version: 66.07.10.p01
glider: 573
mission: 4
dive: 13
start: 9 26 112 15 30 10
data:
$ID,573
$MISSION,4
$DIVE,13
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$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,333
$T_MISSION,363
$T_ABORT,720
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$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,250
$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,-4006.0786
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1650
$C_ROLL_CLIMB,1825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$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,-87.947678
$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,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,-1
$GPS1,260912,152035,-4252.636,-1052.194,29,1.3,29,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.1
$GPS2,260912,152948,-4252.617,-1052.205,18,1.5,18,-21.2
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,123.5,237456,-13.9,-10.010
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.64,-243.2,0.0,0.0,0,109,0.00,0.00,-83.05,0.000,2,0.000,0.000,91,1657,3177,0,0,0,0,0,0
$GC,111,-0.64,-243.2,3.5,-4.9,14,143,11.65,2.33,-13.98,0.000,4,0.267,0.073,2804,234,3854,0,0,0,0,0,0
$GC,285,-0.59,-243.2,34.4,-15.6,43,290,0.12,2.25,0.00,0.000,6,0.164,0.046,2830,1650,3855,0,0,0,0,0,0
$GC,520,-0.57,-243.2,63.4,-11.4,84,527,0.00,1.62,0.00,0.000,4,0.000,0.056,2822,2677,3856,0,0,0,0,0,0
$GC,666,-0.57,-243.2,81.4,-13.7,109,671,0.05,1.62,0.00,0.000,6,0.221,0.048,2834,1649,3856,0,0,0,0,0,0
$GC,1014,-0.57,-243.2,124.4,-12.2,170,1021,0.00,1.90,0.00,0.000,4,0.000,0.057,2826,2837,3856,0,0,0,0,0,0
$GC,1187,-0.57,-243.2,146.3,-13.2,200,1194,0.00,1.88,0.00,0.000,6,0.000,0.047,2826,1646,3856,0,0,0,0,0,0
$GC,1538,-0.57,-243.2,188.4,-11.5,261,1543,0.00,2.08,0.00,0.000,4,0.000,0.057,2816,2973,3856,0,0,0,0,0,0
$GC,1688,-0.57,-243.2,205.6,-11.7,287,1694,0.08,2.05,0.00,0.000,6,0.187,0.046,2834,1643,3856,0,0,0,0,0,0
$GC,2037,-0.57,-243.2,246.0,-10.9,348,2043,0.00,2.25,0.00,0.000,4,0.000,0.058,2825,3051,3856,0,0,0,0,0,0
$GC,2183,-0.57,-243.2,262.2,-10.7,374,2189,0.00,2.17,0.00,0.000,6,0.000,0.045,2825,1658,3856,0,0,0,0,0,0
$GC,2525,-0.57,-243.2,300.5,-10.8,435,2531,0.00,1.92,0.00,0.000,4,0.000,0.057,2816,2870,3856,0,0,0,0,0,0
$GC,2668,-0.57,-243.2,315.2,-9.8,460,2674,0.08,1.88,0.00,0.000,6,0.187,0.046,2835,1646,3856,0,0,0,0,0,0
$GC,3013,-0.57,-243.2,352.2,-11.5,521,3017,0.00,2.22,0.00,0.000,4,0.000,0.057,2825,3059,3857,0,0,0,0,0,0
$GC,3177,-0.59,-243.2,369.3,-9.9,550,3182,0.00,2.17,0.00,0.000,6,0.000,0.046,2825,1645,3856,0,0,0,0,0,0
