version: 66.07.10.p01
glider: 574
mission: 4
dive: 519
start: 1 24 113 13 15 51
data:
$ID,574
$MISSION,4
$DIVE,519
$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,-8072
$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,27
$R_STBD_OVSHOOT,50
$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,498
$GPS1,240113,130823,-4102.724,-420.481,42,1.4,43,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-74.3
$GPS2,240113,131526,-4102.678,-420.531,20,2.3,39,-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,112.8,154375,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.67,-107.0,0.0,0.0,0,50,0.00,0.00,-22.85,0.000,2,0.000,0.000,70,1691,1875,0,0,0,0,0,0
$GC,53,-0.67,-107.0,3.2,-1.9,2,121,12.55,2.38,-46.10,0.000,4,0.266,0.060,2745,3138,3265,0,0,0,0,0,0
$GC,192,-0.67,-107.0,13.5,-10.8,14,197,0.08,2.22,0.00,0.000,6,0.165,0.041,2763,1737,3266,0,0,0,0,0,0
$GC,307,-0.67,-107.0,25.5,-10.8,24,310,0.00,1.80,0.00,0.000,4,0.000,0.057,2763,633,3267,0,0,0,0,0,0
$GC,407,-0.67,-107.0,36.7,-10.5,30,412,0.00,1.73,0.00,0.000,6,0.000,0.035,2763,1724,3267,0,0,0,0,0,0
$GC,852,-0.67,-107.0,81.7,-9.6,47,856,0.00,1.80,0.00,0.000,4,0.000,0.055,2763,631,3267,0,0,0,0,0,0
$GC,964,-0.67,-107.0,92.3,-9.3,49,968,0.00,1.77,0.00,0.000,6,0.000,0.035,2763,1756,3267,0,0,0,0,0,0
$GC,1735,-0.67,-107.0,162.9,-9.8,63,1740,0.00,2.38,0.00,0.000,4,0.000,0.058,2763,335,3268,0,0,0,0,0,0
$GC,1904,-0.67,-107.0,180.8,-10.5,65,1908,0.00,2.20,0.00,0.000,6,0.000,0.034,2763,1746,3268,0,0,0,0,0,0
$GC,2654,-0.67,-107.0,257.3,-10.3,78,2658,0.00,2.25,0.00,0.000,4,0.000,0.047,2762,3153,3268,0,0,0,0,0,0
$GC,2911,-0.67,-107.0,284.9,-11.5,81,2917,0.00,2.25,0.00,0.000,6,0.000,0.037,2762,1741,3268,0,0,0,0,0,0
$GC,3645,-0.67,-107.0,352.4,-8.6,94,3649,0.00,2.30,0.00,0.000,4,0.000,0.055,2762,340,3268,0,0,0,0,0,0
$GC,3808,-0.67,-107.0,366.9,-8.8,96,3812,0.00,2.17,0.00,0.000,6,0.000,0.031,2762,1757,3268,0,0,0,0,0,0
$GC,4565,-0.67,-107.0,436.8,-10.1,109,4568,0.00,1.25,0.00,0.000,4,0.000,0.051,2762,997,3268,0,0,0,0,0,0
$GC,4822,-0.67,-107.0,465.5,-11.8,112,4826,0.00,1.15,0.00,0.000,6,0.000,0.034,2762,1742,3267,0,0,0,0,0,0
$GC,5562,-0.67,-107.0,549.0,-10.5,125,5566,0.00,1.45,0.00,0.000,4,0.000,0.052,2762,863,3267,0,0,0,0,0,0
$GC,5736,-0.67,-107.0,566.2,-8.8,127,5740,0.00,1.38,0.00,0.000,6,0.000,0.034,2762,1741,3267,0,0,0,0,0,0
$GC,6493,-0.67,-107.0,627.3,-7.8,140,6497,0.00,2.33,0.00,0.000,4,0.000,0.056,2762,343,3265,0,0,0,0,0,0
$GC,6632,-0.67,-107.0,638.8,-8.8,142,6636,0.00,2.20,0.00,0.000,6,0.000,0.032,2762,1744,3264,0,0,0,0,0,0
$GC,7356,-0.67,-107.0,707.3,-10.3,154,7360,0.00,2.33,0.00,0.000,4,0.000,0.055,2762,342,3263,0,0,0,0,0,0
$GC,7520,-0.67,-107.0,726.1,-11.9,156,7524,0.00,2.20,0.00,0.000,6,0.000,0.032,2762,1757,3263,0,0,0,0,0,0
$STATE,8213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8213,begin apogee
