version: 66.07.10.p01
glider: 574
mission: 7
dive: 148
start: 11 16 113 22 35 27
data:
$ID,574
$MISSION,7
$DIVE,148
$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,-13840.727
$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,51
$R_STBD_OVSHOOT,81
$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,127
$GPS1,161113,222658,-4259.348,828.177,49,0.9,49,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-75.1
$GPS2,161113,223432,-4259.289,828.188,21,1.0,22,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.034,-0.264
$KALMAN_X,-171357.0,-117.9,-71.6,63337.5,314.7
$KALMAN_Y,470457.4,-235.2,86.5,-678837.1,4656.5
$MHEAD_RNG_PITCHd_Wd,212.3,9733,-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,-155.7,0.0,0.0,0,45,0.00,0.00,-19.62,0.000,2,0.000,0.000,68,1981,2264,0,0,0,0,0,0
$GC,48,-0.59,-155.7,3.1,-2.6,3,109,12.07,0.00,-46.42,0.000,6,0.259,0.000,2842,1981,3234,0,0,0,0,0,0
$GC,158,-0.59,-155.7,7.2,-9.9,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3237,0,0,0,0,0,0
$GC,213,-0.59,-155.7,14.0,-13.3,30,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3237,0,0,0,0,0,0
$GC,269,-0.59,-155.7,21.4,-13.2,39,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3238,0,0,0,0,0,0
$GC,411,-0.59,-155.7,39.0,-12.6,64,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3238,0,0,0,0,0,0
$GC,554,-0.59,-155.7,56.0,-12.4,89,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3238,0,0,0,0,0,0
$GC,899,-0.59,-155.7,97.0,-11.4,150,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3239,0,0,0,0,0,0
$GC,1227,-0.59,-155.7,135.2,-12.3,183,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3240,0,0,0,0,0,0
$GC,1546,-0.59,-155.7,171.8,-11.2,213,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3240,0,0,0,0,0,0
$GC,1863,-0.59,-155.7,207.3,-11.5,243,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3240,0,0,0,0,0,0
$GC,2185,-0.59,-155.7,242.8,-10.9,273,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3240,0,0,0,0,0,0
$GC,2510,-0.59,-155.7,278.3,-10.9,304,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3241,0,0,0,0,0,0
$GC,2829,-0.59,-155.7,315.3,-11.9,334,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1981,3241,0,0,0,0,0,0
$GC,3147,-0.59,-155.7,352.8,-11.7,364,3151,0.00,0.50,0.00,0.000,4,0.000,0.041,2840,2346,3241,0,0,0,0,0,0
$GC,3355,-0.59,-155.7,375.4,-10.7,382,3361,0.00,0.60,0.00,0.000,6,0.000,0.039,2840,1939,3241,0,0,0,0,0,0
$GC,3678,-0.59,-155.7,409.1,-10.3,409,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1939,3242,0,0,0,0,0,0
$GC,3987,-0.59,-155.7,441.8,-10.8,424,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3242,0,0,0,0,0,0
$GC,4296,-0.59,-155.7,474.2,-10.1,439,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3242,0,0,0,0,0,0
$GC,4606,-0.59,-155.7,505.5,-10.0,454,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3242,0,0,0,0,0,0
$GC,4915,-0.59,-155.7,536.6,-9.9,469,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3242,0,0,0,0,0,0
$GC,5224,-0.59,-155.7,568.4,-10.5,484,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3241,0,0,0,0,0,0
$GC,5534,-0.59,-155.7,600.0,-10.1,499,5537,0.00,0.62,0.00,0.000,4,0.000,0.049,2840,1514,3241,0,0,0,0,0,0
