version: 66.07.10.p01
glider: 574
mission: 7
dive: 103
start: 11 6 113 12 3 15
data:
$ID,574
$MISSION,7
$DIVE,103
$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,-13687.035
$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,53
$R_STBD_OVSHOOT,88
$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,82
$GPS1,061113,115435,-4227.156,845.548,45,0.8,45,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-71.7
$GPS2,061113,120220,-4227.073,845.488,18,1.2,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.021,-0.265
$KALMAN_X,-156649.1,11.3,-144.7,72713.7,-1294.2
$KALMAN_Y,289891.8,270.4,384.4,-439419.8,3362.0
$MHEAD_RNG_PITCHd_Wd,200.5,73793,-17.4,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,75,0.00,0.00,-48.72,0.000,2,0.000,0.000,66,1989,2850,0,0,0,0,0,0
$GC,77,-0.59,-155.7,3.1,-1.6,8,108,12.35,0.00,-11.57,0.000,6,0.272,0.000,2838,1988,3237,0,0,0,0,0,0
$GC,158,-0.59,-155.7,12.2,-12.9,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1989,3239,0,0,0,0,0,0
$GC,213,-0.59,-155.7,19.3,-12.7,30,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1989,3239,0,0,0,0,0,0
$GC,267,-0.59,-155.7,26.2,-11.9,39,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1989,3240,0,0,0,0,0,0
$GC,412,-0.59,-155.7,43.7,-11.4,64,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1989,3240,0,0,0,0,0,0
$GC,758,-0.59,-155.7,81.2,-11.1,125,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1990,3241,0,0,0,0,0,0
$GC,1097,-0.59,-155.7,118.7,-10.5,171,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1989,3242,0,0,0,0,0,0
$GC,1420,-0.59,-155.7,154.8,-11.7,201,1423,0.00,0.43,0.00,0.000,4,0.000,0.047,2836,2300,3242,0,0,0,0,0,0
$GC,1672,-0.59,-155.7,184.3,-11.4,223,1677,0.00,0.52,0.00,0.000,6,0.000,0.043,2836,1943,3242,0,0,0,0,0,0
$GC,1996,-0.59,-155.7,222.4,-12.1,254,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3242,0,0,0,0,0,0
$GC,2315,-0.59,-155.7,259.9,-11.4,284,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3243,0,0,0,0,0,0
$GC,2634,-0.59,-155.7,296.7,-11.5,314,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3243,0,0,0,0,0,0
$GC,2953,-0.59,-155.7,332.4,-11.1,344,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3243,0,0,0,0,0,0
$GC,3271,-0.59,-155.7,368.3,-10.9,374,3275,0.00,0.35,0.00,0.000,4,0.000,0.057,2836,1689,3243,0,0,0,0,0,0
$GC,3464,-0.59,-155.7,390.9,-11.9,391,3468,0.00,0.30,0.00,0.000,6,0.000,0.042,2836,1919,3243,0,0,0,0,0,0
$GC,3797,-0.59,-155.7,429.4,-11.4,411,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1919,3243,0,0,0,0,0,0
$GC,4107,-0.59,-155.7,463.6,-10.8,426,4110,0.00,0.88,0.00,0.000,4,0.000,0.041,2832,2514,3242,0,0,0,0,0,0
$GC,4310,-0.59,-155.7,484.8,-10.6,435,4314,0.03,0.82,0.00,0.000,6,0.188,0.040,2840,1953,3243,0,0,0,0,0,0
$GC,4642,-0.59,-155.7,518.9,-10.5,451,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1953,3243,0,0,0,0,0,0
$GC,4951,-0.59,-155.7,550.3,-10.1,466,4955,0.00,0.52,0.00,0.000,4,0.000,0.053,2842,1590,3242,0,0,0,0,0,0
$GC,5096,-0.59,-155.7,564.9,-9.4,472,5100,0.00,0.52,0.00,0.000,6,0.000,0.036,2842,1960,3242,0,0,0,0,0,0
$GC,5418,-0.59,-155.7,596.5,-9.8,488,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1960,3242,0,0,0,0,0,0
$GC,5727,-0.59,-155.7,627.3,-10.2,503,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1960,3242,0,0,0,0,0,0
