version: 66.07.10.p01
glider: 574
mission: 4
dive: 339
start: 12 9 112 8 13 14
data:
$ID,574
$MISSION,4
$DIVE,339
$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,-6928.0693
$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,27
$R_STBD_OVSHOOT,46
$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,318
$GPS1,091212,080359,-4155.586,-546.098,69,0.8,69,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-69.9
$GPS2,091212,081253,-4155.525,-545.918,45,1.2,46,-22.2
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4200.924,-533.330
$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,24,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,-59.85,0.000,2,0.000,0.000,65,1977,2318,0,0,0,0,0,0
$GC,91,-0.84,-145.9,3.0,-1.5,10,159,12.30,2.20,-44.25,0.000,4,0.264,0.066,2723,3341,3422,0,0,0,0,0,0
$GC,225,-0.84,-145.9,13.7,-12.5,32,233,0.05,2.25,0.00,0.000,6,0.170,0.050,2738,1949,3422,0,0,0,0,0,0
$GC,306,-0.88,-145.9,23.1,-11.8,45,313,0.00,1.45,0.00,0.000,4,0.000,0.061,2738,1059,3423,0,0,0,0,0,0
$GC,357,-0.92,-145.9,28.8,-10.6,53,365,0.00,1.38,0.00,0.000,6,0.000,0.037,2733,1943,3423,0,0,0,0,0,0
$GC,434,-0.98,-145.9,37.5,-12.0,66,442,0.10,0.95,0.00,0.000,4,0.109,0.047,2685,2562,3423,0,0,0,0,0,0
$GC,471,-0.96,-145.9,42.6,-14.0,72,479,0.05,0.98,0.00,0.000,6,0.173,0.047,2701,1945,3423,0,0,0,0,0,0
$GC,708,-0.96,-145.9,70.5,-11.0,113,712,0.00,2.25,0.00,0.000,4,0.000,0.061,2701,537,3423,0,0,0,0,0,0
$GC,792,-0.91,-145.9,80.9,-12.3,128,797,0.10,2.17,0.00,0.000,6,0.188,0.037,2715,1957,3424,0,0,0,0,0,0
$GC,1130,-0.97,-145.9,116.1,-10.0,170,1134,0.00,2.20,0.00,0.000,4,0.000,0.050,2706,3360,3424,0,0,0,0,0,0
$GC,1193,-0.97,-145.9,122.6,-10.2,174,1197,0.00,2.20,0.00,0.000,6,0.000,0.043,2706,1945,3424,0,0,0,0,0,0
$GC,1520,-1.02,-145.9,153.0,-9.3,195,1525,0.08,2.28,0.00,0.000,4,0.135,0.058,2674,533,3425,0,0,0,0,0,0
$GC,1575,-0.91,-145.9,159.6,-11.6,198,1580,0.20,2.20,0.00,0.000,6,0.172,0.034,2715,1973,3425,0,0,0,0,0,0
$GC,1903,-0.99,-145.9,190.9,-9.8,219,1907,0.08,2.15,0.00,0.000,4,0.127,0.047,2674,3350,3425,0,0,0,0,0,0
$GC,1958,-0.94,-145.9,197.7,-11.5,222,1962,0.12,2.20,0.00,0.000,6,0.169,0.040,2705,1944,3425,0,0,0,0,0,0
$GC,2286,-1.00,-145.9,233.1,-11.4,243,2290,0.00,2.22,0.00,0.000,4,0.000,0.056,2705,542,3425,0,0,0,0,0,0
$GC,2356,-1.00,-145.9,241.9,-12.5,247,2360,0.00,2.15,0.00,0.000,6,0.000,0.034,2696,1950,3426,0,0,0,0,0,0
