version: 66.07.10.p01
glider: 574
mission: 7
dive: 209
start: 11 29 113 23 46 39
data:
$ID,574
$MISSION,7
$DIVE,209
$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,-13995.74
$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,44
$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,188
$GPS1,291113,233805,-4255.243,827.742,58,0.9,58,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-73.0
$GPS2,291113,234618,-4255.208,827.881,16,0.8,17,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4306.008,827.881
$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,-155.7,0.0,0.0,0,35,0.00,0.00,-8.12,0.000,2,0.000,0.000,66,1957,1936,0,0,0,0,0,0
$GC,37,-0.60,-155.7,3.1,-0.0,1,122,12.35,0.00,-65.28,0.000,6,0.263,0.000,2833,1957,3233,0,0,0,0,0,0
$GC,171,-0.60,-155.7,6.6,-10.9,23,178,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1957,3235,0,0,0,0,0,0
$GC,227,-0.60,-155.7,13.4,-12.2,32,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1957,3235,0,0,0,0,0,0
$GC,282,-0.60,-155.7,20.2,-12.0,41,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1958,3236,0,0,0,0,0,0
$GC,425,-0.60,-155.7,38.8,-12.9,66,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1957,3236,0,0,0,0,0,0
$GC,570,-0.60,-155.7,58.0,-12.8,91,575,0.00,0.73,0.00,0.000,4,0.000,0.037,2830,2444,3236,0,0,0,0,0,0
$GC,792,-0.60,-155.7,85.9,-12.6,130,798,0.03,0.77,0.00,0.000,6,0.184,0.036,2838,1918,3236,0,0,0,0,0,0
$GC,1129,-0.60,-155.7,128.0,-12.5,171,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3237,0,0,0,0,0,0
$GC,1452,-0.60,-155.7,166.7,-12.2,201,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3237,0,0,0,0,0,0
$GC,1777,-0.60,-155.7,206.6,-12.2,232,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3238,0,0,0,0,0,0
$GC,2096,-0.60,-155.7,243.2,-11.3,262,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3238,0,0,0,0,0,0
$GC,2414,-0.60,-155.7,277.2,-10.6,292,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3238,0,0,0,0,0,0
$GC,2733,-0.60,-155.7,310.4,-10.5,322,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3239,0,0,0,0,0,0
$GC,3052,-0.60,-155.7,343.1,-10.6,352,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3239,0,0,0,0,0,0
$GC,3371,-0.60,-155.7,375.9,-10.3,382,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3239,0,0,0,0,0,0
$GC,3697,-0.60,-155.7,409.0,-10.2,409,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3239,0,0,0,0,0,0
$GC,4006,-0.60,-155.7,439.7,-9.6,424,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1916,3239,0,0,0,0,0,0
$GC,4315,-0.60,-155.7,470.7,-10.0,439,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3239,0,0,0,0,0,0
$GC,4624,-0.60,-155.7,502.3,-10.5,454,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3239,0,0,0,0,0,0
$GC,4934,-0.60,-155.7,536.0,-10.7,469,4938,0.00,0.35,0.00,0.000,4,0.000,0.055,2838,1662,3238,0,0,0,0,0,0
$GC,5106,-0.60,-155.7,555.4,-11.4,476,5111,0.00,0.38,0.00,0.000,6,0.000,0.037,2838,1947,3238,0,0,0,0,0,0
$GC,5422,-0.60,-155.7,590.7,-11.6,492,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1947,3238,0,0,0,0,0,0
$GC,5731,-0.60,-155.7,627.1,-11.7,507,5734,0.00,0.47,0.00,0.000,4,0.000,0.042,2835,2302,3237,0,0,0,0,0,0