$GC,3521,-0.59,-243.2,406.7,-10.1,611,3525,0.00,1.77,0.00,0.000,4,0.000,0.056,2817,2785,3856,0,0,0,0,0,0
$GC,3651,-0.59,-243.2,419.7,-9.6,634,3656,0.00,1.75,0.00,0.000,6,0.000,0.047,2817,1644,3856,0,0,0,0,0,0
$GC,3993,-0.59,-243.2,456.8,-10.6,695,3998,0.03,1.80,0.00,0.000,4,0.271,0.056,2818,2803,3856,0,0,0,0,0,0
$GC,4141,-0.59,-243.2,471.3,-9.8,721,4145,0.00,1.77,0.00,0.000,6,0.000,0.047,2818,1645,3856,0,0,0,0,0,0
$GC,4482,-0.59,-243.2,507.1,-10.8,782,4486,0.00,1.98,0.00,0.000,4,0.000,0.057,2809,2892,3856,0,0,0,0,0,0
$GC,4629,-0.59,-243.2,522.0,-10.3,808,4633,0.08,1.90,0.00,0.000,6,0.188,0.047,2828,1649,3855,0,0,0,0,0,0
$GC,4969,-0.59,-243.2,556.8,-10.3,869,4974,0.00,2.10,0.00,0.000,4,0.000,0.057,2818,2971,3855,0,0,0,0,0,0
$GC,5116,-0.59,-243.2,572.2,-10.0,895,5121,0.00,2.03,0.00,0.000,6,0.000,0.047,2818,1650,3855,0,0,0,0,0,0
$GC,5458,-0.59,-243.2,612.7,-12.3,956,5463,0.00,1.73,0.00,0.000,4,0.000,0.057,2810,2740,3854,0,0,0,0,0,0
$GC,5605,-0.59,-243.2,630.3,-11.9,982,5610,0.08,1.67,0.00,0.000,6,0.190,0.050,2829,1650,3854,0,0,0,0,0,0
$GC,5946,-0.59,-243.2,668.8,-11.6,1043,5951,0.00,2.05,0.00,0.000,4,0.000,0.059,2820,2942,3853,0,0,0,0,0,0
$GC,6098,-0.61,-243.2,685.8,-11.3,1070,6102,0.00,2.03,0.00,0.000,6,0.000,0.048,2820,1644,3853,0,0,0,0,0,0
$GC,6439,-0.61,-243.2,724.2,-11.0,1131,6445,0.00,2.12,0.00,0.000,4,0.000,0.059,2811,2980,3852,0,0,0,0,0,0
$GC,6584,-0.61,-243.2,739.9,-10.9,1157,6589,0.00,2.08,0.00,0.000,6,0.000,0.047,2811,1646,3852,0,0,0,0,0,0
$GC,6926,-0.61,-243.2,777.6,-10.7,1218,6932,0.00,2.03,0.00,0.000,4,0.000,0.058,2802,2921,3851,0,0,0,0,0,0
$GC,7071,-0.61,-243.2,793.2,-10.9,1244,7077,0.05,1.98,0.00,0.000,6,0.161,0.048,2820,1653,3851,0,0,0,0,0,0
$GC,7413,-0.61,-243.2,828.5,-10.1,1305,7419,0.00,1.52,0.00,0.000,4,0.000,0.057,2813,2620,3851,0,0,0,0,0,0
$GC,7554,-0.61,-243.2,841.7,-9.0,1330,7558,0.00,1.50,0.00,0.000,6,0.000,0.050,2813,1659,3850,0,0,0,0,0,0
$GC,7895,-0.61,-243.2,873.8,-8.8,1391,7900,0.00,1.98,0.00,0.000,4,0.000,0.059,2805,2901,3850,0,0,0,0,0,0
$GC,8046,-0.61,-243.2,887.8,-9.9,1418,8051,0.05,1.95,0.00,0.000,6,0.156,0.050,2822,1649,3849,0,0,0,0,0,0
$GC,8388,-0.61,-243.2,920.0,-9.4,1479,8393,0.00,2.08,0.00,0.000,4,0.000,0.060,2813,2983,3849,0,0,0,0,0,0
$GC,8534,-0.63,-243.2,933.6,-9.7,1505,8538,0.00,2.05,0.00,0.000,6,0.000,0.048,2813,1647,3848,0,0,0,0,0,0
$GC,8875,-0.63,-243.2,967.7,-9.3,1566,8881,0.00,1.83,0.00,0.000,4,0.000,0.058,2805,2800,3848,0,0,0,0,0,0
$GC,9021,-0.63,-243.2,981.7,-9.4,1592,9025,0.00,1.80,0.00,0.000,6,0.000,0.049,2805,1648,3847,0,0,0,0,0,0
