version: 66.07.10.p01
glider: 574
mission: 7
dive: 160
start: 11 19 113 6 38 19
data:
$ID,574
$MISSION,7
$DIVE,160
$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,-13875.595
$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,44
$R_STBD_OVSHOOT,64
$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,139
$GPS1,191113,063053,-4304.023,829.268,61,0.8,61,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-73.3
$GPS2,191113,063724,-4304.024,829.347,19,0.9,19,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.165,0.038
$KALMAN_X,-164795.9,-320.8,-76.8,58602.7,1954.6
$KALMAN_Y,510560.4,-858.1,-443.3,-726526.6,7180.3
$MHEAD_RNG_PITCHd_Wd,308.0,7505,-27.8,-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,-0.93,-61.2,0.0,0.0,0,51,0.00,0.00,-25.75,0.000,2,0.000,0.000,67,1954,2378,0,0,0,0,0,0
$GC,54,-0.93,-136.6,3.0,-1.7,4,109,11.95,2.17,-33.92,0.000,4,0.270,0.064,2732,625,3159,0,0,0,0,0,0
$GC,188,-0.93,-136.6,17.7,-20.6,26,195,0.00,2.03,0.00,0.000,6,0.000,0.027,2724,1935,3163,0,0,0,0,0,0
$GC,244,-0.93,-136.6,28.5,-19.8,35,248,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1936,3163,0,0,0,0,0,0
$GC,386,-0.93,-136.6,55.6,-17.8,60,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1936,3164,0,0,0,0,0,0
$GC,729,-0.93,-136.6,116.3,-19.0,113,733,0.00,2.20,0.00,0.000,4,0.000,0.045,2713,3348,3165,0,0,0,0,0,0
$GC,806,-0.93,-136.6,131.0,-17.5,119,813,0.05,2.15,0.00,0.000,6,0.196,0.031,2728,1965,3166,0,0,0,0,0,0
$GC,1132,-0.93,-136.6,188.0,-17.7,150,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1965,3167,0,0,0,0,0,0
$GC,1451,-0.93,-136.6,244.9,-17.8,180,1455,0.00,1.02,0.00,0.000,4,0.000,0.034,2725,2650,3167,0,0,0,0,0,0
$GC,1485,-0.93,-136.6,251.2,-17.6,183,1489,0.00,1.08,0.00,0.000,6,0.000,0.032,2725,1942,3167,0,0,0,0,0,0
$GC,1815,-0.93,-136.6,308.6,-17.5,214,1819,0.00,0.77,0.00,0.000,4,0.000,0.044,2725,1423,3167,0,0,0,0,0,0
$GC,1851,-0.93,-136.6,314.1,-16.1,217,1856,0.03,0.77,0.00,0.000,6,0.229,0.029,2729,1970,3167,0,0,0,0,0,0
$GC,2180,-0.93,-136.6,366.8,-15.4,248,2184,0.00,1.12,0.00,0.000,4,0.000,0.038,2724,2722,3167,0,0,0,0,0,0
$GC,2207,-0.93,-136.6,371.2,-16.2,250,2213,0.00,1.20,0.00,0.000,6,0.000,0.032,2724,1950,3167,0,0,0,0,0,0
$GC,2540,-0.93,-136.6,424.9,-16.6,275,2543,0.00,1.17,0.00,0.000,4,0.000,0.046,2724,1192,3168,0,0,0,0,0,0
$GC,2616,-0.93,-136.6,438.8,-17.0,278,2622,0.08,1.12,0.00,0.000,6,0.236,0.027,2734,1943,3168,0,0,0,0,0,0
$GC,2938,-0.93,-136.6,491.4,-16.7,294,2941,0.00,0.95,0.00,0.000,4,0.000,0.037,2730,2587,3169,0,0,0,0,0,0
$GC,2960,-0.93,-136.6,495.1,-16.6,295,2964,0.00,0.98,0.00,0.000,6,0.000,0.034,2730,1939,3169,0,0,0,0,0,0
$GC,3292,-0.93,-136.6,551.2,-17.1,311,3295,0.00,0.60,0.00,0.000,4,0.000,0.047,2730,1525,3169,0,0,0,0,0,0
