version: 66.07.10.p01
glider: 574
mission: 4
dive: 94
start: 10 12 112 13 41 21
data:
$ID,574
$MISSION,4
$DIVE,94
$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,-5707.2935
$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,29
$R_STBD_OVSHOOT,63
$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,73
$GPS1,121012,133229,-4303.794,-812.883,39,1.1,40,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-72.0
$GPS2,121012,134027,-4303.792,-812.903,17,2.0,17,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.121,0.201
$KALMAN_X,-97794.4,130.3,1358.7,146074.9,-10946.0
$KALMAN_Y,6821.4,-189.9,-12.9,-29165.9,2077.8
$MHEAD_RNG_PITCHd_Wd,52.5,78371,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,75,0.00,0.00,-48.33,0.000,2,0.000,0.000,65,1924,2574,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.0,-1.4,8,121,12.38,2.17,-26.10,0.000,4,0.272,0.064,2824,3294,3423,0,0,0,0,0,0
$GC,244,-0.52,-145.9,18.3,-10.0,36,252,0.05,2.22,0.00,0.000,6,0.138,0.054,2842,1922,3424,0,0,0,0,0,0
$GC,325,-0.50,-145.9,26.0,-9.5,49,332,0.00,1.00,0.00,0.000,4,0.000,0.062,2842,1303,3424,0,0,0,0,0,0
$GC,387,-0.50,-145.9,31.9,-9.6,59,392,0.00,0.93,0.00,0.000,6,0.000,0.041,2839,1895,3424,0,0,0,0,0,0
$GC,621,-0.48,-145.9,54.9,-9.3,100,629,0.08,0.88,0.00,0.000,4,0.200,0.061,2856,1364,3424,0,0,0,0,0,0
$GC,677,-0.48,-145.9,59.5,-8.3,109,682,0.00,0.85,0.00,0.000,6,0.000,0.040,2854,1919,3424,0,0,0,0,0,0
$GC,905,-0.48,-145.9,79.7,-8.5,150,912,0.00,0.43,0.00,0.000,4,0.000,0.061,2854,1652,3424,0,0,0,0,0,0
$GC,963,-0.48,-145.9,84.6,-8.9,160,968,0.00,0.38,0.00,0.000,6,0.000,0.046,2853,1920,3424,0,0,0,0,0,0
$GC,1296,-0.48,-145.9,113.5,-7.9,201,1299,0.00,1.95,0.00,0.000,4,0.000,0.063,2853,700,3424,0,0,0,0,0,0
$GC,1366,-0.50,-145.9,119.1,-7.7,205,1370,0.00,1.85,0.00,0.000,6,0.000,0.037,2847,1906,3424,0,0,0,0,0,0
$GC,1695,-0.50,-145.9,146.4,-7.8,226,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1906,3424,0,0,0,0,0,0
$GC,2009,-0.50,-145.9,172.3,-8.1,246,2012,0.00,0.93,0.00,0.000,4,0.000,0.059,2847,1331,3424,0,0,0,0,0,0
$GC,2063,-0.50,-145.9,177.1,-8.9,249,2068,0.00,0.93,0.00,0.000,6,0.000,0.037,2844,1929,3424,0,0,0,0,0,0
$GC,2389,-0.50,-145.9,203.2,-8.2,270,2393,0.00,1.90,0.00,0.000,4,0.000,0.062,2844,729,3424,0,0,0,0,0,0
$GC,2457,-0.50,-145.9,209.3,-9.0,274,2460,0.00,1.80,0.00,0.000,6,0.000,0.036,2837,1917,3425,0,0,0,0,0,0
$GC,2788,-0.50,-145.9,238.5,-9.7,295,2791,0.00,0.85,0.00,0.000,4,0.000,0.057,2837,1382,3425,0,0,0,0,0,0
