version: 66.07.10.p01
glider: 574
mission: 4
dive: 450
start: 1 3 113 14 32 16
data:
$ID,574
$MISSION,4
$DIVE,450
$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,520
$T_MISSION,550
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-7268.52
$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,2985
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,48
$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,429
$GPS1,030113,143029,-4121.045,-510.129,69,1.4,69,-22.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-71.1
$GPS2,030113,143155,-4121.044,-510.135,19,1.4,19,-22.4
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$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,95.5,102315,-13.7,-6.410
$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,-0.69,-116.8,0.0,0.0,0,59,0.00,0.00,-31.25,0.000,2,0.000,0.000,69,1740,2030,0,0,0,0,0,0
$GC,61,-0.69,-116.8,3.2,-2.0,5,124,12.27,2.38,-39.78,0.000,4,0.255,0.075,2750,339,3305,0,0,0,0,0,0
$GC,228,-0.67,-116.8,19.9,-11.1,32,236,0.08,2.20,0.00,0.000,6,0.158,0.039,2764,1726,3306,0,0,0,0,0,0
$GC,309,-0.67,-116.8,26.9,-7.4,45,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1725,3306,0,0,0,0,0,0
$GC,385,-0.67,-116.8,34.5,-10.3,58,392,0.00,0.62,0.00,0.000,4,0.000,0.055,2764,1335,3306,0,0,0,0,0,0
$GC,441,-0.67,-116.8,40.2,-10.4,67,446,0.00,0.65,0.00,0.000,6,0.000,0.041,2764,1766,3306,0,0,0,0,0,0
$GC,673,-0.70,-116.8,64.6,-9.9,104,676,0.00,1.73,0.00,0.000,4,0.000,0.057,2763,698,3306,0,0,0,0,0,0
$GC,731,-0.70,-116.8,69.9,-9.1,109,735,0.00,1.62,0.00,0.000,6,0.000,0.035,2756,1735,3306,0,0,0,0,0,0
$GC,1067,-0.70,-116.8,102.2,-9.5,140,1070,0.00,1.95,0.00,0.000,4,0.000,0.049,2751,2995,3307,0,0,0,0,0,0
$GC,1128,-0.74,-116.8,108.2,-9.7,143,1133,0.00,2.00,0.00,0.000,6,0.000,0.045,2750,1727,3307,0,0,0,0,0,0
$GC,1449,-0.74,-116.8,138.9,-9.7,164,1452,0.00,0.77,0.00,0.000,4,0.000,0.057,2750,1231,3307,0,0,0,0,0,0
$GC,1487,-0.74,-116.8,143.1,-9.9,166,1491,0.00,0.82,0.00,0.000,6,0.000,0.037,2748,1768,3307,0,0,0,0,0,0
$GC,1814,-0.74,-116.8,175.7,-10.3,187,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1768,3307,0,0,0,0,0,0
$GC,2139,-0.74,-116.8,206.3,-9.1,207,2143,0.00,0.75,0.00,0.000,4,0.000,0.053,2748,1294,3307,0,0,0,0,0,0
$GC,2212,-0.74,-116.8,213.0,-8.7,210,2216,0.00,0.70,0.00,0.000,6,0.000,0.037,2744,1759,3307,0,0,0,0,0,0
$GC,2541,-0.74,-116.8,242.7,-9.0,226,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1759,3307,0,0,0,0,0,0
