version: 66.07.10.p01
glider: 574
mission: 4
dive: 45
start: 9 29 112 2 30 51
data:
$ID,574
$MISSION,4
$DIVE,45
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,450
$T_MISSION,520
$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,150
$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,250
$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,-5548.9106
$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,3013
$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,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,24
$GPS1,290912,022129,-4315.356,-837.569,56,0.9,57,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.3
$GPS2,290912,023030,-4315.305,-837.504,16,1.8,16,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_574_WP2
$TGT_LATLONG,-4100.000,-834.000
$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,22.4,250633,-13.9,-7.407
$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,23,-0.52,-145.9,0.0,0.0,0,91,0.00,0.00,-65.93,0.000,2,0.000,0.000,65,1912,2780,0,0,0,0,0,0
$GC,93,-0.52,-145.9,3.0,-1.8,11,132,12.60,2.38,-14.82,0.000,4,0.281,0.078,2834,492,3425,0,0,0,0,0,0
$GC,216,-0.46,-145.9,22.4,-14.7,31,224,0.10,2.17,0.00,0.000,6,0.143,0.040,2860,1862,3425,0,0,0,0,0,0
$GC,293,-0.46,-145.9,30.8,-8.2,44,301,0.00,0.25,0.00,0.000,4,0.000,0.068,2860,1699,3425,0,0,0,0,0,0
$GC,307,-0.44,-145.9,31.7,-8.0,46,314,0.00,0.30,0.00,0.000,6,0.000,0.052,2860,1909,3425,0,0,0,0,0,0
$GC,545,-0.44,-145.9,52.9,-7.2,87,550,0.00,0.73,0.00,0.000,4,0.000,0.058,2860,1459,3425,0,0,0,0,0,0
$GC,592,-0.41,-145.9,56.6,-7.8,95,597,0.05,0.68,0.00,0.000,6,0.159,0.043,2873,1900,3425,0,0,0,0,0,0
$GC,827,-0.45,-145.9,75.5,-6.3,136,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1900,3425,0,0,0,0,0,0
$GC,1178,-0.45,-145.9,102.5,-7.7,197,1183,0.00,0.60,0.00,0.000,4,0.000,0.060,2873,1510,3425,0,0,0,0,0,0
$GC,1252,-0.48,-145.9,108.8,-6.8,210,1259,0.00,0.57,0.00,0.000,6,0.000,0.044,2872,1901,3425,0,0,0,0,0,0
$GC,1605,-0.50,-145.9,136.9,-9.0,271,1611,0.05,0.75,0.00,0.000,4,0.170,0.056,2848,1434,3425,0,0,0,0,0,0
$GC,1654,-0.47,-145.9,141.6,-10.0,279,1659,0.00,0.70,0.00,0.000,6,0.000,0.041,2845,1899,3425,0,0,0,0,0,0
$GC,2002,-0.42,-145.9,180.3,-11.5,340,2009,0.12,0.00,0.00,0.000,6,0.173,0.000,2878,1898,3425,0,0,0,0,0,0
$GC,2354,-0.46,-145.9,211.3,-9.5,401,2359,0.00,1.05,0.00,0.000,4,0.000,0.057,2878,1240,3425,0,0,0,0,0,0
$GC,2413,-0.51,-145.9,217.2,-10.0,411,2419,0.05,1.00,0.00,0.000,6,0.081,0.038,2843,1901,3425,0,0,0,0,0,0
