version: 66.07
glider: 500
mission: 7
dive: 140
start: 10 2 110 19 1 44
data:
$ID,500
$MISSION,7
$DIVE,140
$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,-117964.56
$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,2
$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
$GPS1,021010,184406,2102.436,-15753.869,30,0.9,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.3
$GPS2,021010,190050,2102.435,-15753.932,9,1.3,9,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.112
$KALMAN_X,-170842.2,29.0,181.2,167486.7,-1928.8
$KALMAN_Y,-304.6,-157.5,113.8,-21931.6,-847.2
$MHEAD_RNG_PITCHd_Wd,49.2,11483,-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,125,end surface,CONTROL_FINISHED_OK
$STATE,125,begin dive
$GC,127,-0.68,-116.8,0.0,0.0,0,190,0.00,0.00,-61.12,0.000,2,0.000,0.000,128,1876,2829,0,0,0,0,0,0
$GC,193,-0.68,-116.8,3.1,-5.3,12,220,11.30,2.40,-7.57,0.000,4,0.235,0.051,3053,3498,3231,0,0,0,0,0,0
$GC,294,-0.68,-116.8,27.5,-16.5,30,299,0.00,2.33,0.00,0.000,6,0.000,0.028,3052,1864,3233,0,0,0,0,0,0
$GC,491,-0.68,-116.8,65.4,-19.1,50,495,0.00,2.22,0.00,0.000,4,0.000,0.041,3052,324,3232,0,0,0,0,0,0
$GC,534,-0.68,-116.8,74.3,-19.9,53,540,0.00,2.28,0.00,0.000,6,0.000,0.031,3042,1927,3232,0,0,0,0,0,0
$GC,795,-0.68,-116.8,114.5,-15.4,78,799,0.00,2.30,0.00,0.000,4,0.000,0.039,3042,323,3233,0,0,0,0,0,0
$GC,872,-0.68,-116.8,127.2,-16.3,84,878,0.08,2.25,0.00,0.000,6,0.117,0.029,3071,1908,3233,0,0,0,0,0,0
$GC,1134,-0.68,-116.8,155.1,-10.3,109,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1907,3234,0,0,0,0,0,0
$GC,1387,-0.68,-116.8,178.3,-8.4,133,1391,0.00,2.25,0.00,0.000,4,0.000,0.040,3071,324,3235,0,0,0,0,0,0
$GC,1483,-0.68,-116.8,186.9,-9.1,141,1487,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,1908,3235,0,0,0,0,0,0
$GC,1741,-0.68,-116.8,206.7,-7.4,161,1745,0.00,2.28,0.00,0.000,4,0.000,0.040,3069,323,3235,0,0,0,0,0,0
$GC,1780,-0.68,-116.8,209.9,-8.4,163,1784,0.00,2.20,0.00,0.000,6,0.000,0.031,3059,1909,3235,0,0,0,0,0,0
$GC,2105,-0.68,-116.8,241.1,-10.5,179,2109,0.00,2.25,0.00,0.000,4,0.000,0.039,3059,324,3235,0,0,0,0,0,0
$GC,2144,-0.68,-116.8,245.7,-12.0,181,2148,0.00,2.20,0.00,0.000,6,0.000,0.031,3055,1907,3235,0,0,0,0,0,0
$GC,2470,-0.68,-116.8,280.5,-10.2,197,2474,0.00,2.28,0.00,0.000,4,0.000,0.040,3055,315,3235,0,0,0,0,0,0
$GC,2497,-0.68,-116.8,283.3,-10.9,198,2501,0.00,2.25,0.00,0.000,6,0.000,0.031,3043,1911,3235,0,0,0,0,0,0
$GC,2810,-0.68,-116.8,311.3,-8.8,210,2814,0.00,2.30,0.00,0.000,4,0.000,0.040,3043,321,3234,0,0,0,0,0,0
