version: 66.07.10.p01
glider: 574
mission: 4
dive: 526
start: 1 27 113 3 30 9
data:
$ID,574
$MISSION,4
$DIVE,526
$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,-9893.0342
$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,28
$R_STBD_OVSHOOT,43
$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,505
$GPS1,270113,032822,-4107.688,-409.293,27,1.4,43,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-76.4
$GPS2,270113,032946,-4107.685,-409.297,25,1.7,25,-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,109.0,138956,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,40,0.00,0.00,-11.73,0.000,2,0.000,0.000,81,1699,1668,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,121,12.40,2.35,-55.72,0.000,4,0.263,0.076,2755,324,3265,0,0,0,0,0,0
$GC,285,-0.65,-107.0,23.7,-10.8,22,289,0.00,2.22,0.00,0.000,6,0.000,0.038,2755,1728,3266,0,0,0,0,0,0
$GC,408,-0.65,-107.0,36.6,-10.4,30,412,0.00,2.35,0.00,0.000,4,0.000,0.061,2755,322,3267,0,0,0,0,0,0
$GC,508,-0.65,-107.0,47.8,-10.5,34,516,0.00,2.25,0.00,0.000,6,0.000,0.037,2755,1732,3267,0,0,0,0,0,0
$GC,923,-0.65,-107.0,87.8,-9.5,48,926,0.00,0.95,0.00,0.000,4,0.000,0.055,2755,1153,3268,0,0,0,0,0,0
$GC,972,-0.65,-107.0,92.3,-9.7,49,976,0.00,0.93,0.00,0.000,6,0.000,0.037,2755,1750,3268,0,0,0,0,0,0
$GC,1725,-0.65,-107.0,174.2,-10.9,62,1729,0.00,2.22,0.00,0.000,4,0.000,0.050,2755,3136,3269,0,0,0,0,0,0
$GC,1982,-0.65,-107.0,203.2,-11.3,65,1988,0.00,2.28,0.00,0.000,6,0.000,0.042,2755,1733,3269,0,0,0,0,0,0
$GC,2717,-0.65,-107.0,273.1,-9.0,78,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1733,3269,0,0,0,0,0,0
$GC,3444,-0.65,-107.0,343.9,-10.0,90,3448,0.00,1.88,0.00,0.000,4,0.000,0.057,2755,604,3270,0,0,0,0,0,0
$GC,3567,-0.65,-107.0,356.7,-10.3,91,3571,0.00,1.77,0.00,0.000,6,0.000,0.034,2755,1735,3270,0,0,0,0,0,0
$GC,4307,-0.65,-107.0,430.4,-10.4,104,4311,0.00,1.70,0.00,0.000,4,0.000,0.056,2755,707,3270,0,0,0,0,0,0
$GC,4564,-0.65,-107.0,460.3,-12.6,107,4569,0.00,1.62,0.00,0.000,6,0.000,0.034,2755,1743,3270,0,0,0,0,0,0
$GC,5304,-0.65,-107.0,548.0,-11.3,120,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1743,3269,0,0,0,0,0,0
$GC,6031,-0.65,-107.0,619.3,-9.1,132,6035,0.00,0.62,0.00,0.000,4,0.000,0.055,2755,1353,3268,0,0,0,0,0,0
$GC,6099,-0.65,-107.0,625.2,-8.6,133,6103,0.00,0.60,0.00,0.000,6,0.000,0.042,2755,1745,3268,0,0,0,0,0,0
$GC,6834,-0.65,-107.0,692.4,-9.8,145,6838,0.00,2.25,0.00,0.000,4,0.000,0.050,2755,3131,3267,0,0,0,0,0,0
$GC,7052,-0.65,-107.0,716.1,-12.1,148,7057,0.00,2.25,0.00,0.000,6,0.000,0.041,2755,1732,3267,0,0,0,0,0,0
$GC,7826,-0.65,-107.0,805.6,-12.0,161,7830,0.00,2.33,0.00,0.000,4,0.000,0.057,2755,331,3266,0,0,0,0,0,0
$GC,7926,-0.65,-107.0,818.4,-12.4,162,7931,0.00,2.20,0.00,0.000,6,0.000,0.036,2755,1731,3266,0,0,0,0,0,0
$GC,8683,-0.65,-107.0,907.2,-11.1,175,8687,0.00,1.40,0.00,0.000,4,0.000,0.046,2755,2617,3264,0,0,0,0,0,0
$GC,8757,-0.65,-107.0,915.1,-10.5,176,8760,0.00,1.42,0.00,0.000,6,0.000,0.043,2755,1727,3264,0,0,0,0,0,0
$STATE,8804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8804,begin apogee