$GC,2759,-0.46,-145.9,260.0,-12.4,465,2763,0.08,0.35,0.00,0.000,4,0.193,0.061,2860,1671,3426,0,0,0,0,0,0
$GC,2796,-0.46,-145.9,264.6,-10.4,468,2798,0.00,0.35,0.00,0.000,6,0.000,0.047,2860,1919,3426,0,0,0,0,0,0
$GC,3116,-0.46,-145.9,295.1,-9.3,498,3120,0.00,0.38,0.00,0.000,4,0.000,0.050,2859,2202,3426,0,0,0,0,0,0
$GC,3154,-0.46,-145.9,298.7,-8.8,501,3159,0.00,0.50,0.00,0.000,6,0.000,0.052,2859,1874,3426,0,0,0,0,0,0
$GC,3478,-0.46,-145.9,328.2,-8.8,532,3482,0.00,0.30,0.00,0.000,4,0.000,0.050,2858,2102,3427,0,0,0,0,0,0
$GC,3536,-0.46,-145.9,333.0,-8.3,537,3540,0.00,0.28,0.00,0.000,6,0.000,0.060,2858,1902,3426,0,0,0,0,0,0
$GC,3867,-0.46,-145.9,361.1,-8.4,568,3871,0.00,0.57,0.00,0.000,4,0.000,0.058,2857,1515,3426,0,0,0,0,0,0
$GC,3948,-0.46,-145.9,368.1,-8.5,575,3952,0.00,0.55,0.00,0.000,6,0.000,0.041,2856,1896,3427,0,0,0,0,0,0
$GC,4278,-0.46,-145.9,394.5,-7.8,606,4281,0.00,0.70,0.00,0.000,4,0.000,0.056,2856,1447,3427,0,0,0,0,0,0
$GC,4326,-0.46,-145.9,398.6,-7.9,610,4334,0.00,0.70,0.00,0.000,6,0.000,0.039,2853,1911,3426,0,0,0,0,0,0
$GC,4653,-0.46,-145.9,425.3,-8.2,641,4657,0.00,0.95,0.00,0.000,4,0.000,0.055,2853,1308,3427,0,0,0,0,0,0
$GC,4709,-0.46,-145.9,429.9,-8.1,646,4713,0.00,0.88,0.00,0.000,6,0.000,0.040,2850,1889,3426,0,0,0,0,0,0
$GC,5041,-0.46,-145.9,456.0,-8.2,677,5044,0.00,0.38,0.00,0.000,4,0.000,0.059,2850,1635,3426,0,0,0,0,0,0
$GC,5090,-0.46,-145.9,460.3,-8.3,681,5092,0.00,0.40,0.00,0.000,6,0.000,0.046,2849,1910,3426,0,0,0,0,0,0
$GC,5412,-0.46,-145.9,486.3,-8.4,711,5416,0.00,0.47,0.00,0.000,4,0.000,0.057,2849,1588,3426,0,0,0,0,0,0
$GC,5460,-0.46,-145.9,490.7,-8.9,715,5463,0.00,0.45,0.00,0.000,6,0.000,0.044,2848,1906,3426,0,0,0,0,0,0
$GC,5780,-0.46,-145.9,522.7,-10.4,732,5785,0.05,0.68,0.00,0.000,4,0.236,0.057,2859,1477,3425,0,0,0,0,0,0
$GC,5828,-0.46,-145.9,527.7,-10.0,733,5833,0.00,0.62,0.00,0.000,6,0.000,0.040,2858,1897,3425,0,0,0,0,0,0
$GC,6151,-0.46,-145.9,560.3,-10.3,744,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1897,3425,0,0,0,0,0,0
$GC,6457,-0.46,-145.9,592.3,-10.5,754,6461,0.00,0.57,0.00,0.000,4,0.000,0.056,2858,1522,3425,0,0,0,0,0,0
$GC,6500,-0.46,-145.9,597.0,-10.1,755,6504,0.00,0.57,0.00,0.000,6,0.000,0.041,2856,1907,3424,0,0,0,0,0,0
$GC,6829,-0.46,-145.9,630.1,-9.9,766,6833,0.00,0.85,0.00,0.000,4,0.000,0.055,2856,1365,3424,0,0,0,0,0,0
$GC,6889,-0.46,-145.9,636.4,-9.8,767,6895,0.00,0.82,0.00,0.000,6,0.000,0.038,2853,1907,3424,0,0,0,0,0,0
$GC,7202,-0.46,-145.9,666.2,-9.1,778,7205,0.00,0.98,0.00,0.000,4,0.000,0.055,2852,1287,3424,0,0,0,0,0,0
