version: 66.07.10.p01
glider: 574
mission: 4
dive: 170
start: 11 2 112 3 7 7
data:
$ID,574
$MISSION,4
$DIVE,170
$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,-5959.603
$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,32
$R_STBD_OVSHOOT,50
$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,149
$GPS1,021112,025805,-4229.366,-721.461,38,0.8,38,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.0
$GPS2,021112,030613,-4229.369,-721.544,17,1.2,18,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,-0.151
$KALMAN_X,-283858.8,-31.6,1108.4,402269.6,-9669.6
$KALMAN_Y,239719.0,-445.3,-860.4,-197198.9,8925.8
$MHEAD_RNG_PITCHd_Wd,151.9,79903,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,93,0.00,0.00,-66.22,0.000,2,0.000,0.000,67,1913,2576,0,0,0,0,0,0
$GC,96,-0.52,-145.9,3.1,-1.4,11,140,12.30,2.28,-26.48,0.000,4,0.262,0.076,2837,525,3420,0,0,0,0,0,0
$GC,195,-0.52,-145.9,10.8,-9.6,27,202,0.00,2.17,0.00,0.000,6,0.000,0.037,2831,1895,3421,0,0,0,0,0,0
$GC,275,-0.52,-145.9,18.6,-9.7,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1895,3421,0,0,0,0,0,0
$GC,354,-0.52,-145.9,26.2,-9.8,53,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1895,3421,0,0,0,0,0,0
$GC,431,-0.50,-145.9,33.5,-9.4,66,439,0.08,0.75,0.00,0.000,4,0.196,0.060,2849,1440,3422,0,0,0,0,0,0
$GC,499,-0.54,-145.9,39.3,-8.7,77,504,0.00,0.75,0.00,0.000,6,0.000,0.041,2849,1927,3421,0,0,0,0,0,0
$GC,734,-0.67,-145.9,58.7,-7.8,118,741,0.15,1.08,0.00,0.000,4,0.089,0.058,2789,1272,3421,0,0,0,0,0,0
$GC,765,-0.69,-145.9,61.5,-8.7,123,771,0.00,1.00,0.00,0.000,6,0.000,0.039,2784,1919,3421,0,0,0,0,0,0
$GC,1109,-0.59,-145.9,99.9,-11.1,184,1115,0.15,0.52,0.00,0.000,4,0.172,0.058,2824,1585,3422,0,0,0,0,0,0
$GC,1195,-0.56,-145.9,107.3,-8.0,190,1199,0.00,0.47,0.00,0.000,6,0.000,0.044,2823,1914,3422,0,0,0,0,0,0
$GC,1528,-0.54,-145.9,133.7,-7.7,211,1532,0.00,2.08,0.00,0.000,4,0.000,0.060,2823,629,3423,0,0,0,0,0,0
$GC,1598,-0.52,-145.9,139.4,-8.5,215,1603,0.10,1.92,0.00,0.000,6,0.168,0.035,2840,1904,3422,0,0,0,0,0,0
$GC,1928,-0.62,-145.9,161.0,-6.6,236,1933,0.10,2.20,0.00,0.000,4,0.111,0.048,2787,3313,3423,0,0,0,0,0,0
$GC,2000,-0.62,-145.9,167.6,-8.9,240,2009,0.05,2.17,0.00,0.000,6,0.145,0.041,2804,1917,3422,0,0,0,0,0,0
$GC,2322,-0.65,-145.9,195.6,-9.2,261,2326,0.00,2.22,0.00,0.000,4,0.000,0.060,2805,505,3423,0,0,0,0,0,0
$GC,2342,-0.65,-145.9,198.1,-10.1,262,2347,0.00,2.17,0.00,0.000,6,0.000,0.034,2795,1918,3423,0,0,0,0,0,0
