version: 66.07.10.p01
glider: 574
mission: 7
dive: 204
start: 11 28 113 21 12 8
data:
$ID,574
$MISSION,7
$DIVE,204
$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,320
$T_MISSION,360
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,180
$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,-13984.082
$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,31
$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,1930
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,66
$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,183
$GPS1,281113,205737,-4250.187,826.358,56,0.9,56,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-75.0
$GPS2,281113,211147,-4250.080,826.486,17,1.1,17,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4300.879,826.486
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.046,-0.252
$KALMAN_X,-104145.1,149.0,319.1,-10292.6,-420.6
$KALMAN_Y,685452.3,363.5,416.2,-873197.9,3982.5
$MHEAD_RNG_PITCHd_Wd,205.0,20000,-18.3,-10.417
$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,-0.60,-155.7,0.0,0.0,0,40,0.00,0.00,-13.45,0.000,2,0.000,0.000,67,1939,2043,0,0,0,0,0,0
$GC,42,-0.60,-155.7,3.1,-7.7,2,121,12.18,0.55,-58.72,0.000,4,0.257,0.086,2837,2327,3234,0,0,0,0,0,0
$GC,299,-0.60,-155.7,24.0,-12.4,45,304,0.00,0.55,0.00,0.000,6,0.000,0.037,2837,1939,3236,0,0,0,0,0,0
$GC,444,-0.60,-155.7,43.1,-12.4,70,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1939,3236,0,0,0,0,0,0
$GC,790,-0.60,-155.7,88.3,-11.9,131,795,0.00,0.62,0.00,0.000,4,0.000,0.046,2837,1515,3237,0,0,0,0,0,0
$GC,948,-0.60,-155.7,107.7,-13.1,154,952,0.00,0.57,0.00,0.000,6,0.000,0.031,2835,1936,3237,0,0,0,0,0,0
$GC,1282,-0.60,-155.7,149.6,-12.4,185,1285,0.00,1.12,0.00,0.000,4,0.000,0.039,2830,2677,3237,0,0,0,0,0,0
$GC,1444,-0.60,-155.7,169.3,-11.8,199,1450,0.03,1.12,0.00,0.000,6,0.185,0.032,2838,1934,3238,0,0,0,0,0,0
$GC,1769,-0.60,-155.7,207.6,-11.9,230,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1933,3238,0,0,0,0,0,0
$GC,2088,-0.60,-155.7,244.8,-12.2,260,2092,0.00,0.43,0.00,0.000,4,0.000,0.050,2839,1626,3238,0,0,0,0,0,0
$GC,2238,-0.60,-155.7,262.0,-11.4,273,2241,0.00,0.40,0.00,0.000,6,0.000,0.036,2838,1949,3238,0,0,0,0,0,0
$GC,2568,-0.60,-155.7,301.8,-12.5,304,2571,0.00,0.35,0.00,0.000,4,0.000,0.044,2836,2231,3238,0,0,0,0,0,0
$GC,2828,-0.60,-155.7,332.6,-11.3,327,2832,0.00,0.43,0.00,0.000,6,0.000,0.041,2836,1921,3238,0,0,0,0,0,0
$GC,3157,-0.60,-155.7,371.1,-11.5,358,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1921,3238,0,0,0,0,0,0
$GC,3485,-0.60,-155.7,407.4,-10.8,386,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1921,3238,0,0,0,0,0,0
$GC,3794,-0.60,-155.7,440.9,-10.9,401,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1921,3238,0,0,0,0,0,0
$GC,4104,-0.60,-155.7,474.9,-11.1,416,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1921,3238,0,0,0,0,0,0
$GC,4413,-0.60,-155.7,509.1,-11.2,431,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1921,3238,0,0,0,0,0,0
$GC,4722,-0.60,-155.7,543.4,-11.0,446,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1921,3237,0,0,0,0,0,0
$GC,5032,-0.60,-155.7,577.4,-11.0,461,5035,0.00,0.43,0.00,0.000,4,0.000,0.051,2836,1618,3237,0,0,0,0,0,0