$GC,7250,-0.46,-145.9,670.6,-8.9,779,7255,0.00,0.95,0.00,0.000,6,0.000,0.037,2850,1908,3423,0,0,0,0,0,0
$GC,7574,-0.46,-145.9,697.5,-8.0,790,7577,0.00,0.52,0.00,0.000,4,0.000,0.055,2850,1558,3422,0,0,0,0,0,0
$GC,7622,-0.46,-145.9,701.3,-7.5,791,7626,0.00,0.52,0.00,0.000,6,0.000,0.042,2849,1915,3422,0,0,0,0,0,0
$GC,7946,-0.46,-145.9,725.0,-7.3,802,7950,0.00,0.75,0.00,0.000,4,0.000,0.054,2849,1425,3422,0,0,0,0,0,0
$GC,7994,-0.46,-145.9,728.9,-8.0,803,7999,0.08,0.73,0.00,0.000,6,0.197,0.039,2864,1909,3422,0,0,0,0,0,0
$GC,8319,-0.50,-145.9,749.4,-6.5,814,8323,0.00,0.93,0.00,0.000,4,0.000,0.054,2863,1314,3422,0,0,0,0,0,0
$GC,8379,-0.55,-145.9,753.8,-7.0,815,8385,0.05,0.88,0.00,0.000,6,0.084,0.037,2831,1901,3422,0,0,0,0,0,0
$GC,8692,-0.51,-145.9,782.5,-9.5,826,8696,0.03,0.38,0.00,0.000,4,0.265,0.060,2841,1653,3421,0,0,0,0,0,0
$GC,8740,-0.51,-145.9,787.3,-9.9,827,8742,0.00,0.38,0.00,0.000,6,0.000,0.047,2840,1918,3421,0,0,0,0,0,0
$GC,9059,-0.51,-145.9,815.9,-9.1,838,9063,0.00,0.93,0.00,0.000,4,0.000,0.054,2840,1324,3421,0,0,0,0,0,0
$GC,9108,-0.51,-145.9,820.8,-9.4,839,9112,0.00,0.88,0.00,0.000,6,0.000,0.037,2837,1899,3420,0,0,0,0,0,0
$GC,9431,-0.51,-145.9,850.5,-9.2,850,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1899,3420,0,0,0,0,0,0
$GC,9738,-0.51,-145.9,878.1,-9.1,860,9742,0.00,0.88,0.00,0.000,4,0.000,0.054,2837,1335,3420,0,0,0,0,0,0
$GC,9786,-0.51,-145.9,882.8,-9.2,861,9791,0.00,0.88,0.00,0.000,6,0.000,0.038,2833,1909,3420,0,0,0,0,0,0
$GC,10110,-0.49,-145.9,912.4,-9.4,872,10115,0.08,1.08,0.00,0.000,4,0.203,0.054,2849,1233,3419,0,0,0,0,0,0
$GC,10170,-0.49,-145.9,917.7,-7.6,873,10176,0.00,1.02,0.00,0.000,6,0.000,0.037,2846,1903,3419,0,0,0,0,0,0
$GC,10483,-0.49,-145.9,944.2,-8.6,884,10486,0.00,1.08,0.00,0.000,4,0.000,0.054,2846,1221,3418,0,0,0,0,0,0
$GC,10537,-0.49,-145.9,949.3,-9.3,885,10542,0.00,1.05,0.00,0.000,6,0.000,0.037,2844,1907,3419,0,0,0,0,0,0
$GC,10855,-0.49,-145.9,975.9,-8.2,896,10859,0.00,0.47,0.00,0.000,4,0.000,0.055,2845,1586,3418,0,0,0,0,0,0
$GC,10927,-0.49,-145.9,981.6,-7.3,898,10931,0.00,0.47,0.00,0.000,6,0.000,0.044,2843,1909,3418,0,0,0,0,0,0
$STATE,11200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11200,begin apogee
$GC,11204,-0.19,0.0,1001.3,7.0,907,11329,0.35,0.00,122.50,1.460,6,0.140,0.000,2949,1620,2827,0,0,0,0,0,0
$STATE,11330,end apogee,CONTROL_FINISHED_OK
$STATE,11330,begin climb
$GC,11331,0.52,145.9,1004.8,0.0,911,11467,0.70,2.08,126.90,1.439,4,0.093,0.063,3180,467,2231,0,0,0,0,0,0
$GC,11552,0.37,145.9,995.5,10.4,918,11557,0.17,1.85,0.00,0.000,6,0.178,0.036,3140,1624,2227,0,0,0,0,0,0