$GC,5717,-0.59,-155.7,619.6,-10.7,507,5722,0.00,0.60,0.00,0.000,6,0.000,0.031,2839,1938,3241,0,0,0,0,0,0
$GC,6044,-0.59,-155.7,653.9,-10.4,523,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1938,3240,0,0,0,0,0,0
$GC,6353,-0.59,-155.7,685.9,-10.0,538,6357,0.00,0.43,0.00,0.000,4,0.000,0.043,2836,2265,3240,0,0,0,0,0,0
$GC,6610,-0.59,-155.7,711.7,-10.1,549,6614,0.00,0.47,0.00,0.000,6,0.000,0.039,2836,1934,3240,0,0,0,0,0,0
$GC,6931,-0.59,-155.7,744.3,-10.3,565,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3240,0,0,0,0,0,0
$GC,7241,-0.59,-155.7,773.6,-8.9,580,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3239,0,0,0,0,0,0
$GC,7550,-0.59,-155.7,802.4,-9.3,595,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1934,3239,0,0,0,0,0,0
$GC,7859,-0.59,-155.7,831.7,-9.3,610,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3239,0,0,0,0,0,0
$GC,8169,-0.59,-155.7,860.0,-8.8,625,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3238,0,0,0,0,0,0
$GC,8478,-0.59,-155.7,886.7,-8.7,640,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1934,3238,0,0,0,0,0,0
$GC,8787,-0.59,-155.7,913.7,-8.7,655,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3238,0,0,0,0,0,0
$GC,9097,-0.59,-155.7,941.6,-9.0,670,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3238,0,0,0,0,0,0
$GC,9406,-0.59,-155.7,969.6,-8.8,685,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1934,3237,0,0,0,0,0,0
$GC,9715,-0.59,-155.7,996.0,-8.2,700,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1934,3237,0,0,0,0,0,0
$STATE,9777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9777,begin apogee
$GC,9781,-0.17,0.0,1001.1,8.3,703,9917,0.50,0.00,131.90,1.584,6,0.151,0.000,2982,1802,2600,0,0,0,0,0,0
$STATE,9918,end apogee,CONTROL_FINISHED_OK
$STATE,9918,begin climb
$GC,9919,0.59,155.7,1003.0,0.0,710,10068,0.80,0.00,144.70,1.543,6,0.104,0.000,3224,1802,1965,0,0,0,0,0,0
$GC,10367,0.59,155.7,952.8,12.6,732,10370,0.00,1.35,0.00,0.000,4,0.000,0.056,3227,1004,1954,0,0,0,0,0,0
$GC,10517,0.59,155.7,933.7,12.5,738,10523,0.00,1.23,0.00,0.000,6,0.000,0.024,3227,1802,1952,0,0,0,0,0,0
$GC,10833,0.59,155.7,894.1,12.8,754,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1802,1950,0,0,0,0,0,0
$GC,11144,0.59,155.7,855.8,12.2,769,11147,0.00,0.73,0.00,0.000,4,0.000,0.047,3227,1353,1950,0,0,0,0,0,0
$GC,11338,0.59,155.7,831.2,12.2,777,11344,0.00,0.70,0.00,0.000,6,0.000,0.028,3228,1820,1949,0,0,0,0,0,0
$GC,11654,0.59,155.7,791.5,12.6,793,11658,0.00,0.47,0.00,0.000,4,0.000,0.047,3228,1509,1948,0,0,0,0,0,0
$GC,11845,0.59,155.7,767.6,12.3,801,11848,0.00,0.40,0.00,0.000,6,0.000,0.033,3228,1809,1949,0,0,0,0,0,0
$GC,12165,0.59,155.7,729.9,11.3,817,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1809,1948,0,0,0,0,0,0
$GC,12475,0.59,155.7,697.6,9.8,832,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1809,1948,0,0,0,0,0,0
$GC,12784,0.59,155.7,666.6,10.0,847,12787,0.00,0.65,0.00,0.000,4,0.000,0.047,3230,1394,1948,0,0,0,0,0,0
$GC,13041,0.59,173.3,642.5,9.1,858,13058,0.00,0.62,14.07,1.328,6,0.000,0.030,3230,1828,1892,0,0,0,0,0,0
