version: 66.07.10.p01
glider: 574
mission: 4
dive: 15
start: 9 21 112 17 8 45
data:
$ID,574
$MISSION,4
$DIVE,15
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$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,235
$T_MISSION,250
$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,185
$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,90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,596.31458
$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,-5453.0088
$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,3000
$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,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,59
$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,2827
$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,-61.017719
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,210912,165905,-4330.307,-952.516,25,1.4,25,-21.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.1
$GPS2,210912,170824,-4330.365,-952.496,23,1.4,23,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4330.365,-937.607
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,111.0,20000,-16.3,-9.929
$D_GRID,700
$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,23,-0.55,-180.0,0.0,0.0,0,138,0.00,0.00,-112.30,0.000,2,0.000,0.000,64,1974,3166,0,0,0,0,0,0
$GC,140,-0.55,-180.0,3.4,-5.4,19,167,12.65,2.33,-7.90,0.000,4,0.284,0.072,2811,536,3561,0,0,0,0,0,0
$GC,335,-0.50,-180.0,37.1,-13.5,52,343,0.08,2.20,0.00,0.000,6,0.161,0.040,2828,1927,3562,0,0,0,0,0,0
$GC,484,-0.46,-180.0,57.2,-12.9,77,488,0.08,0.00,0.00,0.000,6,0.207,0.000,2845,1926,3561,0,0,0,0,0,0
$GC,626,-0.46,-180.0,74.5,-11.0,102,633,0.00,0.32,0.00,0.000,4,0.000,0.054,2844,2168,3562,0,0,0,0,0,0
$GC,684,-0.46,-180.0,80.7,-11.9,112,691,0.00,0.35,0.00,0.000,6,0.000,0.058,2844,1932,3562,0,0,0,0,0,0
$GC,1036,-0.46,-180.0,120.6,-10.3,173,1041,0.00,0.57,0.00,0.000,4,0.000,0.061,2844,1551,3562,0,0,0,0,0,0
$GC,1129,-0.46,-180.0,131.1,-11.1,189,1134,0.00,0.60,0.00,0.000,6,0.000,0.044,2843,1953,3562,0,0,0,0,0,0
$GC,1478,-0.46,-180.0,169.7,-10.8,250,1485,0.00,0.65,0.00,0.000,4,0.000,0.057,2843,1537,3562,0,0,0,0,0,0
$GC,1578,-0.46,-180.0,180.4,-11.0,267,1583,0.00,0.62,0.00,0.000,6,0.000,0.044,2840,1956,3562,0,0,0,0,0,0
$GC,1927,-0.46,-180.0,219.3,-10.9,328,1934,0.00,0.70,0.00,0.000,4,0.000,0.056,2840,1508,3563,0,0,0,0,0,0
$GC,2028,-0.46,-180.0,231.1,-12.7,345,2033,0.00,0.65,0.00,0.000,6,0.000,0.043,2838,1944,3563,0,0,0,0,0,0
$GC,2376,-0.46,-180.0,271.9,-11.7,406,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1945,3563,0,0,0,0,0,0
$GC,2728,-0.46,-180.0,309.4,-9.8,467,2732,0.00,0.93,0.00,0.000,4,0.000,0.057,2838,1357,3564,0,0,0,0,0,0
$GC,2813,-0.46,-180.0,318.4,-10.0,482,2820,0.03,0.90,0.00,0.000,6,0.194,0.041,2844,1951,3564,0,0,0,0,0,0
$GC,3167,-0.50,-180.0,352.0,-9.5,543,3172,0.00,0.52,0.00,0.000,4,0.000,0.058,2844,1597,3564,0,0,0,0,0,0
$GC,3307,-0.53,-180.0,365.6,-9.4,567,3312,0.00,0.52,0.00,0.000,6,0.000,0.046,2844,1956,3564,0,0,0,0,0,0
