version: 66.07
glider: 500
mission: 7
dive: 176
start: 10 7 110 12 3 57
data:
$ID,500
$MISSION,7
$DIVE,176
$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,-118854.42
$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
$GPS1,071010,114634,2102.639,-15801.335,6,3.5,25,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-77.3
$GPS2,071010,120302,2102.822,-15801.545,11,1.1,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.085
$KALMAN_X,-268183.9,-45.7,403.0,251530.6,-3982.9
$KALMAN_Y,-10760.6,110.4,130.3,-11040.8,89.6
$MHEAD_RNG_PITCHd_Wd,103.1,20585,-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,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,84,0.00,0.00,-66.12,0.000,2,0.000,0.000,128,1885,3002,0,0,0,0,0,0
$GC,87,-0.68,-116.8,4.1,-8.2,13,109,11.35,2.33,-3.78,0.000,4,0.234,0.047,3063,289,3229,0,0,0,0,0,0
$GC,165,-0.68,-116.8,30.9,-21.2,27,170,0.00,2.35,0.00,0.000,6,0.000,0.031,3052,1925,3230,0,0,0,0,0,0
$GC,426,-0.68,-116.8,75.3,-15.4,51,430,0.00,2.38,0.00,0.000,4,0.000,0.039,3052,294,3231,0,0,0,0,0,0
$GC,459,-0.68,-116.8,80.4,-15.7,53,465,0.00,2.30,0.00,0.000,6,0.000,0.031,3041,1915,3231,0,0,0,0,0,0
$GC,719,-0.68,-116.8,118.2,-13.7,78,724,0.10,2.25,0.00,0.000,4,0.160,0.041,3061,3474,3232,0,0,0,0,0,0
$GC,809,-0.68,-116.8,129.1,-10.5,85,815,0.00,2.25,0.00,0.000,6,0.000,0.026,3061,1869,3233,0,0,0,0,0,0
$GC,1070,-0.68,-116.8,158.2,-10.3,110,1074,0.00,2.20,0.00,0.000,4,0.000,0.039,3061,323,3234,0,0,0,0,0,0
$GC,1097,-0.68,-116.8,161.3,-11.3,112,1101,0.00,2.20,0.00,0.000,6,0.000,0.029,3050,1909,3234,0,0,0,0,0,0
$GC,1358,-0.68,-116.8,190.7,-12.9,136,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1909,3234,0,0,0,0,0,0
$GC,1607,-0.68,-116.8,221.2,-11.5,152,1611,0.00,2.25,0.00,0.000,4,0.000,0.041,3039,3472,3234,0,0,0,0,0,0
$GC,1651,-0.68,-116.8,226.0,-10.2,154,1656,0.08,2.22,0.00,0.000,6,0.102,0.026,3071,1902,3234,0,0,0,0,0,0
$GC,1977,-0.68,-116.8,251.2,-7.1,170,1981,0.00,2.25,0.00,0.000,4,0.000,0.039,3072,320,3234,0,0,0,0,0,0
$GC,2032,-0.68,-116.8,255.5,-7.4,172,2038,0.00,2.25,0.00,0.000,6,0.000,0.029,3062,1908,3234,0,0,0,0,0,0
$GC,2348,-0.68,-116.8,278.9,-7.7,188,2352,0.00,2.28,0.00,0.000,4,0.000,0.039,3062,313,3234,0,0,0,0,0,0
$GC,2433,-0.68,-116.8,285.6,-7.9,192,2437,0.00,2.22,0.00,0.000,6,0.000,0.030,3052,1901,3233,0,0,0,0,0,0
$GC,2776,-0.68,-116.8,314.3,-8.8,205,2780,0.00,2.30,0.00,0.000,4,0.000,0.042,3040,3477,3232,0,0,0,0,0,0
$GC,2803,-0.68,-116.8,317.0,-10.0,205,2808,0.08,2.25,0.00,0.000,6,0.103,0.026,3074,1900,3231,0,0,0,0,0,0
$GC,3141,-0.68,-116.8,346.2,-8.5,214,3145,0.00,2.25,0.00,0.000,4,0.000,0.039,3074,321,3230,0,0,0,0,0,0
$GC,3228,-0.68,-116.8,354.8,-9.6,216,3233,0.00,2.25,0.00,0.000,6,0.000,0.029,3064,1904,3229,0,0,0,0,0,0
$GC,3554,-0.68,-116.8,384.2,-8.6,224,3558,0.00,2.28,0.00,0.000,4,0.000,0.039,3064,317,3227,0,0,0,0,0,0
$GC,3593,-0.68,-116.8,388.0,-9.8,225,3597,0.00,2.22,0.00,0.000,6,0.000,0.030,3053,1913,3227,0,0,0,0,0,0
$GC,3917,-0.68,-116.8,414.2,-7.6,233,3921,0.00,2.30,0.00,0.000,4,0.000,0.039,3053,314,3225,0,0,0,0,0,0
$GC,3949,-0.68,-116.8,417.0,-8.1,233,3955,0.00,2.22,0.00,0.000,6,0.000,0.030,3041,1911,3224,0,0,0,0,0,0
$GC,4280,-0.68,-116.8,442.4,-7.8,242,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1912,3222,0,0,0,0,0,0
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4487,-0.23,0.0,460.5,8.8,247,4579,0.50,0.00,88.68,0.881,6,0.101,0.000,3218,2022,2750,0,0,0,0,0,0
