version: 66.07
glider: 513
mission: 7
dive: 550
start: 9 29 111 15 17 40
data:
$ID,513
$MISSION,7
$DIVE,550
$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,-434467.66
$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,49
$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
$GPS1,290911,150436,1900.357,-15629.842,62,0.8,68,9.6
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.5
$GPS2,290911,151643,1900.396,-15629.812,12,0.9,23,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G8
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.237,0.030
$KALMAN_X,64066.8,-633.6,-401.3,-21380.9,11636.6
$KALMAN_Y,-566400.4,-264.7,150.9,456696.1,-1095.0
$MHEAD_RNG_PITCHd_Wd,89.4,25948,-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,-136.7,0.0,0.0,0,79,0.00,0.00,-58.95,0.000,2,0.000,0.000,37,2119,3802,0,0,0,0,0,0
$GC,84,-0.80,-136.7,4.4,-7.1,9,100,9.82,2.30,-0.88,0.000,4,0.235,0.065,2319,3498,3862,0,0,0,0,0,0
$GC,161,-0.80,-136.7,41.4,-30.7,19,170,0.00,2.20,0.00,0.000,6,0.000,0.035,2319,2106,3865,0,0,0,0,0,0
$GC,427,-0.80,-136.7,117.3,-28.6,44,431,0.00,2.12,0.00,0.000,4,0.000,0.039,2319,687,3866,0,0,0,0,0,0
$GC,491,-0.80,-136.7,133.8,-24.7,49,495,0.12,2.15,0.00,0.000,6,0.177,0.042,2338,2093,3867,0,0,0,0,0,0
$GC,754,-0.80,-136.7,185.8,-17.5,73,758,0.00,2.10,0.00,0.000,4,0.000,0.039,2338,692,3868,0,0,0,0,0,0
$GC,797,-0.80,-136.7,192.4,-16.8,76,801,0.00,2.15,0.00,0.000,6,0.000,0.040,2330,2110,3868,0,0,0,0,0,0
$GC,1069,-0.80,-136.7,240.0,-17.2,91,1073,0.00,2.20,0.00,0.000,4,0.000,0.049,2319,3520,3869,0,0,0,0,0,0
$GC,1103,-0.80,-136.7,246.0,-17.2,92,1109,0.00,2.17,0.00,0.000,6,0.000,0.028,2319,2084,3870,0,0,0,0,0,0
$GC,1359,-0.80,-136.7,289.3,-18.4,105,1363,0.00,2.05,0.00,0.000,4,0.000,0.038,2319,697,3870,0,0,0,0,0,0
$GC,1439,-0.80,-136.7,303.7,-16.9,108,1445,0.12,2.10,0.00,0.000,6,0.168,0.039,2340,2099,3870,0,0,0,0,0,0
$GC,1689,-0.80,-136.7,340.8,-14.5,115,1693,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3504,3870,0,0,0,0,0,0
$GC,1744,-0.80,-136.7,349.3,-14.1,116,1748,0.00,2.10,0.00,0.000,6,0.000,0.029,2331,2094,3870,0,0,0,0,0,0
$GC,2017,-0.80,-136.7,386.3,-13.5,123,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2088,3870,0,0,0,0,0,0
$GC,2260,-0.80,-136.7,417.4,-12.9,129,2264,0.00,2.08,0.00,0.000,4,0.000,0.038,2331,705,3867,0,0,0,0,0,0
$GC,2306,-0.80,-136.7,423.5,-12.6,130,2310,0.00,2.10,0.00,0.000,6,0.000,0.040,2321,2099,3867,0,0,0,0,0,0
$GC,2584,-0.80,-136.7,463.3,-14.7,137,2588,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3509,3864,0,0,0,0,0,0
$GC,2639,-0.80,-136.7,471.9,-14.8,138,2644,0.10,2.12,0.00,0.000,6,0.169,0.031,2335,2103,3863,0,0,0,0,0,0
$GC,2907,-0.80,-136.7,505.3,-12.4,145,2911,0.00,2.10,0.00,0.000,4,0.000,0.038,2335,694,3861,0,0,0,0,0,0
$GC,2928,-0.80,-136.7,508.4,-12.9,145,2932,0.00,2.17,0.00,0.000,6,0.000,0.041,2327,2109,3862,0,0,0,0,0,0
$GC,3186,-0.80,-136.7,539.7,-12.0,152,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2109,3859,0,0,0,0,0,0
$GC,3428,-0.80,-136.7,571.4,-13.0,158,3432,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3506,3857,0,0,0,0,0,0
$GC,3455,-0.80,-136.7,575.2,-13.3,158,3459,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2098,3856,0,0,0,0,0,0
