version: 66.07.10.p01
glider: 574
mission: 4
dive: 525
start: 1 26 113 19 1 48
data:
$ID,574
$MISSION,4
$DIVE,525
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$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,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,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,-9890.7002
$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,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1735
$C_ROLL_CLIMB,1685
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,42
$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,504
$GPS1,260113,184536,-4107.118,-411.381,35,1.0,35,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-77.6
$GPS2,260113,190124,-4107.144,-411.347,43,1.2,43,-22.6
$SPEED_LIMITS,0.092,0.182
$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,109.5,141755,-11.7,-5.287
$D_GRID,920
$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,25,begin dive
$GC,27,-0.65,-107.0,0.0,0.0,0,41,0.00,0.00,-11.80,0.000,2,0.000,0.000,69,1728,1526,0,0,0,0,0,0
$GC,44,-0.65,-107.0,3.1,-0.0,1,133,12.45,2.40,-65.95,0.000,4,0.262,0.075,2755,330,3266,0,0,0,0,0,0
$GC,393,-0.65,-107.0,32.9,-10.8,31,397,0.00,2.20,0.00,0.000,6,0.000,0.037,2755,1725,3267,0,0,0,0,0,0
$GC,814,-0.65,-107.0,80.0,-11.6,48,818,0.00,2.12,0.00,0.000,4,0.000,0.058,2755,452,3267,0,0,0,0,0,0
$GC,948,-0.65,-107.0,95.0,-10.7,51,952,0.00,2.03,0.00,0.000,6,0.000,0.037,2755,1740,3267,0,0,0,0,0,0
$GC,1696,-0.65,-107.0,166.8,-9.8,64,1699,0.00,0.95,0.00,0.000,4,0.000,0.054,2755,1160,3268,0,0,0,0,0,0
$GC,1953,-0.65,-107.0,194.5,-10.8,67,1958,0.00,0.93,0.00,0.000,6,0.000,0.037,2755,1749,3268,0,0,0,0,0,0
$GC,2693,-0.65,-107.0,263.6,-8.8,80,2697,0.00,1.83,0.00,0.000,4,0.000,0.055,2755,656,3268,0,0,0,0,0,0
$GC,2822,-0.65,-107.0,275.1,-8.5,81,2827,0.00,1.67,0.00,0.000,6,0.000,0.034,2755,1727,3268,0,0,0,0,0,0
$GC,3556,-0.65,-107.0,338.4,-9.0,94,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1727,3268,0,0,0,0,0,0
$GC,4284,-0.65,-107.0,408.7,-9.9,106,4288,0.00,2.28,0.00,0.000,4,0.000,0.048,2755,3144,3268,0,0,0,0,0,0
$GC,4541,-0.65,-107.0,433.3,-9.4,109,4547,0.00,2.28,0.00,0.000,6,0.000,0.039,2755,1724,3268,0,0,0,0,0,0
$GC,5275,-0.65,-107.0,500.6,-9.4,122,5279,0.00,0.70,0.00,0.000,4,0.000,0.054,2755,1277,3267,0,0,0,0,0,0
$GC,5533,-0.65,-107.0,526.8,-9.9,125,5537,0.00,0.73,0.00,0.000,6,0.000,0.037,2755,1749,3267,0,0,0,0,0,0
$GC,6273,-0.65,-107.0,598.5,-9.3,138,6277,0.00,2.38,0.00,0.000,4,0.000,0.057,2755,327,3266,0,0,0,0,0,0
$GC,6479,-0.65,-107.0,618.9,-10.3,141,6483,0.00,2.20,0.00,0.000,6,0.000,0.033,2755,1723,3266,0,0,0,0,0,0
$GC,7209,-0.65,-107.0,687.4,-9.5,153,7213,0.00,0.77,0.00,0.000,4,0.000,0.044,2755,2251,3264,0,0,0,0,0,0
$GC,7270,-0.65,-107.0,693.2,-9.1,153,7275,0.00,0.82,0.00,0.000,6,0.000,0.045,2755,1732,3264,0,0,0,0,0,0
$GC,8004,-0.65,-107.0,766.6,-10.6,166,8008,0.00,2.10,0.00,0.000,4,0.000,0.046,2756,3045,3263,0,0,0,0,0,0
$GC,8104,-0.65,-107.0,777.6,-10.7,167,8109,0.00,2.10,0.00,0.000,6,0.000,0.041,2755,1740,3263,0,0,0,0,0,0
