version: 66.07.10.p01
glider: 574
mission: 7
dive: 15
start: 10 14 113 3 35 51
data:
$ID,574
$MISSION,7
$DIVE,15
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$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,235
$T_MISSION,260
$T_ABORT,600
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4200
$TGT_DEFAULT_LON,-900
$TGT_AUTO_DEFAULT,0
$SM_CC,509.7251
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13329.697
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3000
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-58.423965
$PRESSURE_SLOPE,0.00011710486
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,141013,032304,-4111.150,1014.178,40,1.0,40,-25.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.9
$GPS2,141013,033530,-4111.187,1014.180,13,1.1,14,-25.4
$SPEED_LIMITS,0.172,0.282
$TGT_NAME,WP1
$TGT_LATLONG,-4205.000,900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,251.1,142578,-16.5,-9.929
$D_GRID,700
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.67,-175.1,0.0,0.0,0,133,0.00,0.00,-106.72,0.000,2,0.000,0.000,63,2240,3120,0,0,0,0,0,0
$GC,135,-0.67,-175.1,3.1,-4.6,18,161,11.60,2.28,-4.38,0.000,4,0.259,0.064,2779,841,3320,0,0,0,0,0,0
$GC,423,-0.67,-175.1,54.8,-16.9,67,428,0.00,2.20,0.00,0.000,6,0.000,0.038,2772,2254,3321,0,0,0,0,0,0
$GC,565,-0.67,-175.1,80.2,-17.6,92,572,0.00,1.73,0.00,0.000,4,0.000,0.052,2772,1182,3321,0,0,0,0,0,0
$GC,824,-0.67,-175.1,125.5,-17.2,137,829,0.08,1.65,0.00,0.000,6,0.220,0.038,2779,2246,3321,0,0,0,0,0,0
$GC,1168,-0.67,-175.1,183.5,-17.0,198,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2246,3321,0,0,0,0,0,0
$GC,1513,-0.67,-175.1,237.8,-15.2,259,1518,0.00,0.62,0.00,0.000,4,0.000,0.048,2779,1826,3321,0,0,0,0,0,0
$GC,1774,-0.67,-175.1,277.9,-14.8,305,1779,0.00,0.62,0.00,0.000,6,0.000,0.043,2778,2254,3322,0,0,0,0,0,0
$GC,2119,-0.67,-175.1,331.2,-15.3,366,2124,0.00,0.60,0.00,0.000,4,0.000,0.049,2778,1845,3322,0,0,0,0,0,0
$GC,2363,-0.67,-175.1,371.1,-16.2,409,2368,0.00,0.60,0.00,0.000,6,0.000,0.043,2777,2256,3322,0,0,0,0,0,0
$GC,2708,-0.67,-175.1,427.8,-15.6,470,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2257,3322,0,0,0,0,0,0
$GC,3052,-0.67,-175.1,482.0,-15.2,531,3057,0.00,0.75,0.00,0.000,4,0.000,0.049,2777,1760,3322,0,0,0,0,0,0
$GC,3314,-0.67,-175.1,521.3,-14.6,577,3318,0.00,0.73,0.00,0.000,6,0.000,0.043,2774,2250,3322,0,0,0,0,0,0
$GC,3657,-0.67,-175.1,571.0,-14.9,638,3662,0.00,0.52,0.00,0.000,4,0.000,0.050,2774,1884,3322,0,0,0,0,0,0
$GC,3916,-0.67,-175.1,608.8,-14.6,684,3923,0.00,0.52,0.00,0.000,6,0.000,0.045,2773,2249,3322,0,0,0,0,0,0
$GC,4266,-0.67,-175.1,658.9,-14.1,745,4271,0.00,0.65,0.00,0.000,4,0.000,0.052,2774,1810,3321,0,0,0,0,0,0
$GC,4524,-0.67,-175.1,696.0,-14.6,791,4529,0.00,0.65,0.00,0.000,6,0.000,0.044,2773,2252,3321,0,0,0,0,0,0
$STATE,4551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4551,begin apogee
$GC,4555,-0.20,0.0,700.0,14.6,796,4698,0.50,0.00,136.20,1.231,6,0.168,0.000,2925,1739,2600,0,0,0,0,0,0
$STATE,4699,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4700,0.67,175.1,707.3,0.0,823,4853,0.95,0.00,147.80,1.203,6,0.125,0.000,3208,1739,1885,0,0,0,0,0,0
$GC,5194,0.67,180.8,663.1,9.7,912,5206,0.00,2.38,5.03,0.903,4,0.000,0.074,3212,354,1862,0,0,0,0,0,0
$GC,5274,0.67,180.8,654.8,10.3,926,5279,0.00,2.17,0.00,0.000,6,0.000,0.037,3213,1748,1862,0,0,0,0,0,0
