version: 66.07.10.p01
glider: 574
mission: 4
dive: 503
start: 1 19 113 7 26 59
data:
$ID,574
$MISSION,4
$DIVE,503
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,150
$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,160
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,3
$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,-7410.1802
$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,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,1580
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,58
$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,482
$GPS1,190113,072505,-4055.740,-433.616,30,1.7,30,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-74.0
$GPS2,190113,072636,-4055.741,-433.627,17,2.0,17,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4105.093,-426.464
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,-0.67,-107.0,0.0,0.0,0,47,0.00,0.00,-19.48,0.000,2,0.000,0.000,70,1597,1701,0,0,0,0,0,0
$GC,50,-0.67,-107.0,3.0,-1.7,3,129,12.52,2.22,-59.75,0.000,4,0.262,0.063,2754,2962,3264,0,0,0,0,0,0
$GC,181,-0.74,-107.0,10.6,-10.4,24,188,0.00,2.28,0.00,0.000,6,0.000,0.050,2755,1579,3265,0,0,0,0,0,0
$GC,262,-0.84,-107.0,19.2,-9.9,37,269,0.12,1.45,0.00,0.000,4,0.093,0.063,2700,713,3266,0,0,0,0,0,0
$GC,332,-0.73,-107.0,27.3,-11.8,48,339,0.12,1.33,0.00,0.000,6,0.129,0.037,2736,1561,3266,0,0,0,0,0,0
$GC,410,-0.73,-107.0,35.8,-10.8,61,415,0.00,0.45,0.00,0.000,4,0.000,0.060,2736,1281,3266,0,0,0,0,0,0
$GC,671,-0.75,-107.0,63.4,-10.8,105,675,0.00,0.45,0.00,0.000,6,0.000,0.043,2736,1587,3266,0,0,0,0,0,0
$GC,1001,-0.80,-107.0,95.1,-8.4,136,1005,0.00,2.22,0.00,0.000,4,0.000,0.049,2727,2978,3267,0,0,0,0,0,0
$GC,1045,-0.83,-107.0,98.8,-8.3,139,1049,0.00,2.22,0.00,0.000,6,0.000,0.046,2727,1578,3267,0,0,0,0,0,0
$GC,1377,-0.83,-107.0,127.8,-9.0,161,1381,0.00,2.25,0.00,0.000,4,0.000,0.046,2719,2977,3267,0,0,0,0,0,0
$GC,1441,-0.83,-107.0,133.7,-9.1,165,1445,0.00,2.25,0.00,0.000,6,0.000,0.045,2719,1575,3267,0,0,0,0,0,0
$GC,1773,-0.83,-107.0,165.7,-10.0,184,1777,0.00,2.22,0.00,0.000,4,0.000,0.046,2710,2967,3267,0,0,0,0,0,0
$GC,1838,-0.83,-107.0,172.3,-10.5,187,1842,0.00,2.22,0.00,0.000,6,0.000,0.044,2710,1576,3267,0,0,0,0,0,0
$GC,2155,-0.83,-107.0,204.6,-10.2,202,2159,0.00,2.22,0.00,0.000,4,0.000,0.046,2701,2967,3268,0,0,0,0,0,0
$GC,2227,-0.83,-107.0,212.5,-10.8,204,2232,0.00,2.25,0.00,0.000,6,0.000,0.044,2701,1580,3268,0,0,0,0,0,0
$GC,2558,-0.80,-107.0,245.6,-9.7,215,2563,0.08,2.22,0.00,0.000,4,0.181,0.044,2711,2969,3268,0,0,0,0,0,0
