version: 66.07.10.p01
glider: 574
mission: 4
dive: 180
start: 11 4 112 21 58 51
data:
$ID,574
$MISSION,4
$DIVE,180
$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,-5993.0073
$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,33
$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,159
$GPS1,041112,215005,-4214.414,-715.995,35,0.9,35,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-73.9
$GPS2,041112,215756,-4214.364,-715.940,16,1.4,17,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.183,-0.147
$KALMAN_X,-328281.0,522.2,651.2,454189.9,-7790.5
$KALMAN_Y,262545.0,196.7,-253.4,-193495.4,2421.9
$MHEAD_RNG_PITCHd_Wd,150.8,56163,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.50,0.000,2,0.000,0.000,67,1906,2747,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.6,10,127,12.60,2.33,-17.20,0.000,4,0.269,0.068,2828,3315,3422,0,0,0,0,0,0
$GC,206,-0.52,-145.9,15.9,-9.1,29,213,0.00,2.28,0.00,0.000,6,0.000,0.051,2828,1918,3423,0,0,0,0,0,0
$GC,286,-0.52,-145.9,23.2,-9.3,42,294,0.05,0.90,0.00,0.000,4,0.218,0.065,2840,1374,3423,0,0,0,0,0,0
$GC,320,-0.57,-145.9,26.5,-9.3,47,327,0.00,0.85,0.00,0.000,6,0.000,0.043,2838,1917,3423,0,0,0,0,0,0
$GC,398,-0.67,-145.9,33.0,-7.9,60,405,0.12,2.28,0.00,0.000,4,0.099,0.054,2782,3318,3423,0,0,0,0,0,0
$GC,488,-0.60,-145.9,42.0,-10.7,75,494,0.12,2.25,0.00,0.000,6,0.161,0.047,2815,1900,3423,0,0,0,0,0,0
$GC,723,-0.55,-145.9,65.1,-9.9,116,729,0.08,2.28,0.00,0.000,4,0.193,0.063,2834,510,3424,0,0,0,0,0,0
$GC,790,-0.55,-145.9,71.8,-9.8,128,795,0.00,2.20,0.00,0.000,6,0.000,0.036,2826,1915,3424,0,0,0,0,0,0
$GC,1143,-0.63,-145.9,102.9,-9.0,187,1147,0.00,2.30,0.00,0.000,4,0.000,0.063,2825,498,3424,0,0,0,0,0,0
$GC,1231,-0.63,-145.9,112.5,-10.4,192,1239,0.00,2.22,0.00,0.000,6,0.000,0.037,2823,1918,3424,0,0,0,0,0,0
$GC,1553,-0.70,-145.9,144.9,-10.8,213,1557,0.10,2.20,0.00,0.000,4,0.110,0.050,2774,3316,3424,0,0,0,0,0,0
$GC,1650,-0.64,-145.9,157.4,-13.1,219,1655,0.12,2.20,0.00,0.000,6,0.160,0.043,2806,1900,3424,0,0,0,0,0,0
$GC,1975,-0.59,-145.9,195.7,-10.7,240,1979,0.03,2.28,0.00,0.000,4,0.283,0.061,2817,502,3424,0,0,0,0,0,0
$GC,2046,-0.56,-145.9,203.4,-9.9,244,2054,0.05,2.20,0.00,0.000,6,0.149,0.036,2827,1915,3424,0,0,0,0,0,0
$GC,2368,-0.66,-145.9,228.6,-7.5,265,2372,0.08,1.85,0.00,0.000,4,0.130,0.047,2786,3102,3424,0,0,0,0,0,0
$GC,2437,-0.66,-145.9,234.9,-9.5,269,2441,0.00,1.85,0.00,0.000,6,0.000,0.042,2786,1918,3424,0,0,0,0,0,0
