version: 66.07.10.p01
glider: 574
mission: 4
dive: 25
start: 9 23 112 19 55 39
data:
$ID,574
$MISSION,4
$DIVE,25
$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,333
$T_MISSION,348
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-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,-5485.1416
$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,3016
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1910
$C_ROLL_CLIMB,1644
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$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,4
$GPS1,230912,194405,-4327.951,-934.539,29,0.9,29,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-62.4
$GPS2,230912,195518,-4327.916,-934.486,26,1.1,26,-21.1
$SPEED_LIMITS,0.173,0.286
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$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,104.5,128123,-16.4,-10.010
$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,-0.62,-180.0,0.0,0.0,0,128,0.00,0.00,-101.25,0.000,2,0.000,0.000,65,1895,2891,0,0,0,0,0,0
$GC,130,-0.62,-180.0,3.1,-3.9,17,162,12.62,1.55,-14.75,0.000,4,0.282,0.076,2804,961,3563,0,0,0,0,0,0
$GC,235,-0.52,-180.0,27.3,-22.3,34,242,0.12,1.52,0.00,0.000,6,0.157,0.042,2837,1911,3564,0,0,0,0,0,0
$GC,314,-0.48,-180.0,40.3,-17.5,47,319,0.08,0.43,0.00,0.000,4,0.208,0.053,2853,2205,3564,0,0,0,0,0,0
$GC,385,-0.52,-180.0,52.5,-18.3,59,390,0.00,0.45,0.00,0.000,6,0.000,0.057,2853,1914,3564,0,0,0,0,0,0
$GC,527,-0.52,-180.0,74.2,-11.3,84,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1914,3564,0,0,0,0,0,0
$GC,879,-0.55,-180.0,110.8,-9.7,145,883,0.00,0.52,0.00,0.000,4,0.000,0.060,2853,1567,3564,0,0,0,0,0,0
$GC,930,-0.59,-180.0,117.0,-12.2,154,937,0.05,0.52,0.00,0.000,6,0.078,0.049,2821,1917,3563,0,0,0,0,0,0
$GC,1283,-0.53,-180.0,166.0,-13.0,215,1289,0.10,0.32,0.00,0.000,4,0.182,0.057,2844,2155,3563,0,0,0,0,0,0
$GC,1354,-0.53,-180.0,173.8,-10.0,227,1359,0.00,0.38,0.00,0.000,6,0.000,0.056,2843,1900,3564,0,0,0,0,0,0
$GC,1703,-0.53,-180.0,216.9,-11.5,288,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1900,3564,0,0,0,0,0,0
$GC,2054,-0.53,-180.0,257.2,-11.2,349,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1900,3564,0,0,0,0,0,0
$GC,2402,-0.53,-180.0,294.9,-10.9,410,2410,0.00,0.40,0.00,0.000,4,0.000,0.048,2842,2184,3564,0,0,0,0,0,0
$GC,2515,-0.57,-180.0,306.1,-10.1,429,2520,0.00,0.40,0.00,0.000,6,0.000,0.054,2842,1912,3564,0,0,0,0,0,0
$GC,2863,-0.59,-180.0,339.7,-10.0,490,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1912,3564,0,0,0,0,0,0
$GC,3215,-0.62,-180.0,373.7,-10.3,551,3220,0.08,0.00,0.00,0.000,6,0.134,0.000,2811,1911,3564,0,0,0,0,0,0
$GC,3564,-0.57,-180.0,418.7,-12.7,612,3571,0.08,0.00,0.00,0.000,6,0.197,0.000,2828,1911,3564,0,0,0,0,0,0
$GC,3916,-0.57,-180.0,456.2,-10.8,673,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1911,3564,0,0,0,0,0,0
$GC,4264,-0.57,-180.0,495.3,-11.1,734,4271,0.00,0.40,0.00,0.000,4,0.000,0.050,2827,2194,3564,0,0,0,0,0,0
$GC,4353,-0.57,-180.0,504.6,-10.2,749,4358,0.00,0.43,0.00,0.000,6,0.000,0.056,2827,1906,3564,0,0,0,0,0,0
$GC,4701,-0.57,-180.0,543.4,-11.5,810,4708,0.00,0.38,0.00,0.000,4,0.000,0.063,2827,1645,3563,0,0,0,0,0,0
$GC,4760,-0.57,-180.0,550.3,-11.8,820,4767,0.00,0.38,0.00,0.000,6,0.000,0.050,2826,1907,3563,0,0,0,0,0,0
$GC,5111,-0.57,-180.0,594.1,-13.3,881,5116,0.00,0.40,0.00,0.000,4,0.000,0.053,2824,2202,3562,0,0,0,0,0,0
