version: 66.07.10.p01
glider: 574
mission: 7
dive: 119
start: 11 10 113 5 21 42
data:
$ID,574
$MISSION,7
$DIVE,119
$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,-13742.917
$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,66
$R_STBD_OVSHOOT,52
$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,98
$GPS1,101113,051134,-4237.146,845.438,44,1.0,44,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-74.1
$GPS2,101113,052047,-4237.100,845.508,15,1.1,16,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.030,-0.264
$KALMAN_X,-166570.7,260.8,-132.9,82392.6,-309.2
$KALMAN_Y,357278.7,-383.7,33.2,-524351.9,3794.5
$MHEAD_RNG_PITCHd_Wd,211.5,57025,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,51,0.00,0.00,-25.10,0.000,2,0.000,0.000,67,1954,2361,0,0,0,0,0,0
$GC,54,-0.59,-155.7,3.0,-2.3,4,109,12.15,0.60,-38.50,0.000,4,0.262,0.081,2840,2395,3234,0,0,0,0,0,0
$GC,279,-0.59,-155.7,26.6,-16.3,42,286,0.00,0.65,0.00,0.000,6,0.000,0.037,2840,1955,3237,0,0,0,0,0,0
$GC,425,-0.59,-155.7,45.4,-12.8,67,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3237,0,0,0,0,0,0
$GC,772,-0.59,-155.7,84.9,-11.1,128,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3238,0,0,0,0,0,0
$GC,1104,-0.59,-155.7,119.9,-10.4,171,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3238,0,0,0,0,0,0
$GC,1427,-0.59,-155.7,154.4,-10.7,201,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3239,0,0,0,0,0,0
$GC,1752,-0.59,-155.7,189.6,-10.4,232,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3239,0,0,0,0,0,0
$GC,2071,-0.59,-155.7,221.8,-9.5,262,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3239,0,0,0,0,0,0
$GC,2389,-0.59,-155.7,254.3,-10.6,292,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3239,0,0,0,0,0,0
$GC,2708,-0.59,-155.7,290.6,-11.8,322,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1954,3240,0,0,0,0,0,0
$GC,3027,-0.59,-155.7,328.0,-11.1,352,3030,0.00,0.47,0.00,0.000,4,0.000,0.050,2840,1619,3240,0,0,0,0,0,0
$GC,3252,-0.59,-155.7,352.4,-11.1,372,3256,0.00,0.47,0.00,0.000,6,0.000,0.034,2840,1976,3240,0,0,0,0,0,0
$GC,3582,-0.59,-155.7,387.5,-10.3,403,3585,0.00,0.73,0.00,0.000,4,0.000,0.041,2836,2480,3240,0,0,0,0,0,0
$GC,3743,-0.59,-155.7,403.5,-9.7,416,3747,0.00,0.77,0.00,0.000,6,0.000,0.038,2836,1956,3240,0,0,0,0,0,0
$GC,4075,-0.59,-155.7,439.1,-11.4,432,4078,0.00,0.47,0.00,0.000,4,0.000,0.051,2836,1617,3240,0,0,0,0,0,0
$GC,4180,-0.59,-155.7,451.4,-11.8,436,4185,0.00,0.47,0.00,0.000,6,0.000,0.034,2835,1964,3240,0,0,0,0,0,0
$GC,4495,-0.59,-155.7,487.0,-11.2,452,4499,0.00,0.43,0.00,0.000,4,0.000,0.043,2833,2293,3241,0,0,0,0,0,0
$GC,4751,-0.59,-155.7,515.2,-10.7,463,4756,0.08,0.52,0.00,0.000,6,0.202,0.039,2848,1923,3240,0,0,0,0,0,0
$GC,5072,-0.59,-155.7,546.4,-9.7,479,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1924,3241,0,0,0,0,0,0
$GC,5381,-0.59,-155.7,575.4,-9.1,494,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,3240,0,0,0,0,0,0
$GC,5691,-0.59,-155.7,605.1,-9.6,509,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,3240,0,0,0,0,0,0
$GC,6000,-0.59,-155.7,632.8,-8.5,524,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,3239,0,0,0,0,0,0
$GC,6309,-0.59,-155.7,658.6,-8.2,539,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,3239,0,0,0,0,0,0
