version: 66.07
glider: 500
mission: 7
dive: 180
start: 10 7 110 23 56 59
data:
$ID,500
$MISSION,7
$DIVE,180
$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,-118965.56
$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
$GPS1,071010,234354,2101.367,-15802.202,29,1.4,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-77.7
$GPS2,071010,235606,2101.388,-15802.468,15,1.6,25,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.107
$KALMAN_X,-279542.7,273.0,349.8,261034.6,-4337.6
$KALMAN_Y,-10164.7,-253.9,106.8,-13904.0,-107.4
$MHEAD_RNG_PITCHd_Wd,109.6,23288,-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,-116.8,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,2,0.000,0.000,132,1891,2825,0,0,0,0,0,0
$GC,84,-0.68,-116.8,3.2,-5.9,12,110,11.20,2.38,-7.40,0.000,4,0.230,0.051,3062,291,3231,0,0,0,0,0,0
$GC,122,-0.68,-116.8,17.7,-34.8,19,128,0.00,2.35,0.00,0.000,6,0.000,0.031,3052,1925,3231,0,0,0,0,0,0
$GC,322,-0.68,-116.8,55.2,-16.0,43,326,0.00,2.35,0.00,0.000,4,0.000,0.038,3052,296,3233,0,0,0,0,0,0
$GC,342,-0.68,-116.8,59.0,-17.8,44,349,0.00,2.30,0.00,0.000,6,0.000,0.031,3041,1897,3232,0,0,0,0,0,0
$GC,603,-0.68,-116.8,99.9,-15.3,69,604,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1897,3233,0,0,0,0,0,0
$GC,858,-0.68,-116.8,134.8,-10.3,93,862,0.00,2.33,0.00,0.000,4,0.000,0.039,3041,290,3235,0,0,0,0,0,0
$GC,879,-0.68,-116.8,137.4,-11.8,94,886,0.10,2.30,0.00,0.000,6,0.111,0.030,3070,1901,3235,0,0,0,0,0,0
$GC,1140,-0.68,-116.8,159.9,-9.1,119,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1901,3235,0,0,0,0,0,0
$GC,1395,-0.68,-116.8,185.2,-10.2,143,1399,0.00,2.28,0.00,0.000,4,0.000,0.044,3060,3484,3236,0,0,0,0,0,0
$GC,1457,-0.68,-116.8,191.9,-10.6,148,1461,0.00,2.28,0.00,0.000,6,0.000,0.026,3060,1860,3236,0,0,0,0,0,0
$GC,1722,-0.68,-116.8,219.5,-9.8,164,1726,0.00,2.17,0.00,0.000,4,0.000,0.039,3060,324,3236,0,0,0,0,0,0
$GC,1738,-0.68,-116.8,221.0,-9.2,165,1742,0.00,2.22,0.00,0.000,6,0.000,0.030,3052,1912,3236,0,0,0,0,0,0
$GC,2064,-0.68,-116.8,246.9,-7.4,181,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1912,3236,0,0,0,0,0,0
$GC,2373,-0.68,-116.8,274.2,-10.3,196,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1912,3235,0,0,0,0,0,0
$GC,2683,-0.68,-116.8,309.3,-11.2,209,2687,0.00,2.30,0.00,0.000,4,0.000,0.041,3052,326,3234,0,0,0,0,0,0
$GC,2703,-0.68,-116.8,311.8,-10.6,209,2708,0.00,2.22,0.00,0.000,6,0.000,0.031,3041,1893,3234,0,0,0,0,0,0
$GC,3047,-0.68,-116.8,344.4,-9.1,218,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1893,3232,0,0,0,0,0,0
$GC,3371,-0.68,-116.8,373.8,-8.7,226,3375,0.00,2.30,0.00,0.000,4,0.000,0.041,3041,314,3230,0,0,0,0,0,0
$GC,3403,-0.68,-116.8,376.6,-9.7,226,3409,0.08,2.28,0.00,0.000,6,0.108,0.031,3073,1908,3230,0,0,0,0,0,0
$GC,3736,-0.68,-116.8,398.4,-6.5,235,3740,0.00,2.28,0.00,0.000,4,0.000,0.041,3073,323,3227,0,0,0,0,0,0
$GC,3762,-0.68,-116.8,400.6,-7.6,235,3767,0.00,2.25,0.00,0.000,6,0.000,0.031,3062,1902,3226,0,0,0,0,0,0
$GC,4099,-0.68,-116.8,426.3,-8.1,244,4103,0.00,2.33,0.00,0.000,4,0.000,0.041,3062,320,3225,0,0,0,0,0,0
$GC,4130,-0.68,-116.8,429.0,-8.1,244,4135,0.00,2.25,0.00,0.000,6,0.000,0.030,3051,1896,3224,0,0,0,0,0,0
$GC,4468,-0.68,-116.8,452.0,-6.2,253,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1896,3222,0,0,0,0,0,0
$STATE,4628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4628,begin apogee
$GC,4633,-0.23,0.0,461.9,6.1,257,4725,0.45,0.00,88.65,0.887,6,0.094,0.000,3212,2033,2750,0,0,0,0,0,0