$GC,2842,-0.50,-145.9,244.6,-10.6,298,2847,0.00,0.82,0.00,0.000,6,0.000,0.037,2834,1922,3425,0,0,0,0,0,0
$GC,3167,-0.48,-145.9,274.5,-9.7,315,3171,0.08,1.92,0.00,0.000,4,0.200,0.061,2853,707,3425,0,0,0,0,0,0
$GC,3227,-0.52,-145.9,280.4,-8.8,317,3233,0.00,1.85,0.00,0.000,6,0.000,0.035,2846,1914,3425,0,0,0,0,0,0
$GC,3544,-0.52,-145.9,309.5,-9.4,333,3548,0.00,0.62,0.00,0.000,4,0.000,0.055,2847,1502,3425,0,0,0,0,0,0
$GC,3593,-0.52,-145.9,314.5,-8.9,335,3598,0.00,0.65,0.00,0.000,6,0.000,0.040,2844,1933,3425,0,0,0,0,0,0
$GC,3922,-0.52,-145.9,345.1,-9.7,351,3926,0.00,2.30,0.00,0.000,4,0.000,0.061,2844,491,3425,0,0,0,0,0,0
$GC,3993,-0.55,-145.9,352.5,-9.8,354,3998,0.00,2.17,0.00,0.000,6,0.000,0.034,2836,1904,3426,0,0,0,0,0,0
$GC,4315,-0.55,-145.9,383.4,-9.7,370,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1904,3426,0,0,0,0,0,0
$GC,4626,-0.55,-145.9,411.5,-8.8,385,4629,0.00,0.52,0.00,0.000,4,0.000,0.055,2836,1549,3426,0,0,0,0,0,0
$GC,4674,-0.55,-145.9,415.5,-8.6,387,4678,0.00,0.55,0.00,0.000,6,0.000,0.041,2834,1931,3426,0,0,0,0,0,0
$GC,5008,-0.55,-145.9,444.4,-8.5,403,5011,0.00,1.10,0.00,0.000,4,0.000,0.055,2834,1237,3426,0,0,0,0,0,0
$GC,5079,-0.55,-145.9,451.0,-8.3,406,5084,0.00,1.05,0.00,0.000,6,0.000,0.037,2829,1920,3426,0,0,0,0,0,0
$GC,5406,-0.52,-145.9,481.0,-9.8,422,5410,0.00,1.65,0.00,0.000,4,0.000,0.057,2830,862,3426,0,0,0,0,0,0
$GC,5467,-0.52,-145.9,487.4,-10.0,424,5476,0.08,1.62,0.00,0.000,6,0.190,0.035,2841,1909,3426,0,0,0,0,0,0
$GC,5802,-0.52,-145.9,518.1,-9.3,438,5805,0.00,0.70,0.00,0.000,4,0.000,0.055,2841,1459,3426,0,0,0,0,0,0
$GC,5862,-0.52,-145.9,524.0,-9.5,439,5867,0.00,0.70,0.00,0.000,6,0.000,0.039,2839,1923,3426,0,0,0,0,0,0
$GC,6174,-0.52,-145.9,555.1,-9.9,450,6178,0.00,1.95,0.00,0.000,4,0.000,0.059,2838,681,3426,0,0,0,0,0,0
$GC,6242,-0.55,-145.9,561.6,-9.1,452,6246,0.00,1.88,0.00,0.000,6,0.000,0.037,2833,1917,3425,0,0,0,0,0,0
$GC,6581,-0.55,-145.9,591.1,-8.2,463,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1917,3425,0,0,0,0,0,0
$GC,6888,-0.55,-145.9,615.9,-8.2,473,6891,0.00,0.47,0.00,0.000,4,0.000,0.055,2833,1597,3424,0,0,0,0,0,0
$GC,6959,-0.55,-145.9,621.8,-7.8,475,6963,0.00,0.47,0.00,0.000,6,0.000,0.044,2831,1922,3424,0,0,0,0,0,0
$GC,7294,-0.55,-145.9,649.7,-8.7,486,7297,0.00,1.88,0.00,0.000,4,0.000,0.058,2831,734,3424,0,0,0,0,0,0
$GC,7365,-0.55,-145.9,656.7,-9.8,488,7370,0.00,1.80,0.00,0.000,6,0.000,0.037,2825,1901,3424,0,0,0,0,0,0