$STATE,9203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9203,begin apogee
$GC,9207,-0.23,0.0,1000.3,10.7,1625,9413,0.43,0.00,200.55,1.311,6,0.142,0.000,2944,1829,2862,0,0,0,0,0,0
$STATE,9415,end apogee,CONTROL_FINISHED_OK
$STATE,9415,begin climb
$GC,9416,0.64,243.2,1009.3,0.0,1666,9637,0.88,1.80,211.32,1.269,4,0.104,0.059,3221,2825,1869,0,0,0,0,0,0
$GC,9671,0.73,333.6,997.6,7.5,1716,9762,0.05,1.70,83.18,1.238,6,0.076,0.047,3254,1834,1501,0,0,0,0,0,0
$GC,10099,0.86,394.9,963.1,8.3,1794,10161,0.12,2.50,56.05,1.224,4,0.099,0.060,3316,417,1251,0,0,0,0,0,0
$GC,10222,0.86,394.9,951.3,10.5,1817,10228,0.05,2.38,0.00,0.000,6,0.144,0.047,3300,1811,1246,0,0,0,0,0,0
$GC,10565,0.88,394.9,916.7,10.5,1878,10570,0.00,2.35,0.00,0.000,4,0.000,0.063,3310,417,1242,0,0,0,0,0,0
$GC,10655,0.88,394.9,906.8,11.6,1894,10659,0.00,2.30,0.00,0.000,6,0.000,0.049,3310,1829,1241,0,0,0,0,0,0
$GC,10996,0.88,394.9,869.5,11.4,1955,11001,0.00,2.38,0.00,0.000,4,0.000,0.064,3320,416,1240,0,0,0,0,0,0
$GC,11113,0.88,394.9,855.0,13.1,1976,11118,0.03,2.30,0.00,0.000,6,0.173,0.049,3311,1831,1240,0,0,0,0,0,0
$GC,11455,0.88,394.9,813.6,13.0,2037,11460,0.00,2.33,0.00,0.000,4,0.000,0.064,3321,415,1239,0,0,0,0,0,0
$GC,11566,0.88,394.9,799.3,13.0,2057,11572,0.03,2.28,0.00,0.000,6,0.173,0.049,3311,1825,1239,0,0,0,0,0,0
$GC,11908,0.88,394.9,756.9,11.9,2118,11914,0.00,2.33,0.00,0.000,4,0.000,0.063,3321,407,1239,0,0,0,0,0,0
$GC,12008,0.88,394.9,743.9,13.5,2136,12015,0.05,2.28,0.00,0.000,6,0.151,0.049,3304,1828,1239,0,0,0,0,0,0
$GC,12353,0.91,394.9,702.9,11.2,2197,12357,0.00,2.30,0.00,0.000,4,0.000,0.063,3314,416,1238,0,0,0,0,0,0
$GC,12453,0.91,394.9,690.3,12.0,2215,12458,0.00,2.22,0.00,0.000,6,0.000,0.049,3314,1825,1239,0,0,0,0,0,0
$GC,12795,0.91,394.9,649.0,12.3,2276,12800,0.00,2.30,0.00,0.000,4,0.000,0.064,3324,424,1238,0,0,0,0,0,0
$GC,12895,0.91,394.9,636.3,12.3,2294,12900,0.00,2.22,0.00,0.000,6,0.000,0.050,3324,1818,1238,0,0,0,0,0,0
$GC,13237,0.91,394.9,596.2,12.3,2355,13242,0.00,2.30,0.00,0.000,4,0.000,0.063,3334,417,1238,0,0,0,0,0,0
$GC,13337,0.91,394.9,583.8,12.5,2373,13343,0.05,2.25,0.00,0.000,6,0.152,0.049,3315,1827,1238,0,0,0,0,0,0
$GC,13681,0.91,422.6,549.0,9.2,2434,13712,0.00,2.38,23.88,1.022,4,0.000,0.064,3325,411,1138,0,0,0,0,0,0
$GC,13814,0.91,439.6,536.1,9.5,2458,13835,0.00,2.25,16.42,0.974,6,0.000,0.048,3325,1832,1068,0,0,0,0,0,0
$GC,14172,0.94,467.9,502.5,9.2,2522,14203,0.00,2.40,26.05,0.987,4,0.000,0.063,3335,413,953,0,0,0,0,0,0
$GC,14343,0.94,481.8,485.6,9.6,2553,14366,0.00,2.30,12.80,0.910,6,0.000,0.049,3335,1817,897,0,0,0,0,0,0
