version: 66.07
glider: 513
mission: 7
dive: 154
start: 7 28 111 16 12 45
data:
$ID,513
$MISSION,7
$DIVE,154
$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,-424040.06
$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,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,51
$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
$GPS1,280711,155536,1928.467,-15650.846,169,1.3,170,9.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.1
$GPS2,280711,161149,1927.775,-15651.153,14,1.5,31,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.081,-0.233
$KALMAN_X,-37109.6,1307.8,701.2,14295.0,-9846.8
$KALMAN_Y,55334.6,-515.6,-262.6,-92463.5,7581.9
$MHEAD_RNG_PITCHd_Wd,151.2,52556,-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,16,-0.78,-146.5,0.0,0.0,0,65,0.00,0.00,-46.97,0.000,2,0.000,0.000,36,1956,3823,0,0,0,0,0,0
$GC,69,-0.78,-146.5,4.4,-8.6,7,91,9.48,2.30,-2.22,0.000,4,0.242,0.067,2326,3380,3964,0,0,0,0,0,0
$GC,276,-0.78,-146.5,71.7,-25.1,29,280,0.00,2.12,0.00,0.000,6,0.000,0.035,2328,1986,3967,0,0,0,0,0,0
$GC,539,-0.78,-146.5,141.6,-22.8,53,543,0.00,2.20,0.00,0.000,4,0.000,0.053,2320,3389,3970,0,0,0,0,0,0
$GC,559,-0.78,-146.5,146.0,-23.5,54,563,0.00,2.10,0.00,0.000,6,0.000,0.031,2320,1983,3970,0,0,0,0,0,0
$GC,820,-0.78,-146.5,211.4,-22.8,76,824,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3391,3971,0,0,0,0,0,0
$GC,837,-0.78,-146.5,215.4,-22.5,77,842,0.15,2.12,0.00,0.000,6,0.177,0.031,2346,1975,3971,0,0,0,0,0,0
$GC,1101,-0.78,-146.5,267.2,-20.0,90,1105,0.00,2.22,0.00,0.000,4,0.000,0.054,2337,3388,3972,0,0,0,0,0,0
$GC,1285,-0.78,-146.5,299.2,-16.9,98,1289,0.00,2.10,0.00,0.000,6,0.000,0.032,2337,1990,3972,0,0,0,0,0,0
$GC,1541,-0.78,-146.5,341.6,-16.4,105,1545,0.00,2.08,0.00,0.000,4,0.000,0.041,2337,585,3972,0,0,0,0,0,0
$GC,1591,-0.78,-146.5,349.8,-15.1,106,1595,0.00,2.15,0.00,0.000,6,0.000,0.047,2328,1974,3972,0,0,0,0,0,0
$GC,1875,-0.78,-146.5,394.9,-15.7,113,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1973,3971,0,0,0,0,0,0
$GC,2120,-0.78,-146.5,431.8,-14.8,119,2124,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3402,3970,0,0,0,0,0,0
$GC,2242,-0.78,-146.5,450.6,-15.1,121,2249,0.12,2.12,0.00,0.000,6,0.169,0.034,2348,1988,3968,0,0,0,0,0,0
$GC,2493,-0.78,-146.5,484.1,-13.4,128,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1982,3966,0,0,0,0,0,0
$GC,2736,-0.78,-146.5,516.5,-13.2,134,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1983,3964,0,0,0,0,0,0
$GC,2980,-0.78,-146.5,547.2,-12.5,140,2984,0.00,2.22,0.00,0.000,4,0.000,0.058,2339,3398,3962,0,0,0,0,0,0
$GC,3075,-0.78,-146.5,559.1,-12.0,142,3079,0.00,2.12,0.00,0.000,6,0.000,0.035,2339,1995,3961,0,0,0,0,0,0
$GC,3352,-0.78,-146.5,594.4,-12.7,149,3356,0.00,2.20,0.00,0.000,4,0.000,0.058,2329,3396,3957,0,0,0,0,0,0
$GC,3381,-0.78,-146.5,598.2,-14.0,149,3385,0.00,2.15,0.00,0.000,6,0.000,0.037,2328,1984,3957,0,0,0,0,0,0
$GC,3630,-0.78,-146.5,631.4,-13.3,155,3634,0.00,2.08,0.00,0.000,4,0.000,0.043,2329,588,3955,0,0,0,0,0,0
