version: 66.07.10.p01
glider: 574
mission: 4
dive: 267
start: 11 24 112 8 45 58
data:
$ID,574
$MISSION,4
$DIVE,267
$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,235
$T_MISSION,265
$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,0
$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,-6687.6147
$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,24
$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,24
$R_STBD_OVSHOOT,53
$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,246
$GPS1,241112,083700,-4152.428,-614.613,47,1.2,47,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.7
$GPS2,241112,084505,-4152.417,-614.599,36,1.4,37,-22.1
$SPEED_LIMITS,0.246,0.289
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.160,0.240
$KALMAN_X,-333523.3,70.7,545.6,543286.2,-1149.3
$KALMAN_Y,33451.6,-197.7,-233.3,76622.5,-2008.9
$MHEAD_RNG_PITCHd_Wd,61.5,53737,-24.2,-14.184
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.01,-145.9,0.0,0.0,0,71,0.00,0.00,-42.67,0.000,2,0.000,0.000,65,1939,1932,0,0,0,0,0,0
$GC,73,-1.01,-145.9,3.0,-1.0,7,153,11.88,1.67,-60.28,0.000,4,0.265,0.068,2670,2973,3422,0,0,0,0,0,0
$GC,232,-0.75,-145.9,21.7,-22.3,33,240,0.32,1.70,0.00,0.000,6,0.198,0.047,2762,1908,3424,0,0,0,0,0,0
$GC,310,-0.73,-145.9,34.7,-14.3,46,318,0.05,0.65,0.00,0.000,4,0.242,0.047,2771,2330,3424,0,0,0,0,0,0
$GC,355,-0.75,-145.9,40.4,-14.2,53,360,0.00,0.65,0.00,0.000,6,0.000,0.053,2771,1917,3425,0,0,0,0,0,0
$GC,589,-0.75,-145.9,68.8,-10.9,94,594,0.00,0.75,0.00,0.000,4,0.000,0.046,2767,2412,3424,0,0,0,0,0,0
$GC,696,-0.78,-145.9,82.2,-12.3,113,701,0.00,0.80,0.00,0.000,6,0.000,0.050,2767,1901,3424,0,0,0,0,0,0
$GC,1035,-0.97,-145.9,114.8,-8.9,155,1040,0.20,2.22,0.00,0.000,4,0.078,0.049,2680,3299,3424,0,0,0,0,0,0
$GC,1084,-0.97,-145.9,121.3,-13.2,158,1089,0.08,2.17,0.00,0.000,6,0.201,0.044,2695,1907,3424,0,0,0,0,0,0
$GC,1412,-0.93,-145.9,166.2,-13.9,179,1416,0.05,2.28,0.00,0.000,4,0.249,0.059,2709,494,3425,0,0,0,0,0,0
$GC,1476,-0.93,-145.9,175.3,-13.1,183,1480,0.00,2.17,0.00,0.000,6,0.000,0.037,2700,1910,3425,0,0,0,0,0,0
$GC,1808,-0.90,-145.9,221.8,-14.4,204,1812,0.08,0.38,0.00,0.000,4,0.218,0.049,2714,2188,3425,0,0,0,0,0,0
$GC,1851,-0.90,-145.9,228.4,-12.9,206,1858,0.00,0.45,0.00,0.000,6,0.000,0.050,2714,1892,3425,0,0,0,0,0,0
$GC,2176,-0.90,-145.9,269.6,-12.7,225,2180,0.00,2.20,0.00,0.000,4,0.000,0.057,2714,511,3425,0,0,0,0,0,0
$GC,2231,-0.93,-145.9,277.4,-13.0,227,2235,0.00,2.12,0.00,0.000,6,0.000,0.035,2705,1915,3425,0,0,0,0,0,0
