version: 66.07
glider: 513
mission: 7
dive: 537
start: 9 27 111 13 4 26
data:
$ID,513
$MISSION,7
$DIVE,537
$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,-434188.91
$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,46
$R_STBD_OVSHOOT,78
$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
$GPS1,270911,125624,1923.754,-15628.893,47,1.0,65,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.7
$GPS2,270911,130326,1923.763,-15628.864,14,1.1,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.050,-0.234
$KALMAN_X,34424.1,-3.1,-61.0,8911.5,7829.0
$KALMAN_Y,-566495.4,-926.5,-652.4,501564.2,1382.3
$MHEAD_RNG_PITCHd_Wd,187.4,44054,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-136.7,0.0,0.0,0,77,0.00,0.00,-58.95,0.000,2,0.000,0.000,42,2146,3785,0,0,0,0,0,0
$GC,82,-0.80,-136.7,4.4,-6.9,9,98,9.98,2.30,-1.15,0.000,4,0.241,0.052,2331,693,3861,0,0,0,0,0,0
$GC,107,-0.80,-136.7,19.3,-39.9,12,116,0.00,2.17,0.00,0.000,6,0.000,0.044,2323,2051,3863,0,0,0,0,0,0
$GC,380,-0.80,-136.7,108.1,-28.8,39,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2052,3866,0,0,0,0,0,0
$GC,637,-0.80,-136.7,168.2,-20.0,63,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2051,3867,0,0,0,0,0,0
$GC,905,-0.80,-136.7,224.6,-19.8,83,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2051,3870,0,0,0,0,0,0
$GC,1154,-0.80,-136.7,269.2,-16.5,95,1158,0.00,2.30,0.00,0.000,4,0.000,0.054,2311,3521,3871,0,0,0,0,0,0
$GC,1249,-0.80,-136.7,285.2,-15.3,99,1253,0.00,2.12,0.00,0.000,6,0.000,0.030,2311,2096,3871,0,0,0,0,0,0
$GC,1513,-0.80,-136.7,329.8,-17.9,108,1517,0.00,2.10,0.00,0.000,4,0.000,0.039,2311,693,3872,0,0,0,0,0,0
$GC,1535,-0.80,-136.7,334.2,-17.8,108,1540,0.15,2.15,0.00,0.000,6,0.167,0.041,2339,2103,3872,0,0,0,0,0,0
$GC,1792,-0.80,-136.7,369.6,-13.6,115,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2103,3871,0,0,0,0,0,0
$GC,2035,-0.80,-136.7,404.0,-13.8,121,2039,0.00,2.22,0.00,0.000,4,0.000,0.049,2330,3523,3871,0,0,0,0,0,0
$GC,2079,-0.80,-136.7,410.4,-13.7,122,2083,0.00,2.12,0.00,0.000,6,0.000,0.029,2330,2094,3871,0,0,0,0,0,0
$GC,2359,-0.80,-136.7,447.9,-13.7,129,2363,0.00,2.10,0.00,0.000,4,0.000,0.038,2330,690,3869,0,0,0,0,0,0
$GC,2408,-0.80,-136.7,455.0,-13.7,130,2413,0.00,2.17,0.00,0.000,6,0.000,0.040,2320,2106,3868,0,0,0,0,0,0
$GC,2683,-0.80,-136.7,493.2,-14.1,137,2687,0.00,2.20,0.00,0.000,4,0.000,0.048,2308,3510,3866,0,0,0,0,0,0
$GC,2716,-0.80,-136.7,498.2,-14.4,137,2722,0.12,2.15,0.00,0.000,6,0.159,0.031,2341,2096,3866,0,0,0,0,0,0
$GC,2966,-0.80,-136.7,529.6,-12.7,144,2970,0.00,2.10,0.00,0.000,4,0.000,0.038,2341,693,3864,0,0,0,0,0,0
$GC,3006,-0.80,-136.7,534.9,-13.3,144,3013,0.00,2.17,0.00,0.000,6,0.000,0.039,2333,2107,3864,0,0,0,0,0,0
$GC,3256,-0.80,-136.7,569.1,-13.8,151,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2107,3861,0,0,0,0,0,0
$GC,3500,-0.80,-136.7,601.4,-13.0,157,3504,0.00,2.22,0.00,0.000,4,0.000,0.048,2322,3519,3859,0,0,0,0,0,0
$GC,3569,-0.80,-136.7,610.3,-12.7,158,3573,0.00,2.15,0.00,0.000,6,0.000,0.030,2322,2095,3858,0,0,0,0,0,0
$GC,3830,-0.80,-136.7,645.3,-13.5,165,3834,0.00,2.10,0.00,0.000,4,0.000,0.040,2322,698,3856,0,0,0,0,0,0
