version: 66.07.10.p01
glider: 574
mission: 4
dive: 274
start: 11 25 112 15 27 28
data:
$ID,574
$MISSION,4
$DIVE,274
$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,-6711.6304
$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,27
$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,253
$GPS1,251112,151935,-4145.285,-610.050,31,1.0,31,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-71.6
$GPS2,251112,152635,-4145.305,-610.050,38,0.8,38,-22.2
$SPEED_LIMITS,0.246,0.289
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.169,0.234
$KALMAN_X,-339157.6,-267.3,-682.6,556668.1,-282.1
$KALMAN_Y,21656.8,-31.7,227.9,100955.5,-1106.7
$MHEAD_RNG_PITCHd_Wd,66.7,39710,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.01,-145.9,0.0,0.0,0,87,0.00,0.00,-59.95,0.000,2,0.000,0.000,66,1940,2308,0,0,0,0,0,0
$GC,90,-1.01,-145.9,3.2,-1.4,10,152,11.55,2.40,-39.95,0.000,4,0.253,0.076,2685,509,3423,0,0,0,0,0,0
$GC,202,-0.91,-145.9,13.3,-16.4,28,210,0.12,2.20,0.00,0.000,6,0.177,0.042,2712,1885,3423,0,0,0,0,0,0
$GC,283,-0.91,-145.9,24.1,-14.0,41,290,0.00,1.58,0.00,0.000,4,0.000,0.045,2705,2883,3424,0,0,0,0,0,0
$GC,327,-0.91,-145.9,30.6,-14.8,48,334,0.00,1.52,0.00,0.000,6,0.000,0.044,2709,1917,3424,0,0,0,0,0,0
$GC,565,-0.96,-145.9,62.5,-12.6,89,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1917,3424,0,0,0,0,0,0
$GC,906,-1.00,-145.9,103.7,-11.5,146,911,0.05,2.28,0.00,0.000,4,0.178,0.058,2690,502,3425,0,0,0,0,0,0
$GC,962,-0.94,-145.9,111.5,-14.0,149,968,0.12,2.20,0.00,0.000,6,0.197,0.035,2710,1932,3424,0,0,0,0,0,0
$GC,1282,-1.01,-145.9,147.9,-11.0,170,1287,0.08,2.15,0.00,0.000,4,0.133,0.047,2672,3325,3425,0,0,0,0,0,0
$GC,1345,-0.97,-145.9,156.1,-12.7,174,1350,0.10,2.17,0.00,0.000,6,0.190,0.037,2695,1906,3425,0,0,0,0,0,0
$GC,1672,-1.00,-145.9,193.4,-11.3,195,1676,0.00,2.20,0.00,0.000,4,0.000,0.055,2695,502,3425,0,0,0,0,0,0
$GC,1734,-0.96,-145.9,201.6,-12.6,198,1741,0.00,2.17,0.00,0.000,6,0.000,0.031,2686,1918,3425,0,0,0,0,0,0
$GC,2056,-1.00,-145.9,236.2,-10.6,219,2060,0.00,2.15,0.00,0.000,4,0.000,0.045,2676,3315,3426,0,0,0,0,0,0
$GC,2128,-1.00,-145.9,245.1,-11.6,223,2133,0.03,2.17,0.00,0.000,6,0.190,0.037,2684,1903,3426,0,0,0,0,0,0
$GC,2456,-1.03,-145.9,279.6,-10.6,240,2460,0.00,2.20,0.00,0.000,4,0.000,0.054,2684,504,3426,0,0,0,0,0,0
$GC,2512,-0.98,-145.9,286.9,-12.5,242,2520,0.05,2.17,0.00,0.000,6,0.187,0.032,2689,1916,3426,0,0,0,0,0,0
