version: 66.07.10.p01
glider: 574
mission: 4
dive: 554
start: 2 6 113 17 34 50
data:
$ID,574
$MISSION,4
$DIVE,554
$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,-9964.959
$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,2920
$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,1720
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,44
$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,533
$GPS1,060213,172659,-4131.090,-340.102,132,1.0,132,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-76.2
$GPS2,060213,173425,-4131.104,-340.064,19,1.2,19,-22.5
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4210.000,-308.000
$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,171.1,84419,-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,-12.32,0.000,2,0.000,0.000,69,1682,1491,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.2,-0.0,1,121,12.25,2.40,-54.20,0.000,4,0.265,0.059,2687,3115,3266,0,0,0,0,0,0
$GC,184,-0.65,-107.0,16.8,-11.9,13,192,0.05,2.22,0.00,0.000,6,0.137,0.042,2705,1738,3267,0,0,0,0,0,0
$GC,299,-0.65,-107.0,29.8,-11.6,24,303,0.00,2.20,0.00,0.000,4,0.000,0.059,2705,418,3267,0,0,0,0,0,0
$GC,422,-0.65,-107.0,44.1,-11.3,29,428,0.00,2.03,0.00,0.000,6,0.000,0.031,2702,1707,3268,0,0,0,0,0,0
$GC,838,-0.65,-107.0,89.5,-12.0,44,841,0.00,0.40,0.00,0.000,4,0.000,0.051,2702,1446,3268,0,0,0,0,0,0
$GC,1084,-0.65,-107.0,122.7,-11.9,48,1088,0.00,0.45,0.00,0.000,6,0.000,0.038,2702,1751,3268,0,0,0,0,0,0
$GC,1835,-0.65,-107.0,187.1,-9.0,61,1839,0.00,2.42,0.00,0.000,4,0.000,0.057,2702,307,3269,0,0,0,0,0,0
$GC,1987,-0.65,-107.0,202.3,-10.5,63,1991,0.00,2.17,0.00,0.000,6,0.000,0.032,2702,1700,3269,0,0,0,0,0,0
$GC,2755,-0.65,-107.0,285.3,-11.4,76,2759,0.00,2.33,0.00,0.000,4,0.000,0.057,2702,316,3269,0,0,0,0,0,0
$GC,2888,-0.65,-107.0,301.7,-12.1,78,2892,0.00,2.20,0.00,0.000,6,0.000,0.031,2701,1740,3269,0,0,0,0,0,0
$GC,3618,-0.65,-107.0,390.7,-12.3,90,3622,0.00,2.28,0.00,0.000,4,0.000,0.057,2702,386,3269,0,0,0,0,0,0
$GC,3724,-0.65,-107.0,403.6,-11.9,91,3728,0.00,2.10,0.00,0.000,6,0.000,0.032,2702,1719,3269,0,0,0,0,0,0
$GC,4475,-0.65,-107.0,487.6,-10.9,104,4479,0.00,2.38,0.00,0.000,4,0.000,0.057,2702,315,3268,0,0,0,0,0,0
$GC,4608,-0.65,-107.0,502.3,-11.2,106,4613,0.00,2.20,0.00,0.000,6,0.000,0.032,2701,1740,3269,0,0,0,0,0,0
$GC,5338,-0.65,-107.0,570.2,-8.8,118,5342,0.00,2.22,0.00,0.000,4,0.000,0.047,2701,3121,3268,0,0,0,0,0,0
$GC,5427,-0.65,-107.0,578.3,-9.1,119,5431,0.00,2.25,0.00,0.000,6,0.000,0.035,2701,1695,3267,0,0,0,0,0,0
$GC,6195,-0.65,-107.0,652.9,-10.4,132,6199,0.00,2.25,0.00,0.000,4,0.000,0.053,2701,317,3266,0,0,0,0,0,0
$GC,6380,-0.65,-107.0,673.5,-11.4,134,6384,0.00,2.20,0.00,0.000,6,0.000,0.028,2701,1719,3265,0,0,0,0,0,0
$GC,7120,-0.65,-107.0,750.9,-10.1,147,7124,0.00,2.22,0.00,0.000,4,0.000,0.054,2701,381,3264,0,0,0,0,0,0
$GC,7226,-0.65,-107.0,761.6,-9.8,148,7230,0.00,2.10,0.00,0.000,6,0.000,0.030,2701,1719,3264,0,0,0,0,0,0
$GC,7977,-0.65,-107.0,831.4,-9.7,161,7981,0.00,2.35,0.00,0.000,4,0.000,0.054,2701,317,3263,0,0,0,0,0,0
$GC,8155,-0.65,-107.0,849.6,-10.6,163,8159,0.00,2.22,0.00,0.000,6,0.000,0.031,2701,1718,3262,0,0,0,0,0,0
