version: 66.07.10.p01
glider: 574
mission: 7
dive: 16
start: 10 14 113 6 54 26
data:
$ID,574
$MISSION,7
$DIVE,16
$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,450
$T_MISSION,520
$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,170
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13333.138
$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,2200
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,39
$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
$GPS1,141013,063732,-4111.042,1012.876,28,0.8,28,-25.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.0
$GPS2,141013,065405,-4111.152,1012.886,15,1.7,15,-25.4
$SPEED_LIMITS,0.128,0.248
$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,250.5,141357,-12.9,-7.407
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.52,-165.4,0.0,0.0,0,139,0.00,0.00,-112.80,0.000,6,0.000,0.000,63,2235,3275,0,0,0,0,0,0
$GC,141,-0.52,-165.4,3.6,-3.6,19,160,12.50,2.22,0.00,0.000,4,0.278,0.048,2810,3601,3278,0,0,0,0,0,0
$GC,219,-0.52,-165.4,21.8,-15.0,32,227,0.05,2.25,0.00,0.000,6,0.161,0.041,2826,2190,3279,0,0,0,0,0,0
$GC,366,-0.52,-165.4,41.3,-13.0,57,371,0.00,0.57,0.00,0.000,4,0.000,0.053,2829,1799,3280,0,0,0,0,0,0
$GC,630,-0.52,-165.4,77.0,-13.2,103,635,0.00,0.60,0.00,0.000,6,0.000,0.041,2828,2209,3280,0,0,0,0,0,0
$GC,773,-0.52,-165.4,96.5,-13.4,128,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2210,3280,0,0,0,0,0,0
$GC,917,-0.52,-165.4,116.0,-13.7,153,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2210,3280,0,0,0,0,0,0
$GC,1262,-0.52,-165.4,162.4,-13.5,214,1267,0.00,0.75,0.00,0.000,4,0.000,0.048,2828,1717,3281,0,0,0,0,0,0
$GC,1510,-0.52,-165.4,196.4,-13.3,258,1515,0.00,0.73,0.00,0.000,6,0.000,0.041,2826,2210,3280,0,0,0,0,0,0
$GC,1854,-0.52,-165.4,241.6,-13.5,319,1859,0.00,1.10,0.00,0.000,4,0.000,0.050,2826,1504,3280,0,0,0,0,0,0
$GC,2041,-0.52,-165.4,266.1,-12.8,352,2049,0.00,1.05,0.00,0.000,6,0.000,0.040,2822,2198,3281,0,0,0,0,0,0
$GC,2390,-0.52,-165.4,309.1,-11.7,413,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2198,3281,0,0,0,0,0,0
$GC,2734,-0.52,-165.4,348.5,-11.6,474,2739,0.00,0.62,0.00,0.000,4,0.000,0.049,2823,1772,3281,0,0,0,0,0,0
$GC,2970,-0.52,-165.4,375.1,-10.9,516,2977,0.00,0.62,0.00,0.000,6,0.000,0.042,2820,2206,3281,0,0,0,0,0,0
$GC,3319,-0.52,-165.4,411.5,-9.9,577,3323,0.00,0.40,0.00,0.000,4,0.000,0.049,2821,1919,3281,0,0,0,0,0,0
$GC,3578,-0.52,-165.4,440.2,-11.3,623,3583,0.00,0.40,0.00,0.000,6,0.000,0.047,2820,2211,3281,0,0,0,0,0,0