$STATE,4580,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4581,0.68,116.8,462.9,0.0,249,4688,0.75,2.45,95.82,0.863,4,0.048,0.041,3527,3568,2272,0,0,0,0,0,0
$GC,4710,0.72,145.2,462.4,6.7,252,4740,0.00,2.38,23.52,0.818,6,0.000,0.028,3539,1992,2159,0,0,0,0,0,0
$GC,5071,0.72,145.2,419.7,12.9,261,5075,0.00,2.30,0.00,0.000,4,0.000,0.040,3551,420,2147,0,0,0,0,0,0
$GC,5202,0.72,145.2,404.4,10.7,264,5207,0.12,2.28,0.00,0.000,6,0.160,0.031,3517,1990,2143,0,0,0,0,0,0
$GC,5526,0.72,145.2,377.3,8.1,272,5530,0.00,2.30,0.00,0.000,4,0.000,0.039,3528,420,2141,0,0,0,0,0,0
$GC,5783,0.72,145.2,354.5,10.3,277,5790,0.00,2.30,0.00,0.000,6,0.000,0.031,3528,2003,2139,0,0,0,0,0,0
$GC,6115,0.72,145.2,319.4,10.8,286,6119,0.00,2.28,0.00,0.000,4,0.000,0.040,3539,429,2137,0,0,0,0,0,0
$GC,6255,0.72,145.2,304.7,10.1,289,6260,0.00,2.22,0.00,0.000,6,0.000,0.031,3539,2004,2136,0,0,0,0,0,0
$GC,6571,0.78,197.5,280.2,5.6,303,6616,0.00,2.35,39.65,0.776,4,0.000,0.041,3551,426,1943,0,0,0,0,0,0
$GC,6773,0.78,197.5,261.3,10.8,312,6777,0.00,2.28,0.00,0.000,6,0.000,0.030,3551,2011,1937,0,0,0,0,0,0
$GC,7089,0.78,197.5,221.1,14.1,327,7093,0.00,2.33,0.00,0.000,4,0.000,0.040,3562,426,1934,0,0,0,0,0,0
$GC,7166,0.78,197.5,210.5,12.9,330,7172,0.00,2.28,0.00,0.000,6,0.000,0.030,3563,1995,1934,0,0,0,0,0,0
$GC,7488,0.78,197.5,173.3,12.1,357,7492,0.00,2.28,0.00,0.000,4,0.000,0.040,3574,419,1933,0,0,0,0,0,0
$GC,7549,0.78,197.5,165.2,12.9,362,7554,0.12,2.25,0.00,0.000,6,0.156,0.032,3539,2003,1933,0,0,0,0,0,0
$GC,7809,0.78,197.5,137.3,10.3,386,7813,0.00,2.28,0.00,0.000,4,0.000,0.040,3549,425,1933,0,0,0,0,0,0
$GC,7882,0.78,197.5,129.5,10.6,392,7886,0.00,2.22,0.00,0.000,6,0.000,0.031,3549,1999,1932,0,0,0,0,0,0
$GC,8143,0.84,243.2,108.7,5.9,416,8185,0.00,2.33,35.78,0.631,4,0.000,0.040,3549,3583,1757,0,0,0,0,0,0
$GC,8230,0.84,243.2,101.7,10.2,424,8234,0.00,2.28,0.00,0.000,6,0.000,0.029,3561,1997,1753,0,0,0,0,0,0
$GC,8495,0.84,243.2,73.9,10.5,449,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1997,1750,0,0,0,0,0,0
$GC,8751,0.84,244.7,51.9,8.0,473,8755,0.00,2.25,0.00,0.000,4,0.000,0.039,3572,430,1749,0,0,0,0,0,0
$GC,8926,0.84,244.7,36.6,8.1,488,8930,0.00,2.25,0.00,0.000,6,0.000,0.028,3573,2017,1747,0,0,0,0,0,0
$GC,9196,0.84,244.7,11.8,10.2,529,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2018,1747,0,0,0,0,0,0
$STATE,9294,end climb,SURFACE_DEPTH_REACHED
$STATE,9295,begin surface coast
$FINISH,0.0,1.023056
$STATE,9331,end surface coast,CONTROL_FINISHED_OK
$STATE,9331,begin surface
$SM_CCo,9348,81.00,0.463,1,0,1159,390.02
$SM_GC,1.21,0.00,0.00,81.00,0.000,0.000,0.463,130,1886,1159,-9.87,-0.42,390.02
$IRIDIUM_FIX,2057.14,-15801.19,010412,060616
$TT8_MAMPS,0.027612
$HUMID,1078773539
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,18.981
$10V_AH,10.4,14.933
$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,21.800,95.875,283.450,81.000,0.000,90.120,100.076,540.979,0.000,0.000,13.034,1124.265,6678.859,456.166,1945.527,222.494,33.370,1144.346,0.000,1214.618,0.000,0.542,0.000
$DEVICE_MAMPS,233.935,102.011,881.283,463.268,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,20043,553
$CAP_FILE_SIZE,144140,0
$CFSIZE,260165632,225779712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,144225,2102.354,-15801.812,35,1.4,36,9.8