000,4,0.000,0.052,2844,3367,2766,0,0,0,0,0,0
$GC,7722,0.78,146.5,530.5,16.1,257,7726,0.00,2.17,0.00,0.000,6,0.000,0.033,2853,1953,2766,0,0,0,0,0,0
$GC,7994,0.78,146.5,489.8,14.9,264,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1949,2765,0,0,0,0,0,0
$GC,8239,0.78,146.5,451.0,16.1,270,8243,0.00,2.10,0.00,0.000,4,0.000,0.040,2864,553,2765,0,0,0,0,0,0
$GC,8279,0.78,146.5,444.3,17.2,271,8283,0.00,2.10,0.00,0.000,6,0.000,0.035,2864,1967,2764,0,0,0,0,0,0
$GC,8562,0.78,146.5,395.5,17.0,278,8566,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3373,2764,0,0,0,0,0,0
$GC,8578,0.78,146.5,392.5,17.2,278,8582,0.00,2.12,0.00,0.000,6,0.000,0.032,2874,1951,2763,0,0,0,0,0,0
$GC,8839,0.78,146.5,348.6,16.8,285,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1947,2764,0,0,0,0,0,0
$GC,9082,0.78,146.5,312.0,14.8,291,9086,0.00,2.05,0.00,0.000,4,0.000,0.041,2885,560,2763,0,0,0,0,0,0
$GC,9184,0.78,146.5,297.1,14.6,293,9190,0.12,2.10,0.00,0.000,6,0.208,0.035,2857,1964,2762,0,0,0,0,0,0
$GC,9438,0.78,146.5,264.2,12.3,306,9442,0.00,2.17,0.00,0.000,4,0.000,0.050,2857,3371,2762,0,0,0,0,0,0
$GC,9470,0.78,146.5,259.5,13.6,307,9474,0.00,2.10,0.00,0.000,6,0.000,0.031,2866,1951,2762,0,0,0,0,0,0
$GC,9730,0.78,146.5,222.5,14.6,320,9734,0.00,2.20,0.00,0.000,4,0.000,0.052,2867,3363,2762,0,0,0,0,0,0
$GC,9786,0.78,146.5,213.8,15.2,322,9792,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1966,2762,0,0,0,0,0,0
$GC,10047,0.78,146.5,180.9,13.1,342,10051,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,550,2762,0,0,0,0,0,0
$GC,10300,0.78,146.5,148.8,11.4,364,10309,0.10,2.12,0.00,0.000,6,0.189,0.033,2860,1971,2762,0,0,0,0,0,0
$GC,10566,0.78,146.5,118.7,12.5,389,10570,0.00,2.12,0.00,0.000,4,0.000,0.049,2860,3357,2762,0,0,0,0,0,0
$GC,10761,0.78,146.5,98.3,9.4,406,10765,0.00,2.10,0.00,0.000,6,0.000,0.029,2869,1945,2763,0,0,0,0,0,0
$GC,11024,0.78,146.5,74.3,10.2,430,11028,0.00,2.20,0.00,0.000,4,0.000,0.048,2869,3358,2763,0,0,0,0,0,0
$GC,11231,0.82,174.8,55.6,7.5,448,11256,0.00,2.05,20.45,0.518,6,0.000,0.029,2879,1956,2667,0,0,0,0,0,0
$GC,11513,0.82,174.8,29.8,9.2,474,11521,0.00,2.20,0.00,0.000,4,0.000,0.045,2879,3358,2666,0,0,0,0,0,0
$GC,11762,0.87,217.6,9.9,6.9,520,11803,0.00,2.10,34.95,0.479,6,0.000,0.029,2890,1957,2492,0,0,0,0,0,0
$STATE,11839,end climb,SURFACE_DEPTH_REACHED
$STATE,11839,begin surface coast
$FINISH,0.2,1.023272
$STATE,11867,end surface coast,CONTROL_FINISHED_OK
$STATE,11867,begin surface
$SM_CCo,11884,8.77,0.420,0,0,2400,240.14
$SM_GC,2.78,0.00,0.00,8.77,0.000,0.000,0.420,58,1957,2400,-7.95,-0.93,240.14
$IRIDIUM_FIX,1925.22,-15650.79,190113,191907
$TT8_MAMPS,0.026845
$HUMID,1078964506
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.1,20.733
$10V_AH,10.4,19.639
$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,19.425,120.425,297.525,8.775,0.000,30.193,41.341,225.592,0.000,0.000,14.911,1164.401,8368.950,361.952,2092.800,340.403,33.358,1128.341,0.000,1821.249,0.000,0.540,0.000
$DEVICE_MAMPS,243.906,56.758,1127.490,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.800,0.000,942.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353740
$DATA_FILE_SIZE,26939,537
$CAP_FILE_SIZE,146519,0
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,084406,1929.813,-15650.160,535,1.2,536,9.6