$GC,13380,0.59,204.3,613.2,8.5,875,13414,0.00,0.73,29.40,1.336,4,0.000,0.048,3231,1393,1767,0,0,0,0,0,0
$GC,13623,0.59,230.7,591.1,8.7,886,13653,0.00,0.60,24.52,1.314,6,0.000,0.030,3231,1826,1659,0,0,0,0,0,0
$GC,13974,0.59,230.7,555.4,10.4,903,13978,0.00,0.95,0.00,0.000,4,0.000,0.050,3235,1244,1651,0,0,0,0,0,0
$GC,14132,0.59,230.7,538.9,11.5,910,14136,0.00,0.80,0.00,0.000,6,0.000,0.024,3235,1778,1650,0,0,0,0,0,0
$GC,14464,0.59,230.7,500.9,12.0,926,14468,0.00,0.55,0.00,0.000,4,0.000,0.047,3236,1426,1649,0,0,0,0,0,0
$GC,14653,0.59,230.7,477.6,11.9,934,14657,0.00,0.60,0.00,0.000,6,0.000,0.030,3236,1860,1649,0,0,0,0,0,0
$GC,14974,0.59,230.7,437.1,12.6,950,14978,0.00,0.65,0.00,0.000,4,0.000,0.047,3238,1447,1649,0,0,0,0,0,0
$GC,15158,0.59,230.7,414.9,11.6,958,15162,0.00,0.50,0.00,0.000,6,0.000,0.029,3238,1797,1648,0,0,0,0,0,0
$GC,15480,0.59,230.7,376.7,11.7,982,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1797,1649,0,0,0,0,0,0
$GC,15799,0.59,230.7,340.4,11.5,1012,15802,0.00,0.75,0.00,0.000,4,0.000,0.049,3240,1331,1648,0,0,0,0,0,0
$GC,15924,0.59,230.7,326.2,11.3,1023,15927,0.00,0.68,0.00,0.000,6,0.000,0.031,3240,1821,1648,0,0,0,0,0,0
$GC,16253,0.59,230.7,286.8,12.3,1054,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1821,1648,0,0,0,0,0,0
$GC,16573,0.59,230.7,247.1,11.9,1084,16576,0.00,0.75,0.00,0.000,4,0.000,0.048,3242,1351,1648,0,0,0,0,0,0
$GC,16746,0.59,230.7,226.1,11.4,1099,16752,0.00,0.65,0.00,0.000,6,0.000,0.028,3241,1808,1648,0,0,0,0,0,0
$GC,17071,0.59,230.7,188.6,11.5,1130,17075,0.00,0.55,0.00,0.000,4,0.000,0.047,3242,1452,1648,0,0,0,0,0,0
$GC,17278,0.59,230.7,164.3,11.5,1148,17285,0.00,0.50,0.00,0.000,6,0.000,0.031,3243,1813,1648,0,0,0,0,0,0
$GC,17603,0.59,230.7,127.5,11.2,1179,17606,0.00,0.60,0.00,0.000,4,0.000,0.047,3244,1424,1648,0,0,0,0,0,0
$GC,17764,0.59,230.7,109.1,12.0,1193,17768,0.00,0.52,0.00,0.000,6,0.000,0.031,3244,1819,1648,0,0,0,0,0,0
$GC,18108,0.59,230.7,67.9,11.5,1246,18113,0.00,0.65,0.00,0.000,4,0.000,0.046,3246,1397,1648,0,0,0,0,0,0
$GC,18341,0.59,230.7,41.1,11.0,1287,18348,0.03,0.55,0.00,0.000,6,0.169,0.029,3236,1797,1648,0,0,0,0,0,0
$STATE,18697,end climb,SURFACE_DEPTH_REACHED
$STATE,18697,begin surface coast
$FINISH,1.7,1.024814
$STATE,18728,end surface coast,CONTROL_FINISHED_OK
$STATE,18728,begin surface
$SM_CCo,18804,0.00,0.000,0,0,1643,234.50
$SM_GC,2.86,8.65,0.00,0.00,0.054,0.000,0.000,87,1960,1643,-9.17,0.25,234.50
$IRIDIUM_FIX,-4242.04,830.68,161113,171708
$TT8_MAMPS,0.026215
$HUMID,62.28
$INTERNAL_PRESSURE,9.24311
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.6,24.591
$10V_AH,10.2,20.530
$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,22.050,21.250,344.600,0.000,0.000,26.137,18.749,286.714,0.250,0.000,23.962,3292.353,11965.185,418.822,3426.744,150.357,33.382,1686.848,0.000,3047.911,0.000,2.829,0.000
$DEVICE_MAMPS,259.335,82.620,1583.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.632,927.400,902.436,86.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,76869,1353
$CAP_FILE_SIZE,153549,0
$CFSIZE,2097086464,2075623424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171113,035005,-4300.155,827.411,42,1.0,42,-25.0