version: 66.07
glider: 500
mission: 7
dive: 178
start: 10 7 110 18 4 46
data:
$ID,500
$MISSION,7
$DIVE,178
$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,-118920.92
$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
$GPS1,071010,175007,2102.087,-15802.049,25,1.4,26,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.5
$GPS2,071010,180352,2102.024,-15802.160,13,2.1,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.034
$KALMAN_X,-273569.7,212.3,-199.9,256206.6,-2522.7
$KALMAN_Y,-10285.5,167.9,-196.5,-12719.6,362.9
$MHEAD_RNG_PITCHd_Wd,89.3,22228,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,128,1904,2959,0,0,0,0,0,0
$GC,88,-0.68,-116.8,3.7,-6.6,13,110,11.25,2.35,-4.65,0.000,4,0.231,0.048,3052,3510,3228,0,0,0,0,0,0
$GC,121,-0.68,-116.8,19.2,-41.3,19,127,0.00,2.33,0.00,0.000,6,0.000,0.027,3052,1869,3230,0,0,0,0,0,0
$GC,320,-0.68,-116.8,57.4,-17.4,42,324,0.00,2.25,0.00,0.000,4,0.000,0.039,3053,320,3230,0,0,0,0,0,0
$GC,404,-0.68,-116.8,70.9,-15.7,49,409,0.00,2.28,0.00,0.000,6,0.000,0.030,3042,1934,3230,0,0,0,0,0,0
$GC,664,-0.68,-116.8,109.2,-14.4,73,668,0.00,2.25,0.00,0.000,4,0.000,0.041,3029,3475,3232,0,0,0,0,0,0
$GC,686,-0.68,-116.8,112.4,-14.4,74,693,0.12,2.20,0.00,0.000,6,0.138,0.027,3069,1887,3232,0,0,0,0,0,0
$GC,947,-0.68,-116.8,141.9,-11.7,99,951,0.00,2.22,0.00,0.000,4,0.000,0.039,3070,323,3233,0,0,0,0,0,0
$GC,964,-0.68,-116.8,144.0,-12.2,100,968,0.00,2.20,0.00,0.000,6,0.000,0.030,3060,1904,3233,0,0,0,0,0,0
$GC,1230,-0.68,-116.8,176.1,-11.4,125,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1905,3234,0,0,0,0,0,0
$GC,1484,-0.68,-116.8,204.7,-11.1,147,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1905,3234,0,0,0,0,0,0
$GC,1793,-0.68,-116.8,233.6,-8.4,162,1797,0.00,2.28,0.00,0.000,4,0.000,0.039,3060,333,3234,0,0,0,0,0,0
$GC,1825,-0.68,-116.8,236.7,-9.0,163,1832,0.00,2.22,0.00,0.000,6,0.000,0.030,3049,1897,3234,0,0,0,0,0,0
$GC,2141,-0.68,-116.8,268.5,-10.9,179,2145,0.00,2.30,0.00,0.000,4,0.000,0.042,3037,3485,3235,0,0,0,0,0,0
$GC,2173,-0.68,-116.8,272.2,-11.0,180,2180,0.08,2.25,0.00,0.000,6,0.101,0.026,3070,1902,3234,0,0,0,0,0,0
$GC,2489,-0.68,-116.8,297.9,-7.7,196,2493,0.00,2.25,0.00,0.000,4,0.000,0.040,3070,321,3233,0,0,0,0,0,0
$GC,2538,-0.68,-116.8,302.1,-8.3,198,2542,0.00,2.22,0.00,0.000,6,0.000,0.029,3061,1913,3233,0,0,0,0,0,0
$GC,2856,-0.68,-116.8,329.7,-8.8,206,2860,0.00,2.28,0.00,0.000,4,0.000,0.039,3061,321,3231,0,0,0,0,0,0
$GC,2883,-0.68,-116.8,332.4,-9.9,206,2887,0.00,2.25,0.00,0.000,6,0.000,0.029,3050,1900,3231,0,0,0,0,0,0
$GC,3226,-0.68,-116.8,365.0,-9.9,215,3230,0.00,2.28,0.00,0.000,4,0.000,0.042,3038,3475,3230,0,0,0,0,0,0
$GC,3252,-0.68,-116.8,367.8,-10.3,215,3257,0.08,2.25,0.00,0.000,6,0.100,0.026,3071,1894,3230,0,0,0,0,0,0
$GC,3590,-0.68,-116.8,395.6,-8.3,224,3594,0.00,2.25,0.00,0.000,4,0.000,0.041,3071,320,3227,0,0,0,0,0,0
$GC,3633,-0.68,-116.8,399.8,-9.1,225,3638,0.00,2.25,0.00,0.000,6,0.000,0.029,3061,1902,3227,0,0,0,0,0,0
$GC,3959,-0.68,-116.8,426.1,-7.8,233,3963,0.00,2.28,0.00,0.000,4,0.000,0.040,3061,320,3225,0,0,0,0,0,0
$GC,3998,-0.68,-116.8,429.6,-8.4,234,4002,0.00,2.22,0.00,0.000,6,0.000,0.030,3050,1910,3225,0,0,0,0,0,0
$GC,4322,-0.68,-116.8,455.9,-8.1,242,4326,0.00,2.28,0.00,0.000,4,0.000,0.043,3038,3475,3222,0,0,0,0,0,0
$GC,4354,-0.68,-116.8,458.7,-8.5,242,4360,0.08,2.25,0.00,0.000,6,0.100,0.027,3072,1898,3222,0,0,0,0,0,0
$STATE,4405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4405,begin apogee
