version: 66.07.10.p01
glider: 574
mission: 4
dive: 305
start: 12 2 112 10 12 0
data:
$ID,574
$MISSION,4
$DIVE,305
$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,-6815.7759
$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,2050
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,44
$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,284
$GPS1,021212,100305,-4152.827,-628.523,29,1.3,29,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-69.0
$GPS2,021212,101105,-4152.797,-628.423,46,1.0,46,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.169,-0.236
$KALMAN_X,-449300.6,445.3,-640.0,641105.6,-1428.7
$KALMAN_Y,53239.0,344.7,-715.7,56067.6,1656.0
$MHEAD_RNG_PITCHd_Wd,172.7,79079,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.03,-145.9,0.0,0.0,0,81,0.00,0.00,-53.72,0.000,2,0.000,0.000,65,2106,2076,0,0,0,0,0,0
$GC,83,-1.03,-145.9,3.1,-1.5,9,151,11.60,2.15,-50.67,0.000,4,0.257,0.066,2663,3448,3422,0,0,0,0,0,0
$GC,231,-0.95,-145.9,18.9,-17.7,33,238,0.10,2.22,0.00,0.000,6,0.168,0.046,2696,2056,3423,0,0,0,0,0,0
$GC,312,-0.95,-145.9,29.9,-11.7,46,319,0.00,2.30,0.00,0.000,4,0.000,0.060,2695,644,3423,0,0,0,0,0,0
$GC,368,-0.92,-145.9,37.6,-14.1,55,373,0.10,2.17,0.00,0.000,6,0.204,0.035,2709,2054,3423,0,0,0,0,0,0
$GC,601,-1.00,-145.9,64.9,-11.2,96,609,0.05,2.20,0.00,0.000,4,0.168,0.057,2689,711,3423,0,0,0,0,0,0
$GC,649,-0.96,-145.9,71.1,-14.1,104,655,0.10,2.05,0.00,0.000,6,0.203,0.034,2701,2054,3423,0,0,0,0,0,0
$GC,999,-1.06,-145.9,111.1,-11.4,155,1003,0.10,2.17,0.00,0.000,4,0.115,0.047,2653,3455,3424,0,0,0,0,0,0
$GC,1050,-1.01,-145.9,117.9,-13.3,158,1055,0.12,2.17,0.00,0.000,6,0.185,0.037,2682,2035,3424,0,0,0,0,0,0
$GC,1377,-1.04,-145.9,157.1,-12.5,179,1381,0.00,2.20,0.00,0.000,4,0.000,0.046,2674,3459,3425,0,0,0,0,0,0
$GC,1438,-1.04,-145.9,165.9,-13.7,182,1446,0.00,2.17,0.00,0.000,6,0.000,0.038,2674,2053,3425,0,0,0,0,0,0
$GC,1760,-1.04,-145.9,207.2,-13.1,203,1764,0.00,2.22,0.00,0.000,4,0.000,0.054,2674,636,3426,0,0,0,0,0,0
$GC,1855,-0.99,-145.9,221.8,-14.7,208,1863,0.08,2.17,0.00,0.000,6,0.174,0.031,2686,2052,3426,0,0,0,0,0,0
$GC,2185,-1.04,-145.9,263.5,-12.7,228,2188,0.00,0.93,0.00,0.000,4,0.000,0.048,2686,1460,3427,0,0,0,0,0,0
$GC,2212,-1.09,-145.9,267.5,-12.6,229,2217,0.03,0.90,0.00,0.000,6,0.109,0.036,2665,2059,3427,0,0,0,0,0,0
$GC,2542,-1.13,-145.9,309.5,-12.8,245,2546,0.00,2.25,0.00,0.000,4,0.000,0.053,2665,637,3427,0,0,0,0,0,0
$GC,2636,-1.07,-145.9,323.0,-15.0,249,2640,0.00,2.12,0.00,0.000,6,0.000,0.031,2656,2056,3428,0,0,0,0,0,0
