version: 66.07.10.p01
glider: 574
mission: 4
dive: 317
start: 12 4 112 14 57 56
data:
$ID,574
$MISSION,4
$DIVE,317
$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,275
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6857.5352
$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,2020
$C_ROLL_CLIMB,1560
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,296
$GPS1,041212,145005,-4159.595,-615.366,26,1.2,26,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-70.8
$GPS2,041212,145735,-4159.599,-615.302,42,0.8,42,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4204.999,-602.701
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,142.1,20000,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-53.83,0.000,2,0.000,0.000,67,1911,1987,0,0,0,0,0,0
$GC,83,-1.03,-145.9,3.0,-1.1,9,168,12.18,2.17,-62.40,0.000,4,0.269,0.076,2672,612,3423,0,0,0,0,0,0
$GC,258,-0.93,-145.9,19.5,-15.2,38,266,0.15,2.22,0.00,0.000,6,0.177,0.037,2705,2019,3424,0,0,0,0,0,0
$GC,339,-1.01,-145.9,29.3,-11.8,51,346,0.00,0.47,0.00,0.000,4,0.000,0.053,2705,1707,3424,0,0,0,0,0,0
$GC,401,-1.06,-145.9,36.2,-10.7,61,407,0.08,0.47,0.00,0.000,6,0.075,0.044,2667,2036,3424,0,0,0,0,0,0
$GC,635,-1.06,-145.9,65.2,-12.0,102,642,0.00,2.33,0.00,0.000,4,0.000,0.059,2667,617,3424,0,0,0,0,0,0
$GC,728,-0.98,-145.9,77.3,-13.5,118,734,0.15,2.15,0.00,0.000,6,0.190,0.037,2693,2004,3424,0,0,0,0,0,0
$GC,1074,-1.03,-145.9,116.0,-11.4,163,1078,0.00,1.73,0.00,0.000,4,0.000,0.057,2693,939,3425,0,0,0,0,0,0
$GC,1110,-1.03,-145.9,120.4,-12.4,165,1114,0.00,1.67,0.00,0.000,6,0.000,0.035,2686,2033,3425,0,0,0,0,0,0
$GC,1441,-1.09,-145.9,162.4,-13.2,186,1446,0.08,1.60,0.00,0.000,4,0.130,0.054,2657,1019,3426,0,0,0,0,0,0
$GC,1480,-1.02,-145.9,168.6,-15.1,188,1485,0.10,1.55,0.00,0.000,6,0.168,0.036,2679,2022,3425,0,0,0,0,0,0
$GC,1808,-1.08,-145.9,212.9,-13.8,209,1812,0.00,2.28,0.00,0.000,4,0.000,0.057,2679,608,3426,0,0,0,0,0,0
$GC,1880,-1.08,-145.9,224.5,-15.3,213,1885,0.00,2.20,0.00,0.000,6,0.000,0.035,2670,2022,3426,0,0,0,0,0,0
$GC,2211,-1.10,-145.9,270.6,-14.5,232,2215,0.00,2.25,0.00,0.000,4,0.000,0.057,2670,608,3426,0,0,0,0,0,0
$GC,2302,-1.08,-145.9,284.4,-14.8,236,2306,0.00,2.15,0.00,0.000,6,0.000,0.035,2660,2023,3426,0,0,0,0,0,0
$GC,2629,-1.08,-145.9,329.4,-13.7,252,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2023,3426,0,0,0,0,0,0
$GC,2940,-1.08,-145.9,369.5,-12.6,267,2944,0.00,2.25,0.00,0.000,4,0.000,0.056,2660,608,3426,0,0,0,0,0,0
$GC,3017,-1.04,-145.9,380.2,-13.3,270,3025,0.08,2.20,0.00,0.000,6,0.171,0.034,2671,2030,3426,0,0,0,0,0,0
