version: 66.07.10.p01
glider: 574
mission: 4
dive: 546
start: 2 3 113 16 35 12
data:
$ID,574
$MISSION,4
$DIVE,546
$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,-9943.0723
$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,47
$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,525
$GPS1,030213,163329,-4126.919,-345.545,67,1.9,67,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-75.3
$GPS2,030213,163449,-4126.916,-345.531,20,1.9,20,-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,89.8,114413,-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,24,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,41,0.00,0.00,-12.38,0.000,2,0.000,0.000,73,1727,1460,0,0,0,0,0,0
$GC,44,-0.65,-107.0,3.1,-0.0,1,125,12.07,2.30,-63.60,0.000,4,0.252,0.064,2757,3122,3264,0,0,0,0,0,0
$GC,246,-0.65,-107.0,19.3,-11.2,18,254,0.00,2.28,0.00,0.000,6,0.000,0.046,2756,1734,3266,0,0,0,0,0,0
$GC,372,-0.65,-107.0,32.3,-10.8,29,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1734,3267,0,0,0,0,0,0
$GC,800,-0.65,-107.0,77.6,-10.3,46,804,0.00,2.25,0.00,0.000,4,0.000,0.048,2756,3124,3267,0,0,0,0,0,0
$GC,1058,-0.65,-107.0,104.1,-10.2,51,1062,0.00,2.25,0.00,0.000,6,0.000,0.041,2757,1735,3267,0,0,0,0,0,0
$GC,1798,-0.65,-107.0,176.4,-10.6,64,1802,0.00,2.35,0.00,0.000,4,0.000,0.059,2756,322,3269,0,0,0,0,0,0
$GC,1926,-0.65,-107.0,191.9,-12.8,65,1931,0.00,2.20,0.00,0.000,6,0.000,0.032,2756,1720,3269,0,0,0,0,0,0
$GC,2660,-0.65,-107.0,276.2,-10.2,78,2664,0.00,2.28,0.00,0.000,4,0.000,0.047,2756,3148,3269,0,0,0,0,0,0
$GC,2918,-0.65,-107.0,300.6,-8.7,81,2923,0.00,2.28,0.00,0.000,6,0.000,0.039,2756,1733,3269,0,0,0,0,0,0
$GC,3652,-0.65,-107.0,375.4,-11.5,94,3656,0.00,2.33,0.00,0.000,4,0.000,0.057,2756,325,3270,0,0,0,0,0,0
$GC,3736,-0.65,-107.0,386.5,-13.5,95,3740,0.00,2.20,0.00,0.000,6,0.000,0.031,2757,1747,3270,0,0,0,0,0,0
$GC,4504,-0.65,-107.0,494.0,-14.0,108,4508,0.00,2.22,0.00,0.000,4,0.000,0.045,2756,3139,3270,0,0,0,0,0,0
$GC,4761,-0.65,-107.0,527.1,-11.7,111,4765,0.00,2.25,0.00,0.000,6,0.000,0.037,2756,1706,3270,0,0,0,0,0,0
$GC,5501,-0.65,-107.0,603.7,-9.7,124,5505,0.00,2.20,0.00,0.000,4,0.000,0.055,2756,364,3269,0,0,0,0,0,0
$GC,5564,-0.65,-107.0,609.8,-10.0,125,5568,0.00,2.12,0.00,0.000,6,0.000,0.031,2756,1741,3269,0,0,0,0,0,0
$GC,6299,-0.65,-107.0,684.4,-10.5,137,6303,0.00,2.22,0.00,0.000,4,0.000,0.045,2756,3138,3268,0,0,0,0,0,0
$GC,6522,-0.65,-107.0,709.5,-11.5,140,6526,0.00,2.25,0.00,0.000,6,0.000,0.037,2756,1709,3268,0,0,0,0,0,0
$GC,7296,-0.65,-107.0,796.4,-11.1,153,7300,0.00,1.25,0.00,0.000,4,0.000,0.040,2756,2509,3267,0,0,0,0,0,0
$GC,7312,-0.65,-107.0,798.1,-10.9,153,7316,0.00,1.23,0.00,0.000,6,0.000,0.043,2756,1737,3267,0,0,0,0,0,0
$GC,8031,-0.65,-107.0,874.3,-10.3,165,8035,0.00,2.28,0.00,0.000,4,0.000,0.046,2756,3139,3267,0,0,0,0,0,0
$GC,8136,-0.65,-107.0,885.1,-10.1,166,8140,0.00,2.20,0.00,0.000,6,0.000,0.038,2756,1736,3266,0,0,0,0,0,0
$STATE,8527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8527,begin apogee
$GC,8533,-0.28,0.0,923.5,9.8,173,8630,0.43,0.00,93.75,1.424,6,0.103,0.000,2890,1676,2827,0,0,0,0,0,0
