version: 66.07.10.p01
glider: 574
mission: 7
dive: 205
start: 11 29 113 2 29 27
data:
$ID,574
$MISSION,7
$DIVE,205
$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,-13986.413
$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,84
$R_STBD_OVSHOOT,75
$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,184
$GPS1,291113,022023,-4251.025,826.344,74,1.1,74,-25.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-73.3
$GPS2,291113,022906,-4250.983,826.438,16,1.0,16,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4301.782,826.438
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.60,-155.7,0.0,0.0,0,47,0.00,0.00,-19.60,0.000,2,0.000,0.000,66,1954,2215,0,0,0,0,0,0
$GC,49,-0.60,-155.7,3.1,-2.5,3,116,12.40,0.45,-49.10,0.000,4,0.265,0.099,2832,2288,3234,0,0,0,0,0,0
$GC,259,-0.60,-155.7,18.7,-13.7,38,266,0.00,0.45,0.00,0.000,6,0.000,0.037,2831,1960,3237,0,0,0,0,0,0
$GC,315,-0.60,-155.7,25.8,-14.0,47,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1959,3237,0,0,0,0,0,0
$GC,457,-0.60,-155.7,45.7,-13.3,72,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1959,3238,0,0,0,0,0,0
$GC,805,-0.60,-155.7,91.9,-12.5,133,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,3238,0,0,0,0,0,0
$GC,1138,-0.60,-155.7,133.8,-12.4,170,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1959,3238,0,0,0,0,0,0
$GC,1457,-0.60,-155.7,174.1,-12.9,200,1461,0.00,0.40,0.00,0.000,4,0.000,0.050,2832,1668,3239,0,0,0,0,0,0
$GC,1609,-0.60,-155.7,193.3,-13.2,213,1615,0.00,0.35,0.00,0.000,6,0.000,0.035,2831,1948,3239,0,0,0,0,0,0
$GC,1934,-0.60,-155.7,233.6,-12.3,244,1938,0.03,0.52,0.00,0.000,4,0.294,0.040,2838,2329,3240,0,0,0,0,0,0
$GC,2129,-0.60,-155.7,256.2,-11.6,261,2132,0.00,0.55,0.00,0.000,6,0.000,0.037,2838,1934,3240,0,0,0,0,0,0
$GC,2459,-0.60,-155.7,295.6,-11.5,292,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1933,3240,0,0,0,0,0,0
$GC,2778,-0.60,-155.7,331.3,-11.0,322,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1933,3240,0,0,0,0,0,0
$GC,3097,-0.60,-155.7,366.7,-10.8,352,3100,0.00,0.68,0.00,0.000,4,0.000,0.045,2838,1472,3240,0,0,0,0,0,0
$GC,3225,-0.60,-155.7,381.2,-10.9,363,3231,0.00,0.62,0.00,0.000,6,0.000,0.029,2836,1916,3240,0,0,0,0,0,0
$GC,3546,-0.60,-155.7,416.6,-11.0,387,3550,0.00,0.73,0.00,0.000,4,0.000,0.038,2832,2426,3240,0,0,0,0,0,0
$GC,3735,-0.60,-155.7,437.2,-10.7,395,3740,0.00,0.75,0.00,0.000,6,0.000,0.034,2832,1921,3240,0,0,0,0,0,0
$GC,4057,-0.60,-155.7,472.6,-10.9,411,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1921,3240,0,0,0,0,0,0
$GC,4366,-0.60,-155.7,506.8,-11.1,426,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1921,3240,0,0,0,0,0,0
$GC,4676,-0.60,-155.7,542.1,-11.7,441,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1922,3239,0,0,0,0,0,0
$GC,4985,-0.60,-155.7,578.4,-11.8,456,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1921,3239,0,0,0,0,0,0
$GC,5294,-0.60,-155.7,614.4,-11.6,471,5298,0.00,0.43,0.00,0.000,4,0.000,0.050,2831,1617,3238,0,0,0,0,0,0
$GC,5467,-0.60,-155.7,634.3,-11.7,478,5472,0.00,0.43,0.00,0.000,6,0.000,0.034,2831,1940,3238,0,0,0,0,0,0
