version: 66.07.10.p01
glider: 574
mission: 4
dive: 568
start: 2 12 113 3 33 19
data:
$ID,574
$MISSION,4
$DIVE,568
$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,-10001.589
$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,29
$R_STBD_OVSHOOT,30
$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,547
$GPS1,120213,032523,-4134.954,-326.428,86,1.0,86,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-72.9
$GPS2,120213,033254,-4134.910,-326.362,19,1.0,19,-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,181.3,69703,-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,-107.0,0.0,0.0,0,60,0.00,0.00,-32.15,0.000,2,0.000,0.000,68,1726,1639,0,0,0,0,0,0
$GC,63,-0.65,-107.0,3.1,-1.4,3,122,11.80,2.05,-41.50,0.000,4,0.255,0.060,2687,2964,3266,0,0,0,0,0,0
$GC,169,-0.65,-107.0,19.2,-17.2,12,177,0.05,2.03,0.00,0.000,6,0.139,0.044,2705,1724,3267,0,0,0,0,0,0
$GC,283,-0.65,-107.0,35.3,-12.9,21,287,0.00,1.55,0.00,0.000,4,0.000,0.059,2705,800,3267,0,0,0,0,0,0
$GC,421,-0.65,-107.0,55.1,-14.3,27,425,0.00,1.48,0.00,0.000,6,0.000,0.036,2701,1724,3267,0,0,0,0,0,0
$GC,892,-0.65,-107.0,108.4,-11.4,39,895,0.00,1.08,0.00,0.000,4,0.000,0.045,2702,2419,3267,0,0,0,0,0,0
$GC,935,-0.65,-107.0,114.0,-12.2,39,939,0.00,1.12,0.00,0.000,6,0.000,0.044,2701,1716,3268,0,0,0,0,0,0
$GC,1687,-0.65,-107.0,189.5,-9.5,52,1691,0.00,2.30,0.00,0.000,4,0.000,0.048,2701,3132,3269,0,0,0,0,0,0
$GC,1764,-0.65,-107.0,197.5,-10.4,53,1768,0.00,2.25,0.00,0.000,6,0.000,0.040,2701,1715,3269,0,0,0,0,0,0
$GC,2482,-0.65,-107.0,270.0,-10.0,65,2487,0.00,2.33,0.00,0.000,4,0.000,0.047,2701,3135,3268,0,0,0,0,0,0
$GC,2537,-0.65,-107.0,275.8,-10.1,65,2543,0.00,2.28,0.00,0.000,6,0.000,0.038,2701,1714,3269,0,0,0,0,0,0
$GC,3272,-0.65,-107.0,360.5,-11.8,78,3276,0.00,1.23,0.00,0.000,4,0.000,0.041,2701,2490,3269,0,0,0,0,0,0
$GC,3310,-0.65,-107.0,365.2,-11.0,78,3314,0.00,1.23,0.00,0.000,6,0.000,0.041,2701,1717,3269,0,0,0,0,0,0
$GC,4066,-0.65,-107.0,437.2,-8.4,91,4071,0.00,2.28,0.00,0.000,4,0.000,0.046,2700,3125,3268,0,0,0,0,0,0
$GC,4151,-0.65,-107.0,444.5,-9.0,92,4155,0.00,2.22,0.00,0.000,6,0.000,0.037,2701,1714,3267,0,0,0,0,0,0
$GC,4919,-0.65,-107.0,514.5,-9.9,105,4923,0.00,1.60,0.00,0.000,4,0.000,0.042,2701,2708,3266,0,0,0,0,0,0
$GC,4963,-0.65,-107.0,519.2,-9.9,105,4967,0.00,1.58,0.00,0.000,6,0.000,0.038,2701,1720,3267,0,0,0,0,0,0