$GC,3655,-0.56,-180.0,398.4,-9.0,628,3663,0.08,0.68,0.00,0.000,4,0.135,0.056,2813,1527,3565,0,0,0,0,0,0
$GC,3734,-0.52,-180.0,407.5,-12.1,641,3739,0.05,0.62,0.00,0.000,6,0.167,0.044,2826,1950,3565,0,0,0,0,0,0
$GC,4083,-0.52,-180.0,447.5,-11.1,702,4090,0.00,0.32,0.00,0.000,4,0.000,0.063,2827,1723,3565,0,0,0,0,0,0
$GC,4187,-0.52,-180.0,458.7,-10.8,720,4194,0.00,0.32,0.00,0.000,6,0.000,0.051,2827,1963,3565,0,0,0,0,0,0
$GC,4540,-0.52,-180.0,494.6,-9.8,781,4545,0.00,0.95,0.00,0.000,4,0.000,0.057,2827,1358,3564,0,0,0,0,0,0
$GC,4632,-0.52,-180.0,504.0,-9.8,797,4637,0.00,0.88,0.00,0.000,6,0.000,0.042,2824,1940,3565,0,0,0,0,0,0
$GC,4981,-0.52,-180.0,540.4,-10.4,858,4988,0.00,0.43,0.00,0.000,4,0.000,0.058,2824,1657,3564,0,0,0,0,0,0
$GC,5051,-0.52,-180.0,548.2,-11.0,870,5058,0.00,0.43,0.00,0.000,6,0.000,0.047,2822,1956,3564,0,0,0,0,0,0
$GC,5403,-0.52,-180.0,585.8,-10.9,931,5408,0.00,0.62,0.00,0.000,4,0.000,0.057,2822,1548,3564,0,0,0,0,0,0
$GC,5519,-0.52,-180.0,598.8,-11.3,951,5524,0.00,0.60,0.00,0.000,6,0.000,0.045,2819,1954,3564,0,0,0,0,0,0
$GC,5867,-0.52,-180.0,637.5,-11.6,1012,5874,0.00,0.45,0.00,0.000,4,0.000,0.060,2819,1658,3564,0,0,0,0,0,0
$GC,5956,-0.52,-180.0,647.0,-10.9,1027,5961,0.00,0.43,0.00,0.000,6,0.000,0.048,2818,1954,3564,0,0,0,0,0,0
$GC,6305,-0.52,-180.0,686.4,-11.7,1088,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1955,3563,0,0,0,0,0,0
$STATE,6426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6426,begin apogee
$GC,6430,-0.17,0.0,700.2,11.2,1109,6577,0.38,0.00,142.45,1.141,6,0.141,0.000,2938,1701,2827,0,0,0,0,0,0
$STATE,6578,end apogee,CONTROL_FINISHED_OK
$STATE,6578,begin climb
$GC,6579,0.55,180.0,707.2,0.0,1136,6739,0.73,2.50,149.73,1.165,4,0.098,0.068,3173,304,2093,0,0,0,0,0,0
$GC,6860,0.53,236.0,695.4,7.9,1186,6915,0.00,2.25,47.95,1.112,6,0.000,0.037,3173,1689,1864,0,0,0,0,0,0
$GC,7258,0.53,272.4,662.7,8.6,1256,7297,0.00,0.30,31.00,1.088,4,0.000,0.054,3173,1895,1716,0,0,0,0,0,0
$GC,7361,0.57,313.3,653.9,8.4,1274,7405,0.00,0.30,39.30,1.260,6,0.000,0.066,3173,1703,1548,0,0,0,0,0,0
$GC,7748,0.64,362.2,621.9,8.1,1342,7803,0.10,2.30,46.92,1.271,4,0.107,0.066,3215,383,1348,0,0,0,0,0,0
$GC,7846,0.67,362.2,611.5,11.2,1359,7851,0.00,2.12,0.00,0.000,6,0.000,0.036,3215,1706,1343,0,0,0,0,0,0
$GC,8194,0.69,362.2,572.6,11.4,1420,8202,0.00,1.05,0.00,0.000,4,0.000,0.060,3216,1069,1339,0,0,0,0,0,0
$GC,8288,0.71,362.2,562.2,11.3,1436,8295,0.00,0.98,0.00,0.000,6,0.000,0.038,3216,1705,1339,0,0,0,0,0,0
$GC,8639,0.71,362.2,522.7,11.0,1497,8644,0.00,1.25,0.00,0.000,4,0.000,0.060,3216,941,1338,0,0,0,0,0,0
$GC,8732,0.73,362.2,512.2,11.8,1513,8737,0.03,1.17,0.00,0.000,6,0.104,0.037,3235,1707,1337,0,0,0,0,0,0
$GC,9080,0.73,362.2,468.5,12.4,1574,9087,0.00,1.20,0.00,0.000,4,0.000,0.060,3237,969,1337,0,0,0,0,0,0
$GC,9169,0.73,362.2,457.3,13.4,1589,9174,0.00,1.12,0.00,0.000,6,0.000,0.037,3237,1708,1337,0,0,0,0,0,0
