version: 66.07.10.p01
glider: 574
mission: 4
dive: 564
start: 2 10 113 14 36 25
data:
$ID,574
$MISSION,4
$DIVE,564
$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,-9990.6367
$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,31
$R_STBD_OVSHOOT,36
$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,543
$GPS1,100213,142852,-4134.831,-330.353,34,1.5,50,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.9
$GPS2,100213,143600,-4134.798,-330.301,21,1.0,21,-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,177.3,72023,-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,-107.0,0.0,0.0,0,50,0.00,0.00,-22.52,0.000,2,0.000,0.000,69,1712,1313,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.1,-2.5,2,142,12.20,2.40,-68.00,0.000,4,0.265,0.074,2699,314,3265,0,0,0,0,0,0
$GC,330,-0.65,-107.0,30.5,-11.5,26,334,0.00,2.22,0.00,0.000,6,0.000,0.035,2699,1723,3267,0,0,0,0,0,0
$GC,780,-0.65,-107.0,75.2,-10.8,45,784,0.00,2.38,0.00,0.000,4,0.000,0.058,2699,317,3267,0,0,0,0,0,0
$GC,790,-0.65,-107.0,77.0,-11.3,45,795,0.00,2.25,0.00,0.000,6,0.000,0.034,2699,1719,3267,0,0,0,0,0,0
$GC,1534,-0.65,-107.0,167.9,-11.8,59,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1719,3268,0,0,0,0,0,0
$GC,2261,-0.65,-107.0,254.7,-10.4,71,2265,0.00,1.23,0.00,0.000,4,0.000,0.052,2699,982,3269,0,0,0,0,0,0
$GC,2518,-0.65,-107.0,278.3,-8.9,74,2522,0.00,1.17,0.00,0.000,6,0.000,0.032,2699,1740,3269,0,0,0,0,0,0
$GC,3258,-0.65,-107.0,356.1,-12.1,87,3262,0.00,0.82,0.00,0.000,4,0.000,0.050,2699,1233,3269,0,0,0,0,0,0
$GC,3517,-0.65,-107.0,389.3,-13.2,90,3521,0.00,0.75,0.00,0.000,6,0.000,0.035,2699,1724,3268,0,0,0,0,0,0
$GC,4256,-0.65,-107.0,477.2,-11.1,103,4260,0.00,1.98,0.00,0.000,4,0.000,0.056,2699,547,3267,0,0,0,0,0,0
$GC,4514,-0.65,-107.0,503.7,-9.7,106,4518,0.00,1.83,0.00,0.000,6,0.000,0.031,2699,1716,3267,0,0,0,0,0,0
$GC,5254,-0.65,-107.0,573.8,-9.8,119,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1716,3266,0,0,0,0,0,0
$GC,5981,-0.65,-107.0,651.7,-11.3,131,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1716,3264,0,0,0,0,0,0
$GC,6709,-0.65,-107.0,737.8,-11.3,143,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1716,3263,0,0,0,0,0,0
$GC,7436,-0.65,-107.0,810.1,-9.4,155,7440,0.00,1.67,0.00,0.000,4,0.000,0.044,2698,2777,3261,0,0,0,0,0,0
$GC,7491,-0.65,-107.0,815.5,-10.0,155,7495,0.00,1.70,0.00,0.000,6,0.000,0.037,2698,1713,3260,0,0,0,0,0,0
$GC,8231,-0.65,-107.0,884.7,-9.7,168,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1713,3259,0,0,0,0,0,0
$STATE,8593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8593,begin apogee
$GC,8599,-0.28,0.0,921.5,10.2,174,8694,0.43,0.00,92.43,1.411,6,0.096,0.000,2835,1915,2826,0,0,0,0,0,0
$STATE,8695,end apogee,CONTROL_FINISHED_OK
$STATE,8695,begin loiter
$GC,9383,-0.26,287.0,998.3,-9.6,187,9650,0.00,1.88,260.10,1.452,4,0.000,0.049,2835,894,1657,0,0,0,0,0,0
$GC,9841,-0.26,287.0,1009.3,2.9,194,9845,0.00,1.65,0.00,0.000,6,0.000,0.032,2835,1879,1649,0,0,0,0,0,0
$GC,10559,-0.26,287.0,987.0,3.3,206,10563,0.00,2.28,0.00,0.000,4,0.000,0.045,2830,3314,1645,0,0,0,0,0,0