$STATE,8838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8838,begin apogee
$GC,8844,-0.28,0.0,922.2,10.4,175,8940,0.40,0.00,93.53,1.401,6,0.098,0.000,2830,1923,2827,0,0,0,0,0,0
$STATE,8941,end apogee,CONTROL_FINISHED_OK
$STATE,8941,begin loiter
$GC,9628,-0.26,257.8,992.2,-8.6,188,9871,0.00,2.53,231.23,1.450,4,0.000,0.044,2822,3282,1774,0,0,0,0,0,0
$GC,10123,-0.26,257.8,998.3,3.0,195,10127,0.00,2.25,0.00,0.000,6,0.000,0.039,2822,1898,1767,0,0,0,0,0,0
$GC,10869,-0.26,257.8,985.7,1.2,208,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1898,1763,0,0,0,0,0,0
$GC,11596,-0.26,257.8,977.2,1.5,220,11601,0.00,2.33,0.00,0.000,4,0.000,0.055,2822,495,1762,0,0,0,0,0,0
$GC,11612,-0.26,257.8,977.2,1.3,220,11617,0.05,2.22,0.00,0.000,6,0.222,0.034,2827,1890,1761,0,0,0,0,0,0
$GC,12387,-0.26,257.8,961.3,2.3,233,12391,0.00,2.35,0.00,0.000,4,0.000,0.057,2827,495,1761,0,0,0,0,0,0
$GC,12570,-0.26,257.8,957.0,2.8,235,12575,0.00,2.25,0.00,0.000,6,0.000,0.033,2821,1941,1760,0,0,0,0,0,0
$GC,13311,-0.26,257.8,941.5,2.0,248,13315,0.00,2.42,0.00,0.000,4,0.000,0.056,2821,498,1761,0,0,0,0,0,0
$GC,13522,-0.26,257.8,937.6,2.4,251,13527,0.05,2.22,0.00,0.000,6,0.148,0.032,2836,1899,1761,0,0,0,0,0,0
$GC,14241,-0.26,257.8,933.6,0.1,263,14244,0.00,2.00,0.00,0.000,4,0.000,0.056,2836,700,1760,0,0,0,0,0,0
$GC,14498,-0.26,257.8,933.6,0.3,266,14503,0.00,1.90,0.00,0.000,6,0.000,0.032,2832,1905,1760,0,0,0,0,0,0
$GC,15238,-0.26,257.8,930.8,0.7,279,15242,0.00,2.35,0.00,0.000,4,0.000,0.055,2832,498,1760,0,0,0,0,0,0
$GC,15254,-0.26,257.8,930.6,0.8,279,15258,0.00,2.22,0.00,0.000,6,0.000,0.031,2823,1930,1760,0,0,0,0,0,0
$GC,16028,-0.26,257.8,914.9,2.8,292,16029,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1936,1760,0,0,0,0,0,0
$GC,16755,-0.26,257.8,893.7,2.6,304,16759,0.00,0.85,0.00,0.000,4,0.000,0.050,2823,1410,1760,0,0,0,0,0,0
$GC,17013,-0.26,257.8,888.2,2.7,307,17017,0.00,0.77,0.00,0.000,6,0.000,0.039,2823,1906,1760,0,0,0,0,0,0
$GC,17753,-0.26,257.8,879.8,0.9,320,17757,0.00,2.20,0.00,0.000,4,0.000,0.047,2813,3259,1760,0,0,0,0,0,0
$GC,18010,-0.26,257.8,877.2,1.3,323,18016,0.08,2.20,0.00,0.000,6,0.168,0.037,2832,1877,1760,0,0,0,0,0,0
$GC,18744,-0.26,257.8,867.5,1.7,336,18748,0.00,2.33,0.00,0.000,4,0.000,0.054,2832,491,1760,0,0,0,0,0,0
$GC,19001,-0.26,257.8,862.0,1.6,339,19006,0.00,2.22,0.00,0.000,6,0.000,0.031,2824,1896,1760,0,0,0,0,0,0
$STATE,19733,end loiter,LOITER_COMPLETE
$STATE,19733,begin climb
$GC,19736,0.65,107.0,845.5,0.0,352,19741,1.00,2.35,0.00,0.000,4,0.123,0.044,3112,3303,1761,0,0,0,0,0,0
$GC,19994,0.66,246.4,840.7,0.6,355,19999,0.00,2.25,0.00,0.000,6,0.000,0.039,3121,1900,1762,0,0,0,0,0,0
$GC,20728,0.67,398.7,836.0,0.2,368,20868,0.00,1.52,134.60,1.374,4,0.000,0.037,3121,2790,1201,0,0,0,0,0,0
$GC,21117,0.67,415.2,818.6,4.7,374,21137,0.00,1.45,15.43,1.244,6,0.000,0.043,3121,1896,1134,0,0,0,0,0,0
$GC,21905,0.67,415.2,766.1,7.5,387,21909,0.00,2.25,0.00,0.000,4,0.000,0.044,3121,3304,1127,0,0,0,0,0,0
$GC,22162,0.67,415.2,746.1,8.0,390,22168,0.00,2.25,0.00,0.000,6,0.000,0.039,3126,1891,1126,0,0,0,0,0,0
$GC,22896,0.67,415.2,693.5,6.9,403,22900,0.00,1.17,0.00,0.000,4,0.000,0.054,3131,1171,1124,0,0,0,0,0,0
$GC,23024,0.67,415.2,685.2,6.1,404,23030,0.00,1.15,0.00,0.000,6,0.000,0.034,3131,1906,1122,0,0,0,0,0,0
