version: 66.07
glider: 500
mission: 7
dive: 173
start: 10 7 110 2 57 44
data:
$ID,500
$MISSION,7
$DIVE,173
$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,-118787.59
$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
$GPS1,071010,024337,2102.591,-15800.609,49,0.8,50,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.1
$GPS2,071010,025650,2102.628,-15800.865,8,1.6,8,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,-0.093
$KALMAN_X,-260231.3,527.6,-294.8,244877.8,-3921.0
$KALMAN_Y,-11779.6,-98.4,-102.7,-9941.6,99.1
$MHEAD_RNG_PITCHd_Wd,105.5,19733,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-65.60,0.000,2,0.000,0.000,128,1925,2982,0,0,0,0,0,0
$GC,87,-0.68,-116.8,4.1,-8.5,13,109,11.43,2.40,-4.12,0.000,4,0.236,0.047,3061,280,3228,0,0,0,0,0,0
$GC,143,-0.68,-116.8,24.8,-26.6,23,149,0.00,2.38,0.00,0.000,6,0.000,0.030,3051,1928,3229,0,0,0,0,0,0
$GC,347,-0.68,-116.8,60.9,-16.5,45,351,0.00,2.38,0.00,0.000,4,0.000,0.040,3050,292,3230,0,0,0,0,0,0
$GC,441,-0.68,-116.8,76.4,-15.8,53,448,0.10,2.30,0.00,0.000,6,0.153,0.030,3069,1914,3231,0,0,0,0,0,0
$GC,702,-0.68,-116.8,110.8,-12.9,78,706,0.00,2.28,0.00,0.000,4,0.000,0.041,3059,3483,3232,0,0,0,0,0,0
$GC,768,-0.68,-116.8,119.2,-12.7,83,775,0.00,2.30,0.00,0.000,6,0.000,0.025,3059,1868,3232,0,0,0,0,0,0
$GC,1029,-0.68,-116.8,150.0,-11.2,108,1033,0.00,2.22,0.00,0.000,4,0.000,0.040,3059,316,3234,0,0,0,0,0,0
$GC,1063,-0.68,-116.8,154.0,-12.1,111,1067,0.00,2.22,0.00,0.000,6,0.000,0.030,3048,1915,3234,0,0,0,0,0,0
$GC,1323,-0.68,-116.8,185.3,-12.2,135,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1915,3234,0,0,0,0,0,0
$GC,1574,-0.68,-116.8,215.7,-12.7,153,1578,0.00,2.25,0.00,0.000,4,0.000,0.041,3036,3476,3235,0,0,0,0,0,0
$GC,1612,-0.68,-116.8,220.5,-12.5,155,1617,0.12,2.20,0.00,0.000,6,0.129,0.026,3077,1895,3235,0,0,0,0,0,0
$GC,1938,-0.68,-116.8,250.5,-8.2,171,1942,0.00,2.25,0.00,0.000,4,0.000,0.039,3078,313,3235,0,0,0,0,0,0
$GC,2004,-0.68,-116.8,255.4,-7.3,174,2008,0.00,2.22,0.00,0.000,6,0.000,0.029,3069,1913,3235,0,0,0,0,0,0
$GC,2330,-0.68,-116.8,275.8,-5.3,190,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1914,3235,0,0,0,0,0,0
$GC,2642,-0.68,-116.8,296.5,-7.3,205,2646,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,321,3234,0,0,0,0,0,0
$GC,2690,-0.68,-116.8,300.8,-8.1,207,2695,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1910,3234,0,0,0,0,0,0
$GC,3028,-0.68,-116.8,328.4,-8.0,216,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1911,3233,0,0,0,0,0,0
$GC,3353,-0.68,-116.8,352.8,-7.3,224,3357,0.00,2.30,0.00,0.000,4,0.000,0.040,3058,324,3231,0,0,0,0,0,0
$GC,3396,-0.68,-116.8,356.4,-8.1,225,3400,0.00,2.22,0.00,0.000,6,0.000,0.030,3046,1893,3231,0,0,0,0,0,0
$GC,3722,-0.68,-116.8,382.1,-7.9,233,3726,0.00,2.33,0.00,0.000,4,0.000,0.042,3034,3483,3229,0,0,0,0,0,0
$GC,3744,-0.68,-116.8,384.1,-8.2,233,3749,0.12,2.20,0.00,0.000,6,0.125,0.026,3077,1900,3229,0,0,0,0,0,0
$GC,4081,-0.68,-116.8,407.3,-7.9,242,4085,0.00,2.28,0.00,0.000,4,0.000,0.041,3077,325,3227,0,0,0,0,0,0
$GC,4187,-0.68,-116.8,416.1,-8.0,244,4191,0.00,2.20,0.00,0.000,6,0.000,0.029,3068,1906,3227,0,0,0,0,0,0
$GC,4537,-0.68,-116.8,438.0,-6.0,253,4541,0.00,2.28,0.00,0.000,4,0.000,0.040,3068,324,3225,0,0,0,0,0,0
$GC,4586,-0.68,-116.8,441.2,-6.4,254,4590,0.00,2.25,0.00,0.000,6,0.000,0.030,3056,1902,3225,0,0,0,0,0,0