$GC,3332,-1.07,-145.9,414.7,-10.9,284,3336,0.00,2.25,0.00,0.000,4,0.000,0.053,2672,607,3426,0,0,0,0,0,0
$GC,3395,-1.07,-145.9,422.3,-12.0,286,3398,0.00,2.15,0.00,0.000,6,0.000,0.033,2663,2020,3427,0,0,0,0,0,0
$GC,3736,-1.12,-145.9,459.5,-10.9,297,3739,0.00,0.68,0.00,0.000,4,0.000,0.043,2659,2487,3426,0,0,0,0,0,0
$GC,3770,-1.14,-145.9,463.2,-10.6,298,3774,0.00,0.73,0.00,0.000,6,0.000,0.043,2659,2001,3426,0,0,0,0,0,0
$GC,4111,-1.14,-145.9,500.0,-10.8,309,4115,0.00,2.22,0.00,0.000,4,0.000,0.046,2649,3426,3426,0,0,0,0,0,0
$GC,4188,-1.10,-145.9,509.6,-12.5,311,4192,0.00,2.12,0.00,0.000,6,0.000,0.035,2649,2019,3426,0,0,0,0,0,0
$GC,4518,-1.10,-145.9,549.3,-12.4,322,4522,0.00,2.20,0.00,0.000,4,0.000,0.045,2639,3423,3426,0,0,0,0,0,0
$GC,4595,-1.06,-145.9,560.0,-13.5,324,4600,0.12,2.12,0.00,0.000,6,0.184,0.034,2668,2022,3425,0,0,0,0,0,0
$GC,4920,-1.11,-145.9,599.7,-12.2,335,4924,0.00,2.20,0.00,0.000,4,0.000,0.046,2660,3426,3425,0,0,0,0,0,0
$GC,4997,-1.11,-145.9,610.1,-13.2,337,5001,0.00,2.15,0.00,0.000,6,0.000,0.034,2659,2025,3425,0,0,0,0,0,0
$GC,5322,-1.15,-145.9,648.9,-11.6,348,5326,0.00,2.20,0.00,0.000,4,0.000,0.051,2659,614,3425,0,0,0,0,0,0
$GC,5393,-1.13,-145.9,658.2,-12.7,350,5397,0.00,2.15,0.00,0.000,6,0.000,0.032,2649,2023,3425,0,0,0,0,0,0
$GC,5723,-1.13,-145.9,696.3,-11.6,361,5727,0.00,0.60,0.00,0.000,4,0.000,0.042,2646,2445,3424,0,0,0,0,0,0
$GC,5739,-1.13,-145.9,698.3,-11.8,361,5743,0.00,0.68,0.00,0.000,6,0.000,0.041,2646,1997,3424,0,0,0,0,0,0
$GC,6063,-1.13,-145.9,737.0,-12.0,372,6067,0.00,0.77,0.00,0.000,4,0.000,0.048,2646,1481,3424,0,0,0,0,0,0
$GC,6124,-1.10,-145.9,744.6,-12.4,373,6129,0.03,0.82,0.00,0.000,6,0.203,0.039,2649,2027,3423,0,0,0,0,0,0
$GC,6436,-1.10,-145.9,782.0,-12.3,384,6440,0.00,1.20,0.00,0.000,4,0.000,0.043,2645,2809,3423,0,0,0,0,0,0
$GC,6463,-1.07,-145.9,785.7,-13.3,384,6469,0.05,1.20,0.00,0.000,6,0.174,0.037,2659,2026,3423,0,0,0,0,0,0
$GC,6777,-1.09,-145.9,824.0,-12.5,395,6781,0.00,2.22,0.00,0.000,4,0.000,0.050,2660,615,3422,0,0,0,0,0,0
$GC,6843,-1.04,-145.9,833.7,-14.7,397,6848,0.08,2.17,0.00,0.000,6,0.172,0.034,2682,2014,3422,0,0,0,0,0,0
$GC,7178,-1.11,-145.9,871.6,-11.2,408,7183,0.08,1.48,0.00,0.000,4,0.134,0.049,2655,1095,3421,0,0,0,0,0,0
$GC,7213,-1.07,-145.9,875.8,-13.2,409,7217,0.00,1.42,0.00,0.000,6,0.000,0.036,2650,2022,3422,0,0,0,0,0,0
$GC,7553,-1.01,-145.9,922.7,-14.6,420,7558,0.12,2.25,0.00,0.000,4,0.200,0.050,2681,616,3421,0,0,0,0,0,0