$GC,8867,-0.65,-107.0,856.1,-9.5,180,8870,0.00,1.25,0.00,0.000,4,0.000,0.043,2755,2533,3262,0,0,0,0,0,0
$GC,8935,-0.65,-107.0,862.1,-8.6,181,8939,0.00,1.27,0.00,0.000,6,0.000,0.043,2755,1731,3262,0,0,0,0,0,0
$STATE,9607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9607,begin apogee
$GC,9613,-0.28,0.0,920.7,8.9,192,9710,0.43,0.00,93.80,1.414,6,0.094,0.000,2894,1689,2827,0,0,0,0,0,0
$STATE,9710,end apogee,CONTROL_FINISHED_OK
$STATE,9711,begin loiter
$GC,10397,-0.26,291.6,993.9,-9.7,205,10672,0.00,2.55,264.65,1.462,4,0.000,0.043,2892,3082,1636,0,0,0,0,0,0
$GC,10863,-0.26,291.6,995.5,5.0,212,10867,0.00,2.30,0.00,0.000,6,0.000,0.044,2892,1687,1630,0,0,0,0,0,0
$GC,11631,-0.26,291.6,947.5,7.1,225,11635,0.00,2.35,0.00,0.000,4,0.000,0.062,2892,270,1626,0,0,0,0,0,0
$GC,11784,-0.26,291.6,936.1,7.7,227,11788,0.00,2.22,0.00,0.000,6,0.000,0.035,2892,1689,1623,0,0,0,0,0,0
$GC,12551,-0.26,291.6,880.4,6.8,240,12555,0.00,2.38,0.00,0.000,4,0.000,0.061,2892,277,1623,0,0,0,0,0,0
$GC,12724,-0.26,291.6,870.3,5.7,242,12728,0.00,2.22,0.00,0.000,6,0.000,0.035,2892,1693,1622,0,0,0,0,0,0
$GC,13481,-0.26,291.6,841.0,3.3,255,13484,0.00,1.08,0.00,0.000,4,0.000,0.059,2892,1048,1622,0,0,0,0,0,0
$GC,13739,-0.26,291.6,831.4,4.2,258,13743,0.00,1.00,0.00,0.000,6,0.000,0.037,2892,1689,1622,0,0,0,0,0,0
$GC,14479,-0.26,291.6,792.0,6.0,271,14482,0.00,0.62,0.00,0.000,4,0.000,0.058,2891,1313,1622,0,0,0,0,0,0
$GC,14540,-0.26,291.6,788.2,6.1,271,14545,0.00,0.60,0.00,0.000,6,0.000,0.041,2892,1697,1622,0,0,0,0,0,0
$GC,15274,-0.26,291.6,749.9,4.9,284,15278,0.00,2.40,0.00,0.000,4,0.000,0.061,2892,280,1622,0,0,0,0,0,0
$GC,15531,-0.26,291.6,738.9,3.7,287,15535,0.00,2.22,0.00,0.000,6,0.000,0.035,2892,1678,1621,0,0,0,0,0,0
$GC,16271,-0.26,291.6,714.7,3.4,300,16275,0.00,2.38,0.00,0.000,4,0.000,0.062,2892,280,1621,0,0,0,0,0,0
$GC,16428,-0.26,291.6,708.7,4.6,302,16432,0.00,2.22,0.00,0.000,6,0.000,0.035,2892,1693,1621,0,0,0,0,0,0
$GC,17196,-0.26,291.6,674.7,4.7,315,17200,0.00,2.42,0.00,0.000,4,0.000,0.062,2892,272,1621,0,0,0,0,0,0
$GC,17374,-0.26,291.6,666.2,5.0,317,17378,0.00,2.25,0.00,0.000,6,0.000,0.036,2892,1679,1621,0,0,0,0,0,0
$GC,18120,-0.26,291.6,633.8,4.4,330,18124,0.00,2.28,0.00,0.000,4,0.000,0.061,2892,344,1621,0,0,0,0,0,0
$GC,18377,-0.26,291.6,621.5,4.5,333,18382,0.00,2.12,0.00,0.000,6,0.000,0.037,2891,1679,1621,0,0,0,0,0,0
$GC,19111,-0.26,291.6,577.1,6.8,346,19115,0.00,2.28,0.00,0.000,4,0.000,0.048,2889,3088,1621,0,0,0,0,0,0
$GC,19368,-0.26,291.6,560.1,6.7,349,19373,0.00,2.30,0.00,0.000,6,0.000,0.044,2889,1683,1621,0,0,0,0,0,0
$GC,20109,-0.26,291.6,524.1,4.0,362,20113,0.00,2.38,0.00,0.000,4,0.000,0.062,2889,276,1621,0,0,0,0,0,0
$GC,20287,-0.26,291.6,518.1,3.6,364,20291,0.00,2.25,0.00,0.000,6,0.000,0.035,2889,1686,1621,0,0,0,0,0,0
$STATE,20485,end loiter,LOITER_COMPLETE
$STATE,20485,begin climb
$GC,20487,0.65,107.0,513.1,0.0,368,20493,0.93,2.47,0.00,0.000,4,0.111,0.062,3180,275,1622,0,0,0,0,0,0
$GC,20713,0.66,120.2,505.0,4.8,371,20717,0.00,2.25,0.00,0.000,6,0.000,0.040,3180,1684,1622,0,0,0,0,0,0