$GC,3646,-0.78,-146.5,633.9,-13.4,155,3650,0.00,2.12,0.00,0.000,6,0.000,0.048,2317,1992,3955,0,0,0,0,0,0
$GC,3920,-0.78,-146.5,675.9,-15.9,162,3925,0.10,2.22,0.00,0.000,4,0.192,0.057,2331,3395,3953,0,0,0,0,0,0
$GC,3952,-0.78,-146.5,681.2,-15.0,162,3958,0.00,2.15,0.00,0.000,6,0.000,0.038,2331,1983,3952,0,0,0,0,0,0
$GC,4202,-0.78,-146.5,717.9,-14.8,169,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1978,3950,0,0,0,0,0,0
$GC,4447,-0.78,-146.5,754.2,-14.9,175,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1979,3948,0,0,0,0,0,0
$GC,4690,-0.78,-146.5,790.4,-14.9,181,4694,0.00,2.22,0.00,0.000,4,0.000,0.056,2321,3399,3947,0,0,0,0,0,0
$GC,4733,-0.78,-146.5,797.1,-14.4,182,4737,0.00,2.12,0.00,0.000,6,0.000,0.035,2320,1990,3946,0,0,0,0,0,0
$GC,5018,-0.78,-146.5,840.3,-15.3,189,5022,0.00,2.25,0.00,0.000,4,0.000,0.058,2309,3401,3945,0,0,0,0,0,0
$GC,5051,-0.78,-146.5,845.9,-16.1,189,5058,0.12,2.15,0.00,0.000,6,0.172,0.035,2341,1983,3945,0,0,0,0,0,0
$GC,5302,-0.78,-146.5,879.9,-13.6,196,5306,0.00,2.22,0.00,0.000,4,0.000,0.056,2332,3398,3943,0,0,0,0,0,0
$GC,5330,-0.78,-146.5,883.9,-14.1,196,5334,0.00,2.15,0.00,0.000,6,0.000,0.034,2332,1995,3942,0,0,0,0,0,0
$STATE,5460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5460,begin apogee
$GC,5466,-0.28,0.0,902.1,13.7,200,5584,0.57,0.00,114.55,1.126,6,0.149,0.000,2505,1989,3380,0,0,0,0,0,0
$STATE,5585,end apogee,CONTROL_FINISHED_OK
$STATE,5585,begin climb
$GC,5588,0.78,146.5,907.4,0.0,203,5722,1.00,2.30,125.90,1.084,4,0.094,0.038,2853,555,2783,0,0,0,0,0,0
$GC,5739,0.78,146.5,893.9,16.4,206,5743,0.00,2.25,0.00,0.000,6,0.000,0.038,2853,1959,2779,0,0,0,0,0,0
$GC,5996,0.78,146.5,845.5,18.9,213,6000,0.00,2.28,0.00,0.000,4,0.000,0.057,2853,3367,2775,0,0,0,0,0,0
$GC,6028,0.78,146.5,838.7,20.3,213,6032,0.00,2.20,0.00,0.000,6,0.000,0.032,2863,1952,2775,0,0,0,0,0,0
$GC,6285,0.78,146.5,789.0,19.3,220,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1950,2773,0,0,0,0,0,0
$GC,6528,0.78,146.5,744.2,18.3,226,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1949,2772,0,0,0,0,0,0
$GC,6772,0.78,146.5,698.6,18.8,232,6775,0.00,2.10,0.00,0.000,4,0.000,0.041,2874,555,2771,0,0,0,0,0,0
$GC,6857,0.78,146.5,682.1,19.8,234,6861,0.00,2.15,0.00,0.000,6,0.000,0.038,2873,1971,2768,0,0,0,0,0,0
$GC,7146,0.78,146.5,625.5,19.5,241,7150,0.00,2.15,0.00,0.000,4,0.000,0.039,2882,551,2768,0,0,0,0,0,0
$GC,7179,0.78,146.5,618.6,20.6,241,7185,0.00,2.15,0.00,0.000,6,0.000,0.038,2881,1965,2767,0,0,0,0,0,0
$GC,7430,0.78,146.5,569.7,19.9,248,7434,0.00,2.22,0.00,0.000,4,0.000,0.055,2881,3371,2767,0,0,0,0,0,0
$GC,7469,0.78,146.5,561.7,20.4,249,7474,0.15,2.12,0.00,0.000,6,0.216,0.033,2857,1956,2767,0,0,0,0,0,0
$GC,7754,0.78,146.5,511.5,17.7,256,7758,0.00,2.22,0.00,0.000,4,0.000,0.052,2846,3369,2767,0,0,0,0,0,0
$GC,7849,0.78,146.5,494.3,17.8,258,7853,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1958,2767,0,0,0,0,0,0
$GC,8134,0.78,146.5,448.9,15.5,265,8138,0.00,2.08,0.00,0.000,4,0.000,0.039,2867,555,2766,0,0,0,0,0,0
