version: 66.07
glider: 513
mission: 7
dive: 565
start: 10 2 111 1 14 26
data:
$ID,513
$MISSION,7
$DIVE,565
$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,-434767.94
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,021011,010436,1910.637,-15614.581,55,1.3,56,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.8
$GPS2,021011,011326,1910.666,-15614.617,17,1.3,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.178
$KALMAN_X,39620.9,299.6,128.1,28023.9,-5263.9
$KALMAN_Y,-592337.6,-360.8,52.2,501807.0,-1855.0
$MHEAD_RNG_PITCHd_Wd,348.7,119149,-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,17,-0.80,-136.7,0.0,0.0,0,72,0.00,0.00,-52.55,0.000,2,0.000,0.000,38,2122,3556,0,0,0,0,0,0
$GC,76,-0.80,-136.7,3.2,-3.9,8,98,10.00,2.22,-5.38,0.000,4,0.239,0.048,2332,691,3859,0,0,0,0,0,0
$GC,147,-0.80,-136.7,30.6,-33.4,19,156,0.00,2.22,0.00,0.000,6,0.000,0.044,2323,2086,3862,0,0,0,0,0,0
$GC,413,-0.80,-136.7,108.8,-27.9,44,417,0.00,2.25,0.00,0.000,4,0.000,0.055,2312,3517,3863,0,0,0,0,0,0
$GC,469,-0.80,-136.7,123.9,-22.9,48,477,0.00,2.15,0.00,0.000,6,0.000,0.031,2312,2107,3864,0,0,0,0,0,0
$GC,734,-0.80,-136.7,181.6,-20.9,73,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2100,3865,0,0,0,0,0,0
$GC,991,-0.80,-136.7,232.4,-18.3,90,995,0.00,2.12,0.00,0.000,4,0.000,0.038,2312,694,3867,0,0,0,0,0,0
$GC,1014,-0.80,-136.7,237.0,-19.6,91,1019,0.15,2.15,0.00,0.000,6,0.169,0.041,2340,2109,3868,0,0,0,0,0,0
$GC,1274,-0.80,-136.7,278.6,-15.2,104,1278,0.00,2.17,0.00,0.000,4,0.000,0.049,2331,3503,3868,0,0,0,0,0,0
$GC,1307,-0.80,-136.7,283.6,-14.2,105,1311,0.00,2.10,0.00,0.000,6,0.000,0.029,2331,2085,3868,0,0,0,0,0,0
$GC,1561,-0.80,-136.7,317.0,-13.3,114,1564,0.00,2.08,0.00,0.000,4,0.000,0.038,2331,704,3868,0,0,0,0,0,0
$GC,1582,-0.80,-136.7,320.4,-13.9,114,1587,0.00,2.12,0.00,0.000,6,0.000,0.041,2321,2095,3868,0,0,0,0,0,0
$GC,1840,-0.80,-136.7,357.7,-14.7,121,1844,0.00,2.20,0.00,0.000,4,0.000,0.048,2309,3512,3868,0,0,0,0,0,0
$GC,1879,-0.80,-136.7,364.2,-16.0,121,1885,0.10,2.08,0.00,0.000,6,0.173,0.028,2335,2104,3868,0,0,0,0,0,0
$GC,2129,-0.80,-136.7,397.4,-13.2,128,2133,0.00,2.15,0.00,0.000,4,0.000,0.039,2335,692,3866,0,0,0,0,0,0
$GC,2187,-0.80,-136.7,404.9,-12.4,129,2191,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2099,3866,0,0,0,0,0,0
$GC,2454,-0.80,-136.7,440.6,-13.2,136,2458,0.00,2.22,0.00,0.000,4,0.000,0.050,2315,3519,3865,0,0,0,0,0,0
$GC,2516,-0.80,-136.7,448.8,-13.2,137,2520,0.00,2.15,0.00,0.000,6,0.000,0.030,2315,2089,3864,0,0,0,0,0,0
$GC,2778,-0.80,-136.7,486.4,-14.6,144,2782,0.00,2.10,0.00,0.000,4,0.000,0.039,2316,701,3861,0,0,0,0,0,0