$GC,8809,-0.28,0.0,920.2,9.5,176,8906,0.38,0.00,94.03,1.417,6,0.096,0.000,2883,1726,2827,0,0,0,0,0,0
$STATE,8907,end apogee,CONTROL_FINISHED_OK
$STATE,8907,begin loiter
$GC,9610,-0.27,247.0,986.8,-8.3,190,9836,0.00,0.90,220.98,1.460,4,0.000,0.054,2883,1248,1818,0,0,0,0,0,0
$GC,9910,-0.27,247.0,997.9,2.7,194,9916,0.00,0.75,0.00,0.000,6,0.000,0.037,2883,1697,1813,0,0,0,0,0,0
$GC,10644,-0.27,247.0,980.8,2.4,207,10648,0.00,1.15,0.00,0.000,4,0.000,0.043,2879,2438,1808,0,0,0,0,0,0
$GC,10902,-0.27,247.0,973.8,3.1,210,10906,0.00,1.20,0.00,0.000,6,0.000,0.047,2879,1694,1807,0,0,0,0,0,0
$GC,11642,-0.27,247.0,943.0,4.8,223,11646,0.00,2.35,0.00,0.000,4,0.000,0.060,2879,280,1806,0,0,0,0,0,0
$GC,11839,-0.27,247.0,933.5,4.8,226,11843,0.00,2.20,0.00,0.000,6,0.000,0.036,2878,1682,1805,0,0,0,0,0,0
$GC,12568,-0.27,247.0,909.8,2.2,238,12572,0.05,2.25,0.00,0.000,4,0.225,0.045,2880,3087,1804,0,0,0,0,0,0
$GC,12700,-0.27,247.0,907.0,2.0,240,12704,0.00,2.25,0.00,0.000,6,0.000,0.044,2880,1685,1804,0,0,0,0,0,0
$GC,13429,-0.27,247.0,892.7,2.3,252,13433,0.00,2.35,0.00,0.000,4,0.000,0.062,2880,282,1805,0,0,0,0,0,0
$GC,13632,-0.27,247.0,887.5,2.8,255,13636,0.00,2.22,0.00,0.000,6,0.000,0.036,2878,1693,1805,0,0,0,0,0,0
$GC,14361,-0.27,247.0,866.4,3.1,267,14365,0.00,2.40,0.00,0.000,4,0.000,0.062,2878,280,1805,0,0,0,0,0,0
$GC,14449,-0.27,247.0,863.7,2.9,268,14453,0.00,2.22,0.00,0.000,6,0.000,0.036,2877,1679,1805,0,0,0,0,0,0
$GC,15217,-0.27,247.0,841.8,3.0,281,15221,0.00,1.05,0.00,0.000,4,0.000,0.045,2877,2363,1805,0,0,0,0,0,0
$GC,15475,-0.27,247.0,834.0,3.2,284,15479,0.00,1.08,0.00,0.000,6,0.000,0.048,2877,1690,1805,0,0,0,0,0,0
$GC,16215,-0.27,247.0,809.7,3.4,297,16220,0.05,2.35,0.00,0.000,4,0.211,0.061,2891,280,1805,0,0,0,0,0,0
$GC,16421,-0.27,247.0,802.5,4.3,300,16425,0.00,2.25,0.00,0.000,6,0.000,0.037,2891,1688,1805,0,0,0,0,0,0
$GC,17146,-0.27,247.0,777.5,3.4,312,17150,0.00,2.40,0.00,0.000,4,0.000,0.061,2890,276,1806,0,0,0,0,0,0
$GC,17318,-0.27,247.0,772.0,2.7,314,17323,0.00,2.25,0.00,0.000,6,0.000,0.036,2890,1686,1806,0,0,0,0,0,0
$GC,18070,-0.27,247.0,755.1,1.7,327,18074,0.00,2.40,0.00,0.000,4,0.000,0.061,2890,275,1806,0,0,0,0,0,0
$GC,18293,-0.27,247.0,751.1,1.4,330,18297,0.00,2.22,0.00,0.000,6,0.000,0.035,2890,1688,1807,0,0,0,0,0,0
$GC,19061,-0.27,247.0,737.0,2.2,343,19065,0.00,2.25,0.00,0.000,4,0.000,0.047,2883,3086,1807,0,0,0,0,0,0
$GC,19200,-0.27,247.0,734.0,2.3,345,19204,0.00,2.30,0.00,0.000,6,0.000,0.045,2883,1669,1808,0,0,0,0,0,0
$STATE,19685,end loiter,LOITER_COMPLETE
$STATE,19685,begin climb
$GC,19687,0.65,107.0,722.3,0.0,353,19693,0.95,2.42,0.00,0.000,4,0.109,0.060,3181,276,1809,0,0,0,0,0,0
$GC,19946,0.37,162.5,714.1,3.4,356,19952,0.30,2.25,0.00,0.000,6,0.182,0.041,3107,1681,1810,0,0,0,0,0,0
$GC,20680,0.37,201.6,687.5,4.0,369,20684,0.00,0.82,0.00,0.000,4,0.000,0.059,3110,1182,1810,0,0,0,0,0,0
$GC,20883,0.37,268.8,680.5,3.0,372,20908,0.00,0.80,20.00,1.226,6,0.000,0.043,3110,1695,1732,0,0,0,0,0,0
$GC,21676,0.38,375.6,662.3,1.7,385,21780,0.00,0.00,101.43,1.281,6,0.000,0.000,3110,1694,1294,0,0,0,0,0,0