$GC,2853,-0.68,-116.8,315.3,-9.1,211,2858,0.12,2.22,0.00,0.000,6,0.131,0.031,3075,1902,3233,0,0,0,0,0,0
$GC,3177,-0.68,-116.8,335.3,-6.1,219,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1903,3232,0,0,0,0,0,0
$GC,3502,-0.68,-116.8,355.9,-6.3,227,3506,0.00,2.30,0.00,0.000,4,0.000,0.041,3076,321,3230,0,0,0,0,0,0
$GC,3568,-0.68,-116.8,361.0,-7.9,228,3572,0.00,2.20,0.00,0.000,6,0.000,0.031,3069,1901,3229,0,0,0,0,0,0
$GC,3904,-0.68,-116.8,390.0,-9.2,237,3908,0.00,2.28,0.00,0.000,4,0.000,0.041,3069,316,3226,0,0,0,0,0,0
$GC,3942,-0.68,-116.8,393.7,-10.3,238,3946,0.00,2.25,0.00,0.000,6,0.000,0.031,3059,1909,3226,0,0,0,0,0,0
$GC,4266,-0.68,-116.8,418.6,-6.7,246,4270,0.00,2.30,0.00,0.000,4,0.000,0.041,3058,322,3224,0,0,0,0,0,0
$GC,4344,-0.68,-116.8,422.9,-5.1,247,4350,0.00,2.25,0.00,0.000,6,0.000,0.031,3048,1899,3223,0,0,0,0,0,0
$GC,4676,-0.68,-116.8,437.5,-4.5,256,4680,0.00,2.30,0.00,0.000,4,0.000,0.041,3048,324,3220,0,0,0,0,0,0
$GC,4702,-0.68,-116.8,439.1,-5.5,256,4707,0.08,2.25,0.00,0.000,6,0.107,0.030,3088,1901,3219,0,0,0,0,0,0
$GC,5039,-0.68,-116.8,453.7,-4.5,265,5043,0.00,2.28,0.00,0.000,4,0.000,0.041,3088,319,3218,0,0,0,0,0,0
$GC,5079,-0.68,-116.8,455.8,-5.9,266,5083,0.00,2.25,0.00,0.000,6,0.000,0.030,3078,1912,3217,0,0,0,0,0,0
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5202,-0.23,0.0,461.9,5.0,269,5293,0.38,0.00,88.28,0.891,6,0.091,0.000,3216,1995,2750,0,0,0,0,0,0
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5342,0.68,116.8,464.0,0.0,271,5448,0.73,2.47,96.30,0.874,4,0.042,0.039,3545,425,2272,0,0,0,0,0,0
$GC,5555,0.68,116.8,459.1,10.1,276,5560,0.12,2.30,0.00,0.000,6,0.165,0.031,3513,2008,2264,0,0,0,0,0,0
$GC,5879,0.68,116.8,429.4,9.4,284,5882,0.00,2.33,0.00,0.000,4,0.000,0.041,3512,3588,2258,0,0,0,0,0,0
$GC,6034,0.68,116.8,414.0,10.1,287,6039,0.00,2.33,0.00,0.000,6,0.000,0.028,3523,1988,2256,0,0,0,0,0,0
$GC,6383,0.69,121.0,385.1,7.8,296,6387,0.00,2.28,0.00,0.000,4,0.000,0.040,3535,422,2254,0,0,0,0,0,0
$GC,6455,0.69,121.0,379.0,8.9,297,6459,0.00,2.30,0.00,0.000,6,0.000,0.031,3536,2010,2254,0,0,0,0,0,0
$GC,6797,0.69,121.0,349.2,9.1,306,6801,0.00,2.33,0.00,0.000,4,0.000,0.040,3547,421,2252,0,0,0,0,0,0
$GC,6881,0.69,121.0,341.4,9.1,308,6886,0.12,2.25,0.00,0.000,6,0.168,0.031,3514,2009,2252,0,0,0,0,0,0
$GC,7204,0.69,121.0,314.0,8.1,316,7208,0.00,2.30,0.00,0.000,4,0.000,0.040,3524,419,2251,0,0,0,0,0,0
$GC,7394,0.75,169.6,301.0,5.8,320,7441,0.00,2.25,39.88,0.792,6,0.000,0.031,3524,2006,2057,0,0,0,0,0,0