$GC,3847,-0.80,-136.7,647.6,-13.3,165,3851,0.00,2.15,0.00,0.000,6,0.000,0.041,2311,2108,3856,0,0,0,0,0,0
$GC,4109,-0.80,-136.7,683.6,-13.7,172,4113,0.00,2.22,0.00,0.000,4,0.000,0.049,2300,3514,3854,0,0,0,0,0,0
$GC,4142,-0.80,-136.7,688.6,-13.9,172,4150,0.15,2.15,0.00,0.000,6,0.160,0.031,2339,2100,3853,0,0,0,0,0,0
$GC,4393,-0.80,-136.7,717.5,-11.3,179,4397,0.00,2.12,0.00,0.000,4,0.000,0.041,2340,699,3851,0,0,0,0,0,0
$GC,4427,-0.80,-136.7,721.5,-12.4,179,4433,0.00,2.15,0.00,0.000,6,0.000,0.041,2332,2101,3851,0,0,0,0,0,0
$GC,4677,-0.80,-136.7,750.4,-11.5,186,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2100,3849,0,0,0,0,0,0
$GC,4924,-0.80,-136.7,778.8,-11.6,192,4928,0.00,2.28,0.00,0.000,4,0.000,0.054,2321,3505,3847,0,0,0,0,0,0
$GC,4987,-0.80,-136.7,786.4,-11.5,193,4991,0.00,2.17,0.00,0.000,6,0.000,0.032,2321,2090,3846,0,0,0,0,0,0
$GC,5248,-0.80,-136.7,817.7,-12.1,200,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3845,0,0,0,0,0,0
$GC,5493,-0.80,-136.7,846.3,-11.8,206,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3844,0,0,0,0,0,0
$GC,5735,-0.80,-136.7,874.0,-11.3,212,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3842,0,0,0,0,0,0
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5977,begin apogee
$GC,5984,-0.28,0.0,900.4,10.8,218,6102,0.60,0.00,115.12,1.062,6,0.143,0.000,2498,1926,3300,0,0,0,0,0,0
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6103,begin climb
$GC,6107,0.80,136.7,903.1,0.0,221,6233,1.08,0.00,122.15,1.033,6,0.095,0.000,2850,1925,2742,0,0,0,0,0,0
$GC,6465,0.80,136.7,848.2,18.8,230,6469,0.00,2.33,0.00,0.000,4,0.000,0.050,2850,3363,2734,0,0,0,0,0,0
$GC,6506,0.80,136.7,840.0,19.7,231,6510,0.00,2.15,0.00,0.000,6,0.000,0.029,2860,1974,2734,0,0,0,0,0,0
$GC,6789,0.80,136.7,785.0,19.2,238,6793,0.00,2.17,0.00,0.000,4,0.000,0.038,2872,562,2732,0,0,0,0,0,0
$GC,6817,0.80,136.7,779.5,18.9,238,6821,0.00,2.15,0.00,0.000,6,0.000,0.033,2871,1966,2729,0,0,0,0,0,0
$GC,7069,0.80,136.7,731.8,19.0,244,7073,0.00,2.22,0.00,0.000,4,0.000,0.051,2872,3365,2730,0,0,0,0,0,0
$GC,7141,0.80,136.7,717.4,19.4,245,7145,0.00,2.17,0.00,0.000,6,0.000,0.031,2882,1954,2730,0,0,0,0,0,0
$GC,7392,0.80,136.7,671.8,18.3,251,7396,0.00,2.12,0.00,0.000,4,0.000,0.038,2892,561,2728,0,0,0,0,0,0
$GC,7420,0.80,136.7,666.1,18.9,251,7425,0.15,2.12,0.00,0.000,6,0.193,0.033,2856,1965,2726,0,0,0,0,0,0
$GC,7672,0.80,136.7,624.1,17.0,257,7676,0.00,2.25,0.00,0.000,4,0.000,0.050,2856,3371,2726,0,0,0,0,0,0
$GC,7752,0.80,136.7,609.1,18.7,258,7758,0.00,2.15,0.00,0.000,6,0.000,0.030,2865,1957,2726,0,0,0,0,0,0
$GC,8003,0.80,136.7,567.1,16.6,265,8007,0.00,2.25,0.00,0.000,4,0.000,0.048,2865,3371,2726,0,0,0,0,0,0
$GC,8058,0.80,136.7,557.1,17.1,266,8062,0.00,2.17,0.00,0.000,6,0.000,0.030,2876,1949,2725,0,0,0,0,0,0
$GC,8327,0.80,136.7,511.4,17.4,273,8331,0.00,2.12,0.00,0.000,4,0.000,0.038,2886,555,2725,0,0,0,0,0,0
$GC,8383,0.80,136.7,500.6,18.6,274,8388,0.12,2.10,0.00,0.000,6,0.193,0.032,2858,1959,2722,0,0,0,0,0,0
$GC,8651,0.80,136.7,457.6,16.0,281,8656,0.00,2.25,0.00,0.000,4,0.000,0.050,2857,3370,2723,0,0,0,0,0,0