$GC,6036,-0.59,-155.7,659.0,-10.2,518,6040,0.00,0.52,0.00,0.000,4,0.000,0.044,2839,2343,3241,0,0,0,0,0,0
$GC,6293,-0.59,-155.7,683.6,-9.4,529,6297,0.00,0.57,0.00,0.000,6,0.000,0.043,2839,1951,3240,0,0,0,0,0,0
$GC,6615,-0.59,-155.7,714.1,-9.5,545,6618,0.00,0.38,0.00,0.000,4,0.000,0.058,2839,1684,3240,0,0,0,0,0,0
$GC,6866,-0.59,-155.7,738.2,-9.1,556,6870,0.00,0.38,0.00,0.000,6,0.000,0.040,2838,1954,3239,0,0,0,0,0,0
$GC,7193,-0.59,-155.7,769.6,-10.0,572,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1953,3239,0,0,0,0,0,0
$GC,7502,-0.59,-155.7,799.7,-9.6,587,7506,0.00,0.73,0.00,0.000,4,0.000,0.044,2834,2453,3238,0,0,0,0,0,0
$GC,7682,-0.59,-155.7,816.4,-9.3,595,7686,0.00,0.75,0.00,0.000,6,0.000,0.043,2835,1952,3238,0,0,0,0,0,0
$GC,8014,-0.59,-155.7,846.3,-9.2,611,8016,0.03,0.00,0.00,0.000,6,0.270,0.000,2843,1952,3238,0,0,0,0,0,0
$GC,8324,-0.59,-155.7,873.3,-8.9,626,8327,0.00,0.57,0.00,0.000,4,0.000,0.054,2844,1561,3237,0,0,0,0,0,0
$GC,8474,-0.59,-155.7,886.7,-8.2,632,8480,0.00,0.55,0.00,0.000,6,0.000,0.036,2843,1951,3237,0,0,0,0,0,0
$GC,8790,-0.59,-155.7,915.0,-8.9,648,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1951,3237,0,0,0,0,0,0
$GC,9099,-0.59,-155.7,941.2,-8.7,663,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1951,3236,0,0,0,0,0,0
$GC,9409,-0.59,-155.7,968.2,-8.5,678,9412,0.00,0.68,0.00,0.000,4,0.000,0.044,2839,2420,3236,0,0,0,0,0,0
$GC,9560,-0.59,-155.7,980.7,-8.8,684,9565,0.00,0.70,0.00,0.000,6,0.000,0.042,2839,1950,3236,0,0,0,0,0,0
$STATE,9814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9814,begin apogee
$GC,9818,-0.17,0.0,1000.2,7.6,697,9953,0.47,0.00,130.60,1.540,6,0.157,0.000,2977,1795,2600,0,0,0,0,0,0
$STATE,9954,end apogee,CONTROL_FINISHED_OK
$STATE,9954,begin climb
$GC,9955,0.59,155.7,1002.5,0.0,704,10100,0.82,0.00,140.75,1.493,6,0.110,0.000,3226,1795,1965,0,0,0,0,0,0
$GC,10403,0.59,155.7,954.9,11.6,726,10406,0.00,1.27,0.00,0.000,4,0.000,0.060,3229,1042,1954,0,0,0,0,0,0
$GC,10597,0.59,155.7,932.2,11.5,734,10604,0.00,1.20,0.00,0.000,6,0.000,0.029,3229,1812,1952,0,0,0,0,0,0
$GC,10913,0.59,155.7,897.4,11.1,750,10917,0.00,0.47,0.00,0.000,4,0.000,0.050,3230,1512,1951,0,0,0,0,0,0
$GC,11170,0.59,155.7,870.4,10.0,761,11174,0.00,0.45,0.00,0.000,6,0.000,0.035,3230,1815,1950,0,0,0,0,0,0
$GC,11491,0.59,155.7,838.3,10.0,777,11495,0.00,1.40,0.00,0.000,4,0.000,0.057,3235,968,1949,0,0,0,0,0,0
$GC,11671,0.59,155.7,819.2,11.5,785,11674,0.00,1.27,0.00,0.000,6,0.000,0.031,3235,1808,1949,0,0,0,0,0,0
$GC,12003,0.59,155.7,783.4,10.5,801,12006,0.00,0.47,0.00,0.000,4,0.000,0.050,3236,1501,1948,0,0,0,0,0,0
$GC,12259,0.59,155.7,756.4,10.5,812,12263,0.00,0.45,0.00,0.000,6,0.000,0.035,3236,1809,1948,0,0,0,0,0,0
$GC,12580,0.59,155.7,721.8,11.1,828,12584,0.00,0.70,0.00,0.000,4,0.000,0.052,3238,1374,1948,0,0,0,0,0,0
$GC,12836,0.59,155.7,693.3,11.3,839,12840,0.00,0.68,0.00,0.000,6,0.000,0.031,3238,1819,1948,0,0,0,0,0,0
$GC,13157,0.59,155.7,655.5,11.9,855,13161,0.00,0.50,0.00,0.000,4,0.000,0.051,3239,1495,1947,0,0,0,0,0,0
$GC,13414,0.59,155.7,624.1,12.0,866,13418,0.00,0.47,0.00,0.000,6,0.000,0.035,3239,1822,1947,0,0,0,0,0,0
$GC,13735,0.59,155.7,584.8,12.6,882,13738,0.00,1.12,0.00,0.000,4,0.000,0.057,3241,1130,1947,0,0,0,0,0,0
