version: 66.07
glider: 513
mission: 7
dive: 528
start: 9 26 111 2 38 12
data:
$ID,513
$MISSION,7
$DIVE,528
$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,-433998.28
$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,55
$R_STBD_OVSHOOT,70
$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
$GPS1,260911,023006,1941.397,-15629.040,31,1.1,31,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.4
$GPS2,260911,023716,1941.381,-15628.943,9,2.1,28,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.032,-0.237
$KALMAN_X,23536.1,-538.8,-1388.7,21558.4,8837.3
$KALMAN_Y,-571785.0,-326.8,123.2,538087.6,2414.6
$MHEAD_RNG_PITCHd_Wd,189.6,76659,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.80,-136.7,0.0,0.0,0,74,0.00,0.00,-52.83,0.000,2,0.000,0.000,39,2132,3552,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.0,-3.5,8,102,10.10,2.17,-5.50,0.000,4,0.245,0.062,2322,3480,3859,0,0,0,0,0,0
$GC,266,-0.80,-136.7,60.2,-24.9,30,270,0.00,2.10,0.00,0.000,6,0.000,0.033,2322,2104,3863,0,0,0,0,0,0
$GC,535,-0.80,-136.7,129.6,-25.0,55,539,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3474,3864,0,0,0,0,0,0
$GC,569,-0.80,-136.7,137.4,-20.4,57,576,0.00,2.10,0.00,0.000,6,0.000,0.029,2311,2091,3864,0,0,0,0,0,0
$GC,835,-0.80,-136.7,196.8,-20.8,82,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2085,3867,0,0,0,0,0,0
$GC,1102,-0.80,-136.7,247.2,-17.9,96,1105,0.00,2.10,0.00,0.000,4,0.000,0.038,2311,701,3867,0,0,0,0,0,0
$GC,1143,-0.80,-136.7,254.7,-18.5,98,1148,0.15,2.08,0.00,0.000,6,0.165,0.039,2340,2068,3868,0,0,0,0,0,0
$GC,1408,-0.80,-136.7,296.4,-15.6,111,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2067,3869,0,0,0,0,0,0
$GC,1653,-0.80,-136.7,330.0,-13.4,118,1657,0.00,2.25,0.00,0.000,4,0.000,0.051,2330,3509,3868,0,0,0,0,0,0
$GC,1681,-0.80,-136.7,334.2,-13.9,118,1685,0.00,2.10,0.00,0.000,6,0.000,0.030,2330,2094,3869,0,0,0,0,0,0
$GC,1931,-0.80,-136.7,368.2,-13.6,124,1935,0.00,2.10,0.00,0.000,4,0.000,0.038,2330,695,3868,0,0,0,0,0,0
$GC,1947,-0.80,-136.7,370.8,-13.7,124,1951,0.00,2.12,0.00,0.000,6,0.000,0.039,2320,2099,3869,0,0,0,0,0,0
$GC,2212,-0.80,-136.7,409.4,-14.9,131,2216,0.00,2.20,0.00,0.000,4,0.000,0.048,2310,3508,3868,0,0,0,0,0,0
$GC,2262,-0.80,-136.7,417.8,-14.8,132,2266,0.12,2.12,0.00,0.000,6,0.164,0.030,2341,2098,3867,0,0,0,0,0,0
$GC,2536,-0.80,-136.7,454.6,-13.5,139,2540,0.00,2.10,0.00,0.000,4,0.000,0.041,2341,703,3865,0,0,0,0,0,0
$GC,2558,-0.80,-136.7,457.8,-13.0,139,2562,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,2099,3865,0,0,0,0,0,0
$GC,2813,-0.80,-136.7,490.2,-12.6,146,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2099,3864,0,0,0,0,0,0
$GC,3058,-0.80,-136.7,521.0,-12.6,152,3062,0.00,2.22,0.00,0.000,4,0.000,0.050,2322,3514,3862,0,0,0,0,0,0
$GC,3131,-0.80,-136.7,530.3,-12.0,153,3135,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2101,3861,0,0,0,0,0,0
$GC,3383,-0.80,-136.7,561.8,-12.7,159,3387,0.00,2.12,0.00,0.000,4,0.000,0.042,2322,702,3859,0,0,0,0,0,0
$GC,3399,-0.80,-136.7,564.5,-13.3,159,3403,0.00,2.12,0.00,0.000,6,0.000,0.040,2312,2100,3859,0,0,0,0,0,0
$GC,3660,-0.80,-136.7,598.8,-13.2,166,3664,0.00,2.20,0.00,0.000,4,0.000,0.049,2301,3511,3856,0,0,0,0,0,0