$GC,7615,-1.01,-145.9,930.6,-11.8,422,7619,0.00,2.15,0.00,0.000,6,0.000,0.034,2673,2017,3421,0,0,0,0,0,0
$GC,7956,-1.06,-145.9,970.6,-11.3,433,7960,0.00,2.20,0.00,0.000,4,0.000,0.047,2662,3426,3420,0,0,0,0,0,0
$GC,8022,-1.06,-145.9,978.9,-12.3,435,8026,0.00,2.17,0.00,0.000,6,0.000,0.035,2662,2019,3420,0,0,0,0,0,0
$STATE,8234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8234,begin apogee
$GC,8239,-0.21,0.0,1002.4,10.9,442,8372,0.98,0.00,129.62,1.505,6,0.156,0.000,2940,1558,2827,0,0,0,0,0,0
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin climb
$GC,8375,1.03,145.9,1009.7,0.0,446,8517,1.23,2.50,134.48,1.471,4,0.064,0.060,3354,182,2232,0,0,0,0,0,0
$GC,8662,0.71,216.1,1002.6,9.8,455,8733,0.47,2.22,64.00,1.433,6,0.231,0.035,3251,1566,1946,0,0,0,0,0,0
$GC,9058,0.65,285.1,963.8,9.9,468,9128,0.10,2.45,61.55,1.426,4,0.232,0.063,3238,181,1663,0,0,0,0,0,0
$GC,9220,0.65,343.6,946.6,10.6,473,9281,0.05,2.20,53.58,1.405,6,0.233,0.035,3230,1566,1426,0,0,0,0,0,0
$GC,9588,0.78,439.6,913.0,8.1,485,9684,0.10,2.50,88.25,1.405,4,0.110,0.069,3267,184,1034,0,0,0,0,0,0
$GC,9757,0.85,488.8,895.0,11.2,490,9809,0.05,2.22,45.97,1.364,6,0.175,0.034,3283,1569,833,0,0,0,0,0,0
$GC,10115,1.04,552.7,853.9,10.2,502,10180,0.17,2.35,56.80,1.356,4,0.086,0.044,3348,2964,573,0,0,0,0,0,0
$GC,10230,1.07,552.7,835.9,16.0,505,10235,0.00,2.33,0.00,0.000,6,0.000,0.051,3358,1571,571,0,0,0,0,0,0
$GC,10549,1.05,552.7,778.6,18.6,516,10553,0.00,2.20,0.00,0.000,4,0.000,0.044,3358,2965,567,0,0,0,0,0,0
$GC,10621,1.08,552.7,765.0,18.6,518,10625,0.00,2.28,0.00,0.000,6,0.000,0.051,3368,1537,567,0,0,0,0,0,0
$GC,10951,1.04,552.7,701.0,19.4,529,10955,0.08,2.28,0.00,0.000,4,0.244,0.045,3355,2964,566,0,0,0,0,0,0
$GC,11013,1.08,552.7,689.8,16.8,531,11017,0.00,2.22,0.00,0.000,6,0.000,0.050,3364,1557,566,0,0,0,0,0,0
$GC,11347,1.08,552.7,627.0,18.4,542,11351,0.00,2.20,0.00,0.000,4,0.000,0.043,3363,2957,565,0,0,0,0,0,0
$GC,11402,1.08,552.7,616.6,18.3,543,11408,0.03,2.25,0.00,0.000,6,0.213,0.050,3366,1560,565,0,0,0,0,0,0
$GC,11715,1.05,552.7,557.9,18.7,554,11720,0.03,2.20,0.00,0.000,4,0.319,0.043,3358,2967,565,0,0,0,0,0,0
$GC,11764,1.09,552.7,548.9,16.9,555,11769,0.00,2.25,0.00,0.000,6,0.000,0.048,3366,1567,565,0,0,0,0,0,0
$GC,12083,1.07,552.7,491.7,18.2,566,12087,0.00,2.17,0.00,0.000,4,0.000,0.044,3365,2959,565,0,0,0,0,0,0
$GC,12149,1.07,552.7,480.0,16.6,568,12154,0.05,2.25,0.00,0.000,6,0.191,0.048,3360,1560,565,0,0,0,0,0,0
$GC,12484,1.07,552.7,422.8,17.0,579,12488,0.00,2.20,0.00,0.000,4,0.000,0.044,3360,2965,565,0,0,0,0,0,0