$GC,5893,-0.60,-155.7,645.1,-10.5,514,5897,0.00,0.55,0.00,0.000,6,0.000,0.037,2836,1926,3237,0,0,0,0,0,0
$GC,6220,-0.60,-155.7,681.2,-10.9,530,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1926,3236,0,0,0,0,0,0
$GC,6529,-0.60,-155.7,714.9,-10.8,545,6533,0.00,0.43,0.00,0.000,4,0.000,0.052,2836,1624,3236,0,0,0,0,0,0
$GC,6701,-0.60,-155.7,734.4,-11.0,552,6707,0.00,0.43,0.00,0.000,6,0.000,0.036,2834,1940,3236,0,0,0,0,0,0
$GC,7017,-0.60,-155.7,768.5,-10.6,568,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1941,3235,0,0,0,0,0,0
$GC,7328,-0.60,-155.7,800.2,-10.0,583,7332,0.00,0.55,0.00,0.000,4,0.000,0.041,2832,2339,3235,0,0,0,0,0,0
$GC,7580,-0.60,-155.7,824.0,-9.4,594,7584,0.00,0.60,0.00,0.000,6,0.000,0.036,2832,1932,3235,0,0,0,0,0,0
$GC,7907,-0.60,-155.7,851.9,-8.4,610,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1932,3234,0,0,0,0,0,0
$GC,8216,-0.60,-155.7,876.3,-8.1,625,8220,0.00,0.45,0.00,0.000,4,0.000,0.052,2832,1613,3233,0,0,0,0,0,0
$GC,8356,-0.60,-155.7,888.1,-8.0,631,8360,0.00,0.40,0.00,0.000,6,0.000,0.036,2831,1926,3233,0,0,0,0,0,0
$GC,8685,-0.60,-155.7,917.0,-9.2,647,8689,0.03,0.52,0.00,0.000,4,0.293,0.041,2838,2303,3233,0,0,0,0,0,0
$GC,8824,-0.60,-155.7,928.8,-7.5,653,8827,0.00,0.52,0.00,0.000,6,0.000,0.040,2838,1930,3232,0,0,0,0,0,0
$GC,9151,-0.60,-155.7,958.3,-9.4,669,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1931,3233,0,0,0,0,0,0
$GC,9460,-0.60,-155.7,986.5,-8.9,684,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1930,3233,0,0,0,0,0,0
$STATE,9626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9626,begin apogee
$GC,9630,-0.16,0.0,1000.5,8.5,692,9765,0.50,0.00,131.80,1.688,6,0.153,0.000,2981,1820,2600,0,0,0,0,0,0
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9767,0.60,155.7,1003.9,0.0,699,9918,0.82,0.00,146.48,1.619,6,0.107,0.000,3228,1820,1965,0,0,0,0,0,0
$GC,10214,0.60,155.7,957.5,11.7,721,10218,0.00,0.70,0.00,0.000,4,0.000,0.051,3230,1387,1959,0,0,0,0,0,0
$GC,10393,0.60,155.7,937.1,10.9,729,10397,0.00,0.62,0.00,0.000,6,0.000,0.028,3230,1810,1959,0,0,0,0,0,0
$GC,10725,0.60,155.7,899.3,11.6,745,10729,0.00,0.38,0.00,0.000,4,0.000,0.043,3231,1558,1959,0,0,0,0,0,0
$GC,10959,0.60,155.7,871.5,11.6,755,10964,0.00,0.40,0.00,0.000,6,0.000,0.034,3231,1854,1959,0,0,0,0,0,0
$GC,11281,0.60,155.7,834.0,11.6,771,11284,0.00,1.12,0.00,0.000,4,0.000,0.050,3235,1154,1960,0,0,0,0,0,0
$GC,11439,0.60,155.7,815.5,12.2,778,11442,0.00,0.98,0.00,0.000,6,0.000,0.026,3235,1823,1961,0,0,0,0,0,0
$GC,11771,0.60,155.7,777.7,11.6,794,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1822,1964,0,0,0,0,0,0
$GC,12080,0.60,155.7,743.6,10.5,809,12084,0.00,0.43,0.00,0.000,4,0.000,0.045,3235,1536,1966,0,0,0,0,0,0
$GC,12337,0.60,164.8,716.2,10.0,820,12352,0.00,0.40,10.80,1.456,6,0.000,0.034,3235,1829,1929,0,0,0,0,0,0
$GC,12680,0.60,164.8,679.9,10.9,837,12684,0.00,0.68,0.00,0.000,4,0.000,0.047,3238,1399,1929,0,0,0,0,0,0
$GC,12906,0.60,164.8,655.2,10.5,847,12910,0.00,0.60,0.00,0.000,6,0.000,0.031,3237,1842,1929,0,0,0,0,0,0
$GC,13238,0.60,164.8,617.6,11.1,863,13242,0.00,0.75,0.00,0.000,4,0.000,0.045,3240,1368,1929,0,0,0,0,0,0