$GC,3922,-0.52,-165.4,482.1,-12.4,684,3929,0.00,0.82,0.00,0.000,4,0.000,0.050,2820,1672,3282,0,0,0,0,0,0
$GC,4184,-0.52,-165.4,514.4,-12.0,730,4189,0.00,0.77,0.00,0.000,6,0.000,0.041,2817,2195,3281,0,0,0,0,0,0
$GC,4528,-0.52,-165.4,554.6,-11.8,791,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2195,3280,0,0,0,0,0,0
$GC,4873,-0.52,-165.4,594.3,-11.5,852,4880,0.00,0.45,0.00,0.000,4,0.000,0.051,2817,1881,3280,0,0,0,0,0,0
$GC,5135,-0.52,-165.4,624.6,-11.8,898,5140,0.00,0.45,0.00,0.000,6,0.000,0.046,2816,2199,3280,0,0,0,0,0,0
$GC,5480,-0.52,-165.4,664.6,-11.4,959,5485,0.00,0.47,0.00,0.000,4,0.000,0.053,2816,1873,3279,0,0,0,0,0,0
$GC,5741,-0.52,-165.4,694.7,-11.8,1005,5746,0.00,0.47,0.00,0.000,6,0.000,0.047,2815,2202,3278,0,0,0,0,0,0
$GC,6086,-0.52,-165.4,732.9,-10.9,1066,6091,0.05,0.82,0.00,0.000,4,0.240,0.054,2825,1677,3277,0,0,0,0,0,0
$GC,6346,-0.52,-165.4,759.8,-10.5,1112,6353,0.00,0.77,0.00,0.000,6,0.000,0.043,2823,2194,3276,0,0,0,0,0,0
$GC,6695,-0.52,-165.4,794.0,-9.4,1173,6700,0.00,0.52,0.00,0.000,4,0.000,0.055,2823,1838,3276,0,0,0,0,0,0
$GC,6954,-0.52,-165.4,819.3,-9.7,1219,6959,0.00,0.52,0.00,0.000,6,0.000,0.047,2822,2199,3275,0,0,0,0,0,0
$GC,7299,-0.52,-165.4,852.2,-9.8,1280,7306,0.00,0.47,0.00,0.000,4,0.000,0.055,2821,1873,3274,0,0,0,0,0,0
$GC,7560,-0.52,-165.4,876.4,-8.9,1326,7565,0.00,0.47,0.00,0.000,6,0.000,0.047,2821,2204,3273,0,0,0,0,0,0
$GC,7904,-0.52,-165.4,907.6,-9.3,1387,7909,0.00,0.52,0.00,0.000,4,0.000,0.057,2820,1849,3273,0,0,0,0,0,0
$GC,8166,-0.52,-165.4,932.4,-9.8,1433,8171,0.00,0.50,0.00,0.000,6,0.000,0.047,2819,2195,3272,0,0,0,0,0,0
$GC,8510,-0.52,-165.4,967.7,-10.3,1494,8515,0.00,0.90,0.00,0.000,4,0.000,0.059,2819,1618,3272,0,0,0,0,0,0
$GC,8754,-0.52,-165.4,992.8,-10.6,1537,8759,0.00,0.88,0.00,0.000,6,0.000,0.044,2816,2195,3271,0,0,0,0,0,0
$STATE,8826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8826,begin apogee
$GC,8831,-0.20,0.0,1000.2,11.0,1549,8973,0.38,0.00,134.77,1.421,6,0.164,0.000,2930,1645,2599,0,0,0,0,0,0
$STATE,8973,end apogee,CONTROL_FINISHED_OK
$STATE,8973,begin climb
$GC,8975,0.52,165.4,1007.0,0.0,1576,9130,0.77,0.00,144.85,1.388,6,0.133,0.000,3156,1643,1924,0,0,0,0,0,0
$GC,9472,0.53,185.4,977.7,6.8,1665,9494,0.00,0.62,17.33,1.272,4,0.000,0.039,3156,2045,1844,0,0,0,0,0,0
$GC,9625,0.53,213.1,967.1,6.6,1692,9654,0.00,0.65,25.58,1.314,6,0.000,0.059,3156,1654,1730,0,0,0,0,0,0
$GC,9995,0.53,213.1,938.4,7.9,1757,10000,0.00,2.28,0.00,0.000,4,0.000,0.050,3156,3053,1727,0,0,0,0,0,0