$GC,2624,-0.83,-107.0,252.1,-9.0,217,2628,0.00,2.20,0.00,0.000,6,0.000,0.044,2712,1579,3268,0,0,0,0,0,0
$GC,2960,-0.83,-107.0,279.0,-7.7,228,2964,0.00,2.22,0.00,0.000,4,0.000,0.044,2702,2975,3268,0,0,0,0,0,0
$GC,3032,-0.83,-107.0,284.7,-7.5,230,3036,0.00,2.25,0.00,0.000,6,0.000,0.044,2702,1572,3268,0,0,0,0,0,0
$GC,3363,-0.83,-107.0,309.1,-7.6,241,3367,0.00,2.25,0.00,0.000,4,0.000,0.045,2693,2977,3268,0,0,0,0,0,0
$GC,3441,-0.80,-107.0,315.5,-7.7,243,3446,0.10,2.25,0.00,0.000,6,0.150,0.044,2719,1569,3268,0,0,0,0,0,0
$GC,3759,-0.80,-107.0,337.9,-7.1,254,3763,0.00,2.22,0.00,0.000,4,0.000,0.046,2710,2968,3269,0,0,0,0,0,0
$GC,3827,-0.83,-107.0,343.1,-7.3,256,3831,0.00,2.22,0.00,0.000,6,0.000,0.043,2710,1572,3268,0,0,0,0,0,0
$GC,4161,-0.83,-107.0,371.5,-9.2,267,4165,0.00,2.15,0.00,0.000,4,0.000,0.044,2701,2919,3269,0,0,0,0,0,0
$GC,4211,-0.83,-107.0,376.5,-10.0,268,4215,0.00,2.17,0.00,0.000,6,0.000,0.042,2701,1568,3269,0,0,0,0,0,0
$GC,4531,-0.83,-107.0,409.9,-10.8,279,4535,0.00,2.25,0.00,0.000,4,0.000,0.044,2693,2980,3269,0,0,0,0,0,0
$GC,4597,-0.83,-107.0,417.7,-11.3,281,4602,0.05,2.25,0.00,0.000,6,0.128,0.042,2720,1582,3268,0,0,0,0,0,0
$GC,4933,-0.86,-107.0,453.5,-10.9,292,4937,0.00,2.22,0.00,0.000,4,0.000,0.044,2711,2977,3268,0,0,0,0,0,0
$GC,5010,-0.90,-107.0,462.4,-10.6,294,5015,0.05,2.20,0.00,0.000,6,0.162,0.041,2685,1577,3268,0,0,0,0,0,0
$GC,5336,-0.86,-107.0,497.9,-10.8,305,5340,0.08,2.25,0.00,0.000,4,0.187,0.043,2693,2981,3268,0,0,0,0,0,0
$GC,5407,-0.86,-107.0,506.0,-10.5,307,5411,0.00,2.22,0.00,0.000,6,0.000,0.040,2693,1586,3268,0,0,0,0,0,0
$GC,5737,-0.86,-107.0,540.5,-10.7,318,5741,0.00,2.20,0.00,0.000,4,0.000,0.042,2684,2970,3268,0,0,0,0,0,0
$GC,5821,-0.84,-107.0,549.6,-10.6,320,5826,0.10,2.20,0.00,0.000,6,0.156,0.040,2710,1570,3267,0,0,0,0,0,0
$GC,6134,-0.84,-107.0,580.5,-9.7,330,6138,0.00,2.30,0.00,0.000,4,0.000,0.057,2710,177,3267,0,0,0,0,0,0
$GC,6301,-0.86,-107.0,596.9,-9.2,335,6305,0.00,2.17,0.00,0.000,6,0.000,0.033,2708,1576,3267,0,0,0,0,0,0
$GC,6636,-0.86,-107.0,627.4,-9.0,346,6640,0.00,2.35,0.00,0.000,4,0.000,0.057,2708,169,3267,0,0,0,0,0,0
$GC,6784,-0.86,-107.0,640.6,-8.9,350,6788,0.00,2.17,0.00,0.000,6,0.000,0.034,2700,1578,3267,0,0,0,0,0,0
$GC,7101,-0.86,-107.0,668.0,-8.8,361,7105,0.00,2.30,0.00,0.000,4,0.000,0.057,2700,195,3267,0,0,0,0,0,0
$GC,7207,-0.86,-107.0,678.3,-9.8,364,7211,0.00,2.17,0.00,0.000,6,0.000,0.034,2700,1572,3267,0,0,0,0,0,0
$GC,7539,-0.86,-107.0,710.9,-10.5,375,7543,0.00,2.33,0.00,0.000,4,0.000,0.057,2700,169,3266,0,0,0,0,0,0