$GC,7701,-0.52,-145.9,691.1,-11.0,499,7705,0.08,0.55,0.00,0.000,4,0.203,0.056,2842,1549,3423,0,0,0,0,0,0
$GC,7754,-0.52,-145.9,696.7,-9.8,500,7759,0.00,0.57,0.00,0.000,6,0.000,0.041,2840,1931,3423,0,0,0,0,0,0
$GC,8072,-0.52,-145.9,726.7,-9.3,511,8076,0.00,1.50,0.00,0.000,4,0.000,0.057,2839,996,3423,0,0,0,0,0,0
$GC,8133,-0.55,-145.9,732.4,-9.0,512,8139,0.00,1.40,0.00,0.000,6,0.000,0.037,2835,1900,3423,0,0,0,0,0,0
$GC,8445,-0.55,-145.9,759.4,-8.5,523,8449,0.00,0.32,0.00,0.000,4,0.000,0.060,2835,1670,3422,0,0,0,0,0,0
$GC,8494,-0.55,-145.9,763.5,-8.4,524,8496,0.00,0.38,0.00,0.000,6,0.000,0.047,2834,1930,3423,0,0,0,0,0,0
$GC,8814,-0.55,-145.9,786.6,-6.9,535,8818,0.00,1.65,0.00,0.000,4,0.000,0.057,2834,874,3422,0,0,0,0,0,0
$GC,8874,-0.57,-145.9,791.0,-6.7,536,8880,0.00,1.60,0.00,0.000,6,0.000,0.037,2828,1908,3422,0,0,0,0,0,0
$GC,9187,-0.57,-145.9,813.9,-7.5,547,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1908,3422,0,0,0,0,0,0
$GC,9493,-0.57,-145.9,838.4,-8.1,557,9497,0.00,0.55,0.00,0.000,4,0.000,0.055,2828,1544,3422,0,0,0,0,0,0
$GC,9542,-0.57,-145.9,842.7,-8.2,558,9546,0.00,0.57,0.00,0.000,6,0.000,0.043,2826,1926,3422,0,0,0,0,0,0
$GC,9865,-0.57,-145.9,870.4,-8.6,569,9869,0.00,1.35,0.00,0.000,4,0.000,0.057,2826,1081,3421,0,0,0,0,0,0
$GC,9932,-0.57,-145.9,876.8,-8.8,571,9935,0.00,1.27,0.00,0.000,6,0.000,0.038,2821,1909,3421,0,0,0,0,0,0
$GC,10271,-0.57,-145.9,909.1,-9.3,582,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1910,3421,0,0,0,0,0,0
$GC,10578,-0.57,-145.9,937.3,-9.2,592,10582,0.00,1.40,0.00,0.000,4,0.000,0.056,2822,1034,3421,0,0,0,0,0,0
$GC,10645,-0.57,-145.9,943.5,-8.9,594,10649,0.00,1.35,0.00,0.000,6,0.000,0.039,2817,1911,3421,0,0,0,0,0,0
$GC,10985,-0.54,-145.9,974.3,-9.1,605,10990,0.08,0.57,0.00,0.000,4,0.206,0.048,2832,2312,3421,0,0,0,0,0,0
$GC,11045,-0.57,-145.9,979.5,-7.7,606,11051,0.00,0.65,0.00,0.000,6,0.000,0.048,2832,1889,3420,0,0,0,0,0,0
$STATE,11327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11327,begin apogee
$GC,11330,-0.19,0.0,1002.2,8.3,616,11456,0.38,0.00,122.78,1.426,6,0.137,0.000,2946,1652,2827,0,0,0,0,0,0
$STATE,11457,end apogee,CONTROL_FINISHED_OK
$STATE,11457,begin climb
$GC,11458,0.52,145.9,1006.8,0.0,620,11592,0.73,1.17,127.43,1.435,4,0.086,0.060,3179,970,2233,0,0,0,0,0,0
$GC,11642,0.34,169.0,1004.5,6.6,626,11669,0.17,1.15,22.02,1.326,6,0.169,0.037,3132,1668,2138,0,0,0,0,0,0
$GC,11998,0.30,202.8,981.9,6.3,638,12033,0.08,0.47,30.12,1.356,4,0.213,0.038,3115,1976,1999,0,0,0,0,0,0