$GC,2670,-0.59,-145.9,234.8,-12.0,283,2674,0.10,2.17,0.00,0.000,4,0.190,0.045,2811,3317,3422,0,0,0,0,0,0
$GC,2768,-0.59,-145.9,245.8,-11.2,289,2773,0.00,2.17,0.00,0.000,6,0.000,0.039,2812,1902,3422,0,0,0,0,0,0
$GC,3100,-0.65,-145.9,280.5,-10.1,306,3104,0.00,2.22,0.00,0.000,4,0.000,0.058,2811,507,3423,0,0,0,0,0,0
$GC,3148,-0.59,-145.9,286.1,-11.2,308,3154,0.03,2.17,0.00,0.000,6,0.180,0.033,2813,1918,3423,0,0,0,0,0,0
$GC,3470,-0.65,-145.9,316.6,-9.4,324,3474,0.00,2.17,0.00,0.000,4,0.000,0.047,2804,3322,3422,0,0,0,0,0,0
$GC,3537,-0.70,-145.9,323.5,-10.4,327,3541,0.00,2.17,0.00,0.000,6,0.000,0.037,2804,1917,3423,0,0,0,0,0,0
$GC,3866,-0.74,-145.9,355.0,-9.7,343,3870,0.10,1.60,0.00,0.000,4,0.112,0.042,2758,2953,3423,0,0,0,0,0,0
$GC,3898,-0.67,-145.9,358.9,-11.5,344,3903,0.10,1.62,0.00,0.000,6,0.145,0.037,2789,1903,3423,0,0,0,0,0,0
$GC,4219,-0.60,-145.9,394.6,-10.8,360,4224,0.10,1.65,0.00,0.000,4,0.190,0.054,2817,853,3423,0,0,0,0,0,0
$GC,4291,-0.60,-145.9,402.1,-9.5,363,4296,0.00,1.62,0.00,0.000,6,0.000,0.032,2810,1914,3423,0,0,0,0,0,0
$GC,4628,-0.57,-145.9,433.4,-9.2,374,4632,0.08,0.62,0.00,0.000,4,0.197,0.053,2828,1521,3423,0,0,0,0,0,0
$GC,4694,-0.57,-145.9,439.1,-7.9,376,4698,0.00,0.60,0.00,0.000,6,0.000,0.041,2826,1929,3422,0,0,0,0,0,0
$GC,5035,-0.68,-145.9,464.7,-7.7,387,5039,0.10,1.27,0.00,0.000,4,0.111,0.044,2782,2747,3422,0,0,0,0,0,0
$GC,5102,-0.71,-145.9,470.8,-9.4,389,5106,0.00,1.30,0.00,0.000,6,0.000,0.042,2782,1913,3422,0,0,0,0,0,0
$GC,5442,-0.73,-145.9,502.7,-9.2,400,5446,0.00,1.15,0.00,0.000,4,0.000,0.055,2782,1181,3422,0,0,0,0,0,0
$GC,5499,-0.66,-145.9,508.5,-10.9,401,5503,0.05,1.10,0.00,0.000,6,0.160,0.035,2793,1906,3421,0,0,0,0,0,0
$GC,5816,-0.70,-145.9,536.8,-8.8,412,5819,0.00,1.50,0.00,0.000,4,0.000,0.044,2788,2881,3421,0,0,0,0,0,0
$GC,5876,-0.70,-145.9,542.4,-9.2,413,5882,0.00,1.52,0.00,0.000,6,0.000,0.041,2788,1911,3421,0,0,0,0,0,0
$GC,6189,-0.72,-145.9,569.9,-8.8,424,6193,0.00,2.17,0.00,0.000,4,0.000,0.047,2779,3308,3421,0,0,0,0,0,0
$GC,6267,-0.69,-145.9,577.2,-9.2,426,6271,0.00,2.15,0.00,0.000,6,0.000,0.038,2779,1921,3420,0,0,0,0,0,0
$GC,6597,-0.60,-145.9,610.4,-10.2,437,6601,0.15,2.28,0.00,0.000,4,0.171,0.057,2819,502,3420,0,0,0,0,0,0
$GC,6692,-0.60,-145.9,618.6,-8.0,440,6696,0.00,2.12,0.00,0.000,6,0.000,0.034,2811,1910,3420,0,0,0,0,0,0
$GC,7026,-0.67,-145.9,641.4,-6.6,451,7030,0.00,2.17,0.00,0.000,4,0.000,0.047,2801,3311,3418,0,0,0,0,0,0