$GC,7644,-0.86,-107.0,723.3,-12.1,378,7648,0.00,2.22,0.00,0.000,6,0.000,0.034,2700,1585,3266,0,0,0,0,0,0
$GC,7974,-0.86,-107.0,762.9,-12.4,389,7978,0.00,2.08,0.00,0.000,4,0.000,0.057,2700,331,3266,0,0,0,0,0,0
$GC,8068,-0.86,-107.0,775.3,-12.3,391,8074,0.00,1.95,0.00,0.000,6,0.000,0.034,2700,1573,3265,0,0,0,0,0,0
$GC,8382,-0.86,-107.0,814.5,-12.6,402,8385,0.00,2.03,0.00,0.000,4,0.000,0.057,2700,351,3265,0,0,0,0,0,0
$GC,8498,-0.86,-107.0,829.4,-12.5,405,8503,0.00,1.92,0.00,0.000,6,0.000,0.035,2700,1576,3265,0,0,0,0,0,0
$GC,8822,-0.86,-107.0,866.1,-10.9,416,8826,0.00,2.33,0.00,0.000,4,0.000,0.057,2700,174,3265,0,0,0,0,0,0
$GC,8928,-0.86,-107.0,877.9,-11.2,419,8932,0.00,2.22,0.00,0.000,6,0.000,0.036,2699,1577,3265,0,0,0,0,0,0
$GC,9258,-0.86,-107.0,910.4,-9.5,430,9262,0.00,1.80,0.00,0.000,4,0.000,0.055,2699,480,3264,0,0,0,0,0,0
$GC,9381,-0.86,-107.0,921.9,-10.6,433,9385,0.00,1.75,0.00,0.000,6,0.000,0.035,2693,1591,3264,0,0,0,0,0,0
$GC,9699,-0.86,-107.0,950.5,-9.0,444,9703,0.00,2.38,0.00,0.000,4,0.000,0.057,2693,176,3264,0,0,0,0,0,0
$GC,9838,-0.86,-107.0,963.9,-10.4,448,9843,0.00,2.25,0.00,0.000,6,0.000,0.036,2688,1589,3264,0,0,0,0,0,0
$STATE,10043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10043,begin apogee
$GC,10049,-0.26,0.0,982.6,9.3,455,10147,0.68,0.00,94.80,1.463,6,0.125,0.000,2889,1493,2827,0,0,0,0,0,0
$STATE,10148,end apogee,CONTROL_FINISHED_OK
$STATE,10148,begin loiter
$GC,10443,-0.25,246.4,1017.6,-8.8,468,10674,0.00,1.67,221.62,1.467,4,0.000,0.040,2889,2411,1821,0,0,0,0,0,0
$GC,10927,-0.36,246.4,1019.8,4.3,483,10932,0.05,1.45,0.00,0.000,6,0.087,0.048,2864,1515,1814,0,0,0,0,0,0
$GC,11263,-0.36,246.4,1005.6,4.2,494,11267,0.00,2.20,0.00,0.000,4,0.000,0.044,2863,2908,1811,0,0,0,0,0,0
$GC,11351,-0.36,246.4,1001.3,4.8,496,11357,0.00,2.28,0.00,0.000,6,0.000,0.045,2863,1504,1810,0,0,0,0,0,0
$GC,11664,-0.36,246.4,986.0,5.2,507,11668,0.00,2.25,0.00,0.000,4,0.000,0.044,2861,2914,1810,0,0,0,0,0,0
$GC,11674,-0.36,246.4,985.4,5.3,507,11678,0.00,2.25,0.00,0.000,6,0.000,0.044,2861,1490,1810,0,0,0,0,0,0
$GC,11998,-0.36,246.4,967.7,5.6,518,12002,0.00,2.20,0.00,0.000,4,0.000,0.062,2861,164,1809,0,0,0,0,0,0
$GC,12094,-0.25,246.4,962.0,6.1,521,12099,0.17,2.10,0.00,0.000,6,0.155,0.034,2897,1513,1808,0,0,0,0,0,0
$GC,12431,-0.34,246.4,944.7,5.0,532,12435,0.10,2.25,0.00,0.000,4,0.118,0.063,2856,162,1808,0,0,0,0,0,0
$GC,12503,-0.27,246.4,941.0,4.9,534,12507,0.15,2.10,0.00,0.000,6,0.171,0.034,2886,1503,1807,0,0,0,0,0,0
$GC,12832,-0.32,246.4,927.2,4.0,545,12836,0.00,2.20,0.00,0.000,4,0.000,0.043,2878,2914,1807,0,0,0,0,0,0
