version: 66.07.10.p01
glider: 574
mission: 4
dive: 549
start: 2 4 113 19 6 58
data:
$ID,574
$MISSION,4
$DIVE,549
$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,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,-9950.6377
$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,2950
$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,1820
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,528
$GPS1,040213,185635,-4128.565,-343.475,38,1.4,38,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-76.7
$GPS2,040213,190635,-4128.612,-343.394,32,1.3,32,-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,87.7,112949,-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,-11.68,0.000,2,0.000,0.000,69,1750,1445,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,124,11.85,2.30,-62.83,0.000,4,0.251,0.073,2728,411,3265,0,0,0,0,0,0
$GC,329,-0.65,-107.0,26.8,-10.0,26,333,0.00,2.20,0.00,0.000,6,0.000,0.036,2728,1804,3266,0,0,0,0,0,0
$GC,452,-0.65,-107.0,39.1,-10.0,33,456,0.00,2.33,0.00,0.000,4,0.000,0.056,2728,414,3267,0,0,0,0,0,0
$GC,597,-0.65,-107.0,55.7,-11.5,39,603,0.00,2.25,0.00,0.000,6,0.000,0.034,2728,1824,3266,0,0,0,0,0,0
$GC,1013,-0.65,-107.0,100.8,-10.6,51,1017,0.00,2.35,0.00,0.000,4,0.000,0.057,2728,416,3267,0,0,0,0,0,0
$GC,1250,-0.65,-107.0,123.2,-8.5,54,1254,0.00,2.20,0.00,0.000,6,0.000,0.033,2728,1827,3268,0,0,0,0,0,0
$GC,2005,-0.65,-107.0,194.2,-9.5,67,2009,0.00,1.10,0.00,0.000,4,0.000,0.042,2728,2539,3268,0,0,0,0,0,0
$GC,2038,-0.65,-107.0,197.5,-9.1,67,2042,0.00,1.12,0.00,0.000,6,0.000,0.040,2728,1820,3268,0,0,0,0,0,0
$GC,2801,-0.65,-107.0,268.6,-9.7,80,2804,0.00,0.70,0.00,0.000,4,0.000,0.041,2728,2290,3268,0,0,0,0,0,0
$GC,2822,-0.65,-107.0,270.6,-8.5,80,2826,0.00,0.75,0.00,0.000,6,0.000,0.042,2728,1809,3269,0,0,0,0,0,0
$GC,3596,-0.65,-107.0,347.9,-10.1,93,3599,0.00,0.82,0.00,0.000,4,0.000,0.041,2728,2354,3268,0,0,0,0,0,0
$GC,3623,-0.65,-107.0,351.1,-11.2,93,3627,0.00,0.82,0.00,0.000,6,0.000,0.041,2728,1816,3268,0,0,0,0,0,0
$GC,4391,-0.65,-107.0,434.8,-10.9,106,4395,0.00,2.30,0.00,0.000,4,0.000,0.047,2728,3227,3268,0,0,0,0,0,0
$GC,4542,-0.65,-107.0,451.3,-11.0,108,4546,0.00,2.20,0.00,0.000,6,0.000,0.035,2728,1810,3268,0,0,0,0,0,0
$GC,5316,-0.65,-107.0,532.5,-10.2,121,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1810,3267,0,0,0,0,0,0
$GC,6043,-0.65,-107.0,602.9,-9.5,133,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1810,3267,0,0,0,0,0,0
$GC,6770,-0.65,-107.0,670.3,-9.5,145,6775,0.00,2.33,0.00,0.000,4,0.000,0.056,2728,417,3266,0,0,0,0,0,0
$GC,7028,-0.65,-107.0,696.9,-10.5,148,7034,0.00,2.20,0.00,0.000,6,0.000,0.030,2728,1830,3266,0,0,0,0,0,0
$GC,7763,-0.65,-107.0,771.8,-10.1,161,7767,0.00,2.38,0.00,0.000,4,0.000,0.054,2728,413,3265,0,0,0,0,0,0
$GC,8020,-0.65,-107.0,795.6,-9.1,164,8025,0.00,2.22,0.00,0.000,6,0.000,0.031,2728,1820,3265,0,0,0,0,0,0
$GC,8754,-0.65,-107.0,856.8,-8.3,177,8758,0.00,2.35,0.00,0.000,4,0.000,0.053,2728,416,3264,0,0,0,0,0,0
$GC,8978,-0.65,-107.0,876.7,-8.1,180,8982,0.00,2.20,0.00,0.000,6,0.000,0.031,2728,1813,3264,0,0,0,0,0,0
