version: 66.07.10.p01
glider: 574
mission: 4
dive: 78
start: 10 8 112 4 18 22
data:
$ID,574
$MISSION,4
$DIVE,78
$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,1
$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,-5655.3345
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$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,57
$GPS1,081012,040922,-4324.803,-822.245,29,1.1,41,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.1
$GPS2,081012,041728,-4324.847,-822.237,19,1.1,21,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.087,-0.218
$KALMAN_X,-51829.9,191.9,1439.1,87289.0,-9817.9
$KALMAN_Y,-7145.7,-194.5,-1126.1,-53073.6,4020.1
$MHEAD_RNG_PITCHd_Wd,179.5,28224,-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,24,-0.52,-145.9,0.0,0.0,0,86,0.00,0.00,-60.17,0.000,2,0.000,0.000,66,1914,2776,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.8,10,127,12.35,2.35,-18.17,0.000,4,0.272,0.081,2830,515,3423,0,0,0,0,0,0
$GC,322,-0.49,-145.9,27.5,-10.5,49,330,0.08,2.22,0.00,0.000,6,0.150,0.044,2847,1909,3424,0,0,0,0,0,0
$GC,400,-0.49,-145.9,35.2,-8.8,62,407,0.00,0.45,0.00,0.000,4,0.000,0.051,2845,2225,3424,0,0,0,0,0,0
$GC,466,-0.49,-145.9,41.6,-9.7,73,471,0.00,0.47,0.00,0.000,6,0.000,0.060,2846,1921,3424,0,0,0,0,0,0
$GC,699,-0.49,-145.9,62.8,-9.5,114,706,0.00,0.70,0.00,0.000,4,0.000,0.063,2845,1476,3424,0,0,0,0,0,0
$GC,786,-0.49,-145.9,70.6,-9.2,129,793,0.00,0.68,0.00,0.000,6,0.000,0.043,2843,1919,3424,0,0,0,0,0,0
$GC,1131,-0.49,-145.9,102.2,-9.2,188,1135,0.00,0.68,0.00,0.000,4,0.000,0.060,2843,1489,3424,0,0,0,0,0,0
$GC,1212,-0.49,-145.9,109.7,-9.5,195,1216,0.00,0.62,0.00,0.000,6,0.000,0.044,2840,1907,3424,0,0,0,0,0,0
$GC,1543,-0.49,-145.9,142.1,-10.1,226,1547,0.00,0.43,0.00,0.000,4,0.000,0.062,2841,1628,3424,0,0,0,0,0,0
$GC,1615,-0.47,-145.9,149.4,-10.0,232,1623,0.08,0.45,0.00,0.000,6,0.188,0.046,2856,1929,3424,0,0,0,0,0,0
$GC,1942,-0.49,-145.9,176.7,-8.4,263,1946,0.00,0.93,0.00,0.000,4,0.000,0.060,2856,1345,3424,0,0,0,0,0,0
$GC,2036,-0.52,-145.9,184.4,-8.0,271,2040,0.00,0.85,0.00,0.000,6,0.000,0.044,2855,1901,3424,0,0,0,0,0,0
$GC,2366,-0.54,-145.9,214.1,-8.8,302,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1901,3424,0,0,0,0,0,0
$GC,2686,-0.56,-145.9,242.9,-9.0,332,2690,0.08,0.75,0.00,0.000,4,0.130,0.059,2821,1435,3424,0,0,0,0,0,0
$GC,2762,-0.51,-145.9,251.8,-11.1,338,2768,0.12,0.75,0.00,0.000,6,0.163,0.041,2851,1925,3424,0,0,0,0,0,0
