version: 66.07
glider: 513
mission: 7
dive: 155
start: 7 28 111 19 43 56
data:
$ID,513
$MISSION,7
$DIVE,155
$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,-424060.25
$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,49
$R_STBD_OVSHOOT,42
$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
$GPS1,280711,193551,1926.712,-15651.305,109,3.7,128,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-79.6
$GPS2,280711,194302,1926.714,-15651.377,11,1.4,17,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.080,-0.233
$KALMAN_X,-38127.0,1357.2,462.5,15109.8,-8935.1
$KALMAN_Y,58054.3,-505.3,-603.3,-96815.2,9121.9
$MHEAD_RNG_PITCHd_Wd,151.5,50718,-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,-46.17,0.000,2,0.000,0.000,38,2005,3800,0,0,0,0,0,0
$GC,68,-0.78,-146.5,4.3,-7.8,7,90,9.50,2.25,-2.62,0.000,4,0.243,0.071,2329,3382,3965,0,0,0,0,0,0
$GC,340,-0.78,-146.5,95.0,-26.6,35,345,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,1984,3969,0,0,0,0,0,0
$GC,605,-0.78,-146.5,158.6,-20.7,59,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1979,3972,0,0,0,0,0,0
$GC,875,-0.78,-146.5,218.0,-20.8,81,879,0.00,2.17,0.00,0.000,4,0.000,0.050,2328,3394,3973,0,0,0,0,0,0
$GC,965,-0.78,-146.5,237.0,-19.9,85,968,0.00,2.10,0.00,0.000,6,0.000,0.033,2328,1991,3974,0,0,0,0,0,0
$GC,1234,-0.78,-146.5,287.8,-17.7,98,1238,0.00,2.10,0.00,0.000,4,0.000,0.044,2327,596,3974,0,0,0,0,0,0
$GC,1312,-0.78,-146.5,302.6,-16.8,101,1318,0.10,2.10,0.00,0.000,6,0.181,0.044,2341,1984,3975,0,0,0,0,0,0
$GC,1563,-0.78,-146.5,344.3,-17.2,108,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1985,3975,0,0,0,0,0,0
$GC,1805,-0.78,-146.5,385.8,-17.1,114,1809,0.00,2.17,0.00,0.000,4,0.000,0.054,2332,3396,3975,0,0,0,0,0,0
$GC,1878,-0.78,-146.5,397.9,-15.6,115,1882,0.00,2.10,0.00,0.000,6,0.000,0.035,2332,1994,3974,0,0,0,0,0,0
$GC,2129,-0.78,-146.5,437.7,-16.2,121,2133,0.00,2.12,0.00,0.000,4,0.000,0.046,2332,585,3972,0,0,0,0,0,0
$GC,2178,-0.78,-146.5,445.9,-15.6,122,2182,0.00,2.12,0.00,0.000,6,0.000,0.046,2322,1993,3972,0,0,0,0,0,0
$GC,2456,-0.78,-146.5,492.4,-17.2,129,2460,0.00,2.17,0.00,0.000,4,0.000,0.051,2311,3396,3970,0,0,0,0,0,0
$GC,2496,-0.78,-146.5,499.4,-17.7,130,2501,0.12,2.10,0.00,0.000,6,0.169,0.035,2342,1986,3970,0,0,0,0,0,0
$GC,2781,-0.78,-146.5,539.4,-13.8,137,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1981,3968,0,0,0,0,0,0
$GC,3024,-0.78,-146.5,571.5,-13.2,143,3028,0.00,2.22,0.00,0.000,4,0.000,0.054,2334,3396,3966,0,0,0,0,0,0
$GC,3165,-0.78,-146.5,590.4,-13.2,146,3169,0.00,2.10,0.00,0.000,6,0.000,0.036,2334,1995,3964,0,0,0,0,0,0
$GC,3443,-0.78,-146.5,628.2,-13.8,153,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1990,3963,0,0,0,0,0,0
$GC,3686,-0.78,-146.5,661.2,-13.4,159,3690,0.00,2.22,0.00,0.000,4,0.000,0.057,2323,3397,3960,0,0,0,0,0,0
$GC,3718,-0.78,-146.5,665.7,-13.3,159,3724,0.00,2.12,0.00,0.000,6,0.000,0.036,2323,1987,3960,0,0,0,0,0,0
