version: 66.07.10.p01
glider: 574
mission: 7
dive: 109
start: 11 7 113 21 16 50
data:
$ID,574
$MISSION,7
$DIVE,109
$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,-13707.639
$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,48
$R_STBD_OVSHOOT,51
$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,88
$GPS1,071113,210724,-4229.990,849.003,80,0.8,80,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-72.3
$GPS2,071113,211555,-4229.947,849.018,21,1.1,22,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.061,-0.259
$KALMAN_X,-159771.5,-157.0,-287.6,81069.8,484.0
$KALMAN_Y,316313.1,44.8,-17.0,-470526.2,3834.9
$MHEAD_RNG_PITCHd_Wd,218.4,70945,-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,23,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,69,0.00,0.00,-42.67,0.000,2,0.000,0.000,66,1961,2791,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.0,-1.4,7,103,12.23,0.00,-13.40,0.000,6,0.266,0.000,2842,1960,3236,0,0,0,0,0,0
$GC,152,-0.59,-155.7,10.2,-8.6,20,159,0.00,0.35,0.00,0.000,4,0.000,0.045,2841,2232,3237,0,0,0,0,0,0
$GC,362,-0.59,-155.7,34.0,-13.7,56,369,0.00,0.40,0.00,0.000,6,0.000,0.044,2841,1950,3238,0,0,0,0,0,0
$GC,506,-0.59,-155.7,52.1,-11.9,81,513,0.00,0.43,0.00,0.000,4,0.000,0.055,2841,1654,3239,0,0,0,0,0,0
$GC,634,-0.59,-155.7,65.4,-10.1,103,639,0.00,0.43,0.00,0.000,6,0.000,0.037,2840,1981,3239,0,0,0,0,0,0
$GC,984,-0.59,-155.7,104.1,-11.2,162,987,0.00,0.60,0.00,0.000,4,0.000,0.041,2837,2402,3239,0,0,0,0,0,0
$GC,1180,-0.59,-155.7,125.5,-10.4,179,1186,0.00,0.70,0.00,0.000,6,0.000,0.039,2837,1939,3240,0,0,0,0,0,0
$GC,1505,-0.59,-155.7,161.9,-10.9,210,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1939,3241,0,0,0,0,0,0
$GC,1824,-0.59,-155.7,196.1,-10.3,240,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1939,3240,0,0,0,0,0,0
$GC,2143,-0.59,-155.7,229.1,-10.1,270,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1939,3241,0,0,0,0,0,0
$GC,2462,-0.59,-155.7,262.6,-10.5,300,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1939,3241,0,0,0,0,0,0
$GC,2781,-0.59,-155.7,296.8,-10.5,330,2784,0.00,0.50,0.00,0.000,4,0.000,0.054,2837,1591,3241,0,0,0,0,0,0
$GC,2932,-0.59,-155.7,313.5,-10.7,343,2938,0.00,0.50,0.00,0.000,6,0.000,0.034,2836,1948,3240,0,0,0,0,0,0
$GC,3257,-0.59,-155.7,350.9,-11.4,374,3261,0.00,0.60,0.00,0.000,4,0.000,0.041,2833,2380,3241,0,0,0,0,0,0
$GC,3385,-0.59,-155.7,365.8,-11.3,385,3392,0.08,0.65,0.00,0.000,6,0.194,0.038,2849,1938,3240,0,0,0,0,0,0
$GC,3710,-0.59,-155.7,401.1,-11.0,416,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1938,3241,0,0,0,0,0,0
$GC,4020,-0.59,-155.7,433.4,-10.3,431,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1938,3241,0,0,0,0,0,0
$GC,4329,-0.59,-155.7,464.5,-10.1,446,4333,0.00,0.50,0.00,0.000,4,0.000,0.055,2849,1589,3240,0,0,0,0,0,0
$GC,4541,-0.59,-155.7,486.1,-10.2,455,4545,0.00,0.50,0.00,0.000,6,0.000,0.034,2848,1949,3241,0,0,0,0,0,0
$GC,4862,-0.59,-155.7,517.2,-9.6,471,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1950,3241,0,0,0,0,0,0
$GC,5171,-0.59,-155.7,547.4,-9.5,486,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1950,3241,0,0,0,0,0,0
$GC,5480,-0.59,-155.7,577.5,-10.0,501,5484,0.00,0.43,0.00,0.000,4,0.000,0.044,2846,2276,3240,0,0,0,0,0,0
$GC,5620,-0.59,-155.7,591.2,-9.4,507,5624,0.00,0.45,0.00,0.000,6,0.000,0.044,2846,1955,3240,0,0,0,0,0,0
$GC,5948,-0.59,-155.7,622.1,-9.5,523,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1955,3240,0,0,0,0,0,0
