version: 66.07.10.p01
glider: 574
mission: 4
dive: 335
start: 12 8 112 11 20 56
data:
$ID,574
$MISSION,4
$DIVE,335
$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,300
$T_MISSION,325
$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,-6914.2095
$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,1950
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,49
$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,314
$GPS1,081212,111223,-4156.701,-551.516,42,0.8,42,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-72.7
$GPS2,081212,112035,-4156.739,-551.511,39,0.8,39,-22.2
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4202.138,-538.919
$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,142.2,20000,-19.9,-11.111
$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,24,begin dive
$GC,26,-0.84,-145.9,0.0,0.0,0,88,0.00,0.00,-59.65,0.000,2,0.000,0.000,67,1963,2294,0,0,0,0,0,0
$GC,90,-0.84,-145.9,3.0,-1.1,10,152,12.12,1.45,-39.72,0.000,4,0.259,0.080,2734,1094,3424,0,0,0,0,0,0
$GC,203,-0.81,-145.9,11.6,-11.5,28,210,0.05,1.33,0.00,0.000,6,0.171,0.039,2745,1929,3424,0,0,0,0,0,0
$GC,284,-0.88,-145.9,20.0,-10.2,41,291,0.00,2.30,0.00,0.000,4,0.000,0.054,2736,3354,3424,0,0,0,0,0,0
$GC,341,-0.98,-145.9,26.4,-11.1,50,349,0.08,2.25,0.00,0.000,6,0.067,0.047,2693,1949,3424,0,0,0,0,0,0
$GC,421,-0.93,-145.9,36.1,-12.8,63,426,0.08,0.00,0.00,0.000,6,0.203,0.000,2709,1948,3424,0,0,0,0,0,0
$GC,655,-0.93,-145.9,65.3,-11.7,104,660,0.00,2.30,0.00,0.000,4,0.000,0.061,2710,530,3424,0,0,0,0,0,0
$GC,729,-0.88,-145.9,74.6,-12.9,117,736,0.08,2.22,0.00,0.000,6,0.163,0.038,2723,1945,3424,0,0,0,0,0,0
$GC,1075,-0.94,-145.9,112.5,-10.8,165,1079,0.00,2.28,0.00,0.000,4,0.000,0.060,2724,535,3425,0,0,0,0,0,0
$GC,1130,-0.94,-145.9,119.3,-11.8,168,1135,0.00,2.22,0.00,0.000,6,0.000,0.037,2714,1953,3425,0,0,0,0,0,0
$GC,1459,-1.01,-145.9,154.1,-10.5,189,1464,0.08,2.30,0.00,0.000,4,0.127,0.059,2681,538,3426,0,0,0,0,0,0
$GC,1529,-0.92,-145.9,162.9,-13.0,193,1534,0.15,2.20,0.00,0.000,6,0.172,0.037,2710,1965,3426,0,0,0,0,0,0
$GC,1855,-0.97,-145.9,196.5,-10.3,214,1859,0.00,0.62,0.00,0.000,4,0.000,0.054,2710,1560,3426,0,0,0,0,0,0
$GC,1883,-1.00,-145.9,199.6,-9.7,215,1888,0.00,0.60,0.00,0.000,6,0.000,0.042,2708,1964,3426,0,0,0,0,0,0
$GC,2203,-1.03,-145.9,232.1,-10.2,236,2207,0.08,1.40,0.00,0.000,4,0.129,0.054,2675,1108,3426,0,0,0,0,0,0
$GC,2238,-0.94,-145.9,236.3,-12.4,238,2242,0.10,1.30,0.00,0.000,6,0.158,0.037,2701,1948,3426,0,0,0,0,0,0
