version: 66.07.10.p01
glider: 574
mission: 4
dive: 136
start: 10 23 112 17 23 14
data:
$ID,574
$MISSION,4
$DIVE,136
$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,-5846.2783
$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,30
$R_STBD_OVSHOOT,64
$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,115
$GPS1,231012,171423,-4231.688,-753.135,39,0.9,40,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-72.7
$GPS2,231012,172219,-4231.627,-753.224,19,1.3,20,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,0.170
$KALMAN_X,-220843.1,208.9,617.8,296477.1,-8879.7
$KALMAN_Y,128211.3,462.9,-105.2,-91542.0,1930.9
$MHEAD_RNG_PITCHd_Wd,65.3,74309,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-66.40,0.000,2,0.000,0.000,66,1924,2840,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.2,-1.6,11,127,12.38,2.33,-14.55,0.000,4,0.267,0.077,2831,508,3424,0,0,0,0,0,0
$GC,194,-0.52,-145.9,14.6,-9.0,27,202,0.05,2.20,0.00,0.000,6,0.159,0.041,2840,1885,3425,0,0,0,0,0,0
$GC,274,-0.52,-145.9,21.7,-8.9,40,281,0.00,0.50,0.00,0.000,4,0.000,0.050,2838,2233,3425,0,0,0,0,0,0
$GC,312,-0.52,-145.9,25.2,-8.7,46,319,0.00,0.50,0.00,0.000,6,0.000,0.056,2838,1913,3425,0,0,0,0,0,0
$GC,392,-0.52,-145.9,32.1,-9.1,59,396,0.00,0.95,0.00,0.000,4,0.000,0.061,2838,1323,3425,0,0,0,0,0,0
$GC,462,-0.52,-145.9,39.1,-9.8,71,467,0.00,0.93,0.00,0.000,6,0.000,0.043,2836,1913,3425,0,0,0,0,0,0
$GC,697,-0.52,-145.9,62.0,-9.7,112,702,0.00,0.38,0.00,0.000,4,0.000,0.053,2834,2193,3425,0,0,0,0,0,0
$GC,740,-0.52,-145.9,66.3,-9.3,120,748,0.00,0.45,0.00,0.000,6,0.000,0.054,2834,1907,3425,0,0,0,0,0,0
$GC,1087,-0.52,-145.9,99.4,-9.7,181,1091,0.00,0.85,0.00,0.000,4,0.000,0.060,2834,1369,3425,0,0,0,0,0,0
$GC,1154,-0.52,-145.9,106.2,-9.5,186,1157,0.00,0.85,0.00,0.000,6,0.000,0.041,2831,1921,3425,0,0,0,0,0,0
$GC,1485,-0.52,-145.9,137.9,-9.3,207,1488,0.00,1.45,0.00,0.000,4,0.000,0.057,2831,1025,3425,0,0,0,0,0,0
$GC,1556,-0.52,-145.9,144.4,-9.2,211,1560,0.03,1.38,0.00,0.000,6,0.181,0.038,2835,1911,3426,0,0,0,0,0,0
$GC,1885,-0.52,-145.9,172.3,-8.2,232,1888,0.00,0.70,0.00,0.000,4,0.000,0.055,2835,1465,3426,0,0,0,0,0,0
$GC,1945,-0.52,-145.9,177.7,-8.4,235,1951,0.00,0.70,0.00,0.000,6,0.000,0.041,2834,1923,3425,0,0,0,0,0,0
$GC,2264,-0.52,-145.9,205.1,-8.9,256,2268,0.00,1.70,0.00,0.000,4,0.000,0.057,2834,859,3425,0,0,0,0,0,0
$GC,2332,-0.52,-145.9,211.6,-10.1,260,2337,0.05,1.62,0.00,0.000,6,0.219,0.037,2839,1907,3425,0,0,0,0,0,0
