version: 66.07.10.p01
glider: 574
mission: 4
dive: 557
start: 2 7 113 21 18 49
data:
$ID,574
$MISSION,4
$DIVE,557
$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,-9973.3184
$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,32
$R_STBD_OVSHOOT,50
$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,536
$GPS1,070213,211123,-4132.354,-337.379,43,1.4,43,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-75.8
$GPS2,070213,211824,-4132.378,-337.309,17,1.8,17,-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,172.5,80458,-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,-107.0,0.0,0.0,0,35,0.00,0.00,-7.50,0.000,2,0.000,0.000,70,1737,1224,0,0,0,0,0,0
$GC,38,-0.65,-107.0,3.0,-0.0,1,136,11.98,0.93,-76.22,0.000,4,0.259,0.087,2698,1201,3266,0,0,0,0,0,0
$GC,394,-0.65,-107.0,35.5,-12.1,30,402,0.00,0.82,0.00,0.000,6,0.000,0.037,2696,1721,3267,0,0,0,0,0,0
$GC,833,-0.65,-107.0,82.1,-10.5,47,837,0.00,2.38,0.00,0.000,4,0.000,0.057,2696,318,3268,0,0,0,0,0,0
$GC,1090,-0.65,-107.0,111.7,-12.9,52,1096,0.08,2.20,0.00,0.000,6,0.173,0.033,2707,1715,3268,0,0,0,0,0,0
$GC,1824,-0.65,-107.0,197.6,-11.2,65,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1716,3270,0,0,0,0,0,0
$GC,2552,-0.65,-107.0,268.7,-9.8,77,2556,0.00,2.35,0.00,0.000,4,0.000,0.057,2707,320,3271,0,0,0,0,0,0
$GC,2764,-0.65,-107.0,292.3,-12.3,80,2768,0.00,2.22,0.00,0.000,6,0.000,0.033,2705,1727,3271,0,0,0,0,0,0
$GC,3483,-0.65,-107.0,379.2,-12.4,92,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1727,3271,0,0,0,0,0,0
$GC,4210,-0.65,-107.0,450.8,-8.8,104,4214,0.00,2.25,0.00,0.000,4,0.000,0.048,2701,3121,3271,0,0,0,0,0,0
$GC,4345,-0.65,-107.0,462.3,-8.4,106,4349,0.00,2.22,0.00,0.000,6,0.000,0.038,2701,1710,3271,0,0,0,0,0,0
$GC,5074,-0.65,-107.0,537.2,-11.6,118,5078,0.00,2.30,0.00,0.000,4,0.000,0.046,2701,3126,3271,0,0,0,0,0,0
$GC,5179,-0.65,-107.0,550.2,-12.8,119,5183,0.00,2.22,0.00,0.000,6,0.000,0.037,2701,1712,3271,0,0,0,0,0,0
$GC,5930,-0.65,-107.0,637.9,-11.3,132,5934,0.00,2.20,0.00,0.000,4,0.000,0.055,2701,383,3271,0,0,0,0,0,0
$GC,6120,-0.65,-107.0,658.3,-10.3,134,6125,0.00,2.10,0.00,0.000,6,0.000,0.032,2701,1719,3271,0,0,0,0,0,0
$GC,6861,-0.65,-107.0,729.6,-9.4,147,6864,0.00,1.75,0.00,0.000,4,0.000,0.052,2701,657,3270,0,0,0,0,0,0
$GC,7013,-0.65,-107.0,744.1,-9.2,149,7016,0.00,1.67,0.00,0.000,6,0.000,0.031,2702,1738,3270,0,0,0,0,0,0
$GC,7731,-0.65,-107.0,812.1,-9.6,161,7735,0.00,2.40,0.00,0.000,4,0.000,0.055,2701,313,3270,0,0,0,0,0,0
$GC,7865,-0.65,-107.0,825.5,-9.3,163,7869,0.00,2.22,0.00,0.000,6,0.000,0.031,2701,1738,3270,0,0,0,0,0,0
$GC,8595,-0.65,-107.0,895.4,-9.9,175,8599,0.00,2.05,0.00,0.000,4,0.000,0.054,2701,515,3271,0,0,0,0,0,0
$GC,8731,-0.65,-107.0,909.3,-10.7,177,8734,0.00,1.88,0.00,0.000,6,0.000,0.032,2702,1717,3270,0,0,0,0,0,0
$STATE,8857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8863,-0.28,0.0,922.0,9.8,179,8962,0.40,0.00,95.65,1.411,6,0.101,0.000,2829,1926,2827,0,0,0,0,0,0
