version: 66.07.10.p01
glider: 573
mission: 9
dive: 14
start: 4 22 115 20 40 2
data:
$ID,573
$MISSION,9
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,500
$D_NO_BLEED,500
$D_BOOST,0
$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,220
$T_MISSION,110
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,230
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$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,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,-13407.856
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3050
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,-86.704987
$PRESSURE_SLOPE,0.00011693723
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,13
$GPS1,220415,203230,-3431.881,2602.135,41,1.1,42,-28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.6
$GPS2,220415,203938,-3432.047,2601.769,16,1.3,17,-28.1
$SPEED_LIMITS,0.197,0.329
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3430.000,2600.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,37.6,4655,-16.3,-11.364
$D_GRID,750
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.08,-223.8,0.0,0.0,0,98,0.00,0.00,-71.82,0.000,2,0.000,0.000,76,2208,2879,0,0,0,0,0,0
$GC,100,-1.08,-223.8,3.0,-3.7,8,136,11.35,2.42,-18.27,0.000,4,0.264,0.098,2684,3619,3780,0,0,0,0,0,0
$GC,331,-0.96,-223.8,49.1,-18.9,44,341,0.15,2.33,0.00,0.000,6,0.149,0.068,2732,2217,3784,0,0,0,0,0,0
$GC,451,-0.89,-223.8,68.4,-15.9,63,459,0.12,2.33,0.00,0.000,4,0.179,0.081,2756,3625,3785,0,0,0,0,0,0
$GC,503,-0.89,-223.8,76.1,-13.3,71,511,0.00,2.35,0.00,0.000,6,0.000,0.071,2756,2186,3785,0,0,0,0,0,0
$GC,620,-0.89,-223.8,90.5,-10.9,90,630,0.00,2.40,0.00,0.000,4,0.000,0.080,2747,3617,3786,0,0,0,0,0,0
$GC,671,-0.89,-223.8,96.8,-11.4,98,682,0.03,2.35,0.00,0.000,6,0.145,0.073,2756,2208,3786,0,0,0,0,0,0
$GC,792,-0.89,-223.8,110.7,-11.9,117,799,0.00,2.42,0.00,0.000,4,0.000,0.096,2756,763,3787,0,0,0,0,0,0
$GC,832,-0.89,-223.8,115.9,-12.9,123,840,0.08,2.47,0.00,0.000,6,0.210,0.093,2762,2206,3787,0,0,0,0,0,0
$GC,950,-0.89,-223.8,130.0,-12.2,142,959,0.00,2.35,0.00,0.000,4,0.000,0.086,2752,3617,3788,0,0,0,0,0,0
$GC,997,-0.92,-223.8,135.7,-12.3,149,1004,0.00,2.35,0.00,0.000,6,0.000,0.076,2752,2185,3787,0,0,0,0,0,0
$GC,1116,-0.92,-223.8,150.1,-12.3,168,1125,0.00,2.40,0.00,0.000,4,0.000,0.097,2751,785,3789,0,0,0,0,0,0
$GC,1144,-0.92,-223.8,153.6,-12.4,172,1153,0.00,2.42,0.00,0.000,6,0.000,0.089,2741,2193,3789,0,0,0,0,0,0
$GC,1263,-0.92,-223.8,168.7,-13.3,191,1270,0.00,2.33,0.00,0.000,4,0.000,0.083,2731,3626,3789,0,0,0,0,0,0
