version: 66.07.10.p01
glider: 574
mission: 7
dive: 120
start: 11 10 113 11 6 1
data:
$ID,574
$MISSION,7
$DIVE,120
$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,-13746.324
$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,41
$R_STBD_OVSHOOT,37
$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,99
$GPS1,101113,105534,-4238.232,844.982,69,1.1,69,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-75.1
$GPS2,101113,110506,-4238.186,845.091,17,1.4,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.017,-0.266
$KALMAN_X,-166815.3,136.5,268.2,81781.7,-1228.5
$KALMAN_Y,360525.8,-106.1,-118.8,-529744.7,3915.3
$MHEAD_RNG_PITCHd_Wd,201.4,54995,-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,-42.47,0.000,2,0.000,0.000,68,1933,2797,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.1,-0.8,7,103,12.30,0.70,-14.00,0.000,4,0.268,0.076,2837,2405,3236,0,0,0,0,0,0
$GC,275,-0.59,-155.7,25.5,-12.6,41,280,0.00,0.70,0.00,0.000,6,0.000,0.037,2837,1937,3239,0,0,0,0,0,0
$GC,417,-0.59,-155.7,43.1,-11.7,66,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1937,3239,0,0,0,0,0,0
$GC,766,-0.59,-155.7,85.6,-12.0,127,771,0.00,0.40,0.00,0.000,4,0.000,0.037,2836,2244,3240,0,0,0,0,0,0
$GC,925,-0.59,-155.7,104.6,-11.6,152,928,0.00,0.43,0.00,0.000,6,0.000,0.041,2837,1938,3240,0,0,0,0,0,0
$GC,1254,-0.59,-155.7,142.7,-11.3,183,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1938,3241,0,0,0,0,0,0
$GC,1577,-0.59,-155.7,179.4,-11.1,213,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1938,3242,0,0,0,0,0,0
$GC,1902,-0.59,-155.7,216.7,-11.1,244,1906,0.00,0.45,0.00,0.000,4,0.000,0.034,2835,2276,3242,0,0,0,0,0,0
$GC,2162,-0.59,-155.7,245.6,-11.3,267,2165,0.00,0.45,0.00,0.000,6,0.000,0.041,2835,1953,3241,0,0,0,0,0,0
$GC,2492,-0.59,-155.7,283.0,-11.4,298,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3241,0,0,0,0,0,0
$GC,2811,-0.59,-155.7,317.7,-10.7,328,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,3130,-0.59,-155.7,349.8,-9.8,358,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,3448,-0.59,-155.7,382.3,-10.4,388,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,3772,-0.59,-155.7,414.8,-9.9,412,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,4082,-0.59,-155.7,446.3,-10.3,427,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,4391,-0.59,-155.7,479.1,-10.8,442,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,4700,-0.59,-155.7,513.5,-11.5,457,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,5010,-0.59,-155.7,548.8,-11.1,472,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3242,0,0,0,0,0,0
$GC,5319,-0.59,-155.7,581.0,-10.0,487,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1952,3242,0,0,0,0,0,0
$GC,5628,-0.59,-155.7,612.3,-10.4,502,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1952,3241,0,0,0,0,0,0
$GC,5938,-0.59,-155.7,646.2,-11.2,517,5941,0.00,0.38,0.00,0.000,4,0.000,0.054,2835,1682,3241,0,0,0,0,0,0
$GC,6110,-0.59,-155.7,666.4,-11.4,524,6115,0.00,0.43,0.00,0.000,6,0.000,0.036,2834,2003,3241,0,0,0,0,0,0
$GC,6425,-0.59,-155.7,703.0,-11.7,540,6427,0.05,0.00,0.00,0.000,6,0.239,0.000,2843,2003,3241,0,0,0,0,0,0
