version: 66.07.10.p01
glider: 574
mission: 7
dive: 129
start: 11 12 113 13 24 1
data:
$ID,574
$MISSION,7
$DIVE,129
$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,-13777.034
$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,33
$R_STBD_OVSHOOT,70
$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,108
$GPS1,121113,130735,-4241.684,840.616,40,0.9,40,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-76.4
$GPS2,121113,132306,-4241.463,840.682,16,0.9,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.058,-0.260
$KALMAN_X,-168773.6,137.9,324.9,77525.0,-1160.7
$KALMAN_Y,402712.4,-248.4,-93.4,-577877.8,5327.9
$MHEAD_RNG_PITCHd_Wd,192.6,46821,-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,-155.7,0.0,0.0,0,69,0.00,0.00,-42.40,0.000,2,0.000,0.000,67,1959,2765,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.0,-1.0,7,103,12.02,0.00,-15.05,0.000,6,0.258,0.000,2845,1953,3236,0,0,0,0,0,0
$GC,152,-0.59,-155.7,10.1,-10.8,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1953,3237,0,0,0,0,0,0
$GC,207,-0.59,-155.7,16.6,-12.0,29,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1954,3238,0,0,0,0,0,0
$GC,260,-0.59,-155.7,23.5,-12.4,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1954,3239,0,0,0,0,0,0
$GC,404,-0.59,-155.7,41.3,-13.3,63,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1954,3239,0,0,0,0,0,0
$GC,752,-0.59,-155.7,83.0,-12.0,124,757,0.00,0.73,0.00,0.000,4,0.000,0.040,2842,2448,3240,0,0,0,0,0,0
$GC,959,-0.59,-155.7,107.1,-11.4,155,965,0.00,0.77,0.00,0.000,6,0.000,0.037,2842,1937,3240,0,0,0,0,0,0
$GC,1284,-0.59,-155.7,145.6,-12.2,186,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,1603,-0.59,-155.7,185.5,-12.6,216,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,1922,-0.59,-155.7,226.1,-12.6,246,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,2240,-0.59,-155.7,265.9,-12.6,276,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,2559,-0.59,-155.7,302.8,-11.3,306,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3242,0,0,0,0,0,0
$GC,2878,-0.59,-155.7,336.9,-10.2,336,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3242,0,0,0,0,0,0
$GC,3196,-0.59,-155.7,369.5,-10.0,366,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3242,0,0,0,0,0,0
$GC,3515,-0.59,-155.7,400.5,-9.2,396,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,3824,-0.59,-155.7,428.5,-9.0,411,3828,0.00,0.43,0.00,0.000,4,0.000,0.054,2842,1636,3242,0,0,0,0,0,0
$GC,3937,-0.59,-155.7,438.6,-9.0,416,3941,0.00,0.43,0.00,0.000,6,0.000,0.036,2841,1968,3242,0,0,0,0,0,0
$GC,4268,-0.59,-155.7,468.7,-9.2,432,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1968,3242,0,0,0,0,0,0
$GC,4577,-0.59,-155.7,498.9,-10.2,447,4581,0.00,0.45,0.00,0.000,4,0.000,0.041,2839,2310,3241,0,0,0,0,0,0
$GC,4768,-0.59,-155.7,518.5,-10.2,455,4772,0.00,0.52,0.00,0.000,6,0.000,0.041,2838,1940,3241,0,0,0,0,0,0
$GC,5088,-0.59,-155.7,551.9,-10.4,471,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1940,3240,0,0,0,0,0,0
$GC,5398,-0.59,-155.7,585.1,-11.0,486,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1940,3240,0,0,0,0,0,0
$GC,5707,-0.59,-155.7,619.0,-10.8,501,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1940,3239,0,0,0,0,0,0