$GC,10155,0.53,213.1,925.4,8.0,1785,10160,0.00,2.30,0.00,0.000,6,0.000,0.059,3157,1653,1726,0,0,0,0,0,0
$GC,10499,0.53,213.1,896.6,8.6,1846,10504,0.00,2.25,0.00,0.000,4,0.000,0.050,3157,3053,1726,0,0,0,0,0,0
$GC,10640,0.53,213.1,884.4,8.8,1871,10645,0.00,2.28,0.00,0.000,6,0.000,0.060,3157,1651,1725,0,0,0,0,0,0
$GC,10984,0.53,213.1,856.3,8.0,1932,10991,0.00,2.00,0.00,0.000,4,0.000,0.048,3157,2894,1725,0,0,0,0,0,0
$GC,11083,0.53,213.1,848.4,7.7,1949,11089,0.00,2.00,0.00,0.000,6,0.000,0.060,3157,1647,1724,0,0,0,0,0,0
$GC,11429,0.53,226.9,822.9,7.0,2010,11447,0.00,2.25,12.52,1.205,4,0.000,0.050,3157,3055,1674,0,0,0,0,0,0
$GC,11594,0.53,247.9,811.4,6.8,2039,11620,0.00,2.30,19.92,1.294,6,0.000,0.060,3157,1645,1589,0,0,0,0,0,0
$GC,11960,0.53,288.2,788.0,6.2,2104,12002,0.00,2.33,36.83,1.307,4,0.000,0.048,3158,3046,1424,0,0,0,0,0,0
$GC,12260,0.82,288.2,763.2,9.4,2157,12266,0.32,2.30,0.00,0.000,6,0.098,0.056,3261,1644,1421,0,0,0,0,0,0
$GC,12607,0.82,288.2,731.3,9.5,2218,12612,0.00,2.10,0.00,0.000,4,0.000,0.051,3262,2970,1419,0,0,0,0,0,0
$GC,12708,0.82,288.2,717.9,14.1,2236,12715,0.00,2.17,0.00,0.000,6,0.000,0.060,3266,1656,1419,0,0,0,0,0,0
$GC,13056,0.82,288.2,668.9,14.0,2297,13061,0.00,2.22,0.00,0.000,4,0.000,0.050,3266,3048,1418,0,0,0,0,0,0
$GC,13285,0.82,288.2,634.5,14.9,2337,13290,0.00,2.28,0.00,0.000,6,0.000,0.060,3267,1643,1418,0,0,0,0,0,0
$GC,13630,0.82,288.2,586.7,13.2,2398,13635,0.00,2.33,0.00,0.000,4,0.000,0.080,3267,240,1418,0,0,0,0,0,0
$GC,13709,0.82,288.2,576.2,13.3,2412,13715,0.00,2.20,0.00,0.000,6,0.000,0.038,3267,1654,1417,0,0,0,0,0,0
$GC,14056,0.82,288.2,531.1,12.7,2473,14061,0.00,1.67,0.00,0.000,4,0.000,0.076,3267,636,1417,0,0,0,0,0,0
$GC,14129,0.82,288.2,521.6,12.8,2486,14135,0.00,1.58,0.00,0.000,6,0.000,0.038,3267,1666,1417,0,0,0,0,0,0
$GC,14475,0.82,288.2,478.4,12.4,2547,14479,0.00,1.58,0.00,0.000,4,0.000,0.074,3267,716,1417,0,0,0,0,0,0
$GC,14542,0.82,288.2,470.1,12.2,2559,14547,0.00,1.42,0.00,0.000,6,0.000,0.037,3267,1648,1417,0,0,0,0,0,0
$GC,14886,0.82,288.2,430.9,11.4,2620,14893,0.00,0.85,0.00,0.000,4,0.000,0.073,3267,1136,1417,0,0,0,0,0,0
$GC,14994,0.82,288.2,418.4,11.4,2639,14999,0.00,0.77,0.00,0.000,6,0.000,0.039,3267,1656,1417,0,0,0,0,0,0
$GC,15339,0.82,288.2,377.3,12.6,2700,15346,0.00,1.73,0.00,0.000,4,0.000,0.076,3267,616,1417,0,0,0,0,0,0
$GC,15420,0.82,288.2,366.8,12.8,2714,15425,0.00,1.58,0.00,0.000,6,0.000,0.038,3267,1649,1417,0,0,0,0,0,0
