version: 66.07.10.p01
glider: 574
mission: 4
dive: 556
start: 2 7 113 11 53 25
data:
$ID,574
$MISSION,4
$DIVE,556
$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,-9969.6426
$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,36
$R_STBD_OVSHOOT,46
$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,535
$GPS1,070213,114605,-4131.356,-338.177,39,0.9,40,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-75.7
$GPS2,070213,115300,-4131.312,-338.155,18,0.9,18,-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,172.5,82748,-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,-107.0,0.0,0.0,0,40,0.00,0.00,-12.27,0.000,2,0.000,0.000,69,1699,1343,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,132,12.10,1.55,-69.80,0.000,4,0.262,0.061,2692,2648,3262,0,0,0,0,0,0
$GC,183,-0.65,-107.0,11.8,-12.0,13,186,0.00,1.50,0.00,0.000,6,0.000,0.045,2692,1724,3264,0,0,0,0,0,0
$GC,303,-0.65,-107.0,26.1,-11.9,24,307,0.05,1.70,0.00,0.000,4,0.216,0.061,2705,709,3264,0,0,0,0,0,0
$GC,564,-0.65,-107.0,53.4,-8.5,37,568,0.00,1.58,0.00,0.000,6,0.000,0.034,2702,1704,3265,0,0,0,0,0,0
$GC,1004,-0.65,-107.0,101.1,-12.4,50,1007,0.00,1.73,0.00,0.000,4,0.000,0.054,2702,659,3266,0,0,0,0,0,0
$GC,1261,-0.65,-107.0,135.6,-11.5,53,1266,0.00,1.67,0.00,0.000,6,0.000,0.034,2702,1715,3266,0,0,0,0,0,0
$GC,2002,-0.65,-107.0,208.2,-9.1,66,2005,0.00,2.28,0.00,0.000,4,0.000,0.048,2701,3128,3267,0,0,0,0,0,0
$GC,2051,-0.65,-107.0,212.9,-9.3,66,2055,0.00,2.28,0.00,0.000,6,0.000,0.038,2701,1711,3266,0,0,0,0,0,0
$GC,2797,-0.65,-107.0,282.2,-9.7,79,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1710,3267,0,0,0,0,0,0
$GC,3524,-0.65,-107.0,360.2,-10.8,91,3528,0.00,2.17,0.00,0.000,4,0.000,0.045,2701,3057,3266,0,0,0,0,0,0
$GC,3579,-0.65,-107.0,366.1,-10.5,91,3584,0.00,2.15,0.00,0.000,6,0.000,0.037,2701,1713,3266,0,0,0,0,0,0
$GC,4313,-0.65,-107.0,440.0,-10.0,104,4317,0.00,2.30,0.00,0.000,4,0.000,0.044,2701,3133,3266,0,0,0,0,0,0
$GC,4407,-0.65,-107.0,450.2,-11.4,105,4411,0.00,2.22,0.00,0.000,6,0.000,0.037,2701,1719,3266,0,0,0,0,0,0
$GC,5175,-0.65,-107.0,532.4,-10.2,118,5178,0.00,1.15,0.00,0.000,4,0.000,0.053,2701,1010,3265,0,0,0,0,0,0
$GC,5432,-0.65,-107.0,556.8,-9.2,121,5437,0.00,1.12,0.00,0.000,6,0.000,0.032,2701,1737,3265,0,0,0,0,0,0
$GC,6173,-0.65,-107.0,621.7,-9.0,134,6176,0.00,0.62,0.00,0.000,4,0.000,0.049,2701,1342,3263,0,0,0,0,0,0
