version: 66.07.10.p01
glider: 574
mission: 4
dive: 547
start: 2 4 113 1 17 48
data:
$ID,574
$MISSION,4
$DIVE,547
$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,-9945.4111
$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,58
$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,526
$GPS1,040213,010554,-4127.177,-345.160,42,1.1,42,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-77.4
$GPS2,040213,011723,-4127.299,-345.100,46,1.1,46,-22.5
$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,89.3,114136,-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,23,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,40,0.00,0.00,-12.10,0.000,2,0.000,0.000,70,1695,1527,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,121,12.20,2.30,-59.08,0.000,4,0.257,0.070,2756,324,3264,0,0,0,0,0,0
$GC,160,-0.65,-107.0,10.2,-10.6,11,164,0.00,2.17,0.00,0.000,6,0.000,0.034,2756,1708,3265,0,0,0,0,0,0
$GC,275,-0.65,-107.0,22.2,-10.5,21,279,0.00,2.30,0.00,0.000,4,0.000,0.058,2756,324,3265,0,0,0,0,0,0
$GC,533,-0.65,-107.0,48.8,-9.9,35,539,0.00,2.25,0.00,0.000,6,0.000,0.034,2757,1741,3266,0,0,0,0,0,0
$GC,950,-0.65,-107.0,92.3,-10.7,49,954,0.00,2.25,0.00,0.000,4,0.000,0.047,2756,3143,3266,0,0,0,0,0,0
$GC,1208,-0.65,-107.0,120.1,-10.7,53,1214,0.00,2.28,0.00,0.000,6,0.000,0.041,2756,1705,3267,0,0,0,0,0,0
$GC,1943,-0.65,-107.0,197.1,-10.8,66,1947,0.00,2.33,0.00,0.000,4,0.000,0.047,2756,3143,3267,0,0,0,0,0,0
$GC,2200,-0.65,-107.0,224.2,-10.2,69,2206,0.00,2.25,0.00,0.000,6,0.000,0.039,2756,1741,3268,0,0,0,0,0,0
$GC,2934,-0.65,-107.0,300.1,-10.2,82,2939,0.00,2.35,0.00,0.000,4,0.000,0.056,2756,324,3269,0,0,0,0,0,0
$GC,3192,-0.65,-107.0,326.1,-10.1,85,3197,0.00,2.22,0.00,0.000,6,0.000,0.029,2757,1749,3270,0,0,0,0,0,0
$GC,3926,-0.65,-107.0,394.3,-9.3,98,3930,0.00,2.20,0.00,0.000,4,0.000,0.044,2756,3134,3270,0,0,0,0,0,0
$GC,4184,-0.65,-107.0,419.4,-10.5,101,4189,0.00,2.22,0.00,0.000,6,0.000,0.036,2756,1731,3270,0,0,0,0,0,0
$GC,4918,-0.65,-107.0,488.5,-9.4,114,4922,0.00,2.25,0.00,0.000,4,0.000,0.043,2756,3134,3271,0,0,0,0,0,0
$GC,5176,-0.65,-107.0,514.4,-10.4,117,5180,0.00,2.22,0.00,0.000,6,0.000,0.036,2756,1739,3270,0,0,0,0,0,0
$GC,5916,-0.65,-107.0,600.4,-12.5,130,5920,0.00,2.25,0.00,0.000,4,0.000,0.044,2756,3136,3271,0,0,0,0,0,0
$GC,6139,-0.65,-107.0,628.6,-12.5,133,6143,0.00,2.22,0.00,0.000,6,0.000,0.036,2756,1721,3271,0,0,0,0,0,0