$STATE,9441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9441,begin apogee
$GC,9446,-0.28,0.0,923.0,10.6,188,9543,0.40,0.00,94.28,1.421,6,0.096,0.000,2857,1814,2827,0,0,0,0,0,0
$STATE,9544,end apogee,CONTROL_FINISHED_OK
$STATE,9544,begin loiter
$GC,10231,-0.26,309.7,1006.2,-10.4,201,10522,0.00,2.35,281.02,1.437,4,0.000,0.052,2857,601,1563,0,0,0,0,0,0
$GC,10730,-0.26,309.7,1011.0,5.5,208,10735,0.00,1.92,0.00,0.000,6,0.000,0.031,2857,1796,1554,0,0,0,0,0,0
$GC,11464,-0.26,309.7,968.4,6.0,221,11468,0.00,0.45,0.00,0.000,4,0.000,0.045,2857,2126,1550,0,0,0,0,0,0
$GC,11723,-0.26,309.7,954.7,5.1,224,11727,0.00,0.50,0.00,0.000,6,0.000,0.050,2857,1799,1549,0,0,0,0,0,0
$GC,12463,-0.26,309.7,922.8,3.8,237,12466,0.00,1.55,0.00,0.000,4,0.000,0.042,2852,2766,1549,0,0,0,0,0,0
$GC,12591,-0.26,309.7,918.1,3.7,238,12597,0.00,1.55,0.00,0.000,6,0.000,0.042,2852,1801,1548,0,0,0,0,0,0
$GC,13325,-0.26,309.7,886.6,5.2,251,13329,0.00,2.33,0.00,0.000,4,0.000,0.057,2852,410,1548,0,0,0,0,0,0
$GC,13483,-0.26,309.7,877.4,5.7,253,13487,0.00,2.20,0.00,0.000,6,0.000,0.032,2850,1812,1545,0,0,0,0,0,0
$GC,14250,-0.26,309.7,830.0,6.0,266,14254,0.00,1.95,0.00,0.000,4,0.000,0.045,2849,3047,1546,0,0,0,0,0,0
$GC,14389,-0.26,309.7,822.2,5.4,268,14394,0.00,2.03,0.00,0.000,6,0.000,0.041,2849,1799,1545,0,0,0,0,0,0
$GC,15119,-0.26,309.7,793.4,3.3,280,15123,0.00,2.35,0.00,0.000,4,0.000,0.058,2849,392,1545,0,0,0,0,0,0
$GC,15207,-0.26,309.7,790.7,2.3,281,15212,0.03,2.22,0.00,0.000,6,0.282,0.032,2858,1803,1544,0,0,0,0,0,0
$GC,15980,-0.26,309.7,767.7,3.4,294,15984,0.00,1.45,0.00,0.000,4,0.000,0.055,2858,945,1544,0,0,0,0,0,0
$GC,16238,-0.26,309.7,758.0,3.7,297,16242,0.00,1.35,0.00,0.000,6,0.000,0.034,2856,1800,1544,0,0,0,0,0,0
$GC,16978,-0.26,309.7,719.4,5.7,310,16981,0.00,0.70,0.00,0.000,4,0.000,0.053,2855,1372,1545,0,0,0,0,0,0
$GC,17022,-0.26,309.7,716.8,5.5,310,17026,0.00,0.68,0.00,0.000,6,0.000,0.037,2853,1812,1544,0,0,0,0,0,0
$GC,17773,-0.26,309.7,677.9,4.7,323,17777,0.00,2.38,0.00,0.000,4,0.000,0.058,2853,397,1545,0,0,0,0,0,0
$GC,17985,-0.26,309.7,668.6,3.4,326,17989,0.00,2.22,0.00,0.000,6,0.000,0.033,2850,1794,1544,0,0,0,0,0,0
$GC,18704,-0.26,309.7,646.4,2.9,338,18707,0.00,0.70,0.00,0.000,4,0.000,0.043,2847,2272,1544,0,0,0,0,0,0
$GC,18882,-0.26,309.7,641.4,2.8,340,18887,0.08,0.77,0.00,0.000,6,0.175,0.046,2863,1789,1544,0,0,0,0,0,0
$GC,19633,-0.26,309.7,611.1,5.0,353,19637,0.00,2.30,0.00,0.000,4,0.000,0.045,2854,3197,1544,0,0,0,0,0,0
$GC,19738,-0.26,309.7,605.2,5.4,354,19742,0.00,2.28,0.00,0.000,6,0.000,0.041,2854,1792,1544,0,0,0,0,0,0
$STATE,20311,end loiter,LOITER_COMPLETE
$STATE,20311,begin climb
$GC,20313,0.65,107.0,573.3,0.0,364,20317,0.98,0.95,0.00,0.000,4,0.115,0.034,3149,2395,1544,0,0,0,0,0,0
$GC,20436,0.65,107.0,566.1,5.5,365,20440,0.00,0.95,0.00,0.000,6,0.000,0.047,3149,1801,1544,0,0,0,0,0,0
$GC,21176,0.66,136.7,530.3,4.3,378,21180,0.00,2.30,0.00,0.000,4,0.000,0.047,3149,3202,1544,0,0,0,0,0,0
$GC,21374,0.66,195.4,523.2,3.3,381,21378,0.00,2.28,0.00,0.000,6,0.000,0.041,3155,1798,1544,0,0,0,0,0,0
