version: 66.07.10.p01
glider: 574
mission: 4
dive: 290
start: 11 29 112 19 16 46
data:
$ID,574
$MISSION,4
$DIVE,290
$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,180
$T_MISSION,200
$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,-6766.1226
$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,25
$R_STBD_OVSHOOT,66
$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,269
$GPS1,291112,190622,-4144.283,-626.454,43,1.5,43,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-75.0
$GPS2,291112,191535,-4144.332,-626.468,35,0.8,35,-22.2
$SPEED_LIMITS,0.321,0.331
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.210,-0.256
$KALMAN_X,-413123.5,-289.2,1437.5,606229.6,-1168.1
$KALMAN_Y,25156.4,1080.0,-1991.0,100367.5,187.9
$MHEAD_RNG_PITCHd_Wd,179.1,91976,-27.6,-18.519
$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,23,begin dive
$GC,24,-1.16,-145.9,0.0,0.0,0,47,0.00,0.00,-20.23,0.000,2,0.000,0.000,67,1938,1974,0,0,0,0,0,0
$GC,49,-1.16,-145.9,3.0,-2.5,4,131,11.55,2.40,-61.92,0.000,4,0.259,0.073,2630,508,3423,0,0,0,0,0,0
$GC,245,-1.07,-145.9,24.9,-17.2,40,251,0.17,2.15,0.00,0.000,6,0.203,0.038,2662,1889,3424,0,0,0,0,0,0
$GC,320,-1.03,-145.9,36.6,-15.6,53,326,0.05,1.33,0.00,0.000,4,0.263,0.046,2668,2728,3424,0,0,0,0,0,0
$GC,394,-1.03,-145.9,48.4,-14.7,66,399,0.00,1.30,0.00,0.000,6,0.000,0.047,2671,1911,3424,0,0,0,0,0,0
$GC,625,-1.03,-145.9,84.0,-15.3,107,629,0.00,2.10,0.00,0.000,4,0.000,0.060,2671,607,3424,0,0,0,0,0,0
$GC,674,-1.01,-145.9,92.1,-15.6,116,680,0.10,2.05,0.00,0.000,6,0.208,0.037,2683,1925,3424,0,0,0,0,0,0
$GC,998,-1.13,-145.9,134.7,-12.7,143,1002,0.10,0.88,0.00,0.000,4,0.118,0.044,2645,2503,3425,0,0,0,0,0,0
$GC,1041,-1.11,-145.9,141.2,-15.1,145,1047,0.00,0.93,0.00,0.000,6,0.000,0.043,2645,1895,3425,0,0,0,0,0,0
$GC,1361,-1.05,-145.9,192.5,-16.3,166,1366,0.10,1.27,0.00,0.000,4,0.220,0.055,2670,1100,3425,0,0,0,0,0,0
$GC,1416,-1.05,-145.9,201.7,-15.2,169,1421,0.00,1.25,0.00,0.000,6,0.000,0.036,2666,1911,3425,0,0,0,0,0,0
$GC,1743,-1.12,-145.9,246.3,-13.6,190,1747,0.00,2.28,0.00,0.000,4,0.000,0.060,2666,512,3425,0,0,0,0,0,0
$GC,1814,-1.12,-145.9,258.0,-15.5,194,1819,0.00,2.17,0.00,0.000,6,0.000,0.035,2656,1914,3425,0,0,0,0,0,0
$GC,2136,-1.19,-145.9,303.6,-14.0,210,2141,0.08,2.20,0.00,0.000,4,0.140,0.047,2616,3319,3425,0,0,0,0,0,0
$GC,2225,-1.14,-145.9,318.5,-15.9,214,2229,0.12,2.15,0.00,0.000,6,0.192,0.039,2645,1910,3425,0,0,0,0,0,0
$GC,2552,-1.16,-145.9,369.9,-14.9,230,2556,0.00,0.40,0.00,0.000,4,0.000,0.055,2645,1628,3425,0,0,0,0,0,0
$GC,2585,-1.16,-145.9,375.4,-15.4,231,2589,0.00,0.45,0.00,0.000,6,0.000,0.041,2645,1933,3425,0,0,0,0,0,0
$GC,2916,-1.21,-145.9,424.4,-14.3,245,2920,0.08,0.50,0.00,0.000,4,0.138,0.046,2614,2288,3425,0,0,0,0,0,0
