version: 66.07.10.p01
glider: 574
mission: 4
dive: 566
start: 2 11 113 9 30 25
data:
$ID,574
$MISSION,4
$DIVE,566
$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,-9996.9268
$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,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,545
$GPS1,110213,092259,-4134.787,-329.625,47,0.9,47,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-73.6
$GPS2,110213,093000,-4134.780,-329.594,18,1.0,18,-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,178.1,71648,-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,-22.45,0.000,2,0.000,0.000,69,1729,1634,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.2,-2.0,2,121,11.95,2.42,-49.80,0.000,4,0.259,0.074,2696,316,3264,0,0,0,0,0,0
$GC,126,-0.65,-107.0,8.9,-13.2,8,133,0.00,2.22,0.00,0.000,6,0.000,0.036,2693,1707,3265,0,0,0,0,0,0
$GC,241,-0.65,-107.0,22.2,-11.5,19,245,0.00,0.98,0.00,0.000,4,0.000,0.046,2689,2339,3266,0,0,0,0,0,0
$GC,267,-0.65,-107.0,25.2,-11.7,21,271,0.05,0.98,0.00,0.000,6,0.125,0.044,2708,1719,3266,0,0,0,0,0,0
$GC,395,-0.65,-107.0,38.8,-10.2,29,399,0.00,2.30,0.00,0.000,4,0.000,0.050,2701,3127,3266,0,0,0,0,0,0
$GC,467,-0.65,-107.0,46.0,-9.3,32,471,0.00,2.25,0.00,0.000,6,0.000,0.041,2701,1723,3266,0,0,0,0,0,0
$GC,916,-0.65,-107.0,88.8,-10.2,47,919,0.00,1.40,0.00,0.000,4,0.000,0.044,2701,2593,3267,0,0,0,0,0,0
$GC,954,-0.65,-107.0,93.1,-10.6,47,960,0.00,1.40,0.00,0.000,6,0.000,0.041,2701,1722,3267,0,0,0,0,0,0
$GC,1709,-0.65,-107.0,179.8,-11.9,61,1713,0.00,2.40,0.00,0.000,4,0.000,0.060,2702,308,3268,0,0,0,0,0,0
$GC,1966,-0.65,-107.0,213.7,-13.4,64,1972,0.00,2.25,0.00,0.000,6,0.000,0.031,2701,1733,3268,0,0,0,0,0,0
$GC,2700,-0.65,-107.0,290.3,-8.7,77,2704,0.00,2.38,0.00,0.000,4,0.000,0.057,2701,317,3268,0,0,0,0,0,0
$GC,2958,-0.65,-107.0,312.6,-9.4,80,2962,0.00,2.22,0.00,0.000,6,0.000,0.032,2701,1740,3268,0,0,0,0,0,0
$GC,3698,-0.65,-107.0,383.5,-10.4,93,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1739,3268,0,0,0,0,0,0
$GC,4425,-0.65,-107.0,465.9,-11.2,105,4430,0.00,2.40,0.00,0.000,4,0.000,0.057,2701,314,3267,0,0,0,0,0,0
$GC,4683,-0.65,-107.0,495.8,-11.5,108,4689,0.00,2.22,0.00,0.000,6,0.000,0.031,2701,1717,3267,0,0,0,0,0,0
$GC,5417,-0.65,-107.0,578.7,-11.3,121,5422,0.00,2.38,0.00,0.000,4,0.000,0.056,2701,310,3265,0,0,0,0,0,0
$GC,5675,-0.65,-107.0,608.6,-11.5,124,5681,0.00,2.22,0.00,0.000,6,0.000,0.030,2701,1734,3265,0,0,0,0,0,0
$GC,6409,-0.65,-107.0,696.2,-12.2,137,6413,0.00,0.75,0.00,0.000,4,0.000,0.042,2701,2240,3263,0,0,0,0,0,0
$GC,6448,-0.65,-107.0,701.0,-11.2,137,6452,0.00,0.82,0.00,0.000,6,0.000,0.043,2701,1712,3263,0,0,0,0,0,0
$GC,7205,-0.65,-107.0,786.5,-10.8,150,7209,0.00,0.68,0.00,0.000,4,0.000,0.043,2701,2156,3261,0,0,0,0,0,0
$GC,7226,-0.65,-107.0,788.9,-10.4,150,7230,0.00,0.70,0.00,0.000,6,0.000,0.042,2701,1709,3262,0,0,0,0,0,0
$GC,8000,-0.65,-107.0,866.3,-9.9,163,8004,0.00,2.30,0.00,0.000,4,0.000,0.046,2701,3117,3260,0,0,0,0,0,0
$GC,8122,-0.65,-107.0,878.9,-10.9,164,8127,0.00,2.20,0.00,0.000,6,0.000,0.037,2701,1723,3260,0,0,0,0,0,0
$STATE,8551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8551,begin apogee