$GC,12547,1.10,552.7,412.6,16.2,581,12551,0.00,2.22,0.00,0.000,6,0.000,0.048,3369,1551,565,0,0,0,0,0,0
$GC,12866,1.10,552.7,357.9,17.2,595,12870,0.00,2.20,0.00,0.000,4,0.000,0.043,3369,2957,565,0,0,0,0,0,0
$GC,12928,1.10,552.7,346.7,17.4,598,12932,0.00,2.22,0.00,0.000,6,0.000,0.049,3379,1558,565,0,0,0,0,0,0
$GC,13255,1.07,552.7,287.8,18.0,614,13259,0.10,2.20,0.00,0.000,4,0.213,0.042,3356,2961,565,0,0,0,0,0,0
$GC,13298,1.12,552.7,280.1,16.3,616,13302,0.00,2.25,0.00,0.000,6,0.000,0.047,3365,1559,565,0,0,0,0,0,0
$GC,13621,1.12,552.7,226.3,17.1,634,13625,0.00,2.17,0.00,0.000,4,0.000,0.043,3365,2961,565,0,0,0,0,0,0
$GC,13684,1.12,552.7,215.9,16.1,638,13687,0.00,2.20,0.00,0.000,6,0.000,0.048,3375,1560,565,0,0,0,0,0,0
$GC,14015,1.12,552.7,160.7,16.4,659,14019,0.00,2.17,0.00,0.000,4,0.000,0.043,3375,2962,565,0,0,0,0,0,0
$GC,14079,1.12,552.7,150.1,17.7,663,14083,0.00,2.22,0.00,0.000,6,0.000,0.047,3385,1555,565,0,0,0,0,0,0
$GC,14401,1.08,552.7,95.5,17.1,685,14406,0.10,0.73,0.00,0.000,4,0.226,0.038,3362,2048,565,0,0,0,0,0,0
$GC,14423,1.08,552.7,91.3,16.4,689,14427,0.00,0.77,0.00,0.000,6,0.000,0.054,3364,1558,565,0,0,0,0,0,0
$GC,14766,1.08,552.7,36.4,15.4,750,14773,0.00,2.30,0.00,0.000,4,0.000,0.069,3373,171,565,0,0,0,0,0,0
$GC,14840,1.05,552.7,24.0,17.3,762,14847,0.05,2.17,0.00,0.000,6,0.184,0.037,3359,1561,563,0,0,0,0,0,0
$GC,14921,1.09,555.1,11.3,14.3,775,14927,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1571,563,0,0,0,0,0,0
$STATE,14975,end climb,SURFACE_DEPTH_REACHED
$STATE,14975,begin surface coast
$FINISH,1.8,1.014004
$STATE,15000,end surface coast,CONTROL_FINISHED_OK
$STATE,15000,begin surface
$SM_CCo,15078,0.00,0.000,0,0,562,555.84
$SM_GC,2.61,9.15,0.00,0.00,0.060,0.000,0.000,92,2034,562,-9.08,0.51,555.84
$IRIDIUM_FIX,-4146.69,-614.65,041212,101018
$TT8_MAMPS,0.026964
$HUMID,49.56
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.0,75.106
$10V_AH,10.1,48.656
$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,26.000,144.750,634.250,0.000,0.000,31.151,40.793,231.582,0.250,0.000,44.319,2025.449,9954.121,651.383,2723.942,172.876,0.000,1782.270,0.000,2343.348,0.000,2.832,0.000
$DEVICE_MAMPS,319.005,75.735,1504.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.797,887.866,514.354,67.341,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354552
$DATA_FILE_SIZE,46933,788
$CAP_FILE_SIZE,158209,0
$CFSIZE,2097086464,2050424832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041212,191034,-4159.651,-614.912,41,0.9,46,-22.1