$GC,3688,-0.80,-136.7,602.5,-13.1,166,3693,0.15,2.15,0.00,0.000,6,0.169,0.031,2339,2092,3856,0,0,0,0,0,0
$GC,3940,-0.80,-136.7,628.0,-10.0,172,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2087,3854,0,0,0,0,0,0
$GC,4182,-0.80,-136.7,650.5,-9.2,178,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2087,3852,0,0,0,0,0,0
$GC,4427,-0.80,-136.7,674.4,-10.1,184,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2087,3851,0,0,0,0,0,0
$GC,4669,-0.80,-136.7,701.4,-11.4,190,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2087,3848,0,0,0,0,0,0
$GC,4913,-0.80,-136.7,731.3,-12.4,196,4917,0.00,2.12,0.00,0.000,4,0.000,0.041,2339,701,3847,0,0,0,0,0,0
$GC,4955,-0.80,-136.7,736.6,-13.8,197,4959,0.00,2.15,0.00,0.000,6,0.000,0.039,2331,2105,3846,0,0,0,0,0,0
$GC,5239,-0.80,-136.7,774.4,-13.3,204,5243,0.00,2.25,0.00,0.000,4,0.000,0.052,2320,3517,3844,0,0,0,0,0,0
$GC,5279,-0.80,-136.7,779.6,-13.5,205,5283,0.00,2.15,0.00,0.000,6,0.000,0.032,2320,2110,3844,0,0,0,0,0,0
$GC,5564,-0.80,-136.7,816.6,-12.8,212,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2105,3842,0,0,0,0,0,0
$GC,5806,-0.80,-136.7,845.8,-11.8,218,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2104,3841,0,0,0,0,0,0
$GC,6051,-0.80,-136.7,873.8,-11.5,224,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2105,3839,0,0,0,0,0,0
$STATE,6291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6291,begin apogee
$GC,6298,-0.28,0.0,901.4,11.5,230,6416,0.62,0.00,115.18,1.068,6,0.146,0.000,2504,1938,3300,0,0,0,0,0,0
$STATE,6417,end apogee,CONTROL_FINISHED_OK
$STATE,6418,begin climb
$GC,6420,0.80,136.7,905.7,0.0,233,6556,1.05,2.50,123.32,1.032,4,0.094,0.049,2848,3361,2742,0,0,0,0,0,0
$GC,6567,0.80,136.7,891.8,16.0,236,6572,0.00,2.25,0.00,0.000,6,0.000,0.030,2858,1964,2740,0,0,0,0,0,0
$GC,6818,0.80,136.7,846.9,18.2,242,6822,0.00,2.20,0.00,0.000,4,0.000,0.039,2869,554,2733,0,0,0,0,0,0
$GC,6852,0.80,136.7,840.7,18.1,242,6859,0.00,2.17,0.00,0.000,6,0.000,0.034,2869,1959,2731,0,0,0,0,0,0
$GC,7102,0.80,136.7,794.9,18.3,249,7106,0.00,2.28,0.00,0.000,4,0.000,0.050,2869,3367,2731,0,0,0,0,0,0
$GC,7152,0.80,136.7,785.0,19.6,250,7156,0.00,2.17,0.00,0.000,6,0.000,0.030,2879,1950,2731,0,0,0,0,0,0
$GC,7427,0.80,136.7,733.3,19.1,257,7431,0.00,2.12,0.00,0.000,4,0.000,0.038,2891,552,2730,0,0,0,0,0,0
$GC,7466,0.80,136.7,725.3,20.4,258,7471,0.15,2.15,0.00,0.000,6,0.197,0.033,2856,1962,2727,0,0,0,0,0,0
$GC,7753,0.80,136.7,675.7,17.3,265,7758,0.00,2.25,0.00,0.000,4,0.000,0.051,2855,3362,2727,0,0,0,0,0,0
$GC,7826,0.80,136.7,661.3,19.4,266,7830,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1951,2727,0,0,0,0,0,0
$GC,8078,0.80,136.7,617.5,17.7,272,8081,0.00,2.10,0.00,0.000,4,0.000,0.038,2876,564,2726,0,0,0,0,0,0
$GC,8118,0.80,136.7,610.1,19.0,273,8122,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1962,2724,0,0,0,0,0,0
$GC,8401,0.80,136.7,556.8,18.5,280,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1964,2724,0,0,0,0,0,0
$GC,8647,0.80,136.7,511.4,18.8,286,8651,0.00,2.25,0.00,0.000,4,0.000,0.051,2876,3366,2724,0,0,0,0,0,0
$GC,8783,0.80,136.7,486.1,17.6,289,8787,0.12,2.15,0.00,0.000,6,0.200,0.030,2856,1954,2724,0,0,0,0,0,0
$GC,9069,0.80,136.7,443.8,14.4,296,9073,0.00,2.12,0.00,0.000,4,0.000,0.039,2866,560,2724,0,0,0,0,0,0