$GC,22520,0.38,375.6,614.1,7.2,399,22524,0.00,1.33,0.00,0.000,4,0.000,0.060,3115,906,1282,0,0,0,0,0,0
$GC,22777,0.38,375.6,593.5,9.5,402,22781,0.00,1.23,0.00,0.000,6,0.000,0.040,3114,1678,1280,0,0,0,0,0,0
$GC,23517,0.38,375.6,529.3,8.9,415,23521,0.00,2.38,0.00,0.000,4,0.000,0.064,3118,272,1279,0,0,0,0,0,0
$GC,23775,0.38,375.6,506.7,7.2,418,23780,0.05,2.28,0.00,0.000,6,0.190,0.037,3105,1685,1277,0,0,0,0,0,0
$GC,24515,0.38,375.6,451.3,6.5,431,24516,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1693,1277,0,0,0,0,0,0
$GC,25242,0.38,375.6,412.3,5.5,443,25246,0.00,0.80,0.00,0.000,4,0.000,0.047,3105,2214,1277,0,0,0,0,0,0
$GC,25331,0.38,375.6,406.7,6.0,444,25335,0.00,0.88,0.00,0.000,6,0.000,0.051,3105,1669,1277,0,0,0,0,0,0
$GC,26105,0.38,375.6,346.9,8.5,457,26108,0.00,1.15,0.00,0.000,4,0.000,0.060,3104,972,1277,0,0,0,0,0,0
$GC,26362,0.38,375.6,325.7,8.2,460,26366,0.00,1.12,0.00,0.000,6,0.000,0.037,3105,1693,1276,0,0,0,0,0,0
$GC,27102,0.38,375.6,274.2,6.5,473,27106,0.00,1.83,0.00,0.000,4,0.000,0.062,3105,602,1277,0,0,0,0,0,0
$GC,27360,0.38,375.6,256.9,6.3,476,27364,0.00,1.70,0.00,0.000,6,0.000,0.035,3105,1682,1277,0,0,0,0,0,0
$GC,28100,0.38,375.6,210.2,6.0,489,28104,0.00,2.22,0.00,0.000,4,0.000,0.045,3104,3083,1277,0,0,0,0,0,0
$GC,28357,0.38,375.6,192.6,7.1,492,28361,0.00,2.28,0.00,0.000,6,0.000,0.045,3105,1693,1277,0,0,0,0,0,0
$GC,29097,0.38,375.6,139.1,6.9,505,29100,0.00,1.40,0.00,0.000,4,0.000,0.060,3105,855,1276,0,0,0,0,0,0
$GC,29356,0.38,391.9,124.5,4.7,508,29374,0.00,1.30,12.57,0.817,6,0.000,0.035,3104,1689,1229,0,0,0,0,0,0
$GC,30101,0.38,391.9,66.7,7.8,524,30106,0.00,2.40,0.00,0.000,4,0.000,0.063,3105,274,1229,0,0,0,0,0,0
$GC,30359,0.38,391.9,50.1,6.0,532,30367,0.00,2.22,0.00,0.000,6,0.000,0.034,3105,1687,1227,0,0,0,0,0,0
$GC,30785,0.38,391.9,22.6,6.6,558,30789,0.00,2.22,0.00,0.000,4,0.000,0.044,3104,3089,1227,0,0,0,0,0,0
$GC,31048,0.38,391.9,4.7,6.4,580,31056,0.00,2.30,0.00,0.000,6,0.000,0.045,3105,1682,1228,0,0,0,0,0,0
$STATE,31076,end climb,SURFACE_DEPTH_REACHED
$STATE,31077,begin surface coast
$FINISH,1.8,1.002267
$STATE,31120,end surface coast,CONTROL_FINISHED_OK
$STATE,31120,begin surface
$SM_CCo,31198,0.00,0.000,0,0,1226,392.72
$SM_GC,3.04,8.95,0.00,0.00,0.066,0.000,0.000,95,1681,1226,-8.98,-1.53,392.72
$IRIDIUM_FIX,-4052.13,-411.65,260113,181805
$TT8_MAMPS,0.026964
$HUMID,50.47
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,21.8,124.192
$10V_AH,9.9,73.269
$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,23.125,115.725,449.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,28.079,1903.309,25945.896,497.208,2753.663,182.140,0.000,1818.366,0.000,2680.379,0.000,1.013,0.000
$DEVICE_MAMPS,263.160,75.735,1459.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.207,311.110,248.606,49.338,0.000,0.000,0.000,0.000,0.000,0.000
$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,33609,587
$CAP_FILE_SIZE,153004,0
$CFSIZE,2097086464,2021916672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270113,121123,-4109.072,-408.039,41,1.1,41,-22.6