$GC,4411,-0.23,0.0,462.5,7.4,244,4503,0.40,0.00,88.82,0.888,6,0.097,0.000,3218,2013,2750,0,0,0,0,0,0
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4505,0.68,116.8,465.5,0.0,246,4612,0.75,2.47,95.85,0.869,4,0.047,0.041,3531,3581,2272,0,0,0,0,0,0
$GC,4768,0.68,116.8,451.9,10.9,252,4773,0.10,2.35,0.00,0.000,6,0.144,0.028,3510,1996,2262,0,0,0,0,0,0
$GC,5096,0.68,116.8,423.5,8.8,260,5100,0.00,2.30,0.00,0.000,4,0.000,0.040,3521,425,2258,0,0,0,0,0,0
$GC,5353,0.68,116.8,398.7,10.0,265,5359,0.00,2.22,0.00,0.000,6,0.000,0.031,3521,1992,2255,0,0,0,0,0,0
$GC,5684,0.68,116.8,368.2,9.3,274,5688,0.00,2.30,0.00,0.000,4,0.000,0.040,3533,418,2253,0,0,0,0,0,0
$GC,5778,0.68,116.8,359.3,9.3,276,5782,0.00,2.28,0.00,0.000,6,0.000,0.031,3533,2000,2252,0,0,0,0,0,0
$GC,6102,0.70,129.1,335.3,7.5,284,6116,0.00,2.38,7.45,0.706,4,0.000,0.041,3544,424,2223,0,0,0,0,0,0
$GC,6370,0.76,180.3,316.7,5.6,290,6419,0.00,2.25,42.80,0.805,6,0.000,0.031,3544,2011,2013,0,0,0,0,0,0
$GC,6740,0.76,180.3,277.4,12.8,303,6744,0.00,2.35,0.00,0.000,4,0.000,0.040,3556,421,2004,0,0,0,0,0,0
$GC,6813,0.76,180.3,268.5,12.9,306,6817,0.00,2.30,0.00,0.000,6,0.000,0.031,3556,2013,2003,0,0,0,0,0,0
$GC,7128,0.76,180.3,229.1,11.9,321,7132,0.00,2.35,0.00,0.000,4,0.000,0.040,3567,414,2002,0,0,0,0,0,0
$GC,7261,0.76,180.3,213.9,10.8,327,7266,0.12,2.25,0.00,0.000,6,0.156,0.030,3533,2000,2001,0,0,0,0,0,0
$GC,7582,0.76,180.3,185.5,8.8,350,7586,0.00,2.28,0.00,0.000,4,0.000,0.040,3542,426,2001,0,0,0,0,0,0
$GC,7737,0.76,180.3,169.6,8.9,363,7744,0.00,2.28,0.00,0.000,6,0.000,0.031,3543,1996,2001,0,0,0,0,0,0
$GC,7999,0.78,197.7,149.8,7.2,388,8020,0.00,2.35,13.52,0.643,4,0.000,0.042,3543,3574,1942,0,0,0,0,0,0
$GC,8089,0.78,197.7,140.1,11.4,396,8093,0.00,2.25,0.00,0.000,6,0.000,0.028,3555,1991,1941,0,0,0,0,0,0
$GC,8350,0.79,206.7,113.4,7.6,420,8364,0.00,2.30,8.45,0.571,4,0.000,0.039,3567,431,1906,0,0,0,0,0,0
$GC,8510,0.79,206.7,101.2,9.2,434,8517,0.00,2.25,0.00,0.000,6,0.000,0.029,3566,1998,1903,0,0,0,0,0,0
$GC,8772,0.79,206.7,79.5,9.0,459,8776,0.00,2.33,0.00,0.000,4,0.000,0.041,3567,3585,1903,0,0,0,0,0,0
$GC,8845,0.79,206.7,71.9,10.3,465,8850,0.12,2.25,0.00,0.000,6,0.166,0.028,3544,1987,1902,0,0,0,0,0,0
$GC,9106,0.81,223.5,51.3,7.2,489,9127,0.00,2.28,14.70,0.549,4,0.000,0.039,3554,430,1837,0,0,0,0,0,0
$GC,9380,0.85,257.3,32.8,6.5,513,9417,0.00,2.20,27.30,0.544,6,0.000,0.028,3554,2000,1700,0,0,0,0,0,0
$GC,9684,0.85,257.3,7.8,8.9,564,9689,0.00,2.30,0.00,0.000,4,0.000,0.039,3565,425,1694,0,0,0,0,0,0
$STATE,9738,end climb,SURFACE_DEPTH_REACHED
$STATE,9738,begin surface coast
$FINISH,0.5,1.023121
$STATE,9773,end surface coast,CONTROL_FINISHED_OK
$STATE,9773,begin surface
$SM_CCo,9792,72.22,0.450,1,0,1159,390.02
$SM_GC,1.02,0.00,0.00,72.22,0.000,0.000,0.450,137,1891,1159,-9.85,-0.25,390.02
$IRIDIUM_FIX,2054.83,-15804.20,010412,121243
$TT8_MAMPS,0.027612
$HUMID,1078749023
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,19.207
$10V_AH,10.4,15.039
$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,21.700,109.275,298.900,72.225,0.000,56.166,66.955,489.937,0.000,0.000,34.718,1186.830,6837.631,475.749,1979.147,219.107,33.377,1229.801,0.000,1339.563,0.000,0.542,0.000
$DEVICE_MAMPS,230.867,82.069,888.186,450.229,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334672
$DATA_FILE_SIZE,20048,580
$CAP_FILE_SIZE,149496,0
$CFSIZE,260165632,225669120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,205030,2101.911,-15801.966,37,1.2,37,9.8