version: 66.07.10.p01
glider: 574
mission: 4
dive: 291
start: 11 29 112 22 32 47
data:
$ID,574
$MISSION,4
$DIVE,291
$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,-6769.7969
$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,31
$R_STBD_OVSHOOT,34
$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,270
$GPS1,291112,222453,-4144.926,-626.796,41,1.0,41,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-73.0
$GPS2,291112,223135,-4144.967,-626.744,42,1.3,42,-22.2
$SPEED_LIMITS,0.321,0.331
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.151,-0.294
$KALMAN_X,-416876.5,-282.9,2640.3,608414.6,-7066.0
$KALMAN_Y,24843.5,1193.3,-292.0,97677.7,1009.4
$MHEAD_RNG_PITCHd_Wd,178.6,91045,-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,22,begin dive
$GC,24,-1.16,-145.9,0.0,0.0,0,87,0.00,0.00,-60.33,0.000,2,0.000,0.000,67,1935,2050,0,0,0,0,0,0
$GC,89,-1.16,-145.9,3.0,-0.7,12,166,11.62,2.35,-57.70,0.000,4,0.262,0.071,2637,502,3423,0,0,0,0,0,0
$GC,174,-0.98,-145.9,5.9,-11.8,28,180,0.25,2.22,0.00,0.000,6,0.202,0.039,2689,1916,3423,0,0,0,0,0,0
$GC,248,-0.98,-145.9,17.3,-15.0,41,253,0.00,2.30,0.00,0.000,4,0.000,0.060,2692,509,3424,0,0,0,0,0,0
$GC,333,-0.98,-145.9,29.7,-14.3,56,338,0.00,2.20,0.00,0.000,6,0.000,0.037,2683,1921,3425,0,0,0,0,0,0
$GC,407,-1.02,-145.9,39.7,-13.8,69,412,0.00,2.20,0.00,0.000,4,0.000,0.048,2672,3320,3424,0,0,0,0,0,0
$GC,475,-1.04,-145.9,49.1,-13.7,81,480,0.00,2.17,0.00,0.000,6,0.000,0.044,2672,1916,3425,0,0,0,0,0,0
$GC,704,-1.04,-145.9,82.7,-14.5,122,709,0.00,1.62,0.00,0.000,4,0.000,0.054,2672,898,3425,0,0,0,0,0,0
$GC,759,-1.04,-145.9,90.9,-14.6,132,765,0.00,1.58,0.00,0.000,6,0.000,0.036,2665,1916,3425,0,0,0,0,0,0
$GC,1094,-1.02,-145.9,140.1,-14.7,161,1098,0.08,1.52,0.00,0.000,4,0.233,0.045,2673,2880,3425,0,0,0,0,0,0
$GC,1165,-1.02,-145.9,150.9,-14.1,165,1170,0.00,1.52,0.00,0.000,6,0.000,0.042,2673,1908,3426,0,0,0,0,0,0
$GC,1492,-1.13,-145.9,191.9,-12.1,186,1496,0.08,2.22,0.00,0.000,4,0.143,0.048,2636,3319,3426,0,0,0,0,0,0
$GC,1563,-1.10,-145.9,202.5,-14.4,190,1568,0.10,2.15,0.00,0.000,6,0.202,0.041,2656,1910,3426,0,0,0,0,0,0
$GC,1888,-1.06,-145.9,249.2,-14.3,211,1892,0.00,1.45,0.00,0.000,4,0.000,0.053,2657,988,3426,0,0,0,0,0,0
$GC,1944,-1.03,-145.9,257.8,-14.8,214,1948,0.08,1.42,0.00,0.000,6,0.186,0.034,2673,1915,3426,0,0,0,0,0,0
$GC,2267,-1.12,-145.9,297.1,-11.9,230,2271,0.05,1.83,0.00,0.000,4,0.177,0.044,2646,3090,3426,0,0,0,0,0,0
$GC,2316,-1.08,-145.9,304.2,-14.3,232,2320,0.03,1.83,0.00,0.000,6,0.204,0.039,2653,1907,3426,0,0,0,0,0,0
$GC,2644,-1.05,-145.9,352.5,-15.1,248,2649,0.08,0.90,0.00,0.000,4,0.226,0.051,2670,1336,3426,0,0,0,0,0,0