$GC,5173,-0.57,-180.0,602.5,-13.4,892,5180,0.00,0.43,0.00,0.000,6,0.000,0.056,2824,1913,3562,0,0,0,0,0,0
$GC,5525,-0.57,-180.0,647.0,-12.5,953,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1913,3562,0,0,0,0,0,0
$GC,5873,-0.57,-180.0,689.9,-12.2,1014,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1913,3561,0,0,0,0,0,0
$GC,6224,-0.57,-180.0,730.6,-11.2,1075,6229,0.00,0.47,0.00,0.000,4,0.000,0.062,2824,1586,3559,0,0,0,0,0,0
$GC,6283,-0.57,-180.0,737.6,-11.4,1085,6288,0.00,0.47,0.00,0.000,6,0.000,0.050,2823,1907,3560,0,0,0,0,0,0
$GC,6631,-0.57,-180.0,778.0,-11.4,1146,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1908,3559,0,0,0,0,0,0
$GC,6983,-0.57,-180.0,818.2,-12.1,1207,6988,0.00,0.47,0.00,0.000,4,0.000,0.054,2821,2245,3558,0,0,0,0,0,0
$GC,7053,-0.59,-180.0,826.0,-10.2,1219,7058,0.00,0.50,0.00,0.000,6,0.000,0.054,2821,1910,3558,0,0,0,0,0,0
$GC,7401,-0.59,-180.0,866.3,-11.9,1280,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1910,3558,0,0,0,0,0,0
$GC,7752,-0.59,-180.0,905.5,-10.7,1341,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1910,3557,0,0,0,0,0,0
$GC,8101,-0.61,-180.0,944.6,-11.3,1402,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1910,3557,0,0,0,0,0,0
$GC,8453,-0.64,-180.0,980.9,-9.0,1463,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1910,3555,0,0,0,0,0,0
$STATE,8653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8653,begin apogee
$GC,8657,-0.19,0.0,1000.4,8.4,1498,8810,0.40,0.00,149.32,1.408,6,0.145,0.000,2947,1643,2827,0,0,0,0,0,0
$STATE,8811,end apogee,CONTROL_FINISHED_OK
$STATE,8811,begin climb
$GC,8812,0.62,180.0,1007.5,0.0,1526,8976,0.80,0.75,157.05,1.395,4,0.083,0.044,3207,2109,2093,0,0,0,0,0,0
$GC,9046,0.48,180.0,996.9,11.6,1568,9053,0.12,0.77,0.00,0.000,6,0.181,0.057,3178,1655,2090,0,0,0,0,0,0
$GC,9399,0.42,201.6,962.5,9.2,1629,9422,0.10,0.00,19.50,1.253,6,0.210,0.000,3156,1655,2003,0,0,0,0,0,0
$GC,9767,0.42,224.8,930.8,9.1,1693,9791,0.00,0.73,20.62,1.254,4,0.000,0.047,3156,2094,1910,0,0,0,0,0,0
$GC,9865,0.42,251.3,922.2,9.0,1710,9895,0.00,0.75,24.60,1.283,6,0.000,0.056,3156,1639,1802,0,0,0,0,0,0
$GC,10240,0.45,261.2,889.1,9.6,1775,10253,0.00,0.60,9.25,1.149,4,0.000,0.047,3156,2009,1761,0,0,0,0,0,0
$GC,10324,0.50,284.4,881.3,9.1,1789,10352,0.00,0.60,21.85,1.255,6,0.000,0.059,3157,1640,1668,0,0,0,0,0,0
$GC,10695,0.57,329.8,848.8,8.3,1854,10740,0.12,0.38,40.75,1.260,4,0.100,0.051,3204,1872,1481,0,0,0,0,0,0
$GC,10797,0.57,329.8,837.2,11.7,1872,10804,0.00,0.38,0.00,0.000,6,0.000,0.064,3206,1640,1479,0,0,0,0,0,0
$GC,11149,0.57,329.8,795.5,12.1,1933,11154,0.00,0.25,0.00,0.000,4,0.000,0.076,3206,1465,1476,0,0,0,0,0,0
$GC,11219,0.57,329.8,786.6,13.1,1945,11224,0.00,0.25,0.00,0.000,6,0.000,0.059,3206,1640,1476,0,0,0,0,0,0
$GC,11566,0.57,329.8,742.4,12.3,2006,11573,0.00,0.55,0.00,0.000,4,0.000,0.066,3207,1294,1476,0,0,0,0,0,0
$GC,11644,0.57,329.8,732.8,12.9,2019,11649,0.00,0.52,0.00,0.000,6,0.000,0.047,3208,1646,1476,0,0,0,0,0,0
$GC,11991,0.57,329.8,689.3,12.1,2080,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1647,1476,0,0,0,0,0,0
$GC,12342,0.57,329.8,648.4,11.1,2141,12347,0.00,0.60,0.00,0.000,4,0.000,0.063,3209,1264,1476,0,0,0,0,0,0
$GC,12412,0.57,329.8,640.5,11.1,2153,12416,0.00,0.57,0.00,0.000,6,0.000,0.046,3209,1650,1476,0,0,0,0,0,0
$GC,12759,0.57,329.8,602.1,11.2,2214,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1650,1476,0,0,0,0,0,0