$GC,6735,-0.59,-155.7,736.3,-10.6,555,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2003,3241,0,0,0,0,0,0
$GC,7044,-0.59,-155.7,767.9,-10.0,570,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2003,3240,0,0,0,0,0,0
$GC,7354,-0.59,-155.7,798.7,-9.8,585,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2003,3240,0,0,0,0,0,0
$GC,7663,-0.59,-155.7,828.1,-9.4,600,7667,0.00,0.40,0.00,0.000,4,0.000,0.045,2843,2310,3239,0,0,0,0,0,0
$GC,7847,-0.59,-155.7,845.8,-9.7,608,7851,0.00,0.52,0.00,0.000,6,0.000,0.040,2843,1950,3239,0,0,0,0,0,0
$GC,8174,-0.59,-155.7,875.4,-8.7,624,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1950,3239,0,0,0,0,0,0
$GC,8483,-0.59,-155.7,901.0,-7.8,639,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1950,3238,0,0,0,0,0,0
$GC,8793,-0.59,-155.7,924.8,-7.4,654,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1950,3238,0,0,0,0,0,0
$GC,9102,-0.59,-155.7,948.4,-7.5,669,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1950,3238,0,0,0,0,0,0
$GC,9411,-0.59,-155.7,973.2,-7.9,684,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1950,3237,0,0,0,0,0,0
$GC,9721,-0.59,-155.7,999.0,-8.3,699,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1950,3237,0,0,0,0,0,0
$STATE,9741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9741,begin apogee
$GC,9745,-0.17,0.0,1000.8,8.2,700,9881,0.47,0.00,131.15,1.544,6,0.151,0.000,2982,1806,2599,0,0,0,0,0,0
$STATE,9882,end apogee,CONTROL_FINISHED_OK
$STATE,9882,begin climb
$GC,9883,0.59,155.7,1004.7,0.0,707,10029,0.77,0.00,141.55,1.499,6,0.106,0.000,3221,1806,1965,0,0,0,0,0,0
$GC,10333,0.59,155.7,964.0,10.2,729,10337,0.00,1.23,0.00,0.000,4,0.000,0.057,3226,1076,1955,0,0,0,0,0,0
$GC,10522,0.59,155.7,944.7,10.5,737,10527,0.00,1.17,0.00,0.000,6,0.000,0.027,3226,1831,1954,0,0,0,0,0,0
$GC,10844,0.59,155.7,911.8,10.4,753,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1832,1954,0,0,0,0,0,0
$GC,11154,0.59,155.7,878.9,10.9,768,11157,0.00,1.02,0.00,0.000,4,0.000,0.050,3227,1204,1954,0,0,0,0,0,0
$GC,11333,0.59,155.7,858.8,11.5,776,11337,0.00,0.90,0.00,0.000,6,0.000,0.028,3227,1818,1954,0,0,0,0,0,0
$GC,11665,0.59,155.7,821.4,11.0,792,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1818,1954,0,0,0,0,0,0
$GC,11974,0.59,155.7,786.9,11.0,807,11978,0.00,0.77,0.00,0.000,4,0.000,0.047,3229,1331,1954,0,0,0,0,0,0
$GC,12154,0.59,155.7,767.1,10.5,815,12158,0.00,0.68,0.00,0.000,6,0.000,0.029,3228,1800,1954,0,0,0,0,0,0
$GC,12486,0.59,155.7,729.7,11.3,831,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1800,1954,0,0,0,0,0,0
$GC,12795,0.59,155.7,695.2,11.2,846,12799,0.00,0.45,0.00,0.000,4,0.000,0.046,3229,1503,1954,0,0,0,0,0,0
$GC,13052,0.59,155.7,667.0,10.3,857,13056,0.00,0.45,0.00,0.000,6,0.000,0.034,3228,1837,1954,0,0,0,0,0,0
$GC,13373,0.59,155.7,631.3,11.3,873,13377,0.00,1.02,0.00,0.000,4,0.000,0.050,3233,1197,1954,0,0,0,0,0,0
$GC,13532,0.59,155.7,613.6,10.8,880,13536,0.00,0.88,0.00,0.000,6,0.000,0.028,3233,1793,1954,0,0,0,0,0,0
$GC,13864,0.59,155.7,577.0,10.9,896,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1793,1954,0,0,0,0,0,0
