version: 66.07.10.p01
glider: 573
mission: 4
dive: 84
start: 10 15 112 22 5 32
data:
$ID,573
$MISSION,4
$DIVE,84
$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,-4229.8188
$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,41
$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,63
$GPS1,151012,215806,-4250.995,-852.304,37,1.0,37,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-72.1
$GPS2,151012,220437,-4250.968,-852.289,19,1.6,20,-21.5
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4252.000,-842.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.094,0.195
$KALMAN_X,-87943.3,152.9,-125.7,182282.5,-929.1
$KALMAN_Y,-191651.4,156.4,891.3,169849.4,-5489.7
$MHEAD_RNG_PITCHd_Wd,47.3,14097,-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,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,81,0.00,0.00,-54.55,0.000,2,0.000,0.000,87,1878,3050,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.1,-1.5,9,109,11.05,2.33,-8.18,0.000,4,0.249,0.066,2786,452,3358,0,0,0,0,0,0
$GC,220,-0.58,-121.6,21.8,-13.7,32,228,0.15,2.22,0.00,0.000,6,0.145,0.042,2826,1853,3360,0,0,0,0,0,0
$GC,301,-0.55,-121.6,30.7,-10.2,45,307,0.05,0.77,0.00,0.000,4,0.229,0.053,2836,2359,3360,0,0,0,0,0,0
$GC,394,-0.55,-121.6,39.8,-9.5,61,399,0.00,0.77,0.00,0.000,6,0.000,0.047,2836,1849,3360,0,0,0,0,0,0
$GC,627,-0.53,-121.6,62.7,-9.9,102,635,0.00,0.52,0.00,0.000,4,0.000,0.050,2834,2197,3361,0,0,0,0,0,0
$GC,719,-0.53,-121.6,71.6,-9.9,118,725,0.03,0.50,0.00,0.000,6,0.173,0.050,2845,1856,3361,0,0,0,0,0,0
$GC,1062,-0.53,-121.6,103.5,-9.7,175,1066,0.00,0.47,0.00,0.000,4,0.000,0.053,2842,2183,3361,0,0,0,0,0,0
$GC,1185,-0.53,-121.6,115.7,-9.5,182,1189,0.00,0.50,0.00,0.000,6,0.000,0.049,2843,1849,3361,0,0,0,0,0,0
$GC,1511,-0.53,-121.6,146.9,-9.6,203,1515,0.00,0.75,0.00,0.000,4,0.000,0.050,2839,2349,3361,0,0,0,0,0,0
$GC,1605,-0.53,-121.6,156.6,-10.0,208,1613,0.00,0.75,0.00,0.000,6,0.000,0.045,2839,1853,3361,0,0,0,0,0,0
$GC,1926,-0.53,-121.6,188.9,-9.9,229,1929,0.00,0.93,0.00,0.000,4,0.000,0.050,2835,2452,3361,0,0,0,0,0,0
$GC,2045,-0.53,-121.6,200.7,-9.6,236,2049,0.00,0.88,0.00,0.000,6,0.000,0.044,2834,1866,3361,0,0,0,0,0,0
$GC,2376,-0.53,-121.6,233.7,-9.8,257,2380,0.05,0.45,0.00,0.000,4,0.220,0.054,2845,2167,3361,0,0,0,0,0,0
$GC,2537,-0.53,-121.6,248.2,-8.2,266,2545,0.00,0.45,0.00,0.000,6,0.000,0.051,2845,1858,3361,0,0,0,0,0,0
$GC,2866,-0.53,-121.6,275.3,-8.1,283,2869,0.00,0.73,0.00,0.000,4,0.000,0.050,2841,2340,3362,0,0,0,0,0,0
$GC,2958,-0.53,-121.6,282.3,-7.3,287,2962,0.00,0.70,0.00,0.000,6,0.000,0.045,2841,1865,3362,0,0,0,0,0,0
$GC,3291,-0.53,-121.6,307.4,-7.4,303,3295,0.00,1.02,0.00,0.000,4,0.000,0.051,2836,2528,3362,0,0,0,0,0,0
$GC,3397,-0.53,-121.6,315.8,-7.4,307,3403,0.00,1.02,0.00,0.000,6,0.000,0.044,2837,1859,3362,0,0,0,0,0,0
$GC,3715,-0.53,-121.6,341.4,-8.4,323,3719,0.00,0.62,0.00,0.000,4,0.000,0.051,2834,2283,3362,0,0,0,0,0,0
