version: 66.07.10.p01
glider: 574
mission: 4
dive: 26
start: 9 24 112 1 7 57
data:
$ID,574
$MISSION,4
$DIVE,26
$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,-5488.4258
$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,29
$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,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,5
$GPS1,240912,005605,-4327.606,-932.344,48,0.8,48,-21.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.5
$GPS2,240912,010736,-4327.570,-932.345,15,1.8,15,-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,104.7,125185,-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,-101.15,0.000,2,0.000,0.000,65,1938,2923,0,0,0,0,0,0
$GC,130,-0.62,-180.0,3.4,-5.1,17,162,12.52,2.35,-13.85,0.000,4,0.279,0.071,2808,502,3562,0,0,0,0,0,0
$GC,298,-0.62,-180.0,31.4,-12.3,45,303,0.00,2.17,0.00,0.000,6,0.000,0.044,2802,1871,3563,0,0,0,0,0,0
$GC,441,-0.50,-180.0,51.0,-15.8,70,448,0.17,1.00,0.00,0.000,4,0.174,0.049,2845,2514,3563,0,0,0,0,0,0
$GC,553,-0.53,-180.0,62.4,-10.9,89,558,0.00,0.95,0.00,0.000,6,0.000,0.050,2845,1915,3563,0,0,0,0,0,0
$GC,901,-0.53,-180.0,106.6,-15.8,150,908,0.00,0.43,0.00,0.000,4,0.000,0.061,2845,1630,3563,0,0,0,0,0,0
$GC,978,-0.53,-180.0,117.7,-14.2,163,983,0.00,0.43,0.00,0.000,6,0.000,0.045,2844,1925,3563,0,0,0,0,0,0
$GC,1326,-0.53,-180.0,162.9,-12.8,224,1333,0.00,0.50,0.00,0.000,4,0.000,0.050,2842,2278,3563,0,0,0,0,0,0
$GC,1415,-0.55,-180.0,173.1,-11.4,239,1420,0.00,0.57,0.00,0.000,6,0.000,0.050,2842,1897,3563,0,0,0,0,0,0
$GC,1763,-0.55,-180.0,215.2,-12.2,300,1770,0.00,0.38,0.00,0.000,4,0.000,0.047,2840,2178,3563,0,0,0,0,0,0
$GC,1852,-0.55,-180.0,225.4,-11.5,315,1857,0.00,0.40,0.00,0.000,6,0.000,0.054,2840,1904,3563,0,0,0,0,0,0
$GC,2199,-0.55,-180.0,267.8,-11.5,376,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1904,3563,0,0,0,0,0,0
$GC,2550,-0.55,-180.0,306.9,-10.5,437,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1904,3564,0,0,0,0,0,0
$GC,2898,-0.55,-180.0,344.9,-11.2,498,2905,0.00,0.32,0.00,0.000,4,0.000,0.049,2838,2154,3564,0,0,0,0,0,0
$GC,2957,-0.58,-180.0,351.2,-10.4,508,2964,0.00,0.35,0.00,0.000,6,0.000,0.055,2838,1908,3564,0,0,0,0,0,0
$GC,3309,-0.58,-180.0,387.9,-10.1,569,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1908,3565,0,0,0,0,0,0
$GC,3657,-0.60,-180.0,423.7,-11.0,630,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1908,3566,0,0,0,0,0,0
$GC,4009,-0.62,-180.0,458.7,-9.9,691,4013,0.08,0.00,0.00,0.000,6,0.132,0.000,2807,1908,3565,0,0,0,0,0,0
$GC,4357,-0.57,-180.0,504.8,-13.5,752,4364,0.10,0.00,0.00,0.000,6,0.181,0.000,2831,1908,3565,0,0,0,0,0,0
$GC,4709,-0.57,-180.0,542.8,-10.7,813,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3565,0,0,0,0,0,0
$GC,5056,-0.57,-180.0,579.1,-10.3,874,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3565,0,0,0,0,0,0
$GC,5406,-0.57,-180.0,616.5,-11.4,935,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3565,0,0,0,0,0,0
$GC,5755,-0.59,-180.0,655.3,-11.1,996,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1908,3564,0,0,0,0,0,0
$GC,6106,-0.62,-180.0,693.6,-11.4,1057,6111,0.00,0.25,0.00,0.000,4,0.000,0.070,2831,1720,3563,0,0,0,0,0,0
$GC,6168,-0.64,-180.0,700.5,-11.0,1068,6176,0.05,0.25,0.00,0.000,6,0.081,0.057,2802,1904,3563,0,0,0,0,0,0