$GC,2554,-0.93,-145.9,317.2,-12.5,243,2558,0.00,0.30,0.00,0.000,4,0.000,0.050,2703,2154,3425,0,0,0,0,0,0
$GC,2577,-0.93,-145.9,320.2,-11.9,244,2581,0.00,0.35,0.00,0.000,6,0.000,0.053,2703,1909,3425,0,0,0,0,0,0
$GC,2910,-0.93,-145.9,360.4,-11.7,260,2914,0.00,2.22,0.00,0.000,4,0.000,0.057,2703,509,3425,0,0,0,0,0,0
$GC,2974,-0.93,-145.9,368.0,-11.5,263,2979,0.08,2.15,0.00,0.000,6,0.212,0.035,2708,1916,3425,0,0,0,0,0,0
$GC,3290,-0.93,-145.9,406.0,-12.1,278,3293,0.00,1.27,0.00,0.000,4,0.000,0.044,2703,2747,3425,0,0,0,0,0,0
$GC,3339,-0.96,-145.9,412.3,-12.0,279,3343,0.00,1.27,0.00,0.000,6,0.000,0.041,2706,1919,3425,0,0,0,0,0,0
$GC,3663,-0.96,-145.9,453.6,-13.7,290,3667,0.00,2.22,0.00,0.000,4,0.000,0.056,2706,509,3425,0,0,0,0,0,0
$GC,3731,-0.96,-145.9,463.4,-14.0,292,3735,0.00,2.15,0.00,0.000,6,0.000,0.034,2697,1914,3425,0,0,0,0,0,0
$GC,4066,-0.96,-145.9,512.5,-14.9,303,4070,0.00,1.55,0.00,0.000,4,0.000,0.044,2688,2916,3425,0,0,0,0,0,0
$GC,4126,-0.96,-145.9,521.8,-14.7,304,4132,0.00,1.55,0.00,0.000,6,0.000,0.038,2689,1911,3424,0,0,0,0,0,0
$GC,4440,-0.93,-145.9,569.5,-15.5,315,4444,0.10,1.85,0.00,0.000,4,0.203,0.052,2714,719,3424,0,0,0,0,0,0
$GC,4483,-0.96,-145.9,576.2,-14.4,316,4487,0.00,1.83,0.00,0.000,6,0.000,0.034,2706,1908,3424,0,0,0,0,0,0
$GC,4813,-0.96,-145.9,622.0,-13.8,327,4816,0.00,0.45,0.00,0.000,4,0.000,0.052,2706,1595,3423,0,0,0,0,0,0
$GC,4861,-0.96,-145.9,629.3,-14.2,328,4866,0.00,0.50,0.00,0.000,6,0.000,0.042,2704,1932,3423,0,0,0,0,0,0
$GC,5185,-0.96,-145.9,672.7,-13.6,339,5189,0.00,2.28,0.00,0.000,4,0.000,0.053,2704,509,3422,0,0,0,0,0,0
$GC,5257,-0.99,-145.9,682.7,-12.4,341,5261,0.00,2.10,0.00,0.000,6,0.000,0.034,2694,1900,3422,0,0,0,0,0,0
$GC,5587,-0.99,-145.9,725.1,-12.6,352,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1900,3421,0,0,0,0,0,0
$GC,5893,-0.99,-145.9,761.9,-12.2,362,5897,0.00,1.08,0.00,0.000,4,0.000,0.049,2694,1219,3420,0,0,0,0,0,0
$GC,5948,-0.99,-145.9,769.0,-12.9,363,5952,0.00,1.08,0.00,0.000,6,0.000,0.034,2689,1922,3420,0,0,0,0,0,0
$GC,6267,-0.96,-145.9,809.9,-13.3,374,6271,0.00,1.10,0.00,0.000,4,0.000,0.048,2689,1228,3419,0,0,0,0,0,0
$GC,6322,-0.96,-145.9,817.8,-14.3,375,6327,0.08,1.08,0.00,0.000,6,0.215,0.035,2700,1919,3419,0,0,0,0,0,0
$GC,6640,-0.96,-145.9,861.6,-14.4,386,6644,0.00,0.52,0.00,0.000,4,0.000,0.045,2698,2297,3419,0,0,0,0,0,0
$GC,6683,-0.96,-145.9,868.2,-14.6,387,6687,0.00,0.60,0.00,0.000,6,0.000,0.044,2699,1903,3419,0,0,0,0,0,0