$GC,3820,-0.53,-121.6,351.1,-9.2,327,3826,0.05,0.65,0.00,0.000,6,0.206,0.047,2847,1851,3362,0,0,0,0,0,0
$GC,4138,-0.53,-121.6,380.9,-9.6,343,4142,0.00,1.38,0.00,0.000,4,0.000,0.052,2841,2729,3362,0,0,0,0,0,0
$GC,4277,-0.53,-121.6,395.6,-10.1,349,4282,0.00,1.35,0.00,0.000,6,0.000,0.043,2841,1853,3362,0,0,0,0,0,0
$GC,4607,-0.53,-121.6,429.4,-10.5,365,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1852,3362,0,0,0,0,0,0
$GC,4914,-0.53,-121.6,460.1,-9.7,380,4918,0.00,1.25,0.00,0.000,4,0.000,0.053,2834,2652,3362,0,0,0,0,0,0
$GC,5036,-0.53,-121.6,472.2,-9.2,385,5042,0.05,1.23,0.00,0.000,6,0.209,0.044,2848,1858,3362,0,0,0,0,0,0
$GC,5360,-0.53,-121.6,501.1,-8.9,401,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1858,3362,0,0,0,0,0,0
$GC,5664,-0.53,-121.6,527.9,-8.8,411,5668,0.00,0.80,0.00,0.000,4,0.000,0.053,2845,2384,3361,0,0,0,0,0,0
$GC,5765,-0.53,-121.6,536.9,-8.6,414,5769,0.00,0.77,0.00,0.000,6,0.000,0.047,2845,1865,3361,0,0,0,0,0,0
$GC,6105,-0.53,-121.6,566.9,-8.7,425,6108,0.00,0.65,0.00,0.000,4,0.000,0.053,2842,2300,3360,0,0,0,0,0,0
$GC,6232,-0.53,-121.6,578.7,-9.7,428,6238,0.00,0.68,0.00,0.000,6,0.000,0.047,2842,1852,3360,0,0,0,0,0,0
$GC,6544,-0.53,-121.6,606.5,-8.8,439,6548,0.00,0.90,0.00,0.000,4,0.000,0.052,2837,2438,3359,0,0,0,0,0,0
$GC,6649,-0.53,-121.6,615.6,-8.4,442,6654,0.00,0.88,0.00,0.000,6,0.000,0.046,2838,1865,3358,0,0,0,0,0,0
$GC,6984,-0.53,-121.6,644.3,-8.5,453,6988,0.00,1.23,0.00,0.000,4,0.000,0.054,2832,2647,3358,0,0,0,0,0,0
$GC,7095,-0.53,-121.6,653.5,-8.8,456,7100,0.08,1.23,0.00,0.000,6,0.177,0.045,2852,1856,3358,0,0,0,0,0,0
$GC,7424,-0.55,-121.6,678.9,-7.9,467,7428,0.00,0.60,0.00,0.000,4,0.000,0.054,2849,2260,3357,0,0,0,0,0,0
$GC,7519,-0.58,-121.6,686.3,-7.3,469,7524,0.00,0.60,0.00,0.000,6,0.000,0.050,2849,1861,3356,0,0,0,0,0,0
$GC,7831,-0.61,-121.6,711.4,-8.2,480,7833,0.08,0.00,0.00,0.000,6,0.123,0.000,2807,1862,3356,0,0,0,0,0,0
$GC,8138,-0.57,-121.6,740.8,-9.5,490,8142,0.10,0.88,0.00,0.000,4,0.168,0.054,2830,2427,3355,0,0,0,0,0,0
$GC,8264,-0.57,-121.6,751.3,-8.1,493,8270,0.00,0.88,0.00,0.000,6,0.000,0.047,2831,1858,3355,0,0,0,0,0,0
$GC,8577,-0.57,-121.6,776.5,-8.2,504,8580,0.00,1.05,0.00,0.000,4,0.000,0.054,2826,2530,3355,0,0,0,0,0,0
$GC,8698,-0.57,-121.6,786.6,-8.4,507,8703,0.00,1.05,0.00,0.000,6,0.000,0.046,2826,1852,3354,0,0,0,0,0,0
$GC,9017,-0.57,-121.6,811.3,-7.7,518,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1853,3354,0,0,0,0,0,0
$GC,9323,-0.57,-121.6,834.6,-7.8,528,9327,0.00,0.77,0.00,0.000,4,0.000,0.054,2823,2361,3354,0,0,0,0,0,0
$GC,9458,-0.57,-121.6,845.4,-7.5,532,9461,0.00,0.75,0.00,0.000,6,0.000,0.050,2823,1863,3353,0,0,0,0,0,0
$GC,9797,-0.57,-121.6,873.8,-8.6,543,9802,0.03,1.00,0.00,0.000,4,0.268,0.055,2827,2496,3352,0,0,0,0,0,0