$GC,5714,-0.65,-107.0,603.1,-11.8,118,5718,0.00,0.88,0.00,0.000,4,0.000,0.041,2701,2290,3265,0,0,0,0,0,0
$GC,5764,-0.65,-107.0,609.4,-11.8,118,5768,0.00,0.90,0.00,0.000,6,0.000,0.041,2701,1719,3265,0,0,0,0,0,0
$GC,6509,-0.65,-107.0,692.7,-10.7,131,6513,0.00,2.30,0.00,0.000,4,0.000,0.046,2701,3125,3263,0,0,0,0,0,0
$GC,6558,-0.65,-107.0,698.2,-11.3,131,6562,0.00,2.22,0.00,0.000,6,0.000,0.036,2701,1710,3262,0,0,0,0,0,0
$GC,7298,-0.65,-107.0,778.6,-11.2,144,7302,0.00,2.30,0.00,0.000,4,0.000,0.044,2701,3126,3261,0,0,0,0,0,0
$GC,7381,-0.65,-107.0,788.6,-11.6,145,7385,0.00,2.25,0.00,0.000,6,0.000,0.037,2700,1713,3260,0,0,0,0,0,0
$GC,8099,-0.65,-107.0,872.5,-11.4,157,8104,0.00,2.35,0.00,0.000,4,0.000,0.056,2700,312,3259,0,0,0,0,0,0
$GC,8252,-0.65,-107.0,890.1,-12.2,159,8256,0.00,2.22,0.00,0.000,6,0.000,0.033,2700,1731,3258,0,0,0,0,0,0
$STATE,8538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8538,begin apogee
$GC,8544,-0.28,0.0,920.3,10.5,164,8639,0.40,0.00,92.72,1.408,6,0.099,0.000,2829,1920,2827,0,0,0,0,0,0
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin loiter
$GC,9327,-0.26,266.8,992.0,-8.9,177,9572,0.00,0.00,241.35,1.425,6,0.000,0.000,2829,1920,1738,0,0,0,0,0,0
$GC,10297,-0.26,266.8,987.2,2.3,193,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1920,1727,0,0,0,0,0,0
$GC,11025,-0.26,266.8,976.1,1.3,205,11028,0.00,2.40,0.00,0.000,4,0.000,0.056,2829,490,1726,0,0,0,0,0,0
$GC,11282,-0.26,266.8,973.0,1.5,208,11286,0.00,2.22,0.00,0.000,6,0.000,0.034,2822,1883,1724,0,0,0,0,0,0
$GC,12022,-0.26,266.8,956.6,2.9,221,12026,0.00,2.30,0.00,0.000,4,0.000,0.047,2818,3301,1724,0,0,0,0,0,0
$GC,12117,-0.26,266.8,953.3,3.1,222,12121,0.00,2.25,0.00,0.000,6,0.000,0.039,2818,1895,1724,0,0,0,0,0,0
$GC,12885,-0.26,266.8,922.1,4.3,235,12889,0.00,2.33,0.00,0.000,4,0.000,0.046,2809,3311,1723,0,0,0,0,0,0
$GC,13042,-0.26,266.8,915.7,3.6,237,13047,0.10,2.28,0.00,0.000,6,0.151,0.040,2833,1895,1723,0,0,0,0,0,0
$GC,13804,-0.26,266.8,898.1,1.3,250,13808,0.00,2.33,0.00,0.000,4,0.000,0.056,2833,499,1723,0,0,0,0,0,0
$GC,14061,-0.26,266.8,897.4,0.4,253,14067,0.00,2.25,0.00,0.000,6,0.000,0.034,2826,1922,1723,0,0,0,0,0,0
$GC,14796,-0.26,282.7,901.9,-0.5,266,14814,0.00,0.90,13.25,1.280,4,0.000,0.044,2823,2482,1673,0,0,0,0,0,0
$GC,15067,-0.26,282.7,898.2,1.8,270,15071,0.00,0.93,0.00,0.000,6,0.000,0.044,2824,1894,1673,0,0,0,0,0,0
$GC,15797,-0.26,282.7,875.2,3.8,282,15801,0.00,2.38,0.00,0.000,4,0.000,0.057,2823,490,1673,0,0,0,0,0,0