$GC,6430,-0.65,-107.0,646.4,-9.8,137,6434,0.00,0.60,0.00,0.000,6,0.000,0.036,2701,1737,3263,0,0,0,0,0,0
$GC,7170,-0.65,-107.0,721.4,-10.0,150,7174,0.00,2.38,0.00,0.000,4,0.000,0.054,2701,313,3262,0,0,0,0,0,0
$GC,7306,-0.65,-107.0,735.2,-9.9,152,7310,0.00,2.17,0.00,0.000,6,0.000,0.031,2701,1706,3261,0,0,0,0,0,0
$GC,8035,-0.65,-107.0,805.3,-9.4,164,8038,0.00,1.65,0.00,0.000,4,0.000,0.043,2701,2744,3259,0,0,0,0,0,0
$GC,8079,-0.65,-107.0,809.8,-10.2,164,8083,0.00,1.62,0.00,0.000,6,0.000,0.038,2701,1722,3259,0,0,0,0,0,0
$GC,8830,-0.65,-107.0,880.7,-9.4,177,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1722,3258,0,0,0,0,0,0
$STATE,9252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9252,begin apogee
$GC,9258,-0.28,0.0,920.6,9.5,184,9353,0.40,0.00,92.43,1.411,6,0.101,0.000,2828,1916,2826,0,0,0,0,0,0
$STATE,9354,end apogee,CONTROL_FINISHED_OK
$STATE,9354,begin loiter
$GC,10042,-0.26,264.9,989.9,-8.9,197,10289,0.00,2.72,237.30,1.442,4,0.000,0.052,2828,501,1747,0,0,0,0,0,0
$GC,10440,-0.26,264.9,1000.0,2.4,203,10445,0.00,2.28,0.00,0.000,6,0.000,0.031,2823,1894,1738,0,0,0,0,0,0
$GC,11214,-0.26,264.9,984.2,1.6,216,11218,0.00,2.25,0.00,0.000,4,0.000,0.045,2813,3300,1734,0,0,0,0,0,0
$GC,11466,-0.26,264.9,980.4,1.8,219,11471,0.08,2.25,0.00,0.000,6,0.164,0.039,2830,1904,1732,0,0,0,0,0,0
$GC,12206,-0.26,264.9,969.5,1.6,232,12209,0.00,2.17,0.00,0.000,4,0.000,0.044,2822,3246,1732,0,0,0,0,0,0
$GC,12403,-0.26,264.9,966.2,1.6,235,12407,0.00,2.12,0.00,0.000,6,0.000,0.039,2822,1896,1731,0,0,0,0,0,0
$GC,13132,-0.26,264.9,957.4,1.2,247,13136,0.00,2.33,0.00,0.000,4,0.000,0.056,2822,492,1731,0,0,0,0,0,0
$GC,13209,-0.26,264.9,956.5,1.2,248,13214,0.08,2.25,0.00,0.000,6,0.191,0.034,2831,1938,1731,0,0,0,0,0,0
$GC,13928,-0.26,264.9,945.4,2.0,260,13931,0.00,2.20,0.00,0.000,4,0.000,0.046,2823,3298,1731,0,0,0,0,0,0
$GC,14050,-0.26,264.9,942.1,2.7,261,14054,0.00,2.25,0.00,0.000,6,0.000,0.040,2823,1893,1731,0,0,0,0,0,0
$GC,14790,-0.26,264.9,917.1,3.9,274,14794,0.00,2.35,0.00,0.000,4,0.000,0.056,2822,493,1731,0,0,0,0,0,0
$GC,15042,-0.26,264.9,906.6,4.4,277,15046,0.00,2.25,0.00,0.000,6,0.000,0.034,2821,1927,1731,0,0,0,0,0,0
$GC,15782,-0.26,264.9,885.3,2.1,290,15786,0.00,2.22,0.00,0.000,4,0.000,0.047,2811,3298,1731,0,0,0,0,0,0
$GC,15989,-0.26,264.9,882.1,1.1,293,15994,0.08,2.28,0.00,0.000,6,0.165,0.040,2827,1869,1731,0,0,0,0,0,0