$GC,6017,-0.59,-155.7,651.5,-10.6,516,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1939,3239,0,0,0,0,0,0
$GC,6326,-0.59,-155.7,685.4,-11.1,531,6329,0.00,0.77,0.00,0.000,4,0.000,0.051,2838,1432,3237,0,0,0,0,0,0
$GC,6509,-0.59,-155.7,706.5,-11.0,539,6514,0.00,0.75,0.00,0.000,6,0.000,0.031,2836,1941,3237,0,0,0,0,0,0
$GC,6836,-0.59,-155.7,742.2,-11.0,555,6839,0.00,0.52,0.00,0.000,4,0.000,0.042,2833,2327,3237,0,0,0,0,0,0
$GC,7092,-0.59,-155.7,770.3,-10.8,566,7097,0.05,0.55,0.00,0.000,6,0.218,0.041,2844,1944,3236,0,0,0,0,0,0
$GC,7413,-0.59,-155.7,802.6,-10.0,582,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1945,3236,0,0,0,0,0,0
$GC,7723,-0.59,-155.7,832.8,-9.6,597,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1944,3236,0,0,0,0,0,0
$GC,8032,-0.59,-155.7,861.6,-8.8,612,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1944,3235,0,0,0,0,0,0
$GC,8341,-0.59,-155.7,886.9,-7.5,627,8345,0.00,0.62,0.00,0.000,4,0.000,0.052,2844,1523,3235,0,0,0,0,0,0
$GC,8509,-0.59,-155.7,899.7,-7.0,634,8513,0.00,0.62,0.00,0.000,6,0.000,0.032,2843,1961,3234,0,0,0,0,0,0
$GC,8830,-0.59,-155.7,924.3,-7.8,650,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1961,3234,0,0,0,0,0,0
$GC,9140,-0.59,-155.7,948.9,-8.0,665,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1961,3234,0,0,0,0,0,0
$GC,9449,-0.59,-155.7,973.5,-8.0,680,9452,0.00,0.40,0.00,0.000,4,0.000,0.044,2842,2269,3233,0,0,0,0,0,0
$GC,9666,-0.59,-155.7,992.5,-8.5,689,9672,0.00,0.45,0.00,0.000,6,0.000,0.042,2841,1954,3233,0,0,0,0,0,0
$STATE,9777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9777,begin apogee
$GC,9781,-0.17,0.0,1001.6,8.4,695,9916,0.47,0.00,129.15,1.590,6,0.153,0.000,2980,1810,2600,0,0,0,0,0,0
$STATE,9917,end apogee,CONTROL_FINISHED_OK
$STATE,9917,begin climb
$GC,9918,0.59,155.7,1004.9,0.0,702,10064,0.80,0.00,142.07,1.539,6,0.106,0.000,3222,1810,1965,0,0,0,0,0,0
$GC,10365,0.59,155.7,960.8,11.3,724,10369,0.00,1.17,0.00,0.000,4,0.000,0.057,3226,1111,1957,0,0,0,0,0,0
$GC,10549,0.59,155.7,939.3,12.0,732,10554,0.00,1.08,0.00,0.000,6,0.000,0.028,3226,1804,1955,0,0,0,0,0,0
$GC,10876,0.59,155.7,902.9,11.1,748,10880,0.00,0.55,0.00,0.000,4,0.000,0.047,3226,1458,1954,0,0,0,0,0,0
$GC,11133,0.59,155.7,874.9,10.9,759,11137,0.00,0.52,0.00,0.000,6,0.000,0.031,3226,1812,1954,0,0,0,0,0,0
$GC,11454,0.59,155.7,841.1,10.4,775,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1811,1954,0,0,0,0,0,0
$GC,11763,0.59,155.7,810.2,9.9,790,11767,0.00,0.68,0.00,0.000,4,0.000,0.049,3227,1387,1954,0,0,0,0,0,0
$GC,11998,0.59,162.6,786.3,9.5,800,12009,0.00,0.62,5.25,1.193,6,0.000,0.031,3226,1819,1937,0,0,0,0,0,0
$GC,12319,0.59,163.4,754.4,9.8,816,12320,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1819,1937,0,0,0,0,0,0
$GC,12628,0.59,163.4,723.2,10.4,831,12632,0.00,0.45,0.00,0.000,4,0.000,0.048,3227,1514,1937,0,0,0,0,0,0
$GC,12885,0.59,163.4,695.7,11.4,842,12889,0.00,0.43,0.00,0.000,6,0.000,0.034,3227,1814,1937,0,0,0,0,0,0
$GC,13205,0.59,163.4,661.3,10.9,858,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1814,1937,0,0,0,0,0,0
$GC,13514,0.59,163.4,626.1,11.6,873,13518,0.00,0.82,0.00,0.000,4,0.000,0.051,3229,1291,1937,0,0,0,0,0,0