$GC,21474,0.66,120.2,465.6,6.2,384,21475,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1693,1622,0,0,0,0,0,0
$GC,22202,0.66,120.2,419.2,5.8,396,22203,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1694,1623,0,0,0,0,0,0
$GC,22930,0.66,153.8,386.0,4.2,408,22933,0.00,0.45,0.00,0.000,4,0.000,0.061,3182,1403,1623,0,0,0,0,0,0
$GC,22992,0.66,178.6,383.5,4.5,408,22997,0.00,0.45,0.00,0.000,6,0.000,0.048,3182,1707,1623,0,0,0,0,0,0
$GC,23726,0.66,178.6,342.3,6.2,421,23729,0.00,0.47,0.00,0.000,4,0.000,0.062,3184,1403,1624,0,0,0,0,0,0
$GC,23955,0.66,178.6,327.0,6.9,424,23959,0.00,0.43,0.00,0.000,6,0.000,0.049,3184,1680,1624,0,0,0,0,0,0
$GC,24723,0.66,178.6,278.4,5.9,437,24727,0.00,0.52,0.00,0.000,4,0.000,0.061,3186,1358,1625,0,0,0,0,0,0
$GC,24958,0.66,203.1,266.7,4.5,440,24962,0.00,0.52,0.00,0.000,6,0.000,0.047,3186,1690,1625,0,0,0,0,0,0
$GC,25721,0.66,238.3,235.0,4.1,453,25725,0.00,0.38,0.00,0.000,4,0.000,0.055,3186,1957,1626,0,0,0,0,0,0
$GC,25939,0.66,257.7,224.9,4.6,456,25943,0.00,0.45,0.00,0.000,6,0.000,0.058,3188,1679,1626,0,0,0,0,0,0
$GC,26658,0.66,257.7,182.4,6.9,468,26659,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1679,1627,0,0,0,0,0,0
$GC,27385,0.66,260.3,139.7,5.2,480,27389,0.00,0.43,0.00,0.000,4,0.000,0.049,3187,1966,1628,0,0,0,0,0,0
$GC,27485,0.66,260.3,134.4,5.7,481,27489,0.00,0.45,0.00,0.000,6,0.000,0.057,3189,1685,1628,0,0,0,0,0,0
$GC,28248,0.67,312.1,103.7,3.6,494,28269,0.00,0.00,18.85,0.822,6,0.000,0.000,3189,1684,1554,0,0,0,0,0,0
$GC,28981,0.67,327.0,71.2,4.8,511,29000,0.00,1.92,14.62,0.784,4,0.000,0.045,3189,2867,1492,0,0,0,0,0,0
$GC,29071,0.67,337.4,66.2,4.9,513,29087,0.00,1.90,10.57,0.745,6,0.000,0.045,3198,1683,1450,0,0,0,0,0,0
$GC,29815,0.67,337.4,23.5,5.5,551,29819,0.00,1.25,0.00,0.000,4,0.000,0.058,3200,923,1449,0,0,0,0,0,0
$GC,30024,0.67,356.2,12.0,4.7,569,30039,0.00,1.20,9.65,0.653,6,0.000,0.037,3200,1690,1374,0,0,0,0,0,0
$GC,30154,0.67,356.2,4.7,6.2,581,30156,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1690,1373,0,0,0,0,0,0
$STATE,30184,end climb,SURFACE_DEPTH_REACHED
$STATE,30184,begin surface coast
$FINISH,1.7,1.001753
$STATE,30238,end surface coast,CONTROL_FINISHED_OK
$STATE,30238,begin surface
$SM_CCo,30316,0.00,0.000,0,0,1366,358.62
$SM_GC,3.07,9.00,0.00,0.00,0.062,0.000,0.000,89,1703,1366,-8.99,-0.93,358.62
$IRIDIUM_FIX,-4052.13,-411.65,260113,181805
$TT8_MAMPS,0.026964
$HUMID,49.64
$INTERNAL_PRESSURE,9.16498
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,21.5,124.017
$10V_AH,9.9,73.180
$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,22.800,93.425,412.150,0.000,0.000,48.890,82.614,537.463,0.000,0.000,45.718,1841.079,25430.770,460.072,3196.441,335.380,0.000,1674.427,0.000,2494.612,0.000,1.015,0.000
$DEVICE_MAMPS,262.395,156.060,1461.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.145,373.987,258.886,59.200,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,33561,589
$CAP_FILE_SIZE,153288,0
$CFSIZE,2097086464,2022047744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270113,032822,-4107.688,-409.293,27,1.4,43,-22.6