version: 66.07.10.p01
glider: 573
mission: 4
dive: 36
start: 10 2 112 17 15 6
data:
$ID,573
$MISSION,4
$DIVE,36
$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,450
$T_MISSION,520
$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,125
$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,1
$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,-4077.7761
$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,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,40
$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,15
$GPS1,021012,170158,-4244.885,-953.291,158,1.8,158,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-69.8
$GPS2,021012,171413,-4244.894,-953.334,37,1.8,37,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.204,0.074
$KALMAN_X,-4364.7,-333.1,93.4,15856.1,-1602.9
$KALMAN_Y,-4442.6,-322.5,89.5,-4799.0,-1647.9
$MHEAD_RNG_PITCHd_Wd,91.4,100276,-15.4,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,75,0.00,0.00,-48.58,0.000,2,0.000,0.000,82,1885,2978,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.4,-2.2,8,103,11.40,2.20,-8.73,0.000,4,0.260,0.073,2778,3262,3358,0,0,0,0,0,0
$GC,367,-0.60,-121.6,48.3,-16.2,57,373,0.17,2.20,0.00,0.000,6,0.164,0.044,2826,1850,3360,0,0,0,0,0,0
$GC,601,-0.54,-121.6,76.4,-11.9,98,609,0.08,0.52,0.00,0.000,4,0.205,0.057,2842,2193,3360,0,0,0,0,0,0
$GC,829,-0.52,-121.6,100.0,-10.0,137,834,0.00,0.50,0.00,0.000,6,0.000,0.053,2842,1857,3360,0,0,0,0,0,0
$GC,1178,-0.49,-121.6,137.5,-11.3,198,1186,0.08,0.55,0.00,0.000,4,0.207,0.057,2856,2221,3360,0,0,0,0,0,0
$GC,1283,-0.49,-121.6,148.9,-10.6,216,1290,0.00,0.52,0.00,0.000,6,0.000,0.052,2857,1866,3360,0,0,0,0,0,0
$GC,1637,-0.49,-121.6,184.1,-9.4,277,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1866,3360,0,0,0,0,0,0
$GC,1987,-0.49,-121.6,215.8,-9.1,338,1994,0.00,0.40,0.00,0.000,4,0.000,0.058,2855,2143,3361,0,0,0,0,0,0
$GC,2183,-0.49,-121.6,231.8,-7.8,372,2190,0.00,0.43,0.00,0.000,6,0.000,0.054,2855,1849,3361,0,0,0,0,0,0
$GC,2530,-0.49,-121.6,260.5,-8.0,422,2534,0.00,0.77,0.00,0.000,4,0.000,0.053,2851,2362,3361,0,0,0,0,0,0
$GC,2727,-0.49,-121.6,276.2,-7.6,439,2733,0.00,0.77,0.00,0.000,6,0.000,0.047,2851,1856,3361,0,0,0,0,0,0
$GC,3052,-0.49,-121.6,302.9,-9.3,470,3055,0.00,0.88,0.00,0.000,4,0.000,0.054,2847,2424,3361,0,0,0,0,0,0
$GC,3214,-0.49,-121.6,318.7,-10.2,484,3222,0.05,0.88,0.00,0.000,6,0.206,0.048,2859,1856,3361,0,0,0,0,0,0
$GC,3541,-0.49,-121.6,350.4,-9.6,515,3545,0.00,0.85,0.00,0.000,4,0.000,0.055,2855,2410,3361,0,0,0,0,0,0
$GC,3642,-0.49,-121.6,360.4,-9.6,524,3646,0.00,0.82,0.00,0.000,6,0.000,0.049,2856,1863,3361,0,0,0,0,0,0
