version: 66.07
glider: 513
mission: 7
dive: 563
start: 10 1 111 17 28 32
data:
$ID,513
$MISSION,7
$DIVE,563
$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,-434734.22
$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,63
$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
$GPS1,011011,171436,1907.095,-15614.137,34,1.4,35,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-80.0
$GPS2,011011,172731,1907.241,-15613.844,10,1.7,10,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.006,0.239
$KALMAN_X,41631.2,1236.3,841.0,25660.4,-5128.2
$KALMAN_Y,-594108.5,2527.4,104.7,494287.9,-7500.6
$MHEAD_RNG_PITCHd_Wd,322.9,125505,-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,-136.7,0.0,0.0,0,72,0.00,0.00,-52.90,0.000,2,0.000,0.000,37,2135,3590,0,0,0,0,0,0
$GC,77,-0.80,-136.7,3.5,-5.0,8,99,10.05,2.28,-4.62,0.000,4,0.240,0.055,2332,710,3860,0,0,0,0,0,0
$GC,219,-0.80,-136.7,53.2,-28.2,25,223,0.00,2.15,0.00,0.000,6,0.000,0.044,2324,2073,3863,0,0,0,0,0,0
$GC,482,-0.80,-136.7,128.4,-23.9,49,486,0.00,2.10,0.00,0.000,4,0.000,0.039,2324,706,3864,0,0,0,0,0,0
$GC,538,-0.80,-136.7,142.5,-22.8,53,546,0.00,2.20,0.00,0.000,6,0.000,0.044,2313,2106,3864,0,0,0,0,0,0
$GC,805,-0.80,-136.7,194.3,-17.9,78,809,0.00,2.12,0.00,0.000,4,0.000,0.041,2313,704,3866,0,0,0,0,0,0
$GC,825,-0.80,-136.7,198.6,-18.5,79,829,0.12,2.17,0.00,0.000,6,0.184,0.041,2333,2105,3866,0,0,0,0,0,0
$GC,1078,-0.80,-136.7,239.6,-16.7,91,1082,0.00,2.15,0.00,0.000,4,0.000,0.040,2333,704,3868,0,0,0,0,0,0
$GC,1130,-0.80,-136.7,248.4,-16.4,93,1134,0.00,2.17,0.00,0.000,6,0.000,0.041,2325,2108,3868,0,0,0,0,0,0
$GC,1388,-0.80,-136.7,289.7,-14.6,105,1392,0.00,2.17,0.00,0.000,4,0.000,0.052,2314,3512,3868,0,0,0,0,0,0
$GC,1467,-0.80,-136.7,300.9,-12.5,108,1473,0.00,2.12,0.00,0.000,6,0.000,0.031,2314,2098,3869,0,0,0,0,0,0
$GC,1717,-0.80,-136.7,338.7,-16.0,115,1721,0.00,2.15,0.00,0.000,4,0.000,0.040,2314,694,3868,0,0,0,0,0,0
$GC,1792,-0.80,-136.7,350.3,-15.2,116,1797,0.12,2.17,0.00,0.000,6,0.170,0.042,2335,2094,3868,0,0,0,0,0,0
$GC,2042,-0.80,-136.7,383.2,-12.9,122,2046,0.00,2.22,0.00,0.000,4,0.000,0.050,2326,3520,3868,0,0,0,0,0,0
$GC,2063,-0.80,-136.7,386.1,-12.8,122,2067,0.00,2.12,0.00,0.000,6,0.000,0.028,2326,2089,3868,0,0,0,0,0,0
$GC,2322,-0.80,-136.7,418.6,-12.8,129,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2084,3866,0,0,0,0,0,0
$GC,2563,-0.80,-136.7,454.1,-14.7,135,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2084,3865,0,0,0,0,0,0
$GC,2807,-0.80,-136.7,492.8,-16.0,141,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2084,3862,0,0,0,0,0,0
$GC,3052,-0.80,-136.7,528.1,-14.1,147,3056,0.00,2.25,0.00,0.000,4,0.000,0.051,2315,3512,3860,0,0,0,0,0,0
$GC,3079,-0.80,-136.7,532.1,-13.6,147,3083,0.00,2.12,0.00,0.000,6,0.000,0.033,2315,2105,3860,0,0,0,0,0,0
$GC,3334,-0.80,-136.7,564.5,-12.5,154,3338,0.00,2.15,0.00,0.000,4,0.000,0.039,2315,701,3857,0,0,0,0,0,0
$GC,3391,-0.80,-136.7,571.3,-12.3,155,3395,0.12,2.17,0.00,0.000,6,0.174,0.040,2336,2102,3857,0,0,0,0,0,0
$GC,3657,-0.80,-136.7,599.8,-10.6,162,3661,0.00,2.20,0.00,0.000,4,0.000,0.053,2327,3506,3854,0,0,0,0,0,0
$GC,3709,-0.80,-136.7,605.7,-11.4,163,3713,0.00,2.10,0.00,0.000,6,0.000,0.031,2327,2107,3854,0,0,0,0,0,0
$GC,3981,-0.80,-136.7,638.8,-12.6,170,3985,0.00,2.15,0.00,0.000,4,0.000,0.039,2327,690,3852,0,0,0,0,0,0