$GC,13495,0.60,164.8,588.8,10.8,874,13499,0.00,0.65,0.00,0.000,6,0.000,0.029,3240,1831,1929,0,0,0,0,0,0
$GC,13817,0.60,164.8,552.5,11.6,890,13821,0.00,0.40,0.00,0.000,4,0.000,0.044,3240,1562,1929,0,0,0,0,0,0
$GC,14073,0.60,164.8,523.1,10.7,901,14077,0.00,0.35,0.00,0.000,6,0.000,0.035,3240,1813,1929,0,0,0,0,0,0
$GC,14394,0.60,164.8,485.6,12.0,917,14398,0.00,0.68,0.00,0.000,4,0.000,0.046,3242,1382,1929,0,0,0,0,0,0
$GC,14619,0.60,164.8,458.2,12.1,927,14623,0.00,0.65,0.00,0.000,6,0.000,0.030,3242,1845,1929,0,0,0,0,0,0
$GC,14951,0.60,164.8,417.4,12.3,943,14952,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1844,1929,0,0,0,0,0,0
$GC,15267,0.60,164.8,378.1,12.8,966,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1845,1929,0,0,0,0,0,0
$GC,15585,0.60,164.8,339.0,12.0,996,15588,0.00,0.88,0.00,0.000,4,0.000,0.047,3245,1291,1929,0,0,0,0,0,0
$GC,15812,0.60,166.9,312.9,10.3,1016,15824,0.00,0.77,4.07,1.001,6,0.000,0.028,3244,1840,1919,0,0,0,0,0,0
$GC,16141,0.60,167.6,277.4,10.4,1047,16145,0.00,0.65,0.00,0.000,4,0.000,0.044,3245,1418,1919,0,0,0,0,0,0
$GC,16393,0.60,167.6,250.7,10.8,1069,16397,0.00,0.55,0.00,0.000,6,0.000,0.031,3245,1834,1918,0,0,0,0,0,0
$GC,16723,0.60,167.6,214.9,10.9,1100,16724,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1835,1918,0,0,0,0,0,0
$GC,17042,0.60,167.6,179.8,10.8,1130,17046,0.00,0.55,0.00,0.000,4,0.000,0.044,3246,1470,1919,0,0,0,0,0,0
$GC,17258,0.60,167.6,156.1,12.6,1149,17262,0.00,0.47,0.00,0.000,6,0.000,0.034,3246,1843,1919,0,0,0,0,0,0
$GC,17588,0.60,167.6,119.6,11.5,1180,17592,0.00,0.50,0.00,0.000,4,0.000,0.043,3247,1505,1918,0,0,0,0,0,0
$GC,17851,0.60,167.6,90.9,12.0,1210,17856,0.00,0.40,0.00,0.000,6,0.000,0.035,3247,1832,1919,0,0,0,0,0,0
$GC,18198,0.60,181.2,53.6,9.8,1271,18219,0.00,2.03,14.55,1.077,4,0.000,0.054,3253,597,1860,0,0,0,0,0,0
$GC,18361,0.60,181.2,35.3,11.3,1300,18369,0.08,1.80,0.00,0.000,6,0.142,0.024,3228,1797,1860,0,0,0,0,0,0
$GC,18510,0.60,198.8,20.9,9.6,1325,18522,0.00,0.00,10.52,1.017,6,0.000,0.000,3228,1797,1788,0,0,0,0,0,0
$GC,18666,0.60,199.5,4.5,10.4,1351,18672,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1797,1785,0,0,0,0,0,0
$STATE,18685,end climb,SURFACE_DEPTH_REACHED
$STATE,18685,begin surface coast
$FINISH,1.9,1.002099
$STATE,18727,end surface coast,CONTROL_FINISHED_OK
$STATE,18728,begin surface
$SM_CCo,18804,0.00,0.000,0,0,1780,200.90
$SM_GC,2.89,8.65,0.00,0.00,0.046,0.000,0.000,76,1971,1780,-9.19,1.16,200.90
$IRIDIUM_FIX,-4239.11,824.00,291113,181856
$TT8_MAMPS,0.026964
$HUMID,61.81
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.5,34.686
$10V_AH,10.1,27.674
$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,22.450,25.800,318.225,0.000,0.000,29.760,19.551,320.168,0.250,0.000,20.072,3353.361,11705.524,402.225,3658.697,171.619,0.000,1760.255,0.000,3239.099,0.000,2.831,0.000
$DEVICE_MAMPS,292.995,91.035,1688.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.236,953.843,907.693,89.082,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,76938,1361
$CAP_FILE_SIZE,163232,0
$CFSIZE,2097086464,2067660800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301113,050155,-4256.579,828.076,78,2.0,78,-25.0