$GC,7012,-0.96,-145.9,916.1,-14.5,398,7016,0.00,1.70,0.00,0.000,4,0.000,0.052,2700,816,3418,0,0,0,0,0,0
$GC,7073,-1.00,-145.9,925.0,-13.7,399,7079,0.00,1.70,0.00,0.000,6,0.000,0.034,2692,1914,3418,0,0,0,0,0,0
$GC,7386,-1.00,-145.9,968.4,-13.8,410,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1914,3417,0,0,0,0,0,0
$STATE,7630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7630,begin apogee
$GC,7635,-0.21,0.0,1000.1,12.5,418,7766,0.88,0.00,127.62,1.505,6,0.155,0.000,2943,1651,2827,0,0,0,0,0,0
$STATE,7766,end apogee,CONTROL_FINISHED_OK
$STATE,7767,begin climb
$GC,7768,1.01,145.9,1005.2,0.0,422,7910,1.17,1.75,133.68,1.476,4,0.065,0.057,3343,663,2231,0,0,0,0,0,0
$GC,8010,0.73,176.6,996.4,12.2,429,8047,0.38,1.62,28.77,1.392,6,0.227,0.034,3257,1662,2107,0,0,0,0,0,0
$GC,8355,0.63,222.8,957.0,11.2,441,8401,0.17,0.98,41.42,1.401,4,0.224,0.042,3217,2255,1917,0,0,0,0,0,0
$GC,8450,0.63,278.2,946.7,10.6,444,8507,0.00,0.98,50.78,1.403,6,0.000,0.047,3221,1664,1691,0,0,0,0,0,0
$GC,8814,0.68,343.5,908.4,9.9,456,8879,0.00,2.40,58.58,1.394,4,0.000,0.067,3227,292,1425,0,0,0,0,0,0
$GC,8945,0.77,396.4,894.3,10.7,460,9002,0.10,2.17,49.12,1.369,6,0.117,0.034,3259,1657,1211,0,0,0,0,0,0
$GC,9309,0.84,441.1,851.3,11.3,472,9358,0.08,2.50,41.25,1.340,4,0.137,0.068,3294,242,1027,0,0,0,0,0,0
$GC,9425,0.87,441.5,835.6,14.2,475,9429,0.00,2.25,0.00,0.000,6,0.000,0.037,3294,1652,1022,0,0,0,0,0,0
$GC,9744,0.91,446.1,792.1,13.9,486,9753,0.00,2.38,4.22,0.811,4,0.000,0.068,3303,238,1008,0,0,0,0,0,0
$GC,9837,0.94,446.1,777.9,14.9,488,9843,0.00,2.25,0.00,0.000,6,0.000,0.038,3303,1652,1007,0,0,0,0,0,0
$GC,10149,0.94,446.1,729.6,15.4,499,10154,0.00,2.30,0.00,0.000,4,0.000,0.069,3314,247,1006,0,0,0,0,0,0
$GC,10255,0.94,446.1,713.1,15.8,502,10259,0.00,2.22,0.00,0.000,6,0.000,0.039,3314,1652,1005,0,0,0,0,0,0
$GC,10585,0.94,446.1,661.1,16.0,513,10589,0.00,2.30,0.00,0.000,4,0.000,0.067,3323,238,1005,0,0,0,0,0,0
$GC,10672,0.94,446.1,646.4,16.8,515,10678,0.00,2.22,0.00,0.000,6,0.000,0.038,3322,1648,1004,0,0,0,0,0,0
$GC,10985,0.94,446.1,594.4,16.6,526,10990,0.00,2.33,0.00,0.000,4,0.000,0.069,3333,240,1004,0,0,0,0,0,0
$GC,11062,0.94,446.1,580.8,17.7,528,11068,0.05,2.22,0.00,0.000,6,0.192,0.039,3319,1652,1003,0,0,0,0,0,0
$GC,11387,0.94,446.1,526.6,17.3,539,11391,0.00,2.30,0.00,0.000,4,0.000,0.067,3328,246,1004,0,0,0,0,0,0
$GC,11482,0.94,446.1,509.7,18.2,542,11487,0.00,2.20,0.00,0.000,6,0.000,0.040,3329,1653,1003,0,0,0,0,0,0
$GC,11817,0.94,446.1,446.5,19.2,553,11821,0.00,2.28,0.00,0.000,4,0.000,0.067,3338,273,1003,0,0,0,0,0,0