$GC,6907,-0.65,-107.0,717.3,-11.2,146,6912,0.00,2.30,0.00,0.000,4,0.000,0.054,2756,333,3271,0,0,0,0,0,0
$GC,7165,-0.65,-107.0,746.7,-10.9,149,7170,0.00,2.20,0.00,0.000,6,0.000,0.031,2756,1735,3272,0,0,0,0,0,0
$GC,7899,-0.65,-107.0,817.8,-9.3,162,7903,0.00,1.67,0.00,0.000,4,0.000,0.042,2756,2791,3272,0,0,0,0,0,0
$GC,8001,-0.65,-107.0,827.6,-9.9,163,8005,0.00,1.67,0.00,0.000,6,0.000,0.038,2756,1724,3272,0,0,0,0,0,0
$GC,8763,-0.65,-107.0,903.2,-10.3,176,8767,0.00,0.70,0.00,0.000,4,0.000,0.040,2756,2196,3272,0,0,0,0,0,0
$GC,8825,-0.65,-107.0,909.9,-10.7,176,8830,0.00,0.73,0.00,0.000,6,0.000,0.043,2756,1723,3273,0,0,0,0,0,0
$STATE,8950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8950,begin apogee
$GC,8955,-0.28,0.0,922.9,10.3,179,9054,0.40,0.00,96.50,1.423,6,0.090,0.000,2887,1723,2827,0,0,0,0,0,0
$STATE,9055,end apogee,CONTROL_FINISHED_OK
$STATE,9055,begin loiter
$GC,9740,-0.27,249.0,993.4,-8.3,192,9966,0.00,0.00,224.40,1.434,6,0.000,0.000,2888,1723,1811,0,0,0,0,0,0
$GC,10647,-0.27,249.0,981.9,2.9,207,10651,0.00,0.77,0.00,0.000,4,0.000,0.053,2887,1236,1802,0,0,0,0,0,0
$GC,10905,-0.27,249.0,977.5,0.8,210,10909,0.00,0.73,0.00,0.000,6,0.000,0.035,2888,1707,1802,0,0,0,0,0,0
$GC,11645,-0.27,249.0,974.9,0.0,223,11648,0.00,1.40,0.00,0.000,4,0.000,0.054,2888,874,1802,0,0,0,0,0,0
$GC,11904,-0.27,249.0,973.4,0.0,226,11908,0.00,1.25,0.00,0.000,6,0.000,0.033,2887,1676,1802,0,0,0,0,0,0
$GC,12643,-0.27,249.0,952.7,3.8,239,12647,0.00,2.35,0.00,0.000,4,0.000,0.057,2888,283,1802,0,0,0,0,0,0
$GC,12901,-0.27,249.0,943.0,3.6,242,12906,0.00,2.20,0.00,0.000,6,0.000,0.031,2888,1674,1802,0,0,0,0,0,0
$GC,13635,-0.27,249.0,928.5,0.7,255,13639,0.00,1.40,0.00,0.000,4,0.000,0.055,2887,842,1803,0,0,0,0,0,0
$GC,13893,-0.26,294.5,929.3,-1.5,258,13942,0.00,1.33,43.05,1.407,6,0.000,0.032,2888,1689,1626,0,0,0,0,0,0
$GC,14693,-0.26,294.5,919.0,1.6,272,14697,0.00,1.73,0.00,0.000,4,0.000,0.056,2888,639,1619,0,0,0,0,0,0
$GC,14951,-0.26,294.5,911.7,2.7,275,14955,0.00,1.62,0.00,0.000,6,0.000,0.031,2888,1678,1618,0,0,0,0,0,0
$GC,15691,-0.26,294.5,875.1,5.7,288,15695,0.00,2.35,0.00,0.000,4,0.000,0.058,2888,287,1618,0,0,0,0,0,0
$GC,15948,-0.26,294.5,860.7,5.7,291,15953,0.00,2.20,0.00,0.000,6,0.000,0.031,2888,1681,1617,0,0,0,0,0,0
$GC,16682,-0.26,294.5,828.7,4.0,304,16686,0.00,2.35,0.00,0.000,4,0.000,0.058,2888,290,1617,0,0,0,0,0,0