$GC,23759,0.67,415.2,637.0,6.8,417,23763,0.00,1.05,0.00,0.000,4,0.000,0.041,3131,2580,1122,0,0,0,0,0,0
$GC,24016,0.67,415.2,618.3,7.1,420,24020,0.00,1.08,0.00,0.000,6,0.000,0.044,3131,1900,1122,0,0,0,0,0,0
$GC,24756,0.67,415.2,561.3,7.9,433,24759,0.00,2.10,0.00,0.000,4,0.000,0.057,3131,647,1122,0,0,0,0,0,0
$GC,25013,0.67,415.2,541.6,7.9,436,25018,0.00,2.00,0.00,0.000,6,0.000,0.032,3131,1899,1120,0,0,0,0,0,0
$GC,25753,0.67,415.2,487.3,7.3,449,25757,0.00,1.23,0.00,0.000,4,0.000,0.054,3131,1165,1120,0,0,0,0,0,0
$GC,26012,0.67,415.2,469.5,6.5,452,26016,0.00,1.17,0.00,0.000,6,0.000,0.034,3132,1918,1120,0,0,0,0,0,0
$GC,26752,0.67,415.2,419.6,7.1,465,26755,0.00,0.57,0.00,0.000,4,0.000,0.042,3131,2320,1120,0,0,0,0,0,0
$GC,27009,0.67,415.2,399.5,7.4,468,27014,0.00,0.68,0.00,0.000,6,0.000,0.044,3131,1895,1120,0,0,0,0,0,0
$GC,27749,0.67,415.2,346.6,6.3,481,27754,0.00,2.38,0.00,0.000,4,0.000,0.059,3131,500,1120,0,0,0,0,0,0
$GC,28007,0.67,417.4,332.6,5.2,484,28013,0.00,2.20,0.00,0.000,6,0.000,0.031,3131,1899,1120,0,0,0,0,0,0
$GC,28741,0.67,417.4,291.1,6.1,497,28742,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1908,1120,0,0,0,0,0,0
$GC,29469,0.67,417.4,245.8,6.4,509,29470,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1908,1120,0,0,0,0,0,0
$GC,30196,0.67,417.4,191.9,7.3,521,30200,0.00,1.65,0.00,0.000,4,0.000,0.042,3131,2939,1120,0,0,0,0,0,0
$GC,30409,0.67,424.3,179.7,5.1,524,30423,0.00,1.67,7.65,0.757,6,0.000,0.041,3131,1904,1097,0,0,0,0,0,0
$GC,31193,0.67,424.3,123.5,8.8,537,31197,0.00,2.38,0.00,0.000,4,0.000,0.058,3131,499,1097,0,0,0,0,0,0
$GC,31450,0.67,424.3,105.0,5.9,540,31455,0.00,2.17,0.00,0.000,6,0.000,0.028,3131,1901,1097,0,0,0,0,0,0
$GC,32170,0.67,424.3,54.0,8.4,559,32171,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1910,1097,0,0,0,0,0,0
$GC,32584,0.67,438.8,28.4,4.8,580,32596,0.00,0.00,9.05,0.708,6,0.000,0.000,3131,1909,1036,0,0,0,0,0,0
$GC,32704,0.67,488.1,23.4,3.6,591,32738,0.00,2.25,27.20,0.767,4,0.000,0.043,3131,3290,837,0,0,0,0,0,0
$GC,32986,0.67,488.1,4.0,8.2,615,32994,0.00,2.22,0.00,0.000,6,0.000,0.039,3131,1902,833,0,0,0,0,0,0
$STATE,33004,end climb,SURFACE_DEPTH_REACHED
$STATE,33004,begin surface coast
$FINISH,1.8,1.000472
$STATE,33047,end surface coast,CONTROL_FINISHED_OK
$STATE,33048,begin surface
$SM_CCo,33126,0.00,0.000,0,0,830,489.86
$SM_GC,3.07,8.77,0.00,0.00,0.057,0.000,0.000,87,1710,830,-8.81,-0.28,489.86
$IRIDIUM_FIX,-4115.01,-338.71,060213,070717
$TT8_MAMPS,0.026964
$HUMID,51.14
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.4,129.700
$10V_AH,9.8,75.952
$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,22.650,125.000,518.675,0.000,0.000,31.389,37.560,236.248,0.000,0.000,22.857,1962.884,27690.430,539.714,3122.891,255.208,0.000,1921.611,0.000,2750.384,0.000,1.016,0.000
$DEVICE_MAMPS,265.455,71.910,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.754,314.554,263.246,49.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354732
$DATA_FILE_SIZE,36950,621
$CAP_FILE_SIZE,163846,0
$CFSIZE,2097086464,2018213888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070213,024805,-4131.030,-339.530,32,0.9,32,-22.5