$GC,16003,-0.26,282.7,866.4,4.4,285,16008,0.00,2.25,0.00,0.000,6,0.000,0.034,2823,1923,1673,0,0,0,0,0,0
$GC,16728,-0.26,282.7,840.5,2.9,297,16732,0.00,2.25,0.00,0.000,4,0.000,0.047,2813,3303,1672,0,0,0,0,0,0
$GC,16968,-0.26,282.7,834.9,2.2,300,16973,0.08,2.25,0.00,0.000,6,0.164,0.040,2831,1896,1672,0,0,0,0,0,0
$GC,17719,-0.26,282.7,826.0,1.1,313,17723,0.00,2.35,0.00,0.000,4,0.000,0.057,2831,498,1672,0,0,0,0,0,0
$GC,17976,-0.26,282.7,822.9,1.7,316,17981,0.00,2.22,0.00,0.000,6,0.000,0.034,2823,1907,1673,0,0,0,0,0,0
$GC,18710,-0.26,282.7,811.2,1.9,329,18714,0.00,1.00,0.00,0.000,4,0.000,0.044,2822,2552,1672,0,0,0,0,0,0
$GC,18968,-0.26,282.7,806.4,2.0,332,18972,0.00,1.05,0.00,0.000,6,0.000,0.044,2822,1899,1673,0,0,0,0,0,0
$STATE,19403,end loiter,LOITER_COMPLETE
$STATE,19403,begin climb
$GC,19405,0.65,107.0,799.9,0.0,340,19411,1.00,2.35,0.00,0.000,4,0.123,0.044,3111,3277,1672,0,0,0,0,0,0
$GC,19663,0.66,200.7,795.9,2.2,343,19669,0.00,2.22,0.00,0.000,6,0.000,0.041,3119,1903,1673,0,0,0,0,0,0
$GC,20398,0.66,306.1,784.0,1.8,356,20428,0.00,0.62,24.75,1.291,4,0.000,0.046,3119,2297,1579,0,0,0,0,0,0
$GC,20523,0.67,348.1,779.9,3.9,357,20568,0.00,0.65,41.30,1.320,6,0.000,0.048,3119,1886,1405,0,0,0,0,0,0
$GC,21319,0.67,348.1,735.6,5.3,371,21320,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1886,1399,0,0,0,0,0,0
$GC,22047,0.67,365.5,700.9,4.7,383,22066,0.00,0.98,15.55,1.196,4,0.000,0.041,3119,2493,1338,0,0,0,0,0,0
$GC,22223,0.67,365.5,690.9,5.4,385,22227,0.00,0.95,0.00,0.000,6,0.000,0.047,3120,1902,1337,0,0,0,0,0,0
$GC,22974,0.67,365.5,639.1,7.5,398,22978,0.00,0.60,0.00,0.000,4,0.000,0.044,3119,2299,1337,0,0,0,0,0,0
$GC,23232,0.67,365.5,619.9,5.7,401,23236,0.00,0.65,0.00,0.000,6,0.000,0.048,3119,1896,1336,0,0,0,0,0,0
$GC,23972,0.67,387.7,578.3,4.5,414,24001,0.00,1.38,22.58,1.163,4,0.000,0.043,3119,2720,1246,0,0,0,0,0,0
$GC,24254,0.67,410.0,565.2,4.5,418,24280,0.00,1.33,22.20,1.149,6,0.000,0.045,3119,1909,1155,0,0,0,0,0,0
$GC,25027,0.67,410.0,526.6,5.5,431,25031,0.00,2.28,0.00,0.000,4,0.000,0.047,3119,3298,1149,0,0,0,0,0,0
$GC,25284,0.67,410.0,509.8,5.5,434,25289,0.00,2.28,0.00,0.000,6,0.000,0.041,3120,1897,1148,0,0,0,0,0,0
$GC,26018,0.67,410.0,455.2,8.0,447,26022,0.00,2.38,0.00,0.000,4,0.000,0.059,3119,496,1148,0,0,0,0,0,0
$GC,26214,0.67,410.0,439.7,7.7,449,26219,0.00,2.28,0.00,0.000,6,0.000,0.034,3119,1921,1145,0,0,0,0,0,0