$GC,13110,0.57,329.8,565.3,10.6,2275,13115,0.00,0.85,0.00,0.000,4,0.000,0.063,3212,1115,1475,0,0,0,0,0,0
$GC,13191,0.57,331.9,557.3,9.9,2289,13196,0.00,0.80,0.00,0.000,6,0.000,0.043,3212,1654,1476,0,0,0,0,0,0
$GC,13539,0.54,331.9,520.8,10.9,2350,13547,0.08,0.00,0.00,0.000,6,0.205,0.000,3197,1654,1476,0,0,0,0,0,0
$GC,13891,0.55,371.3,487.9,8.5,2411,13935,0.00,0.00,36.30,1.044,6,0.000,0.000,3197,1653,1312,0,0,0,0,0,0
$GC,14280,0.59,374.5,451.6,9.9,2479,14285,0.00,0.77,0.00,0.000,4,0.000,0.067,3199,1175,1307,0,0,0,0,0,0
$GC,14365,0.64,388.4,443.5,9.5,2494,14385,0.03,0.70,15.07,0.971,6,0.109,0.041,3220,1647,1242,0,0,0,0,0,0
$GC,14730,0.64,388.4,400.6,11.0,2557,14734,0.00,0.45,0.00,0.000,4,0.000,0.066,3222,1353,1240,0,0,0,0,0,0
$GC,14811,0.64,388.4,390.5,12.4,2571,14816,0.00,0.43,0.00,0.000,6,0.000,0.046,3222,1648,1239,0,0,0,0,0,0
$GC,15158,0.64,388.4,347.1,12.3,2632,15166,0.00,0.77,0.00,0.000,4,0.000,0.063,3223,1154,1239,0,0,0,0,0,0
$GC,15236,0.64,388.4,337.7,12.5,2645,15241,0.00,0.73,0.00,0.000,6,0.000,0.039,3223,1649,1239,0,0,0,0,0,0
$GC,15584,0.62,388.4,294.1,11.7,2706,15591,0.00,0.60,0.00,0.000,4,0.000,0.063,3225,1267,1239,0,0,0,0,0,0
$GC,15661,0.62,388.4,284.8,12.1,2719,15666,0.00,0.55,0.00,0.000,6,0.000,0.043,3225,1652,1239,0,0,0,0,0,0
$GC,16009,0.62,388.4,240.9,13.2,2780,16016,0.00,0.47,0.00,0.000,4,0.000,0.064,3225,1342,1239,0,0,0,0,0,0
$GC,16132,0.62,388.4,225.8,12.6,2801,16137,0.00,0.43,0.00,0.000,6,0.000,0.044,3225,1649,1239,0,0,0,0,0,0
$GC,16480,0.62,388.4,180.1,11.4,2862,16487,0.00,0.68,0.00,0.000,4,0.000,0.063,3226,1217,1239,0,0,0,0,0,0
$GC,16557,0.62,388.4,170.4,12.6,2875,16562,0.00,0.60,0.00,0.000,6,0.000,0.038,3226,1647,1239,0,0,0,0,0,0
$GC,16905,0.62,388.4,125.2,14.8,2936,16911,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1648,1239,0,0,0,0,0,0
$GC,17256,0.62,430.5,80.7,8.4,2997,17301,0.00,1.52,35.08,0.754,4,0.000,0.067,3226,743,1072,0,0,0,0,0,0
$GC,17383,0.67,430.5,65.7,13.5,3019,17388,0.00,1.35,0.00,0.000,6,0.000,0.033,3226,1628,1067,0,0,0,0,0,0
$GC,17735,0.69,430.5,15.8,15.3,3080,17742,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1638,1066,0,0,0,0,0,0
$GC,17814,0.78,430.5,3.7,12.9,3093,17821,0.12,0.00,0.00,0.000,6,0.096,0.000,3278,1638,1066,0,0,0,0,0,0
$STATE,17828,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,1.2,1.026729
$STATE,17853,end surface coast,CONTROL_FINISHED_OK
$STATE,17853,begin surface
$SM_CCo,17868,75.30,0.624,0,0,395,596.31
$SM_GC,1.78,0.00,0.00,75.30,0.000,0.000,0.624,90,1940,395,-9.13,0.85,596.31
$IRIDIUM_FIX,-4311.50,-937.98,230912,141400
$TT8_MAMPS,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.00873
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,10.158
$10V_AH,10.3,7.777
$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,23.675,31.025,529.400,75.300,0.000,28.241,44.501,457.843,0.250,0.000,29.416,6763.156,2782.518,566.294,8260.729,217.762,0.000,2940.629,0.000,7725.188,0.000,2.832,0.000
$DEVICE_MAMPS,282.285,75.735,1408.365,624.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2154.377,5222.672,840.123,669.356,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354848
$DATA_FILE_SIZE,180039,3099
$CAP_FILE_SIZE,242915,0
$CFSIZE,2097086464,2091057152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240912,005605,-4327.606,-932.344,48,0.8,48,-21.1