version: 66.07
glider: 513
mission: 7
dive: 547
start: 9 29 111 3 35 17
data:
$ID,513
$MISSION,7
$DIVE,547
$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,-434415.34
$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,50
$R_STBD_OVSHOOT,57
$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
$GPS1,290911,032706,1903.122,-15629.793,43,1.2,44,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.7
$GPS2,290911,033421,1903.153,-15629.794,11,1.4,18,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.218,-0.099
$KALMAN_X,52100.2,-1138.2,-547.6,-8738.1,10218.9
$KALMAN_Y,-564936.5,261.9,288.5,459676.9,-1007.6
$MHEAD_RNG_PITCHd_Wd,179.6,5851,-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,-53.45,0.000,2,0.000,0.000,40,2120,3617,0,0,0,0,0,0
$GC,77,-0.80,-136.7,3.7,-6.3,8,100,9.88,2.20,-4.15,0.000,4,0.238,0.048,2330,700,3860,0,0,0,0,0,0
$GC,132,-0.80,-136.7,25.9,-38.0,16,140,0.00,2.15,0.00,0.000,6,0.000,0.041,2322,2068,3862,0,0,0,0,0,0
$GC,404,-0.80,-136.7,103.5,-24.4,42,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2073,3864,0,0,0,0,0,0
$GC,659,-0.80,-136.7,164.7,-23.5,66,663,0.00,2.30,0.00,0.000,4,0.000,0.050,2310,3518,3865,0,0,0,0,0,0
$GC,746,-0.80,-136.7,183.6,-21.0,73,750,0.10,2.12,0.00,0.000,6,0.171,0.031,2334,2106,3867,0,0,0,0,0,0
$GC,1002,-0.80,-136.7,231.4,-17.9,89,1006,0.00,2.10,0.00,0.000,4,0.000,0.036,2335,695,3869,0,0,0,0,0,0
$GC,1046,-0.80,-136.7,239.0,-15.9,91,1050,0.00,2.15,0.00,0.000,6,0.000,0.038,2327,2111,3868,0,0,0,0,0,0
$GC,1306,-0.80,-136.7,281.9,-16.2,104,1310,0.00,2.20,0.00,0.000,4,0.000,0.049,2315,3504,3869,0,0,0,0,0,0
$GC,1346,-0.80,-136.7,288.5,-16.5,106,1350,0.00,2.10,0.00,0.000,6,0.000,0.028,2315,2093,3869,0,0,0,0,0,0
$GC,1630,-0.80,-136.7,333.0,-15.7,115,1634,0.00,2.08,0.00,0.000,4,0.000,0.038,2315,693,3869,0,0,0,0,0,0
$GC,1702,-0.80,-136.7,345.3,-15.9,116,1707,0.12,2.12,0.00,0.000,6,0.172,0.040,2337,2097,3869,0,0,0,0,0,0
$GC,1953,-0.80,-136.7,380.9,-14.0,122,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2097,3869,0,0,0,0,0,0
$GC,2196,-0.80,-136.7,412.2,-12.7,128,2200,0.00,2.22,0.00,0.000,4,0.000,0.051,2327,3511,3868,0,0,0,0,0,0
$GC,2240,-0.80,-136.7,418.2,-13.2,129,2244,0.00,2.10,0.00,0.000,6,0.000,0.029,2327,2105,3868,0,0,0,0,0,0
$GC,2519,-0.80,-136.7,454.3,-13.2,136,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2098,3866,0,0,0,0,0,0
$GC,2762,-0.80,-136.7,484.7,-12.4,142,2765,0.00,2.12,0.00,0.000,4,0.000,0.038,2327,693,3864,0,0,0,0,0,0
$GC,2812,-0.80,-136.7,491.0,-12.1,143,2816,0.00,2.15,0.00,0.000,6,0.000,0.040,2317,2100,3864,0,0,0,0,0,0
$GC,3086,-0.80,-136.7,525.9,-13.3,150,3090,0.00,2.25,0.00,0.000,4,0.000,0.052,2306,3505,3861,0,0,0,0,0,0
$GC,3141,-0.80,-136.7,534.3,-14.3,151,3146,0.12,2.15,0.00,0.000,6,0.162,0.030,2339,2098,3861,0,0,0,0,0,0
$GC,3409,-0.80,-136.7,565.9,-12.0,158,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2092,3858,0,0,0,0,0,0
$GC,3651,-0.80,-136.7,595.9,-12.3,164,3655,0.00,2.10,0.00,0.000,4,0.000,0.040,2339,699,3856,0,0,0,0,0,0
$GC,3696,-0.80,-136.7,601.6,-12.7,165,3700,0.00,2.12,0.00,0.000,6,0.000,0.040,2331,2102,3856,0,0,0,0,0,0
$GC,3976,-0.80,-136.7,637.0,-12.8,172,3980,0.00,2.28,0.00,0.000,4,0.000,0.053,2320,3516,3853,0,0,0,0,0,0