$GC,6619,-0.59,-155.7,682.3,-7.6,554,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,3238,0,0,0,0,0,0
$GC,6928,-0.59,-155.7,706.1,-7.8,569,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1922,3238,0,0,0,0,0,0
$GC,7237,-0.59,-155.7,731.6,-8.5,584,7241,0.00,0.32,0.00,0.000,4,0.000,0.057,2848,1686,3238,0,0,0,0,0,0
$GC,7405,-0.59,-155.7,745.8,-7.9,591,7409,0.00,0.35,0.00,0.000,6,0.000,0.039,2848,1941,3237,0,0,0,0,0,0
$GC,7726,-0.59,-155.7,771.6,-7.9,607,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1941,3237,0,0,0,0,0,0
$GC,8036,-0.59,-155.7,796.2,-8.0,622,8039,0.00,0.52,0.00,0.000,4,0.000,0.042,2846,2327,3236,0,0,0,0,0,0
$GC,8276,-0.59,-155.7,815.3,-7.5,632,8281,0.00,0.55,0.00,0.000,6,0.000,0.039,2846,1952,3236,0,0,0,0,0,0
$GC,8592,-0.59,-155.7,840.9,-8.2,648,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1951,3235,0,0,0,0,0,0
$GC,8901,-0.59,-155.7,868.1,-9.2,663,8905,0.00,0.57,0.00,0.000,4,0.000,0.052,2846,1559,3235,0,0,0,0,0,0
$GC,9017,-0.59,-155.7,879.3,-9.4,668,9022,0.00,0.57,0.00,0.000,6,0.000,0.034,2844,1965,3235,0,0,0,0,0,0
$GC,9344,-0.59,-155.7,909.2,-9.2,684,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1966,3234,0,0,0,0,0,0
$GC,9654,-0.59,-155.7,936.8,-8.8,699,9657,0.00,0.40,0.00,0.000,4,0.000,0.045,2842,2273,3233,0,0,0,0,0,0
$GC,9910,-0.59,-155.7,958.3,-8.1,710,9914,0.00,0.47,0.00,0.000,6,0.000,0.041,2842,1947,3233,0,0,0,0,0,0
$GC,10232,-0.59,-155.7,983.2,-7.7,726,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3233,0,0,0,0,0,0
$STATE,10458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10458,begin apogee
$GC,10462,-0.17,0.0,1000.4,7.3,737,10598,0.47,0.00,130.20,1.539,6,0.157,0.000,2979,1804,2600,0,0,0,0,0,0
$STATE,10599,end apogee,CONTROL_FINISHED_OK
$STATE,10599,begin climb
$GC,10600,0.59,155.7,1002.7,0.0,744,10745,0.80,0.00,141.43,1.493,6,0.110,0.000,3221,1803,1965,0,0,0,0,0,0
$GC,11048,0.59,155.7,957.0,11.1,766,11051,0.00,1.62,0.00,0.000,4,0.000,0.058,3226,849,1954,0,0,0,0,0,0
$GC,11186,0.59,155.7,941.4,11.0,772,11191,0.00,1.50,0.00,0.000,6,0.000,0.025,3226,1804,1953,0,0,0,0,0,0
$GC,11514,0.59,155.7,905.7,11.2,788,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1804,1952,0,0,0,0,0,0
$GC,11823,0.59,155.7,872.4,10.8,803,11827,0.00,0.75,0.00,0.000,4,0.000,0.048,3226,1340,1951,0,0,0,0,0,0
$GC,12079,0.59,155.7,844.7,10.4,814,12084,0.00,0.70,0.00,0.000,6,0.000,0.026,3226,1801,1950,0,0,0,0,0,0
$GC,12401,0.59,155.7,810.6,10.4,830,12404,0.00,0.68,0.00,0.000,4,0.000,0.049,3226,1378,1950,0,0,0,0,0,0
$GC,12567,0.59,158.6,793.2,9.7,837,12572,0.00,0.68,0.00,0.000,6,0.000,0.028,3227,1827,1949,0,0,0,0,0,0
$GC,12889,0.59,158.6,760.1,10.1,853,12892,0.00,1.08,0.00,0.000,4,0.000,0.053,3229,1157,1949,0,0,0,0,0,0
$GC,13050,0.59,158.6,743.2,10.2,860,13055,0.00,1.00,0.00,0.000,6,0.000,0.027,3229,1826,1949,0,0,0,0,0,0
$GC,13378,0.59,158.6,709.6,10.5,876,13381,0.00,0.52,0.00,0.000,4,0.000,0.046,3230,1477,1949,0,0,0,0,0,0
$GC,13634,0.59,158.6,682.9,10.0,887,13638,0.00,0.47,0.00,0.000,6,0.000,0.034,3230,1818,1949,0,0,0,0,0,0
$GC,13955,0.59,158.6,648.5,10.8,903,13959,0.00,0.88,0.00,0.000,4,0.000,0.050,3233,1264,1948,0,0,0,0,0,0
$GC,14139,0.59,158.6,627.0,11.7,911,14144,0.00,0.80,0.00,0.000,6,0.000,0.026,3233,1793,1948,0,0,0,0,0,0