$GC,14173,0.59,155.7,544.9,10.3,911,14177,0.00,0.43,0.00,0.000,4,0.000,0.047,3233,1508,1954,0,0,0,0,0,0
$GC,14379,0.59,155.7,523.2,10.5,920,14383,0.00,0.45,0.00,0.000,6,0.000,0.034,3233,1850,1954,0,0,0,0,0,0
$GC,14706,0.59,155.7,486.6,11.4,936,14709,0.00,0.62,0.00,0.000,4,0.000,0.047,3235,1445,1954,0,0,0,0,0,0
$GC,14962,0.59,155.7,457.0,12.0,947,14967,0.00,0.50,0.00,0.000,6,0.000,0.031,3235,1820,1955,0,0,0,0,0,0
$GC,15284,0.59,155.7,420.7,11.4,963,15287,0.00,0.65,0.00,0.000,4,0.000,0.048,3237,1400,1955,0,0,0,0,0,0
$GC,15445,0.59,155.7,401.6,11.4,970,15449,0.00,0.55,0.00,0.000,6,0.000,0.031,3237,1803,1956,0,0,0,0,0,0
$GC,15770,0.59,155.7,364.1,10.8,1000,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1803,1956,0,0,0,0,0,0
$GC,16090,0.59,155.7,328.8,10.8,1030,16093,0.00,0.30,0.00,0.000,4,0.000,0.050,3237,2054,1957,0,0,0,0,0,0
$GC,16230,0.59,155.7,313.3,11.1,1042,16236,0.00,0.35,0.00,0.000,6,0.000,0.047,3237,1821,1956,0,0,0,0,0,0
$GC,16558,0.59,155.7,277.6,10.7,1073,16562,0.00,1.10,0.00,0.000,4,0.000,0.057,3240,1126,1957,0,0,0,0,0,0
$GC,16717,0.59,155.7,259.9,11.2,1087,16720,0.00,0.98,0.00,0.000,6,0.000,0.028,3240,1796,1958,0,0,0,0,0,0
$GC,17047,0.59,155.7,223.1,11.1,1118,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1796,1958,0,0,0,0,0,0
$GC,17366,0.59,155.7,186.3,11.4,1148,17367,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1796,1959,0,0,0,0,0,0
$GC,17686,0.59,155.7,149.2,11.4,1178,17690,0.00,0.50,0.00,0.000,4,0.000,0.041,3240,2176,1959,0,0,0,0,0,0
$GC,17792,0.59,155.7,136.8,10.6,1187,17797,0.00,0.55,0.00,0.000,6,0.000,0.044,3241,1811,1960,0,0,0,0,0,0
$GC,18116,0.59,155.7,100.8,10.6,1218,18120,0.00,0.77,0.00,0.000,4,0.000,0.054,3245,1306,1960,0,0,0,0,0,0
$GC,18309,0.59,155.7,80.1,11.0,1251,18317,0.03,0.73,0.00,0.000,6,0.181,0.031,3236,1824,1961,0,0,0,0,0,0
$GC,18661,0.59,155.7,45.7,10.4,1312,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1824,1962,0,0,0,0,0,0
$GC,19013,0.59,155.7,9.3,10.8,1373,19019,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1824,1962,0,0,0,0,0,0
$GC,19068,0.59,155.7,3.6,10.1,1382,19075,0.00,0.70,0.00,0.000,4,0.000,0.047,3238,1374,1962,0,0,0,0,0,0
$STATE,19082,end climb,SURFACE_DEPTH_REACHED
$STATE,19083,begin surface coast
$FINISH,1.6,1.026639
$STATE,19113,end surface coast,CONTROL_FINISHED_OK
$STATE,19113,begin surface
$SM_CCo,19129,13.75,0.817,0,0,1845,185.20
$SM_GC,3.21,0.00,0.00,13.75,0.000,0.000,0.817,88,1938,1845,-9.23,-0.34,185.20
$IRIDIUM_FIX,-4332.27,825.51,101113,050508
$TT8_MAMPS,0.026964
$HUMID,61.53
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.8,20.279
$10V_AH,10.3,17.034
$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,22.100,23.625,272.700,13.750,0.000,29.897,48.016,377.683,0.250,0.000,19.309,3385.446,12231.464,365.503,3569.181,159.602,33.401,1630.014,0.000,3082.615,0.000,2.832,0.000
$DEVICE_MAMPS,267.750,77.265,1543.770,817.020,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.330,950.291,927.120,87.478,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,80263,1389
$CAP_FILE_SIZE,156693,0
$CFSIZE,2097086464,2079293440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101113,162634,-4239.326,845.232,55,0.8,55,-25.1