$GC,2572,-0.94,-145.9,272.6,-11.0,256,2576,0.00,2.05,0.00,0.000,4,0.000,0.049,2692,3276,3427,0,0,0,0,0,0
$GC,2632,-0.94,-145.9,280.2,-11.9,258,2641,0.03,2.08,0.00,0.000,6,0.169,0.041,2703,1946,3426,0,0,0,0,0,0
$GC,2949,-0.99,-145.9,315.6,-11.3,274,2953,0.00,0.70,0.00,0.000,4,0.000,0.054,2703,1482,3427,0,0,0,0,0,0
$GC,2982,-1.01,-145.9,319.8,-11.6,275,2986,0.00,0.75,0.00,0.000,6,0.000,0.037,2700,1985,3427,0,0,0,0,0,0
$GC,3306,-1.06,-145.9,356.8,-11.8,291,3311,0.10,2.35,0.00,0.000,4,0.106,0.057,2657,539,3427,0,0,0,0,0,0
$GC,3374,-0.94,-145.9,366.5,-13.9,294,3379,0.22,2.12,0.00,0.000,6,0.169,0.034,2706,1948,3427,0,0,0,0,0,0
$GC,3712,-1.01,-145.9,404.2,-10.9,310,3716,0.00,2.17,0.00,0.000,4,0.000,0.047,2697,3347,3427,0,0,0,0,0,0
$GC,3722,-1.07,-145.9,405.7,-10.8,310,3727,0.08,2.15,0.00,0.000,6,0.126,0.038,2662,1944,3427,0,0,0,0,0,0
$GC,4040,-1.00,-145.9,441.9,-11.2,321,4045,0.10,2.22,0.00,0.000,4,0.193,0.045,2676,3358,3427,0,0,0,0,0,0
$GC,4102,-0.97,-145.9,448.7,-11.1,323,4107,0.10,2.17,0.00,0.000,6,0.174,0.037,2700,1941,3427,0,0,0,0,0,0
$GC,4437,-1.01,-145.9,480.4,-9.2,334,4441,0.00,1.42,0.00,0.000,4,0.000,0.043,2694,2855,3427,0,0,0,0,0,0
$GC,4487,-1.06,-145.9,485.7,-10.0,335,4491,0.05,1.40,0.00,0.000,6,0.074,0.041,2663,1951,3427,0,0,0,0,0,0
$GC,4811,-1.06,-145.9,520.5,-11.0,346,4815,0.00,2.20,0.00,0.000,4,0.000,0.047,2653,3353,3426,0,0,0,0,0,0
$GC,4883,-0.98,-145.9,529.4,-12.8,348,4888,0.12,2.17,0.00,0.000,6,0.151,0.037,2691,1945,3426,0,0,0,0,0,0
$GC,5213,-1.02,-145.9,563.5,-10.4,359,5217,0.00,0.82,0.00,0.000,4,0.000,0.050,2691,1393,3425,0,0,0,0,0,0
$GC,5248,-1.02,-145.9,567.2,-10.2,360,5251,0.00,0.85,0.00,0.000,6,0.000,0.039,2688,1955,3426,0,0,0,0,0,0
$GC,5589,-1.04,-145.9,602.0,-10.1,371,5593,0.00,1.05,0.00,0.000,4,0.000,0.049,2688,1294,3425,0,0,0,0,0,0
$GC,5623,-1.04,-145.9,605.5,-10.0,372,5627,0.00,1.00,0.00,0.000,6,0.000,0.038,2683,1948,3425,0,0,0,0,0,0
$GC,5964,-1.04,-145.9,639.0,-10.0,383,5967,0.00,1.80,0.00,0.000,4,0.000,0.046,2675,3123,3424,0,0,0,0,0,0
$GC,6019,-1.04,-145.9,644.8,-10.6,384,6023,0.00,1.83,0.00,0.000,6,0.000,0.038,2674,1945,3424,0,0,0,0,0,0
$GC,6338,-1.01,-145.9,676.2,-10.0,395,6342,0.00,2.20,0.00,0.000,4,0.000,0.054,2674,544,3423,0,0,0,0,0,0
$GC,6415,-0.95,-145.9,685.3,-11.3,397,6420,0.10,2.17,0.00,0.000,6,0.157,0.035,2703,1943,3423,0,0,0,0,0,0
$GC,6745,-1.02,-145.9,718.1,-10.4,408,6749,0.05,0.90,0.00,0.000,4,0.169,0.050,2678,1379,3423,0,0,0,0,0,0