$GC,3712,-0.80,-136.7,609.9,-13.7,165,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2091,3854,0,0,0,0,0,0
$GC,3955,-0.80,-136.7,644.1,-14.3,171,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2091,3852,0,0,0,0,0,0
$GC,4198,-0.80,-136.7,679.0,-14.3,177,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2091,3850,0,0,0,0,0,0
$GC,4444,-0.80,-136.7,711.8,-13.1,183,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2091,3848,0,0,0,0,0,0
$GC,4686,-0.80,-136.7,741.4,-12.0,189,4690,0.00,2.12,0.00,0.000,4,0.000,0.041,2316,693,3846,0,0,0,0,0,0
$GC,4724,-0.80,-136.7,746.3,-12.1,189,4730,0.12,2.20,0.00,0.000,6,0.181,0.044,2336,2105,3845,0,0,0,0,0,0
$GC,4976,-0.80,-136.7,771.3,-9.9,196,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3844,0,0,0,0,0,0
$GC,5218,-0.80,-136.7,796.3,-10.2,202,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3842,0,0,0,0,0,0
$GC,5462,-0.80,-136.7,821.0,-10.3,208,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3840,0,0,0,0,0,0
$GC,5707,-0.80,-136.7,846.5,-10.5,214,5711,0.00,2.28,0.00,0.000,4,0.000,0.054,2327,3514,3838,0,0,0,0,0,0
$GC,5773,-0.80,-136.7,854.0,-10.5,215,5777,0.00,2.15,0.00,0.000,6,0.000,0.032,2327,2100,3838,0,0,0,0,0,0
$GC,6029,-0.80,-136.7,881.4,-10.8,222,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2094,3836,0,0,0,0,0,0
$STATE,6229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6229,begin apogee
$GC,6238,-0.28,0.0,903.1,10.6,227,6355,0.60,0.00,113.93,1.061,6,0.143,0.000,2504,1947,3300,0,0,0,0,0,0
$STATE,6356,end apogee,CONTROL_FINISHED_OK
$STATE,6356,begin climb
$GC,6359,0.80,136.7,906.0,0.0,230,6486,1.02,0.00,120.82,1.032,6,0.094,0.000,2846,1946,2742,0,0,0,0,0,0
$GC,6726,0.80,136.7,850.6,18.3,239,6730,0.00,2.33,0.00,0.000,4,0.000,0.050,2846,3371,2734,0,0,0,0,0,0
$GC,6753,0.80,136.7,845.1,19.1,239,6757,0.00,2.17,0.00,0.000,6,0.000,0.028,2856,1964,2734,0,0,0,0,0,0
$GC,7010,0.80,136.7,797.2,18.9,246,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1964,2731,0,0,0,0,0,0
$GC,7252,0.80,136.7,753.2,17.7,252,7256,0.00,2.15,0.00,0.000,4,0.000,0.040,2868,561,2730,0,0,0,0,0,0
$GC,7308,0.80,136.7,742.7,18.0,253,7312,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1960,2727,0,0,0,0,0,0
$GC,7583,0.80,136.7,692.4,18.6,260,7587,0.00,2.28,0.00,0.000,4,0.000,0.052,2868,3367,2728,0,0,0,0,0,0
$GC,7627,0.80,136.7,683.4,19.2,261,7631,0.00,2.17,0.00,0.000,6,0.000,0.031,2878,1959,2728,0,0,0,0,0,0
$GC,7907,0.80,136.7,632.0,18.6,268,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1960,2727,0,0,0,0,0,0
$GC,8148,0.80,136.7,589.5,17.2,274,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1960,2726,0,0,0,0,0,0
$GC,8393,0.80,136.7,549.2,16.3,280,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1960,2726,0,0,0,0,0,0
$GC,8637,0.80,136.7,509.0,16.7,286,8641,0.00,2.25,0.00,0.000,4,0.000,0.050,2878,3365,2725,0,0,0,0,0,0
$GC,8687,0.80,136.7,499.9,17.5,287,8692,0.12,2.15,0.00,0.000,6,0.200,0.030,2859,1957,2725,0,0,0,0,0,0
$GC,8963,0.80,136.7,457.8,15.7,294,8967,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,564,2724,0,0,0,0,0,0
$GC,8996,0.80,136.7,451.9,15.8,294,9001,0.00,2.10,0.00,0.000,6,0.000,0.032,2868,1963,2723,0,0,0,0,0,0
$GC,9246,0.80,136.7,410.3,16.9,301,9250,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3362,2723,0,0,0,0,0,0