$GC,6521,-0.60,-180.0,747.8,-14.1,1129,6527,0.08,0.32,0.00,0.000,4,0.199,0.057,2818,2149,3563,0,0,0,0,0,0
$GC,6604,-0.60,-180.0,757.7,-11.0,1143,6608,0.00,0.35,0.00,0.000,6,0.000,0.057,2818,1904,3563,0,0,0,0,0,0
$GC,6951,-0.60,-180.0,797.2,-10.9,1204,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1904,3562,0,0,0,0,0,0
$GC,7302,-0.60,-180.0,835.2,-11.2,1265,7307,0.00,0.28,0.00,0.000,4,0.000,0.056,2817,2109,3561,0,0,0,0,0,0
$GC,7395,-0.60,-180.0,845.1,-10.6,1281,7400,0.00,0.28,0.00,0.000,6,0.000,0.062,2817,1914,3561,0,0,0,0,0,0
$GC,7742,-0.60,-180.0,881.2,-10.4,1342,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1914,3560,0,0,0,0,0,0
$GC,8093,-0.60,-180.0,917.5,-10.8,1403,8098,0.00,0.50,0.00,0.000,4,0.000,0.061,2817,1572,3559,0,0,0,0,0,0
$GC,8151,-0.60,-180.0,923.6,-11.0,1413,8156,0.00,0.50,0.00,0.000,6,0.000,0.049,2816,1911,3559,0,0,0,0,0,0
$GC,8499,-0.60,-180.0,960.8,-11.0,1474,8506,0.00,0.25,0.00,0.000,4,0.000,0.060,2815,2108,3559,0,0,0,0,0,0
$GC,8576,-0.60,-180.0,968.8,-10.4,1487,8581,0.00,0.28,0.00,0.000,6,0.000,0.060,2815,1913,3559,0,0,0,0,0,0
$STATE,8875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8875,begin apogee
$GC,8878,-0.19,0.0,1000.1,11.2,1539,9036,0.43,0.00,150.68,1.401,6,0.145,0.000,2949,1647,2826,0,0,0,0,0,0
$STATE,9036,end apogee,CONTROL_FINISHED_OK
$STATE,9036,begin climb
$GC,9038,0.62,180.0,1009.6,0.0,1568,9202,0.80,0.35,157.48,1.384,4,0.086,0.039,3207,1886,2092,0,0,0,0,0,0
$GC,9382,0.49,191.6,993.1,9.6,1629,9399,0.10,0.40,10.52,1.205,6,0.174,0.061,3181,1646,2045,0,0,0,0,0,0
$GC,9743,0.43,218.1,961.2,9.0,1692,9773,0.10,0.25,24.08,1.320,4,0.206,0.041,3159,1824,1937,0,0,0,0,0,0
$GC,10003,0.43,278.4,938.6,7.8,1737,10063,0.00,0.28,54.22,1.378,6,0.000,0.067,3159,1649,1692,0,0,0,0,0,0
$GC,10406,0.48,298.1,900.7,9.3,1808,10428,0.00,0.28,17.88,1.270,4,0.000,0.039,3159,1845,1610,0,0,0,0,0,0
$GC,10482,0.54,316.4,893.7,9.3,1821,10506,0.05,0.32,17.23,1.260,6,0.080,0.063,3186,1644,1537,0,0,0,0,0,0
$GC,10852,0.56,316.4,852.4,11.0,1885,10857,0.00,0.30,0.00,0.000,4,0.000,0.072,3186,1441,1532,0,0,0,0,0,0
$GC,10949,0.59,316.4,841.4,11.4,1902,10956,0.03,0.30,0.00,0.000,6,0.111,0.050,3206,1661,1532,0,0,0,0,0,0
$GC,11302,0.57,316.4,798.1,12.1,1963,11307,0.00,0.60,0.00,0.000,4,0.000,0.063,3208,1279,1532,0,0,0,0,0,0
$GC,11383,0.55,316.4,788.3,11.9,1977,11389,0.03,0.52,0.00,0.000,6,0.191,0.043,3200,1641,1531,0,0,0,0,0,0
$GC,11732,0.55,316.4,750.5,10.5,2038,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1642,1530,0,0,0,0,0,0
$GC,12083,0.55,316.4,714.3,10.1,2099,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1642,1529,0,0,0,0,0,0
$GC,12431,0.55,316.4,678.3,10.5,2160,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1642,1529,0,0,0,0,0,0
$GC,12782,0.55,321.5,643.1,9.8,2221,12795,0.00,0.57,4.50,0.805,4,0.000,0.066,3200,1281,1516,0,0,0,0,0,0
$GC,12866,0.55,352.0,635.1,8.9,2235,12900,0.00,0.52,28.35,1.180,6,0.000,0.044,3200,1644,1392,0,0,0,0,0,0
$GC,13245,0.57,355.2,598.1,9.9,2301,13257,0.00,0.40,3.83,0.784,4,0.000,0.067,3200,1400,1378,0,0,0,0,0,0
$GC,13317,0.60,368.2,590.9,9.5,2313,13333,0.00,0.32,13.25,1.099,6,0.000,0.050,3200,1638,1325,0,0,0,0,0,0
$GC,13677,0.65,369.6,554.0,10.0,2376,13684,0.08,0.60,0.00,0.000,4,0.132,0.064,3234,1262,1322,0,0,0,0,0,0