$GC,1303,-0.92,-223.8,174.0,-13.2,197,1310,0.08,2.33,0.00,0.000,6,0.174,0.075,2748,2204,3789,0,0,0,0,0,0
$GC,1421,-0.92,-223.8,188.4,-12.0,216,1430,0.00,2.42,0.00,0.000,4,0.000,0.095,2748,781,3789,0,0,0,0,0,0
$GC,1455,-0.92,-223.8,192.8,-13.1,221,1463,0.00,2.40,0.00,0.000,6,0.000,0.090,2739,2201,3789,0,0,0,0,0,0
$GC,1570,-0.89,-223.8,208.6,-13.5,240,1580,0.08,2.35,0.00,0.000,4,0.209,0.089,2746,3611,3790,0,0,0,0,0,0
$GC,1610,-0.89,-223.8,213.8,-12.9,246,1621,0.03,2.38,0.00,0.000,6,0.131,0.081,2755,2200,3789,0,0,0,0,0,0
$GC,1730,-0.89,-223.8,228.1,-12.9,265,1738,0.00,2.40,0.00,0.000,4,0.000,0.095,2755,763,3789,0,0,0,0,0,0
$GC,1760,-0.89,-223.8,231.9,-12.5,269,1767,0.05,2.42,0.00,0.000,6,0.243,0.088,2755,2201,3789,0,0,0,0,0,0
$GC,1877,-0.89,-223.8,246.7,-12.8,288,1885,0.00,2.40,0.00,0.000,4,0.000,0.095,2746,3620,3789,0,0,0,0,0,0
$GC,1906,-0.89,-223.8,250.2,-12.2,292,1915,0.03,2.40,0.00,0.000,6,0.130,0.083,2754,2201,3788,0,0,0,0,0,0
$GC,2027,-0.89,-223.8,265.2,-12.4,311,2034,0.00,2.40,0.00,0.000,4,0.000,0.096,2755,764,3789,0,0,0,0,0,0
$GC,2071,-0.89,-223.8,271.3,-13.8,318,2081,0.03,2.45,0.00,0.000,6,0.201,0.085,2753,2200,3788,0,0,0,0,0,0
$GC,2191,-0.89,-223.8,287.1,-13.3,337,2199,0.00,2.38,0.00,0.000,4,0.000,0.094,2743,3628,3788,0,0,0,0,0,0
$GC,2225,-0.89,-223.8,291.7,-12.6,342,2235,0.03,2.42,0.00,0.000,6,0.129,0.086,2752,2195,3787,0,0,0,0,0,0
$GC,2347,-0.89,-223.8,307.1,-12.5,361,2354,0.00,2.40,0.00,0.000,4,0.000,0.096,2752,759,3787,0,0,0,0,0,0
$GC,2399,-0.89,-223.8,314.1,-13.3,369,2407,0.08,2.42,0.00,0.000,6,0.213,0.083,2758,2208,3787,0,0,0,0,0,0
$GC,2518,-0.89,-223.8,329.4,-12.5,388,2530,0.00,2.40,0.00,0.000,4,0.000,0.097,2748,3622,3787,0,0,0,0,0,0
$GC,2558,-0.92,-223.8,334.2,-13.1,393,2565,0.00,2.40,0.00,0.000,6,0.000,0.088,2748,2188,3786,0,0,0,0,0,0
$GC,2673,-0.92,-223.8,349.8,-12.7,412,2685,0.00,2.42,0.00,0.000,4,0.000,0.099,2748,770,3786,0,0,0,0,0,0
$GC,2723,-0.92,-223.8,356.5,-13.6,419,2731,0.00,2.40,0.00,0.000,6,0.000,0.083,2738,2203,3786,0,0,0,0,0,0
$GC,2843,-0.90,-223.8,373.7,-14.0,438,2854,0.08,2.42,0.00,0.000,4,0.219,0.104,2743,3620,3786,0,0,0,0,0,0
$GC,2867,-0.90,-223.8,376.9,-14.1,441,2875,0.05,2.40,0.00,0.000,6,0.187,0.092,2754,2203,3785,0,0,0,0,0,0
$GC,2986,-0.90,-223.8,392.2,-12.8,460,2994,0.00,2.45,0.00,0.000,4,0.000,0.096,2753,763,3785,0,0,0,0,0,0
$GC,3032,-0.90,-223.8,398.0,-13.8,467,3039,0.00,2.40,0.00,0.000,6,0.000,0.082,2744,2200,3785,0,0,0,0,0,0
$GC,3148,-0.90,-223.8,413.7,-12.8,486,3158,0.00,2.42,0.00,0.000,4,0.000,0.100,2734,3619,3785,0,0,0,0,0,0