$GC,2851,-0.80,-136.7,497.6,-14.4,145,2856,0.12,2.17,0.00,0.000,6,0.176,0.041,2336,2105,3861,0,0,0,0,0,0
$GC,3108,-0.80,-136.7,529.5,-12.3,152,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3859,0,0,0,0,0,0
$GC,3350,-0.80,-136.7,558.7,-12.1,158,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2104,3856,0,0,0,0,0,0
$GC,3594,-0.80,-136.7,588.4,-12.0,164,3598,0.00,2.20,0.00,0.000,4,0.000,0.054,2327,3503,3854,0,0,0,0,0,0
$GC,3656,-0.80,-136.7,596.2,-13.0,165,3660,0.00,2.10,0.00,0.000,6,0.000,0.031,2327,2111,3853,0,0,0,0,0,0
$GC,3918,-0.80,-136.7,627.9,-12.2,172,3922,0.00,2.20,0.00,0.000,4,0.000,0.052,2316,3503,3851,0,0,0,0,0,0
$GC,3948,-0.80,-136.7,631.6,-12.6,172,3952,0.00,2.12,0.00,0.000,6,0.000,0.031,2316,2092,3850,0,0,0,0,0,0
$GC,4198,-0.80,-136.7,663.9,-12.9,178,4202,0.00,2.12,0.00,0.000,4,0.000,0.043,2316,702,3848,0,0,0,0,0,0
$GC,4242,-0.80,-136.7,669.8,-12.5,179,4247,0.12,2.15,0.00,0.000,6,0.179,0.041,2337,2097,3848,0,0,0,0,0,0
$GC,4523,-0.80,-136.7,701.5,-11.4,186,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2096,3845,0,0,0,0,0,0
$GC,4764,-0.80,-136.7,728.8,-11.3,192,4768,0.00,2.15,0.00,0.000,4,0.000,0.041,2337,700,3844,0,0,0,0,0,0
$GC,4797,-0.80,-136.7,732.8,-12.2,192,4802,0.00,2.15,0.00,0.000,6,0.000,0.041,2329,2103,3844,0,0,0,0,0,0
$GC,5048,-0.80,-136.7,761.4,-11.5,199,5052,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3510,3842,0,0,0,0,0,0
$GC,5126,-0.80,-136.7,770.7,-11.7,200,5132,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2109,3840,0,0,0,0,0,0
$GC,5378,-0.80,-136.7,800.0,-11.8,207,5382,0.00,2.17,0.00,0.000,4,0.000,0.041,2319,686,3839,0,0,0,0,0,0
$GC,5445,-0.80,-136.7,808.7,-12.6,208,5450,0.12,2.17,0.00,0.000,6,0.183,0.042,2337,2097,3839,0,0,0,0,0,0
$GC,5706,-0.80,-136.7,835.3,-10.0,215,5710,0.00,2.20,0.00,0.000,4,0.000,0.041,2337,682,3837,0,0,0,0,0,0
$GC,5763,-0.80,-136.7,841.3,-9.7,216,5767,0.00,2.20,0.00,0.000,6,0.000,0.040,2329,2102,3836,0,0,0,0,0,0
$GC,6031,-0.80,-136.7,869.3,-10.3,223,6035,0.00,2.22,0.00,0.000,4,0.000,0.053,2318,3510,3834,0,0,0,0,0,0
$GC,6093,-0.80,-136.7,876.0,-11.1,224,6097,0.00,2.15,0.00,0.000,6,0.000,0.032,2318,2098,3834,0,0,0,0,0,0
$STATE,6352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6352,begin apogee
$GC,6359,-0.28,0.0,903.2,10.5,231,6477,0.62,0.00,114.18,1.065,6,0.145,0.000,2502,1913,3300,0,0,0,0,0,0
$STATE,6478,end apogee,CONTROL_FINISHED_OK
$STATE,6478,begin climb
$GC,6482,0.80,136.7,905.1,0.0,234,6610,1.02,0.00,121.45,1.039,6,0.095,0.000,2844,1912,2742,0,0,0,0,0,0