$GC,13755,0.62,369.6,544.2,13.0,2389,13761,0.05,0.55,0.00,0.000,6,0.161,0.042,3217,1640,1321,0,0,0,0,0,0
$GC,14104,0.62,369.6,501.3,12.1,2450,14111,0.00,1.30,0.00,0.000,4,0.000,0.064,3221,835,1321,0,0,0,0,0,0
$GC,14193,0.62,369.6,490.6,12.0,2465,14198,0.00,1.23,0.00,0.000,6,0.000,0.037,3221,1638,1321,0,0,0,0,0,0
$GC,14541,0.62,369.6,445.0,14.1,2526,14548,0.00,1.30,0.00,0.000,4,0.000,0.064,3223,843,1321,0,0,0,0,0,0
$GC,14652,0.62,369.6,430.0,13.2,2545,14657,0.00,1.23,0.00,0.000,6,0.000,0.036,3223,1649,1320,0,0,0,0,0,0
$GC,15000,0.62,369.6,380.1,13.3,2606,15007,0.00,1.38,0.00,0.000,4,0.000,0.064,3226,807,1320,0,0,0,0,0,0
$GC,15093,0.62,369.6,367.7,13.1,2622,15100,0.00,1.27,0.00,0.000,6,0.000,0.035,3225,1651,1320,0,0,0,0,0,0
$GC,15445,0.59,369.6,320.9,13.7,2683,15450,0.08,1.80,0.00,0.000,4,0.200,0.070,3212,545,1320,0,0,0,0,0,0
$GC,15527,0.62,369.6,311.5,11.4,2697,15532,0.00,1.67,0.00,0.000,6,0.000,0.035,3213,1655,1320,0,0,0,0,0,0
$GC,15874,0.62,369.6,271.9,11.4,2758,15881,0.00,1.15,0.00,0.000,4,0.000,0.063,3213,941,1320,0,0,0,0,0,0
$GC,15963,0.64,369.6,262.4,10.5,2773,15968,0.00,1.08,0.00,0.000,6,0.000,0.036,3213,1655,1320,0,0,0,0,0,0
$GC,16311,0.64,369.6,225.7,11.1,2834,16318,0.00,1.48,0.00,0.000,4,0.000,0.064,3213,747,1320,0,0,0,0,0,0
$GC,16400,0.68,369.6,216.5,10.2,2849,16406,0.03,1.35,0.00,0.000,6,0.108,0.034,3234,1645,1320,0,0,0,0,0,0
$GC,16749,0.64,369.6,171.6,12.3,2910,16756,0.00,1.62,0.00,0.000,4,0.000,0.064,3237,643,1320,0,0,0,0,0,0
$GC,16839,0.61,369.6,160.6,13.5,2925,16844,0.05,1.50,0.00,0.000,6,0.158,0.034,3219,1646,1320,0,0,0,0,0,0
$GC,17187,0.61,369.6,119.8,11.7,2986,17194,0.00,1.67,0.00,0.000,4,0.000,0.063,3223,611,1321,0,0,0,0,0,0
$GC,17276,0.61,388.3,111.4,9.3,3001,17300,0.00,1.55,17.23,0.789,6,0.000,0.033,3222,1643,1244,0,0,0,0,0,0
$GC,17644,0.61,388.3,71.7,12.0,3065,17649,0.00,1.75,0.00,0.000,4,0.000,0.064,3225,541,1243,0,0,0,0,0,0
$GC,17726,0.64,395.6,63.4,9.7,3079,17739,0.00,1.67,7.45,0.663,6,0.000,0.031,3225,1665,1214,0,0,0,0,0,0
$GC,18085,0.64,395.6,19.8,11.3,3141,18093,0.00,1.55,0.00,0.000,4,0.000,0.065,3225,716,1213,0,0,0,0,0,0
$GC,18165,0.68,395.6,10.8,11.3,3154,18172,0.00,1.40,0.00,0.000,6,0.000,0.031,3225,1652,1212,0,0,0,0,0,0
$STATE,18237,end climb,SURFACE_DEPTH_REACHED
$STATE,18238,begin surface coast
$FINISH,0.9,1.014492
$STATE,18268,end surface coast,CONTROL_FINISHED_OK
$STATE,18269,begin surface
$SM_CCo,18284,93.07,0.666,0,0,396,596.31
$SM_GC,2.06,0.00,0.00,93.07,0.000,0.000,0.666,84,1917,396,-9.15,0.17,596.31
$IRIDIUM_FIX,-4311.50,-935.05,230912,191956
$TT8_MAMPS,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,8.99896
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,10.395
$10V_AH,10.3,8.124
$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,23.425,49.375,506.675,93.075,0.000,30.236,38.457,489.278,0.250,0.000,18.475,6941.586,2842.182,579.715,8479.561,198.615,0.000,2997.064,0.000,7910.227,0.000,2.833,0.000
$DEVICE_MAMPS,279.225,71.910,1400.715,666.315,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2204.324,5364.385,887.816,691.650,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354916
$DATA_FILE_SIZE,186741,3171
$CAP_FILE_SIZE,251366,0
$CFSIZE,2097086464,2090860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240912,061529,-4328.199,-930.047,41,0.9,41,-21.1