version: 66.07.10.p01
glider: 574
mission: 4
dive: 182
start: 11 5 112 11 28 25
data:
$ID,574
$MISSION,4
$DIVE,182
$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,-5999.7725
$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,28
$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,161
$GPS1,051112,111906,-4214.307,-713.233,42,0.9,43,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-70.4
$GPS2,051112,112730,-4214.233,-713.201,18,1.4,19,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,-0.028
$KALMAN_X,-334236.7,115.6,220.2,464705.9,-4796.1
$KALMAN_Y,268593.5,183.2,597.5,-200150.9,1642.8
$MHEAD_RNG_PITCHd_Wd,118.9,52753,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.53,0.000,2,0.000,0.000,66,1907,2426,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.0,-1.1,9,133,12.77,2.33,-30.42,0.000,4,0.274,0.079,2834,511,3421,0,0,0,0,0,0
$GC,211,-0.49,-145.9,15.2,-11.1,30,219,0.08,2.25,0.00,0.000,6,0.151,0.042,2849,1911,3423,0,0,0,0,0,0
$GC,292,-0.51,-145.9,23.0,-7.9,43,299,0.00,0.43,0.00,0.000,4,0.000,0.054,2849,2212,3423,0,0,0,0,0,0
$GC,355,-0.54,-145.9,27.7,-7.3,53,363,0.00,0.47,0.00,0.000,6,0.000,0.055,2849,1905,3423,0,0,0,0,0,0
$GC,432,-0.54,-145.9,34.4,-8.1,66,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1904,3423,0,0,0,0,0,0
$GC,669,-0.69,-145.9,54.5,-7.9,107,675,0.17,2.30,0.00,0.000,4,0.082,0.054,2772,3329,3423,0,0,0,0,0,0
$GC,687,-0.79,-145.9,56.5,-8.7,110,694,0.00,2.25,0.00,0.000,6,0.000,0.047,2772,1920,3424,0,0,0,0,0,0
$GC,922,-0.65,-145.9,85.3,-12.6,151,926,0.12,2.22,0.00,0.000,4,0.179,0.050,2793,3325,3423,0,0,0,0,0,0
$GC,994,-0.62,-145.9,93.3,-9.7,164,1000,0.08,2.22,0.00,0.000,6,0.178,0.046,2810,1912,3423,0,0,0,0,0,0
$GC,1320,-0.57,-145.9,123.7,-9.4,193,1325,0.05,2.28,0.00,0.000,4,0.231,0.063,2824,501,3424,0,0,0,0,0,0
$GC,1392,-0.55,-145.9,130.7,-8.9,197,1398,0.03,2.22,0.00,0.000,6,0.189,0.036,2824,1927,3424,0,0,0,0,0,0
$GC,1712,-0.63,-145.9,156.3,-8.3,218,1715,0.00,1.67,0.00,0.000,4,0.000,0.047,2818,3004,3424,0,0,0,0,0,0
$GC,1773,-0.73,-145.9,162.0,-8.4,221,1779,0.10,1.73,0.00,0.000,6,0.067,0.043,2770,1908,3424,0,0,0,0,0,0
$GC,2093,-0.61,-145.9,199.4,-12.2,242,2098,0.17,2.25,0.00,0.000,4,0.159,0.060,2818,508,3424,0,0,0,0,0,0
$GC,2190,-0.58,-145.9,209.6,-10.1,248,2194,0.05,2.15,0.00,0.000,6,0.228,0.035,2821,1917,3424,0,0,0,0,0,0
$GC,2516,-0.65,-145.9,238.5,-8.6,269,2520,0.00,1.92,0.00,0.000,4,0.000,0.047,2813,3141,3424,0,0,0,0,0,0