$GC,5782,-0.60,-155.7,669.4,-11.2,494,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1940,3237,0,0,0,0,0,0
$GC,6091,-0.60,-155.7,704.2,-11.3,509,6093,0.03,0.00,0.00,0.000,6,0.291,0.000,2840,1940,3237,0,0,0,0,0,0
$GC,6401,-0.60,-155.7,736.3,-10.2,524,6405,0.00,0.80,0.00,0.000,4,0.000,0.039,2836,2490,3236,0,0,0,0,0,0
$GC,6597,-0.60,-155.7,755.9,-10.2,532,6602,0.00,0.85,0.00,0.000,6,0.000,0.034,2837,1926,3236,0,0,0,0,0,0
$GC,6912,-0.60,-155.7,788.8,-10.6,548,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1926,3236,0,0,0,0,0,0
$GC,7222,-0.60,-155.7,820.1,-9.8,563,7226,0.00,0.60,0.00,0.000,4,0.000,0.047,2836,1515,3235,0,0,0,0,0,0
$GC,7344,-0.60,-155.7,832.6,-9.6,568,7349,0.00,0.57,0.00,0.000,6,0.000,0.031,2835,1924,3235,0,0,0,0,0,0
$GC,7666,-0.60,-155.7,863.1,-9.4,584,7670,0.00,0.50,0.00,0.000,4,0.000,0.041,2832,2299,3234,0,0,0,0,0,0
$GC,7856,-0.60,-155.7,880.4,-9.2,592,7860,0.00,0.55,0.00,0.000,6,0.000,0.037,2832,1920,3234,0,0,0,0,0,0
$GC,8177,-0.60,-155.7,908.8,-8.7,608,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1920,3233,0,0,0,0,0,0
$GC,8487,-0.60,-155.7,935.2,-8.4,623,8490,0.00,0.40,0.00,0.000,4,0.000,0.052,2832,1634,3233,0,0,0,0,0,0
$GC,8599,-0.60,-155.7,945.0,-9.2,628,8603,0.00,0.38,0.00,0.000,6,0.000,0.037,2831,1933,3233,0,0,0,0,0,0
$GC,8932,-0.60,-155.7,974.4,-8.9,644,8936,0.00,0.35,0.00,0.000,4,0.000,0.045,2829,2216,3233,0,0,0,0,0,0
$GC,9189,-0.60,-155.7,998.0,-10.0,655,9194,0.05,0.40,0.00,0.000,6,0.224,0.039,2839,1915,3233,0,0,0,0,0,0
$STATE,9221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9221,begin apogee
$GC,9225,-0.16,0.0,1000.9,9.4,657,9361,0.50,0.00,131.52,1.712,6,0.153,0.000,2983,1865,2600,0,0,0,0,0,0
$STATE,9362,end apogee,CONTROL_FINISHED_OK
$STATE,9362,begin climb
$GC,9364,0.60,155.7,1004.9,0.0,664,9513,0.82,0.00,145.88,1.642,6,0.103,0.000,3232,1865,1964,0,0,0,0,0,0
$GC,9811,0.60,155.7,960.1,11.3,686,9814,0.00,1.52,0.00,0.000,4,0.000,0.052,3238,951,1958,0,0,0,0,0,0
$GC,9962,0.60,155.7,942.8,11.3,692,9967,0.00,1.33,0.00,0.000,6,0.000,0.024,3238,1814,1956,0,0,0,0,0,0
$GC,10277,0.60,155.7,905.6,12.0,708,10281,0.00,0.45,0.00,0.000,4,0.000,0.044,3239,1522,1956,0,0,0,0,0,0
$GC,10534,0.60,155.7,875.1,11.7,719,10538,0.00,0.45,0.00,0.000,6,0.000,0.030,3239,1844,1956,0,0,0,0,0,0
$GC,10855,0.60,155.7,838.5,11.2,735,10859,0.00,1.85,0.00,0.000,4,0.000,0.054,3246,722,1956,0,0,0,0,0,0
$GC,11022,0.60,155.7,819.2,11.2,742,11027,0.00,1.65,0.00,0.000,6,0.000,0.023,3244,1817,1956,0,0,0,0,0,0
$GC,11344,0.60,155.7,782.2,11.8,758,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1817,1956,0,0,0,0,0,0
$GC,11653,0.60,155.7,745.4,12.2,773,11657,0.00,0.95,0.00,0.000,4,0.000,0.047,3247,1221,1956,0,0,0,0,0,0
$GC,11888,0.60,155.7,716.3,12.5,783,11892,0.00,0.93,0.00,0.000,6,0.000,0.024,3245,1846,1955,0,0,0,0,0,0
$GC,12209,0.60,155.7,674.9,13.1,799,12213,0.00,1.10,0.00,0.000,4,0.000,0.048,3248,1161,1956,0,0,0,0,0,0
$GC,12434,0.60,155.7,645.9,12.8,809,12438,0.03,0.98,0.00,0.000,6,0.192,0.025,3240,1846,1956,0,0,0,0,0,0