$STATE,8962,end apogee,CONTROL_FINISHED_OK
$STATE,8963,begin loiter
$GC,9647,-0.26,282.9,997.3,-9.5,192,9909,0.00,0.00,256.00,1.437,6,0.000,0.000,2829,1926,1673,0,0,0,0,0,0
$GC,10677,-0.26,282.9,985.8,3.8,209,10681,0.00,1.83,0.00,0.000,4,0.000,0.054,2829,819,1664,0,0,0,0,0,0
$GC,10935,-0.26,282.9,974.2,5.9,212,10939,0.00,1.70,0.00,0.000,6,0.000,0.033,2823,1890,1662,0,0,0,0,0,0
$GC,11675,-0.26,282.9,937.7,5.1,225,11679,0.00,2.35,0.00,0.000,4,0.000,0.056,2823,495,1662,0,0,0,0,0,0
$GC,11806,-0.26,282.9,931.4,4.3,227,11810,0.00,2.22,0.00,0.000,6,0.000,0.033,2823,1911,1661,0,0,0,0,0,0
$GC,12535,-0.26,282.9,904.8,3.0,239,12538,0.00,2.40,0.00,0.000,4,0.000,0.056,2823,491,1661,0,0,0,0,0,0
$GC,12652,-0.26,282.9,901.8,2.5,240,12656,0.00,2.20,0.00,0.000,6,0.000,0.032,2823,1907,1661,0,0,0,0,0,0
$GC,13397,-0.26,282.9,889.4,1.5,253,13401,0.00,2.38,0.00,0.000,4,0.000,0.056,2822,494,1661,0,0,0,0,0,0
$GC,13407,-0.26,282.9,889.3,1.6,253,13411,0.00,2.20,0.00,0.000,6,0.000,0.032,2822,1910,1661,0,0,0,0,0,0
$GC,14125,-0.26,282.9,873.8,2.7,265,14129,0.00,2.25,0.00,0.000,4,0.000,0.046,2813,3303,1661,0,0,0,0,0,0
$GC,14300,-0.26,282.9,868.4,3.0,267,14305,0.08,2.25,0.00,0.000,6,0.166,0.039,2830,1896,1661,0,0,0,0,0,0
$GC,15050,-0.26,282.9,842.4,3.6,280,15054,0.00,2.25,0.00,0.000,4,0.000,0.045,2821,3295,1661,0,0,0,0,0,0
$GC,15066,-0.26,282.9,841.7,3.7,280,15070,0.00,2.22,0.00,0.000,6,0.000,0.039,2821,1891,1661,0,0,0,0,0,0
$GC,15840,-0.26,282.9,814.8,3.2,293,15843,0.00,1.27,0.00,0.000,4,0.000,0.053,2821,1116,1661,0,0,0,0,0,0
$GC,16097,-0.26,282.9,806.6,3.3,296,16102,0.05,1.23,0.00,0.000,6,0.155,0.034,2832,1900,1661,0,0,0,0,0,0
$GC,16837,-0.26,282.9,785.6,2.5,309,16841,0.00,2.38,0.00,0.000,4,0.000,0.057,2832,500,1661,0,0,0,0,0,0
$GC,16983,-0.26,282.9,782.2,2.3,311,16987,0.00,2.20,0.00,0.000,6,0.000,0.032,2824,1899,1661,0,0,0,0,0,0
$GC,17701,-0.26,282.9,768.0,1.9,323,17705,0.00,2.28,0.00,0.000,4,0.000,0.047,2814,3299,1661,0,0,0,0,0,0
$GC,17898,-0.26,282.9,763.5,2.5,326,17902,0.08,2.25,0.00,0.000,6,0.166,0.040,2831,1897,1662,0,0,0,0,0,0
$GC,18634,-0.26,282.9,742.1,3.6,338,18638,0.00,2.30,0.00,0.000,4,0.000,0.046,2822,3300,1663,0,0,0,0,0,0
$GC,18863,-0.26,282.9,731.8,4.4,341,18868,0.00,2.28,0.00,0.000,6,0.000,0.039,2822,1901,1664,0,0,0,0,0,0
$GC,19631,-0.26,282.9,699.5,3.6,354,19635,0.00,2.38,0.00,0.000,4,0.000,0.057,2822,496,1664,0,0,0,0,0,0
$STATE,19718,end loiter,LOITER_COMPLETE
$STATE,19718,begin climb
$GC,19720,0.65,107.0,696.9,0.0,355,19726,1.10,2.22,0.00,0.000,6,0.134,0.032,3122,1910,1665,0,0,0,0,0,0
$GC,20483,0.66,231.8,684.6,1.1,368,20487,0.00,2.40,0.00,0.000,4,0.000,0.058,3131,496,1667,0,0,0,0,0,0
$GC,20740,0.67,335.7,680.6,1.8,371,20796,0.00,2.25,50.90,1.270,6,0.000,0.037,3131,1916,1458,0,0,0,0,0,0
$GC,21531,0.67,335.7,638.2,6.4,385,21532,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1915,1451,0,0,0,0,0,0
$GC,22258,0.67,335.7,587.9,6.6,397,22262,0.00,0.82,0.00,0.000,4,0.000,0.045,3131,2453,1451,0,0,0,0,0,0