$GC,16713,-0.26,264.9,877.2,0.4,305,16717,0.00,1.20,0.00,0.000,4,0.000,0.054,2827,1142,1730,0,0,0,0,0,0
$GC,16972,-0.26,264.9,875.9,0.9,308,16976,0.00,1.20,0.00,0.000,6,0.000,0.035,2823,1907,1731,0,0,0,0,0,0
$GC,17711,-0.26,264.9,861.6,2.7,321,17713,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1907,1731,0,0,0,0,0,0
$GC,18439,-0.26,264.9,835.9,3.8,333,18443,0.00,2.25,0.00,0.000,4,0.000,0.047,2815,3305,1731,0,0,0,0,0,0
$GC,18623,-0.26,264.9,828.1,4.1,335,18627,0.08,2.25,0.00,0.000,6,0.165,0.040,2831,1890,1731,0,0,0,0,0,0
$GC,19363,-0.26,264.9,803.6,2.7,348,19367,0.00,2.28,0.00,0.000,4,0.000,0.045,2823,3295,1731,0,0,0,0,0,0
$GC,19598,-0.26,264.9,798.8,2.2,351,19602,0.00,2.25,0.00,0.000,6,0.000,0.039,2822,1882,1731,0,0,0,0,0,0
$STATE,20170,end loiter,LOITER_COMPLETE
$STATE,20171,begin climb
$GC,20173,0.65,107.0,795.4,0.0,361,20179,1.02,2.40,0.00,0.000,4,0.128,0.046,3120,3297,1731,0,0,0,0,0,0
$GC,20431,0.66,277.0,795.2,-0.4,364,20446,0.00,2.28,10.52,1.174,6,0.000,0.041,3129,1891,1697,0,0,0,0,0,0
$GC,21167,0.67,382.3,786.2,1.8,377,21277,0.00,2.47,101.18,1.351,4,0.000,0.046,3129,3293,1268,0,0,0,0,0,0
$GC,21530,0.67,382.3,763.0,7.7,382,21534,0.00,2.22,0.00,0.000,6,0.000,0.042,3132,1904,1261,0,0,0,0,0,0
$GC,22286,0.67,382.3,703.4,8.1,395,22290,0.00,0.95,0.00,0.000,4,0.000,0.055,3132,1315,1258,0,0,0,0,0,0
$GC,22545,0.67,382.3,683.0,7.1,398,22549,0.00,0.93,0.00,0.000,6,0.000,0.038,3132,1907,1257,0,0,0,0,0,0
$GC,23285,0.67,382.3,632.9,6.1,411,23289,0.00,2.22,0.00,0.000,4,0.000,0.047,3132,3291,1258,0,0,0,0,0,0
$GC,23542,0.67,382.3,618.1,6.4,414,23547,0.00,2.28,0.00,0.000,6,0.000,0.042,3131,1887,1257,0,0,0,0,0,0
$GC,24276,0.67,384.2,579.1,5.2,427,24280,0.00,1.17,0.00,0.000,4,0.000,0.055,3132,1172,1257,0,0,0,0,0,0
$GC,24534,0.67,395.5,565.8,4.9,430,24550,0.00,1.15,12.27,1.086,6,0.000,0.037,3132,1897,1214,0,0,0,0,0,0
$GC,25274,0.67,395.5,525.7,5.5,443,25279,0.00,2.25,0.00,0.000,4,0.000,0.047,3132,3297,1213,0,0,0,0,0,0
$GC,25532,0.67,395.5,510.3,5.3,446,25538,0.00,2.28,0.00,0.000,6,0.000,0.041,3132,1894,1213,0,0,0,0,0,0
$GC,26266,0.67,395.5,460.1,7.0,459,26268,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1894,1213,0,0,0,0,0,0
$GC,26994,0.67,395.5,412.6,6.0,471,26998,0.00,2.38,0.00,0.000,4,0.000,0.060,3132,495,1213,0,0,0,0,0,0
$GC,27251,0.67,395.5,397.4,5.5,474,27256,0.00,2.25,0.00,0.000,6,0.000,0.035,3132,1910,1212,0,0,0,0,0,0