$GC,3969,-0.78,-146.5,700.6,-14.3,166,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1982,3958,0,0,0,0,0,0
$GC,4212,-0.78,-146.5,735.9,-14.5,172,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1981,3956,0,0,0,0,0,0
$GC,4456,-0.78,-146.5,770.5,-14.1,178,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1981,3955,0,0,0,0,0,0
$GC,4700,-0.78,-146.5,804.3,-13.8,184,4704,0.00,2.22,0.00,0.000,4,0.000,0.057,2312,3401,3953,0,0,0,0,0,0
$GC,4761,-0.78,-146.5,813.6,-14.3,185,4766,0.10,2.15,0.00,0.000,6,0.150,0.035,2343,2003,3952,0,0,0,0,0,0
$GC,5029,-0.78,-146.5,847.0,-12.5,192,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1997,3950,0,0,0,0,0,0
$GC,5272,-0.78,-146.5,875.8,-11.6,198,5276,0.00,2.17,0.00,0.000,4,0.000,0.055,2335,3392,3948,0,0,0,0,0,0
$GC,5304,-0.78,-146.5,879.9,-11.6,198,5310,0.00,2.15,0.00,0.000,6,0.000,0.036,2334,1980,3948,0,0,0,0,0,0
$STATE,5511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5512,begin apogee
$GC,5518,-0.28,0.0,904.2,11.7,204,5637,0.57,0.00,115.85,1.130,6,0.148,0.000,2508,1975,3380,0,0,0,0,0,0
$STATE,5638,end apogee,CONTROL_FINISHED_OK
$STATE,5638,begin climb
$GC,5641,0.78,146.5,907.4,0.0,207,5775,1.00,2.30,126.32,1.085,4,0.090,0.037,2856,547,2781,0,0,0,0,0,0
$GC,5797,0.78,146.5,890.6,18.3,210,5803,0.00,2.28,0.00,0.000,6,0.000,0.037,2847,1961,2777,0,0,0,0,0,0
$GC,6047,0.78,146.5,842.5,19.2,217,6051,0.00,2.25,0.00,0.000,4,0.000,0.054,2837,3366,2773,0,0,0,0,0,0
$GC,6104,0.78,146.5,831.8,18.6,218,6108,0.00,2.15,0.00,0.000,6,0.000,0.032,2846,1955,2773,0,0,0,0,0,0
$GC,6376,0.78,146.5,781.7,18.3,225,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1951,2771,0,0,0,0,0,0
$GC,6619,0.78,146.5,736.0,18.7,231,6623,0.00,2.10,0.00,0.000,4,0.000,0.041,2856,557,2770,0,0,0,0,0,0
$GC,6660,0.78,146.5,728.4,19.4,232,6664,0.00,2.15,0.00,0.000,6,0.000,0.037,2848,1964,2767,0,0,0,0,0,0
$GC,6944,0.78,146.5,674.1,19.2,239,6948,0.00,2.20,0.00,0.000,4,0.000,0.054,2837,3365,2767,0,0,0,0,0,0
$GC,6966,0.78,146.5,669.8,20.0,239,6970,0.00,2.12,0.00,0.000,6,0.000,0.033,2846,1958,2767,0,0,0,0,0,0
$GC,7221,0.78,146.5,623.0,18.1,246,7225,0.00,2.10,0.00,0.000,4,0.000,0.041,2857,556,2767,0,0,0,0,0,0
$GC,7293,0.78,146.5,609.5,18.4,247,7297,0.00,2.12,0.00,0.000,6,0.000,0.036,2849,1961,2765,0,0,0,0,0,0
$GC,7555,0.78,146.5,562.3,18.1,254,7559,0.00,2.20,0.00,0.000,4,0.000,0.052,2838,3363,2765,0,0,0,0,0,0
$GC,7577,0.78,146.5,558.0,18.8,254,7581,0.00,2.15,0.00,0.000,6,0.000,0.032,2847,1956,2765,0,0,0,0,0,0
$GC,7838,0.78,146.5,512.5,17.6,261,7842,0.00,2.22,0.00,0.000,4,0.000,0.051,2838,3365,2765,0,0,0,0,0,0
$GC,7928,0.78,146.5,496.0,18.4,263,7933,0.00,2.10,0.00,0.000,6,0.000,0.032,2847,1957,2765,0,0,0,0,0,0
$GC,8206,0.78,146.5,450.4,16.2,270,8210,0.00,2.10,0.00,0.000,4,0.000,0.041,2858,558,2764,0,0,0,0,0,0
$GC,8274,0.78,146.5,439.1,16.8,271,8278,0.00,2.10,0.00,0.000,6,0.000,0.036,2850,1965,2762,0,0,0,0,0,0