$GC,7749,0.75,171.6,273.4,7.9,337,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2006,2049,0,0,0,0,0,0
$GC,8059,0.75,171.6,241.6,11.7,352,8062,0.00,2.30,0.00,0.000,4,0.000,0.040,3536,432,2047,0,0,0,0,0,0
$GC,8248,0.75,171.6,217.1,12.0,360,8253,0.00,2.28,0.00,0.000,6,0.000,0.030,3536,2008,2047,0,0,0,0,0,0
$GC,8574,0.75,171.6,185.4,8.9,383,8578,0.00,2.28,0.00,0.000,4,0.000,0.039,3547,428,2046,0,0,0,0,0,0
$GC,8629,0.75,171.6,180.1,9.4,387,8635,0.00,2.28,0.00,0.000,6,0.000,0.031,3547,2006,2046,0,0,0,0,0,0
$GC,8892,0.77,192.2,160.4,7.1,412,8916,0.00,2.35,17.75,0.658,4,0.000,0.040,3559,429,1966,0,0,0,0,0,0
$GC,8983,0.77,192.2,151.6,10.4,420,8989,0.00,2.28,0.00,0.000,6,0.000,0.030,3559,1999,1963,0,0,0,0,0,0
$GC,9244,0.77,192.2,127.3,9.8,445,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1999,1961,0,0,0,0,0,0
$GC,9499,0.79,207.3,106.2,7.3,469,9520,0.00,2.33,13.35,0.591,4,0.000,0.040,3570,434,1903,0,0,0,0,0,0
$GC,9772,0.79,207.3,84.7,8.1,493,9778,0.00,2.25,0.00,0.000,6,0.000,0.030,3570,2000,1900,0,0,0,0,0,0
$GC,10034,0.81,221.1,66.5,7.4,518,10055,0.00,2.38,12.23,0.543,4,0.000,0.042,3570,3586,1847,0,0,0,0,0,0
$GC,10183,0.81,221.1,52.1,10.4,531,10190,0.08,2.28,0.00,0.000,6,0.143,0.028,3556,2001,1845,0,0,0,0,0,0
$GC,10446,0.81,221.1,28.7,8.1,557,10452,0.00,2.25,0.00,0.000,4,0.000,0.039,3566,425,1845,0,0,0,0,0,0
$GC,10498,0.81,221.1,24.7,8.1,566,10504,0.00,2.22,0.00,0.000,6,0.000,0.031,3566,2009,1844,0,0,0,0,0,0
$GC,10708,0.81,221.1,7.0,8.8,603,10713,0.00,2.30,0.00,0.000,4,0.000,0.039,3578,417,1844,0,0,0,0,0,0
$STATE,10751,end climb,SURFACE_DEPTH_REACHED
$STATE,10751,begin surface coast
$FINISH,0.9,1.022977
$STATE,10782,end surface coast,CONTROL_FINISHED_OK
$STATE,10782,begin surface
$SM_CCo,10867,88.85,0.073,0,0,1160,390.02
$SM_GC,1.17,0.00,0.00,88.85,0.000,0.000,0.073,136,1915,1160,-9.85,0.42,390.02
$IRIDIUM_FIX,2054.83,-15754.77,270312,131316
$TT8_MAMPS,0.027612
$HUMID,1078696119
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,15.004
$10V_AH,10.4,13.011
$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,21.525,113.950,267.775,88.850,0.000,60.610,68.827,506.335,0.000,0.000,11.767,1160.179,7743.388,467.135,2456.054,194.264,33.373,1227.701,0.000,1356.333,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,121.953,891.254,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,415.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334628
$DATA_FILE_SIZE,20124,616
$CAP_FILE_SIZE,121143,0
$CFSIZE,260165632,227676160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,220725,2102.505,-15753.869,41,0.9,42,9.8