version: 66.07.10.p01
glider: 574
mission: 4
dive: 292
start: 11 30 112 1 46 49
data:
$ID,574
$MISSION,4
$DIVE,292
$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,230
$T_MISSION,260
$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,-6773.2412
$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,42
$R_STBD_OVSHOOT,33
$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,271
$GPS1,301112,013904,-4145.050,-626.920,39,1.2,44,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-69.7
$GPS2,301112,014554,-4145.059,-626.887,17,1.2,18,-22.2
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.130,-0.259
$KALMAN_X,-417411.8,568.8,364.3,610154.5,-4060.6
$KALMAN_Y,26002.0,835.8,1876.2,94541.7,-2382.7
$MHEAD_RNG_PITCHd_Wd,178.4,90968,-24.6,-14.493
$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,-1.03,-145.9,0.0,0.0,0,98,0.00,0.00,-70.50,0.000,2,0.000,0.000,67,1878,2183,0,0,0,0,0,0
$GC,100,-1.03,-145.9,3.1,-1.0,14,167,11.85,2.20,-48.10,0.000,4,0.262,0.072,2676,519,3421,0,0,0,0,0,0
$GC,280,-0.93,-145.9,23.0,-14.2,47,286,0.17,2.20,0.00,0.000,6,0.193,0.037,2709,1923,3422,0,0,0,0,0,0
$GC,355,-1.01,-145.9,32.3,-12.1,60,360,0.05,0.30,0.00,0.000,4,0.164,0.052,2686,2147,3423,0,0,0,0,0,0
$GC,379,-1.06,-145.9,35.0,-11.4,64,384,0.00,0.35,0.00,0.000,6,0.000,0.055,2686,1911,3423,0,0,0,0,0,0
$GC,609,-1.09,-145.9,64.7,-12.4,105,614,0.08,2.25,0.00,0.000,4,0.140,0.047,2649,3326,3424,0,0,0,0,0,0
$GC,692,-1.01,-145.9,77.6,-15.0,120,698,0.15,2.17,0.00,0.000,6,0.186,0.042,2685,1917,3423,0,0,0,0,0,0
$GC,1029,-1.07,-145.9,122.6,-13.1,160,1033,0.00,2.28,0.00,0.000,4,0.000,0.058,2686,495,3424,0,0,0,0,0,0
$GC,1108,-1.01,-145.9,134.2,-14.4,165,1112,0.00,2.20,0.00,0.000,6,0.000,0.034,2677,1928,3424,0,0,0,0,0,0
$GC,1433,-1.06,-145.9,178.7,-12.4,186,1437,0.00,1.65,0.00,0.000,4,0.000,0.055,2677,904,3424,0,0,0,0,0,0
$GC,1472,-1.00,-145.9,184.5,-14.1,188,1476,0.05,1.55,0.00,0.000,6,0.188,0.033,2683,1911,3424,0,0,0,0,0,0
$GC,1797,-1.03,-145.9,221.8,-11.4,209,1800,0.00,0.62,0.00,0.000,4,0.000,0.044,2681,2353,3425,0,0,0,0,0,0
$GC,2054,-1.11,-145.9,251.4,-11.9,224,2059,0.05,0.68,0.00,0.000,6,0.089,0.046,2655,1905,3425,0,0,0,0,0,0
$GC,2376,-1.11,-145.9,294.0,-14.0,240,2380,0.00,2.17,0.00,0.000,4,0.000,0.057,2655,536,3425,0,0,0,0,0,0
$GC,2419,-1.02,-145.9,300.9,-15.6,242,2424,0.12,2.12,0.00,0.000,6,0.174,0.032,2681,1913,3425,0,0,0,0,0,0
$GC,2748,-1.05,-145.9,345.2,-13.6,258,2752,0.00,2.22,0.00,0.000,4,0.000,0.056,2681,508,3425,0,0,0,0,0,0
