version: 66.07.10.p01
glider: 574
mission: 4
dive: 516
start: 1 23 113 13 5 16
data:
$ID,574
$MISSION,4
$DIVE,516
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,473
$T_MISSION,488
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,10800
$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,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,160
$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,-8062.396
$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,10
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1745
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,38
$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,495
$GPS1,230113,125205,-4101.562,-423.801,39,1.6,40,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-73.3
$GPS2,230113,130453,-4101.497,-423.655,46,1.5,46,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4103.000,-230.000
$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,113.6,158762,-12.6,-5.638
$D_GRID,800
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.67,-107.0,0.0,0.0,0,67,0.00,0.00,-37.42,0.000,2,0.000,0.000,69,1738,2095,0,0,0,0,0,0
$GC,70,-0.67,-107.0,3.3,-2.2,4,126,12.45,2.33,-36.20,0.000,4,0.263,0.064,2743,3143,3265,0,0,0,0,0,0
$GC,222,-0.67,-107.0,15.7,-10.0,17,227,0.08,2.25,0.00,0.000,6,0.159,0.045,2761,1737,3267,0,0,0,0,0,0
$GC,337,-0.67,-107.0,26.9,-10.1,27,341,0.00,1.83,0.00,0.000,4,0.000,0.061,2762,628,3267,0,0,0,0,0,0
$GC,596,-0.67,-107.0,53.9,-10.4,40,600,0.00,1.75,0.00,0.000,6,0.000,0.037,2762,1731,3267,0,0,0,0,0,0
$GC,1038,-0.67,-107.0,97.8,-9.7,53,1042,0.00,2.33,0.00,0.000,4,0.000,0.058,2761,331,3267,0,0,0,0,0,0
$GC,1251,-0.67,-107.0,121.4,-11.1,57,1255,0.00,2.25,0.00,0.000,6,0.000,0.036,2761,1746,3268,0,0,0,0,0,0
$GC,1975,-0.67,-107.0,202.5,-11.1,69,1979,0.00,0.68,0.00,0.000,4,0.000,0.051,2762,1324,3268,0,0,0,0,0,0
$GC,2043,-0.67,-107.0,209.6,-9.7,70,2047,0.00,0.65,0.00,0.000,6,0.000,0.040,2761,1753,3268,0,0,0,0,0,0
$GC,2777,-0.67,-107.0,279.2,-9.5,82,2781,0.00,2.22,0.00,0.000,4,0.000,0.049,2762,3145,3268,0,0,0,0,0,0
$GC,3035,-0.67,-107.0,305.7,-10.9,85,3039,0.00,2.22,0.00,0.000,6,0.000,0.039,2762,1747,3268,0,0,0,0,0,0
$GC,3775,-0.67,-107.0,381.4,-9.8,98,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1747,3268,0,0,0,0,0,0
$GC,4502,-0.67,-107.0,440.3,-7.9,110,4506,0.00,2.25,0.00,0.000,4,0.000,0.047,2756,3143,3267,0,0,0,0,0,0
$GC,4760,-0.67,-107.0,463.0,-8.8,113,4765,0.00,2.22,0.00,0.000,6,0.000,0.037,2756,1736,3268,0,0,0,0,0,0
$GC,5494,-0.67,-107.0,533.5,-10.0,126,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1736,3267,0,0,0,0,0,0
$GC,6221,-0.67,-107.0,607.5,-9.8,138,6225,0.00,2.03,0.00,0.000,4,0.000,0.056,2756,498,3266,0,0,0,0,0,0
$GC,6439,-0.67,-107.0,628.8,-10.0,141,6444,0.00,1.95,0.00,0.000,6,0.000,0.034,2756,1741,3265,0,0,0,0,0,0
$GC,7158,-0.67,-107.0,684.4,-7.1,153,7162,0.00,1.42,0.00,0.000,4,0.000,0.044,2756,2648,3264,0,0,0,0,0,0
