version: 66.07
glider: 513
mission: 7
dive: 542
start: 9 28 111 8 15 54
data:
$ID,513
$MISSION,7
$DIVE,542
$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,-434288.41
$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,49
$R_STBD_OVSHOOT,61
$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
$GPS1,280911,080737,1913.083,-15629.570,31,1.1,32,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.3
$GPS2,280911,081456,1912.974,-15629.621,16,1.3,16,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.153,-0.183
$KALMAN_X,35832.4,103.4,-355.5,6401.4,3172.5
$KALMAN_Y,-562857.5,-421.4,-62.1,476814.5,2224.8
$MHEAD_RNG_PITCHd_Wd,174.4,24037,-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,-136.7,0.0,0.0,0,73,0.00,0.00,-53.35,0.000,2,0.000,0.000,43,2138,3596,0,0,0,0,0,0
$GC,78,-0.80,-136.7,3.3,-4.3,8,101,9.88,2.22,-4.55,0.000,4,0.237,0.050,2331,705,3859,0,0,0,0,0,0
$GC,254,-0.80,-136.7,63.5,-29.5,29,258,0.00,2.12,0.00,0.000,6,0.000,0.043,2323,2081,3863,0,0,0,0,0,0
$GC,517,-0.80,-136.7,134.7,-21.7,53,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2084,3864,0,0,0,0,0,0
$GC,772,-0.80,-136.7,187.6,-19.1,77,776,0.00,2.05,0.00,0.000,4,0.000,0.035,2323,695,3866,0,0,0,0,0,0
$GC,794,-0.80,-136.7,191.9,-21.2,78,797,0.00,2.12,0.00,0.000,6,0.000,0.040,2313,2104,3866,0,0,0,0,0,0
$GC,1059,-0.80,-136.7,246.9,-18.8,92,1063,0.00,2.22,0.00,0.000,4,0.000,0.048,2301,3513,3868,0,0,0,0,0,0
$GC,1104,-0.80,-136.7,255.2,-18.4,94,1109,0.15,2.12,0.00,0.000,6,0.164,0.030,2340,2091,3868,0,0,0,0,0,0
$GC,1363,-0.80,-136.7,294.1,-14.1,107,1367,0.00,2.08,0.00,0.000,4,0.000,0.036,2341,700,3869,0,0,0,0,0,0
$GC,1427,-0.80,-136.7,302.9,-13.6,110,1431,0.00,2.10,0.00,0.000,6,0.000,0.039,2333,2102,3869,0,0,0,0,0,0
$GC,1688,-0.80,-136.7,340.0,-14.3,117,1692,0.00,2.22,0.00,0.000,4,0.000,0.048,2321,3507,3869,0,0,0,0,0,0
$GC,1760,-0.80,-136.7,351.0,-14.8,118,1764,0.00,2.12,0.00,0.000,6,0.000,0.029,2321,2098,3869,0,0,0,0,0,0
$GC,2017,-0.80,-136.7,390.7,-15.8,125,2021,0.00,2.08,0.00,0.000,4,0.000,0.038,2322,701,3869,0,0,0,0,0,0
$GC,2094,-0.80,-136.7,403.4,-14.9,126,2100,0.00,2.12,0.00,0.000,6,0.000,0.040,2312,2099,3868,0,0,0,0,0,0
$GC,2346,-0.80,-136.7,441.0,-15.2,133,2350,0.00,2.25,0.00,0.000,4,0.000,0.050,2301,3515,3866,0,0,0,0,0,0
$GC,2458,-0.80,-136.7,456.1,-12.9,135,2463,0.15,2.15,0.00,0.000,6,0.156,0.031,2340,2101,3866,0,0,0,0,0,0
$GC,2719,-0.80,-136.7,484.5,-11.0,142,2723,0.00,2.10,0.00,0.000,4,0.000,0.040,2340,702,3864,0,0,0,0,0,0
$GC,2753,-0.80,-136.7,488.4,-10.6,142,2757,0.00,2.12,0.00,0.000,6,0.000,0.041,2332,2103,3863,0,0,0,0,0,0