$GC,2694,-1.05,-145.9,360.4,-14.4,250,2698,0.00,0.90,0.00,0.000,6,0.000,0.034,2667,1926,3426,0,0,0,0,0,0
$GC,3032,-1.16,-145.9,405.9,-13.7,266,3036,0.10,2.15,0.00,0.000,4,0.118,0.044,2620,3307,3427,0,0,0,0,0,0
$GC,3094,-1.12,-145.9,415.9,-16.1,268,3099,0.12,2.12,0.00,0.000,6,0.194,0.037,2648,1918,3426,0,0,0,0,0,0
$GC,3434,-1.20,-145.9,466.2,-14.4,279,3439,0.08,2.25,0.00,0.000,4,0.142,0.054,2623,509,3426,0,0,0,0,0,0
$GC,3523,-1.11,-145.9,481.3,-16.6,281,3529,0.15,2.15,0.00,0.000,6,0.210,0.035,2648,1907,3426,0,0,0,0,0,0
$GC,3836,-1.08,-145.9,528.4,-15.0,292,3840,0.00,0.77,0.00,0.000,4,0.000,0.044,2646,2432,3426,0,0,0,0,0,0
$GC,3885,-1.08,-145.9,536.1,-14.8,293,3890,0.08,0.82,0.00,0.000,6,0.213,0.042,2660,1900,3426,0,0,0,0,0,0
$GC,4210,-1.17,-145.9,579.5,-12.7,304,4215,0.08,0.47,0.00,0.000,4,0.142,0.045,2632,2220,3425,0,0,0,0,0,0
$GC,4250,-1.20,-145.9,585.2,-14.6,305,4254,0.00,0.45,0.00,0.000,6,0.000,0.048,2632,1911,3425,0,0,0,0,0,0
$GC,4585,-1.20,-145.9,632.7,-14.1,316,4589,0.00,2.20,0.00,0.000,4,0.000,0.054,2632,513,3425,0,0,0,0,0,0
$GC,4648,-1.13,-145.9,642.7,-16.6,318,4653,0.10,2.15,0.00,0.000,6,0.218,0.036,2642,1912,3424,0,0,0,0,0,0
$GC,4988,-1.09,-145.9,694.4,-15.0,329,4993,0.08,2.20,0.00,0.000,4,0.246,0.045,2647,3322,3423,0,0,0,0,0,0
$GC,5054,-1.09,-145.9,704.0,-13.3,331,5059,0.00,2.15,0.00,0.000,6,0.000,0.037,2647,1910,3423,0,0,0,0,0,0
$GC,5390,-1.06,-145.9,751.8,-14.4,342,5392,0.10,0.00,0.00,0.000,6,0.215,0.000,2668,1906,3422,0,0,0,0,0,0
$GC,5696,-1.06,-145.9,792.9,-13.3,352,5700,0.00,0.98,0.00,0.000,4,0.000,0.042,2665,2543,3421,0,0,0,0,0,0
$GC,5751,-1.09,-145.9,800.5,-13.3,353,5755,0.00,0.98,0.00,0.000,6,0.000,0.041,2665,1909,3421,0,0,0,0,0,0
$STATE,6007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6007,begin apogee
$GC,6011,-0.21,0.0,835.9,14.2,362,6141,0.98,0.00,126.03,1.399,6,0.163,0.000,2940,1646,2827,0,0,0,0,0,0
$STATE,6142,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6143,1.16,145.9,844.7,0.0,366,6283,1.33,1.65,129.75,1.342,4,0.049,0.041,3396,2572,2231,0,0,0,0,0,0
$GC,6415,0.88,275.8,844.7,9.0,375,6540,0.40,1.50,116.22,1.316,6,0.234,0.045,3304,1666,1702,0,0,0,0,0,0
$GC,6876,0.84,376.7,795.0,11.1,390,6973,0.08,2.33,90.15,1.316,4,0.252,0.062,3300,315,1291,0,0,0,0,0,0
$GC,7018,0.89,460.5,778.1,12.3,394,7103,0.00,2.15,78.18,1.298,6,0.000,0.037,3300,1652,948,0,0,0,0,0,0
$GC,7428,1.01,542.2,725.8,12.5,408,7508,0.10,2.53,71.43,1.265,4,0.114,0.067,3344,238,615,0,0,0,0,0,0
$GC,7581,1.08,577.5,702.1,15.9,412,7617,0.00,2.28,31.45,1.209,6,0.000,0.037,3344,1659,472,0,0,0,0,0,0
$GC,7925,1.18,617.3,648.6,15.6,424,7949,0.15,2.42,16.67,1.148,4,0.098,0.067,3408,245,395,0,0,0,0,0,0