$GC,8150,0.78,146.5,446.1,15.5,265,8154,0.00,2.12,0.00,0.000,6,0.000,0.036,2859,1969,2764,0,0,0,0,0,0
$GC,8417,0.78,146.5,407.6,14.4,272,8421,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,551,2764,0,0,0,0,0,0
$GC,8473,0.78,146.5,399.0,14.8,273,8478,0.00,2.12,0.00,0.000,6,0.000,0.035,2867,1958,2763,0,0,0,0,0,0
$GC,8746,0.78,146.5,356.4,16.1,280,8750,0.00,2.08,0.00,0.000,4,0.000,0.039,2876,559,2764,0,0,0,0,0,0
$GC,8807,0.78,146.5,346.4,16.8,281,8811,0.00,2.12,0.00,0.000,6,0.000,0.037,2875,1963,2763,0,0,0,0,0,0
$GC,9075,0.78,146.5,304.9,15.1,288,9079,0.00,2.10,0.00,0.000,4,0.000,0.039,2884,555,2763,0,0,0,0,0,0
$GC,9098,0.78,146.5,301.4,14.9,288,9103,0.12,2.12,0.00,0.000,6,0.208,0.035,2856,1966,2762,0,0,0,0,0,0
$GC,9357,0.78,146.5,266.7,13.4,301,9361,0.00,2.12,0.00,0.000,4,0.000,0.038,2864,552,2762,0,0,0,0,0,0
$GC,9582,0.78,146.5,242.2,10.5,311,9586,0.00,2.10,0.00,0.000,6,0.000,0.035,2865,1957,2762,0,0,0,0,0,0
$GC,9846,0.78,146.5,212.3,12.4,324,9850,0.00,2.20,0.00,0.000,4,0.000,0.053,2865,3364,2762,0,0,0,0,0,0
$GC,10103,0.78,146.5,178.9,13.9,342,10110,0.00,2.12,0.00,0.000,6,0.000,0.031,2875,1963,2763,0,0,0,0,0,0
$GC,10366,0.78,146.5,148.9,12.1,367,10370,0.00,2.17,0.00,0.000,4,0.000,0.050,2875,3368,2763,0,0,0,0,0,0
$GC,10475,0.78,146.5,135.6,11.3,376,10479,0.12,2.10,0.00,0.000,6,0.211,0.030,2858,1948,2762,0,0,0,0,0,0
$GC,10744,0.78,146.5,108.7,11.2,401,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1944,2763,0,0,0,0,0,0
$GC,11009,0.81,170.3,81.6,7.6,426,11034,0.00,2.25,16.65,0.533,4,0.000,0.048,2857,3364,2686,0,0,0,0,0,0
$GC,11093,0.81,170.3,74.4,9.3,433,11097,0.00,2.10,0.00,0.000,6,0.000,0.030,2866,1957,2686,0,0,0,0,0,0
$GC,11361,0.82,179.4,50.2,8.2,458,11372,0.00,0.00,9.05,0.478,6,0.000,0.000,2865,1955,2648,0,0,0,0,0,0
$GC,11627,0.82,179.4,24.5,9.5,488,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1955,2648,0,0,0,0,0,0
$GC,11897,0.88,227.2,6.9,6.7,537,11945,0.00,2.15,39.03,0.472,4,0.000,0.039,2877,561,2451,0,0,0,0,0,0
$STATE,11953,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FINISH,0.2,1.002283
$STATE,11992,end surface coast,CONTROL_FINISHED_OK
$STATE,11992,begin surface
$SM_CCo,12013,3.88,0.314,0,0,2400,240.14
$SM_GC,2.82,0.00,0.00,3.88,0.000,0.000,0.314,53,2006,2400,-7.96,0.45,240.14
$IRIDIUM_FIX,1918.37,-15651.69,200113,101055
$TT8_MAMPS,0.026845
$HUMID,1078933539
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.1,21.102
$10V_AH,10.4,19.922
$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,19.475,121.000,305.175,3.875,0.000,85.481,119.823,474.112,0.000,0.000,33.480,1199.563,8442.631,360.701,2601.255,387.793,33.354,1167.634,0.000,1939.859,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,67.496,1125.956,313.703,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.729,0.000,979.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26935,552
$CAP_FILE_SIZE,158006,0
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$GPS,280711,193551,1926.712,-15651.305,109,3.7,128,9.6