$GC,10665,-0.26,287.0,983.3,3.3,207,10669,0.00,2.25,0.00,0.000,6,0.000,0.039,2830,1898,1643,0,0,0,0,0,0
$GC,11422,-0.26,287.0,960.5,2.9,220,11426,0.00,2.33,0.00,0.000,4,0.000,0.055,2830,498,1642,0,0,0,0,0,0
$GC,11544,-0.26,287.0,957.5,1.9,221,11550,0.00,2.22,0.00,0.000,6,0.000,0.031,2823,1932,1642,0,0,0,0,0,0
$GC,12278,-0.26,287.0,941.8,2.1,234,12282,0.00,2.20,0.00,0.000,4,0.000,0.046,2817,3299,1641,0,0,0,0,0,0
$GC,12436,-0.26,287.0,937.4,2.7,236,12441,0.05,2.25,0.00,0.000,6,0.190,0.039,2828,1893,1640,0,0,0,0,0,0
$GC,13203,-0.26,287.0,910.8,4.0,249,13207,0.00,2.35,0.00,0.000,4,0.000,0.056,2828,495,1640,0,0,0,0,0,0
$GC,13401,-0.26,287.0,902.0,4.5,252,13405,0.00,2.17,0.00,0.000,6,0.000,0.032,2822,1897,1639,0,0,0,0,0,0
$GC,14130,-0.26,287.0,874.8,3.2,264,14134,0.00,2.38,0.00,0.000,4,0.000,0.057,2822,500,1639,0,0,0,0,0,0
$GC,14287,-0.26,287.0,870.1,2.0,266,14292,0.00,2.20,0.00,0.000,6,0.000,0.032,2817,1903,1639,0,0,0,0,0,0
$GC,15055,-0.26,287.0,854.8,1.7,279,15059,0.00,1.65,0.00,0.000,4,0.000,0.054,2818,930,1639,0,0,0,0,0,0
$GC,15314,-0.26,287.0,849.4,1.8,282,15318,0.05,1.52,0.00,0.000,6,0.149,0.032,2827,1894,1639,0,0,0,0,0,0
$GC,16053,-0.26,287.0,827.0,3.5,295,16057,0.00,0.88,0.00,0.000,4,0.000,0.052,2828,1364,1639,0,0,0,0,0,0
$GC,16108,-0.26,287.0,825.2,3.7,295,16112,0.00,0.82,0.00,0.000,6,0.000,0.035,2825,1902,1639,0,0,0,0,0,0
$GC,16848,-0.26,287.0,798.5,3.4,308,16852,0.00,2.28,0.00,0.000,4,0.000,0.047,2817,3301,1639,0,0,0,0,0,0
$GC,16954,-0.26,287.0,795.0,2.2,309,16959,0.05,2.22,0.00,0.000,6,0.191,0.040,2827,1901,1639,0,0,0,0,0,0
$GC,17705,-0.26,287.0,780.3,1.2,322,17709,0.00,2.30,0.00,0.000,4,0.000,0.045,2818,3305,1639,0,0,0,0,0,0
$GC,17816,-0.26,287.0,779.2,1.4,323,17820,0.00,2.25,0.00,0.000,6,0.000,0.038,2818,1888,1639,0,0,0,0,0,0
$GC,18561,-0.26,287.0,772.6,1.1,336,18566,0.00,2.33,0.00,0.000,4,0.000,0.057,2818,499,1639,0,0,0,0,0,0
$GC,18759,-0.26,287.0,769.2,2.1,339,18764,0.10,2.20,0.00,0.000,6,0.174,0.031,2832,1906,1639,0,0,0,0,0,0
$STATE,19487,end loiter,LOITER_COMPLETE
$STATE,19487,begin climb
$GC,19490,0.65,107.0,750.2,0.0,351,19495,0.95,2.47,0.00,0.000,4,0.119,0.056,3120,495,1640,0,0,0,0,0,0
$GC,19708,0.66,144.4,742.0,4.0,354,19713,0.00,2.20,0.00,0.000,6,0.000,0.034,3120,1890,1642,0,0,0,0,0,0
$GC,20482,0.66,212.8,715.7,3.0,367,20486,0.00,1.60,0.00,0.000,4,0.000,0.045,3120,2882,1641,0,0,0,0,0,0
$GC,20740,0.66,285.3,709.1,2.9,370,20744,0.00,1.58,0.00,0.000,6,0.000,0.042,3127,1910,1642,0,0,0,0,0,0
$GC,21480,0.67,366.4,691.4,2.6,383,21560,0.00,1.88,74.62,1.290,4,0.000,0.045,3127,3028,1332,0,0,0,0,0,0
$GC,21814,0.67,366.4,672.3,5.9,388,21818,0.00,1.83,0.00,0.000,6,0.000,0.042,3134,1901,1326,0,0,0,0,0,0
$GC,22544,0.67,366.4,628.3,5.8,400,22548,0.00,2.28,0.00,0.000,4,0.000,0.047,3134,3306,1323,0,0,0,0,0,0
$GC,22801,0.67,387.7,614.4,4.6,403,22826,0.00,2.28,18.88,1.172,6,0.000,0.041,3141,1895,1246,0,0,0,0,0,0
$GC,23539,0.67,387.7,574.5,5.4,416,23543,0.00,0.43,0.00,0.000,4,0.000,0.057,3144,1608,1243,0,0,0,0,0,0
$GC,23595,0.67,405.0,571.3,4.7,416,23615,0.00,0.47,17.23,1.136,6,0.000,0.043,3144,1920,1174,0,0,0,0,0,0