$GC,8028,1.18,617.3,628.5,20.0,427,8032,0.03,2.22,0.00,0.000,6,0.282,0.040,3400,1648,392,0,0,0,0,0,0
$GC,8362,1.20,617.3,563.8,19.7,438,8366,0.00,2.20,0.00,0.000,4,0.000,0.048,3400,3056,391,0,0,0,0,0,0
$GC,8446,1.28,619.4,547.7,18.4,440,8450,0.00,2.22,0.00,0.000,6,0.000,0.050,3409,1654,391,0,0,0,0,0,0
$GC,8764,1.28,619.4,483.3,20.5,451,8768,0.00,2.22,0.00,0.000,4,0.000,0.047,3409,3061,390,0,0,0,0,0,0
$GC,8826,1.34,619.4,471.5,18.7,453,8831,0.08,2.25,0.00,0.000,6,0.131,0.050,3448,1648,390,0,0,0,0,0,0
$GC,9161,1.30,619.4,396.0,22.8,464,9165,0.08,2.22,0.00,0.000,4,0.236,0.047,3433,3060,390,0,0,0,0,0,0
$GC,9209,1.33,619.4,385.4,20.1,466,9214,0.00,2.25,0.00,0.000,6,0.000,0.049,3442,1658,390,0,0,0,0,0,0
$GC,9531,1.30,619.4,314.3,21.9,482,9535,0.00,1.92,0.00,0.000,4,0.000,0.045,3442,2892,390,0,0,0,0,0,0
$GC,9576,1.30,619.4,304.3,20.9,484,9581,0.08,1.95,0.00,0.000,6,0.239,0.050,3437,1648,390,0,0,0,0,0,0
$GC,9894,1.28,619.4,236.8,21.2,500,9898,0.00,1.27,0.00,0.000,4,0.000,0.043,3437,2465,390,0,0,0,0,0,0
$GC,9928,1.28,619.4,229.5,21.2,502,9932,0.05,1.30,0.00,0.000,6,0.207,0.051,3429,1653,390,0,0,0,0,0,0
$GC,10258,1.28,619.4,162.2,20.9,523,10261,0.00,1.12,0.00,0.000,4,0.000,0.042,3429,2381,390,0,0,0,0,0,0
$GC,10284,1.28,619.4,156.3,21.3,524,10291,0.00,1.20,0.00,0.000,6,0.000,0.051,3433,1638,390,0,0,0,0,0,0
$GC,10607,1.28,619.4,90.3,20.6,549,10611,0.00,2.05,0.00,0.000,4,0.000,0.044,3432,2953,390,0,0,0,0,0,0
$GC,10652,1.30,619.4,80.8,20.6,557,10656,0.00,2.08,0.00,0.000,6,0.000,0.049,3441,1646,390,0,0,0,0,0,0
$GC,10995,1.30,619.4,6.3,21.3,618,10999,0.00,0.50,0.00,0.000,4,0.000,0.046,3441,1986,390,0,0,0,0,0,0
$STATE,11010,end climb,SURFACE_DEPTH_REACHED
$STATE,11010,begin surface coast
$FINISH,1.8,1.017146
$STATE,11022,end surface coast,CONTROL_FINISHED_OK
$STATE,11022,begin surface
$SM_CCo,11100,0.00,0.000,0,0,387,598.52
$SM_GC,2.67,9.23,0.00,0.00,0.051,0.000,0.000,88,1877,387,-9.10,-0.96,598.52
$IRIDIUM_FIX,-4129.38,-624.55,291112,191920
$TT8_MAMPS,0.026964
$HUMID,49.72
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,22.4,68.512
$10V_AH,10.1,46.239
$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,25.775,98.625,659.875,0.000,0.000,30.279,40.891,195.548,0.000,0.000,44.979,1580.130,7410.671,687.197,1705.682,139.741,33.356,1543.827,0.000,1380.250,0.000,1.013,0.000
$DEVICE_MAMPS,281.520,89.505,1399.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.605,0.000,409.051,56.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354496
$DATA_FILE_SIZE,36981,623
$CAP_FILE_SIZE,124418,0
$CFSIZE,2097086464,2053865472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301112,013904,-4145.050,-626.920,39,1.2,44,-22.2