$GC,11893,0.94,446.1,431.3,19.4,555,11898,0.05,2.17,0.00,0.000,6,0.188,0.039,3322,1655,1002,0,0,0,0,0,0
$GC,12219,0.94,446.1,373.0,17.6,568,12223,0.00,2.33,0.00,0.000,4,0.000,0.067,3332,240,1002,0,0,0,0,0,0
$GC,12285,0.94,446.1,360.8,17.6,571,12291,0.03,2.22,0.00,0.000,6,0.214,0.038,3325,1657,1002,0,0,0,0,0,0
$GC,12614,0.94,446.1,306.6,16.1,587,12618,0.00,2.33,0.00,0.000,4,0.000,0.067,3333,241,1002,0,0,0,0,0,0
$GC,12686,0.94,446.1,294.3,17.5,590,12692,0.05,2.20,0.00,0.000,6,0.182,0.038,3318,1647,1002,0,0,0,0,0,0
$GC,13004,0.94,446.1,244.8,15.7,606,13008,0.00,2.33,0.00,0.000,4,0.000,0.067,3328,238,1002,0,0,0,0,0,0
$GC,13087,0.94,446.1,231.3,15.3,611,13092,0.00,2.22,0.00,0.000,6,0.000,0.037,3328,1652,1002,0,0,0,0,0,0
$GC,13412,0.94,446.1,180.5,15.8,632,13416,0.00,2.33,0.00,0.000,4,0.000,0.067,3334,244,1002,0,0,0,0,0,0
$GC,13501,0.94,446.1,165.9,15.5,637,13507,0.05,2.22,0.00,0.000,6,0.187,0.037,3319,1661,1003,0,0,0,0,0,0
$GC,13821,0.94,446.1,118.0,15.0,658,13825,0.00,2.33,0.00,0.000,4,0.000,0.067,3329,237,1002,0,0,0,0,0,0
$GC,13910,0.94,446.1,103.8,15.7,663,13916,0.03,2.22,0.00,0.000,6,0.217,0.037,3322,1653,1002,0,0,0,0,0,0
$GC,14252,0.94,446.1,52.9,14.6,720,14259,0.00,2.33,0.00,0.000,4,0.000,0.066,3332,254,1002,0,0,0,0,0,0
$GC,14319,0.94,446.1,42.8,15.8,731,14325,0.05,2.17,0.00,0.000,6,0.242,0.036,3321,1662,1002,0,0,0,0,0,0
$GC,14560,0.94,446.1,6.5,15.3,772,14567,0.00,2.35,0.00,0.000,4,0.000,0.067,3331,247,1002,0,0,0,0,0,0
$STATE,14585,end climb,SURFACE_DEPTH_REACHED
$STATE,14585,begin surface coast
$FINISH,1.8,1.026535
$STATE,14604,end surface coast,CONTROL_FINISHED_OK
$STATE,14605,begin surface
$SM_CCo,14683,0.00,0.000,0,0,1000,447.91
$SM_GC,2.78,9.05,0.00,0.00,0.059,0.000,0.000,82,1947,1000,-9.11,0.96,447.91
$IRIDIUM_FIX,-4138.02,-616.58,241112,030314
$TT8_MAMPS,0.026964
$HUMID,48.11
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,22.2,63.026
$10V_AH,10.1,43.415
$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,25.025,127.550,535.450,0.000,0.000,23.433,43.248,272.885,0.250,0.000,39.207,1980.118,9752.429,589.949,2677.713,162.012,33.367,1647.779,0.000,2279.864,0.000,2.832,0.000
$DEVICE_MAMPS,264.690,68.850,1504.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.750,881.229,502.245,67.653,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,46949,779
$CAP_FILE_SIZE,147860,0
$CFSIZE,2097086464,2057240576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,241112,125159,-4151.380,-613.780,45,1.4,45,-22.2