$STATE,8631,end apogee,CONTROL_FINISHED_OK
$STATE,8631,begin loiter
$GC,9317,-0.26,293.7,999.5,-9.8,186,9589,0.00,2.60,264.20,1.418,4,0.000,0.056,2890,290,1630,0,0,0,0,0,0
$GC,9757,-0.26,293.7,1008.3,3.1,193,9761,0.00,2.28,0.00,0.000,6,0.000,0.031,2890,1686,1621,0,0,0,0,0,0
$GC,10487,-0.26,293.7,981.0,4.1,205,10491,0.00,2.22,0.00,0.000,4,0.000,0.044,2890,3087,1618,0,0,0,0,0,0
$GC,10654,-0.26,293.7,974.0,5.4,207,10658,0.00,2.25,0.00,0.000,6,0.000,0.042,2890,1693,1616,0,0,0,0,0,0
$GC,11411,-0.26,293.7,941.3,4.4,220,11415,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,270,1616,0,0,0,0,0,0
$GC,11521,-0.26,293.7,936.4,4.5,221,11526,0.00,2.22,0.00,0.000,6,0.000,0.032,2889,1681,1615,0,0,0,0,0,0
$GC,12267,-0.26,318.2,916.6,-0.8,234,12296,0.00,2.42,21.52,1.355,4,0.000,0.060,2890,275,1528,0,0,0,0,0,0
$GC,12487,-0.26,318.2,907.1,4.1,237,12491,0.00,2.22,0.00,0.000,6,0.000,0.033,2890,1686,1526,0,0,0,0,0,0
$GC,13261,-0.26,318.2,873.7,4.5,250,13265,0.00,2.25,0.00,0.000,4,0.000,0.044,2890,3091,1525,0,0,0,0,0,0
$GC,13390,-0.26,318.2,867.2,5.0,252,13395,0.00,2.25,0.00,0.000,6,0.000,0.042,2890,1683,1524,0,0,0,0,0,0
$GC,14120,-0.26,318.2,826.0,5.9,264,14124,0.00,2.28,0.00,0.000,4,0.000,0.044,2890,3087,1524,0,0,0,0,0,0
$GC,14332,-0.26,318.2,813.8,5.4,267,14336,0.00,2.28,0.00,0.000,6,0.000,0.042,2890,1692,1523,0,0,0,0,0,0
$GC,15051,-0.26,318.2,775.2,5.4,279,15054,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,278,1523,0,0,0,0,0,0
$GC,15072,-0.26,318.2,773.9,4.6,279,15076,0.00,2.22,0.00,0.000,6,0.000,0.032,2891,1681,1522,0,0,0,0,0,0
$GC,15846,-0.26,318.2,742.2,3.5,292,15850,0.00,2.25,0.00,0.000,4,0.000,0.044,2890,3085,1523,0,0,0,0,0,0
$GC,15963,-0.26,318.2,738.1,3.2,293,15967,0.00,2.28,0.00,0.000,6,0.000,0.042,2890,1675,1522,0,0,0,0,0,0
$GC,16703,-0.26,318.2,709.9,4.3,306,16707,0.00,2.35,0.00,0.000,4,0.000,0.060,2890,282,1522,0,0,0,0,0,0
$GC,16870,-0.26,318.2,702.4,4.4,308,16875,0.00,2.22,0.00,0.000,6,0.000,0.033,2890,1682,1522,0,0,0,0,0,0
$GC,17633,-0.26,318.2,670.7,4.4,321,17637,0.00,2.25,0.00,0.000,4,0.000,0.045,2890,3091,1521,0,0,0,0,0,0
$GC,17779,-0.26,318.2,664.2,4.4,323,17783,0.00,2.28,0.00,0.000,6,0.000,0.042,2890,1684,1521,0,0,0,0,0,0
$GC,18551,-0.26,318.2,639.3,4.1,336,18555,0.00,2.28,0.00,0.000,4,0.000,0.046,2890,3091,1521,0,0,0,0,0,0
$GC,18764,-0.26,318.2,629.7,3.6,339,18768,0.00,2.30,0.00,0.000,6,0.000,0.042,2890,1682,1521,0,0,0,0,0,0
$STATE,19420,end loiter,LOITER_COMPLETE
$STATE,19420,begin climb
$GC,19422,0.65,107.0,599.8,0.0,350,19428,0.90,2.25,0.00,0.000,4,0.096,0.042,3176,3035,1521,0,0,0,0,0,0
$GC,19517,0.39,107.0,593.9,7.0,351,19522,0.30,2.20,0.00,0.000,6,0.176,0.043,3112,1677,1521,0,0,0,0,0,0
$GC,20273,0.39,107.0,547.5,6.2,364,20277,0.00,0.73,0.00,0.000,4,0.000,0.056,3114,1224,1521,0,0,0,0,0,0
$GC,20357,0.39,107.0,542.6,5.6,365,20361,0.00,0.75,0.00,0.000,6,0.000,0.038,3114,1702,1521,0,0,0,0,0,0
$GC,21075,0.39,107.0,503.3,5.4,377,21079,0.00,0.50,0.00,0.000,4,0.000,0.056,3115,1390,1521,0,0,0,0,0,0
$GC,21333,0.39,107.0,488.9,5.3,380,21337,0.00,0.45,0.00,0.000,6,0.000,0.042,3116,1689,1521,0,0,0,0,0,0