$GC,3177,-0.90,-223.8,417.4,-13.5,490,3187,0.05,2.47,0.00,0.000,6,0.156,0.099,2750,2197,3784,0,0,0,0,0,0
$GC,3299,-0.90,-223.8,432.3,-12.2,509,3306,0.00,2.40,0.00,0.000,4,0.000,0.098,2750,771,3784,0,0,0,0,0,0
$STATE,3315,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3315,begin apogee
$GC,3320,-0.25,0.0,434.4,13.5,511,3503,0.70,0.00,174.98,0.869,6,0.157,0.000,2962,1803,2862,0,0,0,0,0,0
$STATE,3504,end apogee,CONTROL_FINISHED_OK
$STATE,3504,begin climb
$GC,3505,1.08,223.8,444.8,0.0,536,3699,1.30,2.40,181.25,0.840,4,0.095,0.071,3391,3227,1948,0,0,0,0,0,0
$GC,3822,0.91,223.8,420.8,13.8,582,3832,0.17,2.42,0.00,0.000,6,0.148,0.064,3348,1778,1943,0,0,0,0,0,0
$GC,3943,0.82,223.8,406.5,11.6,601,3950,0.12,2.28,0.00,0.000,4,0.185,0.061,3326,391,1942,0,0,0,0,0,0
$GC,4019,0.74,223.8,397.7,11.5,613,4027,0.12,2.28,0.00,0.000,6,0.160,0.044,3293,1819,1942,0,0,0,0,0,0
$GC,4136,0.78,280.9,386.2,9.4,632,4190,0.00,0.00,47.10,0.819,6,0.000,0.000,3293,1819,1716,0,0,0,0,0,0
$GC,4300,0.82,311.8,370.2,10.3,657,4337,0.05,2.45,26.73,0.792,4,0.153,0.062,3340,397,1589,0,0,0,0,0,0
$GC,4375,0.77,311.8,361.2,11.8,668,4384,0.12,2.30,0.00,0.000,6,0.135,0.044,3300,1800,1585,0,0,0,0,0,0
$GC,4493,0.83,359.9,348.9,9.7,687,4545,0.00,2.45,40.88,0.796,4,0.000,0.062,3310,397,1393,0,0,0,0,0,0
$GC,4578,0.84,372.8,340.0,10.9,699,4599,0.00,2.28,11.80,0.724,6,0.000,0.044,3310,1794,1342,0,0,0,0,0,0
$GC,4709,0.90,391.2,325.7,10.7,720,4733,0.08,0.00,15.77,0.750,6,0.119,0.000,3354,1795,1269,0,0,0,0,0,0
$GC,4842,0.87,391.2,308.6,13.6,741,4850,0.08,2.33,0.00,0.000,4,0.167,0.062,3346,395,1266,0,0,0,0,0,0
$GC,4900,0.84,391.2,300.4,14.2,750,4911,0.05,2.30,0.00,0.000,6,0.143,0.044,3328,1815,1265,0,0,0,0,0,0
$GC,5020,0.84,391.2,285.1,12.2,769,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1815,1265,0,0,0,0,0,0
$GC,5135,0.84,391.2,270.6,12.7,788,5144,0.00,2.38,0.00,0.000,4,0.000,0.062,3338,389,1264,0,0,0,0,0,0
$GC,5182,0.84,391.2,264.7,13.5,795,5190,0.03,2.25,0.00,0.000,6,0.131,0.044,3317,1795,1264,0,0,0,0,0,0
$GC,5299,0.89,407.6,251.3,10.8,814,5324,0.00,2.35,15.38,0.743,4,0.000,0.061,3327,394,1198,0,0,0,0,0,0
$GC,5343,0.89,411.5,246.4,11.2,820,5354,0.00,2.28,4.32,0.538,6,0.000,0.044,3327,1794,1184,0,0,0,0,0,0
$GC,5464,0.94,426.2,233.0,10.9,839,5486,0.08,2.33,14.12,0.721,4,0.116,0.060,3382,392,1124,0,0,0,0,0,0
$GC,5507,0.89,426.2,226.9,14.7,845,5515,0.15,2.25,0.00,0.000,6,0.155,0.042,3342,1804,1123,0,0,0,0,0,0
$GC,5625,0.89,426.2,211.1,12.7,864,5634,0.00,2.35,0.00,0.000,4,0.000,0.061,3352,394,1121,0,0,0,0,0,0