$GC,14466,0.59,158.6,588.5,11.9,927,14469,0.00,0.38,0.00,0.000,4,0.000,0.046,3234,1537,1948,0,0,0,0,0,0
$GC,14722,0.59,158.6,557.8,12.7,938,14727,0.00,0.40,0.00,0.000,6,0.000,0.036,3234,1841,1948,0,0,0,0,0,0
$GC,15043,0.59,158.6,519.7,11.9,954,15047,0.00,0.77,0.00,0.000,4,0.000,0.048,3235,1351,1948,0,0,0,0,0,0
$GC,15223,0.59,158.6,498.3,11.8,962,15227,0.00,0.62,0.00,0.000,6,0.000,0.031,3236,1800,1948,0,0,0,0,0,0
$GC,15555,0.59,158.6,458.9,11.6,978,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1801,1948,0,0,0,0,0,0
$GC,15864,0.59,158.6,422.0,11.8,993,15865,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1801,1948,0,0,0,0,0,0
$GC,16179,0.59,158.6,387.3,10.5,1013,16182,0.00,0.38,0.00,0.000,4,0.000,0.045,3236,1545,1948,0,0,0,0,0,0
$GC,16438,0.59,158.6,359.9,11.2,1036,16442,0.00,0.32,0.00,0.000,6,0.000,0.037,3236,1785,1948,0,0,0,0,0,0
$GC,16769,0.59,159.7,325.4,9.8,1067,16770,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1785,1948,0,0,0,0,0,0
$GC,17091,0.59,159.7,292.7,10.5,1097,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1785,1948,0,0,0,0,0,0
$GC,17416,0.59,159.7,255.7,11.8,1128,17420,0.00,0.90,0.00,0.000,4,0.000,0.050,3240,1217,1948,0,0,0,0,0,0
$GC,17566,0.59,159.7,239.2,10.3,1141,17570,0.00,0.88,0.00,0.000,6,0.000,0.028,3239,1824,1948,0,0,0,0,0,0
$GC,17896,0.59,159.7,205.2,10.2,1172,17899,0.00,0.30,0.00,0.000,4,0.000,0.047,3239,2081,1948,0,0,0,0,0,0
$GC,18000,0.59,159.7,194.9,10.1,1181,18004,0.00,0.38,0.00,0.000,6,0.000,0.047,3239,1819,1948,0,0,0,0,0,0
$GC,18330,0.59,166.0,162.1,9.5,1212,18343,0.00,0.80,7.57,0.924,4,0.000,0.052,3239,1310,1922,0,0,0,0,0,0
$GC,18450,0.59,173.6,150.7,9.5,1222,18462,0.00,0.75,8.23,0.923,6,0.000,0.028,3239,1826,1892,0,0,0,0,0,0
$GC,18782,0.59,173.6,117.3,9.9,1253,18783,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1826,1890,0,0,0,0,0,0
$GC,19111,0.59,173.6,83.7,10.3,1297,19115,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1826,1890,0,0,0,0,0,0
$GC,19456,0.59,173.6,47.9,11.2,1358,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1826,1890,0,0,0,0,0,0
$GC,19809,0.59,173.6,11.2,11.0,1419,19816,0.00,1.23,0.00,0.000,4,0.000,0.053,3240,1067,1890,0,0,0,0,0,0
$STATE,19881,end climb,SURFACE_DEPTH_REACHED
$STATE,19881,begin surface coast
$FINISH,1.9,1.026612
$STATE,19907,end surface coast,CONTROL_FINISHED_OK
$STATE,19907,begin surface
$SM_CCo,19923,4.68,0.695,0,0,1844,185.20
$SM_GC,3.84,0.00,0.00,4.68,0.000,0.000,0.695,79,1937,1844,-9.26,-0.37,185.20
$IRIDIUM_FIX,-4158.28,854.28,091113,232355
$TT8_MAMPS,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.9,20.133
$10V_AH,10.2,16.911
$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,22.075,29.650,287.425,4.675,0.000,30.883,41.086,359.441,0.250,0.000,17.786,3543.536,12554.580,385.629,3823.537,171.071,33.408,1772.588,0.000,3356.067,0.000,2.833,0.000
$DEVICE_MAMPS,261.630,81.090,1539.180,694.620,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.571,963.299,962.344,85.890,0.000,0.000,0.000,0.000,0.000,0.000
$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,83551,1435
$CAP_FILE_SIZE,169545,0
$CFSIZE,2097086464,2079391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101113,105534,-4238.232,844.982,69,1.1,69,-25.1