$GC,2829,-1.03,-145.9,319.4,-9.9,258,2832,0.00,2.00,0.00,0.000,4,0.000,0.045,2680,3225,3426,0,0,0,0,0,0
$GC,2884,-1.01,-145.9,325.9,-11.6,260,2888,0.00,2.00,0.00,0.000,6,0.000,0.035,2681,1908,3426,0,0,0,0,0,0
$GC,3206,-1.04,-145.9,365.0,-11.8,276,3210,0.00,1.77,0.00,0.000,4,0.000,0.052,2680,754,3427,0,0,0,0,0,0
$GC,3245,-0.97,-145.9,370.4,-13.5,277,3251,0.08,1.77,0.00,0.000,6,0.179,0.033,2694,1910,3427,0,0,0,0,0,0
$GC,3582,-1.02,-145.9,409.8,-12.2,293,3586,0.00,2.25,0.00,0.000,4,0.000,0.055,2698,504,3427,0,0,0,0,0,0
$GC,3644,-1.02,-145.9,418.3,-13.4,295,3648,0.00,2.12,0.00,0.000,6,0.000,0.032,2689,1914,3427,0,0,0,0,0,0
$GC,3985,-1.06,-145.9,460.4,-11.9,306,3989,0.00,2.15,0.00,0.000,4,0.000,0.045,2678,3316,3427,0,0,0,0,0,0
$GC,4062,-1.06,-145.9,470.1,-12.7,308,4066,0.00,2.15,0.00,0.000,6,0.000,0.036,2678,1906,3427,0,0,0,0,0,0
$GC,4386,-1.09,-145.9,506.8,-11.4,319,4390,0.00,2.20,0.00,0.000,4,0.000,0.054,2678,513,3427,0,0,0,0,0,0
$GC,4430,-1.03,-145.9,512.9,-14.6,320,4435,0.00,2.15,0.00,0.000,6,0.000,0.034,2669,1907,3426,0,0,0,0,0,0
$GC,4755,-1.03,-145.9,552.6,-12.2,331,4758,0.00,0.32,0.00,0.000,4,0.000,0.054,2670,1675,3426,0,0,0,0,0,0
$GC,4782,-1.01,-145.9,556.3,-12.9,331,4788,0.08,0.38,0.00,0.000,6,0.216,0.044,2682,1939,3426,0,0,0,0,0,0
$GC,5095,-1.05,-145.9,594.3,-12.2,342,5099,0.00,2.10,0.00,0.000,4,0.000,0.047,2673,3301,3426,0,0,0,0,0,0
$GC,5183,-1.05,-145.9,606.5,-13.4,344,5188,0.00,2.15,0.00,0.000,6,0.000,0.037,2673,1909,3425,0,0,0,0,0,0
$GC,5502,-1.08,-145.9,646.9,-12.5,355,5506,0.00,2.15,0.00,0.000,4,0.000,0.045,2664,3299,3425,0,0,0,0,0,0
$GC,5569,-1.06,-145.9,656.0,-13.9,357,5573,0.00,2.12,0.00,0.000,6,0.000,0.037,2664,1911,3424,0,0,0,0,0,0
$GC,5904,-1.01,-145.9,704.8,-14.6,368,5909,0.08,2.22,0.00,0.000,4,0.225,0.052,2685,509,3424,0,0,0,0,0,0
$GC,5959,-0.99,-145.9,713.0,-14.8,369,5965,0.05,2.15,0.00,0.000,6,0.187,0.033,2690,1897,3424,0,0,0,0,0,0
$GC,6272,-1.05,-145.9,751.7,-12.3,380,6276,0.00,2.20,0.00,0.000,4,0.000,0.045,2681,3314,3423,0,0,0,0,0,0
$GC,6378,-1.05,-145.9,766.0,-13.8,383,6382,0.00,2.15,0.00,0.000,6,0.000,0.035,2681,1918,3423,0,0,0,0,0,0
$GC,6708,-1.10,-145.9,806.6,-12.1,394,6713,0.08,1.02,0.00,0.000,4,0.147,0.050,2656,1270,3422,0,0,0,0,0,0
$GC,6758,-1.01,-145.9,813.9,-15.4,395,6763,0.10,0.98,0.00,0.000,6,0.181,0.036,2682,1914,3422,0,0,0,0,0,0
$GC,7082,-0.98,-145.9,857.9,-13.5,406,7087,0.03,1.42,0.00,0.000,4,0.299,0.042,2684,2831,3422,0,0,0,0,0,0
$GC,7143,-0.98,-145.9,866.3,-12.3,407,7149,0.00,1.42,0.00,0.000,6,0.000,0.037,2685,1907,3422,0,0,0,0,0,0