$GC,22104,0.66,261.8,499.9,3.1,393,22108,0.00,2.28,0.00,0.000,4,0.000,0.047,3155,3196,1544,0,0,0,0,0,0
$GC,22289,0.67,323.4,494.0,3.2,395,22305,0.00,2.28,10.85,1.018,6,0.000,0.041,3166,1803,1508,0,0,0,0,0,0
$GC,23029,0.67,351.5,463.9,4.3,408,23063,0.00,2.33,28.23,1.101,4,0.000,0.047,3166,3183,1393,0,0,0,0,0,0
$GC,23165,0.67,351.5,456.2,6.7,410,23169,0.00,2.25,0.00,0.000,6,0.000,0.041,3175,1797,1392,0,0,0,0,0,0
$GC,23895,0.67,351.5,402.0,8.3,422,23899,0.00,2.35,0.00,0.000,4,0.000,0.059,3181,390,1390,0,0,0,0,0,0
$GC,24140,0.67,351.5,379.8,10.3,425,24146,0.03,2.25,0.00,0.000,6,0.188,0.037,3174,1790,1388,0,0,0,0,0,0
$GC,24886,0.67,351.5,326.2,5.8,438,24890,0.00,2.30,0.00,0.000,4,0.000,0.047,3173,3211,1388,0,0,0,0,0,0
$GC,25083,0.67,383.5,316.5,4.2,441,25119,0.08,2.28,29.73,1.007,6,0.212,0.041,3169,1790,1262,0,0,0,0,0,0
$GC,25870,0.67,383.5,270.8,7.0,454,25874,0.00,2.30,0.00,0.000,4,0.000,0.058,3172,394,1259,0,0,0,0,0,0
$GC,26037,0.67,383.5,257.1,8.0,456,26041,0.00,2.25,0.00,0.000,6,0.000,0.036,3173,1797,1256,0,0,0,0,0,0
$GC,26794,0.67,383.5,193.4,8.1,469,26798,0.00,2.40,0.00,0.000,4,0.000,0.059,3173,390,1256,0,0,0,0,0,0
$GC,27028,0.67,383.5,176.6,6.1,472,27033,0.00,2.28,0.00,0.000,6,0.000,0.034,3173,1804,1256,0,0,0,0,0,0
$GC,27786,0.67,395.9,139.1,4.9,485,27804,0.00,2.42,11.62,0.806,4,0.000,0.059,3173,390,1213,0,0,0,0,0,0
$GC,27933,0.67,395.9,129.8,5.6,487,27937,0.00,2.25,0.00,0.000,6,0.000,0.034,3173,1807,1212,0,0,0,0,0,0
$GC,28656,0.67,395.9,81.9,5.5,501,28660,0.00,2.40,0.00,0.000,4,0.000,0.058,3173,393,1212,0,0,0,0,0,0
$GC,28903,0.67,396.8,69.7,5.3,506,28907,0.00,2.22,0.00,0.000,6,0.000,0.032,3173,1812,1211,0,0,0,0,0,0
$GC,29632,0.67,396.8,27.7,5.9,538,29636,0.00,0.90,0.00,0.000,4,0.000,0.053,3173,1265,1211,0,0,0,0,0,0
$GC,29692,0.67,396.8,24.0,6.0,543,29696,0.00,0.82,0.00,0.000,6,0.000,0.035,3173,1808,1211,0,0,0,0,0,0
$GC,29813,0.67,396.8,17.1,5.8,554,29816,0.00,1.80,0.00,0.000,4,0.000,0.042,3173,2964,1211,0,0,0,0,0,0
$STATE,30067,end climb,SURFACE_DEPTH_REACHED
$STATE,30067,begin surface coast
$FINISH,1.7,1.025538
$STATE,30126,end surface coast,CONTROL_FINISHED_OK
$STATE,30126,begin surface
$SM_CCo,30206,0.00,0.000,0,0,1208,396.89
$SM_GC,3.13,9.10,0.00,0.00,0.060,0.000,0.000,85,1816,1208,-8.90,-0.11,396.89
$IRIDIUM_FIX,-4115.01,-344.26,040213,010134
$TT8_MAMPS,0.026964
$HUMID,50.35
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,21.3,128.681
$10V_AH,9.8,75.462
$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,22.525,122.075,455.725,0.000,0.000,23.376,42.871,341.398,0.000,0.000,34.454,1861.151,25086.461,492.830,3083.969,280.394,0.000,1775.114,0.000,2598.449,0.000,1.014,0.000
$DEVICE_MAMPS,282.285,73.440,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.780,350.881,249.231,56.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,33711,581
$CAP_FILE_SIZE,157511,0
$CFSIZE,2097086464,2018902016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050213,033204,-4129.091,-343.203,60,1.3,63,-22.5