$GC,2942,-1.19,-145.9,428.8,-15.6,245,2948,0.03,0.57,0.00,0.000,6,0.222,0.044,2621,1890,3425,0,0,0,0,0,0
$GC,3256,-1.11,-145.9,481.5,-16.5,256,3260,0.12,0.47,0.00,0.000,4,0.216,0.042,2650,2224,3425,0,0,0,0,0,0
$GC,3299,-1.11,-145.9,488.2,-14.4,257,3303,0.00,0.47,0.00,0.000,6,0.000,0.047,2650,1909,3425,0,0,0,0,0,0
$GC,3629,-1.16,-145.9,527.9,-11.8,268,3633,0.00,2.17,0.00,0.000,4,0.000,0.047,2641,3304,3424,0,0,0,0,0,0
$GC,3711,-1.16,-145.9,538.9,-13.2,270,3716,0.00,2.15,0.00,0.000,6,0.000,0.037,2641,1916,3424,0,0,0,0,0,0
$GC,4031,-1.23,-145.9,578.7,-12.3,281,4035,0.08,2.25,0.00,0.000,4,0.140,0.055,2615,509,3424,0,0,0,0,0,0
$GC,4108,-1.14,-145.9,590.8,-15.8,283,4113,0.15,2.15,0.00,0.000,6,0.210,0.034,2641,1914,3424,0,0,0,0,0,0
$GC,4432,-1.10,-145.9,638.4,-14.6,294,4434,0.05,0.00,0.00,0.000,6,0.273,0.000,2651,1916,3423,0,0,0,0,0,0
$GC,4738,-1.10,-145.9,681.1,-13.8,304,4742,0.00,1.52,0.00,0.000,4,0.000,0.044,2645,2893,3422,0,0,0,0,0,0
$GC,4810,-1.10,-145.9,691.4,-14.1,306,4814,0.00,1.52,0.00,0.000,6,0.000,0.040,2645,1913,3421,0,0,0,0,0,0
$GC,5146,-1.07,-145.9,740.0,-14.7,317,5150,0.10,0.70,0.00,0.000,4,0.217,0.042,2664,2379,3420,0,0,0,0,0,0
$GC,5229,-1.09,-145.9,751.6,-13.5,319,5233,0.00,0.70,0.00,0.000,6,0.000,0.043,2666,1910,3420,0,0,0,0,0,0
$GC,5553,-1.09,-145.9,793.9,-13.0,330,5556,0.00,1.40,0.00,0.000,4,0.000,0.041,2661,2809,3419,0,0,0,0,0,0
$GC,5621,-1.12,-145.9,802.9,-12.8,332,5625,0.00,1.40,0.00,0.000,6,0.000,0.040,2661,1909,3419,0,0,0,0,0,0
$GC,5962,-1.12,-145.9,850.6,-14.4,343,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1908,3419,0,0,0,0,0,0
$STATE,6021,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6021,begin apogee
$GC,6026,-0.21,0.0,859.3,14.3,345,6156,1.00,0.00,126.22,1.393,6,0.163,0.000,2941,1644,2827,0,0,0,0,0,0
$STATE,6157,end apogee,CONTROL_FINISHED_OK
$STATE,6157,begin climb
$GC,6158,1.16,145.9,867.5,0.0,349,6297,1.30,0.80,131.07,1.375,4,0.057,0.041,3383,2099,2232,0,0,0,0,0,0
$GC,6403,0.90,283.5,867.4,8.4,356,6535,0.32,0.73,126.15,1.326,6,0.234,0.048,3313,1659,1671,0,0,0,0,0,0
$GC,6872,0.85,368.9,812.8,12.2,372,6958,0.10,2.47,77.28,1.302,4,0.243,0.065,3303,251,1321,0,0,0,0,0,0
$GC,7015,0.86,438.7,794.5,13.4,376,7085,0.00,2.25,64.43,1.267,6,0.000,0.037,3303,1655,1038,0,0,0,0,0,0
$GC,7393,0.94,505.4,743.0,13.6,388,7458,0.00,2.47,59.08,1.256,4,0.000,0.067,3307,249,765,0,0,0,0,0,0
$GC,7525,1.04,541.5,723.5,15.9,392,7563,0.12,2.25,31.70,1.199,6,0.110,0.037,3349,1669,618,0,0,0,0,0,0
$GC,7887,1.12,555.2,661.4,17.5,404,7907,0.08,2.42,12.35,1.093,4,0.137,0.067,3385,242,562,0,0,0,0,0,0
$GC,7969,1.15,555.2,645.3,20.0,406,7973,0.00,2.20,0.00,0.000,6,0.000,0.040,3385,1646,560,0,0,0,0,0,0
