version: 66.07
glider: 500
mission: 7
dive: 172
start: 10 6 110 23 58 13
data:
$ID,500
$MISSION,7
$DIVE,172
$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,-118775.76
$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
$GPS1,061010,234805,2101.950,-15759.750,15,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.1
$GPS2,061010,235719,2102.023,-15759.880,12,1.3,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,0.108
$KALMAN_X,-257153.6,655.5,349.7,242721.9,-4661.9
$KALMAN_Y,-11954.8,-4.6,90.3,-11171.3,-276.9
$MHEAD_RNG_PITCHd_Wd,50.6,18916,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-116.8,0.0,0.0,0,79,0.00,0.00,-60.72,0.000,2,0.000,0.000,128,1879,2814,0,0,0,0,0,0
$GC,83,-0.68,-116.8,3.1,-6.0,12,109,11.25,2.42,-7.68,0.000,4,0.232,0.052,3048,3502,3231,0,0,0,0,0,0
$GC,149,-0.68,-116.8,22.3,-20.4,24,155,0.00,2.33,0.00,0.000,6,0.000,0.027,3048,1861,3232,0,0,0,0,0,0
$GC,353,-0.68,-116.8,58.6,-16.0,47,357,0.00,2.20,0.00,0.000,4,0.000,0.039,3048,327,3232,0,0,0,0,0,0
$GC,382,-0.68,-116.8,63.2,-17.2,49,387,0.12,2.25,0.00,0.000,6,0.146,0.029,3074,1928,3232,0,0,0,0,0,0
$GC,643,-0.68,-116.8,98.5,-13.4,73,644,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1929,3234,0,0,0,0,0,0
$GC,898,-0.68,-116.8,128.7,-11.2,97,902,0.00,2.22,0.00,0.000,4,0.000,0.041,3064,3481,3235,0,0,0,0,0,0
$GC,926,-0.68,-116.8,131.8,-11.5,99,930,0.00,2.22,0.00,0.000,6,0.000,0.026,3064,1903,3235,0,0,0,0,0,0
$GC,1186,-0.68,-116.8,160.9,-10.6,123,1190,0.00,2.25,0.00,0.000,4,0.000,0.040,3064,323,3236,0,0,0,0,0,0
$GC,1264,-0.68,-116.8,170.8,-15.2,130,1269,0.00,2.22,0.00,0.000,6,0.000,0.029,3055,1912,3236,0,0,0,0,0,0
$GC,1535,-0.68,-116.8,203.5,-11.9,154,1539,0.00,2.28,0.00,0.000,4,0.000,0.038,3055,321,3236,0,0,0,0,0,0
$GC,1613,-0.68,-116.8,214.1,-13.6,157,1619,0.00,2.25,0.00,0.000,6,0.000,0.030,3044,1902,3236,0,0,0,0,0,0
$GC,1928,-0.68,-116.8,254.1,-11.5,173,1932,0.00,2.25,0.00,0.000,4,0.000,0.041,3031,3478,3236,0,0,0,0,0,0
$GC,1972,-0.68,-116.8,259.5,-11.7,175,1976,0.12,2.20,0.00,0.000,6,0.127,0.026,3074,1901,3236,0,0,0,0,0,0
$GC,2303,-0.68,-116.8,285.7,-6.7,191,2307,0.00,2.30,0.00,0.000,4,0.000,0.040,3075,313,3235,0,0,0,0,0,0
$GC,2379,-0.68,-116.8,291.9,-8.1,194,2384,0.00,2.25,0.00,0.000,6,0.000,0.029,3069,1898,3236,0,0,0,0,0,0
$GC,2699,-0.68,-116.8,319.9,-9.1,205,2703,0.00,2.25,0.00,0.000,4,0.000,0.039,3069,320,3235,0,0,0,0,0,0
$GC,2731,-0.68,-116.8,323.4,-9.6,205,2738,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1909,3235,0,0,0,0,0,0
$GC,3064,-0.68,-116.8,350.8,-7.3,214,3068,0.00,2.30,0.00,0.000,4,0.000,0.039,3058,320,3234,0,0,0,0,0,0
$GC,3085,-0.68,-116.8,352.5,-7.3,214,3089,0.00,2.22,0.00,0.000,6,0.000,0.029,3047,1894,3233,0,0,0,0,0,0
$GC,3428,-0.68,-116.8,378.1,-7.7,223,3432,0.00,2.30,0.00,0.000,4,0.000,0.041,3034,3481,3231,0,0,0,0,0,0
$GC,3454,-0.68,-116.8,380.4,-8.3,223,3459,0.08,2.25,0.00,0.000,6,0.100,0.026,3069,1897,3231,0,0,0,0,0,0
$GC,3797,-0.68,-116.8,406.8,-8.1,232,3801,0.00,2.25,0.00,0.000,4,0.000,0.040,3069,323,3229,0,0,0,0,0,0
$GC,3874,-0.68,-116.8,412.4,-6.5,233,3880,0.00,2.22,0.00,0.000,6,0.000,0.029,3059,1910,3228,0,0,0,0,0,0
$GC,4205,-0.68,-116.8,438.4,-8.7,242,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1910,3226,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4534,-0.23,0.0,463.5,8.0,250,4626,0.45,0.00,89.15,0.887,6,0.099,0.000,3220,1994,2750,0,0,0,0,0,0
$STATE,4627,end apogee,CONTROL_FINISHED_OK