$GC,12765,0.60,155.7,605.2,11.9,825,12769,0.00,1.05,0.00,0.000,4,0.000,0.048,3242,1190,1956,0,0,0,0,0,0
$GC,12971,0.60,155.7,580.0,12.0,834,12976,0.00,0.93,0.00,0.000,6,0.000,0.024,3243,1817,1956,0,0,0,0,0,0
$GC,13299,0.60,155.7,540.6,12.1,850,13302,0.00,0.45,0.00,0.000,4,0.000,0.044,3243,1516,1956,0,0,0,0,0,0
$GC,13556,0.60,155.7,509.8,11.6,861,13560,0.00,0.45,0.00,0.000,6,0.000,0.031,3243,1868,1956,0,0,0,0,0,0
$GC,13877,0.60,155.7,473.4,11.2,877,13881,0.00,1.50,0.00,0.000,4,0.000,0.050,3249,938,1956,0,0,0,0,0,0
$GC,14060,0.60,155.7,452.1,11.1,885,14066,0.05,1.30,0.00,0.000,6,0.221,0.024,3238,1808,1957,0,0,0,0,0,0
$GC,14388,0.60,155.7,415.4,11.7,901,14391,0.00,0.52,0.00,0.000,4,0.000,0.044,3239,1463,1957,0,0,0,0,0,0
$GC,14647,0.60,155.7,385.0,11.9,918,14650,0.00,0.50,0.00,0.000,6,0.000,0.031,3239,1854,1957,0,0,0,0,0,0
$GC,14980,0.60,155.7,346.0,11.8,949,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1854,1957,0,0,0,0,0,0
$GC,15306,0.60,155.7,307.7,11.6,980,15309,0.00,1.10,0.00,0.000,4,0.000,0.051,3244,1171,1957,0,0,0,0,0,0
$GC,15500,0.60,155.7,285.2,11.1,997,15503,0.00,0.90,0.00,0.000,6,0.000,0.024,3244,1795,1957,0,0,0,0,0,0
$GC,15830,0.60,155.7,246.2,11.5,1028,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1796,1958,0,0,0,0,0,0
$GC,16149,0.60,155.7,209.7,11.3,1058,16153,0.00,0.52,0.00,0.000,4,0.000,0.044,3245,1446,1958,0,0,0,0,0,0
$GC,16353,0.60,155.7,186.6,10.9,1076,16357,0.00,0.52,0.00,0.000,6,0.000,0.031,3245,1855,1958,0,0,0,0,0,0
$GC,16683,0.60,155.7,149.9,11.1,1107,16686,0.00,0.77,0.00,0.000,4,0.000,0.044,3247,1355,1959,0,0,0,0,0,0
$GC,16876,0.60,164.6,128.7,10.0,1124,16890,0.03,0.62,8.35,1.102,6,0.186,0.028,3239,1838,1929,0,0,0,0,0,0
$GC,17209,0.60,164.6,93.3,11.5,1160,17214,0.00,0.52,0.00,0.000,4,0.000,0.042,3240,1490,1929,0,0,0,0,0,0
$GC,17470,0.60,164.6,64.3,11.9,1206,17477,0.00,0.40,0.00,0.000,6,0.000,0.031,3240,1817,1929,0,0,0,0,0,0
$GC,17820,0.60,164.6,28.6,11.5,1267,17825,0.00,0.80,0.00,0.000,4,0.000,0.046,3242,1310,1929,0,0,0,0,0,0
$GC,18021,0.60,164.6,7.2,12.9,1301,18028,0.00,0.70,0.00,0.000,6,0.000,0.028,3242,1812,1930,0,0,0,0,0,0
$STATE,18058,end climb,SURFACE_DEPTH_REACHED
$STATE,18058,begin surface coast
$FINISH,1.7,1.002938
$STATE,18084,end surface coast,CONTROL_FINISHED_OK
$STATE,18084,begin surface
$SM_CCo,18099,10.62,0.989,0,0,1845,185.20
$SM_GC,4.23,0.00,0.00,10.62,0.000,0.000,0.989,79,1932,1845,-9.25,0.06,185.20
$IRIDIUM_FIX,-4233.25,826.48,281113,202056
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.5,34.033
$10V_AH,10.1,27.181
$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,22.500,36.675,285.750,10.625,0.000,27.075,50.418,318.333,0.250,0.000,19.128,3268.949,11115.808,398.461,3672.416,173.227,0.000,1749.486,0.000,3229.035,0.000,2.832,0.000
$DEVICE_MAMPS,293.760,149.940,1712.070,989.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.118,917.546,870.059,85.912,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,76823,1311
$CAP_FILE_SIZE,163884,0
$CFSIZE,2097086464,2068152320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291113,073252,-4252.158,826.833,59,1.0,59,-25.0