$GC,9097,0.80,136.7,439.2,14.5,296,9101,0.00,2.12,0.00,0.000,6,0.000,0.032,2866,1960,2722,0,0,0,0,0,0
$GC,9353,0.80,136.7,402.5,14.6,303,9357,0.00,2.22,0.00,0.000,4,0.000,0.051,2867,3363,2722,0,0,0,0,0,0
$GC,9410,0.80,136.7,393.3,16.7,304,9414,0.00,2.12,0.00,0.000,6,0.000,0.029,2876,1962,2723,0,0,0,0,0,0
$GC,9677,0.80,136.7,351.9,15.2,311,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1961,2722,0,0,0,0,0,0
$GC,9922,0.80,136.7,315.7,14.8,317,9926,0.00,2.22,0.00,0.000,4,0.000,0.049,2876,3366,2722,0,0,0,0,0,0
$GC,9971,0.80,136.7,308.2,15.0,318,9975,0.12,2.15,0.00,0.000,6,0.201,0.030,2856,1948,2722,0,0,0,0,0,0
$GC,10225,0.80,136.7,277.2,11.1,329,10229,0.00,2.25,0.00,0.000,4,0.000,0.048,2855,3369,2722,0,0,0,0,0,0
$GC,10289,0.80,136.7,269.7,12.4,332,10293,0.00,2.12,0.00,0.000,6,0.000,0.028,2864,1961,2722,0,0,0,0,0,0
$GC,10554,0.80,136.7,237.5,11.3,345,10558,0.00,2.12,0.00,0.000,4,0.000,0.038,2874,560,2721,0,0,0,0,0,0
$GC,10729,0.80,136.7,218.0,10.3,353,10733,0.00,2.12,0.00,0.000,6,0.000,0.031,2875,1974,2720,0,0,0,0,0,0
$GC,10987,0.80,136.7,193.3,9.6,368,10991,0.00,2.20,0.00,0.000,4,0.000,0.049,2875,3359,2721,0,0,0,0,0,0
$GC,11019,0.80,136.7,189.6,10.4,370,11029,0.08,2.17,0.00,0.000,6,0.173,0.030,2861,1962,2721,0,0,0,0,0,0
$GC,11283,0.84,174.6,166.9,7.0,395,11319,0.00,2.15,29.65,0.563,4,0.000,0.036,2870,560,2586,0,0,0,0,0,0
$GC,11379,0.84,174.6,158.6,10.3,403,11383,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1960,2584,0,0,0,0,0,0
$GC,11644,0.84,174.6,131.1,9.6,427,11648,0.00,2.28,0.00,0.000,4,0.000,0.048,2870,3371,2584,0,0,0,0,0,0
$GC,11870,0.84,174.6,106.3,10.4,446,11879,0.00,2.17,0.00,0.000,6,0.000,0.027,2877,1960,2584,0,0,0,0,0,0
$GC,12136,0.84,174.6,78.5,10.4,471,12140,0.00,2.22,0.00,0.000,4,0.000,0.045,2877,3364,2584,0,0,0,0,0,0
$GC,12258,0.84,174.6,64.9,10.7,481,12266,0.00,2.17,0.00,0.000,6,0.000,0.027,2886,1949,2585,0,0,0,0,0,0
$GC,12522,0.85,181.3,42.2,8.3,506,12532,0.00,0.00,7.65,0.392,6,0.000,0.000,2886,1945,2559,0,0,0,0,0,0
$GC,12788,0.85,182.9,20.4,8.5,542,12797,0.00,2.25,0.00,0.000,4,0.000,0.044,2886,3363,2560,0,0,0,0,0,0
$GC,12938,0.85,182.9,7.5,8.6,568,12946,0.00,2.15,0.00,0.000,6,0.000,0.027,2893,1957,2560,0,0,0,0,0,0
$STATE,12992,end climb,SURFACE_DEPTH_REACHED
$STATE,12992,begin surface coast
$FINISH,0.5,1.023147
$STATE,13029,end surface coast,CONTROL_FINISHED_OK
$STATE,13029,begin surface
$SM_CCo,13048,61.67,0.417,0,0,2075,300.24
$SM_GC,1.13,0.00,0.00,61.67,0.000,0.000,0.417,58,2125,2075,-7.94,0.74,300.24
$IRIDIUM_FIX,1936.66,-15631.55,200313,171739
$TT8_MAMPS,0.027612
$HUMID,1078916764
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.3,71.618
$10V_AH,9.2,66.341
$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,20.350,126.275,275.800,61.675,0.000,29.383,34.062,188.842,0.250,0.000,31.050,1336.423,9160.495,440.520,2155.240,443.468,33.364,1222.677,0.000,1920.393,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,62.894,1067.664,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.843,0.000,1001.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,30288,583
$CAP_FILE_SIZE,156728,0
$CFSIZE,260165632,167219200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,106.5,1
$GPS,260911,061807,1939.635,-15628.934,42,0.8,43,9.7