$GC,3004,-0.80,-136.7,519.2,-12.7,148,3008,0.00,2.22,0.00,0.000,4,0.000,0.051,2321,3507,3861,0,0,0,0,0,0
$GC,3025,-0.80,-136.7,522.5,-13.9,148,3029,0.00,2.15,0.00,0.000,6,0.000,0.030,2321,2090,3861,0,0,0,0,0,0
$GC,3283,-0.80,-136.7,557.8,-13.9,155,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3858,0,0,0,0,0,0
$GC,3525,-0.80,-136.7,589.7,-13.0,161,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3856,0,0,0,0,0,0
$GC,3769,-0.80,-136.7,620.5,-12.4,167,3772,0.00,2.08,0.00,0.000,4,0.000,0.039,2321,703,3854,0,0,0,0,0,0
$GC,3792,-0.80,-136.7,623.5,-12.7,167,3796,0.00,2.12,0.00,0.000,6,0.000,0.040,2311,2101,3854,0,0,0,0,0,0
$GC,4047,-0.80,-136.7,658.1,-14.0,174,4051,0.00,2.25,0.00,0.000,4,0.000,0.051,2300,3511,3851,0,0,0,0,0,0
$GC,4080,-0.80,-136.7,662.9,-14.2,174,4087,0.15,2.15,0.00,0.000,6,0.161,0.033,2339,2102,3851,0,0,0,0,0,0
$GC,4332,-0.80,-136.7,693.9,-12.3,181,4336,0.00,2.12,0.00,0.000,4,0.000,0.042,2339,698,3849,0,0,0,0,0,0
$GC,4365,-0.80,-136.7,698.5,-13.0,181,4370,0.00,2.15,0.00,0.000,6,0.000,0.042,2331,2102,3849,0,0,0,0,0,0
$GC,4617,-0.80,-136.7,730.8,-12.9,188,4621,0.00,2.25,0.00,0.000,4,0.000,0.052,2320,3509,3846,0,0,0,0,0,0
$GC,4644,-0.80,-136.7,734.5,-12.0,188,4648,0.00,2.17,0.00,0.000,6,0.000,0.031,2320,2096,3845,0,0,0,0,0,0
$GC,4899,-0.80,-136.7,766.6,-12.5,195,4903,0.00,2.12,0.00,0.000,4,0.000,0.044,2320,698,3844,0,0,0,0,0,0
$GC,4917,-0.80,-136.7,768.9,-12.8,195,4921,0.12,2.17,0.00,0.000,6,0.180,0.044,2340,2105,3844,0,0,0,0,0,0
$GC,5178,-0.80,-136.7,796.9,-10.3,202,5182,0.00,2.28,0.00,0.000,4,0.000,0.053,2330,3518,3843,0,0,0,0,0,0
$GC,5211,-0.80,-136.7,800.5,-10.9,202,5215,0.00,2.17,0.00,0.000,6,0.000,0.032,2330,2094,3842,0,0,0,0,0,0
$GC,5463,-0.80,-136.7,827.3,-10.7,208,5467,0.00,2.15,0.00,0.000,4,0.000,0.044,2331,695,3841,0,0,0,0,0,0
$GC,5497,-0.80,-136.7,831.3,-11.1,208,5503,0.00,2.17,0.00,0.000,6,0.000,0.044,2320,2103,3840,0,0,0,0,0,0
$GC,5747,-0.80,-136.7,858.3,-10.8,215,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2103,3838,0,0,0,0,0,0
$GC,5993,-0.80,-136.7,884.1,-10.5,221,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2103,3837,0,0,0,0,0,0
$STATE,6151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6151,begin apogee
$GC,6158,-0.28,0.0,901.3,10.6,225,6275,0.62,0.00,114.45,1.062,6,0.143,0.000,2505,1918,3300,0,0,0,0,0,0
$STATE,6276,end apogee,CONTROL_FINISHED_OK
$STATE,6277,begin climb
$GC,6281,0.80,136.7,903.8,0.0,228,6409,1.02,2.17,120.57,1.033,4,0.092,0.038,2858,590,2743,0,0,0,0,0,0
$GC,6432,0.80,136.7,886.6,18.7,231,6436,0.00,2.22,0.00,0.000,6,0.000,0.039,2858,1958,2738,0,0,0,0,0,0