$GC,3084,-0.51,-145.9,282.3,-9.6,354,3087,0.00,0.60,0.00,0.000,4,0.000,0.058,2851,1531,3424,0,0,0,0,0,0
$GC,3155,-0.51,-145.9,289.5,-9.6,357,3159,0.00,0.60,0.00,0.000,6,0.000,0.044,2850,1923,3425,0,0,0,0,0,0
$GC,3484,-0.51,-145.9,320.5,-9.8,373,3487,0.00,0.80,0.00,0.000,4,0.000,0.058,2850,1410,3425,0,0,0,0,0,0
$GC,3576,-0.51,-145.9,329.4,-9.9,377,3579,0.00,0.75,0.00,0.000,6,0.000,0.043,2847,1907,3425,0,0,0,0,0,0
$GC,3909,-0.51,-145.9,361.7,-9.6,393,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1908,3425,0,0,0,0,0,0
$GC,4217,-0.51,-145.9,390.3,-9.0,408,4220,0.00,0.47,0.00,0.000,4,0.000,0.059,2847,1593,3425,0,0,0,0,0,0
$GC,4286,-0.51,-145.9,396.2,-8.6,411,4290,0.00,0.47,0.00,0.000,6,0.000,0.047,2845,1921,3425,0,0,0,0,0,0
$GC,4619,-0.51,-145.9,425.4,-8.8,427,4623,0.00,1.12,0.00,0.000,4,0.000,0.060,2845,1217,3425,0,0,0,0,0,0
$GC,4701,-0.51,-145.9,433.4,-9.6,430,4710,0.00,1.08,0.00,0.000,6,0.000,0.040,2841,1911,3425,0,0,0,0,0,0
$GC,5017,-0.51,-145.9,462.8,-9.7,446,5021,0.00,1.23,0.00,0.000,4,0.000,0.060,2841,1146,3425,0,0,0,0,0,0
$GC,5122,-0.51,-145.9,473.6,-10.6,450,5131,0.00,1.20,0.00,0.000,6,0.000,0.039,2837,1918,3425,0,0,0,0,0,0
$GC,5458,-0.51,-145.9,507.2,-10.0,466,5462,0.00,0.68,0.00,0.000,4,0.000,0.057,2837,1484,3425,0,0,0,0,0,0
$GC,5530,-0.51,-145.9,514.4,-9.9,468,5534,0.00,0.68,0.00,0.000,6,0.000,0.041,2834,1927,3425,0,0,0,0,0,0
$GC,5864,-0.51,-145.9,546.7,-9.6,479,5868,0.00,0.55,0.00,0.000,4,0.000,0.059,2834,1569,3425,0,0,0,0,0,0
$GC,5932,-0.51,-145.9,553.1,-9.7,481,5936,0.05,0.50,0.00,0.000,6,0.154,0.044,2849,1915,3425,0,0,0,0,0,0
$GC,6271,-0.53,-145.9,581.0,-8.0,492,6275,0.00,0.62,0.00,0.000,4,0.000,0.057,2850,1511,3425,0,0,0,0,0,0
$GC,6348,-0.56,-145.9,587.5,-8.6,494,6353,0.00,0.62,0.00,0.000,6,0.000,0.042,2848,1923,3424,0,0,0,0,0,0
$GC,6678,-0.58,-145.9,614.0,-7.9,505,6682,0.08,1.10,0.00,0.000,4,0.132,0.059,2816,1245,3425,0,0,0,0,0,0
$GC,6771,-0.53,-145.9,623.5,-10.6,507,6778,0.10,1.02,0.00,0.000,6,0.177,0.039,2837,1910,3424,0,0,0,0,0,0
$GC,7084,-0.53,-145.9,649.9,-8.5,518,7088,0.00,0.40,0.00,0.000,4,0.000,0.061,2837,1644,3423,0,0,0,0,0,0
$GC,7166,-0.53,-145.9,657.0,-8.5,520,7168,0.00,0.43,0.00,0.000,6,0.000,0.047,2837,1930,3423,0,0,0,0,0,0
$GC,7486,-0.53,-145.9,684.9,-8.9,531,7490,0.00,0.57,0.00,0.000,4,0.000,0.058,2837,1554,3423,0,0,0,0,0,0
$GC,7557,-0.53,-145.9,691.4,-8.7,533,7561,0.00,0.55,0.00,0.000,6,0.000,0.044,2835,1919,3423,0,0,0,0,0,0
$GC,7892,-0.53,-145.9,719.9,-8.5,544,7895,0.00,0.28,0.00,0.000,4,0.000,0.066,2834,1725,3421,0,0,0,0,0,0