$GC,6848,0.80,136.7,846.9,19.0,243,6852,0.00,2.35,0.00,0.000,4,0.000,0.050,2843,3377,2734,0,0,0,0,0,0
$GC,6876,0.80,136.7,841.3,19.1,243,6880,0.00,2.15,0.00,0.000,6,0.000,0.029,2854,1978,2733,0,0,0,0,0,0
$GC,7131,0.80,136.7,794.2,18.1,250,7135,0.00,2.20,0.00,0.000,4,0.000,0.039,2866,563,2731,0,0,0,0,0,0
$GC,7153,0.80,136.7,790.1,18.0,250,7157,0.00,2.15,0.00,0.000,6,0.000,0.032,2865,1960,2730,0,0,0,0,0,0
$GC,7408,0.80,136.7,742.8,18.5,257,7412,0.00,2.28,0.00,0.000,4,0.000,0.053,2866,3371,2730,0,0,0,0,0,0
$GC,7476,0.80,136.7,730.1,18.9,258,7480,0.00,2.15,0.00,0.000,6,0.000,0.028,2876,1944,2730,0,0,0,0,0,0
$GC,7732,0.80,136.7,684.1,18.1,265,7736,0.00,2.10,0.00,0.000,4,0.000,0.038,2887,565,2728,0,0,0,0,0,0
$GC,7800,0.80,136.7,671.0,18.9,266,7805,0.12,2.15,0.00,0.000,6,0.194,0.032,2858,1972,2726,0,0,0,0,0,0
$GC,8055,0.80,136.7,628.9,16.3,273,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1974,2726,0,0,0,0,0,0
$GC,8301,0.80,136.7,589.6,15.9,279,8305,0.00,2.20,0.00,0.000,4,0.000,0.051,2858,3361,2725,0,0,0,0,0,0
$GC,8356,0.80,136.7,580.0,16.9,280,8360,0.00,2.15,0.00,0.000,6,0.000,0.030,2867,1960,2725,0,0,0,0,0,0
$GC,8625,0.80,136.7,539.6,14.9,287,8629,0.00,2.22,0.00,0.000,4,0.000,0.050,2867,3362,2725,0,0,0,0,0,0
$GC,8665,0.80,136.7,532.5,16.7,288,8669,0.00,2.12,0.00,0.000,6,0.000,0.030,2877,1960,2725,0,0,0,0,0,0
$GC,8949,0.80,136.7,488.4,15.2,295,8953,0.00,2.12,0.00,0.000,4,0.000,0.037,2888,558,2724,0,0,0,0,0,0
$GC,8983,0.80,136.7,483.2,15.1,295,8991,0.12,2.12,0.00,0.000,6,0.193,0.031,2859,1961,2722,0,0,0,0,0,0
$GC,9234,0.80,136.7,447.3,14.1,302,9238,0.00,2.22,0.00,0.000,4,0.000,0.051,2859,3369,2723,0,0,0,0,0,0
$GC,9267,0.80,136.7,442.2,15.6,302,9273,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,1949,2723,0,0,0,0,0,0
$GC,9518,0.80,136.7,407.0,14.1,309,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1948,2722,0,0,0,0,0,0
$GC,9761,0.80,136.7,372.0,14.6,315,9765,0.00,2.12,0.00,0.000,4,0.000,0.038,2879,564,2722,0,0,0,0,0,0
$GC,9777,0.80,136.7,369.3,15.0,315,9781,0.00,2.12,0.00,0.000,6,0.000,0.031,2879,1961,2721,0,0,0,0,0,0
$GC,10045,0.80,136.7,332.5,13.1,322,10049,0.00,2.22,0.00,0.000,4,0.000,0.050,2879,3362,2721,0,0,0,0,0,0
$GC,10084,0.80,136.7,327.0,14.5,323,10089,0.15,2.12,0.00,0.000,6,0.196,0.029,2854,1952,2722,0,0,0,0,0,0
$GC,10372,0.80,136.7,296.0,10.2,330,10376,0.00,2.12,0.00,0.000,4,0.000,0.038,2863,561,2721,0,0,0,0,0,0
$GC,10394,0.80,136.7,293.3,9.9,331,10398,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1963,2721,0,0,0,0,0,0
$GC,10655,0.80,136.7,265.8,10.8,344,10659,0.00,2.15,0.00,0.000,4,0.000,0.037,2872,563,2721,0,0,0,0,0,0