$GC,2664,-0.52,-145.9,242.0,-9.8,281,2668,0.00,0.50,0.00,0.000,4,0.000,0.057,2839,1573,3425,0,0,0,0,0,0
$GC,2735,-0.52,-145.9,249.2,-10.8,285,2738,0.00,0.50,0.00,0.000,6,0.000,0.045,2837,1920,3425,0,0,0,0,0,0
$GC,3063,-0.52,-145.9,285.2,-10.4,301,3066,0.00,1.90,0.00,0.000,4,0.000,0.059,2837,732,3425,0,0,0,0,0,0
$GC,3118,-0.54,-145.9,291.3,-10.6,303,3122,0.00,1.80,0.00,0.000,6,0.000,0.036,2832,1899,3426,0,0,0,0,0,0
$GC,3441,-0.54,-145.9,323.9,-10.1,319,3445,0.00,0.38,0.00,0.000,4,0.000,0.059,2832,1643,3426,0,0,0,0,0,0
$GC,3488,-0.54,-145.9,328.5,-9.2,321,3492,0.00,0.40,0.00,0.000,6,0.000,0.046,2831,1927,3426,0,0,0,0,0,0
$GC,3822,-0.54,-145.9,363.4,-10.3,337,3826,0.00,2.20,0.00,0.000,4,0.000,0.059,2830,550,3426,0,0,0,0,0,0
$GC,3882,-0.54,-145.9,370.2,-10.1,339,3888,0.00,2.08,0.00,0.000,6,0.000,0.034,2824,1894,3426,0,0,0,0,0,0
$GC,4200,-0.54,-145.9,401.6,-10.0,355,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1895,3426,0,0,0,0,0,0
$GC,4504,-0.54,-145.9,433.1,-10.7,365,4508,0.00,1.90,0.00,0.000,4,0.000,0.055,2824,712,3425,0,0,0,0,0,0
$GC,4575,-0.54,-145.9,441.3,-11.0,367,4581,0.03,1.85,0.00,0.000,6,0.181,0.035,2829,1913,3425,0,0,0,0,0,0
$GC,4910,-0.54,-145.9,475.3,-9.8,378,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1913,3425,0,0,0,0,0,0
$GC,5217,-0.54,-145.9,503.3,-8.8,388,5220,0.00,0.75,0.00,0.000,4,0.000,0.054,2829,1433,3425,0,0,0,0,0,0
$GC,5260,-0.54,-145.9,506.9,-7.7,389,5264,0.00,0.75,0.00,0.000,6,0.000,0.038,2827,1926,3425,0,0,0,0,0,0
$GC,5590,-0.54,-145.9,531.0,-7.0,400,5593,0.00,1.10,0.00,0.000,4,0.000,0.054,2827,1237,3424,0,0,0,0,0,0
$GC,5657,-0.54,-145.9,535.8,-7.1,402,5661,0.00,1.02,0.00,0.000,6,0.000,0.039,2823,1907,3425,0,0,0,0,0,0
$GC,5998,-0.54,-145.9,559.4,-7.0,413,6001,0.00,1.33,0.00,0.000,4,0.000,0.055,2823,1082,3424,0,0,0,0,0,0
$GC,6069,-0.54,-145.9,564.8,-7.1,415,6074,0.05,1.27,0.00,0.000,6,0.158,0.037,2836,1912,3424,0,0,0,0,0,0
$GC,6405,-0.57,-145.9,586.8,-6.6,426,6408,0.00,1.08,0.00,0.000,4,0.000,0.054,2836,1239,3423,0,0,0,0,0,0
$GC,6465,-0.59,-145.9,591.1,-6.3,427,6471,0.00,1.02,0.00,0.000,6,0.000,0.038,2835,1913,3423,0,0,0,0,0,0
$GC,6778,-0.59,-145.9,611.0,-6.5,438,6782,0.00,0.70,0.00,0.000,4,0.000,0.054,2834,1462,3423,0,0,0,0,0,0
$GC,6850,-0.59,-145.9,615.8,-6.4,440,6854,0.00,0.70,0.00,0.000,6,0.000,0.041,2832,1918,3423,0,0,0,0,0,0
$GC,7185,-0.59,-145.9,638.8,-7.4,451,7189,0.00,1.27,0.00,0.000,4,0.000,0.054,2832,1121,3422,0,0,0,0,0,0
$GC,7252,-0.59,-145.9,643.9,-7.5,453,7255,0.00,1.20,0.00,0.000,6,0.000,0.039,2827,1901,3422,0,0,0,0,0,0
