version: 66.07.10.p01
glider: 574
mission: 7
dive: 164
start: 11 20 113 0 6 14
data:
$ID,574
$MISSION,7
$DIVE,164
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,340
$T_MISSION,380
$T_ABORT,720
$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,160
$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,1
$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,185
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13887.233
$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,3040
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,1950
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,48
$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,143
$GPS1,191113,235758,-4302.785,827.873,37,0.9,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-68.8
$GPS2,201113,000519,-4302.771,827.942,20,0.9,21,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.012,-0.169
$KALMAN_X,-158516.8,-1196.8,6.0,51167.1,2993.0
$KALMAN_Y,523080.9,-589.3,-212.1,-737236.0,7117.1
$MHEAD_RNG_PITCHd_Wd,208.9,5840,-27.8,-9.804
$D_GRID,1000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.93,-61.2,0.0,0.0,0,40,0.00,0.00,-13.35,0.000,2,0.000,0.000,66,1976,2122,0,0,0,0,0,0
$GC,42,-0.93,-101.3,3.1,-5.5,2,103,11.95,0.00,-42.83,0.000,6,0.270,0.000,2730,1982,3013,0,0,0,0,0,0
$GC,152,-0.93,-101.3,10.7,-18.3,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3014,0,0,0,0,0,0
$GC,207,-0.93,-101.3,20.0,-16.7,29,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3015,0,0,0,0,0,0
$GC,259,-0.93,-101.3,28.1,-14.5,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3015,0,0,0,0,0,0
$GC,403,-0.93,-101.3,51.7,-16.1,63,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3016,0,0,0,0,0,0
$GC,749,-0.93,-101.3,103.6,-15.0,122,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3017,0,0,0,0,0,0
$GC,1068,-0.93,-101.3,152.3,-15.5,152,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3018,0,0,0,0,0,0
$GC,1387,-0.93,-101.3,202.9,-15.7,182,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1982,3018,0,0,0,0,0,0
$GC,1705,-0.93,-101.3,253.0,-15.5,212,1709,0.00,0.52,0.00,0.000,4,0.000,0.046,2730,1611,3019,0,0,0,0,0,0
$GC,1868,-0.93,-101.3,277.7,-14.8,226,1874,0.00,0.52,0.00,0.000,6,0.000,0.031,2729,1992,3018,0,0,0,0,0,0
$GC,2197,-0.93,-101.3,325.8,-14.6,257,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1991,3019,0,0,0,0,0,0
$GC,2522,-0.93,-101.3,374.8,-14.7,288,2525,0.00,0.47,0.00,0.000,4,0.000,0.042,2726,2349,3019,0,0,0,0,0,0
$GC,2714,-0.93,-101.3,404.2,-15.5,304,2718,0.00,0.55,0.00,0.000,6,0.000,0.037,2726,1954,3019,0,0,0,0,0,0
$GC,3035,-0.93,-101.3,451.6,-14.7,320,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1954,3019,0,0,0,0,0,0
$GC,3344,-0.93,-101.3,493.1,-13.2,335,3348,0.00,0.70,0.00,0.000,4,0.000,0.046,2726,1477,3019,0,0,0,0,0,0
$GC,3516,-0.93,-101.3,517.1,-14.1,342,3522,0.00,0.68,0.00,0.000,6,0.000,0.029,2724,1953,3019,0,0,0,0,0,0
$GC,3832,-0.93,-101.3,560.7,-13.8,358,3834,0.03,0.00,0.00,0.000,6,0.311,0.000,2731,1953,3019,0,0,0,0,0,0
$GC,4141,-0.93,-101.3,602.1,-13.4,373,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1954,3018,0,0,0,0,0,0
$GC,4451,-0.93,-101.3,643.7,-13.6,388,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1954,3018,0,0,0,0,0,0
$GC,4760,-0.93,-101.3,685.4,-12.9,403,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1954,3018,0,0,0,0,0,0
$GC,5069,-0.93,-101.3,726.4,-13.2,418,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1954,3017,0,0,0,0,0,0
$GC,5379,-0.93,-101.3,767.1,-13.2,433,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1954,3017,0,0,0,0,0,0
$GC,5688,-0.93,-101.3,807.7,-13.5,448,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1954,3017,0,0,0,0,0,0
$GC,5997,-0.93,-101.3,849.1,-13.2,463,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1955,3016,0,0,0,0,0,0
$GC,6307,-0.93,-101.3,888.9,-13.2,478,6310,0.00,0.55,0.00,0.000,4,0.000,0.043,2732,1582,3016,0,0,0,0,0,0