$GC,7968,-0.53,-145.9,726.6,-8.7,546,7970,0.00,0.28,0.00,0.000,6,0.000,0.054,2833,1918,3421,0,0,0,0,0,0
$GC,8293,-0.53,-145.9,752.7,-8.1,557,8297,0.00,0.43,0.00,0.000,4,0.000,0.061,2833,1635,3421,0,0,0,0,0,0
$GC,8376,-0.53,-145.9,760.0,-9.1,559,8378,0.00,0.43,0.00,0.000,6,0.000,0.047,2832,1922,3421,0,0,0,0,0,0
$GC,8695,-0.53,-145.9,789.1,-9.4,570,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1922,3420,0,0,0,0,0,0
$GC,9002,-0.53,-145.9,818.7,-9.8,580,9005,0.00,0.40,0.00,0.000,4,0.000,0.062,2832,1653,3420,0,0,0,0,0,0
$GC,9118,-0.53,-145.9,830.0,-10.1,583,9120,0.00,0.40,0.00,0.000,6,0.000,0.048,2830,1924,3419,0,0,0,0,0,0
$GC,9437,-0.53,-145.9,860.2,-9.4,594,9441,0.00,0.52,0.00,0.000,4,0.000,0.058,2830,1580,3418,0,0,0,0,0,0
$GC,9519,-0.53,-145.9,868.1,-9.8,596,9524,0.00,0.50,0.00,0.000,6,0.000,0.045,2829,1912,3418,0,0,0,0,0,0
$GC,9843,-0.53,-145.9,899.0,-9.7,607,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1912,3417,0,0,0,0,0,0
$GC,10149,-0.53,-145.9,928.4,-9.6,617,10153,0.00,0.30,0.00,0.000,4,0.000,0.063,2829,1701,3417,0,0,0,0,0,0
$GC,10237,-0.53,-145.9,937.0,-9.7,619,10239,0.00,0.32,0.00,0.000,6,0.000,0.052,2829,1926,3416,0,0,0,0,0,0
$GC,10551,-0.53,-145.9,965.9,-9.2,630,10555,0.00,0.50,0.00,0.000,4,0.000,0.060,2828,1596,3416,0,0,0,0,0,0
$GC,10618,-0.53,-145.9,972.0,-9.0,632,10622,0.00,0.45,0.00,0.000,6,0.000,0.048,2827,1906,3416,0,0,0,0,0,0
$STATE,10960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10960,begin apogee
$GC,10964,-0.19,0.0,1002.6,9.0,643,11089,0.40,0.00,122.00,1.449,6,0.139,0.000,2949,1637,2827,0,0,0,0,0,0
$STATE,11090,end apogee,CONTROL_FINISHED_OK
$STATE,11090,begin climb
$GC,11091,0.52,145.9,1008.1,0.0,647,11222,0.70,0.00,126.82,1.417,6,0.090,0.000,3176,1636,2232,0,0,0,0,0,0
$GC,11518,0.37,145.9,985.6,8.4,661,11523,0.17,0.70,0.00,0.000,4,0.183,0.047,3134,2070,2225,0,0,0,0,0,0
$GC,11620,0.30,157.2,978.2,7.0,664,11635,0.05,0.68,9.95,1.233,6,0.172,0.057,3119,1655,2187,0,0,0,0,0,0
$GC,11959,0.28,201.3,957.5,5.9,675,12001,0.00,0.00,40.12,1.369,6,0.000,0.000,3119,1655,2006,0,0,0,0,0,0
$GC,12295,0.29,244.2,936.5,5.9,686,12338,0.00,0.50,38.15,1.352,4,0.000,0.047,3119,1959,1831,0,0,0,0,0,0
$GC,12396,0.33,288.8,930.3,5.9,689,12440,0.00,0.50,40.55,1.356,6,0.000,0.060,3119,1655,1649,0,0,0,0,0,0
$GC,12759,0.54,307.0,906.2,6.8,701,12783,0.20,2.40,16.27,1.315,4,0.086,0.071,3193,244,1575,0,0,0,0,0,0