$GC,26948,0.67,410.0,387.0,6.9,462,26952,0.00,2.25,0.00,0.000,4,0.000,0.047,3119,3298,1145,0,0,0,0,0,0
$GC,27206,0.67,410.0,369.6,6.5,465,27211,0.00,2.28,0.00,0.000,6,0.000,0.041,3120,1897,1145,0,0,0,0,0,0
$GC,27940,0.67,410.0,320.0,7.5,478,27944,0.00,1.50,0.00,0.000,4,0.000,0.055,3119,1001,1145,0,0,0,0,0,0
$GC,28125,0.67,410.0,304.8,7.0,480,28129,0.00,1.45,0.00,0.000,6,0.000,0.035,3120,1907,1146,0,0,0,0,0,0
$GC,28870,0.67,410.0,245.7,7.5,493,28874,0.00,2.28,0.00,0.000,4,0.000,0.046,3120,3302,1145,0,0,0,0,0,0
$GC,29128,0.67,410.0,227.1,6.9,496,29133,0.00,2.28,0.00,0.000,6,0.000,0.041,3120,1900,1145,0,0,0,0,0,0
$GC,29862,0.67,410.0,177.5,6.4,509,29866,0.00,1.88,0.00,0.000,4,0.000,0.057,3119,798,1145,0,0,0,0,0,0
$GC,30120,0.67,410.0,161.4,5.5,512,30124,0.00,1.75,0.00,0.000,6,0.000,0.034,3120,1894,1145,0,0,0,0,0,0
$GC,30860,0.67,410.0,110.6,7.0,525,30864,0.00,2.30,0.00,0.000,4,0.000,0.045,3120,3308,1145,0,0,0,0,0,0
$GC,31117,0.67,410.0,95.1,6.0,529,31123,0.00,2.28,0.00,0.000,6,0.000,0.039,3119,1894,1145,0,0,0,0,0,0
$GC,31835,0.67,428.0,57.2,4.7,548,31858,0.00,1.23,16.00,0.786,4,0.000,0.052,3120,1148,1083,0,0,0,0,0,0
$GC,32064,0.67,428.0,44.0,5.5,558,32067,0.00,1.17,0.00,0.000,6,0.000,0.034,3119,1905,1081,0,0,0,0,0,0
$GC,32496,0.67,428.0,18.3,7.2,587,32500,0.00,1.77,0.00,0.000,4,0.000,0.043,3119,3023,1081,0,0,0,0,0,0
$STATE,32715,end climb,SURFACE_DEPTH_REACHED
$STATE,32715,begin surface coast
$FINISH,1.7,1.025887
$STATE,32763,end surface coast,CONTROL_FINISHED_OK
$STATE,32763,begin surface
$SM_CCo,32843,0.00,0.000,0,0,1076,429.51
$SM_GC,2.83,8.88,0.00,0.00,0.055,0.000,0.000,86,1717,1076,-8.81,-0.08,429.51
$IRIDIUM_FIX,-4120.75,-330.27,110213,181833
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.3,132.644
$10V_AH,9.8,77.278
$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,22.300,127.675,489.700,0.000,0.000,24.688,42.625,239.576,0.000,0.000,22.137,1948.858,27487.498,561.262,3031.670,264.722,0.000,1882.106,0.000,2663.011,0.000,1.014,0.000
$DEVICE_MAMPS,254.745,60.435,1425.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.333,294.686,256.870,44.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,36887,610
$CAP_FILE_SIZE,162594,0
$CFSIZE,2097086464,2016411648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120213,124301,-4135.026,-326.256,102,1.7,102,-22.5