$GC,24334,0.67,405.0,520.2,7.2,429,24338,0.00,2.40,0.00,0.000,4,0.000,0.059,3144,491,1171,0,0,0,0,0,0
$GC,24501,0.67,405.0,508.1,6.0,431,24505,0.00,2.25,0.00,0.000,6,0.000,0.036,3144,1885,1169,0,0,0,0,0,0
$GC,25258,0.67,405.0,456.0,6.5,444,25262,0.00,2.35,0.00,0.000,4,0.000,0.059,3144,499,1169,0,0,0,0,0,0
$GC,25425,0.67,405.0,445.7,6.8,446,25429,0.00,2.25,0.00,0.000,6,0.000,0.034,3144,1931,1168,0,0,0,0,0,0
$GC,26182,0.67,405.0,395.4,6.9,459,26186,0.00,2.45,0.00,0.000,4,0.000,0.058,3144,491,1168,0,0,0,0,0,0
$GC,26360,0.67,405.0,382.5,8.4,461,26364,0.00,2.25,0.00,0.000,6,0.000,0.033,3144,1895,1167,0,0,0,0,0,0
$GC,27106,0.67,405.0,325.6,8.2,474,27110,0.00,0.95,0.00,0.000,4,0.000,0.051,3144,1323,1167,0,0,0,0,0,0
$GC,27150,0.67,405.0,321.9,6.3,474,27154,0.00,0.90,0.00,0.000,6,0.000,0.034,3144,1911,1167,0,0,0,0,0,0
$GC,27901,0.67,405.0,266.6,6.8,487,27905,0.00,1.25,0.00,0.000,4,0.000,0.053,3144,1164,1168,0,0,0,0,0,0
$GC,27973,0.67,405.0,262.1,6.1,488,27977,0.00,1.15,0.00,0.000,6,0.000,0.034,3144,1900,1168,0,0,0,0,0,0
$GC,28703,0.67,405.4,222.3,5.3,500,28707,0.00,1.27,0.00,0.000,4,0.000,0.053,3144,1135,1167,0,0,0,0,0,0
$GC,28788,0.67,424.3,218.2,4.7,501,28812,0.00,1.20,17.70,0.908,6,0.000,0.034,3144,1899,1097,0,0,0,0,0,0
$GC,29565,0.67,424.3,170.1,7.0,514,29566,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1899,1095,0,0,0,0,0,0
$GC,30291,0.67,424.3,117.4,6.5,526,30295,0.00,2.40,0.00,0.000,4,0.000,0.057,3144,496,1095,0,0,0,0,0,0
$GC,30402,0.67,438.7,111.0,4.8,527,30422,0.00,2.17,14.12,0.812,6,0.000,0.030,3144,1909,1038,0,0,0,0,0,0
$GC,31154,0.67,449.7,76.0,4.9,544,31170,0.00,2.22,11.12,0.760,4,0.000,0.043,3144,3291,993,0,0,0,0,0,0
$GC,31312,0.67,465.1,68.0,4.8,547,31332,0.00,2.20,15.10,0.806,6,0.000,0.037,3145,1895,930,0,0,0,0,0,0
$GC,32060,0.67,465.1,24.6,6.9,583,32064,0.00,1.48,0.00,0.000,4,0.000,0.055,3144,1010,927,0,0,0,0,0,0
$GC,32191,0.67,465.1,15.7,6.2,594,32198,0.00,1.38,0.00,0.000,6,0.000,0.031,3144,1897,925,0,0,0,0,0,0
$GC,32306,0.67,477.4,9.1,4.9,605,32319,0.00,1.48,5.90,0.579,4,0.000,0.038,3144,2832,880,0,0,0,0,0,0
$STATE,32449,end climb,SURFACE_DEPTH_REACHED
$STATE,32449,begin surface coast
$FINISH,1.8,1.003583
$STATE,32540,end surface coast,CONTROL_FINISHED_OK
$STATE,32540,begin surface
$SM_CCo,32620,0.00,0.000,0,0,878,478.08
$SM_GC,2.98,8.77,0.00,0.00,0.052,0.000,0.000,84,1729,878,-8.80,0.28,478.08
$IRIDIUM_FIX,-4117.88,-330.09,100213,040414
$TT8_MAMPS,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.2,131.802
$10V_AH,9.8,76.899
$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,22.600,118.125,527.200,0.000,0.000,31.275,38.819,214.951,0.000,0.000,23.546,1938.692,27370.672,547.325,2937.960,251.995,0.000,1846.127,0.000,2588.846,0.000,1.014,0.000
$DEVICE_MAMPS,265.455,74.205,1451.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.475,360.725,271.290,56.661,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,37052,625
$CAP_FILE_SIZE,157965,0
$CFSIZE,2097086464,2016935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,100213,234223,-4134.977,-330.150,101,1.0,101,-22.5