$GC,2964,-1.07,-145.9,366.4,-12.9,265,2968,0.00,1.05,0.00,0.000,4,0.000,0.041,2650,2751,3428,0,0,0,0,0,0
$GC,3002,-1.02,-145.9,371.9,-13.6,266,3010,0.08,1.08,0.00,0.000,6,0.171,0.040,2674,2045,3428,0,0,0,0,0,0
$GC,3318,-1.05,-145.9,409.3,-11.5,281,3322,0.00,2.17,0.00,0.000,4,0.000,0.052,2675,647,3429,0,0,0,0,0,0
$GC,3334,-1.05,-145.9,411.6,-11.9,281,3338,0.00,2.10,0.00,0.000,6,0.000,0.031,2666,2051,3429,0,0,0,0,0,0
$GC,3652,-1.07,-145.9,449.4,-12.1,292,3656,0.00,2.17,0.00,0.000,4,0.000,0.044,2655,3458,3430,0,0,0,0,0,0
$GC,3702,-1.04,-145.9,456.1,-13.7,293,3707,0.08,2.15,0.00,0.000,6,0.200,0.035,2670,2040,3430,0,0,0,0,0,0
$GC,4021,-1.07,-145.9,495.1,-12.4,304,4025,0.00,2.17,0.00,0.000,4,0.000,0.044,2662,3451,3431,0,0,0,0,0,0
$GC,4098,-1.07,-145.9,505.8,-13.9,306,4102,0.00,2.15,0.00,0.000,6,0.000,0.034,2662,2052,3431,0,0,0,0,0,0
$GC,4428,-1.07,-145.9,549.3,-13.3,317,4432,0.00,2.20,0.00,0.000,4,0.000,0.044,2651,3461,3432,0,0,0,0,0,0
$GC,4491,-1.03,-145.9,558.1,-14.5,319,4496,0.10,2.12,0.00,0.000,6,0.184,0.034,2675,2045,3432,0,0,0,0,0,0
$GC,4827,-1.07,-145.9,599.9,-12.2,330,4831,0.00,2.20,0.00,0.000,4,0.000,0.044,2666,3458,3432,0,0,0,0,0,0
$GC,4889,-1.07,-145.9,608.0,-12.7,332,4893,0.00,2.15,0.00,0.000,6,0.000,0.034,2666,2042,3432,0,0,0,0,0,0
$GC,5224,-1.07,-145.9,649.1,-12.2,343,5228,0.00,2.20,0.00,0.000,4,0.000,0.049,2666,638,3432,0,0,0,0,0,0
$GC,5307,-1.04,-145.9,660.2,-13.1,345,5311,0.10,2.15,0.00,0.000,6,0.199,0.033,2678,2050,3432,0,0,0,0,0,0
$GC,5625,-1.10,-145.9,695.2,-11.2,356,5629,0.00,2.20,0.00,0.000,4,0.000,0.051,2678,649,3433,0,0,0,0,0,0
$GC,5702,-1.10,-145.9,705.2,-12.8,358,5706,0.00,2.15,0.00,0.000,6,0.000,0.032,2669,2046,3433,0,0,0,0,0,0
$GC,6027,-1.17,-145.9,741.1,-10.9,369,6031,0.10,1.20,0.00,0.000,4,0.115,0.046,2630,1289,3433,0,0,0,0,0,0
$GC,6061,-1.08,-145.9,745.4,-13.3,370,6066,0.10,1.15,0.00,0.000,6,0.181,0.034,2655,2047,3433,0,0,0,0,0,0
$GC,6401,-1.08,-145.9,787.2,-12.1,381,6405,0.00,0.60,0.00,0.000,4,0.000,0.044,2653,2466,3433,0,0,0,0,0,0
$GC,6424,-1.08,-145.9,790.1,-12.7,381,6427,0.00,0.62,0.00,0.000,6,0.000,0.042,2653,2041,3433,0,0,0,0,0,0
$GC,6742,-1.13,-145.9,829.2,-12.3,392,6746,0.00,0.50,0.00,0.000,4,0.000,0.043,2651,2397,3433,0,0,0,0,0,0
$GC,6758,-1.13,-145.9,831.5,-12.5,392,6762,0.00,0.52,0.00,0.000,6,0.000,0.042,2651,2040,3433,0,0,0,0,0,0
$GC,7082,-1.07,-145.9,878.0,-14.8,403,7087,0.08,2.20,0.00,0.000,4,0.218,0.050,2671,656,3433,0,0,0,0,0,0