$GC,16805,-0.26,294.5,823.7,3.9,305,16809,0.00,2.20,0.00,0.000,6,0.000,0.032,2887,1679,1616,0,0,0,0,0,0
$GC,17545,-0.26,294.5,792.3,4.7,318,17549,0.00,2.38,0.00,0.000,4,0.000,0.058,2888,284,1616,0,0,0,0,0,0
$GC,17802,-0.26,294.5,779.4,4.7,321,17807,0.00,2.22,0.00,0.000,6,0.000,0.032,2888,1686,1616,0,0,0,0,0,0
$GC,18536,-0.26,294.5,749.7,3.3,334,18540,0.00,2.38,0.00,0.000,4,0.000,0.059,2888,291,1616,0,0,0,0,0,0
$GC,18759,-0.26,294.5,743.6,3.7,337,18763,0.00,2.20,0.00,0.000,6,0.000,0.032,2888,1684,1615,0,0,0,0,0,0
$GC,19527,-0.26,294.5,723.4,3.0,350,19531,0.00,2.22,0.00,0.000,4,0.000,0.044,2880,3083,1616,0,0,0,0,0,0
$GC,19785,-0.26,294.5,714.3,3.7,353,19790,0.00,2.25,0.00,0.000,6,0.000,0.042,2880,1692,1615,0,0,0,0,0,0
$STATE,19850,end loiter,LOITER_COMPLETE
$STATE,19850,begin climb
$GC,19852,0.65,107.0,711.5,0.0,355,19858,0.95,2.45,0.00,0.000,4,0.103,0.059,3180,280,1616,0,0,0,0,0,0
$GC,20111,0.36,107.0,697.0,5.5,358,20117,0.32,2.22,0.00,0.000,6,0.180,0.035,3101,1686,1616,0,0,0,0,0,0
$GC,20845,0.36,107.0,649.9,6.7,371,20849,0.00,1.95,0.00,0.000,4,0.000,0.058,3105,547,1615,0,0,0,0,0,0
$GC,21029,0.36,107.0,638.7,5.6,373,21033,0.00,1.83,0.00,0.000,6,0.000,0.034,3105,1694,1616,0,0,0,0,0,0
$GC,21775,0.37,197.4,611.3,2.3,386,21776,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1703,1615,0,0,0,0,0,0
$GC,22503,0.37,295.1,599.4,2.0,398,22506,0.00,1.88,0.00,0.000,4,0.000,0.058,3105,583,1615,0,0,0,0,0,0
$GC,22751,0.37,326.3,591.8,4.2,401,22785,0.00,1.75,29.27,1.191,6,0.000,0.036,3105,1695,1497,0,0,0,0,0,0
$GC,23504,0.37,326.3,546.1,6.5,414,23508,0.00,1.98,0.00,0.000,4,0.000,0.059,3104,514,1494,0,0,0,0,0,0
$GC,23683,0.37,326.3,534.9,7.2,416,23687,0.00,1.85,0.00,0.000,6,0.000,0.036,3105,1678,1493,0,0,0,0,0,0
$GC,24434,0.38,350.5,498.1,4.5,429,24464,0.00,2.08,23.88,1.115,4,0.000,0.060,3105,470,1396,0,0,0,0,0,0
$GC,24650,0.38,366.5,487.3,4.8,432,24670,0.00,1.88,15.52,1.064,6,0.000,0.035,3105,1688,1333,0,0,0,0,0,0
$GC,25422,0.38,366.5,439.1,6.9,445,25426,0.00,2.38,0.00,0.000,4,0.000,0.061,3105,281,1330,0,0,0,0,0,0
$GC,25606,0.38,366.5,425.7,9.3,447,25611,0.00,2.22,0.00,0.000,6,0.000,0.034,3104,1677,1328,0,0,0,0,0,0
$GC,26347,0.38,366.5,378.2,5.7,460,26351,0.00,2.40,0.00,0.000,4,0.000,0.061,3105,276,1328,0,0,0,0,0,0
$GC,26581,0.38,366.5,365.7,5.4,463,26586,0.00,2.25,0.00,0.000,6,0.000,0.034,3105,1686,1328,0,0,0,0,0,0