$STATE,4627,begin climb
$GC,4628,0.68,116.8,467.3,0.0,252,4728,0.73,0.00,96.62,0.870,6,0.046,0.000,3525,1994,2273,0,0,0,0,0,0
$GC,5034,0.72,147.2,453.8,6.6,262,5063,0.00,2.40,23.77,0.838,4,0.000,0.041,3536,427,2149,0,0,0,0,0,0
$GC,5108,0.72,147.2,446.5,10.8,263,5113,0.00,2.30,0.00,0.000,6,0.000,0.031,3537,1986,2146,0,0,0,0,0,0
$GC,5445,0.72,147.2,407.6,10.9,272,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1986,2141,0,0,0,0,0,0
$GC,5770,0.72,147.2,372.4,11.0,280,5774,0.00,2.30,0.00,0.000,4,0.000,0.040,3548,419,2138,0,0,0,0,0,0
$GC,5847,0.72,147.2,363.7,11.2,281,5853,0.00,2.28,0.00,0.000,6,0.000,0.031,3548,1995,2138,0,0,0,0,0,0
$GC,6178,0.72,147.2,326.6,11.1,290,6182,0.00,2.30,0.00,0.000,4,0.000,0.040,3560,415,2137,0,0,0,0,0,0
$GC,6244,0.72,147.2,320.0,9.6,291,6250,0.10,2.30,0.00,0.000,6,0.141,0.031,3526,2007,2136,0,0,0,0,0,0
$GC,6594,0.77,187.2,298.0,6.2,300,6635,0.00,2.42,31.48,0.786,4,0.000,0.041,3537,419,1985,0,0,0,0,0,0
$GC,6831,0.77,187.2,276.0,9.0,310,6837,0.00,2.28,0.00,0.000,6,0.000,0.031,3537,1996,1979,0,0,0,0,0,0
$GC,7146,0.77,187.2,241.8,10.9,326,7150,0.00,2.30,0.00,0.000,4,0.000,0.040,3548,415,1975,0,0,0,0,0,0
$GC,7231,0.77,187.2,231.8,12.2,330,7236,0.00,2.28,0.00,0.000,6,0.000,0.031,3548,2008,1975,0,0,0,0,0,0
$GC,7548,0.77,187.2,195.2,11.0,347,7552,0.00,2.30,0.00,0.000,4,0.000,0.041,3560,418,1974,0,0,0,0,0,0
$GC,7592,0.77,187.2,189.9,12.5,350,7598,0.00,2.28,0.00,0.000,6,0.000,0.031,3560,1997,1973,0,0,0,0,0,0
$GC,7854,0.77,187.2,159.2,13.3,375,7858,0.00,2.28,0.00,0.000,4,0.000,0.040,3578,420,1970,0,0,0,0,0,0
$GC,8110,0.77,187.2,126.5,11.4,397,8118,0.10,2.28,0.00,0.000,6,0.146,0.031,3542,2001,1969,0,0,0,0,0,0
$GC,8373,0.79,209.0,105.8,7.0,422,8394,0.00,2.38,16.70,0.613,4,0.000,0.041,3542,3588,1897,0,0,0,0,0,0
$GC,8418,0.79,209.0,102.1,8.6,426,8422,0.00,2.28,0.00,0.000,6,0.000,0.028,3552,1993,1895,0,0,0,0,0,0
$GC,8678,0.81,218.7,81.8,7.6,450,8692,0.00,2.35,8.95,0.545,4,0.000,0.041,3552,3573,1858,0,0,0,0,0,0
$GC,8770,0.81,218.7,74.2,8.7,458,8777,0.00,2.25,0.00,0.000,6,0.000,0.028,3564,2005,1856,0,0,0,0,0,0
$GC,9032,0.81,218.7,53.1,8.3,483,9036,0.00,2.25,0.00,0.000,4,0.000,0.039,3576,429,1856,0,0,0,0,0,0
$GC,9289,0.81,220.3,34.7,8.0,505,9295,0.00,2.22,0.00,0.000,6,0.000,0.029,3576,1994,1854,0,0,0,0,0,0
$GC,9560,0.81,220.3,12.0,8.6,548,9566,0.00,2.22,0.00,0.000,4,0.000,0.038,3587,430,1854,0,0,0,0,0,0
$STATE,9677,end climb,SURFACE_DEPTH_REACHED
$STATE,9677,begin surface coast
$FINISH,0.2,1.022036
$STATE,9718,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9737,94.72,0.469,1,0,1159,390.02
$SM_GC,1.02,0.00,0.00,94.72,0.000,0.000,0.469,142,1926,1159,-9.83,0.74,390.02
$IRIDIUM_FIX,2052.52,-15822.63,310312,151521
$TT8_MAMPS,0.027612
$HUMID,1078738700
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,18.542
$10V_AH,10.4,14.728
$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,21.525,100.100,266.675,94.725,0.000,25.316,32.882,372.224,0.000,0.000,14.195,1140.588,6963.719,484.189,1611.733,194.453,33.364,1143.898,0.000,1173.508,0.000,0.542,0.000
$DEVICE_MAMPS,231.634,123.487,887.419,469.404,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,388.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334620
$DATA_FILE_SIZE,20090,576
$CAP_FILE_SIZE,136337,0
$CFSIZE,260165632,226000896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,024337,2102.591,-15800.609,49,0.8,50,9.8