$GC,8557,-0.28,0.0,923.0,10.3,172,8653,0.40,0.00,92.93,1.416,6,0.098,0.000,2829,1919,2826,0,0,0,0,0,0
$STATE,8653,end apogee,CONTROL_FINISHED_OK
$STATE,8654,begin loiter
$GC,9341,-0.26,316.8,1002.6,-10.6,185,9643,0.00,2.78,291.08,1.453,4,0.000,0.052,2829,502,1534,0,0,0,0,0,0
$GC,9738,-0.26,316.8,1017.8,3.6,191,9742,0.00,2.40,0.00,0.000,6,0.000,0.030,2822,1879,1528,0,0,0,0,0,0
$GC,10506,-0.26,316.8,987.3,4.4,204,10510,0.00,2.28,0.00,0.000,4,0.000,0.046,2817,3308,1526,0,0,0,0,0,0
$GC,10628,-0.26,316.8,981.4,4.8,205,10634,0.08,2.22,0.00,0.000,6,0.163,0.038,2834,1898,1524,0,0,0,0,0,0
$GC,11362,-0.26,316.8,951.4,3.7,218,11366,0.00,1.02,0.00,0.000,4,0.000,0.042,2832,2549,1524,0,0,0,0,0,0
$GC,11620,-0.26,316.8,942.6,3.1,221,11624,0.00,1.05,0.00,0.000,6,0.000,0.041,2832,1896,1524,0,0,0,0,0,0
$GC,12360,-0.26,316.8,921.3,3.2,234,12364,0.00,1.10,0.00,0.000,4,0.000,0.052,2833,1218,1524,0,0,0,0,0,0
$GC,12618,-0.26,316.8,911.9,3.5,237,12622,0.00,1.08,0.00,0.000,6,0.000,0.035,2828,1906,1524,0,0,0,0,0,0
$GC,13358,-0.26,316.8,876.8,5.0,250,13361,0.00,0.45,0.00,0.000,4,0.000,0.054,2828,1612,1524,0,0,0,0,0,0
$GC,13536,-0.26,316.8,867.7,6.0,252,13540,0.00,0.45,0.00,0.000,6,0.000,0.042,2827,1913,1524,0,0,0,0,0,0
$GC,14288,-0.26,316.8,836.4,3.5,265,14291,0.00,2.22,0.00,0.000,4,0.000,0.047,2818,3288,1525,0,0,0,0,0,0
$GC,14320,-0.26,316.8,835.4,3.1,265,14325,0.00,2.22,0.00,0.000,6,0.000,0.040,2819,1890,1525,0,0,0,0,0,0
$GC,15083,-0.26,316.8,816.6,2.7,278,15087,0.05,1.80,0.00,0.000,4,0.210,0.043,2823,3009,1527,0,0,0,0,0,0
$GC,15306,-0.26,316.8,809.8,2.5,281,15310,0.00,1.80,0.00,0.000,6,0.000,0.040,2822,1901,1526,0,0,0,0,0,0
$GC,16080,-0.26,316.8,783.1,3.6,294,16084,0.00,2.28,0.00,0.000,4,0.000,0.046,2817,3290,1527,0,0,0,0,0,0
$GC,16252,-0.26,316.8,776.9,2.8,296,16257,0.08,2.25,0.00,0.000,6,0.166,0.039,2834,1876,1528,0,0,0,0,0,0
$GC,17003,-0.26,316.8,752.9,3.1,309,17004,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1876,1529,0,0,0,0,0,0
$GC,17731,-0.26,316.8,729.3,3.4,321,17734,0.00,2.17,0.00,0.000,4,0.000,0.045,2825,3225,1531,0,0,0,0,0,0
$GC,17894,-0.26,316.8,724.3,2.9,323,17898,0.00,2.15,0.00,0.000,6,0.000,0.039,2825,1888,1531,0,0,0,0,0,0
$GC,18655,-0.26,316.8,700.6,3.5,336,18659,0.00,2.35,0.00,0.000,4,0.000,0.057,2825,501,1532,0,0,0,0,0,0
$GC,18670,-0.26,316.8,700.1,3.7,336,18675,0.00,2.22,0.00,0.000,6,0.000,0.034,2822,1881,1533,0,0,0,0,0,0
$STATE,19442,end loiter,LOITER_COMPLETE
$STATE,19442,begin climb
$GC,19444,0.65,107.0,669.9,0.0,349,19450,1.00,2.38,0.00,0.000,4,0.125,0.044,3110,3304,1534,0,0,0,0,0,0
$GC,19466,0.66,121.4,668.7,4.8,349,19471,0.00,2.25,0.00,0.000,6,0.000,0.040,3118,1904,1535,0,0,0,0,0,0
$GC,20234,0.66,121.4,628.3,5.8,362,20239,0.00,2.40,0.00,0.000,4,0.000,0.057,3128,489,1536,0,0,0,0,0,0
$GC,20357,0.66,121.4,621.3,5.5,363,20362,0.00,2.22,0.00,0.000,6,0.000,0.037,3128,1899,1537,0,0,0,0,0,0
$GC,21092,0.66,213.9,595.1,2.2,376,21096,0.00,1.58,0.00,0.000,4,0.000,0.045,3128,2873,1538,0,0,0,0,0,0
$GC,21316,0.67,335.4,591.7,1.2,379,21341,0.00,1.60,21.38,1.172,6,0.000,0.043,3133,1895,1459,0,0,0,0,0,0