$GC,2756,-0.66,-145.9,263.2,-8.6,287,2760,0.00,0.38,0.00,0.000,4,0.000,0.049,2785,2186,3424,0,0,0,0,0,0
$GC,2771,-0.66,-145.9,264.8,-8.5,287,2777,0.05,0.43,0.00,0.000,6,0.207,0.051,2796,1904,3424,0,0,0,0,0,0
$GC,3090,-0.69,-145.9,289.0,-7.4,303,3094,0.00,2.22,0.00,0.000,4,0.000,0.049,2787,3313,3424,0,0,0,0,0,0
$GC,3158,-0.67,-145.9,294.8,-8.4,306,3162,0.00,2.15,0.00,0.000,6,0.000,0.038,2788,1911,3424,0,0,0,0,0,0
$GC,3485,-0.59,-145.9,325.3,-10.0,322,3489,0.12,1.88,0.00,0.000,4,0.171,0.057,2821,736,3424,0,0,0,0,0,0
$GC,3554,-0.59,-145.9,331.6,-9.0,325,3558,0.00,1.77,0.00,0.000,6,0.000,0.037,2813,1914,3424,0,0,0,0,0,0
$GC,3888,-0.56,-145.9,361.1,-9.1,341,3890,0.08,0.00,0.00,0.000,6,0.197,0.000,2831,1917,3424,0,0,0,0,0,0
$GC,4196,-0.70,-145.9,387.2,-8.4,356,4200,0.12,2.20,0.00,0.000,4,0.097,0.050,2773,3313,3424,0,0,0,0,0,0
$GC,4205,-0.81,-145.9,388.2,-8.5,356,4214,0.05,2.17,0.00,0.000,6,0.086,0.041,2746,1921,3424,0,0,0,0,0,0
$GC,4529,-0.64,-145.9,433.4,-14.8,369,4534,0.20,2.10,0.00,0.000,4,0.171,0.047,2790,3248,3424,0,0,0,0,0,0
$GC,4601,-0.62,-145.9,442.0,-10.7,371,4606,0.03,2.08,0.00,0.000,6,0.171,0.037,2804,1911,3424,0,0,0,0,0,0
$GC,4931,-0.58,-145.9,476.1,-10.2,382,4935,0.08,2.25,0.00,0.000,4,0.200,0.055,2823,505,3424,0,0,0,0,0,0
$GC,5007,-0.58,-145.9,483.9,-9.5,384,5012,0.00,2.20,0.00,0.000,6,0.000,0.037,2815,1918,3423,0,0,0,0,0,0
$GC,5332,-0.67,-145.9,510.3,-7.9,395,5336,0.00,2.20,0.00,0.000,4,0.000,0.050,2805,3321,3423,0,0,0,0,0,0
$GC,5420,-0.78,-145.9,517.7,-8.1,397,5427,0.10,2.17,0.00,0.000,6,0.067,0.037,2757,1913,3423,0,0,0,0,0,0
$GC,5733,-0.64,-145.9,551.7,-11.5,408,5738,0.17,2.22,0.00,0.000,4,0.170,0.054,2803,510,3422,0,0,0,0,0,0
$GC,5805,-0.61,-145.9,558.4,-8.7,410,5810,0.05,2.20,0.00,0.000,6,0.156,0.037,2812,1916,3422,0,0,0,0,0,0
$GC,6135,-0.69,-145.9,580.0,-6.4,421,6140,0.08,2.22,0.00,0.000,4,0.135,0.050,2778,3326,3422,0,0,0,0,0,0
$GC,6206,-0.66,-145.9,586.0,-8.8,423,6211,0.05,2.17,0.00,0.000,6,0.151,0.037,2794,1921,3421,0,0,0,0,0,0
$GC,6536,-0.61,-145.9,614.9,-9.3,434,6540,0.08,2.10,0.00,0.000,4,0.210,0.054,2812,586,3421,0,0,0,0,0,0
$GC,6601,-0.61,-145.9,621.3,-9.1,436,6606,0.00,2.08,0.00,0.000,6,0.000,0.037,2806,1915,3422,0,0,0,0,0,0
$GC,6937,-0.59,-145.9,651.5,-9.0,447,6939,0.08,0.00,0.00,0.000,6,0.204,0.000,2824,1917,3421,0,0,0,0,0,0
$GC,7243,-0.70,-145.9,675.5,-7.7,457,7248,0.12,2.30,0.00,0.000,4,0.099,0.056,2776,501,3420,0,0,0,0,0,0
$GC,7320,-0.61,-145.9,683.7,-11.2,459,7325,0.12,2.22,0.00,0.000,6,0.147,0.039,2808,1914,3420,0,0,0,0,0,0