$GC,8219,-0.26,0.0,802.2,10.2,168,8314,0.40,0.00,92.32,1.336,6,0.090,0.000,2894,1654,2827,0,0,0,0,0,0
$STATE,8315,end apogee,CONTROL_FINISHED_OK
$STATE,8315,begin loiter
$GC,9003,-0.25,204.3,863.6,-7.3,181,9185,0.00,1.15,175.40,1.350,4,0.000,0.036,2894,2366,1994,0,0,0,0,0,0
$GC,9437,-0.25,204.3,869.2,1.2,187,9441,0.00,1.08,0.00,0.000,6,0.000,0.044,2894,1684,1986,0,0,0,0,0,0
$GC,10183,-0.25,215.1,866.2,-0.4,200,10197,0.00,1.17,8.52,1.127,4,0.000,0.041,2891,2410,1950,0,0,0,0,0,0
$GC,10451,-0.25,232.6,866.9,-0.6,204,10472,0.00,1.17,17.42,1.271,6,0.000,0.046,2891,1670,1878,0,0,0,0,0,0
$GC,11240,-0.25,232.6,856.6,2.2,217,11244,0.00,2.25,0.00,0.000,4,0.000,0.047,2891,3067,1875,0,0,0,0,0,0
$GC,11328,-0.25,232.6,854.1,2.9,218,11332,0.00,2.25,0.00,0.000,6,0.000,0.041,2891,1670,1875,0,0,0,0,0,0
$GC,12096,-0.25,232.6,816.3,5.9,231,12100,0.00,2.33,0.00,0.000,4,0.000,0.058,2891,264,1875,0,0,0,0,0,0
$GC,12269,-0.25,232.6,805.5,6.1,233,12274,0.00,2.22,0.00,0.000,6,0.000,0.034,2891,1675,1875,0,0,0,0,0,0
$GC,13021,-0.25,232.6,774.5,2.7,246,13025,0.00,2.38,0.00,0.000,4,0.000,0.060,2891,259,1875,0,0,0,0,0,0
$GC,13199,-0.25,232.6,772.2,0.8,248,13204,0.00,2.22,0.00,0.000,6,0.000,0.033,2891,1670,1875,0,0,0,0,0,0
$GC,13951,-0.25,232.6,772.0,0.1,261,13954,0.00,0.77,0.00,0.000,4,0.000,0.044,2891,2191,1875,0,0,0,0,0,0
$GC,14210,-0.25,232.6,769.8,1.6,264,14213,0.00,0.82,0.00,0.000,6,0.000,0.049,2891,1671,1875,0,0,0,0,0,0
$GC,14949,-0.25,232.6,748.2,3.6,277,14953,0.00,2.35,0.00,0.000,4,0.000,0.059,2891,261,1876,0,0,0,0,0,0
$GC,15183,-0.25,232.6,739.9,3.3,280,15188,0.00,2.22,0.00,0.000,6,0.000,0.034,2891,1666,1877,0,0,0,0,0,0
$GC,15940,-0.25,232.6,726.9,0.8,293,15944,0.00,2.28,0.00,0.000,4,0.000,0.046,2891,3080,1877,0,0,0,0,0,0
$GC,16147,-0.25,234.7,727.0,-0.1,296,16151,0.00,2.25,0.00,0.000,6,0.000,0.041,2891,1674,1878,0,0,0,0,0,0
$GC,16871,-0.25,234.7,728.8,0.1,308,16880,0.00,2.38,3.92,0.752,4,0.000,0.059,2891,264,1870,0,0,0,0,0,0
$GC,17066,-0.25,234.7,727.1,0.9,310,17071,0.00,2.22,0.00,0.000,6,0.000,0.033,2891,1674,1870,0,0,0,0,0,0
$GC,17800,-0.25,234.7,712.9,2.6,323,17804,0.00,2.22,0.00,0.000,4,0.000,0.046,2890,3074,1871,0,0,0,0,0,0
$GC,18012,-0.25,234.7,706.4,2.8,326,18016,0.00,2.28,0.00,0.000,6,0.000,0.042,2890,1671,1871,0,0,0,0,0,0
$GC,18731,-0.25,234.7,684.6,2.7,338,18735,0.00,2.35,0.00,0.000,4,0.000,0.058,2890,261,1872,0,0,0,0,0,0
$GC,18942,-0.25,234.7,679.9,1.5,341,18947,0.00,2.22,0.00,0.000,6,0.000,0.034,2890,1671,1872,0,0,0,0,0,0
$STATE,19113,end loiter,LOITER_COMPLETE
$STATE,19114,begin climb
$GC,19116,0.67,107.0,677.0,0.0,344,19121,0.93,2.30,0.00,0.000,4,0.109,0.043,3175,3071,1872,0,0,0,0,0,0
$GC,19374,0.40,192.1,670.9,2.6,347,19380,0.30,2.28,0.00,0.000,6,0.184,0.044,3111,1665,1874,0,0,0,0,0,0