$GC,3363,-0.93,-136.6,563.5,-16.4,314,3367,0.00,0.62,0.00,0.000,6,0.000,0.030,2728,1972,3169,0,0,0,0,0,0
$GC,3690,-0.93,-136.6,616.7,-16.3,330,3694,0.00,2.08,0.00,0.000,4,0.000,0.045,2718,3312,3169,0,0,0,0,0,0
$GC,3722,-0.93,-136.6,622.4,-17.0,331,3727,0.00,2.08,0.00,0.000,6,0.000,0.031,2724,1965,3168,0,0,0,0,0,0
$GC,4044,-0.93,-136.6,676.8,-17.1,347,4047,0.00,1.52,0.00,0.000,4,0.000,0.048,2724,996,3169,0,0,0,0,0,0
$GC,4098,-0.93,-136.6,686.6,-17.4,349,4104,0.08,1.42,0.00,0.000,6,0.239,0.026,2733,1935,3169,0,0,0,0,0,0
$GC,4420,-0.93,-136.6,739.7,-16.1,365,4423,0.00,0.38,0.00,0.000,4,0.000,0.041,2732,2238,3168,0,0,0,0,0,0
$GC,4435,-0.93,-136.6,742.3,-16.2,365,4441,0.00,0.45,0.00,0.000,6,0.000,0.040,2732,1920,3168,0,0,0,0,0,0
$GC,4751,-0.93,-136.6,791.3,-15.1,381,4754,0.00,0.80,0.00,0.000,4,0.000,0.032,2729,2468,3168,0,0,0,0,0,0
$GC,4773,-0.93,-136.6,794.6,-15.1,382,4777,0.00,0.75,0.00,0.000,6,0.000,0.035,2729,1957,3168,0,0,0,0,0,0
$GC,5105,-0.93,-136.6,842.5,-14.2,398,5108,0.00,0.43,0.00,0.000,4,0.000,0.051,2729,1651,3167,0,0,0,0,0,0
$GC,5195,-0.93,-136.6,855.4,-14.2,402,5198,0.00,0.43,0.00,0.000,6,0.000,0.037,2728,1982,3167,0,0,0,0,0,0
$GC,5526,-0.93,-136.6,901.0,-13.5,418,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1982,3166,0,0,0,0,0,0
$GC,5836,-0.93,-136.6,941.8,-13.0,433,5839,0.00,2.05,0.00,0.000,4,0.000,0.047,2718,3308,3166,0,0,0,0,0,0
$GC,5890,-0.93,-136.6,949.2,-13.1,435,5895,0.00,2.08,0.00,0.000,6,0.000,0.031,2725,1958,3166,0,0,0,0,0,0
$GC,6212,-0.93,-136.6,990.1,-12.8,451,6216,0.00,1.42,0.00,0.000,4,0.000,0.049,2725,1051,3166,0,0,0,0,0,0
$STATE,6285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6285,begin apogee
$GC,6290,-0.17,0.0,1000.2,14.2,454,6410,0.93,0.00,117.05,1.567,6,0.196,0.000,2972,1793,2600,0,0,0,0,0,0
$STATE,6411,end apogee,CONTROL_FINISHED_OK
$STATE,6411,begin climb
$GC,6413,0.93,136.6,1003.4,0.0,460,6547,1.23,2.00,125.40,1.523,4,0.112,0.053,3346,676,2041,0,0,0,0,0,0
$GC,6638,0.93,136.6,970.0,20.4,471,6641,0.00,1.80,0.00,0.000,6,0.000,0.026,3346,1798,2036,0,0,0,0,0,0
$GC,6969,0.93,136.6,906.9,18.3,487,6973,0.00,0.60,0.00,0.000,4,0.000,0.038,3346,2213,2031,0,0,0,0,0,0
$GC,7029,0.93,136.6,895.7,18.2,489,7035,0.00,0.65,0.00,0.000,6,0.000,0.041,3348,1808,2030,0,0,0,0,0,0
$GC,7345,0.93,136.6,838.8,17.6,505,7349,0.00,2.30,0.00,0.000,4,0.000,0.060,3358,414,2030,0,0,0,0,0,0
$GC,7467,0.93,136.6,815.7,18.9,510,7474,0.05,2.17,0.00,0.000,6,0.199,0.028,3344,1813,2030,0,0,0,0,0,0
$GC,7783,0.93,136.6,760.9,17.6,526,7787,0.00,0.50,0.00,0.000,4,0.000,0.040,3345,2182,2030,0,0,0,0,0,0
$GC,7832,0.93,136.6,751.8,18.4,528,7837,0.00,0.57,0.00,0.000,6,0.000,0.041,3345,1803,2030,0,0,0,0,0,0
$GC,8159,0.93,136.6,692.1,18.8,544,8163,0.00,2.22,0.00,0.000,4,0.000,0.061,3355,421,2029,0,0,0,0,0,0