$STATE,4726,end apogee,CONTROL_FINISHED_OK
$STATE,4726,begin climb
$GC,4727,0.68,116.8,462.8,0.0,259,4834,0.75,2.40,96.18,0.864,4,0.049,0.041,3520,3550,2272,0,0,0,0,0,0
$GC,4906,0.68,116.8,457.2,9.1,263,4911,0.00,2.30,0.00,0.000,6,0.000,0.028,3532,1998,2265,0,0,0,0,0,0
$GC,5225,0.68,116.8,430.9,8.2,271,5229,0.00,2.30,0.00,0.000,4,0.000,0.040,3544,418,2260,0,0,0,0,0,0
$GC,5460,0.69,127.5,412.7,7.5,276,5475,0.12,2.22,7.78,0.722,6,0.160,0.031,3510,1984,2230,0,0,0,0,0,0
$GC,5812,0.71,138.3,386.5,7.5,285,5827,0.00,2.33,10.05,0.759,4,0.000,0.041,3521,421,2186,0,0,0,0,0,0
$GC,6079,0.71,138.3,361.8,8.7,291,6083,0.00,2.30,0.00,0.000,6,0.000,0.031,3521,2007,2184,0,0,0,0,0,0
$GC,6405,0.72,148.4,335.8,7.6,299,6419,0.00,2.33,9.77,0.736,4,0.000,0.041,3533,430,2144,0,0,0,0,0,0
$GC,6672,0.74,167.6,317.4,7.1,305,6693,0.00,2.28,16.52,0.772,6,0.000,0.031,3533,1997,2066,0,0,0,0,0,0
$GC,7011,0.74,167.6,289.1,9.2,316,7015,0.00,2.30,0.00,0.000,4,0.000,0.041,3544,424,2060,0,0,0,0,0,0
$GC,7267,0.74,167.6,263.3,8.9,327,7272,0.00,2.28,0.00,0.000,6,0.000,0.031,3544,1996,2059,0,0,0,0,0,0
$GC,7589,0.74,167.6,234.8,9.1,343,7593,0.00,2.28,0.00,0.000,4,0.000,0.041,3555,424,2057,0,0,0,0,0,0
$GC,7707,0.74,167.6,223.6,9.6,348,7712,0.00,2.25,0.00,0.000,6,0.000,0.031,3556,2010,2057,0,0,0,0,0,0
$GC,8023,0.75,170.9,197.2,7.9,364,8027,0.00,2.30,0.00,0.000,4,0.000,0.042,3555,3578,2057,0,0,0,0,0,0
$GC,8038,0.75,170.9,195.7,8.8,365,8045,0.10,2.28,0.00,0.000,6,0.145,0.028,3534,1998,2056,0,0,0,0,0,0
$GC,8299,0.77,185.8,174.2,7.3,390,8321,0.00,2.30,14.82,0.666,4,0.000,0.040,3544,420,1991,0,0,0,0,0,0
$GC,8372,0.77,185.8,168.2,9.2,396,8378,0.00,2.25,0.00,0.000,6,0.000,0.031,3544,2001,1989,0,0,0,0,0,0
$GC,8633,0.77,185.8,141.1,10.8,421,8637,0.00,2.33,0.00,0.000,4,0.000,0.041,3544,3585,1987,0,0,0,0,0,0
$GC,8728,0.77,185.8,129.7,12.9,429,8732,0.00,2.28,0.00,0.000,6,0.000,0.028,3556,1987,1987,0,0,0,0,0,0
$GC,8988,0.77,185.8,102.2,8.6,453,8992,0.00,2.25,0.00,0.000,4,0.000,0.039,3567,430,1987,0,0,0,0,0,0
$GC,9245,0.77,192.8,81.4,7.7,475,9257,0.00,2.25,6.70,0.517,6,0.000,0.029,3567,2008,1963,0,0,0,0,0,0
$GC,9512,0.79,204.3,61.8,7.5,500,9528,0.00,2.30,10.90,0.547,4,0.000,0.038,3579,419,1916,0,0,0,0,0,0
$GC,9779,0.79,204.3,41.1,8.4,523,9786,0.10,2.25,0.00,0.000,6,0.128,0.029,3544,1995,1913,0,0,0,0,0,0
$GC,10046,0.86,259.2,23.8,5.5,556,10098,0.00,2.35,43.78,0.547,4,0.000,0.039,3554,426,1692,0,0,0,0,0,0
$STATE,10304,end climb,SURFACE_DEPTH_REACHED
$STATE,10304,begin surface coast
$FINISH,2.2,1.022902
$STATE,10311,end surface coast,CONTROL_FINISHED_OK
$STATE,10311,begin surface
$SM_CCo,10330,78.20,0.459,1,0,1159,390.02
$SM_GC,0.92,0.00,0.00,78.20,0.000,0.000,0.459,139,1900,1159,-9.85,0.00,390.02
$IRIDIUM_FIX,2052.52,-15759.92,010412,181830
$TT8_MAMPS,0.027612
$HUMID,1078759345
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,19.417
$10V_AH,10.4,15.138
$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,21.875,96.075,305.150,78.200,0.000,57.854,64.517,409.751,0.000,0.000,27.544,1209.931,7352.676,474.572,1903.297,210.288,33.374,1223.695,0.000,1346.786,0.000,0.542,0.000
$DEVICE_MAMPS,230.100,88.205,887.419,458.666,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,407.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,604
$CAP_FILE_SIZE,148868,0
$CFSIZE,260165632,225566720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,025137,2100.709,-15803.229,26,1.1,27,9.8