$GC,2586,-0.76,-145.9,244.6,-8.8,273,2590,0.12,1.90,0.00,0.000,6,0.097,0.040,2764,1901,3424,0,0,0,0,0,0
$GC,2918,-0.62,-145.9,281.4,-11.1,290,2923,0.17,2.22,0.00,0.000,4,0.171,0.045,2800,3312,3424,0,0,0,0,0,0
$GC,3029,-0.62,-145.9,291.6,-8.9,295,3034,0.00,2.15,0.00,0.000,6,0.000,0.037,2800,1923,3424,0,0,0,0,0,0
$GC,3359,-0.67,-145.9,317.0,-7.7,311,3363,0.00,2.17,0.00,0.000,4,0.000,0.047,2793,3311,3424,0,0,0,0,0,0
$GC,3442,-0.67,-145.9,324.2,-8.5,314,3451,0.00,2.17,0.00,0.000,6,0.000,0.037,2793,1909,3424,0,0,0,0,0,0
$GC,3759,-0.69,-145.9,349.0,-7.9,330,3763,0.00,2.20,0.00,0.000,4,0.000,0.047,2784,3311,3424,0,0,0,0,0,0
$GC,3825,-0.67,-145.9,354.9,-9.0,333,3829,0.00,2.17,0.00,0.000,6,0.000,0.038,2784,1914,3423,0,0,0,0,0,0
$GC,4155,-0.58,-145.9,387.2,-10.4,349,4159,0.15,2.25,0.00,0.000,4,0.168,0.056,2826,505,3423,0,0,0,0,0,0
$GC,4231,-0.58,-145.9,394.5,-8.4,352,4236,0.00,2.17,0.00,0.000,6,0.000,0.035,2819,1909,3423,0,0,0,0,0,0
$GC,4551,-0.67,-145.9,418.2,-7.3,364,4556,0.08,2.20,0.00,0.000,4,0.133,0.049,2781,3312,3423,0,0,0,0,0,0
$GC,4622,-0.64,-145.9,424.8,-9.7,366,4627,0.05,2.17,0.00,0.000,6,0.150,0.037,2798,1907,3422,0,0,0,0,0,0
$GC,4952,-0.70,-145.9,451.2,-7.9,377,4956,0.00,2.22,0.00,0.000,4,0.000,0.048,2790,3317,3422,0,0,0,0,0,0
$GC,5024,-0.72,-145.9,457.6,-9.0,379,5029,0.00,2.17,0.00,0.000,6,0.000,0.037,2790,1915,3421,0,0,0,0,0,0
$GC,5354,-0.76,-145.9,485.8,-8.6,390,5359,0.05,2.22,0.00,0.000,4,0.177,0.048,2758,3318,3421,0,0,0,0,0,0
$GC,5416,-0.66,-145.9,492.0,-10.4,392,5420,0.15,2.17,0.00,0.000,6,0.162,0.039,2796,1904,3421,0,0,0,0,0,0
$GC,5755,-0.62,-145.9,526.1,-10.6,403,5760,0.05,2.22,0.00,0.000,4,0.238,0.057,2808,507,3421,0,0,0,0,0,0
$GC,5827,-0.58,-145.9,534.1,-11.1,405,5832,0.05,2.17,0.00,0.000,6,0.154,0.034,2817,1907,3420,0,0,0,0,0,0
$GC,6157,-0.67,-145.9,563.8,-8.8,416,6161,0.08,2.22,0.00,0.000,4,0.134,0.049,2781,3322,3420,0,0,0,0,0,0
$GC,6233,-0.67,-145.9,571.9,-10.7,418,6238,0.00,2.20,0.00,0.000,6,0.000,0.037,2781,1911,3420,0,0,0,0,0,0
$GC,6558,-0.59,-145.9,606.1,-10.5,429,6563,0.15,2.25,0.00,0.000,4,0.169,0.056,2821,509,3419,0,0,0,0,0,0
$GC,6653,-0.59,-145.9,614.8,-8.4,432,6657,0.00,2.17,0.00,0.000,6,0.000,0.035,2812,1927,3419,0,0,0,0,0,0
$GC,6987,-0.68,-145.9,641.0,-7.8,443,6992,0.05,2.30,0.00,0.000,4,0.172,0.057,2788,509,3418,0,0,0,0,0,0
$GC,7083,-0.62,-145.9,650.2,-9.3,446,7088,0.12,2.17,0.00,0.000,6,0.173,0.038,2813,1913,3418,0,0,0,0,0,0
$GC,7418,-0.70,-145.9,675.4,-6.9,457,7422,0.08,1.30,0.00,0.000,4,0.135,0.047,2780,2745,3417,0,0,0,0,0,0