$GC,4020,-0.80,-136.7,643.1,-12.6,173,4024,0.00,2.15,0.00,0.000,6,0.000,0.033,2320,2108,3853,0,0,0,0,0,0
$GC,4299,-0.80,-136.7,678.5,-12.8,180,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2102,3851,0,0,0,0,0,0
$GC,4541,-0.80,-136.7,708.7,-12.3,186,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2102,3848,0,0,0,0,0,0
$GC,4785,-0.80,-136.7,738.7,-12.4,192,4789,0.00,2.25,0.00,0.000,4,0.000,0.051,2309,3517,3846,0,0,0,0,0,0
$GC,4830,-0.80,-136.7,744.2,-11.8,193,4835,0.12,2.17,0.00,0.000,6,0.160,0.033,2341,2101,3846,0,0,0,0,0,0
$GC,5110,-0.80,-136.7,774.1,-10.6,200,5114,0.00,2.12,0.00,0.000,4,0.000,0.042,2342,693,3844,0,0,0,0,0,0
$GC,5138,-0.80,-136.7,777.5,-11.7,200,5142,0.00,2.17,0.00,0.000,6,0.000,0.040,2333,2100,3844,0,0,0,0,0,0
$GC,5389,-0.80,-136.7,804.5,-10.9,206,5393,0.00,2.28,0.00,0.000,4,0.000,0.054,2323,3518,3843,0,0,0,0,0,0
$GC,5423,-0.80,-136.7,808.4,-11.3,206,5427,0.00,2.17,0.00,0.000,6,0.000,0.033,2323,2097,3843,0,0,0,0,0,0
$GC,5674,-0.80,-136.7,836.3,-11.3,212,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2092,3841,0,0,0,0,0,0
$GC,5916,-0.80,-136.7,863.4,-11.1,218,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2092,3839,0,0,0,0,0,0
$GC,6160,-0.80,-136.7,890.0,-10.8,224,6164,0.00,2.15,0.00,0.000,4,0.000,0.045,2323,697,3838,0,0,0,0,0,0
$GC,6193,-0.80,-136.7,893.8,-10.9,224,6198,0.00,2.17,0.00,0.000,6,0.000,0.041,2313,2104,3837,0,0,0,0,0,0
$STATE,6278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6278,begin apogee
$GC,6287,-0.28,0.0,903.3,11.0,226,6405,0.62,0.00,114.75,1.065,6,0.141,0.000,2499,1936,3300,0,0,0,0,0,0
$STATE,6406,end apogee,CONTROL_FINISHED_OK
$STATE,6406,begin climb
$GC,6409,0.80,136.7,906.6,0.0,229,6535,1.05,0.00,122.18,1.032,6,0.094,0.000,2849,1935,2742,0,0,0,0,0,0
$GC,6774,0.80,136.7,852.1,17.7,238,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1935,2733,0,0,0,0,0,0
$GC,7018,0.80,136.7,810.5,16.9,244,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1935,2732,0,0,0,0,0,0
$GC,7263,0.80,136.7,770.7,16.1,250,7267,0.00,2.33,0.00,0.000,4,0.000,0.051,2849,3364,2730,0,0,0,0,0,0
$GC,7308,0.80,136.7,762.7,16.9,251,7312,0.00,2.15,0.00,0.000,6,0.000,0.032,2859,1975,2731,0,0,0,0,0,0
$GC,7586,0.80,136.7,715.9,17.1,258,7590,0.00,2.28,0.00,0.000,4,0.000,0.050,2859,3374,2728,0,0,0,0,0,0
$GC,7620,0.80,136.7,709.7,18.9,258,7627,0.00,2.17,0.00,0.000,6,0.000,0.031,2870,1961,2729,0,0,0,0,0,0
$GC,7870,0.80,136.7,664.8,17.8,265,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1960,2727,0,0,0,0,0,0
$GC,8115,0.80,136.7,621.1,17.7,271,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1959,2727,0,0,0,0,0,0
$GC,8359,0.80,136.7,579.3,17.2,277,8363,0.00,2.12,0.00,0.000,4,0.000,0.038,2881,560,2726,0,0,0,0,0,0
$GC,8404,0.80,136.7,571.3,16.6,278,8408,0.00,2.12,0.00,0.000,6,0.000,0.032,2881,1972,2724,0,0,0,0,0,0
$GC,8683,0.80,136.7,523.1,17.6,285,8687,0.00,2.22,0.00,0.000,4,0.000,0.048,2881,3361,2724,0,0,0,0,0,0
$GC,8722,0.80,136.7,515.8,18.8,286,8727,0.15,2.17,0.00,0.000,6,0.195,0.029,2855,1948,2724,0,0,0,0,0,0
$GC,9008,0.80,136.7,471.3,15.7,293,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1948,2724,0,0,0,0,0,0