$GC,22073,0.39,107.0,444.4,6.1,393,22077,0.00,2.25,0.00,0.000,4,0.000,0.059,3118,365,1522,0,0,0,0,0,0
$GC,22208,0.39,107.0,436.5,6.5,395,22212,0.00,2.08,0.00,0.000,6,0.000,0.035,3119,1682,1522,0,0,0,0,0,0
$GC,22939,0.39,130.1,401.2,4.5,407,22942,0.00,1.60,0.00,0.000,4,0.000,0.042,3118,2686,1522,0,0,0,0,0,0
$GC,23102,0.39,158.5,394.1,4.3,409,23106,0.08,1.65,0.00,0.000,6,0.199,0.045,3109,1679,1522,0,0,0,0,0,0
$GC,23871,0.39,182.4,360.4,4.5,422,23874,0.00,0.93,0.00,0.000,4,0.000,0.055,3113,1105,1522,0,0,0,0,0,0
$GC,24128,0.39,220.8,349.5,4.0,425,24132,0.00,0.90,0.00,0.000,6,0.000,0.037,3113,1691,1522,0,0,0,0,0,0
$GC,24868,0.39,267.4,321.9,3.7,438,24872,0.00,0.45,0.00,0.000,4,0.000,0.055,3114,1407,1523,0,0,0,0,0,0
$GC,25126,0.40,326.3,312.3,3.3,441,25138,0.00,0.43,8.45,0.858,6,0.000,0.042,3114,1692,1496,0,0,0,0,0,0
$GC,25866,0.40,385.3,287.1,3.3,454,25927,0.00,1.08,55.58,1.011,4,0.000,0.051,3114,1034,1256,0,0,0,0,0,0
$GC,26027,0.40,385.3,278.9,5.4,456,26031,0.00,1.00,0.00,0.000,6,0.000,0.034,3114,1677,1251,0,0,0,0,0,0
$GC,26790,0.40,385.3,229.4,6.2,469,26794,0.00,2.35,0.00,0.000,4,0.000,0.060,3114,281,1250,0,0,0,0,0,0
$GC,27047,0.40,385.3,214.1,7.5,472,27053,0.00,2.20,0.00,0.000,6,0.000,0.033,3114,1677,1249,0,0,0,0,0,0
$GC,27781,0.40,385.3,165.9,6.8,485,27785,0.00,1.05,0.00,0.000,4,0.000,0.039,3114,2367,1248,0,0,0,0,0,0
$GC,28039,0.40,385.3,148.5,7.9,488,28043,0.00,1.10,0.00,0.000,6,0.000,0.045,3114,1682,1248,0,0,0,0,0,0
$GC,28779,0.40,385.3,99.5,6.5,501,28783,0.00,1.62,0.00,0.000,4,0.000,0.040,3114,2695,1248,0,0,0,0,0,0
$GC,29036,0.40,385.3,85.1,5.4,506,29040,0.00,1.62,0.00,0.000,6,0.000,0.043,3114,1694,1248,0,0,0,0,0,0
$GC,29767,0.40,385.3,40.5,6.1,531,29771,0.00,2.38,0.00,0.000,4,0.000,0.060,3114,270,1248,0,0,0,0,0,0
$GC,30027,0.40,385.3,25.0,5.4,546,30035,0.00,2.20,0.00,0.000,6,0.000,0.029,3114,1692,1248,0,0,0,0,0,0
$GC,30143,0.40,387.9,18.9,5.2,557,30146,0.00,0.77,0.00,0.000,4,0.000,0.054,3114,1210,1248,0,0,0,0,0,0
$GC,30409,0.40,395.3,3.9,5.0,580,30422,0.00,0.70,4.45,0.497,6,0.000,0.034,3114,1685,1215,0,0,0,0,0,0
$STATE,30431,end climb,SURFACE_DEPTH_REACHED
$STATE,30431,begin surface coast
$FINISH,1.8,1.012653
$STATE,30486,end surface coast,CONTROL_FINISHED_OK
$STATE,30486,begin surface
$SM_CCo,30563,0.00,0.000,0,0,1212,396.15
$SM_GC,3.21,8.80,0.00,0.00,0.056,0.000,0.000,85,1698,1212,-8.99,-1.05,396.15
$IRIDIUM_FIX,-4109.28,-349.80,020213,141404
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.5,128.094
$10V_AH,9.9,75.174
$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,22.575,128.675,447.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.485,1894.305,25310.041,489.338,2758.233,188.761,0.000,1819.714,0.000,2690.425,0.000,1.013,0.000
$DEVICE_MAMPS,251.685,121.635,1423.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.850,354.294,256.705,56.342,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354788
$DATA_FILE_SIZE,33592,587
$CAP_FILE_SIZE,154687,0
$CFSIZE,2097086464,2019295232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040213,010554,-4127.177,-345.160,42,1.1,42,-22.6