$GC,6778,-1.02,-145.9,722.1,-11.4,409,6782,0.00,0.88,0.00,0.000,6,0.000,0.039,2674,1955,3422,0,0,0,0,0,0
$GC,7119,-1.02,-145.9,762.1,-12.1,420,7122,0.00,0.70,0.00,0.000,4,0.000,0.045,2671,2437,3422,0,0,0,0,0,0
$GC,7174,-1.04,-145.9,769.0,-12.5,421,7178,0.00,0.77,0.00,0.000,6,0.000,0.043,2671,1938,3422,0,0,0,0,0,0
$GC,7492,-1.04,-145.9,810.1,-13.2,432,7496,0.00,2.20,0.00,0.000,4,0.000,0.054,2671,550,3421,0,0,0,0,0,0
$GC,7570,-0.97,-145.9,821.5,-14.9,434,7575,0.15,2.17,0.00,0.000,6,0.174,0.036,2699,1972,3421,0,0,0,0,0,0
$GC,7900,-1.01,-145.9,860.3,-11.3,445,7904,0.00,2.15,0.00,0.000,4,0.000,0.047,2690,3351,3421,0,0,0,0,0,0
$GC,7977,-1.04,-145.9,869.5,-12.3,447,7981,0.00,2.17,0.00,0.000,6,0.000,0.038,2689,1955,3421,0,0,0,0,0,0
$GC,8301,-1.04,-145.9,904.5,-10.4,458,8305,0.00,2.25,0.00,0.000,4,0.000,0.053,2689,541,3420,0,0,0,0,0,0
$GC,8363,-1.04,-145.9,911.1,-11.3,460,8367,0.00,2.17,0.00,0.000,6,0.000,0.036,2680,1948,3420,0,0,0,0,0,0
$GC,8698,-1.04,-145.9,943.6,-9.5,471,8702,0.00,2.25,0.00,0.000,4,0.000,0.054,2680,545,3419,0,0,0,0,0,0
$GC,8761,-0.97,-145.9,950.2,-11.0,473,8766,0.12,2.15,0.00,0.000,6,0.178,0.035,2700,1953,3419,0,0,0,0,0,0
$GC,9096,-1.01,-145.9,979.9,-9.0,484,9100,0.00,2.28,0.00,0.000,4,0.000,0.054,2700,539,3419,0,0,0,0,0,0
$GC,9174,-1.01,-145.9,988.4,-10.9,486,9178,0.00,2.20,0.00,0.000,6,0.000,0.034,2691,1948,3419,0,0,0,0,0,0
$STATE,9315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9315,begin apogee
$GC,9320,-0.21,0.0,1002.8,10.4,491,9454,0.85,0.00,129.88,1.493,6,0.144,0.000,2940,1496,2827,0,0,0,0,0,0
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9457,0.84,145.9,1012.8,0.0,495,9602,1.02,2.55,135.65,1.478,4,0.068,0.044,3277,2898,2231,0,0,0,0,0,0
$GC,9747,0.57,258.0,1016.0,5.4,504,9859,0.38,2.30,102.30,1.440,6,0.215,0.047,3203,1506,1775,0,0,0,0,0,0
$GC,10172,0.57,358.7,991.2,6.0,518,10273,0.00,2.40,92.12,1.444,4,0.000,0.067,3208,173,1363,0,0,0,0,0,0
$GC,10317,0.63,402.6,980.3,8.9,522,10366,0.00,2.17,42.38,1.424,6,0.000,0.036,3208,1518,1184,0,0,0,0,0,0
$GC,10698,0.81,454.3,949.2,8.5,535,10749,0.20,0.00,48.60,1.410,6,0.078,0.000,3281,1519,974,0,0,0,0,0,0
$GC,11036,0.88,454.3,910.6,11.4,546,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1520,966,0,0,0,0,0,0
$GC,11341,0.95,454.3,875.6,11.5,556,11346,0.10,2.15,0.00,0.000,4,0.111,0.045,3318,2894,965,0,0,0,0,0,0
$GC,11396,0.84,454.3,867.8,15.6,557,11401,0.17,2.22,0.00,0.000,6,0.203,0.050,3289,1501,963,0,0,0,0,0,0