$GC,7148,-1.07,-145.9,887.6,-14.0,405,7152,0.00,2.15,0.00,0.000,6,0.000,0.032,2662,2042,3433,0,0,0,0,0,0
$GC,7484,-1.03,-145.9,936.8,-15.2,416,7485,0.08,0.00,0.00,0.000,6,0.229,0.000,2677,2045,3434,0,0,0,0,0,0
$GC,7790,-1.03,-145.9,980.1,-14.1,426,7794,0.00,2.20,0.00,0.000,4,0.000,0.050,2680,662,3434,0,0,0,0,0,0
$STATE,7803,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7803,begin apogee
$GC,7809,-0.21,0.0,982.6,14.7,426,7945,0.90,0.00,132.20,1.486,6,0.160,0.000,2936,1579,2827,0,0,0,0,0,0
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7947,1.03,145.9,993.0,0.0,431,8089,1.20,2.38,133.20,1.436,4,0.060,0.042,3340,2939,2231,0,0,0,0,0,0
$GC,8279,0.76,248.1,986.7,7.7,441,8381,0.38,2.20,91.85,1.418,6,0.226,0.044,3266,1567,1815,0,0,0,0,0,0
$GC,8694,0.69,303.6,944.3,10.8,455,8747,0.12,0.00,49.92,1.390,6,0.230,0.000,3240,1566,1589,0,0,0,0,0,0
$GC,9030,0.72,353.6,907.4,11.2,466,9078,0.00,0.00,46.08,1.361,6,0.000,0.000,3240,1566,1385,0,0,0,0,0,0
$GC,9367,0.79,407.4,869.8,10.9,477,9421,0.08,1.42,49.35,1.348,4,0.125,0.063,3269,732,1165,0,0,0,0,0,0
$GC,9462,0.82,422.9,857.9,13.5,480,9482,0.00,1.30,15.45,1.218,6,0.000,0.036,3269,1551,1102,0,0,0,0,0,0
$GC,9802,0.88,441.1,813.5,13.3,491,9827,0.08,2.38,17.20,1.254,4,0.139,0.067,3305,174,1027,0,0,0,0,0,0
$GC,9876,0.88,441.1,801.4,15.8,493,9881,0.00,2.20,0.00,0.000,6,0.000,0.037,3305,1548,1025,0,0,0,0,0,0
$GC,10206,0.88,441.1,747.2,16.8,504,10210,0.00,2.30,0.00,0.000,4,0.000,0.067,3315,164,1022,0,0,0,0,0,0
$GC,10283,0.88,441.1,733.7,17.0,506,10289,0.05,2.20,0.00,0.000,6,0.198,0.038,3301,1553,1019,0,0,0,0,0,0
$GC,10608,0.88,441.1,683.0,15.1,517,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1561,1019,0,0,0,0,0,0
$GC,10914,0.88,449.0,639.5,14.0,527,10927,0.00,1.55,7.32,1.000,4,0.000,0.063,3307,634,996,0,0,0,0,0,0
$GC,10967,0.88,462.2,631.8,13.6,528,10987,0.00,1.42,14.20,1.131,6,0.000,0.038,3307,1552,942,0,0,0,0,0,0
$GC,11318,0.97,487.8,584.8,12.8,540,11349,0.00,2.28,24.83,1.171,4,0.000,0.050,3307,2954,837,0,0,0,0,0,0
$GC,11406,1.01,487.8,572.2,14.7,542,11410,0.05,2.25,0.00,0.000,6,0.163,0.049,3338,1554,836,0,0,0,0,0,0
$GC,11723,1.01,487.8,519.8,16.6,553,11727,0.00,2.25,0.00,0.000,4,0.000,0.069,3346,170,834,0,0,0,0,0,0
$GC,11805,1.01,487.8,505.3,17.0,555,11810,0.00,2.17,0.00,0.000,6,0.000,0.041,3346,1538,831,0,0,0,0,0,0
$GC,12124,0.99,487.8,452.0,16.7,566,12129,0.08,2.30,0.00,0.000,4,0.232,0.070,3342,161,830,0,0,0,0,0,0
$GC,12173,0.99,487.8,443.4,16.5,567,12177,0.00,2.22,0.00,0.000,6,0.000,0.041,3343,1556,830,0,0,0,0,0,0