$GC,11892,0.31,159.3,970.7,6.9,929,11911,0.10,2.30,11.82,1.226,4,0.200,0.045,3116,3013,2177,0,0,0,0,0,0
$GC,11995,0.29,184.2,964.1,6.6,932,12025,0.00,2.25,23.10,1.328,6,0.000,0.047,3118,1642,2076,0,0,0,0,0,0
$GC,12361,0.29,233.4,942.9,5.7,944,12410,0.00,0.35,43.95,1.369,4,0.000,0.070,3117,1441,1874,0,0,0,0,0,0
$GC,12461,0.34,278.6,937.1,5.9,947,12506,0.00,0.30,40.88,1.350,6,0.000,0.050,3118,1641,1690,0,0,0,0,0,0
$GC,12825,0.43,320.0,915.6,6.0,959,12864,0.10,0.00,36.90,1.333,6,0.111,0.000,3158,1641,1521,0,0,0,0,0,0
$GC,13161,0.46,320.0,888.8,8.1,970,13165,0.00,0.90,0.00,0.000,4,0.000,0.063,3158,1092,1514,0,0,0,0,0,0
$GC,13221,0.50,320.0,883.7,8.7,971,13227,0.00,0.85,0.00,0.000,6,0.000,0.037,3158,1641,1514,0,0,0,0,0,0
$GC,13534,0.54,320.0,857.2,8.6,982,13538,0.08,0.32,0.00,0.000,4,0.129,0.069,3190,1426,1513,0,0,0,0,0,0
$GC,13588,0.50,320.0,851.2,11.1,983,13593,0.05,0.28,0.00,0.000,6,0.223,0.050,3179,1619,1513,0,0,0,0,0,0
$GC,13906,0.50,320.0,815.2,11.6,994,13909,0.00,0.70,0.00,0.000,4,0.000,0.067,3180,1180,1512,0,0,0,0,0,0
$GC,13973,0.50,320.0,807.1,12.0,996,13977,0.00,0.68,0.00,0.000,6,0.000,0.040,3180,1639,1512,0,0,0,0,0,0
$GC,14312,0.50,320.0,767.2,11.6,1007,14316,0.00,1.42,0.00,0.000,4,0.000,0.067,3184,766,1512,0,0,0,0,0,0
$GC,14380,0.47,320.0,759.4,12.5,1009,14384,0.05,1.30,0.00,0.000,6,0.167,0.038,3169,1621,1510,0,0,0,0,0,0
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$STATE,23191,end climb,SURFACE_DEPTH_REACHED
$STATE,23191,begin surface coast
$FINISH,1.2,1.016237
$STATE,23228,end surface coast,CONTROL_FINISHED_OK
$STATE,23228,begin surface
$SM_CCo,23303,0.00,0.000,0,0,481,575.71
$SM_GC,1.99,8.85,0.00,0.00,0.050,0.000,0.000,87,1897,481,-9.11,-0.08,575.71
$IRIDIUM_FIX,-4305.59,-837.12,280912,191911
$TT8_MAMPS,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.01849
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,14.513
$10V_AH,10.3,12.929
$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
$DEVICE_SECS,24.050,82.350,537.875,0.000,0.000,27.641,45.325,346.468,0.250,0.000,19.470,4567.676,13049.918,588.860,5462.123,161.207,0.000,2452.416,0.000,4989.115,0.000,2.835,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1310.685,2678.774,1091.674,251.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354784
$DATA_FILE_SIZE,113449,1890
$CAP_FILE_SIZE,237499,0
$CFSIZE,2097086464,2087223296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290912,090028,-4312.350,-839.631,36,1.1,42,-21.3