$GC,8286,1.18,555.2,582.9,19.4,417,8290,0.00,2.30,0.00,0.000,4,0.000,0.069,3392,242,558,0,0,0,0,0,0
$GC,8370,1.20,555.2,565.4,19.6,419,8374,0.00,2.22,0.00,0.000,6,0.000,0.040,3392,1648,557,0,0,0,0,0,0
$GC,8688,1.20,555.2,500.0,20.7,430,8692,0.00,2.33,0.00,0.000,4,0.000,0.069,3401,240,557,0,0,0,0,0,0
$GC,8764,1.20,555.2,483.1,22.0,432,8769,0.00,2.22,0.00,0.000,6,0.000,0.041,3401,1647,556,0,0,0,0,0,0
$GC,9089,1.20,555.2,413.5,21.6,443,9093,0.00,2.20,0.00,0.000,4,0.000,0.045,3401,3061,555,0,0,0,0,0,0
$GC,9166,1.24,555.2,397.2,21.6,445,9170,0.00,2.25,0.00,0.000,6,0.000,0.047,3410,1656,555,0,0,0,0,0,0
$GC,9493,1.24,555.2,330.2,19.7,461,9497,0.00,2.20,0.00,0.000,4,0.000,0.044,3411,3069,556,0,0,0,0,0,0
$GC,9571,1.27,566.4,315.7,17.7,464,9586,0.00,2.25,10.23,0.904,6,0.000,0.047,3421,1647,517,0,0,0,0,0,0
$GC,9903,1.24,566.4,251.4,19.5,481,9906,0.00,1.60,0.00,0.000,4,0.000,0.040,3421,2667,516,0,0,0,0,0,0
$GC,9940,1.24,566.4,243.5,19.2,483,9946,0.05,1.62,0.00,0.000,6,0.200,0.047,3415,1654,516,0,0,0,0,0,0
$GC,10266,1.24,566.4,180.9,19.5,504,10270,0.00,1.60,0.00,0.000,4,0.000,0.040,3415,2690,515,0,0,0,0,0,0
$GC,10305,1.26,566.4,173.3,18.6,506,10309,0.00,1.65,0.00,0.000,6,0.000,0.047,3421,1654,515,0,0,0,0,0,0
$GC,10629,1.26,566.4,107.2,20.8,527,10633,0.00,1.70,0.00,0.000,4,0.000,0.040,3421,2745,515,0,0,0,0,0,0
$GC,10667,1.26,566.4,99.0,20.6,529,10671,0.00,1.75,0.00,0.000,6,0.000,0.047,3428,1651,515,0,0,0,0,0,0
$GC,11011,1.23,566.4,24.4,22.2,589,11017,0.08,0.77,0.00,0.000,4,0.250,0.037,3413,2167,515,0,0,0,0,0,0
$GC,11034,1.23,566.4,19.6,20.5,593,11039,0.00,0.82,0.00,0.000,6,0.000,0.050,3416,1640,515,0,0,0,0,0,0
$GC,11107,1.23,566.4,4.6,20.9,606,11112,0.00,1.05,0.00,0.000,4,0.000,0.057,3421,977,515,0,0,0,0,0,0
$STATE,11117,end climb,SURFACE_DEPTH_REACHED
$STATE,11117,begin surface coast
$FINISH,1.8,1.014485
$STATE,11135,end surface coast,CONTROL_FINISHED_OK
$STATE,11135,begin surface
$SM_CCo,11213,0.00,0.000,0,0,512,567.86
$SM_GC,2.67,9.25,0.00,0.00,0.057,0.000,0.000,87,1935,512,-9.09,0.62,567.86
$IRIDIUM_FIX,-4129.38,-621.69,291112,121254
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,22.3,68.252
$10V_AH,10.1,46.188
$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,25.175,91.350,638.500,0.000,0.000,25.599,36.478,330.676,0.000,0.000,36.918,1580.736,7571.180,648.751,1811.854,154.268,33.360,1487.401,0.000,1366.016,0.000,1.014,0.000
$DEVICE_MAMPS,273.105,73.440,1393.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.507,0.000,401.994,52.958,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,33582,611
$CAP_FILE_SIZE,125594,0
$CFSIZE,2097086464,2053996544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291112,222453,-4144.926,-626.796,41,1.0,41,-22.2