version: 66.07.10.p01
glider: 574
mission: 4
dive: 555
start: 2 7 113 2 55 33
data:
$ID,574
$MISSION,4
$DIVE,555
$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,-9967.2949
$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,30
$R_STBD_OVSHOOT,41
$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,534
$GPS1,070213,024805,-4131.030,-339.530,32,0.9,32,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-75.2
$GPS2,070213,025508,-4131.029,-339.465,18,1.6,18,-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,171.6,84111,-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,25,-0.65,-107.0,0.0,0.0,0,50,0.00,0.00,-22.70,0.000,2,0.000,0.000,69,1704,1424,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.1,-2.6,2,132,12.05,2.35,-60.30,0.000,4,0.261,0.070,2695,310,3266,0,0,0,0,0,0
$GC,139,-0.36,-107.0,8.4,-13.0,9,146,0.35,2.22,0.00,0.000,6,0.135,0.033,2792,1712,3266,0,0,0,0,0,0
$GC,254,-0.36,-107.0,21.3,-11.6,20,258,0.00,2.35,0.00,0.000,4,0.000,0.059,2792,317,3267,0,0,0,0,0,0
$GC,436,-0.36,-107.0,40.8,-8.7,31,441,0.00,2.22,0.00,0.000,6,0.000,0.032,2792,1726,3267,0,0,0,0,0,0
$GC,886,-0.36,-107.0,89.5,-12.4,47,890,0.00,2.25,0.00,0.000,4,0.000,0.047,2792,3126,3268,0,0,0,0,0,0
$GC,1145,-0.36,-107.0,121.2,-12.0,51,1150,0.00,2.25,0.00,0.000,6,0.000,0.040,2792,1715,3268,0,0,0,0,0,0
$GC,1879,-0.36,-107.0,204.5,-10.7,64,1883,0.00,2.28,0.00,0.000,4,0.000,0.046,2792,3128,3268,0,0,0,0,0,0
$GC,2136,-0.36,-107.0,229.3,-9.4,67,2142,0.00,2.25,0.00,0.000,6,0.000,0.040,2792,1720,3268,0,0,0,0,0,0
$GC,2870,-0.36,-107.0,297.1,-10.2,80,2875,0.00,2.28,0.00,0.000,4,0.000,0.045,2792,3129,3269,0,0,0,0,0,0
$GC,3128,-0.36,-107.0,325.3,-11.0,83,3134,0.00,2.25,0.00,0.000,6,0.000,0.039,2792,1713,3268,0,0,0,0,0,0
$GC,3862,-0.36,-107.0,398.9,-9.2,96,3866,0.00,2.28,0.00,0.000,4,0.000,0.045,2792,3129,3268,0,0,0,0,0,0
$GC,4120,-0.36,-107.0,422.1,-10.7,99,4124,0.00,2.28,0.00,0.000,6,0.000,0.037,2792,1713,3268,0,0,0,0,0,0
$GC,4860,-0.36,-107.0,496.1,-10.5,112,4864,0.00,2.28,0.00,0.000,4,0.000,0.044,2792,3132,3268,0,0,0,0,0,0
$GC,5117,-0.36,-107.0,524.6,-10.8,115,5122,0.00,2.25,0.00,0.000,6,0.000,0.037,2792,1709,3267,0,0,0,0,0,0
$GC,5851,-0.36,-107.0,610.5,-12.1,128,5855,0.00,1.60,0.00,0.000,4,0.000,0.041,2792,2710,3266,0,0,0,0,0,0
$GC,6060,-0.36,-107.0,636.3,-12.3,131,6063,0.00,1.58,0.00,0.000,6,0.000,0.038,2792,1722,3266,0,0,0,0,0,0
$GC,6789,-0.36,-107.0,724.5,-11.5,143,6793,0.00,1.33,0.00,0.000,4,0.000,0.052,2792,910,3264,0,0,0,0,0,0
$GC,6900,-0.36,-107.0,737.6,-11.5,144,6905,0.00,1.27,0.00,0.000,6,0.000,0.031,2791,1733,3264,0,0,0,0,0,0
$GC,7651,-0.36,-107.0,819.9,-10.8,157,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1733,3263,0,0,0,0,0,0
$GC,8379,-0.36,-107.0,892.1,-9.5,169,8382,0.00,1.08,0.00,0.000,4,0.000,0.040,2792,2439,3261,0,0,0,0,0,0
$GC,8582,-0.36,-107.0,910.3,-8.7,172,8586,0.00,1.15,0.00,0.000,6,0.000,0.041,2792,1710,3261,0,0,0,0,0,0
$STATE,8708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8709,begin apogee
$GC,8714,-0.28,0.0,921.7,8.8,174,8810,0.12,0.00,93.53,1.409,6,0.126,0.000,2831,1915,2827,0,0,0,0,0,0
$STATE,8811,end apogee,CONTROL_FINISHED_OK