$GC,4905,-0.68,-116.8,459.2,-5.6,262,4909,0.00,2.30,0.00,0.000,4,0.000,0.043,3044,3479,3223,0,0,0,0,0,0
$STATE,4918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4918,begin apogee
$GC,4925,-0.23,0.0,460.2,5.8,262,5018,0.45,0.00,89.12,0.888,6,0.098,0.000,3210,1986,2750,0,0,0,0,0,0
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5020,0.68,116.8,461.5,0.0,264,5128,0.77,2.53,96.32,0.867,4,0.050,0.041,3525,3578,2272,0,0,0,0,0,0
$GC,5138,0.76,184.7,462.1,4.9,266,5198,0.00,2.35,55.03,0.850,6,0.000,0.028,3537,2014,1997,0,0,0,0,0,0
$GC,5511,0.76,184.7,419.5,12.6,276,5515,0.00,2.35,0.00,0.000,4,0.000,0.041,3549,422,1984,0,0,0,0,0,0
$GC,5634,0.76,184.7,402.9,13.2,278,5638,0.00,2.30,0.00,0.000,6,0.000,0.031,3549,2001,1981,0,0,0,0,0,0
$GC,5971,0.76,184.7,361.1,11.7,287,5975,0.00,2.30,0.00,0.000,4,0.000,0.041,3561,419,1979,0,0,0,0,0,0
$GC,6228,0.76,184.7,326.8,13.6,292,6234,0.00,2.25,0.00,0.000,6,0.000,0.031,3561,2000,1977,0,0,0,0,0,0
$GC,6539,0.76,184.7,287.8,12.7,302,6543,0.00,2.28,0.00,0.000,4,0.000,0.041,3572,429,1975,0,0,0,0,0,0
$GC,6663,0.76,184.7,272.6,14.1,307,6669,0.12,2.22,0.00,0.000,6,0.159,0.031,3538,2003,1975,0,0,0,0,0,0
$GC,6978,0.76,184.7,235.5,11.0,323,6982,0.00,2.28,0.00,0.000,4,0.000,0.040,3548,429,1974,0,0,0,0,0,0
$GC,7151,0.76,184.7,215.9,11.5,331,7155,0.00,2.25,0.00,0.000,6,0.000,0.031,3549,2007,1973,0,0,0,0,0,0
$GC,7478,0.76,184.7,181.9,10.8,355,7482,0.00,2.28,0.00,0.000,4,0.000,0.040,3560,430,1972,0,0,0,0,0,0
$GC,7533,0.76,184.7,175.4,11.0,359,7539,0.00,2.25,0.00,0.000,6,0.000,0.030,3560,2011,1972,0,0,0,0,0,0
$GC,7794,0.76,184.7,149.8,10.3,384,7798,0.00,2.30,0.00,0.000,4,0.000,0.040,3572,428,1972,0,0,0,0,0,0
$GC,7855,0.76,184.7,143.6,9.7,389,7860,0.12,2.22,0.00,0.000,6,0.160,0.031,3537,1998,1972,0,0,0,0,0,0
$GC,8116,0.76,184.7,121.7,8.6,413,8120,0.00,2.25,0.00,0.000,4,0.000,0.040,3547,430,1972,0,0,0,0,0,0
$GC,8159,0.76,184.7,117.8,8.5,416,8165,0.00,2.25,0.00,0.000,6,0.000,0.031,3547,1997,1972,0,0,0,0,0,0
$GC,8421,0.78,196.3,97.6,7.5,441,8433,0.00,2.35,6.55,0.530,4,0.000,0.041,3547,3582,1949,0,0,0,0,0,0
$GC,8686,0.78,196.3,78.4,8.6,464,8692,0.00,2.22,0.00,0.000,6,0.000,0.028,3559,1995,1948,0,0,0,0,0,0
$GC,8946,0.83,235.5,60.8,6.2,489,8988,0.00,2.35,32.53,0.578,4,0.000,0.039,3570,423,1787,0,0,0,0,0,0
$GC,9240,0.83,241.0,36.5,7.8,515,9250,0.00,2.25,4.88,0.422,6,0.000,0.028,3570,2011,1766,0,0,0,0,0,0
$GC,9517,0.83,241.0,12.2,9.1,558,9523,0.00,2.28,0.00,0.000,4,0.000,0.038,3582,426,1765,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,0.2,1.023030
$STATE,9653,end surface coast,CONTROL_FINISHED_OK
$STATE,9653,begin surface
$SM_CCo,9672,78.50,0.458,1,0,1158,390.02
$SM_GC,1.26,0.00,0.00,78.50,0.000,0.000,0.458,131,1927,1158,-9.86,0.76,390.02
$IRIDIUM_FIX,2054.83,-15802.06,310312,212115
$TT8_MAMPS,0.027612
$HUMID,1078742571
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,18.653
$10V_AH,10.4,14.779
$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,21.825,104.625,284.425,78.500,0.000,54.928,75.762,481.060,0.000,0.000,11.207,1172.947,6809.202,455.032,1895.138,221.970,33.361,1180.281,0.000,1284.827,0.000,0.540,0.000
$DEVICE_MAMPS,236.236,46.787,888.186,457.899,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334624
$DATA_FILE_SIZE,20076,582
$CAP_FILE_SIZE,146253,0
$CFSIZE,260165632,225943552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,054128,2102.147,-15800.928,10,2.5,30,9.8