$GC,7592,-0.59,-145.9,670.5,-7.7,464,7596,0.00,0.90,0.00,0.000,4,0.000,0.054,2827,1326,3421,0,0,0,0,0,0
$GC,7652,-0.59,-145.9,675.7,-8.3,465,7658,0.00,0.93,0.00,0.000,6,0.000,0.039,2824,1919,3421,0,0,0,0,0,0
$GC,7965,-0.59,-145.9,702.3,-8.6,476,7968,0.00,1.42,0.00,0.000,4,0.000,0.055,2824,1024,3421,0,0,0,0,0,0
$GC,8036,-0.59,-145.9,709.1,-9.6,478,8041,0.00,1.40,0.00,0.000,6,0.000,0.038,2822,1915,3421,0,0,0,0,0,0
$GC,8371,-0.59,-145.9,741.0,-9.7,489,8375,0.00,0.55,0.00,0.000,4,0.000,0.054,2822,1545,3420,0,0,0,0,0,0
$GC,8431,-0.59,-145.9,747.2,-9.9,490,8437,0.00,0.57,0.00,0.000,6,0.000,0.044,2821,1923,3420,0,0,0,0,0,0
$GC,8744,-0.59,-145.9,777.0,-9.5,501,8747,0.00,0.77,0.00,0.000,4,0.000,0.053,2821,1431,3420,0,0,0,0,0,0
$GC,8803,-0.59,-145.9,782.9,-9.3,502,8809,0.00,0.75,0.00,0.000,6,0.000,0.041,2817,1915,3419,0,0,0,0,0,0
$GC,9116,-0.59,-145.9,810.3,-8.4,513,9120,0.00,0.50,0.00,0.000,4,0.000,0.054,2817,1581,3419,0,0,0,0,0,0
$GC,9164,-0.59,-145.9,814.3,-7.9,514,9169,0.00,0.50,0.00,0.000,6,0.000,0.045,2815,1915,3419,0,0,0,0,0,0
$GC,9488,-0.59,-145.9,838.6,-7.5,525,9491,0.00,0.57,0.00,0.000,4,0.000,0.053,2815,1539,3418,0,0,0,0,0,0
$GC,9548,-0.59,-145.9,843.2,-7.2,526,9553,0.00,0.57,0.00,0.000,6,0.000,0.044,2813,1916,3418,0,0,0,0,0,0
$GC,9860,-0.59,-145.9,868.5,-8.6,537,9864,0.00,1.30,0.00,0.000,4,0.000,0.054,2813,1105,3417,0,0,0,0,0,0
$GC,9932,-0.59,-145.9,874.7,-7.2,539,9936,0.00,1.27,0.00,0.000,6,0.000,0.039,2808,1915,3417,0,0,0,0,0,0
$GC,10267,-0.56,-145.9,907.2,-10.3,550,10269,0.08,0.00,0.00,0.000,6,0.203,0.000,2825,1915,3417,0,0,0,0,0,0
$GC,10573,-0.56,-145.9,934.0,-8.3,560,10577,0.00,0.68,0.00,0.000,4,0.000,0.053,2825,1479,3417,0,0,0,0,0,0
$GC,10628,-0.59,-145.9,938.6,-8.2,561,10632,0.00,0.70,0.00,0.000,6,0.000,0.043,2823,1928,3417,0,0,0,0,0,0
$GC,10946,-0.59,-145.9,961.4,-6.7,572,10950,0.00,1.92,0.00,0.000,4,0.000,0.056,2823,704,3416,0,0,0,0,0,0
$GC,11015,-0.61,-145.9,965.9,-6.3,574,11018,0.00,1.83,0.00,0.000,6,0.000,0.037,2816,1910,3416,0,0,0,0,0,0
$GC,11355,-0.61,-145.9,987.1,-5.9,585,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1910,3416,0,0,0,0,0,0
$STATE,11599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11599,begin apogee
$GC,11603,-0.19,0.0,1001.7,6.0,593,11729,0.45,0.00,122.85,1.523,6,0.136,0.000,2953,1638,2827,0,0,0,0,0,0
$STATE,11730,end apogee,CONTROL_FINISHED_OK
$STATE,11730,begin climb
$GC,11731,0.52,145.9,1004.1,0.0,597,11868,0.68,2.28,129.12,1.493,4,0.080,0.045,3176,2933,2230,0,0,0,0,0,0