$GC,8320,0.93,136.6,659.5,20.5,551,8325,0.03,2.12,0.00,0.000,6,0.221,0.028,3349,1816,2029,0,0,0,0,0,0
$GC,8641,0.93,136.6,599.3,18.7,567,8645,0.00,2.28,0.00,0.000,4,0.000,0.058,3357,417,2029,0,0,0,0,0,0
$GC,8740,0.93,136.6,579.4,20.4,571,8747,0.05,2.12,0.00,0.000,6,0.213,0.029,3344,1809,2029,0,0,0,0,0,0
$GC,9056,0.93,136.6,522.2,18.1,587,9060,0.00,0.93,0.00,0.000,4,0.000,0.048,3347,1230,2028,0,0,0,0,0,0
$GC,9116,0.93,136.6,511.0,19.3,589,9122,0.00,0.90,0.00,0.000,6,0.000,0.028,3347,1834,2029,0,0,0,0,0,0
$GC,9432,0.93,136.6,453.5,18.1,605,9436,0.00,0.93,0.00,0.000,4,0.000,0.048,3350,1254,2029,0,0,0,0,0,0
$GC,9509,0.93,136.6,439.4,17.8,608,9514,0.00,0.82,0.00,0.000,6,0.000,0.028,3350,1817,2029,0,0,0,0,0,0
$GC,9833,0.93,136.6,380.5,19.1,628,9836,0.00,1.45,0.00,0.000,4,0.000,0.052,3355,923,2029,0,0,0,0,0,0
$GC,9882,0.93,136.6,370.7,19.2,632,9891,0.05,1.33,0.00,0.000,6,0.256,0.027,3347,1800,2029,0,0,0,0,0,0
$GC,10207,0.93,136.6,308.6,18.5,663,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1800,2029,0,0,0,0,0,0
$GC,10530,0.93,136.6,250.9,17.6,693,10534,0.00,1.02,0.00,0.000,4,0.000,0.050,3350,1163,2029,0,0,0,0,0,0
$GC,10587,0.93,136.6,240.4,17.6,698,10590,0.00,0.95,0.00,0.000,6,0.000,0.028,3350,1816,2029,0,0,0,0,0,0
$GC,10918,0.93,136.6,185.2,16.1,729,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1816,2029,0,0,0,0,0,0
$GC,11236,0.93,136.6,132.5,17.0,759,11239,0.00,0.35,0.00,0.000,4,0.000,0.044,3350,2103,2028,0,0,0,0,0,0
$GC,11261,0.93,136.6,128.5,16.6,761,11264,0.00,0.43,0.00,0.000,6,0.000,0.044,3351,1809,2029,0,0,0,0,0,0
$GC,11595,0.93,136.6,71.4,16.3,806,11601,0.00,2.22,0.00,0.000,4,0.000,0.060,3362,420,2029,0,0,0,0,0,0
$GC,11703,0.93,136.6,52.7,17.7,825,11711,0.05,2.08,0.00,0.000,6,0.211,0.028,3348,1793,2029,0,0,0,0,0,0
$STATE,12022,end climb,SURFACE_DEPTH_REACHED
$STATE,12022,begin surface coast
$FINISH,1.8,1.026529
$STATE,12042,end surface coast,CONTROL_FINISHED_OK
$STATE,12042,begin surface
$SM_CCo,12058,22.02,0.852,0,0,1844,185.20
$SM_GC,2.97,0.00,0.00,22.02,0.000,0.000,0.852,82,1981,1844,-9.24,0.88,185.20
$IRIDIUM_FIX,-4247.91,831.55,191113,020247
$TT8_MAMPS,0.026964
$HUMID,64.09
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.2,8.7
$24V_AH,22.7,26.272
$10V_AH,10.2,21.772
$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,23.575,69.900,242.450,22.025,0.000,22.972,18.740,238.477,0.500,0.000,21.891,2199.164,7477.948,349.652,2329.965,121.468,33.355,1259.838,0.000,2007.939,0.000,5.464,0.000
$DEVICE_MAMPS,270.045,64.260,1566.720,852.210,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.660,623.551,587.484,58.210,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,50297,883
$CAP_FILE_SIZE,119460,0
$CFSIZE,2097086464,2074116096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191113,100133,-4302.293,829.336,65,1.1,78,-25.0