$GC,12096,0.30,263.1,976.4,5.3,641,12157,0.00,0.52,54.10,1.366,6,0.000,0.055,3116,1653,1753,0,0,0,0,0,0
$GC,12463,0.37,328.5,956.0,5.2,653,12527,0.00,0.65,58.25,1.361,4,0.000,0.041,3117,2048,1487,0,0,0,0,0,0
$GC,12557,0.49,398.9,951.3,5.0,656,12627,0.12,0.65,65.20,1.351,6,0.064,0.052,3170,1651,1199,0,0,0,0,0,0
$GC,12957,0.71,398.9,921.7,7.5,669,12961,0.20,0.73,0.00,0.000,4,0.086,0.060,3245,1197,1188,0,0,0,0,0,0
$GC,13034,0.63,398.9,914.2,10.4,671,13039,0.10,0.73,0.00,0.000,6,0.193,0.038,3221,1668,1187,0,0,0,0,0,0
$GC,13363,0.56,398.9,874.5,12.5,682,13367,0.10,0.45,0.00,0.000,4,0.200,0.063,3199,1374,1186,0,0,0,0,0,0
$GC,13411,0.56,398.9,868.7,10.8,683,13415,0.00,0.40,0.00,0.000,6,0.000,0.044,3199,1649,1186,0,0,0,0,0,0
$GC,13734,0.56,398.9,831.7,11.8,694,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1649,1185,0,0,0,0,0,0
$GC,14040,0.56,398.9,796.7,11.3,704,14044,0.00,0.70,0.00,0.000,4,0.000,0.063,3200,1208,1185,0,0,0,0,0,0
$GC,14095,0.56,398.9,790.7,10.6,705,14099,0.00,0.68,0.00,0.000,6,0.000,0.038,3200,1655,1184,0,0,0,0,0,0
$GC,14413,0.56,398.9,756.4,10.8,716,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1657,1185,0,0,0,0,0,0
$GC,14719,0.56,398.9,723.6,10.5,726,14723,0.00,1.00,0.00,0.000,4,0.000,0.063,3200,1039,1184,0,0,0,0,0,0
$GC,14779,0.56,398.9,717.2,11.1,727,14785,0.00,0.95,0.00,0.000,6,0.000,0.038,3200,1652,1184,0,0,0,0,0,0
$GC,15091,0.56,398.9,683.9,10.9,738,15095,0.00,0.52,0.00,0.000,4,0.000,0.063,3200,1322,1184,0,0,0,0,0,0
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$STATE,22030,end climb,SURFACE_DEPTH_REACHED
$STATE,22030,begin surface coast
$FINISH,2.6,1.026762
$STATE,22038,end surface coast,CONTROL_FINISHED_OK
$STATE,22038,begin surface
$SM_CCo,22113,0.00,0.000,0,0,1181,403.51
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$IRIDIUM_FIX,-4247.91,-816.55,121012,070705
$TT8_MAMPS,0.026964
$HUMID,45.27
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.1,24.391
$10V_AH,10.2,21.195
$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
$DEVICE_SECS,23.250,86.900,479.900,0.000,0.000,29.096,47.662,287.665,0.250,0.000,19.836,2987.287,15165.340,560.891,3731.227,138.055,33.380,1955.590,0.000,3306.605,0.000,2.835,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.888,1460.575,780.142,96.211,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,70243,1200
$CAP_FILE_SIZE,194952,0
$CFSIZE,2097086464,2080407552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,121012,195105,-4300.585,-814.042,39,0.9,39,-21.5