version: 66.07
glider: 513
mission: 7
dive: 530
start: 9 26 111 10 12 2
data:
$ID,513
$MISSION,7
$DIVE,530
$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,-434043.28
$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,52
$R_STBD_OVSHOOT,83
$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
$GPS1,260911,100400,1937.702,-15628.702,42,1.8,49,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-80.2
$GPS2,260911,101106,1937.637,-15628.555,12,1.6,28,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.030,-0.237
$KALMAN_X,24419.8,-1893.9,-399.1,21709.0,6754.2
$KALMAN_Y,-569324.0,238.7,-144.6,528398.1,2747.6
$MHEAD_RNG_PITCHd_Wd,193.8,69750,-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,-52.88,0.000,2,0.000,0.000,46,2156,3558,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.1,-3.8,8,101,10.18,2.15,-5.38,0.000,4,0.249,0.068,2321,3469,3859,0,0,0,0,0,0
$GC,176,-0.80,-136.7,38.7,-28.4,22,180,0.00,2.08,0.00,0.000,6,0.000,0.031,2321,2108,3863,0,0,0,0,0,0
$GC,441,-0.80,-136.7,113.5,-27.5,46,445,0.00,2.17,0.00,0.000,4,0.000,0.048,2311,3473,3864,0,0,0,0,0,0
$GC,529,-0.80,-136.7,135.5,-22.6,53,533,0.00,2.08,0.00,0.000,6,0.000,0.029,2311,2086,3864,0,0,0,0,0,0
$GC,792,-0.80,-136.7,190.2,-19.7,77,796,0.00,2.08,0.00,0.000,4,0.000,0.038,2311,702,3867,0,0,0,0,0,0
$GC,846,-0.80,-136.7,200.9,-19.3,81,851,0.15,2.08,0.00,0.000,6,0.167,0.041,2339,2052,3867,0,0,0,0,0,0
$GC,1100,-0.80,-136.7,244.9,-16.5,93,1104,0.00,2.28,0.00,0.000,4,0.000,0.048,2330,3509,3869,0,0,0,0,0,0
$GC,1152,-0.80,-136.7,253.1,-16.4,95,1156,0.00,2.10,0.00,0.000,6,0.000,0.029,2330,2093,3869,0,0,0,0,0,0
$GC,1414,-0.80,-136.7,297.9,-18.0,108,1418,0.00,2.10,0.00,0.000,4,0.000,0.038,2330,701,3869,0,0,0,0,0,0
$GC,1476,-0.80,-136.7,309.5,-17.2,110,1480,0.00,2.12,0.00,0.000,6,0.000,0.039,2320,2100,3869,0,0,0,0,0,0
$GC,1738,-0.80,-136.7,353.9,-17.2,117,1742,0.00,2.20,0.00,0.000,4,0.000,0.048,2308,3510,3869,0,0,0,0,0,0
$GC,1789,-0.80,-136.7,362.2,-16.3,118,1793,0.12,2.12,0.00,0.000,6,0.162,0.030,2340,2100,3869,0,0,0,0,0,0
$GC,2061,-0.80,-136.7,400.2,-13.7,125,2065,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,703,3869,0,0,0,0,0,0
$GC,2129,-0.80,-136.7,409.6,-13.0,126,2133,0.00,2.12,0.00,0.000,6,0.000,0.038,2332,2100,3869,0,0,0,0,0,0
$GC,2386,-0.80,-136.7,444.5,-13.6,133,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2100,3867,0,0,0,0,0,0
$GC,2629,-0.80,-136.7,475.9,-12.8,139,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2100,3866,0,0,0,0,0,0
$GC,2872,-0.80,-136.7,506.2,-12.5,145,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2100,3865,0,0,0,0,0,0
$GC,3118,-0.80,-136.7,535.8,-11.9,151,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2100,3862,0,0,0,0,0,0
$GC,3360,-0.80,-136.7,565.0,-12.1,157,3364,0.00,2.25,0.00,0.000,4,0.000,0.050,2322,3509,3860,0,0,0,0,0,0
$GC,3399,-0.80,-136.7,569.8,-12.5,158,3403,0.00,2.15,0.00,0.000,6,0.000,0.031,2322,2101,3860,0,0,0,0,0,0
$GC,3685,-0.80,-136.7,605.5,-12.5,165,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2095,3857,0,0,0,0,0,0
$GC,3927,-0.80,-136.7,636.2,-12.6,171,3931,0.00,2.15,0.00,0.000,4,0.000,0.044,2322,697,3855,0,0,0,0,0,0