$GC,8746,0.80,136.7,441.1,16.8,283,8751,0.00,2.15,0.00,0.000,6,0.000,0.030,2866,1956,2723,0,0,0,0,0,0
$GC,9021,0.80,136.7,399.2,15.0,290,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1955,2722,0,0,0,0,0,0
$GC,9263,0.80,136.7,365.8,13.3,296,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1954,2722,0,0,0,0,0,0
$GC,9507,0.80,136.7,335.1,12.8,302,9510,0.00,2.10,0.00,0.000,4,0.000,0.038,2876,560,2722,0,0,0,0,0,0
$GC,9569,0.80,136.7,326.4,14.4,303,9573,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,1961,2721,0,0,0,0,0,0
$GC,9831,0.80,136.7,290.8,14.0,311,9835,0.00,2.25,0.00,0.000,4,0.000,0.050,2876,3369,2721,0,0,0,0,0,0
$GC,9906,0.80,136.7,279.6,16.9,314,9910,0.12,2.20,0.00,0.000,6,0.206,0.030,2859,1946,2721,0,0,0,0,0,0
$GC,10160,0.80,136.7,252.7,9.4,326,10164,0.00,2.28,0.00,0.000,4,0.000,0.048,2858,3366,2721,0,0,0,0,0,0
$GC,10181,0.80,136.7,250.2,10.4,327,10186,0.00,2.17,0.00,0.000,6,0.000,0.029,2867,1954,2721,0,0,0,0,0,0
$GC,10441,0.80,136.7,222.2,9.6,340,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1954,2721,0,0,0,0,0,0
$GC,10692,0.80,136.7,198.7,10.0,352,10696,0.00,2.10,0.00,0.000,4,0.000,0.039,2876,568,2721,0,0,0,0,0,0
$GC,10829,0.83,163.7,187.0,7.4,364,10856,0.00,2.08,20.73,0.565,6,0.000,0.030,2876,1962,2631,0,0,0,0,0,0
$GC,11112,0.83,163.7,156.1,12.3,390,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1962,2629,0,0,0,0,0,0
$GC,11376,0.84,170.7,129.1,8.3,415,11389,0.00,2.25,6.93,0.442,4,0.000,0.048,2876,3365,2605,0,0,0,0,0,0
$GC,11541,0.84,170.7,114.2,9.0,429,11545,0.00,2.17,0.00,0.000,6,0.000,0.029,2886,1952,2605,0,0,0,0,0,0
$GC,11804,0.84,170.7,90.0,10.1,453,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1951,2605,0,0,0,0,0,0
$GC,12069,0.92,235.7,70.2,5.8,478,12130,0.00,2.28,55.12,0.470,4,0.000,0.045,2886,3360,2339,0,0,0,0,0,0
$GC,12150,0.93,242.1,64.6,8.3,484,12162,0.00,2.20,6.95,0.385,6,0.000,0.029,2886,1969,2312,0,0,0,0,0,0
$GC,12430,0.93,242.1,36.3,11.2,510,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1970,2309,0,0,0,0,0,0
$GC,12702,0.93,242.1,5.2,11.6,554,12709,0.00,2.28,0.00,0.000,4,0.000,0.044,2886,3365,2309,0,0,0,0,0,0
$STATE,12723,end climb,SURFACE_DEPTH_REACHED
$STATE,12723,begin surface coast
$FINISH,0.8,1.022925
$STATE,12735,end surface coast,CONTROL_FINISHED_OK
$STATE,12735,begin surface
$SM_CCo,12757,29.35,0.405,0,0,2075,300.24
$SM_GC,1.37,0.00,0.00,29.35,0.000,0.000,0.405,60,2091,2075,-7.93,-0.23,300.24
$IRIDIUM_FIX,1918.37,-15630.09,220313,030344
$TT8_MAMPS,0.029146
$HUMID,1078958055
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.4,72.537
$10V_AH,8.1,67.149
$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,20.050,117.650,327.000,29.350,0.000,25.080,34.796,200.370,0.000,0.000,16.553,1264.961,9062.057,453.088,2002.569,425.471,33.363,1192.273,0.000,1777.792,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,67.496,1061.528,404.976,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.451,0.000,935.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26960,559
$CAP_FILE_SIZE,148819,0
$CFSIZE,260165632,166662144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,148.0,1
$GPS,270911,163900,1921.758,-15629.073,46,1.7,46,9.6