$GC,5618,0.67,180.8,620.7,10.5,987,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1748,1861,0,0,0,0,0,0
$GC,5962,0.67,180.8,584.6,11.2,1048,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1748,1861,0,0,0,0,0,0
$GC,6310,0.67,180.8,548.2,10.3,1109,6315,0.00,0.65,0.00,0.000,4,0.000,0.064,3212,1345,1860,0,0,0,0,0,0
$GC,6394,0.67,180.8,539.5,10.2,1124,6401,0.00,0.62,0.00,0.000,6,0.000,0.041,3212,1760,1860,0,0,0,0,0,0
$GC,6742,0.67,180.8,504.0,10.1,1185,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1760,1860,0,0,0,0,0,0
$GC,7086,0.67,196.4,470.8,9.3,1246,7104,0.00,0.00,14.40,1.053,6,0.000,0.000,3213,1760,1798,0,0,0,0,0,0
$GC,7447,0.67,219.8,438.6,9.0,1309,7474,0.00,2.10,20.77,1.070,4,0.000,0.072,3212,521,1704,0,0,0,0,0,0
$GC,7525,0.67,236.4,431.2,9.3,1323,7547,0.00,1.92,15.88,1.040,6,0.000,0.039,3213,1750,1635,0,0,0,0,0,0
$GC,7887,0.67,259.8,399.0,9.0,1387,7913,0.00,0.00,20.73,1.021,6,0.000,0.000,3213,1749,1539,0,0,0,0,0,0
$GC,8253,0.67,288.1,368.0,8.9,1452,8282,0.00,1.00,24.85,1.021,4,0.000,0.063,3212,1141,1425,0,0,0,0,0,0
$GC,8352,0.68,326.6,360.2,8.5,1469,8395,0.00,0.98,34.03,1.006,6,0.000,0.040,3213,1751,1268,0,0,0,0,0,0
$GC,8736,0.68,385.4,331.6,7.7,1537,8793,0.00,1.40,49.58,0.989,4,0.000,0.065,3213,966,1028,0,0,0,0,0,0
$GC,8839,0.68,449.8,324.0,7.5,1556,8897,0.00,1.27,54.03,0.935,6,0.000,0.037,3213,1756,765,0,0,0,0,0,0
$GC,9238,1.08,449.8,284.3,12.5,1627,9243,0.38,0.00,0.00,0.000,6,0.099,0.000,3341,1767,761,0,0,0,0,0,0
$GC,9582,1.08,449.8,226.4,18.0,1688,9589,0.00,1.80,0.00,0.000,4,0.000,0.047,3341,2885,761,0,0,0,0,0,0
$GC,9658,1.08,449.8,212.5,19.2,1701,9663,0.00,1.83,0.00,0.000,6,0.000,0.055,3346,1754,760,0,0,0,0,0,0
$GC,10003,1.08,449.8,146.5,18.3,1762,10008,0.00,2.22,0.00,0.000,4,0.000,0.049,3346,3152,760,0,0,0,0,0,0
$GC,10121,1.08,449.8,124.4,19.0,1783,10126,0.00,2.25,0.00,0.000,6,0.000,0.054,3347,1748,760,0,0,0,0,0,0
$GC,10468,1.08,449.8,58.4,18.9,1844,10476,0.00,2.22,0.00,0.000,4,0.000,0.047,3348,3150,761,0,0,0,0,0,0
$GC,10592,1.08,449.8,36.7,18.2,1865,10597,0.00,2.22,0.00,0.000,6,0.000,0.053,3348,1750,760,0,0,0,0,0,0
$GC,10738,1.08,449.8,9.3,17.9,1890,10745,0.00,2.20,0.00,0.000,4,0.000,0.046,3347,3148,761,0,0,0,0,0,0
$STATE,10775,end climb,SURFACE_DEPTH_REACHED
$STATE,10775,begin surface coast
$FINISH,0.7,1.026665
$STATE,10795,end surface coast,CONTROL_FINISHED_OK
$STATE,10795,begin surface
$SM_CCo,10811,28.02,0.653,0,0,521,509.73
$SM_GC,1.56,0.00,0.00,28.02,0.000,0.000,0.653,77,2235,521,-9.12,-0.42,509.73
$IRIDIUM_FIX,-4057.83,1012.91,141013,000029
$TT8_MAMPS,0.026964
$HUMID,61.65
$INTERNAL_PRESSURE,9.22358
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.7,3.720
$10V_AH,10.4,2.024
$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,22.375,45.650,523.275,28.025,0.000,30.304,21.437,569.094,0.000,0.000,16.533,4066.678,2359.595,494.517,4501.877,145.124,0.000,1989.175,0.000,3839.193,0.000,1.016,0.000
$DEVICE_MAMPS,259.335,74.205,1230.885,653.310,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1311.144,1818.201,506.949,54.537,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354716
$DATA_FILE_SIZE,106825,1899
$CAP_FILE_SIZE,152238,0
$CFSIZE,2097086464,2093187072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141013,063732,-4111.042,1012.876,28,0.8,28,-25.4