$STATE,8811,begin loiter
$GC,9498,-0.26,279.2,986.8,-9.3,187,9760,0.00,2.55,251.98,1.447,4,0.000,0.043,2824,3277,1687,0,0,0,0,0,0
$GC,9828,-0.26,279.2,1002.1,1.5,192,9832,0.00,2.38,0.00,0.000,6,0.000,0.036,2824,1910,1683,0,0,0,0,0,0
$GC,10595,-0.26,279.2,985.0,2.5,205,10599,0.00,0.98,0.00,0.000,4,0.000,0.041,2824,2529,1676,0,0,0,0,0,0
$GC,10852,-0.26,279.2,976.9,3.9,208,10857,0.00,1.00,0.00,0.000,6,0.000,0.041,2824,1896,1675,0,0,0,0,0,0
$GC,11593,-0.26,279.2,949.3,4.0,221,11596,0.00,1.15,0.00,0.000,4,0.000,0.040,2824,2623,1674,0,0,0,0,0,0
$GC,11852,-0.26,279.2,938.7,5.0,224,11855,0.00,1.15,0.00,0.000,6,0.000,0.041,2824,1901,1673,0,0,0,0,0,0
$GC,12591,-0.26,279.2,909.1,3.8,237,12595,0.00,2.22,0.00,0.000,4,0.000,0.044,2818,3283,1672,0,0,0,0,0,0
$GC,12653,-0.26,279.2,906.7,4.9,238,12657,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,1901,1671,0,0,0,0,0,0
$GC,13382,-0.26,279.2,886.0,2.6,250,13385,0.00,1.02,0.00,0.000,4,0.000,0.040,2814,2562,1671,0,0,0,0,0,0
$GC,13640,-0.26,279.2,878.7,2.2,253,13644,0.03,1.05,0.00,0.000,6,0.165,0.042,2824,1895,1671,0,0,0,0,0,0
$GC,14379,-0.26,279.2,854.7,3.6,266,14383,0.00,2.25,0.00,0.000,4,0.000,0.045,2817,3282,1671,0,0,0,0,0,0
$GC,14473,-0.26,279.2,850.9,4.1,267,14478,0.05,2.22,0.00,0.000,6,0.197,0.037,2828,1883,1670,0,0,0,0,0,0
$GC,15235,-0.26,279.2,827.9,2.4,280,15239,0.00,2.30,0.00,0.000,4,0.000,0.055,2828,500,1670,0,0,0,0,0,0
$GC,15348,-0.26,279.2,825.7,1.6,281,15352,0.00,2.15,0.00,0.000,6,0.000,0.031,2823,1885,1669,0,0,0,0,0,0
$GC,16093,-0.26,279.2,812.3,2.3,294,16097,0.00,2.25,0.00,0.000,4,0.000,0.044,2813,3297,1669,0,0,0,0,0,0
$GC,16250,-0.26,279.2,807.2,3.9,296,16255,0.08,2.22,0.00,0.000,6,0.168,0.040,2829,1900,1669,0,0,0,0,0,0
$GC,17012,-0.26,279.2,777.9,3.9,309,17016,0.00,2.35,0.00,0.000,4,0.000,0.056,2830,496,1669,0,0,0,0,0,0
$GC,17141,-0.26,279.2,773.4,3.1,311,17145,0.00,2.20,0.00,0.000,6,0.000,0.033,2823,1910,1669,0,0,0,0,0,0
$GC,17870,-0.26,279.2,759.0,1.1,323,17874,0.00,2.22,0.00,0.000,4,0.000,0.046,2813,3303,1669,0,0,0,0,0,0
$GC,18127,-0.26,279.2,756.5,0.9,326,18133,0.08,2.28,0.00,0.000,6,0.168,0.040,2830,1888,1669,0,0,0,0,0,0
$GC,18861,-0.26,279.2,748.1,1.7,339,18865,0.00,1.65,0.00,0.000,4,0.000,0.054,2830,905,1669,0,0,0,0,0,0
$GC,19040,-0.26,279.2,743.6,2.7,341,19044,0.00,1.58,0.00,0.000,6,0.000,0.034,2824,1899,1669,0,0,0,0,0,0
$STATE,19607,end loiter,LOITER_COMPLETE
$STATE,19608,begin climb
$GC,19610,0.65,107.0,728.0,0.0,351,19615,1.00,1.85,0.00,0.000,4,0.128,0.042,3113,3030,1669,0,0,0,0,0,0
$GC,19867,0.66,167.6,719.7,3.3,354,19873,0.00,1.85,0.00,0.000,6,0.000,0.043,3120,1901,1669,0,0,0,0,0,0
$GC,20602,0.66,225.7,695.6,3.3,367,20605,0.00,0.82,0.00,0.000,4,0.000,0.054,3122,1386,1669,0,0,0,0,0,0
$GC,20820,0.66,286.2,688.5,3.3,370,20830,0.00,0.80,4.43,0.808,6,0.000,0.040,3122,1902,1660,0,0,0,0,0,0
$GC,21600,0.67,324.0,659.1,4.0,383,21640,0.00,0.00,37.97,1.249,6,0.000,0.000,3123,1902,1505,0,0,0,0,0,0
$GC,22387,0.67,339.9,617.6,4.8,396,22408,0.00,2.38,15.45,1.131,4,0.000,0.057,3131,493,1440,0,0,0,0,0,0
$GC,22660,0.67,379.2,605.1,4.0,400,22705,0.00,2.22,37.55,1.202,6,0.000,0.037,3131,1907,1280,0,0,0,0,0,0