$GC,27338,0.38,366.5,325.6,5.9,476,27342,0.00,1.95,0.00,0.000,4,0.000,0.059,3105,544,1328,0,0,0,0,0,0
$GC,27512,0.38,366.5,314.5,7.5,478,27516,0.00,1.80,0.00,0.000,6,0.000,0.034,3105,1684,1327,0,0,0,0,0,0
$GC,28269,0.38,366.5,271.4,5.5,491,28272,0.00,1.20,0.00,0.000,4,0.000,0.040,3105,2458,1327,0,0,0,0,0,0
$GC,28527,0.38,366.5,255.7,6.1,494,28531,0.00,1.25,0.00,0.000,6,0.000,0.046,3105,1686,1328,0,0,0,0,0,0
$GC,29267,0.38,366.5,203.0,6.9,507,29271,0.00,2.28,0.00,0.000,4,0.000,0.043,3105,3086,1328,0,0,0,0,0,0
$GC,29524,0.38,366.5,186.5,5.9,510,29529,0.00,2.25,0.00,0.000,6,0.000,0.043,3105,1687,1327,0,0,0,0,0,0
$GC,30258,0.38,383.2,147.5,4.7,523,30279,0.00,2.25,16.08,0.844,4,0.000,0.041,3105,3095,1263,0,0,0,0,0,0
$GC,30532,0.38,385.9,132.5,5.2,527,30541,0.00,2.28,3.78,0.517,6,0.000,0.042,3105,1683,1253,0,0,0,0,0,0
$GC,31259,0.38,385.9,90.5,5.5,540,31263,0.00,2.35,0.00,0.000,4,0.000,0.060,3105,278,1253,0,0,0,0,0,0
$GC,31494,0.38,385.9,77.3,5.8,545,31498,0.00,2.20,0.00,0.000,6,0.000,0.032,3105,1689,1251,0,0,0,0,0,0
$GC,32221,0.38,427.6,34.7,3.9,574,32266,0.00,2.30,37.60,0.814,4,0.000,0.042,3105,3095,1082,0,0,0,0,0,0
$GC,32528,0.38,427.6,16.9,6.9,596,32532,0.00,2.22,0.00,0.000,6,0.000,0.041,3105,1682,1079,0,0,0,0,0,0
$GC,32643,0.38,427.6,10.4,6.0,606,32647,0.00,2.15,0.00,0.000,4,0.000,0.040,3105,3045,1078,0,0,0,0,0,0
$STATE,32742,end climb,SURFACE_DEPTH_REACHED
$STATE,32742,begin surface coast
$FINISH,1.9,1.025649
$STATE,32791,end surface coast,CONTROL_FINISHED_OK
$STATE,32791,begin surface
$SM_CCo,32870,0.00,0.000,0,0,1074,430.00
$SM_GC,3.13,8.68,0.00,0.00,0.056,0.000,0.000,87,1725,1074,-8.98,-0.28,430.00
$IRIDIUM_FIX,-4112.14,-346.94,030213,070711
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.7,128.304
$10V_AH,9.9,75.278
$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,22.550,140.600,490.075,0.000,0.000,30.904,41.246,413.047,0.000,0.000,48.413,2045.764,27020.090,598.220,3560.958,335.346,0.000,2034.892,0.000,3005.768,0.000,1.016,0.000
$DEVICE_MAMPS,257.040,70.380,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.002,327.641,259.352,52.520,0.000,0.000,0.000,0.000,0.000,0.000
$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,36939,618
$CAP_FILE_SIZE,175931,0
$CFSIZE,2097086464,2019131392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,040213,102653,-4127.482,-344.376,38,1.5,38,-22.6