$GC,9320,0.80,136.7,397.2,17.2,302,9324,0.00,2.12,0.00,0.000,6,0.000,0.029,2878,1957,2723,0,0,0,0,0,0
$GC,9575,0.80,136.7,355.4,16.5,309,9579,0.00,2.10,0.00,0.000,4,0.000,0.037,2889,560,2723,0,0,0,0,0,0
$GC,9608,0.80,136.7,349.9,16.9,309,9614,0.15,2.10,0.00,0.000,6,0.183,0.031,2853,1962,2721,0,0,0,0,0,0
$GC,9860,0.80,136.7,315.9,13.1,316,9864,0.00,2.25,0.00,0.000,4,0.000,0.050,2852,3364,2721,0,0,0,0,0,0
$GC,9909,0.80,136.7,308.4,14.8,317,9913,0.00,2.15,0.00,0.000,6,0.000,0.029,2862,1954,2721,0,0,0,0,0,0
$GC,10165,0.80,136.7,278.7,11.0,328,10169,0.00,2.28,0.00,0.000,4,0.000,0.047,2862,3369,2721,0,0,0,0,0,0
$GC,10259,0.80,136.7,267.2,12.0,332,10263,0.00,2.17,0.00,0.000,6,0.000,0.028,2872,1948,2722,0,0,0,0,0,0
$GC,10517,0.80,136.7,236.0,12.8,344,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1945,2721,0,0,0,0,0,0
$GC,10763,0.80,136.7,208.5,10.5,356,10767,0.00,2.10,0.00,0.000,4,0.000,0.036,2884,555,2721,0,0,0,0,0,0
$GC,10791,0.80,136.7,205.0,11.4,357,10795,0.00,2.12,0.00,0.000,6,0.000,0.031,2883,1967,2720,0,0,0,0,0,0
$GC,11059,0.80,136.7,177.2,10.1,380,11062,0.00,2.15,0.00,0.000,4,0.000,0.035,2894,559,2720,0,0,0,0,0,0
$GC,11148,0.81,144.3,169.5,8.2,387,11163,0.15,2.12,3.78,0.366,6,0.176,0.031,2856,1963,2711,0,0,0,0,0,0
$GC,11420,0.83,163.8,149.3,7.7,412,11450,0.00,2.22,18.88,0.524,4,0.000,0.035,2865,551,2630,0,0,0,0,0,0
$GC,11501,0.83,163.8,142.4,8.7,419,11506,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1960,2629,0,0,0,0,0,0
$GC,11765,0.84,171.9,119.1,8.2,443,11776,0.00,0.00,8.27,0.448,6,0.000,0.000,2865,1959,2598,0,0,0,0,0,0
$GC,12031,0.87,195.2,97.1,7.6,468,12058,0.00,2.20,21.40,0.476,4,0.000,0.038,2865,567,2503,0,0,0,0,0,0
$GC,12138,0.87,195.2,88.0,8.7,477,12142,0.00,2.12,0.00,0.000,6,0.000,0.032,2865,1966,2500,0,0,0,0,0,0
$GC,12402,0.89,211.6,67.1,7.9,501,12427,0.00,2.28,15.15,0.436,4,0.000,0.047,2866,3364,2436,0,0,0,0,0,0
$GC,12525,0.89,211.6,55.9,9.8,511,12534,0.00,2.17,0.00,0.000,6,0.000,0.028,2865,1964,2436,0,0,0,0,0,0
$GC,12792,0.93,243.1,34.6,7.2,536,12828,0.00,2.20,27.30,0.425,4,0.000,0.038,2865,565,2307,0,0,0,0,0,0
$GC,12916,0.93,243.1,24.0,9.3,552,12924,0.00,2.15,0.00,0.000,6,0.000,0.032,2865,1955,2305,0,0,0,0,0,0
$STATE,13142,end climb,SURFACE_DEPTH_REACHED
$STATE,13142,begin surface coast
$FINISH,0.5,1.023062
$STATE,13180,end surface coast,CONTROL_FINISHED_OK
$STATE,13180,begin surface
$SM_CCo,13199,26.65,0.394,0,0,2075,300.24
$SM_GC,1.29,0.00,0.00,26.65,0.000,0.000,0.394,58,2129,2075,-7.94,0.82,300.24
$IRIDIUM_FIX,1853.26,-15633.72,240313,090955
$TT8_MAMPS,0.029146
$HUMID,1078925797
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.20
$XPDR_PINGS,9
$24V_AH,23.4,73.801
$10V_AH,8.0,68.344
$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,19.950,117.400,329.525,26.650,0.000,54.920,91.852,338.036,2.250,0.000,23.454,1329.848,9387.836,414.869,2343.017,473.919,33.362,1209.295,0.000,1898.082,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,65.195,1060.761,394.238,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,408.091,0.000,1048.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,30342,598
$CAP_FILE_SIZE,159785,0
$CFSIZE,260165632,165822464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.046, 72.7,1
$GPS,290911,190006,1900.297,-15627.717,75,0.9,75,9.6