$GC,23440,0.67,392.8,566.7,4.8,413,23455,0.00,0.00,12.90,1.082,6,0.000,0.000,3131,1907,1224,0,0,0,0,0,0
$GC,24167,0.67,392.8,521.6,6.5,425,24171,0.00,2.38,0.00,0.000,4,0.000,0.059,3130,484,1222,0,0,0,0,0,0
$GC,24425,0.67,392.8,504.8,7.2,428,24429,0.00,2.25,0.00,0.000,6,0.000,0.035,3131,1882,1221,0,0,0,0,0,0
$GC,25165,0.67,392.8,457.0,6.5,441,25169,0.00,2.30,0.00,0.000,4,0.000,0.047,3131,3304,1220,0,0,0,0,0,0
$GC,25422,0.67,392.8,438.8,7.9,444,25426,0.00,2.28,0.00,0.000,6,0.000,0.041,3134,1895,1220,0,0,0,0,0,0
$GC,26162,0.67,392.8,383.6,7.0,457,26166,0.00,1.38,0.00,0.000,4,0.000,0.055,3134,1064,1220,0,0,0,0,0,0
$GC,26421,0.67,392.8,367.7,5.5,460,26425,0.00,1.35,0.00,0.000,6,0.000,0.036,3134,1914,1220,0,0,0,0,0,0
$GC,27161,0.67,392.8,322.6,6.1,473,27164,0.00,1.90,0.00,0.000,4,0.000,0.045,3134,3105,1221,0,0,0,0,0,0
$GC,27418,0.67,417.2,305.5,4.5,476,27448,0.00,1.98,23.25,0.984,6,0.000,0.041,3140,1894,1126,0,0,0,0,0,0
$GC,28161,0.67,417.2,249.0,8.2,489,28163,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1894,1123,0,0,0,0,0,0
$GC,28889,0.67,417.2,194.9,6.3,501,28893,0.00,2.38,0.00,0.000,4,0.000,0.058,3140,489,1124,0,0,0,0,0,0
$GC,28983,0.67,434.0,190.1,4.7,502,29004,0.00,2.22,16.42,0.871,6,0.000,0.033,3140,1911,1056,0,0,0,0,0,0
$GC,29740,0.67,434.0,143.6,8.0,515,29744,0.00,2.38,0.00,0.000,4,0.000,0.058,3140,499,1054,0,0,0,0,0,0
$GC,29997,0.67,434.0,121.0,8.6,518,30002,0.00,2.20,0.00,0.000,6,0.000,0.031,3139,1886,1052,0,0,0,0,0,0
$GC,30713,0.67,434.0,57.4,10.6,534,30717,0.00,2.35,0.00,0.000,4,0.000,0.059,3140,499,1052,0,0,0,0,0,0
$GC,30804,0.67,434.0,49.9,7.5,538,30808,0.00,2.17,0.00,0.000,6,0.000,0.031,3140,1906,1051,0,0,0,0,0,0
$GC,31228,0.67,440.7,29.1,5.1,559,31241,0.00,2.40,3.25,0.467,4,0.000,0.058,3140,503,1029,0,0,0,0,0,0
$GC,31371,0.67,440.7,21.0,6.2,571,31375,0.00,2.17,0.00,0.000,6,0.000,0.031,3140,1904,1029,0,0,0,0,0,0
$GC,31486,0.67,440.7,13.5,6.5,581,31490,0.00,2.40,0.00,0.000,4,0.000,0.059,3140,492,1029,0,0,0,0,0,0
$GC,31574,0.67,440.7,7.1,8.6,588,31578,0.00,2.17,0.00,0.000,6,0.000,0.030,3140,1910,1029,0,0,0,0,0,0
$STATE,31634,end climb,SURFACE_DEPTH_REACHED
$STATE,31634,begin surface coast
$FINISH,1.7,1.013099
$STATE,31678,end surface coast,CONTROL_FINISHED_OK
$STATE,31678,begin surface
$SM_CCo,31756,0.00,0.000,0,0,1027,441.53
$SM_GC,2.88,8.95,0.00,0.00,0.057,0.000,0.000,86,1704,1027,-8.80,-0.45,441.53
$IRIDIUM_FIX,-4115.01,-341.39,060213,171759
$TT8_MAMPS,0.026964
$HUMID,50.70
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.3,129.903
$10V_AH,9.8,76.046
$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,22.700,130.300,496.725,0.000,0.000,27.787,39.731,216.000,0.000,0.000,20.847,1940.345,26344.043,537.078,3094.020,263.758,0.000,1911.931,0.000,2747.150,0.000,1.014,0.000
$DEVICE_MAMPS,260.865,70.380,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.097,311.052,252.743,50.614,0.000,0.000,0.000,0.000,0.000,0.000
$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,33674,597
$CAP_FILE_SIZE,165610,0
$CFSIZE,2097086464,2018082816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070213,114605,-4131.356,-338.177,39,0.9,40,-22.5