$GC,6683,0.80,136.7,836.7,20.0,237,6687,0.00,2.33,0.00,0.000,4,0.000,0.053,2858,3371,2734,0,0,0,0,0,0
$GC,6716,0.80,136.7,829.3,21.2,237,6721,0.00,2.17,0.00,0.000,6,0.000,0.031,2869,1990,2734,0,0,0,0,0,0
$GC,6967,0.80,136.7,781.5,18.9,243,6971,0.00,2.17,0.00,0.000,4,0.000,0.041,2880,559,2732,0,0,0,0,0,0
$GC,6990,0.80,136.7,776.9,20.1,243,6994,0.00,2.20,0.00,0.000,6,0.000,0.038,2880,1971,2730,0,0,0,0,0,0
$GC,7245,0.80,136.7,728.7,18.3,250,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1970,2730,0,0,0,0,0,0
$GC,7489,0.80,136.7,683.7,18.1,256,7493,0.00,2.25,0.00,0.000,4,0.000,0.052,2880,3368,2729,0,0,0,0,0,0
$GC,7553,0.80,136.7,671.8,19.0,257,7558,0.15,2.20,0.00,0.000,6,0.201,0.032,2855,1957,2730,0,0,0,0,0,0
$GC,7815,0.80,136.7,627.7,16.5,264,7819,0.00,2.15,0.00,0.000,4,0.000,0.041,2864,554,2728,0,0,0,0,0,0
$GC,7843,0.80,136.7,622.9,16.9,264,7847,0.00,2.15,0.00,0.000,6,0.000,0.036,2864,1963,2726,0,0,0,0,0,0
$GC,8099,0.80,136.7,581.5,16.0,271,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1964,2726,0,0,0,0,0,0
$GC,8343,0.80,136.7,544.3,15.1,277,8347,0.00,2.28,0.00,0.000,4,0.000,0.053,2864,3365,2726,0,0,0,0,0,0
$GC,8388,0.80,136.7,537.2,16.3,278,8392,0.00,2.17,0.00,0.000,6,0.000,0.032,2875,1961,2726,0,0,0,0,0,0
$GC,8666,0.80,136.7,493.6,15.5,285,8670,0.00,2.12,0.00,0.000,4,0.000,0.040,2886,555,2725,0,0,0,0,0,0
$GC,8688,0.80,136.7,489.9,16.7,285,8693,0.12,2.15,0.00,0.000,6,0.199,0.035,2857,1973,2724,0,0,0,0,0,0
$GC,8946,0.80,136.7,452.5,14.4,292,8950,0.00,2.25,0.00,0.000,4,0.000,0.051,2857,3364,2724,0,0,0,0,0,0
$GC,8979,0.80,136.7,447.0,15.5,292,8983,0.00,2.17,0.00,0.000,6,0.000,0.031,2866,1948,2724,0,0,0,0,0,0
$GC,9230,0.80,136.7,410.1,14.8,298,9234,0.00,2.30,0.00,0.000,4,0.000,0.052,2866,3370,2724,0,0,0,0,0,0
$GC,9280,0.80,136.7,401.5,16.8,299,9284,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1961,2724,0,0,0,0,0,0
$GC,9552,0.80,136.7,360.6,15.0,306,9556,0.00,2.15,0.00,0.000,4,0.000,0.039,2888,553,2723,0,0,0,0,0,0
$GC,9626,0.80,136.7,348.7,16.3,307,9631,0.12,2.15,0.00,0.000,6,0.198,0.036,2859,1968,2722,0,0,0,0,0,0
$GC,9881,0.80,136.7,313.5,13.4,314,9886,0.00,2.25,0.00,0.000,4,0.000,0.051,2859,3360,2722,0,0,0,0,0,0
$GC,9926,0.80,136.7,307.5,14.0,315,9930,0.00,2.17,0.00,0.000,6,0.000,0.031,2868,1944,2722,0,0,0,0,0,0
$GC,10186,0.80,136.7,274.8,13.1,326,10190,0.00,2.10,0.00,0.000,4,0.000,0.040,2878,555,2722,0,0,0,0,0,0
$GC,10235,0.80,136.7,268.1,14.2,328,10239,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1960,2721,0,0,0,0,0,0