$GC,11957,0.33,145.9,996.3,9.4,604,11962,0.25,2.15,0.00,0.000,6,0.188,0.045,3126,1654,2226,0,0,0,0,0,0
$GC,12287,0.27,207.8,976.7,5.3,615,12348,0.10,0.70,54.08,1.471,4,0.200,0.042,3103,2082,1978,0,0,0,0,0,0
$GC,12403,0.30,299.0,971.2,4.3,618,12490,0.00,0.75,82.12,1.466,6,0.000,0.051,3104,1638,1608,0,0,0,0,0,0
$GC,12809,0.57,369.6,950.3,5.0,632,12879,0.28,0.57,64.20,1.447,4,0.086,0.061,3203,1300,1319,0,0,0,0,0,0
$GC,12907,0.66,385.6,943.9,6.9,635,12927,0.03,0.57,15.75,1.343,6,0.106,0.040,3222,1669,1255,0,0,0,0,0,0
$GC,13240,0.58,385.6,912.9,9.9,646,13245,0.08,0.60,0.00,0.000,4,0.203,0.044,3207,2057,1248,0,0,0,0,0,0
$GC,13289,0.53,385.6,908.1,9.1,647,13294,0.10,0.68,0.00,0.000,6,0.185,0.053,3186,1646,1248,0,0,0,0,0,0
$GC,13613,0.53,388.2,884.3,7.3,658,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1647,1247,0,0,0,0,0,0
$GC,13919,0.53,388.2,859.1,8.6,668,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1647,1247,0,0,0,0,0,0
$GC,14226,0.53,388.2,830.9,9.6,678,14227,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1647,1246,0,0,0,0,0,0
$GC,14532,0.53,388.2,797.4,11.2,688,14535,0.00,0.35,0.00,0.000,4,0.000,0.066,3186,1403,1246,0,0,0,0,0,0
$GC,14575,0.53,388.2,792.6,11.0,689,14579,0.00,0.35,0.00,0.000,6,0.000,0.048,3186,1645,1246,0,0,0,0,0,0
$GC,14904,0.53,388.2,755.0,11.5,700,14908,0.00,0.35,0.00,0.000,4,0.000,0.066,3186,1403,1246,0,0,0,0,0,0
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$STATE,23352,end climb,SURFACE_DEPTH_REACHED
$STATE,23352,begin surface coast
$FINISH,1.4,1.017724
$STATE,23383,end surface coast,CONTROL_FINISHED_OK
$STATE,23383,begin surface
$SM_CCo,23459,0.00,0.000,0,0,1076,429.51
$SM_GC,2.45,8.60,0.00,0.00,0.057,0.000,0.000,95,1939,1076,-9.08,0.74,429.51
$IRIDIUM_FIX,-4221.55,-749.60,231012,040432
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.8,33.513
$10V_AH,10.2,27.067
$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,23.375,88.675,507.950,0.000,0.000,24.423,39.268,291.221,0.250,0.000,21.900,3016.258,16477.779,587.816,3678.292,167.272,33.370,2047.040,0.000,3268.502,0.000,2.833,0.000
$DEVICE_MAMPS,266.985,77.265,1523.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.152,1286.578,794.536,92.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,70323,1195
$CAP_FILE_SIZE,205207,0
$CFSIZE,2097086464,2074869760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231012,235528,-4227.076,-754.253,37,1.1,43,-21.7