$GC,12504,0.99,487.8,388.9,16.3,579,12508,0.00,2.33,0.00,0.000,4,0.000,0.072,3348,164,830,0,0,0,0,0,0
$GC,12553,0.96,487.8,380.0,17.4,581,12558,0.08,2.20,0.00,0.000,6,0.177,0.041,3317,1552,828,0,0,0,0,0,0
$GC,12878,1.10,519.8,337.5,12.4,597,12913,0.15,2.30,28.38,1.037,4,0.091,0.050,3374,2961,707,0,0,0,0,0,0
$GC,12980,1.08,519.8,320.4,16.7,601,12986,0.10,2.28,0.00,0.000,6,0.213,0.051,3364,1545,706,0,0,0,0,0,0
$GC,13298,1.05,519.8,268.5,16.8,617,13302,0.00,2.25,0.00,0.000,4,0.000,0.046,3364,2961,704,0,0,0,0,0,0
$GC,13360,1.05,519.8,257.9,15.2,620,13365,0.10,2.28,0.00,0.000,6,0.210,0.052,3353,1543,704,0,0,0,0,0,0
$GC,13685,1.12,519.8,208.9,15.0,640,13690,0.08,2.22,0.00,0.000,4,0.129,0.044,3381,2961,704,0,0,0,0,0,0
$GC,13740,1.08,519.8,199.1,17.6,643,13747,0.12,2.28,0.00,0.000,6,0.210,0.050,3364,1550,703,0,0,0,0,0,0
$GC,14061,1.10,519.8,146.9,16.3,664,14065,0.00,2.22,0.00,0.000,4,0.000,0.048,3364,2967,703,0,0,0,0,0,0
$GC,14116,1.08,519.8,136.9,16.7,667,14122,0.00,2.28,0.00,0.000,6,0.000,0.050,3373,1555,703,0,0,0,0,0,0
$GC,14445,1.04,519.8,81.9,16.9,700,14450,0.10,2.20,0.00,0.000,4,0.223,0.044,3351,2961,703,0,0,0,0,0,0
$GC,14522,1.04,519.8,68.5,16.9,714,14530,0.00,2.28,0.00,0.000,6,0.000,0.048,3360,1543,703,0,0,0,0,0,0
$GC,14877,1.07,519.8,15.1,14.6,775,14884,0.00,2.25,0.00,0.000,4,0.000,0.046,3359,2954,703,0,0,0,0,0,0
$GC,14934,1.03,519.8,5.4,16.6,784,14942,0.08,2.25,0.00,0.000,6,0.177,0.048,3349,1549,703,0,0,0,0,0,0
$STATE,14948,end climb,SURFACE_DEPTH_REACHED
$STATE,14948,begin surface coast
$FINISH,1.9,1.015857
$STATE,14968,end surface coast,CONTROL_FINISHED_OK
$STATE,14968,begin surface
$SM_CCo,15045,0.00,0.000,0,0,700,521.50
$SM_GC,2.81,8.95,0.00,0.00,0.051,0.000,0.000,84,2073,700,-9.08,0.65,521.50
$IRIDIUM_FIX,-4138.02,-628.07,021212,050540
$TT8_MAMPS,0.026215
$HUMID,48.97
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.1,72.005
$10V_AH,10.0,47.494
$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,25.650,142.625,609.975,0.000,0.000,35.817,52.523,242.071,0.000,0.000,48.598,2025.551,10015.508,652.230,2654.145,177.272,33.363,1717.842,0.000,2253.310,0.000,1.013,0.000
$DEVICE_MAMPS,257.040,71.910,1486.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.244,881.234,514.126,66.704,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,47117,789
$CAP_FILE_SIZE,155398,0
$CFSIZE,2097086464,2051997696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021212,142359,-4153.598,-627.807,41,1.1,41,-22.1