$GC,2796,-1.05,-145.9,352.7,-14.5,260,2801,0.00,2.17,0.00,0.000,6,0.000,0.033,2672,1911,3425,0,0,0,0,0,0
$GC,3119,-1.05,-145.9,396.1,-13.0,276,3122,0.00,1.62,0.00,0.000,4,0.000,0.054,2672,905,3425,0,0,0,0,0,0
$GC,3151,-1.05,-145.9,400.9,-13.8,277,3156,0.00,1.55,0.00,0.000,6,0.000,0.034,2665,1909,3425,0,0,0,0,0,0
$GC,3470,-1.05,-145.9,440.1,-12.0,288,3473,0.00,2.10,0.00,0.000,4,0.000,0.054,2665,596,3425,0,0,0,0,0,0
$GC,3508,-0.99,-145.9,445.3,-12.7,289,3513,0.12,2.00,0.00,0.000,6,0.190,0.031,2686,1926,3425,0,0,0,0,0,0
$GC,3843,-1.05,-145.9,481.0,-10.4,300,3847,0.00,2.20,0.00,0.000,4,0.000,0.054,2686,537,3425,0,0,0,0,0,0
$GC,3887,-1.05,-145.9,486.2,-11.6,301,3891,0.00,2.12,0.00,0.000,6,0.000,0.031,2677,1921,3425,0,0,0,0,0,0
$GC,4212,-1.09,-145.9,523.2,-11.8,312,4216,0.00,1.95,0.00,0.000,4,0.000,0.053,2677,695,3425,0,0,0,0,0,0
$GC,4250,-1.09,-145.9,528.3,-12.6,313,4254,0.00,1.88,0.00,0.000,6,0.000,0.031,2668,1916,3425,0,0,0,0,0,0
$GC,4586,-1.12,-145.9,570.4,-13.0,324,4590,0.00,1.83,0.00,0.000,4,0.000,0.053,2668,781,3425,0,0,0,0,0,0
$GC,4624,-1.12,-145.9,575.8,-14.4,325,4628,0.00,1.73,0.00,0.000,6,0.000,0.031,2660,1907,3424,0,0,0,0,0,0
$GC,4959,-1.12,-145.9,620.0,-13.0,336,4963,0.00,2.10,0.00,0.000,4,0.000,0.053,2660,593,3424,0,0,0,0,0,0
$GC,4997,-1.08,-145.9,625.8,-15.0,337,5002,0.03,2.03,0.00,0.000,6,0.203,0.031,2658,1910,3424,0,0,0,0,0,0
$GC,5332,-1.08,-145.9,666.9,-11.9,348,5336,0.00,2.15,0.00,0.000,4,0.000,0.044,2649,3310,3423,0,0,0,0,0,0
$GC,5415,-1.08,-145.9,677.5,-13.0,350,5420,0.03,2.17,0.00,0.000,6,0.196,0.036,2656,1906,3422,0,0,0,0,0,0
$GC,5740,-1.10,-145.9,715.2,-11.5,361,5744,0.00,2.20,0.00,0.000,4,0.000,0.051,2656,509,3422,0,0,0,0,0,0
$GC,5807,-1.04,-145.9,724.2,-13.9,363,5811,0.12,2.12,0.00,0.000,6,0.195,0.031,2676,1922,3422,0,0,0,0,0,0
$GC,6142,-1.10,-145.9,759.5,-10.3,374,6146,0.00,2.15,0.00,0.000,4,0.000,0.045,2667,3310,3421,0,0,0,0,0,0
$GC,6230,-1.10,-145.9,769.8,-11.7,376,6236,0.00,2.15,0.00,0.000,6,0.000,0.036,2667,1921,3420,0,0,0,0,0,0
$GC,6544,-1.14,-145.9,805.3,-11.8,387,6548,0.08,2.17,0.00,0.000,4,0.142,0.044,2628,3308,3420,0,0,0,0,0,0
$GC,6641,-1.11,-145.9,818.7,-14.1,390,6645,0.10,2.12,0.00,0.000,6,0.199,0.037,2649,1912,3419,0,0,0,0,0,0
$GC,6975,-1.07,-145.9,867.6,-14.6,401,6980,0.08,2.25,0.00,0.000,4,0.232,0.054,2668,502,3419,0,0,0,0,0,0
$GC,7037,-1.02,-145.9,877.1,-14.7,403,7042,0.10,2.15,0.00,0.000,6,0.201,0.031,2681,1920,3419,0,0,0,0,0,0
$GC,7377,-1.09,-145.9,921.0,-13.0,414,7379,0.05,0.00,0.00,0.000,6,0.177,0.000,2662,1925,3419,0,0,0,0,0,0