$GC,15764,0.82,288.2,321.7,13.2,2775,15769,0.00,1.27,0.00,0.000,4,0.000,0.072,3267,878,1417,0,0,0,0,0,0
$GC,15844,0.82,288.2,311.1,13.6,2789,15850,0.00,1.17,0.00,0.000,6,0.000,0.036,3267,1641,1417,0,0,0,0,0,0
$GC,16189,0.82,288.2,266.1,12.8,2850,16193,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1642,1417,0,0,0,0,0,0
$GC,16534,0.82,288.2,223.5,12.1,2911,16539,0.00,2.28,0.00,0.000,4,0.000,0.076,3267,241,1417,0,0,0,0,0,0
$GC,16601,0.82,288.2,215.2,11.7,2923,16607,0.00,2.15,0.00,0.000,6,0.000,0.037,3266,1661,1418,0,0,0,0,0,0
$GC,16945,0.82,288.2,172.9,12.1,2984,16952,0.00,0.47,0.00,0.000,4,0.000,0.067,3267,1365,1417,0,0,0,0,0,0
$GC,17093,0.82,288.2,154.3,12.2,3010,17098,0.00,0.43,0.00,0.000,6,0.000,0.041,3267,1677,1417,0,0,0,0,0,0
$GC,17438,0.82,288.2,111.1,12.5,3071,17443,0.00,2.33,0.00,0.000,4,0.000,0.075,3267,237,1417,0,0,0,0,0,0
$GC,17496,0.82,288.2,104.2,12.2,3081,17501,0.00,2.10,0.00,0.000,6,0.000,0.035,3267,1636,1417,0,0,0,0,0,0
$GC,17843,0.82,288.2,61.4,12.0,3142,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1643,1418,0,0,0,0,0,0
$GC,17989,0.82,288.2,43.7,13.0,3167,17994,0.00,0.65,0.00,0.000,4,0.000,0.067,3267,1234,1418,0,0,0,0,0,0
$GC,18128,0.82,288.2,26.2,12.3,3191,18133,0.00,0.60,0.00,0.000,6,0.000,0.039,3267,1654,1419,0,0,0,0,0,0
$GC,18274,0.82,288.2,7.4,12.0,3216,18281,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1663,1418,0,0,0,0,0,0
$STATE,18305,end climb,SURFACE_DEPTH_REACHED
$STATE,18305,begin surface coast
$FINISH,0.8,1.026655
$STATE,18331,end surface coast,CONTROL_FINISHED_OK
$STATE,18331,begin surface
$SM_CCo,18346,107.72,0.689,0,0,521,509.73
$SM_GC,1.44,0.00,0.00,107.72,0.000,0.000,0.689,65,2207,521,-9.12,0.23,509.73
$IRIDIUM_FIX,-4054.98,1015.22,141013,060621
$TT8_MAMPS,0.026964
$HUMID,59.01
$INTERNAL_PRESSURE,9.21381
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.2,7.6
$24V_AH,23.5,3.938
$10V_AH,10.4,2.283
$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,22.625,84.325,391.800,107.725,0.000,56.456,38.504,683.490,0.500,0.000,18.162,7130.566,4230.850,569.685,7313.979,181.257,0.000,2916.195,0.000,6423.295,0.000,5.466,0.000
$DEVICE_MAMPS,277.695,80.325,1420.605,689.265,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2242.808,2973.278,844.624,71.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,180168,3225
$CAP_FILE_SIZE,252733,0
$CFSIZE,2097086464,2092892160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141013,120304,-4110.540,1010.092,30,0.9,30,-25.4