$GC,10784,0.80,136.7,250.7,13.0,350,10788,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,1965,2720,0,0,0,0,0,0
$GC,11050,0.80,136.7,223.8,9.5,363,11053,0.00,2.22,0.00,0.000,4,0.000,0.049,2872,3368,2720,0,0,0,0,0,0
$GC,11195,0.80,136.7,209.1,11.1,369,11199,0.00,2.12,0.00,0.000,6,0.000,0.027,2883,1950,2721,0,0,0,0,0,0
$GC,11461,0.80,136.7,184.5,9.0,389,11465,0.00,2.10,0.00,0.000,4,0.000,0.038,2886,566,2721,0,0,0,0,0,0
$GC,11562,0.80,143.7,176.0,8.3,397,11566,0.00,2.12,0.00,0.000,6,0.000,0.031,2886,1970,2720,0,0,0,0,0,0
$GC,11832,0.83,161.6,155.0,7.8,422,11858,0.00,2.20,19.33,0.527,4,0.000,0.046,2886,3360,2640,0,0,0,0,0,0
$GC,11954,0.83,161.6,142.1,10.8,432,11962,0.10,2.15,0.00,0.000,6,0.167,0.028,2865,1967,2640,0,0,0,0,0,0
$GC,12217,0.85,181.5,117.1,7.7,457,12242,0.00,2.20,17.95,0.495,4,0.000,0.035,2874,560,2559,0,0,0,0,0,0
$GC,12371,0.88,202.2,105.3,7.7,470,12397,0.00,2.12,18.92,0.485,6,0.000,0.031,2874,1961,2475,0,0,0,0,0,0
$GC,12653,0.88,206.7,78.8,8.4,496,12667,0.00,2.25,5.32,0.372,4,0.000,0.047,2874,3355,2456,0,0,0,0,0,0
$GC,12717,0.88,206.7,72.4,10.3,501,12722,0.00,2.12,0.00,0.000,6,0.000,0.029,2883,1945,2457,0,0,0,0,0,0
$GC,12983,0.90,223.2,52.3,7.9,525,13008,0.00,2.28,15.50,0.431,4,0.000,0.045,2882,3354,2389,0,0,0,0,0,0
$GC,13045,0.90,223.2,46.2,10.7,530,13049,0.00,2.10,0.00,0.000,6,0.000,0.029,2882,1963,2389,0,0,0,0,0,0
$GC,13311,0.90,223.2,20.5,9.3,563,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1962,2389,0,0,0,0,0,0
$STATE,13493,end climb,SURFACE_DEPTH_REACHED
$STATE,13494,begin surface coast
$FINISH,0.3,1.003939
$STATE,13523,end surface coast,CONTROL_FINISHED_OK
$STATE,13523,begin surface
$SM_CCo,13544,38.38,0.407,0,0,2075,300.24
$SM_GC,2.17,0.00,0.00,38.38,0.000,0.000,0.407,56,2158,2075,-7.94,1.64,300.24
$IRIDIUM_FIX,1911.51,-15617.79,260313,151515
$TT8_MAMPS,0.028379
$HUMID,1078943861
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,6
$24V_AH,23.3,75.402
$10V_AH,8.0,69.735
$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,20.350,151.875,312.650,38.375,0.000,24.574,35.401,307.248,1.500,0.000,17.301,1389.741,9453.261,447.242,2288.404,533.473,33.360,1305.092,0.000,2008.528,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,62.127,1064.596,407.277,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,409.849,0.000,1011.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,30285,600
$CAP_FILE_SIZE,170465,0
$CFSIZE,260165632,164835328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 82.1,1
$GPS,021011,050230,1912.370,-15614.160,57,1.1,58,9.6