$GC,7477,-0.70,-145.9,680.2,-8.0,458,7484,0.00,1.33,0.00,0.000,6,0.000,0.041,2779,1901,3417,0,0,0,0,0,0
$GC,7791,-0.70,-145.9,703.7,-7.2,469,7795,0.00,2.22,0.00,0.000,4,0.000,0.056,2780,509,3417,0,0,0,0,0,0
$GC,7890,-0.62,-145.9,712.6,-9.0,472,7895,0.10,2.20,0.00,0.000,6,0.147,0.038,2801,1911,3417,0,0,0,0,0,0
$GC,8225,-0.60,-145.9,736.7,-7.2,483,8227,0.08,0.00,0.00,0.000,6,0.208,0.000,2820,1913,3417,0,0,0,0,0,0
$GC,8532,-0.62,-145.9,756.8,-6.6,493,8536,0.00,1.12,0.00,0.000,4,0.000,0.053,2820,1203,3416,0,0,0,0,0,0
$GC,8570,-0.72,-145.9,759.6,-6.8,494,8575,0.08,1.10,0.00,0.000,6,0.074,0.041,2781,1914,3416,0,0,0,0,0,0
$GC,8905,-0.75,-145.9,785.6,-8.1,505,8909,0.00,2.25,0.00,0.000,4,0.000,0.058,2780,510,3416,0,0,0,0,0,0
$GC,8982,-0.67,-145.9,793.2,-9.8,507,8988,0.05,2.20,0.00,0.000,6,0.161,0.039,2788,1906,3416,0,0,0,0,0,0
$GC,9306,-0.62,-145.9,823.9,-9.5,518,9311,0.10,0.38,0.00,0.000,4,0.193,0.060,2813,1668,3415,0,0,0,0,0,0
$GC,9390,-0.62,-145.9,830.9,-8.2,520,9394,0.00,0.38,0.00,0.000,6,0.000,0.051,2813,1928,3415,0,0,0,0,0,0
$GC,9713,-0.62,-145.9,858.3,-8.7,531,9717,0.00,2.25,0.00,0.000,4,0.000,0.058,2813,516,3415,0,0,0,0,0,0
$GC,9784,-0.62,-145.9,865.2,-10.1,533,9790,0.00,2.17,0.00,0.000,6,0.000,0.040,2805,1894,3415,0,0,0,0,0,0
$GC,10115,-0.69,-145.9,892.8,-8.5,544,10119,0.00,1.70,0.00,0.000,4,0.000,0.050,2798,2983,3415,0,0,0,0,0,0
$GC,10175,-0.76,-145.9,898.1,-8.0,545,10182,0.05,1.67,0.00,0.000,6,0.089,0.041,2771,1914,3414,0,0,0,0,0,0
$GC,10488,-0.76,-145.9,926.8,-9.1,556,10492,0.00,2.25,0.00,0.000,4,0.000,0.057,2771,503,3415,0,0,0,0,0,0
$GC,10582,-0.68,-145.9,937.0,-10.8,558,10588,0.08,2.22,0.00,0.000,6,0.155,0.041,2786,1908,3414,0,0,0,0,0,0
$GC,10895,-0.63,-145.9,967.0,-9.5,569,10899,0.08,0.30,0.00,0.000,4,0.216,0.061,2803,1711,3414,0,0,0,0,0,0
$GC,10961,-0.63,-145.9,972.7,-8.1,571,10965,0.00,0.30,0.00,0.000,6,0.000,0.057,2803,1923,3414,0,0,0,0,0,0
$STATE,11303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11303,begin apogee
$GC,11307,-0.19,0.0,1001.4,8.6,582,11434,0.47,0.00,124.00,1.526,6,0.138,0.000,2945,1638,2826,0,0,0,0,0,0
$STATE,11435,end apogee,CONTROL_FINISHED_OK
$STATE,11435,begin climb
$GC,11437,0.52,145.9,1008.4,0.0,586,11577,0.70,2.55,131.32,1.509,4,0.078,0.050,3175,3037,2231,0,0,0,0,0,0
$GC,11717,0.33,193.4,1004.3,5.8,594,11768,0.25,2.33,43.65,1.458,6,0.189,0.047,3124,1649,2038,0,0,0,0,0,0