$GC,7457,-0.96,-145.9,906.3,-12.6,418,7458,0.08,0.00,0.00,0.000,6,0.218,0.000,2701,1904,3421,0,0,0,0,0,0
$GC,7762,-0.96,-145.9,941.6,-11.6,428,7766,0.00,0.55,0.00,0.000,4,0.000,0.044,2699,2285,3421,0,0,0,0,0,0
$GC,7806,-0.96,-145.9,946.9,-11.1,429,7810,0.00,0.57,0.00,0.000,6,0.000,0.044,2699,1904,3421,0,0,0,0,0,0
$STATE,7981,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7981,begin apogee
$GC,7986,-0.21,0.0,967.2,11.7,435,8118,0.82,0.00,128.52,1.477,6,0.152,0.000,2938,1645,2827,0,0,0,0,0,0
$STATE,8118,end apogee,CONTROL_FINISHED_OK
$STATE,8118,begin climb
$GC,8120,1.01,145.9,973.7,0.0,439,8262,1.20,2.33,133.30,1.468,4,0.063,0.041,3340,2971,2231,0,0,0,0,0,0
$GC,8352,0.73,206.1,970.8,10.3,446,8416,0.43,2.15,55.97,1.415,6,0.228,0.042,3257,1666,1986,0,0,0,0,0,0
$GC,8735,0.65,273.1,932.1,9.8,459,8800,0.12,1.48,59.83,1.405,4,0.233,0.057,3236,784,1712,0,0,0,0,0,0
$GC,8855,0.66,321.7,920.0,11.0,462,8905,0.00,1.38,45.08,1.367,6,0.000,0.034,3236,1641,1515,0,0,0,0,0,0
$GC,9230,0.71,380.6,880.2,10.4,475,9290,0.00,0.65,53.50,1.366,4,0.000,0.042,3236,2057,1274,0,0,0,0,0,0
$GC,9319,0.79,444.5,870.8,10.0,477,9385,0.03,0.68,60.20,1.355,6,0.105,0.052,3256,1646,1014,0,0,0,0,0,0
$GC,9692,0.90,476.6,825.7,12.1,490,9727,0.12,2.38,29.73,1.300,4,0.104,0.068,3306,241,883,0,0,0,0,0,0
$GC,9838,0.93,476.6,803.3,15.4,494,9843,0.00,2.25,0.00,0.000,6,0.000,0.036,3306,1653,876,0,0,0,0,0,0
$GC,10157,0.96,476.6,752.9,16.0,505,10161,0.00,2.30,0.00,0.000,4,0.000,0.066,3316,249,875,0,0,0,0,0,0
$GC,10246,0.98,476.6,737.7,16.8,507,10252,0.00,2.22,0.00,0.000,6,0.000,0.037,3316,1654,872,0,0,0,0,0,0
$GC,10559,0.98,476.6,685.0,16.8,518,10562,0.00,1.98,0.00,0.000,4,0.000,0.065,3324,436,872,0,0,0,0,0,0
$GC,10619,0.98,476.6,674.5,17.0,519,10625,0.00,1.92,0.00,0.000,6,0.000,0.037,3324,1661,871,0,0,0,0,0,0
$GC,10932,0.98,476.6,623.5,16.2,530,10936,0.00,2.33,0.00,0.000,4,0.000,0.067,3333,248,871,0,0,0,0,0,0
$GC,11020,0.98,476.6,608.6,15.9,532,11024,0.00,2.22,0.00,0.000,6,0.000,0.040,3333,1652,870,0,0,0,0,0,0
$GC,11338,0.98,476.6,556.9,15.9,543,11343,0.00,2.30,0.00,0.000,4,0.000,0.067,3343,240,870,0,0,0,0,0,0
$GC,11421,0.98,476.6,543.3,15.6,545,11426,0.00,2.22,0.00,0.000,6,0.000,0.040,3343,1649,869,0,0,0,0,0,0
$GC,11740,0.96,476.6,490.7,16.9,556,11745,0.10,2.30,0.00,0.000,4,0.220,0.068,3332,245,869,0,0,0,0,0,0
$GC,11851,0.96,476.6,472.0,16.9,559,11855,0.00,2.22,0.00,0.000,6,0.000,0.040,3332,1659,869,0,0,0,0,0,0