$GC,2678,-1.03,-145.9,281.2,-12.4,264,2682,0.00,2.28,0.00,0.000,4,0.000,0.054,2696,534,3426,0,0,0,0,0,0
$GC,2767,-1.00,-145.9,293.3,-13.2,268,2771,0.00,2.20,0.00,0.000,6,0.000,0.034,2686,1950,3426,0,0,0,0,0,0
$GC,3094,-1.00,-145.9,332.9,-11.8,284,3098,0.00,2.28,0.00,0.000,4,0.000,0.054,2686,535,3425,0,0,0,0,0,0
$GC,3161,-0.93,-145.9,341.4,-12.2,287,3166,0.12,2.20,0.00,0.000,6,0.177,0.034,2708,1958,3426,0,0,0,0,0,0
$GC,3492,-1.01,-145.9,374.3,-9.7,303,3495,0.00,1.70,0.00,0.000,4,0.000,0.045,2700,3049,3426,0,0,0,0,0,0
$GC,3540,-1.05,-145.9,379.0,-9.8,305,3544,0.08,1.70,0.00,0.000,6,0.125,0.041,2667,1939,3426,0,0,0,0,0,0
$GC,3872,-1.02,-145.9,414.1,-10.6,319,3874,0.08,0.00,0.00,0.000,6,0.212,0.000,2681,1938,3426,0,0,0,0,0,0
$GC,4177,-1.02,-145.9,446.2,-10.5,329,4181,0.00,2.20,0.00,0.000,4,0.000,0.054,2681,549,3426,0,0,0,0,0,0
$GC,4260,-0.97,-145.9,455.9,-11.6,331,4265,0.05,2.15,0.00,0.000,6,0.173,0.034,2697,1941,3426,0,0,0,0,0,0
$GC,4584,-1.03,-145.9,489.3,-10.5,342,4588,0.00,2.20,0.00,0.000,4,0.000,0.047,2687,3356,3425,0,0,0,0,0,0
$GC,4647,-1.03,-145.9,496.1,-10.4,344,4651,0.00,2.15,0.00,0.000,6,0.000,0.037,2687,1948,3425,0,0,0,0,0,0
$GC,4982,-1.06,-145.9,534.9,-12.0,355,4985,0.00,1.92,0.00,0.000,4,0.000,0.052,2687,721,3425,0,0,0,0,0,0
$GC,5031,-1.01,-145.9,541.6,-13.2,356,5035,0.00,1.90,0.00,0.000,6,0.000,0.035,2679,1953,3425,0,0,0,0,0,0
$GC,5355,-1.01,-145.9,581.4,-12.3,367,5359,0.00,2.25,0.00,0.000,4,0.000,0.053,2678,548,3425,0,0,0,0,0,0
$GC,5422,-0.97,-145.9,590.3,-13.0,369,5426,0.12,2.15,0.00,0.000,6,0.179,0.034,2700,1953,3424,0,0,0,0,0,0
$GC,5757,-1.03,-145.9,628.3,-11.3,380,5761,0.05,1.83,0.00,0.000,4,0.170,0.046,2667,3126,3423,0,0,0,0,0,0
$GC,5805,-1.01,-145.9,634.3,-12.9,381,5810,0.05,1.83,0.00,0.000,6,0.161,0.037,2682,1943,3423,0,0,0,0,0,0
$GC,6129,-1.01,-145.9,669.7,-10.7,392,6133,0.00,0.68,0.00,0.000,4,0.000,0.044,2682,2393,3423,0,0,0,0,0,0
$GC,6190,-1.05,-145.9,676.4,-11.1,393,6196,0.00,0.70,0.00,0.000,6,0.000,0.044,2681,1939,3423,0,0,0,0,0,0
$GC,6503,-1.08,-145.9,708.2,-10.1,404,6507,0.00,2.25,0.00,0.000,4,0.000,0.048,2670,3360,3422,0,0,0,0,0,0
$GC,6575,-1.08,-145.9,716.1,-10.5,406,6580,0.00,2.17,0.00,0.000,6,0.000,0.037,2670,1958,3421,0,0,0,0,0,0
$GC,6905,-1.08,-145.9,748.0,-9.6,417,6908,0.00,1.70,0.00,0.000,4,0.000,0.051,2669,873,3421,0,0,0,0,0,0
$GC,6955,-1.02,-145.9,753.4,-10.0,418,6959,0.05,1.67,0.00,0.000,6,0.173,0.037,2677,1948,3421,0,0,0,0,0,0