$GC,2850,-0.74,-116.8,271.0,-9.0,241,2854,0.00,1.27,0.00,0.000,4,0.000,0.055,2744,983,3308,0,0,0,0,0,0
$GC,2896,-0.74,-116.8,275.3,-9.6,243,2899,0.00,1.17,0.00,0.000,6,0.000,0.037,2742,1739,3308,0,0,0,0,0,0
$GC,3227,-0.74,-116.8,307.3,-10.0,258,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1739,3307,0,0,0,0,0,0
$GC,3534,-0.74,-116.8,338.6,-10.4,268,3537,0.00,0.75,0.00,0.000,4,0.000,0.054,2742,1273,3307,0,0,0,0,0,0
$GC,3577,-0.74,-116.8,343.5,-10.4,269,3582,0.00,0.77,0.00,0.000,6,0.000,0.037,2742,1771,3307,0,0,0,0,0,0
$GC,3907,-0.74,-116.8,377.6,-10.4,280,3911,0.00,0.62,0.00,0.000,4,0.000,0.050,2741,1375,3307,0,0,0,0,0,0
$GC,3964,-0.74,-116.8,383.4,-10.2,281,3967,0.00,0.57,0.00,0.000,6,0.000,0.041,2741,1759,3307,0,0,0,0,0,0
$GC,4282,-0.74,-116.8,414.7,-9.6,292,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1760,3307,0,0,0,0,0,0
$GC,4588,-0.74,-116.8,441.8,-8.5,302,4592,0.00,0.50,0.00,0.000,4,0.000,0.053,2741,1439,3307,0,0,0,0,0,0
$GC,4637,-0.74,-116.8,446.3,-9.3,303,4641,0.00,0.47,0.00,0.000,6,0.000,0.041,2741,1754,3307,0,0,0,0,0,0
$GC,4961,-0.74,-116.8,473.3,-8.4,314,4965,0.00,0.62,0.00,0.000,4,0.000,0.044,2738,2190,3307,0,0,0,0,0,0
$GC,5022,-0.74,-116.8,478.7,-8.9,315,5028,0.00,0.70,0.00,0.000,6,0.000,0.047,2738,1741,3307,0,0,0,0,0,0
$GC,5335,-0.74,-116.8,507.6,-9.7,326,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1742,3307,0,0,0,0,0,0
$GC,5641,-0.74,-116.8,537.9,-9.8,336,5645,0.00,0.68,0.00,0.000,4,0.000,0.042,2736,2195,3307,0,0,0,0,0,0
$GC,5691,-0.74,-116.8,542.9,-9.4,337,5695,0.00,0.70,0.00,0.000,6,0.000,0.047,2736,1751,3306,0,0,0,0,0,0
$GC,6015,-0.74,-116.8,573.2,-9.2,348,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1751,3306,0,0,0,0,0,0
$GC,6321,-0.74,-116.8,601.8,-9.3,358,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1751,3305,0,0,0,0,0,0
$GC,6628,-0.76,-116.8,630.6,-9.4,368,6631,0.00,1.62,0.00,0.000,4,0.000,0.059,2736,758,3305,0,0,0,0,0,0
$GC,6672,-0.76,-116.8,634.9,-9.5,369,6676,0.00,1.52,0.00,0.000,6,0.000,0.034,2733,1747,3305,0,0,0,0,0,0
$GC,7002,-0.76,-116.8,664.9,-9.2,380,7005,0.00,1.33,0.00,0.000,4,0.000,0.045,2727,2603,3303,0,0,0,0,0,0
$GC,7062,-0.76,-116.8,670.9,-10.0,381,7068,0.00,1.35,0.00,0.000,6,0.000,0.044,2727,1748,3303,0,0,0,0,0,0
$GC,7375,-0.76,-116.8,700.2,-9.5,392,7379,0.00,1.73,0.00,0.000,4,0.000,0.058,2727,678,3303,0,0,0,0,0,0
$GC,7419,-0.74,-116.8,704.5,-8.7,393,7424,0.05,1.65,0.00,0.000,6,0.148,0.034,2738,1743,3302,0,0,0,0,0,0