$GC,7684,-1.13,-145.9,961.8,-13.2,424,7687,0.00,1.73,0.00,0.000,4,0.000,0.051,2662,834,3418,0,0,0,0,0,0
$GC,7727,-1.11,-145.9,968.3,-14.7,425,7732,0.00,1.65,0.00,0.000,6,0.000,0.032,2654,1906,3418,0,0,0,0,0,0
$STATE,7810,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7810,begin apogee
$GC,7815,-0.21,0.0,980.1,14.5,428,7947,1.00,0.00,128.00,1.481,6,0.162,0.000,2937,1642,2827,0,0,0,0,0,0
$STATE,7948,end apogee,CONTROL_FINISHED_OK
$STATE,7948,begin climb
$GC,7949,1.03,145.9,988.6,0.0,432,8091,1.23,2.47,133.70,1.446,4,0.064,0.057,3355,261,2231,0,0,0,0,0,0
$GC,8236,0.72,205.7,980.7,10.5,441,8298,0.47,2.20,54.72,1.421,6,0.232,0.035,3251,1644,1988,0,0,0,0,0,0
$GC,8628,0.66,262.0,939.3,10.8,454,8683,0.10,0.28,50.00,1.395,4,0.232,0.040,3230,1846,1758,0,0,0,0,0,0
$GC,8711,0.68,315.8,930.1,10.9,456,8766,0.00,0.30,49.90,1.377,6,0.000,0.061,3231,1659,1538,0,0,0,0,0,0
$GC,9091,0.75,356.4,885.2,11.8,469,9133,0.08,1.85,36.83,1.352,4,0.128,0.061,3264,583,1373,0,0,0,0,0,0
$GC,9184,0.77,356.4,872.2,15.0,472,9188,0.00,1.70,0.00,0.000,6,0.000,0.035,3264,1647,1369,0,0,0,0,0,0
$GC,9525,0.80,379.7,826.7,12.9,483,9551,0.00,1.23,21.40,1.281,4,0.000,0.058,3268,905,1280,0,0,0,0,0,0
$GC,9589,0.84,400.7,818.1,13.1,484,9616,0.00,1.17,20.92,1.269,6,0.000,0.037,3268,1648,1192,0,0,0,0,0,0
$GC,9924,0.89,433.9,776.0,12.3,495,9960,0.10,2.38,30.95,1.283,4,0.122,0.065,3312,248,1059,0,0,0,0,0,0
$GC,10027,0.89,434.2,760.5,14.5,498,10031,0.00,2.25,0.00,0.000,6,0.000,0.037,3311,1643,1054,0,0,0,0,0,0
$GC,10357,0.89,436.9,713.0,14.3,509,10361,0.00,2.30,0.00,0.000,4,0.000,0.068,3321,244,1052,0,0,0,0,0,0
$GC,10445,0.87,436.9,699.8,15.1,511,10451,0.08,2.22,0.00,0.000,6,0.190,0.037,3300,1645,1049,0,0,0,0,0,0
$GC,10759,0.89,447.9,656.8,13.8,522,10777,0.00,0.75,13.45,1.151,4,0.000,0.060,3303,1205,1000,0,0,0,0,0,0
$GC,10811,0.91,447.9,649.2,14.8,523,10815,0.00,0.73,0.00,0.000,6,0.000,0.040,3302,1666,1000,0,0,0,0,0,0
$GC,11130,0.95,457.1,605.2,13.9,534,11144,0.00,2.35,9.88,1.061,4,0.000,0.067,3313,251,963,0,0,0,0,0,0
$GC,11200,0.95,459.5,594.9,14.3,536,11204,0.00,2.22,0.00,0.000,6,0.000,0.039,3313,1643,961,0,0,0,0,0,0
$GC,11529,0.95,459.5,546.4,15.1,547,11534,0.00,2.28,0.00,0.000,4,0.000,0.067,3322,251,961,0,0,0,0,0,0
$GC,11592,0.95,459.5,536.3,16.4,549,11595,0.00,2.20,0.00,0.000,6,0.000,0.040,3323,1651,960,0,0,0,0,0,0
$GC,11932,0.95,459.5,481.8,16.1,560,11936,0.00,2.30,0.00,0.000,4,0.000,0.069,3333,249,960,0,0,0,0,0,0
$GC,12008,0.95,459.5,468.3,17.7,562,12013,0.03,2.22,0.00,0.000,6,0.212,0.039,3325,1651,960,0,0,0,0,0,0