$GC,7278,-1.02,-145.9,782.7,-9.0,429,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1948,3421,0,0,0,0,0,0
$GC,7584,-1.02,-145.9,809.9,-8.8,439,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1948,3420,0,0,0,0,0,0
$GC,7890,-1.02,-145.9,838.7,-9.7,449,7894,0.00,0.38,0.00,0.000,4,0.000,0.051,2677,2228,3420,0,0,0,0,0,0
$GC,8148,-1.06,-145.9,865.3,-11.3,456,8152,0.00,0.45,0.00,0.000,6,0.000,0.050,2676,1931,3419,0,0,0,0,0,0
$GC,8467,-1.06,-145.9,899.3,-10.9,467,8471,0.00,2.20,0.00,0.000,4,0.000,0.055,2677,551,3419,0,0,0,0,0,0
$GC,8544,-1.01,-145.9,908.7,-11.7,469,8549,0.08,2.20,0.00,0.000,6,0.212,0.037,2682,1950,3418,0,0,0,0,0,0
$GC,8868,-1.01,-145.9,941.8,-10.3,480,8872,0.00,2.22,0.00,0.000,4,0.000,0.049,2673,3366,3418,0,0,0,0,0,0
$GC,8945,-0.97,-145.9,950.5,-11.8,482,8950,0.10,2.20,0.00,0.000,6,0.177,0.037,2697,1959,3417,0,0,0,0,0,0
$GC,9269,-1.02,-145.9,982.0,-9.7,493,9273,0.00,2.22,0.00,0.000,4,0.000,0.048,2687,3361,3417,0,0,0,0,0,0
$GC,9313,-1.02,-145.9,986.8,-11.3,494,9317,0.00,2.20,0.00,0.000,6,0.000,0.038,2688,1953,3417,0,0,0,0,0,0
$STATE,9454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9454,begin apogee
$GC,9460,-0.21,0.0,1000.3,9.8,499,9592,0.88,0.00,128.98,1.497,6,0.145,0.000,2943,1489,2827,0,0,0,0,0,0
$STATE,9593,end apogee,CONTROL_FINISHED_OK
$STATE,9593,begin climb
$GC,9595,0.84,145.9,1008.2,0.0,503,9740,1.00,2.47,135.32,1.477,4,0.068,0.064,3282,173,2231,0,0,0,0,0,0
$GC,9848,0.54,188.4,1006.1,8.9,511,9894,0.40,2.17,39.58,1.427,6,0.212,0.037,3194,1508,2059,0,0,0,0,0,0
$GC,10213,0.49,261.2,978.4,7.4,523,10283,0.10,1.80,65.07,1.430,4,0.210,0.042,3172,2584,1761,0,0,0,0,0,0
$GC,10356,0.58,315.1,966.8,8.4,527,10412,0.03,1.77,49.35,1.387,6,0.101,0.048,3195,1506,1542,0,0,0,0,0,0
$GC,10736,0.68,378.3,935.0,7.9,540,10801,0.10,2.30,57.60,1.388,4,0.115,0.044,3232,2902,1283,0,0,0,0,0,0
$GC,10885,0.76,428.7,921.6,8.5,544,10939,0.00,2.28,46.78,1.345,6,0.000,0.049,3240,1494,1079,0,0,0,0,0,0
$GC,11264,0.87,491.8,890.9,7.9,557,11329,0.15,2.33,58.05,1.362,4,0.093,0.070,3292,172,822,0,0,0,0,0,0
$GC,11362,0.81,491.8,880.5,13.1,560,11367,0.05,2.15,0.00,0.000,6,0.184,0.037,3280,1498,818,0,0,0,0,0,0
$GC,11698,0.90,517.1,847.5,9.8,571,11729,0.08,1.70,23.00,1.300,4,0.130,0.067,3312,518,719,0,0,0,0,0,0
$GC,11750,0.87,517.1,841.1,12.4,572,11755,0.05,1.55,0.00,0.000,6,0.176,0.037,3297,1514,716,0,0,0,0,0,0
$GC,12069,0.96,523.7,806.6,10.8,583,12081,0.08,2.17,6.47,1.028,4,0.129,0.044,3324,2882,692,0,0,0,0,0,0