$GC,7416,-0.67,-107.0,703.2,-7.8,156,7420,0.00,1.42,0.00,0.000,6,0.000,0.041,2756,1744,3264,0,0,0,0,0,0
$GC,8156,-0.67,-107.0,768.6,-9.7,169,8160,0.00,2.28,0.00,0.000,4,0.000,0.047,2756,3150,3262,0,0,0,0,0,0
$GC,8307,-0.67,-107.0,784.9,-11.1,171,8312,0.00,2.22,0.00,0.000,6,0.000,0.038,2756,1742,3262,0,0,0,0,0,0
$STATE,8467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8467,begin apogee
$GC,8472,-0.26,0.0,802.2,10.8,174,8568,0.43,0.00,92.35,1.349,6,0.092,0.000,2896,1660,2827,0,0,0,0,0,0
$STATE,8568,end apogee,CONTROL_FINISHED_OK
$STATE,8568,begin loiter
$GC,9256,-0.25,270.1,879.9,-9.6,187,9498,0.00,0.00,239.77,1.382,6,0.000,0.000,2896,1660,1724,0,0,0,0,0,0
$GC,10224,-0.25,270.1,857.2,5.4,203,10228,0.00,2.25,0.00,0.000,4,0.000,0.044,2890,3072,1713,0,0,0,0,0,0
$GC,10481,-0.25,270.1,843.9,5.0,206,10485,0.00,2.22,0.00,0.000,6,0.000,0.042,2890,1685,1711,0,0,0,0,0,0
$GC,11221,-0.25,270.1,811.4,4.0,219,11225,0.00,2.35,0.00,0.000,4,0.000,0.060,2890,262,1710,0,0,0,0,0,0
$GC,11361,-0.25,270.1,805.4,4.8,221,11365,0.00,2.20,0.00,0.000,6,0.000,0.034,2890,1675,1709,0,0,0,0,0,0
$GC,12078,-0.25,270.1,775.0,4.4,233,12082,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,254,1709,0,0,0,0,0,0
$GC,12150,-0.25,270.1,771.5,4.7,234,12154,0.00,2.22,0.00,0.000,6,0.000,0.034,2890,1666,1709,0,0,0,0,0,0
$GC,12880,-0.25,270.1,739.7,4.2,246,12884,0.00,1.90,0.00,0.000,4,0.000,0.059,2890,526,1709,0,0,0,0,0,0
$GC,13138,-0.25,270.1,728.9,4.2,249,13142,0.00,1.80,0.00,0.000,6,0.000,0.034,2890,1667,1709,0,0,0,0,0,0
$GC,13878,-0.25,270.1,703.3,3.6,262,13882,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,254,1709,0,0,0,0,0,0
$GC,14023,-0.25,270.1,697.9,4.0,264,14028,0.00,2.22,0.00,0.000,6,0.000,0.034,2890,1679,1709,0,0,0,0,0,0
$GC,14796,-0.25,270.1,667.7,4.4,277,14801,0.00,2.40,0.00,0.000,4,0.000,0.061,2890,253,1709,0,0,0,0,0,0
$GC,14943,-0.25,270.1,660.8,3.8,279,14947,0.00,2.22,0.00,0.000,6,0.000,0.034,2890,1679,1709,0,0,0,0,0,0
$GC,15716,-0.25,270.1,630.2,3.5,292,15720,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,262,1709,0,0,0,0,0,0
$GC,15867,-0.25,270.1,625.3,2.4,294,15871,0.00,2.20,0.00,0.000,6,0.000,0.034,2889,1672,1709,0,0,0,0,0,0
$GC,16639,-0.25,270.1,600.6,3.6,307,16643,0.00,2.30,0.00,0.000,4,0.000,0.060,2890,304,1709,0,0,0,0,0,0
$GC,16818,-0.25,270.1,593.7,3.6,309,16823,0.00,2.15,0.00,0.000,6,0.000,0.033,2883,1669,1710,0,0,0,0,0,0
$GC,17570,-0.25,270.1,559.5,5.1,322,17574,0.03,1.70,0.00,0.000,4,0.269,0.057,2897,642,1710,0,0,0,0,0,0
$GC,17827,-0.25,270.1,545.8,5.3,325,17831,0.00,1.62,0.00,0.000,6,0.000,0.033,2891,1680,1711,0,0,0,0,0,0
$GC,18566,-0.25,270.1,512.0,4.1,338,18570,0.00,0.93,0.00,0.000,4,0.000,0.043,2890,2291,1711,0,0,0,0,0,0
$GC,18824,-0.25,270.1,503.5,4.0,341,18828,0.00,1.00,0.00,0.000,6,0.000,0.047,2890,1660,1711,0,0,0,0,0,0
$STATE,19380,end loiter,LOITER_COMPLETE
$STATE,19380,begin climb
$GC,19382,0.67,107.0,487.6,0.0,351,19388,0.95,2.40,0.00,0.000,4,0.110,0.060,3187,265,1712,0,0,0,0,0,0