$GC,9252,0.80,136.7,435.0,14.8,299,9255,0.00,2.10,0.00,0.000,4,0.000,0.039,2864,553,2724,0,0,0,0,0,0
$GC,9318,0.80,136.7,424.6,15.5,300,9322,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1965,2722,0,0,0,0,0,0
$GC,9576,0.80,136.7,387.0,14.7,307,9580,0.00,2.22,0.00,0.000,4,0.000,0.050,2864,3360,2722,0,0,0,0,0,0
$GC,9638,0.80,136.7,376.8,16.3,308,9642,0.00,2.15,0.00,0.000,6,0.000,0.030,2874,1961,2722,0,0,0,0,0,0
$GC,9900,0.80,136.7,336.9,15.2,315,9903,0.00,2.12,0.00,0.000,4,0.000,0.037,2885,562,2722,0,0,0,0,0,0
$GC,9951,0.80,136.7,329.2,14.1,316,9956,0.12,2.10,0.00,0.000,6,0.189,0.031,2856,1968,2721,0,0,0,0,0,0
$GC,10206,0.80,136.7,296.7,12.3,323,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1969,2721,0,0,0,0,0,0
$GC,10455,0.80,136.7,268.6,11.0,335,10459,0.00,2.25,0.00,0.000,4,0.000,0.048,2856,3364,2721,0,0,0,0,0,0
$GC,10702,0.80,136.7,241.2,11.3,346,10707,0.00,2.15,0.00,0.000,6,0.000,0.030,2865,1952,2721,0,0,0,0,0,0
$GC,10962,0.80,136.7,214.5,10.8,359,10966,0.00,2.08,0.00,0.000,4,0.000,0.038,2876,568,2721,0,0,0,0,0,0
$GC,11072,0.80,136.7,204.0,9.6,363,11077,0.00,2.08,0.00,0.000,6,0.000,0.030,2875,1959,2720,0,0,0,0,0,0
$GC,11335,0.80,142.8,182.2,8.3,385,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1959,2720,0,0,0,0,0,0
$GC,11599,0.80,142.8,157.6,9.9,410,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1958,2720,0,0,0,0,0,0
$GC,11854,0.86,188.0,135.6,6.7,434,11903,0.00,2.30,40.97,0.524,4,0.000,0.048,2875,3353,2533,0,0,0,0,0,0
$GC,11956,0.86,188.0,126.5,11.0,442,11960,0.00,2.12,0.00,0.000,6,0.000,0.028,2886,1968,2532,0,0,0,0,0,0
$GC,12221,0.86,188.0,99.8,9.7,466,12225,0.00,2.15,0.00,0.000,4,0.000,0.038,2895,561,2530,0,0,0,0,0,0
$GC,12334,0.88,208.9,89.3,7.7,475,12359,0.00,2.10,18.55,0.466,6,0.000,0.031,2895,1964,2447,0,0,0,0,0,0
$GC,12618,0.88,208.9,63.5,9.9,501,12622,0.00,2.12,0.00,0.000,4,0.000,0.036,2906,560,2445,0,0,0,0,0,0
$GC,12697,0.88,208.9,54.7,10.8,507,12704,0.00,2.12,0.00,0.000,6,0.000,0.030,2905,1951,2444,0,0,0,0,0,0
$GC,12960,0.88,208.9,28.3,10.5,533,12969,0.00,2.25,0.00,0.000,4,0.000,0.046,2905,3352,2445,0,0,0,0,0,0
$STATE,13165,end climb,SURFACE_DEPTH_REACHED
$STATE,13166,begin surface coast
$FINISH,0.4,1.022912
$STATE,13183,end surface coast,CONTROL_FINISHED_OK
$STATE,13184,begin surface
$SM_CCo,13206,45.22,0.409,0,0,2075,300.24
$SM_GC,1.78,0.00,0.00,45.22,0.000,0.000,0.409,61,2098,2075,-7.93,-0.06,300.24
$IRIDIUM_FIX,1855.54,-15627.72,230313,181855
$TT8_MAMPS,0.029146
$HUMID,1078963216
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.60
$XPDR_PINGS,10
$24V_AH,23.4,73.559
$10V_AH,8.0,68.054
$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,19.975,116.975,296.450,45.225,0.000,26.877,34.692,208.782,2.500,0.000,19.117,1308.759,9415.100,430.613,2092.619,436.546,33.362,1192.302,0.000,1850.817,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,62.127,1064.596,408.811,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,391.291,0.000,942.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30247,572
$CAP_FILE_SIZE,153238,0
$CFSIZE,260165632,166031360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,134.2,1
$GPS,290911,071800,1901.315,-15629.843,67,1.1,68,9.6