$GC,13925,0.59,155.7,560.7,12.5,890,13929,0.00,1.00,0.00,0.000,6,0.000,0.032,3241,1805,1947,0,0,0,0,0,0
$GC,14246,0.59,155.7,521.0,12.5,906,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1805,1947,0,0,0,0,0,0
$GC,14555,0.59,155.7,482.7,12.3,921,14559,0.00,0.70,0.00,0.000,4,0.000,0.053,3240,1365,1946,0,0,0,0,0,0
$GC,14804,0.59,155.7,452.8,12.0,932,14807,0.00,0.65,0.00,0.000,6,0.000,0.033,3241,1817,1946,0,0,0,0,0,0
$GC,15135,0.59,155.7,413.6,11.8,948,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1817,1946,0,0,0,0,0,0
$GC,15450,0.59,155.7,375.5,11.5,972,15454,0.00,0.73,0.00,0.000,4,0.000,0.052,3240,1367,1946,0,0,0,0,0,0
$GC,15710,0.59,155.7,345.3,11.7,995,15714,0.00,0.65,0.00,0.000,6,0.000,0.033,3241,1823,1946,0,0,0,0,0,0
$GC,16040,0.59,155.7,308.1,10.9,1026,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1823,1946,0,0,0,0,0,0
$GC,16359,0.59,155.7,272.7,11.2,1056,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1823,1946,0,0,0,0,0,0
$GC,16678,0.59,155.7,235.1,12.3,1086,16681,0.00,1.10,0.00,0.000,4,0.000,0.055,3241,1142,1946,0,0,0,0,0,0
$GC,16871,0.59,155.7,212.2,11.8,1103,16875,0.00,0.98,0.00,0.000,6,0.000,0.031,3241,1812,1946,0,0,0,0,0,0
$GC,17201,0.59,155.7,173.8,11.7,1134,17205,0.00,0.38,0.00,0.000,4,0.000,0.044,3241,2104,1946,0,0,0,0,0,0
$GC,17284,0.59,155.7,163.5,12.6,1141,17290,0.00,0.43,0.00,0.000,6,0.000,0.046,3241,1823,1946,0,0,0,0,0,0
$GC,17609,0.59,155.7,126.0,11.6,1172,17612,0.00,0.98,0.00,0.000,4,0.000,0.060,3241,1204,1946,0,0,0,0,0,0
$GC,17749,0.59,155.7,109.8,11.3,1184,17757,0.00,0.90,0.00,0.000,6,0.000,0.030,3241,1808,1946,0,0,0,0,0,0
$GC,18092,0.59,155.7,72.1,10.8,1237,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1946,0,0,0,0,0,0
$GC,18437,0.59,155.7,34.2,10.9,1298,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1809,1946,0,0,0,0,0,0
$GC,18583,0.59,155.7,19.7,9.9,1323,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1946,0,0,0,0,0,0
$GC,18639,0.59,155.7,14.3,10.0,1332,18645,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1946,0,0,0,0,0,0
$GC,18694,0.59,155.7,8.4,11.0,1341,18701,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1947,0,0,0,0,0,0
$STATE,18748,end climb,SURFACE_DEPTH_REACHED
$STATE,18749,begin surface coast
$FINISH,1.4,1.008018
$STATE,18785,end surface coast,CONTROL_FINISHED_OK
$STATE,18786,begin surface
$SM_CCo,18801,11.75,0.794,0,0,1844,185.20
$SM_GC,3.87,0.00,0.00,11.75,0.000,0.000,0.794,80,1963,1844,-9.25,0.37,185.20
$IRIDIUM_FIX,-4233.25,847.22,061113,060606
$TT8_MAMPS,0.026964
$HUMID,61.65
$INTERNAL_PRESSURE,9.30171
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,23.0,17.782
$10V_AH,10.2,14.872
$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,22.250,29.475,271.350,11.750,0.000,23.095,23.626,299.142,0.500,0.000,21.328,3376.371,11659.037,387.656,3712.394,139.241,33.367,1772.115,0.000,3308.470,0.000,5.322,0.000
$DEVICE_MAMPS,271.575,75.735,1539.945,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,949.716,924.022,899.581,84.651,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,77049,1356
$CAP_FILE_SIZE,165831,0
$CFSIZE,2097086464,2081488896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061113,171758,-4227.117,844.876,36,0.8,36,-25.1