$GC,5159,-0.60,-155.7,591.1,-10.0,466,5165,0.00,0.40,0.00,0.000,6,0.000,0.036,2835,1923,3237,0,0,0,0,0,0
$GC,5475,-0.60,-155.7,623.5,-10.1,482,5479,0.00,0.52,0.00,0.000,4,0.000,0.041,2832,2311,3236,0,0,0,0,0,0
$GC,5670,-0.60,-155.7,642.9,-9.8,490,5676,0.00,0.55,0.00,0.000,6,0.000,0.036,2832,1929,3236,0,0,0,0,0,0
$GC,5987,-0.60,-155.7,674.1,-9.9,506,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1929,3235,0,0,0,0,0,0
$GC,6296,-0.60,-155.7,705.0,-10.3,521,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1929,3235,0,0,0,0,0,0
$GC,6605,-0.60,-155.7,737.0,-10.2,536,6609,0.00,0.43,0.00,0.000,4,0.000,0.050,2832,1624,3234,0,0,0,0,0,0
$GC,6767,-0.60,-155.7,753.5,-10.2,543,6771,0.00,0.40,0.00,0.000,6,0.000,0.037,2831,1935,3234,0,0,0,0,0,0
$GC,7094,-0.60,-155.7,787.1,-10.3,559,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1935,3233,0,0,0,0,0,0
$GC,7404,-0.60,-155.7,818.2,-9.8,574,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1936,3233,0,0,0,0,0,0
$GC,7713,-0.60,-155.7,848.4,-9.6,589,7717,0.00,0.30,0.00,0.000,4,0.000,0.048,2830,2188,3232,0,0,0,0,0,0
$GC,7970,-0.60,-155.7,873.3,-9.6,600,7975,0.05,0.38,0.00,0.000,6,0.224,0.041,2840,1914,3232,0,0,0,0,0,0
$GC,8291,-0.60,-155.7,901.5,-9.0,616,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1914,3231,0,0,0,0,0,0
$GC,8600,-0.60,-155.7,932.3,-10.3,631,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1914,3232,0,0,0,0,0,0
$GC,8909,-0.60,-155.7,965.6,-10.7,646,8913,0.00,0.32,0.00,0.000,4,0.000,0.055,2840,1673,3231,0,0,0,0,0,0
$GC,9099,-0.60,-155.7,985.9,-10.3,654,9103,0.00,0.32,0.00,0.000,6,0.000,0.038,2840,1916,3231,0,0,0,0,0,0
$STATE,9256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9256,begin apogee
$GC,9261,-0.16,0.0,1001.4,10.0,662,9409,0.50,0.00,145.10,1.806,6,0.155,0.000,2983,1800,2599,0,0,0,0,0,0
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9412,0.60,155.7,1007.2,0.0,669,9561,0.80,1.62,141.07,1.630,4,0.107,0.054,3231,921,1964,0,0,0,0,0,0
$GC,9732,0.60,155.7,979.0,11.9,684,9736,0.00,1.42,0.00,0.000,6,0.000,0.024,3231,1818,1961,0,0,0,0,0,0
$GC,10064,0.60,155.7,940.5,11.4,700,10067,0.00,0.52,0.00,0.000,4,0.000,0.044,3232,1478,1958,0,0,0,0,0,0
$GC,10321,0.60,155.7,911.0,11.5,711,10325,0.00,0.52,0.00,0.000,6,0.000,0.031,3232,1864,1957,0,0,0,0,0,0
$GC,10642,0.60,155.7,874.9,11.2,727,10646,0.00,2.28,0.00,0.000,4,0.000,0.057,3241,474,1956,0,0,0,0,0,0
$GC,10837,0.60,155.7,851.8,12.3,735,10844,0.00,2.03,0.00,0.000,6,0.000,0.024,3241,1792,1955,0,0,0,0,0,0
$GC,11154,0.60,155.7,815.9,11.2,751,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1792,1955,0,0,0,0,0,0
$GC,11463,0.60,155.7,780.3,11.7,766,11467,0.00,1.25,0.00,0.000,4,0.000,0.051,3246,1023,1955,0,0,0,0,0,0
$GC,11652,0.60,155.7,758.5,11.2,774,11657,0.00,1.25,0.00,0.000,6,0.000,0.025,3245,1847,1955,0,0,0,0,0,0
$GC,11974,0.60,155.7,721.1,11.6,790,11978,0.00,0.88,0.00,0.000,4,0.000,0.047,3247,1294,1955,0,0,0,0,0,0
$GC,12180,0.60,155.7,695.7,12.2,799,12184,0.00,0.80,0.00,0.000,6,0.000,0.026,3246,1844,1955,0,0,0,0,0,0
$GC,12507,0.60,155.7,654.5,12.5,815,12510,0.00,1.35,0.00,0.000,4,0.000,0.050,3251,1007,1954,0,0,0,0,0,0
$GC,12713,0.60,155.7,628.2,12.3,824,12719,0.08,1.23,0.00,0.000,6,0.195,0.024,3235,1828,1954,0,0,0,0,0,0