$GC,20108,0.40,245.9,648.8,3.7,360,20124,0.00,0.00,13.80,1.143,6,0.000,0.000,3111,1665,1823,0,0,0,0,0,0
$GC,20836,0.40,299.5,617.4,3.7,372,20888,0.00,0.00,50.85,1.231,6,0.000,0.000,3111,1665,1605,0,0,0,0,0,0
$GC,21563,0.40,332.0,584.0,4.5,384,21597,0.00,2.15,30.05,1.179,4,0.000,0.060,3117,382,1472,0,0,0,0,0,0
$GC,21850,0.40,332.0,567.4,5.7,388,21854,0.00,2.03,0.00,0.000,6,0.000,0.037,3117,1663,1468,0,0,0,0,0,0
$GC,22623,0.40,332.0,514.1,7.3,401,22628,0.00,2.38,0.00,0.000,4,0.000,0.063,3117,259,1466,0,0,0,0,0,0
$GC,22881,0.40,332.0,494.2,8.4,404,22886,0.00,2.25,0.00,0.000,6,0.000,0.037,3117,1669,1465,0,0,0,0,0,0
$GC,23615,0.40,332.0,439.1,7.3,417,23619,0.00,2.25,0.00,0.000,4,0.000,0.046,3117,3074,1464,0,0,0,0,0,0
$GC,23778,0.40,332.0,427.9,6.4,419,23783,0.00,2.28,0.00,0.000,6,0.000,0.045,3117,1666,1463,0,0,0,0,0,0
$GC,24540,0.40,332.0,380.3,6.1,432,24544,0.00,2.38,0.00,0.000,4,0.000,0.063,3117,252,1464,0,0,0,0,0,0
$GC,24798,0.40,332.0,365.6,5.8,435,24803,0.00,2.25,0.00,0.000,6,0.000,0.035,3117,1667,1463,0,0,0,0,0,0
$GC,25532,0.40,333.7,325.6,5.6,448,25536,0.00,0.98,0.00,0.000,4,0.000,0.042,3117,2312,1463,0,0,0,0,0,0
$GC,25751,0.40,342.5,312.6,5.3,451,25765,0.00,1.02,9.88,0.889,6,0.000,0.047,3117,1672,1430,0,0,0,0,0,0
$GC,26530,0.40,356.2,266.9,5.2,464,26549,0.00,2.38,14.25,0.910,4,0.000,0.063,3117,273,1374,0,0,0,0,0,0
$GC,26802,0.40,367.9,254.0,5.2,468,26818,0.00,2.17,11.85,0.874,6,0.000,0.034,3117,1681,1326,0,0,0,0,0,0
$GC,27586,0.41,413.0,224.9,4.0,481,27631,0.00,0.00,42.17,0.949,6,0.000,0.000,3117,1681,1142,0,0,0,0,0,0
$GC,28314,0.41,413.0,160.1,10.5,493,28318,0.00,0.40,0.00,0.000,4,0.000,0.045,3118,1979,1136,0,0,0,0,0,0
$GC,28386,0.41,413.0,152.1,9.5,494,28390,0.00,0.50,0.00,0.000,6,0.000,0.052,3117,1665,1136,0,0,0,0,0,0
$GC,29118,0.41,413.0,86.3,7.7,507,29122,0.00,1.08,0.00,0.000,4,0.000,0.039,3117,2361,1136,0,0,0,0,0,0
$GC,29287,0.42,596.3,74.7,6.8,510,29444,0.00,1.10,149.20,0.833,6,0.000,0.046,3117,1670,395,0,0,0,0,0,0
$STATE,29953,end climb,SURFACE_DEPTH_REACHED
$STATE,29953,begin surface coast
$FINISH,1.8,1.013044
$STATE,29975,end surface coast,CONTROL_FINISHED_OK
$STATE,29975,begin surface
$SM_CCo,30053,0.00,0.000,0,0,384,599.26
$SM_GC,2.69,8.57,0.00,0.00,0.057,0.000,0.000,85,1743,384,-8.99,-0.06,599.26
$IRIDIUM_FIX,-4046.43,-422.83,240113,040453
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.7,122.903
$10V_AH,9.8,72.576
$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,22.825,114.525,619.650,0.000,0.000,28.702,40.169,197.692,0.000,0.000,43.516,1803.198,24873.756,629.471,2940.266,231.833,0.000,1934.831,0.000,2581.750,0.000,1.014,0.000
$DEVICE_MAMPS,266.220,87.210,1350.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.155,248.106,231.254,38.199,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,33550,550
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