$GC,7643,-0.61,-145.9,712.8,-8.9,470,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1914,3420,0,0,0,0,0,0
$GC,7949,-0.61,-145.9,740.5,-9.1,480,7953,0.00,0.32,0.00,0.000,4,0.000,0.059,2808,1691,3420,0,0,0,0,0,0
$GC,8021,-0.61,-145.9,747.0,-8.6,482,8025,0.00,0.35,0.00,0.000,6,0.000,0.051,2808,1928,3420,0,0,0,0,0,0
$GC,8356,-0.61,-145.9,777.0,-9.0,493,8359,0.00,1.65,0.00,0.000,4,0.000,0.056,2808,885,3419,0,0,0,0,0,0
$GC,8423,-0.61,-145.9,782.9,-7.9,495,8427,0.00,1.60,0.00,0.000,6,0.000,0.040,2801,1902,3419,0,0,0,0,0,0
$GC,8764,-0.59,-145.9,813.2,-9.0,506,8768,0.08,1.38,0.00,0.000,4,0.197,0.048,2812,2768,3418,0,0,0,0,0,0
$GC,8831,-0.62,-145.9,818.2,-7.0,508,8835,0.00,1.33,0.00,0.000,6,0.000,0.042,2812,1915,3418,0,0,0,0,0,0
$GC,9172,-0.73,-145.9,842.2,-7.2,519,9177,0.10,2.28,0.00,0.000,4,0.116,0.054,2769,3325,3418,0,0,0,0,0,0
$GC,9260,-0.69,-145.9,850.3,-9.5,521,9266,0.05,2.20,0.00,0.000,6,0.150,0.041,2785,1923,3417,0,0,0,0,0,0
$GC,9573,-0.64,-145.9,880.8,-10.3,532,9577,0.08,1.60,0.00,0.000,4,0.209,0.056,2804,930,3417,0,0,0,0,0,0
$GC,9661,-0.64,-145.9,889.4,-9.5,534,9666,0.00,1.58,0.00,0.000,6,0.000,0.039,2797,1930,3417,0,0,0,0,0,0
$GC,9980,-0.62,-145.9,920.7,-10.2,545,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1930,3417,0,0,0,0,0,0
$GC,10286,-0.62,-145.9,950.6,-9.4,555,10290,0.00,0.45,0.00,0.000,4,0.000,0.056,2797,1633,3417,0,0,0,0,0,0
$GC,10354,-0.62,-145.9,957.0,-9.4,557,10357,0.00,0.43,0.00,0.000,6,0.000,0.049,2796,1923,3417,0,0,0,0,0,0
$GC,10694,-0.62,-145.9,987.6,-8.6,568,10698,0.05,1.38,0.00,0.000,4,0.233,0.055,2807,1081,3416,0,0,0,0,0,0
$GC,10794,-0.62,-145.9,996.0,-8.0,571,10798,0.00,1.30,0.00,0.000,6,0.000,0.040,2803,1912,3416,0,0,0,0,0,0
$STATE,10858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10858,begin apogee
$GC,10863,-0.19,0.0,1001.6,8.7,573,10990,0.47,0.00,124.65,1.533,6,0.134,0.000,2947,1642,2826,0,0,0,0,0,0
$STATE,10991,end apogee,CONTROL_FINISHED_OK
$STATE,10991,begin climb
$GC,10993,0.52,145.9,1008.0,0.0,577,11130,0.70,0.93,131.30,1.506,4,0.076,0.060,3179,1143,2232,0,0,0,0,0,0
$GC,11176,0.33,185.7,1009.2,6.0,583,11219,0.20,0.85,37.60,1.451,6,0.174,0.042,3129,1657,2069,0,0,0,0,0,0
$GC,11543,0.30,251.0,989.4,5.2,595,11607,0.08,0.85,58.40,1.461,4,0.213,0.045,3113,2157,1802,0,0,0,0,0,0
$GC,11647,0.33,308.7,984.2,5.4,598,11706,0.00,0.85,53.72,1.447,6,0.000,0.051,3115,1660,1567,0,0,0,0,0,0
$GC,12036,0.60,322.2,959.2,6.9,611,12052,0.28,0.57,12.05,1.294,4,0.090,0.046,3212,2013,1512,0,0,0,0,0,0