$GC,14705,0.97,481.8,449.9,10.2,2617,14709,0.00,2.30,0.00,0.000,4,0.000,0.063,3346,416,891,0,0,0,0,0,0
$GC,14842,0.97,481.8,435.0,10.4,2641,14846,0.00,2.25,0.00,0.000,6,0.000,0.049,3346,1827,890,0,0,0,0,0,0
$GC,15185,0.99,499.9,399.8,9.5,2702,15206,0.00,2.35,16.23,0.903,4,0.000,0.063,3356,414,823,0,0,0,0,0,0
$GC,15347,0.99,499.9,382.9,10.8,2731,15352,0.03,2.25,0.00,0.000,6,0.256,0.048,3346,1832,820,0,0,0,0,0,0
$GC,15690,1.02,499.9,348.6,10.0,2792,15695,0.00,2.33,0.00,0.000,4,0.000,0.063,3356,410,819,0,0,0,0,0,0
$GC,15855,1.02,499.9,330.9,10.6,2821,15859,0.00,2.25,0.00,0.000,6,0.000,0.048,3356,1828,818,0,0,0,0,0,0
$GC,16196,1.02,499.9,292.2,11.2,2882,16202,0.00,2.33,0.00,0.000,4,0.000,0.063,3366,416,818,0,0,0,0,0,0
$GC,16343,1.02,499.9,274.1,12.8,2908,16349,0.05,2.22,0.00,0.000,6,0.212,0.047,3354,1827,818,0,0,0,0,0,0
$GC,16691,1.05,499.9,231.5,12.1,2969,16696,0.00,2.28,0.00,0.000,4,0.000,0.063,3364,416,817,0,0,0,0,0,0
$GC,16864,1.05,499.9,208.7,12.2,2999,16869,0.00,2.22,0.00,0.000,6,0.000,0.047,3364,1832,817,0,0,0,0,0,0
$GC,17212,1.05,499.9,164.8,12.5,3060,17219,0.00,2.33,0.00,0.000,4,0.000,0.063,3374,411,817,0,0,0,0,0,0
$GC,17381,1.05,499.9,142.2,13.4,3089,17387,0.05,2.22,0.00,0.000,6,0.213,0.047,3361,1834,817,0,0,0,0,0,0
$GC,17730,1.05,499.9,97.1,12.7,3150,17737,0.00,2.30,0.00,0.000,4,0.000,0.063,3372,423,817,0,0,0,0,0,0
$GC,17887,1.05,499.9,76.1,13.4,3177,17892,0.00,2.20,0.00,0.000,6,0.000,0.047,3372,1831,817,0,0,0,0,0,0
$GC,18238,1.05,499.9,27.3,13.2,3238,18245,0.00,2.30,0.00,0.000,4,0.000,0.063,3382,417,817,0,0,0,0,0,0
$STATE,18380,end climb,SURFACE_DEPTH_REACHED
$STATE,18380,begin surface coast
$FINISH,1.1,1.026513
$STATE,18399,end surface coast,CONTROL_FINISHED_OK
$STATE,18399,begin surface
$SM_CCo,18476,0.00,0.000,0,0,815,502.12
$SM_GC,1.87,8.70,0.00,0.00,0.047,0.000,0.000,93,1661,815,-9.09,0.31,502.12
$IRIDIUM_FIX,-4236.17,-1059.01,260912,101046
$TT8_MAMPS,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,8.98162
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.0,6.996
$10V_AH,10.4,4.275
$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,22.750,160.025,646.475,0.000,0.000,28.858,38.176,355.072,0.000,0.000,21.453,5194.015,6474.733,663.785,6514.750,155.922,0.000,3029.319,0.000,5997.718,0.000,1.008,0.000
$DEVICE_MAMPS,270.810,73.440,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.654,2143.505,886.687,171.409,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,183552,3265
$CAP_FILE_SIZE,259840,0
$CFSIZE,2097086464,2092924928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260912,203905,-4252.791,-1051.293,27,1.8,27,-21.2