$GC,12175,0.96,476.6,416.8,17.0,570,12179,0.00,2.33,0.00,0.000,4,0.000,0.070,3341,247,869,0,0,0,0,0,0
$GC,12296,0.96,476.6,394.4,18.1,574,12302,0.05,2.20,0.00,0.000,6,0.187,0.040,3326,1649,869,0,0,0,0,0,0
$GC,12619,0.96,476.6,336.6,17.7,590,12623,0.00,2.30,0.00,0.000,4,0.000,0.069,3334,242,869,0,0,0,0,0,0
$GC,12713,0.96,476.6,318.8,18.5,594,12718,0.00,2.22,0.00,0.000,6,0.000,0.040,3334,1655,869,0,0,0,0,0,0
$GC,13035,0.96,476.6,262.8,17.1,610,13039,0.00,2.33,0.00,0.000,4,0.000,0.068,3344,242,869,0,0,0,0,0,0
$GC,13152,0.96,476.6,242.1,16.4,616,13157,0.05,2.22,0.00,0.000,6,0.193,0.038,3328,1661,868,0,0,0,0,0,0
$GC,13479,0.96,476.6,193.2,14.8,637,13483,0.00,2.33,0.00,0.000,4,0.000,0.068,3335,248,868,0,0,0,0,0,0
$GC,13586,0.96,476.6,176.5,15.0,643,13591,0.03,2.20,0.00,0.000,6,0.204,0.038,3327,1649,868,0,0,0,0,0,0
$GC,13912,0.96,479.8,131.2,14.0,664,13916,0.00,2.33,0.00,0.000,4,0.000,0.068,3334,241,868,0,0,0,0,0,0
$GC,14012,0.96,479.8,116.3,14.3,670,14016,0.00,2.20,0.00,0.000,6,0.000,0.037,3334,1643,868,0,0,0,0,0,0
$GC,14347,0.96,479.8,67.7,15.3,716,14352,0.00,2.28,0.00,0.000,4,0.000,0.067,3343,248,868,0,0,0,0,0,0
$GC,14423,0.96,479.8,55.9,16.5,729,14428,0.10,2.17,0.00,0.000,6,0.205,0.037,3321,1653,868,0,0,0,0,0,0
$GC,14664,0.98,482.6,19.7,14.0,770,14671,0.00,2.15,1.38,0.168,4,0.000,0.067,3330,367,859,0,0,0,0,0,0
$GC,14720,0.98,482.6,10.7,16.8,779,14727,0.00,2.00,0.00,0.000,6,0.000,0.037,3330,1653,859,0,0,0,0,0,0
$STATE,14769,end climb,SURFACE_DEPTH_REACHED
$STATE,14769,begin surface coast
$FINISH,1.8,1.022358
$STATE,14788,end surface coast,CONTROL_FINISHED_OK
$STATE,14788,begin surface
$SM_CCo,14865,0.00,0.000,0,0,858,483.23
$SM_GC,2.67,9.00,0.00,0.00,0.056,0.000,0.000,87,1942,858,-9.10,0.85,483.23
$IRIDIUM_FIX,-4132.26,-610.21,251112,101036
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,22.2,64.720
$10V_AH,10.1,44.099
$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,24.700,141.350,567.500,0.000,0.000,22.052,38.368,220.345,0.000,0.000,40.427,2028.873,9761.114,602.810,2718.703,171.367,33.365,1710.743,0.000,2376.635,0.000,1.013,0.000
$DEVICE_MAMPS,299.115,76.500,1477.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.959,911.801,514.179,65.742,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,46949,790
$CAP_FILE_SIZE,154539,0
$CFSIZE,2097086464,2056323072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251112,193628,-4144.754,-610.071,42,1.0,42,-22.2