$GC,12098,0.96,523.7,802.8,12.8,584,12102,0.00,2.22,0.00,0.000,6,0.000,0.048,3333,1493,692,0,0,0,0,0,0
$GC,12433,0.96,523.7,756.4,14.6,595,12437,0.00,2.17,0.00,0.000,4,0.000,0.068,3335,164,691,0,0,0,0,0,0
$GC,12489,0.83,523.7,747.0,17.3,596,12494,0.20,2.05,0.00,0.000,6,0.194,0.039,3287,1486,689,0,0,0,0,0,0
$GC,12802,0.94,523.7,704.2,13.5,606,12806,0.08,2.20,0.00,0.000,4,0.130,0.070,3321,170,689,0,0,0,0,0,0
$GC,12850,0.88,523.7,696.3,16.4,607,12855,0.08,2.10,0.00,0.000,6,0.170,0.038,3300,1513,688,0,0,0,0,0,0
$GC,13169,0.97,523.7,653.8,12.8,618,13173,0.08,2.17,0.00,0.000,4,0.127,0.046,3330,2895,688,0,0,0,0,0,0
$GC,13178,1.04,523.7,652.3,12.7,618,13183,0.00,2.25,0.00,0.000,6,0.000,0.053,3334,1493,688,0,0,0,0,0,0
$GC,13508,1.06,523.7,608.7,13.0,629,13513,0.05,1.60,0.00,0.000,4,0.169,0.067,3360,523,688,0,0,0,0,0,0
$GC,13535,1.01,523.7,604.9,13.9,629,13541,0.05,1.50,0.00,0.000,6,0.194,0.040,3347,1498,688,0,0,0,0,0,0
$GC,13848,0.99,523.7,562.6,13.4,640,13852,0.05,2.10,0.00,0.000,4,0.244,0.046,3337,2832,688,0,0,0,0,0,0
$GC,13898,0.99,523.7,556.0,13.0,641,13902,0.03,2.10,0.00,0.000,6,0.305,0.049,3335,1498,687,0,0,0,0,0,0
$GC,14215,0.99,523.7,513.7,13.9,652,14219,0.00,1.67,0.00,0.000,4,0.000,0.044,3335,2587,687,0,0,0,0,0,0
$GC,14264,0.99,523.7,506.6,14.3,653,14268,0.00,1.75,0.00,0.000,6,0.000,0.050,3343,1501,688,0,0,0,0,0,0
$GC,14588,0.99,523.7,459.0,14.8,664,14592,0.00,1.17,0.00,0.000,4,0.000,0.044,3342,2254,687,0,0,0,0,0,0
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$STATE,17795,end climb,SURFACE_DEPTH_REACHED
$STATE,17795,begin surface coast
$FINISH,1.6,1.023584
$STATE,17820,end surface coast,CONTROL_FINISHED_OK
$STATE,17820,begin surface
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$IRIDIUM_FIX,-4140.91,-542.06,091212,020256
$TT8_MAMPS,0.026964
$HUMID,49.17
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.9,80.694
$10V_AH,10.0,51.116
$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
$DEVICE_SECS,26.825,163.150,610.200,0.000,0.000,30.843,52.160,288.787,0.250,0.000,48.046,2382.405,12060.603,657.254,3117.328,208.248,0.000,1919.395,0.000,2660.820,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.627,1003.450,603.351,73.041,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,56853,917
$CAP_FILE_SIZE,184406,0
$CFSIZE,2097086464,2047508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,091212,131235,-4154.974,-544.940,29,1.5,29,-22.2