$GC,3968,-0.80,-136.7,641.1,-12.2,172,3972,0.00,2.15,0.00,0.000,6,0.000,0.041,2311,2102,3855,0,0,0,0,0,0
$GC,4252,-0.80,-136.7,675.4,-11.9,179,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2101,3853,0,0,0,0,0,0
$GC,4496,-0.80,-136.7,705.9,-12.7,185,4500,0.00,2.25,0.00,0.000,4,0.000,0.051,2300,3507,3850,0,0,0,0,0,0
$GC,4553,-0.80,-136.7,713.3,-13.6,186,4557,0.15,2.15,0.00,0.000,6,0.165,0.031,2339,2094,3849,0,0,0,0,0,0
$GC,4819,-0.80,-136.7,742.8,-10.9,193,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3848,0,0,0,0,0,0
$GC,5064,-0.80,-136.7,769.9,-11.0,199,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3846,0,0,0,0,0,0
$GC,5307,-0.80,-136.7,797.0,-11.1,205,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3845,0,0,0,0,0,0
$GC,5550,-0.80,-136.7,822.1,-10.0,211,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3843,0,0,0,0,0,0
$GC,5796,-0.80,-136.7,846.3,-10.0,217,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3842,0,0,0,0,0,0
$GC,6038,-0.80,-136.7,870.6,-10.0,223,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3841,0,0,0,0,0,0
$GC,6281,-0.80,-136.7,894.5,-9.8,229,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3839,0,0,0,0,0,0
$STATE,6360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6360,begin apogee
$GC,6369,-0.28,0.0,902.3,9.7,231,6487,0.55,0.00,115.38,1.066,6,0.140,0.000,2505,1940,3300,0,0,0,0,0,0
$STATE,6488,end apogee,CONTROL_FINISHED_OK
$STATE,6488,begin climb
$GC,6491,0.80,136.7,905.1,0.0,234,6618,1.05,0.00,123.47,1.029,6,0.093,0.000,2850,1940,2741,0,0,0,0,0,0
$GC,6850,0.80,136.7,852.1,18.3,243,6854,0.00,2.12,0.00,0.000,4,0.000,0.037,2860,568,2733,0,0,0,0,0,0
$GC,6879,0.80,136.7,846.4,18.3,243,6883,0.00,2.15,0.00,0.000,6,0.000,0.034,2860,1960,2732,0,0,0,0,0,0
$GC,7129,0.80,136.7,799.9,18.7,249,7133,0.00,2.25,0.00,0.000,4,0.000,0.051,2860,3368,2731,0,0,0,0,0,0
$GC,7173,0.80,136.7,791.3,19.6,250,7177,0.00,2.15,0.00,0.000,6,0.000,0.030,2871,1955,2731,0,0,0,0,0,0
$GC,7452,0.80,136.7,738.6,19.3,257,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1956,2730,0,0,0,0,0,0
$GC,7694,0.80,136.7,692.8,18.8,263,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1956,2729,0,0,0,0,0,0
$GC,7940,0.80,136.7,646.5,19.1,269,7944,0.00,2.15,0.00,0.000,4,0.000,0.040,2882,560,2728,0,0,0,0,0,0
$GC,7984,0.80,136.7,637.5,19.1,270,7988,0.00,2.12,0.00,0.000,6,0.000,0.032,2882,1963,2725,0,0,0,0,0,0
$GC,8262,0.80,136.7,586.9,18.1,277,8266,0.00,2.22,0.00,0.000,4,0.000,0.051,2882,3364,2725,0,0,0,0,0,0
$GC,8303,0.80,136.7,579.7,19.0,278,8307,0.15,2.12,0.00,0.000,6,0.202,0.030,2857,1961,2725,0,0,0,0,0,0
$GC,8588,0.80,136.7,535.4,15.3,285,8592,0.00,2.22,0.00,0.000,4,0.000,0.049,2854,3362,2725,0,0,0,0,0,0
$GC,8605,0.80,136.7,532.3,15.4,285,8609,0.00,2.15,0.00,0.000,6,0.000,0.031,2863,1955,2725,0,0,0,0,0,0
$GC,8867,0.80,136.7,491.3,15.7,292,8871,0.00,2.12,0.00,0.000,4,0.000,0.039,2874,562,2724,0,0,0,0,0,0
$GC,8958,0.80,136.7,476.2,17.0,294,8962,0.00,2.12,0.00,0.000,6,0.000,0.032,2874,1963,2723,0,0,0,0,0,0
$GC,9243,0.80,136.7,428.0,17.2,301,9247,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3366,2723,0,0,0,0,0,0