$GC,3974,-0.49,-121.6,392.3,-9.8,555,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1863,3361,0,0,0,0,0,0
$GC,4293,-0.49,-121.6,422.2,-9.0,585,4297,0.00,0.35,0.00,0.000,4,0.000,0.060,2855,2111,3360,0,0,0,0,0,0
$GC,4463,-0.49,-121.6,437.3,-8.9,600,4467,0.00,0.35,0.00,0.000,6,0.000,0.060,2854,1865,3360,0,0,0,0,0,0
$GC,4795,-0.49,-121.6,464.5,-8.0,631,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1865,3359,0,0,0,0,0,0
$GC,5115,-0.49,-121.6,488.5,-6.8,661,5118,0.00,0.55,0.00,0.000,4,0.000,0.057,2852,2233,3359,0,0,0,0,0,0
$GC,5239,-0.49,-121.6,497.2,-6.8,672,5243,0.00,0.55,0.00,0.000,6,0.000,0.054,2852,1860,3359,0,0,0,0,0,0
$GC,5560,-0.49,-121.6,518.9,-6.9,685,5563,0.00,0.82,0.00,0.000,4,0.000,0.056,2848,2396,3358,0,0,0,0,0,0
$GC,5670,-0.49,-121.6,526.9,-7.0,688,5675,0.00,0.82,0.00,0.000,6,0.000,0.050,2848,1860,3359,0,0,0,0,0,0
$GC,6000,-0.49,-121.6,549.7,-7.1,699,6004,0.00,0.65,0.00,0.000,4,0.000,0.057,2845,2290,3358,0,0,0,0,0,0
$GC,6093,-0.49,-121.6,557.1,-8.5,701,6100,0.05,0.65,0.00,0.000,6,0.211,0.053,2858,1865,3357,0,0,0,0,0,0
$GC,6406,-0.51,-121.6,581.1,-7.7,712,6410,0.00,0.30,0.00,0.000,4,0.000,0.065,2858,1644,3358,0,0,0,0,0,0
$GC,6545,-0.53,-121.6,591.9,-7.5,716,6550,0.00,0.35,0.00,0.000,6,0.000,0.062,2856,1869,3357,0,0,0,0,0,0
$GC,6881,-0.55,-121.6,617.3,-7.2,727,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1869,3356,0,0,0,0,0,0
$GC,7187,-0.58,-121.6,638.1,-6.6,737,7191,0.08,0.35,0.00,0.000,4,0.132,0.063,2814,2115,3356,0,0,0,0,0,0
$GC,7443,-0.54,-121.6,660.2,-8.9,744,7448,0.12,0.38,0.00,0.000,6,0.169,0.060,2848,1862,3355,0,0,0,0,0,0
$GC,7761,-0.54,-121.6,681.8,-6.9,755,7765,0.00,0.28,0.00,0.000,4,0.000,0.066,2848,2068,3354,0,0,0,0,0,0
$GC,7843,-0.54,-121.6,687.5,-6.6,757,7847,0.00,0.32,0.00,0.000,6,0.000,0.063,2848,1851,3354,0,0,0,0,0,0
$GC,8167,-0.54,-121.6,710.3,-7.5,768,8170,0.00,0.85,0.00,0.000,4,0.000,0.057,2843,2401,3354,0,0,0,0,0,0
$GC,8277,-0.54,-121.6,718.8,-7.6,771,8281,0.00,0.85,0.00,0.000,6,0.000,0.051,2844,1852,3354,0,0,0,0,0,0
$GC,8607,-0.54,-121.6,746.7,-9.0,782,8610,0.00,0.75,0.00,0.000,4,0.000,0.058,2840,2341,3353,0,0,0,0,0,0
$GC,8763,-0.54,-121.6,760.6,-8.9,786,8767,0.00,0.75,0.00,0.000,6,0.000,0.051,2840,1853,3354,0,0,0,0,0,0
$GC,9081,-0.54,-121.6,790.0,-9.4,797,9084,0.00,0.40,0.00,0.000,4,0.000,0.061,2838,2128,3353,0,0,0,0,0,0
$GC,9191,-0.54,-121.6,800.9,-9.4,800,9195,0.00,0.40,0.00,0.000,6,0.000,0.059,2838,1863,3353,0,0,0,0,0,0
$GC,9520,-0.54,-121.6,831.9,-9.5,811,9523,0.00,0.88,0.00,0.000,4,0.000,0.058,2834,2428,3353,0,0,0,0,0,0