$GC,27985,0.67,395.5,349.3,6.9,487,27989,0.00,2.03,0.00,0.000,4,0.000,0.058,3132,712,1212,0,0,0,0,0,0
$GC,28181,0.67,395.5,335.5,6.2,489,28186,0.00,1.90,0.00,0.000,6,0.000,0.035,3132,1898,1212,0,0,0,0,0,0
$GC,28915,0.67,395.5,282.6,7.0,502,28919,0.00,0.65,0.00,0.000,4,0.000,0.053,3132,1492,1212,0,0,0,0,0,0
$GC,29021,0.67,395.5,275.7,6.5,503,29025,0.00,0.68,0.00,0.000,6,0.000,0.039,3132,1927,1212,0,0,0,0,0,0
$GC,29778,0.67,402.8,236.0,5.0,516,29792,0.00,1.50,7.97,0.799,4,0.000,0.055,3132,1050,1185,0,0,0,0,0,0
$GC,30046,0.67,402.8,218.9,6.5,520,30050,0.00,1.33,0.00,0.000,6,0.000,0.036,3132,1891,1185,0,0,0,0,0,0
$GC,30781,0.67,402.8,157.8,9.1,532,30785,0.00,2.38,0.00,0.000,4,0.000,0.059,3132,499,1185,0,0,0,0,0,0
$GC,31038,0.67,402.8,137.1,7.3,535,31043,0.00,2.22,0.00,0.000,6,0.000,0.033,3131,1914,1185,0,0,0,0,0,0
$GC,31774,0.67,402.8,80.9,6.7,550,31778,0.00,2.42,0.00,0.000,4,0.000,0.060,3132,499,1185,0,0,0,0,0,0
$GC,31862,0.67,402.8,75.2,5.8,552,31866,0.00,2.20,0.00,0.000,6,0.000,0.031,3132,1893,1185,0,0,0,0,0,0
$GC,32601,0.67,436.6,48.6,4.2,580,32642,0.00,2.30,32.47,0.812,4,0.000,0.044,3131,3297,1047,0,0,0,0,0,0
$GC,32704,0.67,436.6,41.9,7.5,584,32712,0.00,2.28,0.00,0.000,6,0.000,0.041,3132,1894,1045,0,0,0,0,0,0
$GC,33133,0.67,436.6,11.9,6.7,617,33136,0.00,1.00,0.00,0.000,4,0.000,0.054,3132,1278,1043,0,0,0,0,0,0
$STATE,33273,end climb,SURFACE_DEPTH_REACHED
$STATE,33274,begin surface coast
$FINISH,1.9,1.005934
$STATE,33319,end surface coast,CONTROL_FINISHED_OK
$STATE,33319,begin surface
$SM_CCo,33398,0.00,0.000,0,0,1039,438.59
$SM_GC,3.01,8.80,0.00,0.00,0.054,0.000,0.000,77,1743,1039,-8.81,0.65,438.59
$IRIDIUM_FIX,-4117.88,-338.71,070213,020201
$TT8_MAMPS,0.026964
$HUMID,50.70
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.4,130.106
$10V_AH,9.8,76.144
$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,22.675,128.875,494.150,0.000,0.000,27.829,41.521,205.088,0.000,0.000,20.511,2023.490,27788.404,529.637,3210.139,261.408,0.000,1950.192,0.000,2868.687,0.000,1.014,0.000
$DEVICE_MAMPS,261.630,61.200,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.456,340.749,268.169,54.427,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,36889,633
$CAP_FILE_SIZE,168613,0
$CFSIZE,2097086464,2017951744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070213,211123,-4132.354,-337.379,43,1.4,43,-22.5