$GC,7109,-0.76,-145.9,647.4,-7.6,453,7114,0.08,2.17,0.00,0.000,6,0.070,0.038,2761,1913,3419,0,0,0,0,0,0
$GC,7428,-0.65,-145.9,676.1,-9.8,464,7433,0.15,2.28,0.00,0.000,4,0.175,0.057,2800,501,3418,0,0,0,0,0,0
$GC,7545,-0.61,-145.9,686.3,-9.0,467,7550,0.05,2.17,0.00,0.000,6,0.159,0.034,2809,1906,3418,0,0,0,0,0,0
$GC,7863,-0.61,-145.9,710.8,-7.9,478,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1906,3417,0,0,0,0,0,0
$GC,8169,-0.61,-145.9,735.5,-7.9,488,8173,0.00,0.98,0.00,0.000,4,0.000,0.051,2810,1291,3417,0,0,0,0,0,0
$GC,8257,-0.58,-145.9,742.9,-8.1,490,8262,0.03,0.95,0.00,0.000,6,0.187,0.037,2817,1917,3417,0,0,0,0,0,0
$GC,8575,-0.58,-145.9,768.4,-8.3,501,8578,0.00,1.23,0.00,0.000,4,0.000,0.053,2817,1150,3417,0,0,0,0,0,0
$GC,8663,-0.58,-145.9,776.3,-9.2,503,8668,0.00,1.17,0.00,0.000,6,0.000,0.034,2813,1913,3416,0,0,0,0,0,0
$GC,8981,-0.58,-145.9,803.9,-8.6,514,8985,0.00,0.70,0.00,0.000,4,0.000,0.053,2812,1465,3416,0,0,0,0,0,0
$GC,9070,-0.58,-145.9,812.0,-9.3,516,9074,0.00,0.70,0.00,0.000,6,0.000,0.039,2809,1924,3416,0,0,0,0,0,0
$GC,9388,-0.58,-145.9,839.1,-8.4,527,9392,0.00,1.98,0.00,0.000,4,0.000,0.056,2809,692,3416,0,0,0,0,0,0
$GC,9465,-0.58,-145.9,845.9,-8.8,529,9471,0.05,1.88,0.00,0.000,6,0.150,0.035,2820,1903,3416,0,0,0,0,0,0
$GC,9795,-0.70,-145.9,868.1,-6.5,540,9799,0.10,0.75,0.00,0.000,4,0.116,0.045,2777,2399,3415,0,0,0,0,0,0
$GC,9873,-0.74,-145.9,874.3,-8.2,542,9877,0.00,0.77,0.00,0.000,6,0.000,0.044,2776,1901,3415,0,0,0,0,0,0
$GC,10202,-0.74,-145.9,900.4,-7.9,553,10206,0.00,0.43,0.00,0.000,4,0.000,0.056,2777,1592,3415,0,0,0,0,0,0
$GC,10270,-0.74,-145.9,905.7,-7.4,555,10273,0.00,0.47,0.00,0.000,6,0.000,0.045,2776,1923,3415,0,0,0,0,0,0
$GC,10610,-0.77,-145.9,931.5,-7.5,566,10614,0.00,0.80,0.00,0.000,4,0.000,0.045,2772,2465,3415,0,0,0,0,0,0
$GC,10659,-0.77,-145.9,935.9,-8.4,567,10663,0.00,0.88,0.00,0.000,6,0.000,0.043,2772,1903,3415,0,0,0,0,0,0
$GC,10983,-0.74,-145.9,963.2,-8.5,578,10987,0.00,2.22,0.00,0.000,4,0.000,0.057,2772,512,3415,0,0,0,0,0,0
$GC,11083,-0.67,-145.9,973.4,-10.1,581,11088,0.08,2.17,0.00,0.000,6,0.157,0.037,2790,1897,3414,0,0,0,0,0,0
$STATE,11387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11387,begin apogee
$GC,11391,-0.19,0.0,1000.1,8.9,591,11518,0.52,0.00,123.97,1.567,6,0.136,0.000,2949,1642,2827,0,0,0,0,0,0
$STATE,11519,end apogee,CONTROL_FINISHED_OK
$STATE,11519,begin climb
$GC,11520,0.52,145.9,1006.1,0.0,595,11659,0.73,2.17,131.02,1.531,4,0.077,0.044,3181,2878,2231,0,0,0,0,0,0