$GC,9367,0.80,136.7,406.4,16.7,303,9374,0.12,2.15,0.00,0.000,6,0.202,0.030,2856,1959,2723,0,0,0,0,0,0
$GC,9618,0.80,136.7,370.6,14.0,310,9622,0.00,2.12,0.00,0.000,4,0.000,0.038,2865,558,2722,0,0,0,0,0,0
$GC,9668,0.80,136.7,363.3,14.1,311,9672,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1963,2721,0,0,0,0,0,0
$GC,9943,0.80,136.7,327.4,13.1,318,9947,0.00,2.22,0.00,0.000,4,0.000,0.050,2865,3362,2722,0,0,0,0,0,0
$GC,10009,0.80,136.7,317.2,15.3,319,10014,0.00,2.12,0.00,0.000,6,0.000,0.029,2875,1952,2722,0,0,0,0,0,0
$GC,10271,0.80,136.7,283.2,13.2,329,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1953,2722,0,0,0,0,0,0
$GC,10516,0.80,136.7,250.6,13.1,341,10521,0.00,2.25,0.00,0.000,4,0.000,0.048,2875,3364,2722,0,0,0,0,0,0
$GC,10640,0.80,136.7,233.7,12.8,346,10646,0.12,2.12,0.00,0.000,6,0.195,0.029,2856,1955,2722,0,0,0,0,0,0
$GC,10894,0.80,136.7,205.0,10.1,359,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1954,2721,0,0,0,0,0,0
$GC,11150,0.80,136.7,185.0,8.7,380,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1954,2721,0,0,0,0,0,0
$GC,11415,0.80,136.7,161.0,9.3,405,11419,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,567,2722,0,0,0,0,0,0
$GC,11491,0.80,136.7,152.6,10.1,411,11500,0.00,2.15,0.00,0.000,6,0.000,0.032,2866,1964,2721,0,0,0,0,0,0
$GC,11756,0.84,174.3,131.7,7.0,436,11792,0.00,2.22,29.52,0.518,4,0.000,0.047,2866,3367,2590,0,0,0,0,0,0
$GC,11852,0.89,214.0,125.8,6.9,444,11892,0.00,2.12,34.70,0.515,6,0.000,0.028,2876,1957,2427,0,0,0,0,0,0
$GC,12150,0.89,214.0,91.2,13.1,471,12154,0.00,2.22,0.00,0.000,4,0.000,0.046,2876,3363,2422,0,0,0,0,0,0
$GC,12202,0.89,214.0,84.3,13.1,475,12207,0.00,2.12,0.00,0.000,6,0.000,0.029,2883,1970,2422,0,0,0,0,0,0
$GC,12467,0.91,227.3,59.8,8.0,499,12484,0.00,2.25,12.10,0.430,4,0.000,0.044,2883,3357,2372,0,0,0,0,0,0
$GC,12530,0.91,227.3,53.0,10.8,504,12537,0.00,2.17,0.00,0.000,6,0.000,0.029,2883,1962,2373,0,0,0,0,0,0
$GC,12798,0.91,227.3,25.3,9.4,533,12806,0.00,2.20,0.00,0.000,4,0.000,0.041,2884,563,2371,0,0,0,0,0,0
$GC,12902,0.91,227.3,14.2,10.3,551,12911,0.00,2.12,0.00,0.000,6,0.000,0.029,2884,1955,2371,0,0,0,0,0,0
$STATE,13005,end climb,SURFACE_DEPTH_REACHED
$STATE,13005,begin surface coast
$FINISH,0.2,1.023094
$STATE,13036,end surface coast,CONTROL_FINISHED_OK
$STATE,13036,begin surface
$SM_CCo,13056,36.85,0.410,0,0,2074,300.24
$SM_GC,2.08,0.00,0.00,36.85,0.000,0.000,0.410,54,2123,2074,-7.95,0.65,300.24
$IRIDIUM_FIX,1932.09,-15630.36,210313,000021
$TT8_MAMPS,0.027612
$HUMID,1078947732
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.3,71.818
$10V_AH,8.9,66.519
$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,20.275,108.225,315.175,36.850,0.000,27.831,40.353,185.812,0.000,0.000,28.696,1297.075,9304.955,440.420,2042.737,431.542,33.364,1175.643,0.000,1811.863,0.000,0.540,0.000
$DEVICE_MAMPS,248.508,69.030,1066.130,409.578,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.531,0.000,965.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,30263,574
$CAP_FILE_SIZE,149940,0
$CFSIZE,260165632,167104512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,135.6,1
$GPS,260911,135114,1935.494,-15628.651,16,2.0,17,9.7