$GC,10493,0.80,136.7,239.2,10.2,340,10497,0.00,2.28,0.00,0.000,4,0.000,0.051,2878,3364,2721,0,0,0,0,0,0
$GC,10590,0.80,136.7,228.3,12.2,344,10595,0.15,2.17,0.00,0.000,6,0.192,0.031,2853,1955,2722,0,0,0,0,0,0
$GC,10846,0.81,145.8,205.5,8.2,356,10854,0.00,0.00,5.68,0.470,6,0.000,0.000,2853,1953,2705,0,0,0,0,0,0
$GC,11099,0.81,145.8,183.8,8.9,376,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1953,2705,0,0,0,0,0,0
$GC,11364,0.81,145.8,158.4,9.7,401,11368,0.00,2.30,0.00,0.000,4,0.000,0.052,2848,3362,2705,0,0,0,0,0,0
$GC,11452,0.82,157.9,151.2,8.1,408,11469,0.00,2.17,12.30,0.504,6,0.000,0.031,2857,1962,2656,0,0,0,0,0,0
$GC,11729,0.82,157.9,127.1,8.9,433,11733,0.00,2.12,0.00,0.000,4,0.000,0.039,2864,554,2654,0,0,0,0,0,0
$GC,11807,0.84,172.5,120.1,8.0,439,11828,0.00,2.17,13.88,0.482,6,0.000,0.034,2864,1960,2596,0,0,0,0,0,0
$GC,12087,0.88,208.0,96.5,7.1,465,12125,0.00,2.30,31.15,0.483,4,0.000,0.049,2864,3367,2451,0,0,0,0,0,0
$GC,12185,0.88,208.0,86.9,11.0,473,12192,0.00,2.25,0.00,0.000,6,0.000,0.032,2869,1957,2451,0,0,0,0,0,0
$GC,12450,0.88,208.0,62.7,9.1,498,12454,0.00,2.12,0.00,0.000,4,0.000,0.040,2874,553,2449,0,0,0,0,0,0
$GC,12504,0.88,208.0,57.4,9.2,502,12512,0.00,2.17,0.00,0.000,6,0.000,0.032,2875,1968,2448,0,0,0,0,0,0
$GC,12769,0.89,212.0,36.1,8.4,527,12783,0.00,2.30,5.10,0.333,4,0.000,0.050,2875,3366,2435,0,0,0,0,0,0
$GC,12836,0.89,212.0,29.1,10.7,533,12844,0.00,2.22,0.00,0.000,6,0.000,0.031,2876,1949,2435,0,0,0,0,0,0
$GC,13117,0.89,212.0,3.5,8.7,582,13124,0.00,2.15,0.00,0.000,4,0.000,0.041,2879,553,2434,0,0,0,0,0,0
$STATE,13131,end climb,SURFACE_DEPTH_REACHED
$STATE,13131,begin surface coast
$FINISH,0.3,1.015791
$STATE,13167,end surface coast,CONTROL_FINISHED_OK
$STATE,13167,begin surface
$SM_CCo,13189,46.22,0.407,0,0,2074,300.24
$SM_GC,2.21,0.00,0.00,46.22,0.000,0.000,0.407,56,2114,2074,-7.94,0.40,300.24
$IRIDIUM_FIX,1906.95,-15628.90,220313,222215
$TT8_MAMPS,0.029146
$HUMID,1078909023
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.00
$XPDR_PINGS,14
$24V_AH,23.4,73.050
$10V_AH,8.0,67.604
$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,20.325,152.950,303.125,46.225,0.000,26.281,38.283,208.049,3.500,0.000,16.549,1368.125,9205.619,433.284,2203.359,462.073,33.364,1262.375,0.000,1955.103,0.000,0.541,0.000
$DEVICE_MAMPS,237.003,56.758,1062.295,406.510,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,403.021,0.000,1024.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30331,590
$CAP_FILE_SIZE,165985,0
$CFSIZE,260165632,166330368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,188.5,1
$GPS,280911,115737,1910.872,-15629.805,26,1.7,26,9.6