$GC,12068,0.60,322.2,956.6,8.1,612,12072,0.00,0.62,0.00,0.000,6,0.000,0.056,3213,1642,1512,0,0,0,0,0,0
$GC,12403,0.49,322.2,918.8,11.6,623,12408,0.15,0.35,0.00,0.000,4,0.193,0.068,3177,1421,1509,0,0,0,0,0,0
$GC,12441,0.46,322.2,914.7,10.5,624,12445,0.00,0.35,0.00,0.000,6,0.000,0.050,3177,1658,1509,0,0,0,0,0,0
$GC,12776,0.43,322.2,882.3,9.5,635,12778,0.10,0.00,0.00,0.000,6,0.187,0.000,3154,1659,1508,0,0,0,0,0,0
$GC,13082,0.43,322.2,857.9,7.7,645,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1659,1507,0,0,0,0,0,0
$GC,13388,0.43,322.6,835.1,7.4,655,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1659,1507,0,0,0,0,0,0
$GC,13694,0.43,322.6,811.3,7.9,665,13698,0.00,0.28,0.00,0.000,4,0.000,0.054,3154,1865,1507,0,0,0,0,0,0
$GC,13749,0.43,330.9,806.9,7.1,666,13761,0.00,0.35,8.32,1.164,6,0.000,0.063,3154,1648,1478,0,0,0,0,0,0
$GC,14067,0.43,330.9,782.0,7.9,677,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1648,1477,0,0,0,0,0,0
$GC,14373,0.45,330.9,758.0,7.8,687,14377,0.00,0.52,0.00,0.000,4,0.000,0.047,3154,2003,1477,0,0,0,0,0,0
$GC,14422,0.45,340.3,754.0,7.1,688,14439,0.00,0.57,10.23,1.200,6,0.000,0.057,3155,1649,1439,0,0,0,0,0,0
$GC,14745,0.48,340.3,728.7,7.8,699,14749,0.00,0.43,0.00,0.000,4,0.000,0.066,3156,1370,1437,0,0,0,0,0,0
$GC,14789,0.50,340.3,725.3,8.0,700,14793,0.00,0.43,0.00,0.000,6,0.000,0.047,3156,1652,1437,0,0,0,0,0,0
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$STATE,23376,end climb,SURFACE_DEPTH_REACHED
$STATE,23377,begin surface coast
$FINISH,1.7,1.026520
$STATE,23390,end surface coast,CONTROL_FINISHED_OK
$STATE,23390,begin surface
$SM_CCo,23466,0.00,0.000,0,0,1074,430.00
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$IRIDIUM_FIX,-4204.08,-717.61,041112,151501
$TT8_MAMPS,0.026964
$HUMID,46.41
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.6,43.444
$10V_AH,10.1,33.139
$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
$DEVICE_SECS,26.675,132.100,489.525,0.000,0.000,27.408,35.396,284.965,0.250,0.000,19.567,3126.906,16257.503,563.835,3783.246,196.020,33.360,2055.365,0.000,3386.589,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.742,1392.544,810.937,105.746,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354436
$DATA_FILE_SIZE,73600,1242
$CAP_FILE_SIZE,218755,0
$CFSIZE,2097086464,2069069824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051112,043123,-4215.179,-714.980,52,1.4,53,-21.9