$GC,9636,-0.54,-121.6,843.1,-9.4,814,9641,0.00,0.88,0.00,0.000,6,0.000,0.052,2834,1864,3353,0,0,0,0,0,0
$GC,9960,-0.54,-121.6,873.6,-9.3,825,9963,0.00,0.52,0.00,0.000,4,0.000,0.060,2832,2214,3352,0,0,0,0,0,0
$GC,10094,-0.54,-121.6,885.9,-8.3,829,10098,0.03,0.52,0.00,0.000,6,0.181,0.056,2842,1858,3352,0,0,0,0,0,0
$GC,10434,-0.54,-121.6,915.2,-8.4,840,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1858,3352,0,0,0,0,0,0
$GC,10741,-0.54,-121.6,940.3,-7.9,850,10744,0.00,0.77,0.00,0.000,4,0.000,0.058,2838,2363,3351,0,0,0,0,0,0
$GC,10913,-0.54,-121.6,953.2,-7.0,855,10917,0.00,0.77,0.00,0.000,6,0.000,0.052,2839,1861,3351,0,0,0,0,0,0
$GC,11248,-0.54,-121.6,976.3,-6.9,866,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1860,3350,0,0,0,0,0,0
$GC,11554,-0.54,-121.6,998.2,-7.3,876,11558,0.00,0.50,0.00,0.000,4,0.000,0.061,2836,2199,3350,0,0,0,0,0,0
$STATE,11579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11579,begin apogee
$GC,11584,-0.23,0.0,1000.3,8.2,876,11687,0.32,0.00,100.03,1.330,6,0.140,0.000,2944,1670,2862,0,0,0,0,0,0
$STATE,11688,end apogee,CONTROL_FINISHED_OK
$STATE,11688,begin climb
$GC,11689,0.71,121.6,1003.9,0.0,880,11800,0.93,1.25,103.95,1.292,4,0.104,0.055,3247,930,2366,0,0,0,0,0,0
$GC,11849,0.71,161.1,998.6,5.8,885,11890,0.00,1.25,35.75,1.251,6,0.000,0.047,3247,1659,2204,0,0,0,0,0,0
$GC,12214,0.71,181.8,974.4,6.6,897,12237,0.00,0.38,18.67,1.219,4,0.000,0.060,3247,1894,2120,0,0,0,0,0,0
$GC,12327,0.73,182.7,966.6,7.4,900,12331,0.00,0.38,0.00,0.000,6,0.000,0.063,3248,1666,2117,0,0,0,0,0,0
$GC,12651,0.75,182.7,942.3,7.8,911,12655,0.00,0.55,0.00,0.000,4,0.000,0.062,3251,1310,2115,0,0,0,0,0,0
$GC,12752,0.77,182.7,934.1,8.5,914,12755,0.00,0.55,0.00,0.000,6,0.000,0.056,3251,1659,2115,0,0,0,0,0,0
$GC,13092,0.79,182.7,906.6,7.9,925,13094,0.08,0.00,0.00,0.000,6,0.133,0.000,3284,1659,2114,0,0,0,0,0,0
$GC,13398,0.77,182.7,878.8,9.0,935,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1660,2113,0,0,0,0,0,0
$GC,13705,0.75,182.7,853.9,7.5,945,13706,0.08,0.00,0.00,0.000,6,0.184,0.000,3266,1659,2113,0,0,0,0,0,0
$GC,14011,0.75,204.3,833.7,6.5,955,14032,0.00,0.00,19.95,1.184,6,0.000,0.000,3266,1659,2029,0,0,0,0,0,0
$GC,14317,0.75,211.8,812.8,7.1,965,14326,0.00,0.00,7.47,1.005,6,0.000,0.000,3265,1659,1998,0,0,0,0,0,0
$GC,14623,0.77,211.8,788.3,8.4,975,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1659,1997,0,0,0,0,0,0
$GC,14929,0.80,211.8,761.0,9.2,985,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1659,1996,0,0,0,0,0,0
$GC,15235,0.80,211.8,731.5,9.7,995,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1658,1996,0,0,0,0,0,0