$GC,12092,0.31,288.8,988.3,4.1,607,12181,0.00,0.00,86.28,1.478,6,0.000,0.000,3124,1650,1649,0,0,0,0,0,0
$GC,12489,0.38,373.3,969.7,4.5,620,12572,0.00,1.00,77.15,1.471,4,0.000,0.044,3125,2231,1304,0,0,0,0,0,0
$GC,12825,0.69,373.3,945.8,8.1,630,12829,0.30,0.95,0.00,0.000,6,0.068,0.051,3235,1648,1297,0,0,0,0,0,0
$GC,13154,0.63,373.3,917.3,9.5,641,13158,0.08,2.33,0.00,0.000,4,0.207,0.070,3226,244,1296,0,0,0,0,0,0
$GC,13250,0.55,373.3,906.9,11.5,644,13254,0.12,2.22,0.00,0.000,6,0.181,0.041,3196,1650,1293,0,0,0,0,0,0
$GC,13584,0.52,373.3,875.7,9.4,655,13588,0.05,0.82,0.00,0.000,4,0.246,0.047,3186,2198,1293,0,0,0,0,0,0
$GC,13632,0.52,373.3,870.9,9.3,656,13637,0.00,0.90,0.00,0.000,6,0.000,0.053,3186,1645,1292,0,0,0,0,0,0
$GC,13956,0.52,373.3,840.2,9.8,667,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1645,1293,0,0,0,0,0,0
$GC,14262,0.52,373.3,809.5,10.1,677,14266,0.00,0.55,0.00,0.000,4,0.000,0.049,3186,2011,1292,0,0,0,0,0,0
$GC,14311,0.52,373.3,804.6,9.9,678,14315,0.00,0.60,0.00,0.000,6,0.000,0.057,3186,1643,1292,0,0,0,0,0,0
$GC,14635,0.52,373.3,776.0,8.7,689,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1643,1292,0,0,0,0,0,0
$GC,14941,0.52,373.3,750.6,8.1,699,14945,0.00,0.40,0.00,0.000,4,0.000,0.054,3186,1925,1292,0,0,0,0,0,0
$GC,14984,0.52,374.0,747.1,7.4,700,14988,0.00,0.45,0.00,0.000,6,0.000,0.062,3186,1643,1292,0,0,0,0,0,0
$GC,15314,0.52,376.3,722.3,7.3,711,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1643,1292,0,0,0,0,0,0
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$STATE,23343,end climb,SURFACE_DEPTH_REACHED
$STATE,23343,begin surface coast
$FINISH,1.5,1.004200
$STATE,23362,end surface coast,CONTROL_FINISHED_OK
$STATE,23362,begin surface
$SM_CCo,23438,0.00,0.000,0,0,1290,376.77
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$IRIDIUM_FIX,-4158.28,-714.35,051112,040409
$TT8_MAMPS,0.026964
$HUMID,46.96
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.5,43.886
$10V_AH,10.1,33.421
$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
$DEVICE_SECS,26.575,141.175,462.400,0.000,0.000,22.395,40.465,313.431,0.250,0.000,21.529,3105.584,16208.549,593.232,3840.187,183.624,33.364,2077.505,0.000,3407.042,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.088,1310.056,792.282,96.543,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,73625,1207
$CAP_FILE_SIZE,216894,0
$CFSIZE,2097086464,2068774912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051112,180005,-4213.976,-711.649,28,1.4,29,-21.9