$GC,12883,0.50,307.0,894.1,11.0,704,12890,0.03,2.25,0.00,0.000,6,0.182,0.041,3185,1638,1571,0,0,0,0,0,0
$GC,13196,0.46,307.0,862.3,10.3,715,13201,0.10,0.50,0.00,0.000,4,0.195,0.048,3161,1978,1570,0,0,0,0,0,0
$GC,13244,0.46,307.0,857.8,8.2,716,13248,0.00,0.55,0.00,0.000,6,0.000,0.061,3162,1646,1570,0,0,0,0,0,0
$GC,13567,0.46,307.0,829.5,8.9,727,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1646,1569,0,0,0,0,0,0
$GC,13874,0.46,307.0,803.0,8.6,737,13877,0.00,0.40,0.00,0.000,4,0.000,0.050,3162,1933,1568,0,0,0,0,0,0
$GC,13941,0.46,307.0,797.2,9.2,739,13944,0.00,0.43,0.00,0.000,6,0.000,0.066,3161,1657,1568,0,0,0,0,0,0
$GC,14281,0.46,307.0,767.9,8.7,750,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1657,1567,0,0,0,0,0,0
$GC,14587,0.46,307.0,741.9,8.6,760,14590,0.00,0.43,0.00,0.000,4,0.000,0.070,3162,1381,1567,0,0,0,0,0,0
$GC,14641,0.46,307.0,737.1,8.4,761,14645,0.00,0.43,0.00,0.000,6,0.000,0.049,3162,1665,1567,0,0,0,0,0,0
$GC,14959,0.46,307.0,709.7,8.7,772,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1665,1567,0,0,0,0,0,0
$GC,15265,0.46,307.0,684.3,8.0,782,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1665,1566,0,0,0,0,0,0
$GC,15571,0.46,310.1,660.8,7.3,792,15575,0.00,0.30,0.00,0.000,4,0.000,0.054,3162,1891,1567,0,0,0,0,0,0
$GC,15626,0.46,332.8,656.8,6.6,793,15652,0.00,0.40,22.83,1.231,6,0.000,0.066,3162,1646,1470,0,0,0,0,0,0
$GC,15970,0.49,332.8,631.2,7.8,805,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1646,1465,0,0,0,0,0,0
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$STATE,23399,end climb,SURFACE_DEPTH_REACHED
$STATE,23400,begin surface coast
$FINISH,1.3,1.012299
$STATE,23437,end surface coast,CONTROL_FINISHED_OK
$STATE,23437,begin surface
$SM_CCo,23512,0.00,0.000,0,0,938,463.36
$SM_GC,2.28,8.80,0.00,0.00,0.059,0.000,0.000,87,1904,938,-9.11,-0.31,463.36
$IRIDIUM_FIX,-4305.59,-824.97,071012,212153
$TT8_MAMPS,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,21.179
$10V_AH,10.3,18.873
$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
$DEVICE_SECS,23.725,52.950,512.300,0.000,0.000,29.171,38.933,297.870,0.250,0.000,23.054,3436.257,15746.142,559.817,4100.180,144.805,33.348,2056.796,0.000,3675.794,0.000,3.178,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.205,1684.355,896.280,127.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,80374,1365
$CAP_FILE_SIZE,202188,0
$CFSIZE,2097086464,2082471936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081012,105129,-4327.493,-821.914,42,1.4,43,-21.3