$GC,4036,-0.80,-136.7,646.7,-13.4,171,4040,0.00,2.17,0.00,0.000,6,0.000,0.041,2316,2097,3851,0,0,0,0,0,0
$GC,4304,-0.80,-136.7,684.1,-14.2,178,4308,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3518,3848,0,0,0,0,0,0
$GC,4376,-0.80,-136.7,694.7,-14.0,179,4381,0.12,2.17,0.00,0.000,6,0.168,0.031,2337,2089,3847,0,0,0,0,0,0
$GC,4628,-0.80,-136.7,724.1,-11.6,185,4632,0.00,2.15,0.00,0.000,4,0.000,0.043,2337,700,3845,0,0,0,0,0,0
$GC,4668,-0.80,-136.7,728.9,-11.1,186,4672,0.00,2.17,0.00,0.000,6,0.000,0.040,2329,2102,3845,0,0,0,0,0,0
$GC,4951,-0.80,-136.7,762.2,-12.0,193,4955,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3516,3844,0,0,0,0,0,0
$GC,4975,-0.80,-136.7,765.2,-12.7,193,4979,0.00,2.15,0.00,0.000,6,0.000,0.032,2318,2105,3843,0,0,0,0,0,0
$GC,5231,-0.80,-136.7,797.8,-12.8,200,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2099,3842,0,0,0,0,0,0
$GC,5476,-0.80,-136.7,829.2,-13.0,206,5480,0.00,2.20,0.00,0.000,4,0.000,0.042,2318,683,3840,0,0,0,0,0,0
$GC,5503,-0.80,-136.7,833.2,-13.8,206,5508,0.12,2.20,0.00,0.000,6,0.180,0.042,2338,2097,3839,0,0,0,0,0,0
$GC,5758,-0.80,-136.7,861.6,-11.0,213,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2097,3837,0,0,0,0,0,0
$GC,6004,-0.80,-136.7,887.9,-10.7,219,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2097,3836,0,0,0,0,0,0
$STATE,6121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6121,begin apogee
$GC,6128,-0.28,0.0,900.7,10.5,222,6246,0.55,0.00,114.38,1.060,6,0.140,0.000,2504,1919,3300,0,0,0,0,0,0
$STATE,6247,end apogee,CONTROL_FINISHED_OK
$STATE,6247,begin climb
$GC,6250,0.80,136.7,904.6,0.0,225,6379,1.02,0.00,121.35,1.037,6,0.093,0.000,2847,1918,2742,0,0,0,0,0,0
$GC,6616,0.80,136.7,851.4,17.8,234,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1918,2733,0,0,0,0,0,0
$GC,6860,0.80,136.7,806.8,18.3,240,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1918,2732,0,0,0,0,0,0
$GC,7105,0.80,136.7,763.0,17.9,246,7109,0.00,2.33,0.00,0.000,4,0.000,0.053,2846,3369,2730,0,0,0,0,0,0
$GC,7161,0.80,136.7,752.5,17.9,247,7165,0.00,2.15,0.00,0.000,6,0.000,0.030,2857,1968,2730,0,0,0,0,0,0
$GC,7435,0.80,136.7,704.5,17.8,254,7439,0.00,2.15,0.00,0.000,4,0.000,0.040,2868,564,2729,0,0,0,0,0,0
$GC,7475,0.80,136.7,697.2,17.8,255,7479,0.00,2.17,0.00,0.000,6,0.000,0.034,2868,1968,2726,0,0,0,0,0,0
$GC,7759,0.80,136.7,646.5,17.9,262,7763,0.00,2.22,0.00,0.000,4,0.000,0.053,2868,3368,2726,0,0,0,0,0,0
$GC,7827,0.80,136.7,634.1,17.7,263,7831,0.00,2.15,0.00,0.000,6,0.000,0.030,2878,1949,2726,0,0,0,0,0,0
$GC,8082,0.80,136.7,587.6,18.3,270,8086,0.00,2.12,0.00,0.000,4,0.000,0.038,2889,561,2725,0,0,0,0,0,0
$GC,8110,0.80,136.7,582.3,18.4,270,8115,0.15,2.15,0.00,0.000,6,0.189,0.033,2854,1973,2724,0,0,0,0,0,0
$GC,8363,0.80,136.7,541.7,16.1,276,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1973,2724,0,0,0,0,0,0
$GC,8604,0.80,136.7,504.6,15.1,282,8608,0.00,2.20,0.00,0.000,4,0.000,0.051,2854,3366,2724,0,0,0,0,0,0
$GC,8627,0.80,136.7,501.2,15.3,282,8631,0.00,2.12,0.00,0.000,6,0.000,0.030,2862,1960,2724,0,0,0,0,0,0
$GC,8888,0.80,136.7,460.3,15.7,289,8892,0.00,2.12,0.00,0.000,4,0.000,0.037,2873,562,2724,0,0,0,0,0,0
$GC,8943,0.80,136.7,451.7,14.5,290,8947,0.00,2.15,0.00,0.000,6,0.000,0.032,2873,1958,2722,0,0,0,0,0,0
$GC,9211,0.80,136.7,411.1,15.5,297,9215,0.00,2.22,0.00,0.000,4,0.000,0.051,2873,3365,2722,0,0,0,0,0,0