$GC,5653,0.89,426.2,207.1,14.2,868,5663,0.03,2.28,0.00,0.000,6,0.166,0.043,3343,1809,1121,0,0,0,0,0,0
$GC,5773,0.89,426.2,191.1,13.2,887,5780,0.00,2.33,0.00,0.000,4,0.000,0.061,3353,385,1121,0,0,0,0,0,0
$GC,5804,0.89,426.2,186.4,14.0,892,5813,0.03,2.28,0.00,0.000,6,0.170,0.043,3344,1803,1120,0,0,0,0,0,0
$GC,5923,0.89,426.2,170.2,13.8,911,5930,0.00,2.30,0.00,0.000,4,0.000,0.061,3354,391,1120,0,0,0,0,0,0
$GC,5962,0.89,426.2,164.5,15.2,917,5970,0.08,2.25,0.00,0.000,6,0.184,0.043,3337,1826,1120,0,0,0,0,0,0
$GC,6078,0.89,426.2,148.4,13.6,936,6087,0.00,2.35,0.00,0.000,4,0.000,0.061,3347,393,1119,0,0,0,0,0,0
$GC,6105,0.89,426.2,144.6,13.7,940,6114,0.00,2.25,0.00,0.000,6,0.000,0.044,3347,1797,1119,0,0,0,0,0,0
$GC,6224,0.89,426.2,128.2,14.1,959,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1797,1119,0,0,0,0,0,0
$GC,6337,0.89,426.2,112.1,14.2,978,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1797,1119,0,0,0,0,0,0
$GC,6455,0.89,426.2,95.7,14.2,997,6462,0.00,2.28,0.00,0.000,4,0.000,0.062,3356,389,1118,0,0,0,0,0,0
$GC,6519,0.87,426.2,86.3,15.3,1007,6527,0.10,2.22,0.00,0.000,6,0.165,0.044,3330,1811,1118,0,0,0,0,0,0
$GC,6611,1.11,601.7,73.9,12.0,1022,6767,0.20,2.40,141.18,0.645,4,0.062,0.061,3423,3211,407,0,0,0,0,0,0
$GC,6805,1.08,601.7,37.5,20.9,1049,6813,0.12,2.30,0.00,0.000,6,0.151,0.054,3400,1800,405,0,0,0,0,0,0
$GC,6925,1.08,601.7,13.4,21.4,1068,6934,0.00,2.35,0.00,0.000,4,0.000,0.062,3411,396,403,0,0,0,0,0,0
$STATE,6985,end climb,SURFACE_DEPTH_REACHED
$STATE,6985,begin surface coast
$FINISH,1.0,1.011164
$STATE,7005,end surface coast,CONTROL_FINISHED_OK
$STATE,7006,begin surface
$SM_CCo,7083,0.00,0.000,0,0,400,603.67
$SM_GC,1.60,8.82,0.00,0.00,0.039,0.000,0.000,83,2189,400,-9.17,-0.34,603.67
$IRIDIUM_FIX,-3417.32,2601.17,170208,101002
$TT8_MAMPS,0.026215
$HUMID,66.49
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.1,4.350
$10V_AH,10.4,2.584
$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,24.700,165.550,673.500,0.000,0.000,35.751,42.703,249.633,8.500,0.000,18.836,2507.904,701.005,790.687,3388.156,128.729,0.000,1974.956,0.000,2719.079,0.000,54.433,0.000
$DEVICE_MAMPS,263.925,104.040,869.040,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.666,2768.728,1862.962,2992.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331376
$DATA_FILE_SIZE,80686,1080
$CAP_FILE_SIZE,143320,2
$CFSIZE,2097086464,2090598400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.354,234.7,1
$GPS,220415,223906,-3431.601,2600.713,29,0.9,29,-28.0