$GC,7748,-0.74,-116.8,734.6,-9.3,404,7752,0.00,1.42,0.00,0.000,4,0.000,0.045,2732,2660,3302,0,0,0,0,0,0
$GC,7820,-0.78,-116.8,741.6,-9.5,406,7824,0.00,1.42,0.00,0.000,6,0.000,0.043,2732,1754,3302,0,0,0,0,0,0
$GC,8156,-0.78,-116.8,772.3,-9.2,417,8159,0.00,1.00,0.00,0.000,4,0.000,0.051,2732,1119,3301,0,0,0,0,0,0
$GC,8211,-0.78,-116.8,777.5,-9.8,418,8215,0.00,1.00,0.00,0.000,6,0.000,0.035,2728,1762,3301,0,0,0,0,0,0
$GC,8529,-0.78,-116.8,806.4,-9.1,429,8533,0.00,0.55,0.00,0.000,4,0.000,0.053,2729,1409,3301,0,0,0,0,0,0
$GC,8564,-0.78,-116.8,809.5,-8.9,430,8567,0.00,0.50,0.00,0.000,6,0.000,0.041,2729,1753,3300,0,0,0,0,0,0
$GC,8904,-0.78,-116.8,839.8,-8.8,441,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1753,3300,0,0,0,0,0,0
$GC,9210,-0.78,-116.8,866.8,-8.9,451,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1753,3299,0,0,0,0,0,0
$GC,9517,-0.78,-116.8,895.5,-9.5,461,9520,0.00,0.65,0.00,0.000,4,0.000,0.052,2729,1342,3299,0,0,0,0,0,0
$GC,9573,-0.78,-116.8,900.8,-9.2,462,9577,0.00,0.60,0.00,0.000,6,0.000,0.040,2729,1741,3299,0,0,0,0,0,0
$GC,9891,-0.80,-116.8,929.8,-9.1,473,9895,0.00,1.15,0.00,0.000,4,0.000,0.044,2726,2503,3298,0,0,0,0,0,0
$GC,9952,-0.83,-116.8,935.7,-9.9,474,9958,0.00,1.17,0.00,0.000,6,0.000,0.041,2726,1752,3298,0,0,0,0,0,0
$GC,10265,-0.85,-116.8,964.0,-9.1,485,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1752,3297,0,0,0,0,0,0
$GC,10572,-0.89,-116.8,991.9,-9.0,495,10576,0.10,0.75,0.00,0.000,4,0.118,0.054,2689,1282,3297,0,0,0,0,0,0
$GC,10621,-0.83,-116.8,996.9,-9.5,496,10626,0.08,0.70,0.00,0.000,6,0.145,0.038,2711,1748,3297,0,0,0,0,0,0
$STATE,10668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10668,begin apogee
$GC,10673,-0.25,0.0,1001.0,9.0,498,10779,0.62,0.00,102.70,1.483,6,0.126,0.000,2900,1601,2827,0,0,0,0,0,0
$STATE,10780,end apogee,CONTROL_FINISHED_OK
$STATE,10780,begin climb
$GC,10782,0.69,116.8,1007.6,0.0,501,10897,0.90,1.62,108.62,1.470,4,0.071,0.041,3203,2526,2350,0,0,0,0,0,0
$GC,11074,0.42,350.7,1020.7,-2.2,510,11302,0.28,1.45,217.95,1.467,6,0.190,0.047,3124,1629,1396,0,0,0,0,0,0
$GC,11632,0.58,350.7,979.1,9.0,529,11636,0.15,1.38,0.00,0.000,4,0.093,0.060,3181,783,1388,0,0,0,0,0,0
$GC,11703,0.61,350.7,972.4,8.2,531,11707,0.00,1.27,0.00,0.000,6,0.000,0.034,3181,1614,1387,0,0,0,0,0,0
$GC,12039,0.61,350.7,942.4,8.8,542,12043,0.00,2.20,0.00,0.000,4,0.000,0.044,3181,3020,1386,0,0,0,0,0,0
$GC,12155,0.61,350.7,931.7,7.9,545,12160,0.00,2.25,0.00,0.000,6,0.000,0.044,3188,1616,1385,0,0,0,0,0,0