$GC,11709,0.92,454.3,830.3,11.6,567,11713,0.05,1.20,0.00,0.000,4,0.165,0.043,3312,2268,963,0,0,0,0,0,0
$GC,11742,0.92,454.3,826.1,12.7,568,11746,0.00,1.23,0.00,0.000,6,0.000,0.053,3317,1503,963,0,0,0,0,0,0
$GC,12083,0.92,454.3,783.2,12.4,579,12087,0.00,2.20,0.00,0.000,4,0.000,0.047,3317,2894,963,0,0,0,0,0,0
$GC,12132,0.84,454.3,776.6,13.2,580,12137,0.12,2.22,0.00,0.000,6,0.174,0.048,3292,1508,963,0,0,0,0,0,0
$GC,12456,0.91,455.6,740.6,11.0,591,12460,0.00,0.82,0.00,0.000,4,0.000,0.067,3294,994,963,0,0,0,0,0,0
$GC,12491,0.96,458.8,736.8,11.0,592,12495,0.05,0.77,0.00,0.000,6,0.090,0.042,3320,1506,962,0,0,0,0,0,0
$GC,12831,0.93,458.8,694.0,12.7,603,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1506,962,0,0,0,0,0,0
$GC,13137,0.93,458.8,652.7,13.6,613,13141,0.00,2.15,0.00,0.000,4,0.000,0.070,3328,203,962,0,0,0,0,0,0
$GC,13174,0.80,458.8,646.8,15.4,614,13179,0.17,2.03,0.00,0.000,6,0.188,0.041,3280,1486,961,0,0,0,0,0,0
$GC,13510,0.90,458.8,604.9,12.2,625,13514,0.08,1.05,0.00,0.000,4,0.130,0.045,3313,2166,961,0,0,0,0,0,0
$GC,13564,0.90,458.8,597.0,13.6,626,13568,0.00,1.10,0.00,0.000,6,0.000,0.055,3318,1492,961,0,0,0,0,0,0
$GC,13883,0.87,458.8,550.3,14.6,637,13887,0.10,1.48,0.00,0.000,4,0.208,0.067,3302,602,961,0,0,0,0,0,0
$GC,13909,0.85,458.8,546.4,14.9,637,13915,0.03,1.40,0.00,0.000,6,0.200,0.041,3294,1513,961,0,0,0,0,0,0
$GC,14222,0.92,458.8,506.5,12.2,648,14226,0.00,2.03,0.00,0.000,4,0.000,0.070,3301,281,961,0,0,0,0,0,0
$GC,14266,0.92,458.8,500.9,12.2,649,14271,0.00,1.90,0.00,0.000,6,0.000,0.041,3301,1487,960,0,0,0,0,0,0
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$STATE,18228,end climb,SURFACE_DEPTH_REACHED
$STATE,18228,begin surface coast
$FINISH,1.7,1.001356
$STATE,18253,end surface coast,CONTROL_FINISHED_OK
$STATE,18253,begin surface
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$IRIDIUM_FIX,-4143.80,-553.87,081212,060619
$TT8_MAMPS,0.026964
$HUMID,48.50
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.9,79.670
$10V_AH,10.0,50.668
$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
$DEVICE_SECS,26.700,161.900,580.825,0.000,0.000,24.093,37.224,278.795,0.250,0.000,41.609,2432.773,12462.878,631.012,3073.265,218.504,0.000,1883.548,0.000,2670.826,0.000,2.831,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,56946,938
$CAP_FILE_SIZE,185336,0
$CFSIZE,2097086464,2048032768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081212,162735,-4156.552,-550.047,33,1.9,33,-22.2