$GC,8534,0.78,146.5,398.5,15.3,278,8538,0.00,2.10,0.00,0.000,4,0.000,0.041,2859,561,2762,0,0,0,0,0,0
$GC,8613,0.78,146.5,385.6,17.5,279,8619,0.00,2.10,0.00,0.000,6,0.000,0.039,2859,1956,2762,0,0,0,0,0,0
$GC,8863,0.78,146.5,346.1,15.7,286,8867,0.00,2.20,0.00,0.000,4,0.000,0.053,2859,3372,2762,0,0,0,0,0,0
$GC,8918,0.78,146.5,337.2,16.2,287,8922,0.00,2.15,0.00,0.000,6,0.000,0.033,2869,1960,2762,0,0,0,0,0,0
$GC,9192,0.78,146.5,298.1,13.7,294,9196,0.00,2.12,0.00,0.000,4,0.000,0.041,2880,552,2762,0,0,0,0,0,0
$GC,9354,0.78,146.5,273.2,15.2,301,9358,0.00,2.15,0.00,0.000,6,0.000,0.038,2881,1961,2761,0,0,0,0,0,0
$GC,9613,0.78,146.5,236.8,13.3,314,9617,0.00,2.12,0.00,0.000,4,0.000,0.041,2891,554,2761,0,0,0,0,0,0
$GC,9744,0.78,146.5,219.4,13.5,320,9749,0.15,2.10,0.00,0.000,6,0.202,0.038,2855,1966,2760,0,0,0,0,0,0
$GC,10002,0.78,146.5,191.0,11.0,336,10006,0.00,2.15,0.00,0.000,4,0.000,0.041,2864,551,2761,0,0,0,0,0,0
$GC,10033,0.78,146.5,187.6,11.8,338,10037,0.00,2.10,0.00,0.000,6,0.000,0.038,2864,1956,2760,0,0,0,0,0,0
$GC,10297,0.78,146.5,154.3,12.7,362,10301,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3364,2761,0,0,0,0,0,0
$GC,10415,0.78,146.5,139.1,11.1,372,10420,0.00,2.10,0.00,0.000,6,0.000,0.030,2874,1954,2761,0,0,0,0,0,0
$GC,10678,0.78,146.5,111.4,9.4,396,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1949,2761,0,0,0,0,0,0
$GC,10933,0.78,146.5,86.4,9.2,420,10937,0.00,2.20,0.00,0.000,4,0.000,0.047,2874,3366,2761,0,0,0,0,0,0
$GC,11185,0.78,146.5,58.0,11.7,442,11194,0.10,2.10,0.00,0.000,6,0.174,0.030,2855,1967,2763,0,0,0,0,0,0
$GC,11451,0.87,214.4,40.0,5.9,467,11507,0.00,2.20,50.97,0.512,4,0.000,0.048,2855,3371,2505,0,0,0,0,0,0
$GC,11555,0.87,214.4,30.0,12.9,476,11563,0.00,2.15,0.00,0.000,6,0.000,0.031,2863,1969,2504,0,0,0,0,0,0
$GC,11824,0.90,243.9,4.9,7.4,525,11846,0.00,0.00,19.60,0.460,2,0.000,0.000,2863,1964,2392,0,0,0,0,0,0
$STATE,11847,end climb,SURFACE_DEPTH_REACHED
$STATE,11847,begin surface coast
$FINISH,-0.0,1.023251
$STATE,11883,end surface coast,CONTROL_FINISHED_OK
$STATE,11883,begin surface
$SM_CCo,11961,0.00,0.000,0,0,2385,244.07
$SM_GC,1.47,7.53,0.00,0.00,0.052,0.000,0.000,61,1964,2385,-7.88,-0.74,244.07
$IRIDIUM_FIX,1920.65,-15651.69,200113,101012
$TT8_MAMPS,0.026845
$HUMID,1078950313
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.1,21.205
$10V_AH,10.4,20.010
$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,19.175,111.900,312.750,0.000,0.000,30.379,34.234,218.404,0.000,0.000,19.556,1168.912,8361.760,357.638,2141.295,356.290,33.350,1146.276,0.000,1880.754,0.000,0.540,0.000
$DEVICE_MAMPS,243.139,71.331,1129.791,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.760,0.000,929.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26974,534
$CAP_FILE_SIZE,146394,0
$CFSIZE,260165632,194482176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,230544,1925.575,-15651.221,90,2.2,109,9.6