$GC,22516,0.67,335.7,572.0,5.9,400,22520,0.00,0.88,0.00,0.000,6,0.000,0.046,3131,1903,1451,0,0,0,0,0,0
$GC,23256,0.67,358.9,536.8,4.5,413,23282,0.00,2.00,21.77,1.125,4,0.000,0.046,3131,3099,1364,0,0,0,0,0,0
$GC,23535,0.67,358.9,521.0,5.8,417,23539,0.00,1.92,0.00,0.000,6,0.000,0.042,3138,1909,1361,0,0,0,0,0,0
$GC,24253,0.67,358.9,474.5,6.9,429,24255,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1909,1361,0,0,0,0,0,0
$GC,24981,0.67,358.9,427.3,5.9,441,24985,0.00,2.28,0.00,0.000,4,0.000,0.047,3138,3295,1361,0,0,0,0,0,0
$GC,25238,0.67,360.1,413.7,5.2,444,25242,0.00,2.25,0.00,0.000,6,0.000,0.041,3146,1890,1359,0,0,0,0,0,0
$GC,25978,0.67,376.2,380.5,4.8,457,25999,0.00,1.27,16.80,1.004,4,0.000,0.055,3146,1135,1293,0,0,0,0,0,0
$GC,26251,0.67,376.2,363.3,5.6,461,26255,0.00,1.20,0.00,0.000,6,0.000,0.037,3146,1896,1291,0,0,0,0,0,0
$GC,26975,0.67,376.2,310.5,7.6,473,26977,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1896,1291,0,0,0,0,0,0
$GC,27703,0.67,376.2,258.3,6.6,485,27707,0.00,1.95,0.00,0.000,4,0.000,0.045,3146,3098,1291,0,0,0,0,0,0
$GC,27960,0.67,376.2,241.6,6.9,488,27964,0.00,1.95,0.00,0.000,6,0.000,0.042,3146,1903,1291,0,0,0,0,0,0
$GC,28700,0.67,376.2,190.6,7.5,501,28704,0.00,1.52,0.00,0.000,4,0.000,0.042,3146,2850,1291,0,0,0,0,0,0
$GC,28959,0.67,376.2,169.9,8.4,504,28963,0.00,1.55,0.00,0.000,6,0.000,0.043,3146,1896,1291,0,0,0,0,0,0
$GC,29698,0.67,376.2,115.1,6.4,517,29702,0.00,2.28,0.00,0.000,4,0.000,0.045,3146,3297,1291,0,0,0,0,0,0
$GC,29956,0.67,431.2,102.4,3.4,520,30012,0.00,2.22,50.50,0.866,6,0.000,0.038,3146,1900,1068,0,0,0,0,0,0
$GC,30731,0.67,436.8,53.1,5.1,542,30741,0.00,2.30,5.20,0.593,4,0.000,0.054,3146,493,1045,0,0,0,0,0,0
$GC,30996,0.67,436.8,36.1,8.3,554,31000,0.00,2.17,0.00,0.000,6,0.000,0.029,3146,1907,1043,0,0,0,0,0,0
$GC,31428,0.67,436.8,4.3,6.5,591,31429,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1913,1043,0,0,0,0,0,0
$STATE,31447,end climb,SURFACE_DEPTH_REACHED
$STATE,31447,begin surface coast
$FINISH,1.7,1.013019
$STATE,31491,end surface coast,CONTROL_FINISHED_OK
$STATE,31491,begin surface
$SM_CCo,31569,0.00,0.000,0,0,1038,438.83
$SM_GC,2.99,8.73,0.00,0.00,0.047,0.000,0.000,86,1702,1038,-8.80,-0.51,438.83
$IRIDIUM_FIX,-4117.88,-335.84,070213,111102
$TT8_MAMPS,0.026964
$HUMID,51.33
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.3,130.307
$10V_AH,9.8,76.236
$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,22.475,117.000,496.825,0.000,0.000,29.285,36.775,217.075,0.000,0.000,21.261,1901.416,26337.883,514.456,2992.201,243.548,0.000,1829.495,0.000,2645.782,0.000,1.014,0.000
$DEVICE_MAMPS,258.570,87.210,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.950,321.157,251.776,49.977,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,33555,597
$CAP_FILE_SIZE,155838,0
$CFSIZE,2097086464,2017853440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080213,060608,-4132.651,-336.933,33,1.8,33,-22.5