$GC,6256,-0.59,-155.7,650.3,-8.7,538,6260,0.00,0.40,0.00,0.000,4,0.000,0.057,2846,1672,3239,0,0,0,0,0,0
$GC,6391,-0.59,-155.7,662.1,-8.4,544,6395,0.00,0.35,0.00,0.000,6,0.000,0.041,2845,1943,3239,0,0,0,0,0,0
$GC,6723,-0.59,-155.7,688.6,-7.9,560,6727,0.00,0.57,0.00,0.000,4,0.000,0.043,2843,2360,3238,0,0,0,0,0,0
$GC,6903,-0.59,-155.7,703.5,-8.3,568,6907,0.00,0.60,0.00,0.000,6,0.000,0.041,2843,1943,3238,0,0,0,0,0,0
$GC,7235,-0.59,-155.7,731.8,-8.6,584,7239,0.00,0.47,0.00,0.000,4,0.000,0.056,2843,1614,3237,0,0,0,0,0,0
$GC,7492,-0.59,-155.7,754.9,-9.1,595,7496,0.00,0.47,0.00,0.000,6,0.000,0.037,2841,1955,3237,0,0,0,0,0,0
$GC,7814,-0.59,-155.7,784.4,-9.3,611,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1955,3236,0,0,0,0,0,0
$GC,8123,-0.59,-155.7,813.7,-9.3,626,8127,0.00,0.75,0.00,0.000,4,0.000,0.042,2837,2472,3236,0,0,0,0,0,0
$GC,8281,-0.59,-155.7,828.0,-9.1,633,8285,0.00,0.77,0.00,0.000,6,0.000,0.041,2837,1952,3236,0,0,0,0,0,0
$GC,8613,-0.59,-155.7,859.2,-9.6,649,8617,0.00,0.45,0.00,0.000,4,0.000,0.057,2838,1636,3236,0,0,0,0,0,0
$GC,8870,-0.59,-155.7,884.6,-10.1,660,8874,0.00,0.45,0.00,0.000,6,0.000,0.037,2836,1962,3235,0,0,0,0,0,0
$GC,9192,-0.59,-155.7,914.4,-9.4,676,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1962,3235,0,0,0,0,0,0
$GC,9501,-0.59,-155.7,942.1,-8.9,691,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1963,3234,0,0,0,0,0,0
$GC,9810,-0.59,-155.7,969.0,-8.6,706,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1964,3234,0,0,0,0,0,0
$GC,10120,-0.59,-155.7,997.3,-9.2,721,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1964,3233,0,0,0,0,0,0
$STATE,10160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10160,begin apogee
$GC,10164,-0.17,0.0,1001.1,9.4,723,10301,0.50,0.00,130.60,1.539,6,0.161,0.000,2979,1811,2599,0,0,0,0,0,0
$STATE,10301,end apogee,CONTROL_FINISHED_OK
$STATE,10302,begin climb
$GC,10303,0.59,155.7,1005.1,0.0,730,10451,0.80,0.82,140.45,1.496,4,0.111,0.055,3224,1355,1964,0,0,0,0,0,0
$GC,10597,0.59,155.7,979.9,10.4,744,10601,0.00,0.68,0.00,0.000,6,0.000,0.029,3224,1782,1955,0,0,0,0,0,0
$GC,10929,0.59,155.7,946.7,10.0,760,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1781,1952,0,0,0,0,0,0
$GC,11238,0.59,155.7,915.0,10.0,775,11242,0.00,0.57,0.00,0.000,4,0.000,0.050,3225,1424,1951,0,0,0,0,0,0
$GC,11467,0.59,155.7,891.6,10.0,785,11471,0.00,0.60,0.00,0.000,6,0.000,0.031,3224,1837,1950,0,0,0,0,0,0
$GC,11793,0.59,155.7,857.8,10.4,801,11797,0.00,1.70,0.00,0.000,4,0.000,0.058,3229,795,1949,0,0,0,0,0,0
$GC,11944,0.59,169.4,842.2,9.2,807,11959,0.00,1.52,10.82,1.342,6,0.000,0.029,3228,1794,1908,0,0,0,0,0,0
$GC,12281,0.59,169.4,808.4,10.3,824,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1794,1907,0,0,0,0,0,0
$GC,12590,0.59,169.4,776.2,10.4,839,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1795,1907,0,0,0,0,0,0
$GC,12899,0.59,169.4,744.1,10.2,854,12902,0.00,0.77,0.00,0.000,4,0.000,0.053,3230,1306,1907,0,0,0,0,0,0
$GC,13124,0.59,169.4,720.4,11.8,864,13127,0.00,0.75,0.00,0.000,6,0.000,0.031,3230,1812,1907,0,0,0,0,0,0
$GC,13455,0.59,169.4,684.9,10.9,880,13459,0.00,0.50,0.00,0.000,4,0.000,0.050,3231,1481,1907,0,0,0,0,0,0
$GC,13695,0.59,169.4,657.8,10.9,890,13701,0.00,0.50,0.00,0.000,6,0.000,0.035,3231,1841,1907,0,0,0,0,0,0
$GC,14010,0.59,169.4,622.5,10.9,906,14014,0.00,0.77,0.00,0.000,4,0.000,0.050,3234,1355,1907,0,0,0,0,0,0