$GC,13041,0.60,155.7,590.1,11.9,840,13044,0.00,0.55,0.00,0.000,4,0.000,0.043,3235,1466,1954,0,0,0,0,0,0
$GC,13297,0.60,155.7,559.3,11.1,851,13302,0.00,0.52,0.00,0.000,6,0.000,0.031,3235,1854,1954,0,0,0,0,0,0
$GC,13619,0.60,155.7,520.8,12.0,867,13623,0.00,1.42,0.00,0.000,4,0.000,0.050,3241,981,1954,0,0,0,0,0,0
$GC,13798,0.60,155.7,499.6,12.3,875,13802,0.00,1.23,0.00,0.000,6,0.000,0.026,3240,1804,1954,0,0,0,0,0,0
$GC,14130,0.60,155.7,460.8,11.6,891,14134,0.00,0.47,0.00,0.000,4,0.000,0.045,3241,1486,1954,0,0,0,0,0,0
$GC,14387,0.60,155.7,431.6,11.0,902,14391,0.00,0.50,0.00,0.000,6,0.000,0.031,3241,1863,1955,0,0,0,0,0,0
$GC,14709,0.60,155.7,396.0,10.8,919,14713,0.00,1.67,0.00,0.000,4,0.000,0.052,3248,814,1954,0,0,0,0,0,0
$GC,14880,0.60,159.6,377.4,10.2,934,14884,0.03,1.48,0.00,0.000,6,0.182,0.024,3239,1804,1954,0,0,0,0,0,0
$GC,15213,0.60,159.7,342.4,10.4,965,15216,0.00,0.30,0.00,0.000,4,0.000,0.044,3239,1597,1954,0,0,0,0,0,0
$GC,15471,0.60,159.7,315.0,11.2,988,15475,0.00,0.30,0.00,0.000,6,0.000,0.035,3239,1831,1955,0,0,0,0,0,0
$GC,15801,0.60,159.7,279.9,10.9,1019,15805,0.00,1.40,0.00,0.000,4,0.000,0.050,3244,968,1954,0,0,0,0,0,0
$GC,15987,0.60,159.7,259.0,11.2,1035,15993,0.00,1.30,0.00,0.000,6,0.000,0.024,3244,1830,1954,0,0,0,0,0,0
$GC,16313,0.60,159.7,221.4,11.4,1066,16317,0.00,0.32,0.00,0.000,4,0.000,0.045,3245,1595,1955,0,0,0,0,0,0
$GC,16575,0.60,178.2,193.0,9.6,1089,16598,0.00,0.30,18.55,1.203,6,0.000,0.036,3245,1830,1872,0,0,0,0,0,0
$GC,16924,0.60,178.2,153.6,10.9,1122,16928,0.00,1.48,0.00,0.000,4,0.000,0.049,3250,921,1872,0,0,0,0,0,0
$GC,17105,0.60,198.7,133.9,9.5,1138,17130,0.05,1.35,18.88,1.161,6,0.164,0.024,3234,1830,1789,0,0,0,0,0,0
$GC,17451,0.60,198.7,96.9,11.2,1173,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1831,1788,0,0,0,0,0,0
$GC,17799,0.60,198.7,56.9,11.7,1234,17804,0.00,0.77,0.00,0.000,4,0.000,0.044,3237,1332,1788,0,0,0,0,0,0
$GC,18062,0.60,198.7,27.1,11.0,1280,18069,0.00,0.70,0.00,0.000,6,0.000,0.023,3236,1824,1789,0,0,0,0,0,0
$GC,18211,0.60,198.7,11.2,10.8,1305,18217,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1824,1788,0,0,0,0,0,0
$GC,18267,0.60,198.7,4.5,11.8,1314,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1824,1788,0,0,0,0,0,0
$STATE,18280,end climb,SURFACE_DEPTH_REACHED
$STATE,18280,begin surface coast
$FINISH,1.8,1.026551
$STATE,18311,end surface coast,CONTROL_FINISHED_OK
$STATE,18311,begin surface
$SM_CCo,18387,0.00,0.000,0,0,1782,200.41
$SM_GC,3.15,8.62,0.00,0.00,0.051,0.000,0.000,82,1956,1782,-9.16,0.74,200.41
$IRIDIUM_FIX,-4233.25,823.58,281113,080823
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.5,33.874
$10V_AH,10.1,27.060
$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,22.325,41.625,323.600,0.000,0.000,26.020,41.509,611.850,0.250,0.000,19.820,3294.188,11303.416,385.744,4034.760,194.553,0.000,1796.936,0.000,3299.444,0.000,2.832,0.000
$DEVICE_MAMPS,257.040,85.680,1806.165,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.008,910.979,873.709,84.626,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,77006,1321
$CAP_FILE_SIZE,172832,0
$CFSIZE,2097086464,2068283392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291113,022023,-4251.025,826.344,74,1.1,74,-25.0