$GC,9517,0.73,362.2,414.3,12.6,1650,9524,0.00,0.68,0.00,0.000,4,0.000,0.059,3238,1282,1336,0,0,0,0,0,0
$GC,9594,0.73,362.2,404.7,12.8,1663,9599,0.00,0.62,0.00,0.000,6,0.000,0.041,3238,1711,1337,0,0,0,0,0,0
$GC,9943,0.71,362.2,358.0,13.7,1724,9950,0.00,1.62,0.00,0.000,4,0.000,0.062,3241,704,1336,0,0,0,0,0,0
$GC,10048,0.68,362.2,343.3,13.8,1742,10055,0.05,1.50,0.00,0.000,6,0.174,0.037,3225,1693,1336,0,0,0,0,0,0
$GC,10400,0.68,362.2,298.2,12.6,1803,10405,0.00,1.67,0.00,0.000,4,0.000,0.063,3227,627,1335,0,0,0,0,0,0
$GC,10493,0.68,362.2,286.2,12.9,1819,10498,0.00,1.62,0.00,0.000,6,0.000,0.037,3227,1694,1335,0,0,0,0,0,0
$GC,10840,0.68,362.2,243.9,11.4,1880,10847,0.00,0.38,0.00,0.000,4,0.000,0.062,3227,1451,1335,0,0,0,0,0,0
$GC,10921,0.68,362.2,234.9,10.7,1894,10928,0.00,0.35,0.00,0.000,6,0.000,0.047,3227,1708,1335,0,0,0,0,0,0
$GC,11273,0.68,362.2,193.4,12.0,1955,11278,0.00,1.08,0.00,0.000,4,0.000,0.059,3227,1034,1335,0,0,0,0,0,0
$GC,11355,0.68,362.2,183.6,12.1,1969,11360,0.00,1.00,0.00,0.000,6,0.000,0.036,3227,1708,1335,0,0,0,0,0,0
$GC,11703,0.68,362.2,142.5,11.7,2030,11710,0.00,1.12,0.00,0.000,4,0.000,0.058,3227,1005,1335,0,0,0,0,0,0
$GC,11795,0.68,362.2,131.5,11.4,2046,11802,0.00,1.02,0.00,0.000,6,0.000,0.034,3227,1701,1335,0,0,0,0,0,0
$GC,12147,0.68,362.2,90.1,11.1,2107,12152,0.00,1.23,0.00,0.000,4,0.000,0.060,3227,934,1336,0,0,0,0,0,0
$GC,12240,0.68,362.2,79.0,12.5,2123,12245,0.00,1.12,0.00,0.000,6,0.000,0.034,3227,1694,1336,0,0,0,0,0,0
$GC,12588,0.68,362.2,36.8,12.5,2184,12595,0.00,1.10,0.00,0.000,4,0.000,0.059,3227,1005,1336,0,0,0,0,0,0
$GC,12666,0.68,362.2,27.2,11.6,2197,12673,0.00,1.02,0.00,0.000,6,0.000,0.033,3227,1707,1336,0,0,0,0,0,0
$GC,12745,0.68,362.2,16.6,12.8,2210,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1713,1336,0,0,0,0,0,0
$GC,12823,0.68,362.2,5.6,14.1,2223,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1714,1337,0,0,0,0,0,0
$STATE,12848,end climb,SURFACE_DEPTH_REACHED
$STATE,12848,begin surface coast
$FINISH,0.6,1.014150
$STATE,12874,end surface coast,CONTROL_FINISHED_OK
$STATE,12874,begin surface
$SM_CCo,12889,107.85,0.695,0,0,395,596.31
$SM_GC,1.31,0.00,0.00,107.85,0.000,0.000,0.695,81,1949,395,-9.10,0.00,596.31
$IRIDIUM_FIX,-4314.46,-956.52,210912,131318
$TT8_MAMPS,0.026964
$HUMID,43.62
$INTERNAL_PRESSURE,9.01849
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,23.7,7.735
$10V_AH,10.4,4.386
$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,22.950,53.000,457.350,107.850,0.000,29.850,39.075,370.961,0.000,0.000,25.672,4860.179,1936.996,543.075,6047.572,159.480,0.000,2348.964,0.000,5599.649,0.000,1.015,0.000
$DEVICE_MAMPS,283.815,71.910,1270.665,694.620,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1533.484,3809.160,570.411,492.249,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354808
$DATA_FILE_SIZE,130258,2231
$CAP_FILE_SIZE,184697,0
$CFSIZE,2097086464,2093088768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210912,204635,-4330.335,-951.176,39,0.8,39,-21.0