version: 66.07
glider: 500
mission: 7
dive: 169
start: 10 6 110 15 8 56
data:
$ID,500
$MISSION,7
$DIVE,169
$D_SURF,3
$D_FLARE,3
$D_TGT,460
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$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,191
$T_MISSION,500
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,8
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118729.93
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3290
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.799538
$PRESSURE_SLOPE,0.00011603366
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,061010,145852,2101.667,-15759.263,6,3.0,25,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-75.1
$GPS2,061010,150802,2101.652,-15759.336,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.027
$KALMAN_X,-247854.1,-18.5,-423.4,235814.4,-3172.1
$KALMAN_Y,-12334.4,199.9,-36.2,-11557.9,-251.7
$MHEAD_RNG_PITCHd_Wd,87.4,18589,-16.1,-8.028
$D_GRID,460
$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,17,-0.68,-116.8,0.0,0.0,0,81,0.00,0.00,-61.40,0.000,2,0.000,0.000,127,1903,2833,0,0,0,0,0,0
$GC,85,-0.68,-116.8,3.3,-6.3,12,111,11.25,2.40,-7.12,0.000,4,0.231,0.052,3061,295,3230,0,0,0,0,0,0
$GC,145,-0.68,-116.8,23.0,-24.4,23,151,0.00,2.35,0.00,0.000,6,0.000,0.031,3051,1925,3230,0,0,0,0,0,0
$GC,344,-0.68,-116.8,59.3,-16.0,45,348,0.00,2.35,0.00,0.000,4,0.000,0.039,3051,297,3231,0,0,0,0,0,0
$GC,428,-0.68,-116.8,73.4,-16.4,52,433,0.10,2.28,0.00,0.000,6,0.159,0.030,3070,1912,3232,0,0,0,0,0,0
$GC,688,-0.68,-116.8,106.7,-11.3,76,692,0.00,2.28,0.00,0.000,4,0.000,0.041,3060,3480,3233,0,0,0,0,0,0
$GC,709,-0.68,-116.8,108.9,-10.6,77,715,0.00,2.25,0.00,0.000,6,0.000,0.027,3060,1858,3233,0,0,0,0,0,0
$GC,970,-0.68,-116.8,140.8,-11.1,102,974,0.00,2.17,0.00,0.000,4,0.000,0.039,3060,328,3235,0,0,0,0,0,0
$GC,1024,-0.68,-116.8,148.6,-15.2,106,1031,0.00,2.22,0.00,0.000,6,0.000,0.029,3049,1900,3235,0,0,0,0,0,0
$GC,1286,-0.68,-116.8,180.5,-11.7,131,1290,0.00,2.28,0.00,0.000,4,0.000,0.041,3037,3478,3236,0,0,0,0,0,0
$GC,1335,-0.68,-116.8,186.4,-11.6,135,1340,0.12,2.20,0.00,0.000,6,0.130,0.025,3079,1897,3236,0,0,0,0,0,0
$GC,1593,-0.68,-116.8,208.8,-8.0,154,1597,0.00,2.25,0.00,0.000,4,0.000,0.039,3079,322,3236,0,0,0,0,0,0
$GC,1700,-0.68,-116.8,218.1,-9.1,159,1704,0.00,2.22,0.00,0.000,6,0.000,0.029,3069,1908,3236,0,0,0,0,0,0
$GC,2026,-0.68,-116.8,248.8,-8.7,175,2030,0.00,2.25,0.00,0.000,4,0.000,0.041,3058,3475,3236,0,0,0,0,0,0
$GC,2081,-0.68,-116.8,253.4,-7.7,177,2087,0.00,2.20,0.00,0.000,6,0.000,0.026,3057,1889,3236,0,0,0,0,0,0
$GC,2396,-0.68,-116.8,280.0,-8.9,193,2400,0.00,2.22,0.00,0.000,4,0.000,0.039,3058,325,3235,0,0,0,0,0,0
$GC,2504,-0.68,-116.8,290.2,-9.1,198,2508,0.00,2.20,0.00,0.000,6,0.000,0.028,3047,1915,3235,0,0,0,0,0,0
$GC,2847,-0.68,-116.8,316.8,-7.4,210,2851,0.00,2.30,0.00,0.000,4,0.000,0.039,3046,324,3233,0,0,0,0,0,0
$GC,2880,-0.68,-116.8,319.5,-8.0,210,2887,0.12,2.20,0.00,0.000,6,0.135,0.029,3077,1905,3233,0,0,0,0,0,0
$GC,3212,-0.68,-116.8,340.7,-7.1,219,3216,0.00,2.30,0.00,0.000,4,0.000,0.040,3077,318,3232,0,0,0,0,0,0
$GC,3283,-0.68,-116.8,347.6,-9.4,220,3287,0.00,2.20,0.00,0.000,6,0.000,0.029,3068,1900,3232,0,0,0,0,0,0
$GC,3625,-0.68,-116.8,380.9,-10.0,229,3629,0.00,2.30,0.00,0.000,4,0.000,0.043,3056,3473,3230,0,0,0,0,0,0
$GC,3646,-0.68,-116.8,383.6,-12.2,229,3651,0.00,2.25,0.00,0.000,6,0.000,0.027,3056,1898,3230,0,0,0,0,0,0
$GC,3989,-0.68,-116.8,417.6,-9.6,238,3993,0.00,2.25,0.00,0.000,4,0.000,0.040,3055,320,3227,0,0,0,0,0,0
$GC,4094,-0.68,-116.8,429.3,-11.4,240,4099,0.00,2.25,0.00,0.000,6,0.000,0.028,3045,1900,3227,0,0,0,0,0,0