$GC,11762,0.32,145.9,1002.0,8.2,603,11767,0.28,2.03,0.00,0.000,6,0.192,0.046,3121,1663,2227,0,0,0,0,0,0
$GC,12097,0.26,216.4,984.9,5.0,614,12164,0.10,1.23,61.78,1.506,4,0.204,0.062,3102,972,1943,0,0,0,0,0,0
$GC,12214,0.31,265.7,978.6,5.7,617,12265,0.00,1.10,45.08,1.478,6,0.000,0.037,3102,1648,1743,0,0,0,0,0,0
$GC,12590,0.50,288.6,954.4,6.6,630,12616,0.22,2.30,20.50,1.429,4,0.083,0.067,3186,302,1651,0,0,0,0,0,0
$GC,12688,0.41,288.6,945.3,10.3,632,12693,0.12,2.17,0.00,0.000,6,0.157,0.038,3150,1648,1648,0,0,0,0,0,0
$GC,13023,0.41,299.5,920.5,7.0,643,13037,0.00,0.88,11.12,1.335,4,0.000,0.041,3150,2231,1604,0,0,0,0,0,0
$GC,13092,0.41,299.5,915.5,7.7,645,13097,0.00,0.98,0.00,0.000,6,0.000,0.052,3152,1643,1603,0,0,0,0,0,0
$GC,13428,0.41,309.0,892.0,7.1,656,13439,0.00,0.00,9.55,1.290,6,0.000,0.000,3152,1643,1567,0,0,0,0,0,0
$GC,13734,0.41,311.4,869.7,7.3,666,13738,0.00,0.75,0.00,0.000,4,0.000,0.045,3152,2132,1566,0,0,0,0,0,0
$GC,13783,0.41,311.4,865.6,7.6,667,13788,0.00,0.80,0.00,0.000,6,0.000,0.055,3154,1643,1565,0,0,0,0,0,0
$GC,14107,0.41,311.4,840.0,7.8,678,14110,0.00,0.40,0.00,0.000,4,0.000,0.066,3154,1379,1565,0,0,0,0,0,0
$GC,14155,0.41,311.4,836.0,7.4,679,14160,0.00,0.43,0.00,0.000,6,0.000,0.045,3154,1668,1565,0,0,0,0,0,0
$GC,14479,0.41,312.2,811.6,7.4,690,14486,0.00,0.00,4.60,1.034,6,0.000,0.000,3154,1668,1554,0,0,0,0,0,0
$GC,14785,0.41,312.2,788.2,7.8,700,14789,0.00,0.55,0.00,0.000,4,0.000,0.063,3155,1319,1554,0,0,0,0,0,0
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$STATE,23160,end climb,SURFACE_DEPTH_REACHED
$STATE,23160,begin surface coast
$FINISH,1.5,1.012699
$STATE,23203,end surface coast,CONTROL_FINISHED_OK
$STATE,23203,begin surface
$SM_CCo,23279,0.00,0.000,0,0,1186,402.53
$SM_GC,2.57,8.60,0.00,0.00,0.058,0.000,0.000,85,1930,1186,-9.10,0.48,402.53
$IRIDIUM_FIX,-4215.72,-719.09,011112,202018
$TT8_MAMPS,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.6,41.208
$10V_AH,10.1,31.761
$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
$DEVICE_SECS,26.050,133.000,492.775,0.000,0.000,28.727,38.841,295.519,0.250,0.000,19.928,3124.102,15990.639,604.909,3848.740,188.091,33.364,2108.635,0.000,3432.248,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.582,1362.324,800.284,102.597,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,73389,1213
$CAP_FILE_SIZE,218101,0
$CFSIZE,2097086464,2070380544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021112,093606,-4228.613,-722.023,26,1.7,27,-21.8