$GC,12333,0.95,459.5,413.0,17.3,573,12337,0.00,2.33,0.00,0.000,4,0.000,0.068,3334,244,960,0,0,0,0,0,0
$GC,12415,0.95,459.5,397.7,17.2,575,12420,0.05,2.22,0.00,0.000,6,0.183,0.040,3319,1651,960,0,0,0,0,0,0
$GC,12736,0.95,459.5,344.7,16.2,591,12740,0.00,1.77,0.00,0.000,4,0.000,0.065,3327,558,960,0,0,0,0,0,0
$GC,12791,0.95,459.5,335.5,15.7,593,12796,0.00,1.73,0.00,0.000,6,0.000,0.038,3326,1657,960,0,0,0,0,0,0
$GC,13113,0.95,459.5,286.6,14.7,609,13117,0.00,2.30,0.00,0.000,4,0.000,0.067,3334,250,960,0,0,0,0,0,0
$GC,13190,0.95,459.5,274.9,14.7,612,13196,0.03,2.20,0.00,0.000,6,0.211,0.038,3325,1645,961,0,0,0,0,0,0
$GC,13508,0.95,476.2,231.8,13.4,630,13532,0.00,2.35,19.38,0.928,4,0.000,0.067,3334,253,885,0,0,0,0,0,0
$GC,13607,0.95,481.2,217.9,14.2,636,13618,0.05,2.20,5.80,0.719,6,0.232,0.038,3324,1653,865,0,0,0,0,0,0
$GC,13931,0.97,492.0,174.1,13.8,656,13947,0.00,2.20,11.10,0.832,4,0.000,0.045,3323,3064,821,0,0,0,0,0,0
$GC,14016,1.01,493.1,162.2,14.4,661,14020,0.00,2.22,0.00,0.000,6,0.000,0.045,3333,1659,820,0,0,0,0,0,0
$GC,14341,1.16,512.3,119.5,13.2,682,14366,0.15,2.35,18.75,0.858,4,0.093,0.065,3401,245,738,0,0,0,0,0,0
$GC,14428,1.07,512.3,103.9,18.5,687,14433,0.17,2.20,0.00,0.000,6,0.203,0.038,3360,1657,735,0,0,0,0,0,0
$GC,14768,1.07,512.3,47.5,15.5,743,14773,0.00,2.20,0.00,0.000,4,0.000,0.045,3361,3068,734,0,0,0,0,0,0
$GC,14830,1.07,512.3,37.3,16.5,754,14835,0.00,2.25,0.00,0.000,6,0.000,0.047,3369,1646,734,0,0,0,0,0,0
$STATE,15036,end climb,SURFACE_DEPTH_REACHED
$STATE,15037,begin surface coast
$FINISH,1.6,1.014638
$STATE,15055,end surface coast,CONTROL_FINISHED_OK
$STATE,15055,begin surface
$SM_CCo,15132,0.00,0.000,0,0,732,513.90
$SM_GC,2.60,8.95,0.00,0.00,0.046,0.000,0.000,82,1953,732,-9.10,1.13,513.90
$IRIDIUM_FIX,-4129.38,-627.42,291112,222224
$TT8_MAMPS,0.026964
$HUMID,49.17
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,22.2,68.758
$10V_AH,10.1,46.303
$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,25.700,142.025,604.775,0.000,0.000,29.988,45.755,222.202,0.000,0.000,20.131,2055.620,10494.892,667.398,2167.927,161.326,33.360,1742.561,0.000,1815.584,0.000,1.013,0.000
$DEVICE_MAMPS,262.395,71.910,1481.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.637,0.000,522.278,65.671,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,47029,794
$CAP_FILE_SIZE,159727,0
$CFSIZE,2097086464,2053701632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301112,060005,-4145.905,-628.209,31,1.1,31,-22.2