$GC,22083,0.67,353.1,564.5,4.7,392,22107,0.00,2.35,18.38,1.126,4,0.000,0.048,3133,3304,1386,0,0,0,0,0,0
$GC,22360,0.67,353.1,546.8,6.3,396,22364,0.00,2.25,0.00,0.000,6,0.000,0.041,3142,1898,1385,0,0,0,0,0,0
$GC,23084,0.67,353.1,504.3,5.4,408,23088,0.00,2.35,0.00,0.000,4,0.000,0.057,3146,496,1385,0,0,0,0,0,0
$GC,23225,0.67,379.6,497.1,4.4,410,23255,0.00,2.22,25.67,1.111,6,0.000,0.037,3146,1911,1279,0,0,0,0,0,0
$GC,24007,0.67,379.6,448.5,6.6,423,24011,0.00,2.38,0.00,0.000,4,0.000,0.059,3146,497,1275,0,0,0,0,0,0
$GC,24159,0.67,379.6,438.6,6.8,425,24163,0.00,2.22,0.00,0.000,6,0.000,0.036,3145,1894,1273,0,0,0,0,0,0
$GC,24926,0.67,379.6,391.1,6.1,438,24930,0.00,2.38,0.00,0.000,4,0.000,0.058,3146,495,1273,0,0,0,0,0,0
$GC,25043,0.67,379.6,384.0,5.9,439,25047,0.00,2.22,0.00,0.000,6,0.000,0.035,3146,1907,1272,0,0,0,0,0,0
$GC,25788,0.67,379.6,338.5,6.4,452,25793,0.00,2.42,0.00,0.000,4,0.000,0.059,3146,498,1272,0,0,0,0,0,0
$GC,25990,0.67,379.6,324.7,6.1,455,25994,0.00,2.25,0.00,0.000,6,0.000,0.035,3146,1892,1272,0,0,0,0,0,0
$GC,26720,0.67,389.6,283.1,5.0,467,26735,0.00,2.35,9.80,0.867,4,0.000,0.059,3146,495,1237,0,0,0,0,0,0
$GC,26848,0.67,411.3,276.5,4.6,469,26877,0.00,2.22,21.58,0.962,6,0.000,0.034,3146,1920,1150,0,0,0,0,0,0
$GC,27640,0.67,411.3,218.7,8.3,482,27643,0.00,0.55,0.00,0.000,4,0.000,0.045,3146,2297,1147,0,0,0,0,0,0
$GC,27897,0.67,411.3,197.7,7.0,485,27901,0.00,0.65,0.00,0.000,6,0.000,0.047,3146,1886,1147,0,0,0,0,0,0
$GC,28637,0.67,411.3,138.6,7.8,498,28641,0.00,2.33,0.00,0.000,4,0.000,0.057,3146,502,1147,0,0,0,0,0,0
$GC,28894,0.67,414.5,122.7,5.2,501,28900,0.00,2.20,0.00,0.000,6,0.000,0.033,3146,1890,1145,0,0,0,0,0,0
$GC,29610,0.67,414.5,77.8,6.9,516,29611,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1900,1145,0,0,0,0,0,0
$GC,30329,0.67,474.5,39.4,3.3,544,30393,0.00,2.38,56.15,0.825,4,0.000,0.059,3147,506,891,0,0,0,0,0,0
$GC,30441,0.67,474.5,32.0,7.7,549,30445,0.00,2.20,0.00,0.000,6,0.000,0.035,3146,1897,887,0,0,0,0,0,0
$GC,30874,0.67,474.5,5.1,6.4,588,30878,0.00,2.28,0.00,0.000,4,0.000,0.048,3146,3311,883,0,0,0,0,0,0
$STATE,30902,end climb,SURFACE_DEPTH_REACHED
$STATE,30903,begin surface coast
$FINISH,1.7,1.025765
$STATE,30939,end surface coast,CONTROL_FINISHED_OK
$STATE,30939,begin surface
$SM_CCo,31019,0.00,0.000,0,0,880,477.59
$SM_GC,2.77,8.73,0.00,0.00,0.051,0.000,0.000,92,1734,880,-8.79,0.40,477.59
$IRIDIUM_FIX,-4120.75,-333.14,100213,232316
$TT8_MAMPS,0.026964
$HUMID,50.51
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,21.1,132.221
$10V_AH,9.8,77.089
$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,22.325,131.675,536.950,0.000,0.000,30.621,39.001,212.178,0.000,0.000,21.760,1847.808,25964.578,558.111,2810.238,258.128,0.000,1819.739,0.000,2474.602,0.000,1.014,0.000
$DEVICE_MAMPS,258.570,74.205,1452.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.312,331.061,253.196,52.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,37078,593
$CAP_FILE_SIZE,155137,0
$CFSIZE,2097086464,2016673792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,110213,180835,-4134.281,-327.955,34,1.2,34,-22.5