$GC,12474,0.61,350.7,904.1,8.7,556,12478,0.00,1.00,0.00,0.000,4,0.000,0.041,3188,2268,1385,0,0,0,0,0,0
$GC,12576,0.61,350.7,895.7,7.4,559,12580,0.00,1.02,0.00,0.000,6,0.000,0.051,3188,1623,1384,0,0,0,0,0,0
$GC,12917,0.61,350.7,870.1,7.1,570,12920,0.00,1.67,0.00,0.000,4,0.000,0.042,3188,2701,1384,0,0,0,0,0,0
$GC,12995,0.58,351.0,864.4,6.4,572,12999,0.08,1.73,0.00,0.000,6,0.199,0.047,3178,1611,1383,0,0,0,0,0,0
$GC,13324,0.61,351.0,841.5,6.9,583,13328,0.00,2.20,0.00,0.000,4,0.000,0.045,3178,3011,1383,0,0,0,0,0,0
$GC,13401,0.61,351.0,836.2,6.7,585,13405,0.00,2.22,0.00,0.000,6,0.000,0.045,3181,1626,1383,0,0,0,0,0,0
$GC,13731,0.61,351.0,812.0,7.6,596,13734,0.00,1.17,0.00,0.000,4,0.000,0.042,3181,2382,1382,0,0,0,0,0,0
$GC,13842,0.61,351.0,803.2,8.0,599,13846,0.00,1.23,0.00,0.000,6,0.000,0.049,3182,1616,1382,0,0,0,0,0,0
$GC,14172,0.61,351.0,777.0,8.2,610,14175,0.00,1.52,0.00,0.000,4,0.000,0.044,3181,2584,1383,0,0,0,0,0,0
$GC,14266,0.61,351.0,769.4,7.6,612,14272,0.00,1.55,0.00,0.000,6,0.000,0.048,3184,1621,1382,0,0,0,0,0,0
$GC,14579,0.61,351.0,744.8,7.9,623,14583,0.00,1.42,0.00,0.000,4,0.000,0.043,3184,2524,1382,0,0,0,0,0,0
$GC,14639,0.61,351.0,740.0,7.3,624,14645,0.00,1.45,0.00,0.000,6,0.000,0.049,3186,1622,1382,0,0,0,0,0,0
$GC,14952,0.61,351.0,716.2,7.6,635,14956,0.00,1.02,0.00,0.000,4,0.000,0.043,3186,2285,1383,0,0,0,0,0,0
$GC,15013,0.61,351.0,711.4,7.8,636,15018,0.00,1.08,0.00,0.000,6,0.000,0.050,3186,1614,1382,0,0,0,0,0,0
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$STATE,24115,end climb,SURFACE_DEPTH_REACHED
$STATE,24116,begin surface coast
$FINISH,1.8,1.011976
$STATE,24172,end surface coast,CONTROL_FINISHED_OK
$STATE,24172,begin surface
$SM_CCo,24250,0.00,0.000,0,0,1257,385.11
$SM_GC,2.87,8.95,0.00,0.00,0.062,0.000,0.000,86,1775,1257,-9.01,0.68,385.11
$IRIDIUM_FIX,-4106.41,-510.11,020113,181820
$TT8_MAMPS,0.026964
$HUMID,49.96
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.5,108.396
$10V_AH,9.8,63.912
$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
$DEVICE_SECS,23.825,112.725,444.950,0.000,0.000,0.000,0.000,0.000,0.250,0.000,21.558,2957.833,17359.359,524.203,3254.755,228.580,0.000,1987.109,0.000,3205.927,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.159,1052.631,774.423,90.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,70152,1134
$CAP_FILE_SIZE,195593,0
$CFSIZE,2097086464,2032926720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030113,211759,-4120.739,-509.924,58,1.8,58,-22.4