$GC,19641,0.43,145.2,476.9,4.3,354,19647,0.25,2.22,0.00,0.000,6,0.181,0.039,3126,1664,1714,0,0,0,0,0,0
$GC,20375,0.43,173.6,444.1,4.6,367,20378,0.00,0.50,0.00,0.000,4,0.000,0.057,3126,1354,1714,0,0,0,0,0,0
$GC,20632,0.43,196.8,432.4,4.8,370,20636,0.00,0.52,0.00,0.000,6,0.000,0.043,3127,1693,1714,0,0,0,0,0,0
$GC,21372,0.43,206.1,393.7,5.3,383,21376,0.00,1.92,0.00,0.000,4,0.000,0.058,3132,530,1715,0,0,0,0,0,0
$GC,21563,0.43,221.7,383.7,5.1,385,21567,0.00,1.80,0.00,0.000,6,0.000,0.037,3132,1663,1716,0,0,0,0,0,0
$GC,22303,0.44,275.7,352.1,3.7,398,22312,0.00,0.90,5.62,0.775,4,0.000,0.053,3132,1112,1702,0,0,0,0,0,0
$GC,22425,0.44,316.1,347.8,4.2,399,22469,0.00,0.88,38.25,1.037,6,0.000,0.039,3132,1676,1537,0,0,0,0,0,0
$GC,23226,0.44,316.1,301.5,6.5,413,23230,0.00,2.38,0.00,0.000,4,0.000,0.062,3132,265,1533,0,0,0,0,0,0
$GC,23484,0.44,316.1,283.7,7.7,416,23489,0.00,2.22,0.00,0.000,6,0.000,0.035,3132,1666,1531,0,0,0,0,0,0
$GC,24218,0.44,316.1,237.5,6.0,429,24222,0.00,2.38,0.00,0.000,4,0.000,0.062,3132,263,1531,0,0,0,0,0,0
$GC,24475,0.44,343.2,222.5,4.7,432,24505,0.00,2.22,24.52,0.929,6,0.000,0.034,3132,1682,1429,0,0,0,0,0,0
$GC,25273,0.44,343.2,167.5,7.6,446,25277,0.00,2.20,0.00,0.000,4,0.000,0.045,3132,3077,1426,0,0,0,0,0,0
$GC,25457,0.44,343.2,154.3,6.8,448,25461,0.00,2.28,0.00,0.000,6,0.000,0.044,3132,1679,1425,0,0,0,0,0,0
$GC,26197,0.44,343.2,112.0,6.2,461,26201,0.00,2.38,0.00,0.000,4,0.000,0.063,3132,262,1425,0,0,0,0,0,0
$GC,26454,0.44,343.2,93.0,7.5,465,26459,0.00,2.20,0.00,0.000,6,0.000,0.032,3133,1666,1424,0,0,0,0,0,0
$GC,27176,0.44,352.8,51.2,5.3,487,27191,0.00,1.05,9.88,0.726,4,0.000,0.041,3132,2349,1387,0,0,0,0,0,0
$GC,27413,0.44,363.2,37.7,5.3,497,27428,0.00,1.10,10.32,0.744,6,0.000,0.048,3132,1661,1345,0,0,0,0,0,0
$GC,27860,0.44,363.2,9.8,7.0,533,27863,0.00,0.85,0.00,0.000,4,0.000,0.039,3132,2221,1344,0,0,0,0,0,0
$STATE,27977,end climb,SURFACE_DEPTH_REACHED
$STATE,27977,begin surface coast
$FINISH,1.7,1.013109
$STATE,28071,end surface coast,CONTROL_FINISHED_OK
$STATE,28071,begin surface
$SM_CCo,28149,0.00,0.000,0,0,1338,365.25
$SM_GC,2.99,8.73,0.00,0.00,0.054,0.000,0.000,87,1736,1338,-9.00,-0.25,365.25
$IRIDIUM_FIX,-4046.43,-425.67,230113,121240
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.16498
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.1,122.335
$10V_AH,9.8,72.310
$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,22.900,108.425,420.725,0.000,0.000,71.380,196.829,213.882,0.000,0.000,48.405,1781.412,23293.152,523.772,3087.069,226.624,0.000,1701.835,0.000,2520.234,0.000,1.014,0.000
$DEVICE_MAMPS,268.515,102.510,1382.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.198,360.633,238.098,58.244,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,33721,551
$CAP_FILE_SIZE,146228,0
$CFSIZE,2097086464,2023227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,230113,205557,-4102.080,-422.641,35,4.0,54,-22.6