$GC,13694,0.59,163.4,605.2,11.5,881,13698,0.00,0.75,0.00,0.000,6,0.000,0.030,3229,1803,1936,0,0,0,0,0,0
$GC,14026,0.59,163.4,566.9,11.6,897,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1803,1936,0,0,0,0,0,0
$GC,14335,0.59,163.4,531.4,11.6,912,14336,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1803,1936,0,0,0,0,0,0
$GC,14644,0.59,163.4,496.5,11.4,927,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1803,1936,0,0,0,0,0,0
$GC,14954,0.59,163.4,460.8,11.6,942,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1803,1936,0,0,0,0,0,0
$GC,15263,0.59,163.4,425.4,11.3,957,15267,0.00,0.62,0.00,0.000,4,0.000,0.048,3231,1393,1936,0,0,0,0,0,0
$GC,15488,0.59,163.4,399.9,11.2,967,15491,0.00,0.60,0.00,0.000,6,0.000,0.032,3231,1827,1936,0,0,0,0,0,0
$GC,15818,0.59,163.4,363.3,11.3,998,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1827,1936,0,0,0,0,0,0
$GC,16137,0.59,163.4,328.1,10.8,1028,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1827,1936,0,0,0,0,0,0
$GC,16455,0.59,163.4,293.4,10.6,1058,16459,0.00,0.70,0.00,0.000,4,0.000,0.047,3233,1377,1936,0,0,0,0,0,0
$GC,16582,0.59,165.8,280.1,9.7,1069,16593,0.00,0.60,4.10,0.848,6,0.000,0.032,3233,1806,1924,0,0,0,0,0,0
$GC,16911,0.59,165.8,243.8,10.9,1100,16913,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1806,1925,0,0,0,0,0,0
$GC,17231,0.59,165.8,208.8,11.0,1130,17232,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1806,1925,0,0,0,0,0,0
$GC,17549,0.59,165.8,174.4,11.0,1160,17550,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1806,1925,0,0,0,0,0,0
$GC,17868,0.59,169.2,141.2,9.7,1190,17879,0.00,0.60,5.10,0.869,4,0.000,0.041,3233,2231,1910,0,0,0,0,0,0
$GC,17995,0.59,169.2,128.3,11.8,1201,17999,0.00,0.60,0.00,0.000,6,0.000,0.043,3235,1825,1910,0,0,0,0,0,0
$GC,18322,0.59,169.2,95.1,10.9,1235,18327,0.00,1.67,0.00,0.000,4,0.000,0.059,3240,768,1911,0,0,0,0,0,0
$GC,18471,0.59,169.2,79.7,10.8,1261,18476,0.00,1.52,0.00,0.000,6,0.000,0.027,3240,1793,1911,0,0,0,0,0,0
$GC,18817,0.59,169.2,42.3,10.7,1322,18821,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1793,1911,0,0,0,0,0,0
$GC,19170,0.59,202.2,6.2,8.4,1383,19195,0.00,0.00,17.85,0.856,6,0.000,0.000,3240,1794,1774,0,0,0,0,0,0
$STATE,19202,end climb,SURFACE_DEPTH_REACHED
$STATE,19202,begin surface coast
$FINISH,1.4,1.020782
$STATE,19233,end surface coast,CONTROL_FINISHED_OK
$STATE,19233,begin surface
$SM_CCo,19309,0.00,0.000,0,0,1764,204.82
$SM_GC,2.55,8.77,0.00,0.00,0.055,0.000,0.000,82,2002,1764,-9.19,1.47,204.82
$IRIDIUM_FIX,-4224.47,840.54,121113,131341
$TT8_MAMPS,0.026964
$HUMID,61.69
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.7,21.782
$10V_AH,10.2,18.170
$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,22.125,22.375,303.525,0.000,0.000,56.867,121.385,542.340,0.500,0.000,19.188,3390.177,12398.978,381.832,3885.459,161.121,33.375,1675.328,0.000,3117.051,0.000,5.325,0.000
$DEVICE_MAMPS,257.805,79.560,1590.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.993,940.401,929.099,85.906,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,80134,1393
$CAP_FILE_SIZE,163782,0
$CFSIZE,2097086464,2078113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121113,184658,-4242.243,841.762,36,1.1,36,-25.1