$GC,6563,-0.93,-101.3,921.9,-12.7,489,6567,0.00,0.52,0.00,0.000,6,0.000,0.032,2730,1962,3016,0,0,0,0,0,0
$GC,6884,-0.93,-101.3,961.8,-12.3,505,6888,0.00,0.65,0.00,0.000,4,0.000,0.040,2727,2422,3016,0,0,0,0,0,0
$GC,7087,-0.93,-101.3,985.6,-11.9,514,7090,0.00,0.68,0.00,0.000,6,0.000,0.037,2727,1956,3015,0,0,0,0,0,0
$STATE,7236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7236,begin apogee
$GC,7240,-0.17,0.0,1002.0,11.2,521,7333,0.95,0.00,86.60,1.591,6,0.194,0.000,2980,1803,2599,0,0,0,0,0,0
$STATE,7334,end apogee,CONTROL_FINISHED_OK
$STATE,7334,begin climb
$GC,7335,0.93,101.3,1004.5,0.0,526,7433,1.17,0.00,93.00,1.545,6,0.108,0.000,3338,1803,2187,0,0,0,0,0,0
$GC,7743,0.93,101.3,940.8,17.6,546,7747,0.00,0.77,0.00,0.000,4,0.000,0.050,3342,1327,2175,0,0,0,0,0,0
$GC,7887,0.93,101.3,915.7,16.8,552,7892,0.00,0.73,0.00,0.000,6,0.000,0.028,3342,1816,2175,0,0,0,0,0,0
$GC,8209,0.93,101.3,863.4,16.0,568,8212,0.00,0.68,0.00,0.000,4,0.000,0.045,3344,1393,2173,0,0,0,0,0,0
$GC,8465,0.93,101.3,819.8,16.9,579,8470,0.00,0.60,0.00,0.000,6,0.000,0.031,3344,1816,2171,0,0,0,0,0,0
$GC,8786,0.93,101.3,763.3,18.1,595,8790,0.00,1.33,0.00,0.000,4,0.000,0.052,3349,1005,2170,0,0,0,0,0,0
$GC,9043,0.93,101.3,714.9,19.5,606,9048,0.00,1.20,0.00,0.000,6,0.000,0.027,3349,1794,2170,0,0,0,0,0,0
$GC,9365,0.93,101.3,657.9,17.5,622,9368,0.00,0.77,0.00,0.000,4,0.000,0.047,3351,1305,2169,0,0,0,0,0,0
$GC,9589,0.93,101.3,619.2,17.5,632,9593,0.00,0.73,0.00,0.000,6,0.000,0.030,3351,1810,2169,0,0,0,0,0,0
$GC,9921,0.93,101.3,563.3,16.4,648,9925,0.00,0.50,0.00,0.000,4,0.000,0.044,3352,1479,2168,0,0,0,0,0,0
$GC,10178,0.93,101.3,522.2,16.3,659,10182,0.00,0.47,0.00,0.000,6,0.000,0.033,3352,1833,2167,0,0,0,0,0,0
$GC,10499,0.93,101.3,472.1,15.3,675,10502,0.00,0.68,0.00,0.000,4,0.000,0.045,3354,1398,2168,0,0,0,0,0,0
$GC,10755,0.93,101.3,434.0,16.1,686,10760,0.00,0.57,0.00,0.000,6,0.000,0.031,3354,1809,2167,0,0,0,0,0,0
$GC,11079,0.93,101.3,387.0,14.6,706,11083,0.00,1.00,0.00,0.000,4,0.000,0.048,3358,1182,2167,0,0,0,0,0,0
$GC,11260,0.93,101.3,359.0,16.3,722,11265,0.05,0.90,0.00,0.000,6,0.200,0.028,3344,1797,2167,0,0,0,0,0,0
$GC,11592,0.93,101.3,307.3,15.7,753,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1797,2167,0,0,0,0,0,0
$GC,11909,0.93,101.3,256.5,15.6,783,11913,0.00,0.45,0.00,0.000,4,0.000,0.041,3344,2141,2167,0,0,0,0,0,0
$GC,11992,0.93,101.3,242.8,16.1,790,11998,0.00,0.47,0.00,0.000,6,0.000,0.042,3344,1823,2167,0,0,0,0,0,0
$GC,12321,0.93,101.3,191.5,15.4,821,12324,0.00,1.08,0.00,0.000,4,0.000,0.054,3349,1144,2167,0,0,0,0,0,0
$GC,12580,0.93,101.3,149.0,16.0,844,12584,0.00,0.98,0.00,0.000,6,0.000,0.027,3349,1812,2167,0,0,0,0,0,0
$GC,12906,0.93,101.3,95.2,17.3,876,12913,0.00,0.45,0.00,0.000,4,0.000,0.045,3350,1502,2167,0,0,0,0,0,0
$GC,13171,0.93,101.3,51.1,15.1,922,13176,0.00,0.43,0.00,0.000,6,0.000,0.031,3350,1819,2167,0,0,0,0,0,0
$STATE,13488,end climb,SURFACE_DEPTH_REACHED
$STATE,13488,begin surface coast
$FINISH,1.6,1.013421
$STATE,13514,end surface coast,CONTROL_FINISHED_OK
$STATE,13514,begin surface
$SM_CCo,13530,39.05,0.875,0,0,1844,185.20
$SM_GC,3.13,0.00,0.00,39.05,0.000,0.000,0.875,77,1971,1844,-9.24,0.59,185.20
$IRIDIUM_FIX,-4244.98,828.21,191113,202007
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,10.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1002.0,9.4
$24V_AH,23.2,26.805
$10V_AH,10.2,22.182
$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,23.125,20.925,179.600,39.050,0.000,30.443,22.186,279.676,0.500,0.000,23.456,2449.755,8392.604,305.029,2753.192,116.930,33.361,1299.763,0.000,2373.276,0.000,5.465,0.000
$DEVICE_MAMPS,310.590,76.500,1591.200,875.160,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.724,699.806,648.138,64.887,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,56849,981
$CAP_FILE_SIZE,118512,0
$CFSIZE,2097086464,2073591808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201113,035400,-4303.269,828.284,62,0.9,62,-25.0