$GC,9227,0.80,136.7,408.2,15.7,297,9231,0.00,2.15,0.00,0.000,6,0.000,0.029,2884,1948,2722,0,0,0,0,0,0
$GC,9488,0.80,136.7,367.4,15.7,304,9493,0.12,2.12,0.00,0.000,4,0.204,0.038,2863,565,2722,0,0,0,0,0,0
$GC,9528,0.80,136.7,361.4,14.3,304,9534,0.00,2.15,0.00,0.000,6,0.000,0.033,2864,1960,2721,0,0,0,0,0,0
$GC,9778,0.80,136.7,328.4,12.7,311,9782,0.00,2.25,0.00,0.000,4,0.000,0.051,2863,3368,2721,0,0,0,0,0,0
$GC,9805,0.80,136.7,324.9,13.1,311,9809,0.00,2.15,0.00,0.000,6,0.000,0.028,2874,1954,2721,0,0,0,0,0,0
$GC,10056,0.80,136.7,290.7,14.3,318,10060,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,566,2721,0,0,0,0,0,0
$GC,10089,0.80,136.7,285.8,14.1,319,10093,0.12,2.15,0.00,0.000,6,0.186,0.032,2855,1962,2720,0,0,0,0,0,0
$GC,10343,0.80,136.7,258.8,10.3,331,10347,0.00,2.22,0.00,0.000,4,0.000,0.051,2855,3366,2721,0,0,0,0,0,0
$GC,10410,0.80,136.7,250.5,12.6,334,10414,0.00,2.15,0.00,0.000,6,0.000,0.028,2864,1952,2720,0,0,0,0,0,0
$GC,10669,0.80,136.7,220.3,10.4,347,10673,0.00,2.12,0.00,0.000,4,0.000,0.038,2876,557,2721,0,0,0,0,0,0
$GC,10696,0.80,136.7,217.6,10.4,348,10701,0.00,2.17,0.00,0.000,6,0.000,0.033,2875,1971,2720,0,0,0,0,0,0
$GC,10954,0.80,136.7,192.8,10.2,363,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1971,2720,0,0,0,0,0,0
$GC,11210,0.80,136.7,166.3,10.2,387,11214,0.00,2.20,0.00,0.000,4,0.000,0.049,2875,3361,2720,0,0,0,0,0,0
$GC,11309,0.80,136.7,157.1,8.9,395,11313,0.12,2.10,0.00,0.000,6,0.191,0.028,2856,1952,2721,0,0,0,0,0,0
$GC,11572,0.90,222.5,142.1,4.9,419,11648,0.00,2.20,69.47,0.533,4,0.000,0.038,2865,586,2391,0,0,0,0,0,0
$GC,11749,0.90,222.5,125.6,11.4,434,11753,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1958,2385,0,0,0,0,0,0
$GC,12013,0.90,222.5,96.2,11.7,458,12017,0.00,2.17,0.00,0.000,4,0.000,0.038,2867,565,2385,0,0,0,0,0,0
$GC,12146,0.90,222.5,81.0,10.8,469,12150,0.00,2.15,0.00,0.000,6,0.000,0.031,2867,1960,2384,0,0,0,0,0,0
$GC,12412,0.94,250.3,58.1,7.4,493,12440,0.00,2.17,23.58,0.444,4,0.000,0.038,2867,567,2277,0,0,0,0,0,0
$GC,12560,0.95,264.9,46.9,7.9,505,12585,0.10,2.15,13.55,0.416,6,0.103,0.031,2917,1967,2217,0,0,0,0,0,0
$GC,12844,0.95,264.9,11.9,13.6,543,12853,0.00,2.20,0.00,0.000,4,0.000,0.045,2917,3352,2216,0,0,0,0,0,0
$STATE,12909,end climb,SURFACE_DEPTH_REACHED
$STATE,12910,begin surface coast
$FINISH,0.4,1.005319
$STATE,12933,end surface coast,CONTROL_FINISHED_OK
$STATE,12933,begin surface
$SM_CCo,12955,16.98,0.392,0,0,2075,300.24
$SM_GC,1.37,0.00,0.00,16.98,0.000,0.000,0.392,53,2102,2075,-7.96,0.06,300.24
$IRIDIUM_FIX,1902.38,-15609.43,260313,111157
$TT8_MAMPS,0.029146
$HUMID,1078978700
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,7
$24V_AH,23.4,75.177
$10V_AH,8.0,69.543
$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,20.650,138.825,342.325,16.975,0.000,56.517,79.288,410.461,1.750,0.000,12.268,1303.207,9233.596,421.390,2261.304,529.279,33.361,1213.522,0.000,1824.291,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,59.826,1059.994,391.937,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.278,0.000,922.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,26978,558
$CAP_FILE_SIZE,162242,0
$CFSIZE,260165632,164978688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 74.2,1
$GPS,011011,210606,1908.879,-15614.070,37,1.6,38,9.6