$GC,14222,0.59,169.4,598.3,11.1,915,14226,0.00,0.65,0.00,0.000,6,0.000,0.031,3233,1808,1907,0,0,0,0,0,0
$GC,14544,0.59,169.4,562.3,11.1,931,14545,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1807,1907,0,0,0,0,0,0
$GC,14853,0.59,169.4,527.9,11.1,946,14856,0.00,0.95,0.00,0.000,4,0.000,0.054,3237,1215,1907,0,0,0,0,0,0
$GC,15032,0.59,169.4,508.0,10.5,954,15036,0.00,0.85,0.00,0.000,6,0.000,0.031,3237,1790,1907,0,0,0,0,0,0
$GC,15364,0.59,169.4,471.7,11.0,970,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1790,1907,0,0,0,0,0,0
$GC,15673,0.59,169.4,438.2,10.8,985,15677,0.00,0.57,0.00,0.000,4,0.000,0.050,3239,1421,1907,0,0,0,0,0,0
$GC,15930,0.59,169.4,410.0,10.8,996,15935,0.00,0.57,0.00,0.000,6,0.000,0.034,3239,1826,1907,0,0,0,0,0,0
$GC,16258,0.59,169.4,375.7,10.4,1022,16261,0.00,0.88,0.00,0.000,4,0.000,0.053,3241,1281,1907,0,0,0,0,0,0
$GC,16398,0.59,169.4,360.9,10.1,1034,16404,0.00,0.77,0.00,0.000,6,0.000,0.031,3241,1809,1908,0,0,0,0,0,0
$GC,16727,0.59,169.4,326.6,10.7,1065,16730,0.00,0.47,0.00,0.000,4,0.000,0.048,3242,1495,1907,0,0,0,0,0,0
$GC,16934,0.59,185.9,304.4,9.1,1083,16955,0.00,0.45,16.67,1.085,6,0.000,0.037,3242,1815,1841,0,0,0,0,0,0
$GC,17280,0.59,185.9,267.9,10.1,1116,17284,0.00,1.70,0.00,0.000,4,0.000,0.058,3249,761,1839,0,0,0,0,0,0
$GC,17409,0.59,185.9,253.7,11.7,1127,17416,0.05,1.60,0.00,0.000,6,0.158,0.029,3232,1812,1839,0,0,0,0,0,0
$GC,17734,0.59,185.9,220.1,10.7,1158,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1812,1838,0,0,0,0,0,0
$GC,18053,0.59,185.9,186.0,10.4,1188,18057,0.00,1.65,0.00,0.000,4,0.000,0.057,3238,774,1838,0,0,0,0,0,0
$GC,18181,0.59,185.9,171.6,12.4,1199,18188,0.00,1.60,0.00,0.000,6,0.000,0.029,3238,1820,1838,0,0,0,0,0,0
$GC,18507,0.59,185.9,136.0,10.5,1230,18511,0.00,0.68,0.00,0.000,4,0.000,0.050,3240,1389,1838,0,0,0,0,0,0
$GC,18748,0.59,185.9,110.0,12.1,1251,18753,0.00,0.62,0.00,0.000,6,0.000,0.031,3240,1829,1838,0,0,0,0,0,0
$GC,19090,0.59,185.9,72.5,11.3,1303,19095,0.00,1.92,0.00,0.000,4,0.000,0.060,3247,633,1838,0,0,0,0,0,0
$GC,19220,0.59,185.9,57.0,11.8,1326,19228,0.05,1.75,0.00,0.000,6,0.156,0.028,3230,1796,1838,0,0,0,0,0,0
$GC,19573,0.59,185.9,21.5,11.3,1387,19577,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1796,1838,0,0,0,0,0,0
$GC,19720,0.59,185.9,4.4,11.6,1412,19727,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1796,1838,0,0,0,0,0,0
$STATE,19733,end climb,SURFACE_DEPTH_REACHED
$STATE,19733,begin surface coast
$FINISH,1.6,1.026591
$STATE,19759,end surface coast,CONTROL_FINISHED_OK
$STATE,19759,begin surface
$SM_CCo,19834,0.00,0.000,0,0,1832,188.14
$SM_GC,2.62,8.45,0.00,0.00,0.047,0.000,0.000,79,1996,1832,-9.19,1.30,188.14
$IRIDIUM_FIX,-4224.47,855.01,071113,151532
$TT8_MAMPS,0.026964
$HUMID,62.64
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.9,18.632
$10V_AH,10.3,15.631
$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,22.150,39.650,298.550,0.000,0.000,27.563,39.263,320.888,0.250,0.000,24.067,3525.570,12400.150,368.885,3883.677,161.022,33.375,1828.307,0.000,3439.087,0.000,2.832,0.000
$DEVICE_MAMPS,266.220,59.670,1539.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,993.274,944.340,944.971,85.565,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,80161,1418
$CAP_FILE_SIZE,176611,0
$CFSIZE,2097086464,2080702464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081113,024904,-4229.754,847.303,68,0.9,68,-25.1