$GC,12992,-0.38,246.4,921.3,3.6,549,12998,0.08,2.30,0.00,0.000,6,0.129,0.046,2847,1489,1807,0,0,0,0,0,0
$GC,13305,-0.35,246.4,911.1,2.9,560,13310,0.08,2.20,0.00,0.000,4,0.196,0.042,2853,2880,1808,0,0,0,0,0,0
$GC,13502,-0.35,246.4,905.4,2.9,566,13506,0.00,2.22,0.00,0.000,6,0.000,0.046,2853,1493,1807,0,0,0,0,0,0
$GC,13843,-0.32,246.4,895.5,3.1,577,13847,0.08,2.25,0.00,0.000,4,0.204,0.043,2861,2914,1807,0,0,0,0,0,0
$GC,14100,-0.32,246.4,885.7,4.0,584,14105,0.00,2.30,0.00,0.000,6,0.000,0.045,2861,1476,1808,0,0,0,0,0,0
$STATE,14349,end loiter,LOITER_COMPLETE
$STATE,14350,begin climb
$GC,14352,0.67,107.0,874.1,0.0,593,14357,1.05,2.22,0.00,0.000,4,0.117,0.063,3187,171,1808,0,0,0,0,0,0
$GC,14516,0.43,107.0,864.1,6.7,598,14521,0.25,2.10,0.00,0.000,6,0.181,0.038,3125,1503,1808,0,0,0,0,0,0
$GC,14851,0.33,107.0,844.1,6.1,609,14856,0.12,2.22,0.00,0.000,4,0.186,0.045,3093,2907,1808,0,0,0,0,0,0
$GC,15075,0.29,107.0,829.7,6.8,615,15081,0.10,2.28,0.00,0.000,6,0.184,0.047,3079,1501,1808,0,0,0,0,0,0
$GC,15389,0.32,113.7,812.5,5.4,626,15392,0.00,1.10,0.00,0.000,4,0.000,0.063,3079,832,1808,0,0,0,0,0,0
$GC,15647,0.36,159.7,800.0,4.0,633,15650,0.00,1.05,0.00,0.000,6,0.000,0.037,3078,1509,1809,0,0,0,0,0,0
$GC,15965,0.38,222.4,788.3,3.4,644,15970,0.08,2.30,0.00,0.000,4,0.128,0.064,3117,163,1809,0,0,0,0,0,0
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$GC,27069,0.63,397.2,19.5,7.3,1135,27077,0.15,2.22,0.00,0.000,4,0.151,0.044,3182,2874,1204,0,0,0,0,0,0
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$STATE,27295,end climb,SURFACE_DEPTH_REACHED
$STATE,27295,begin surface coast
$FINISH,1.8,1.019977
$STATE,27345,end surface coast,CONTROL_FINISHED_OK
$STATE,27345,begin surface
$SM_CCo,27423,0.00,0.000,0,0,1201,398.85
$SM_GC,2.90,8.85,0.00,0.00,0.051,0.000,0.000,87,1580,1201,-8.99,0.03,398.85
$IRIDIUM_FIX,-4040.73,-433.75,180113,232324
$TT8_MAMPS,0.026964
$HUMID,49.56
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.8,119.501
$10V_AH,9.8,70.696
$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,26.750,222.225,456.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.891,3264.818,19221.320,550.046,4174.871,287.131,0.000,2485.595,0.000,4076.617,0.000,1.014,0.000
$DEVICE_MAMPS,261.630,102.510,1466.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.934,734.559,432.441,74.942,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,70264,1180
$CAP_FILE_SIZE,247396,0
$CFSIZE,2097086464,2025127936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190113,150505,-4056.140,-432.498,27,1.1,28,-22.6