$GC,15542,0.82,211.8,701.0,10.0,1005,15546,0.05,0.40,0.00,0.000,4,0.175,0.063,3289,1926,1996,0,0,0,0,0,0
$GC,15623,0.82,211.8,692.1,11.1,1007,15626,0.00,0.43,0.00,0.000,6,0.000,0.063,3291,1658,1996,0,0,0,0,0,0
$GC,15943,0.82,211.8,660.0,9.8,1018,15947,0.00,0.45,0.00,0.000,4,0.000,0.060,3291,1957,1996,0,0,0,0,0,0
$GC,16093,0.82,211.8,645.9,9.6,1022,16097,0.00,0.47,0.00,0.000,6,0.000,0.060,3293,1656,1996,0,0,0,0,0,0
$GC,16417,0.82,211.8,617.5,8.5,1033,16420,0.00,0.25,0.00,0.000,4,0.000,0.074,3294,1474,1995,0,0,0,0,0,0
$GC,16555,0.82,211.8,606.1,8.4,1037,16557,0.00,0.30,0.00,0.000,6,0.000,0.067,3294,1665,1995,0,0,0,0,0,0
$GC,16886,0.82,211.8,579.8,8.0,1048,16890,0.00,0.28,0.00,0.000,4,0.000,0.067,3294,1860,1995,0,0,0,0,0,0
$GC,17020,0.82,221.4,569.3,7.0,1052,17035,0.00,0.30,9.68,0.962,6,0.000,0.069,3296,1660,1959,0,0,0,0,0,0
$GC,17359,0.82,221.4,541.6,8.4,1063,17363,0.00,0.45,0.00,0.000,4,0.000,0.066,3298,1360,1957,0,0,0,0,0,0
$GC,17469,0.82,221.4,532.2,8.4,1066,17473,0.00,0.50,0.00,0.000,6,0.000,0.057,3298,1675,1957,0,0,0,0,0,0
$GC,17798,0.82,221.4,503.2,9.0,1077,17799,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1675,1957,0,0,0,0,0,0
$GC,18117,0.82,221.4,474.4,9.3,1103,18120,0.00,0.25,0.00,0.000,4,0.000,0.069,3298,1856,1957,0,0,0,0,0,0
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$GC,20085,0.82,221.4,303.0,9.6,1286,20089,0.00,0.47,0.00,0.000,6,0.000,0.059,3292,1660,1957,0,0,0,0,0,0
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$STATE,23587,end climb,SURFACE_DEPTH_REACHED
$STATE,23587,begin surface coast
$FINISH,1.5,1.001787
$STATE,23659,end surface coast,CONTROL_FINISHED_OK
$STATE,23659,begin surface
$SM_CCo,23674,12.12,0.578,0,0,1840,250.20
$SM_GC,3.91,0.00,0.00,12.12,0.000,0.000,0.578,94,1842,1840,-9.15,-0.59,250.20
$IRIDIUM_FIX,-4230.32,-952.33,021012,171734
$TT8_MAMPS,0.026964
$HUMID,41.37
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.6,10.428
$10V_AH,10.3,8.899
$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,21.975,45.700,295.500,12.125,0.000,55.828,80.929,371.758,0.000,0.000,39.715,4565.630,13597.749,413.629,5642.825,188.326,32.355,2194.838,0.000,5053.854,0.000,1.008,0.000
$DEVICE_MAMPS,260.865,95.625,1329.570,577.575,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1316.166,2542.871,1088.704,236.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354800
$DATA_FILE_SIZE,110349,1852
$CAP_FILE_SIZE,224730,0
$CFSIZE,2097086464,2089320448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021012,235105,-4245.795,-951.441,39,1.1,39,-21.4