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4406,-0.23,0.0,462.7,10.9,248,4498,0.47,0.00,89.38,0.884,6,0.098,0.000,3214,2010,2750,0,0,0,0,0,0
$STATE,4499,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4501,0.68,116.8,467.1,0.0,250,4608,0.75,2.45,96.15,0.865,4,0.046,0.041,3526,3558,2272,0,0,0,0,0,0
$GC,4629,0.74,162.7,469.4,5.9,253,4674,0.00,2.35,37.67,0.840,6,0.000,0.029,3538,1998,2085,0,0,0,0,0,0
$GC,4993,0.74,162.7,430.3,11.4,262,4996,0.00,2.30,0.00,0.000,4,0.000,0.040,3550,428,2073,0,0,0,0,0,0
$GC,5132,0.74,162.7,413.0,13.0,265,5136,0.00,2.22,0.00,0.000,6,0.000,0.031,3550,1983,2070,0,0,0,0,0,0
$GC,5452,0.74,162.7,370.7,13.0,273,5456,0.00,2.28,0.00,0.000,4,0.000,0.040,3561,416,2068,0,0,0,0,0,0
$GC,5709,0.74,162.7,335.9,13.3,278,5715,0.12,2.28,0.00,0.000,6,0.160,0.030,3527,2005,2065,0,0,0,0,0,0
$GC,6040,0.74,162.7,303.2,9.5,287,6044,0.00,2.30,0.00,0.000,4,0.000,0.039,3538,416,2064,0,0,0,0,0,0
$GC,6297,0.74,162.7,277.9,9.4,297,6303,0.00,2.28,0.00,0.000,6,0.000,0.030,3538,1994,2063,0,0,0,0,0,0
$GC,6612,0.74,162.7,245.4,10.4,313,6616,0.00,2.28,0.00,0.000,4,0.000,0.039,3549,414,2062,0,0,0,0,0,0
$GC,6819,0.74,162.7,225.0,10.1,322,6823,0.00,2.28,0.00,0.000,6,0.000,0.030,3549,2013,2062,0,0,0,0,0,0
$GC,7142,0.74,162.7,193.1,9.0,341,7146,0.00,2.30,0.00,0.000,4,0.000,0.039,3561,425,2062,0,0,0,0,0,0
$GC,7160,0.74,162.7,191.7,8.3,342,7165,0.12,2.25,0.00,0.000,6,0.162,0.031,3526,2001,2062,0,0,0,0,0,0
$GC,7421,0.76,184.8,173.4,7.0,366,7442,0.00,2.30,15.02,0.666,4,0.000,0.039,3537,421,1996,0,0,0,0,0,0
$GC,7487,0.76,184.8,168.5,8.1,372,7492,0.00,2.25,0.00,0.000,6,0.000,0.031,3537,2005,1994,0,0,0,0,0,0
$GC,7748,0.77,192.5,148.3,7.7,396,7762,0.00,2.38,7.62,0.581,4,0.000,0.039,3548,419,1964,0,0,0,0,0,0
$GC,7802,0.77,192.5,143.6,8.6,401,7806,0.00,2.25,0.00,0.000,6,0.000,0.031,3549,2009,1963,0,0,0,0,0,0
$GC,8062,0.77,192.5,121.3,8.7,425,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2009,1962,0,0,0,0,0,0
$GC,8317,0.81,225.0,101.8,6.5,449,8352,0.00,2.40,27.38,0.613,4,0.000,0.040,3560,421,1831,0,0,0,0,0,0
$GC,8407,0.81,225.0,95.0,8.5,457,8414,0.00,2.28,0.00,0.000,6,0.000,0.029,3560,1994,1828,0,0,0,0,0,0
$GC,8669,0.81,225.0,71.3,8.9,482,8673,0.00,2.28,0.00,0.000,4,0.000,0.039,3571,422,1827,0,0,0,0,0,0
$GC,8807,0.81,225.6,59.6,8.0,494,8814,0.00,2.28,0.00,0.000,6,0.000,0.030,3571,2010,1825,0,0,0,0,0,0
$GC,9069,0.86,265.1,43.0,6.2,519,9110,0.00,2.40,31.80,0.552,4,0.000,0.039,3582,415,1667,0,0,0,0,0,0
$GC,9289,0.86,265.1,22.9,9.4,545,9295,0.00,2.25,0.00,0.000,6,0.000,0.029,3582,2012,1663,0,0,0,0,0,0
$STATE,9484,end climb,SURFACE_DEPTH_REACHED
$STATE,9484,begin surface coast
$FINISH,0.4,1.010525
$STATE,9514,end surface coast,CONTROL_FINISHED_OK
$STATE,9514,begin surface
$SM_CCo,9531,68.03,0.445,1,0,1159,390.02
$SM_GC,1.01,0.00,0.00,68.03,0.000,0.000,0.445,133,1871,1159,-9.86,-0.82,390.02
$IRIDIUM_FIX,2052.52,-15759.92,310312,060611
$TT8_MAMPS,0.027612
$HUMID,1078749023
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,18.224
$10V_AH,10.4,14.579
$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,21.750,105.000,305.025,68.025,0.000,27.262,33.244,361.371,0.000,0.000,14.498,1175.627,6556.796,472.001,1753.621,202.686,33.379,1212.285,0.000,1312.801,0.000,0.542,0.000
$DEVICE_MAMPS,230.867,102.778,883.584,444.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,393.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,20142,585
$CAP_FILE_SIZE,142731,0
$CFSIZE,260165632,226152448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,175101,2101.623,-15759.259,84,1.0,84,9.8