$GC,9953,-0.57,-121.6,887.0,-9.2,547,9957,0.00,1.00,0.00,0.000,6,0.000,0.047,2827,1852,3352,0,0,0,0,0,0
$GC,10271,-0.57,-121.6,914.5,-8.8,558,10274,0.00,0.35,0.00,0.000,4,0.000,0.059,2826,2100,3351,0,0,0,0,0,0
$GC,10353,-0.57,-121.6,921.8,-8.9,560,10357,0.00,0.35,0.00,0.000,6,0.000,0.059,2826,1861,3351,0,0,0,0,0,0
$GC,10677,-0.57,-121.6,949.4,-8.6,571,10680,0.00,1.08,0.00,0.000,4,0.000,0.056,2821,2546,3351,0,0,0,0,0,0
$GC,10793,-0.57,-121.6,959.5,-8.9,574,10798,0.05,1.08,0.00,0.000,6,0.210,0.047,2834,1855,3350,0,0,0,0,0,0
$GC,11116,-0.57,-121.6,985.2,-8.0,585,11120,0.00,0.52,0.00,0.000,4,0.000,0.057,2832,2208,3350,0,0,0,0,0,0
$STATE,11299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11299,begin apogee
$GC,11303,-0.23,0.0,1000.0,8.5,590,11408,0.32,0.00,99.22,1.312,6,0.126,0.000,2943,1660,2862,0,0,0,0,0,0
$STATE,11409,end apogee,CONTROL_FINISHED_OK
$STATE,11409,begin climb
$GC,11411,0.71,121.6,1004.2,0.0,594,11521,0.90,0.47,102.65,1.281,4,0.093,0.062,3244,1381,2366,0,0,0,0,0,0
$GC,11559,0.71,164.2,1000.0,5.7,598,11601,0.00,0.47,38.25,1.240,6,0.000,0.052,3244,1668,2192,0,0,0,0,0,0
$GC,11930,0.71,188.4,977.5,6.4,611,11955,0.00,0.60,21.62,1.216,4,0.000,0.047,3244,2083,2093,0,0,0,0,0,0
$GC,12073,0.74,213.8,968.4,6.4,614,12102,0.00,0.68,23.20,1.216,6,0.000,0.054,3247,1662,1990,0,0,0,0,0,0
$GC,12427,0.78,242.9,945.9,6.2,626,12458,0.08,0.35,26.25,1.215,4,0.124,0.048,3288,1915,1872,0,0,0,0,0,0
$GC,12541,0.78,242.9,936.5,8.0,629,12545,0.08,0.43,0.00,0.000,6,0.180,0.059,3271,1654,1869,0,0,0,0,0,0
$GC,12864,0.78,242.9,912.3,7.5,640,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1655,1867,0,0,0,0,0,0
$GC,13171,0.78,243.1,889.5,7.4,650,13172,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1655,1866,0,0,0,0,0,0
$GC,13477,0.78,247.9,866.9,7.2,660,13483,0.00,0.00,4.75,0.837,6,0.000,0.000,3272,1655,1851,0,0,0,0,0,0
$GC,13783,0.80,247.9,844.3,7.6,670,13787,0.00,0.32,0.00,0.000,4,0.000,0.067,3273,1430,1851,0,0,0,0,0,0
$GC,13894,0.80,249.4,835.7,7.3,673,13898,0.00,0.38,0.00,0.000,6,0.000,0.059,3273,1670,1851,0,0,0,0,0,0
$GC,14223,0.82,249.4,810.7,7.8,684,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1670,1851,0,0,0,0,0,0
$GC,14529,0.82,249.4,785.8,8.1,694,14533,0.00,0.30,0.00,0.000,4,0.000,0.067,3274,1466,1851,0,0,0,0,0,0
$GC,14589,0.84,249.4,780.8,8.1,695,14594,0.00,0.30,0.00,0.000,6,0.000,0.061,3274,1659,1851,0,0,0,0,0,0
$GC,14901,0.84,249.4,753.6,8.8,706,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1659,1850,0,0,0,0,0,0
$GC,15208,0.86,249.4,725.3,9.4,716,15210,0.08,0.00,0.00,0.000,6,0.126,0.000,3313,1659,1850,0,0,0,0,0,0
$GC,15514,0.83,249.4,691.4,11.2,726,15518,0.10,0.62,0.00,0.000,4,0.170,0.060,3290,1267,1850,0,0,0,0,0,0
$GC,15614,0.83,249.4,681.2,9.4,729,15618,0.00,0.60,0.00,0.000,6,0.000,0.051,3290,1660,1850,0,0,0,0,0,0
$GC,15954,0.83,249.4,648.8,9.2,740,15958,0.00,0.50,0.00,0.000,4,0.000,0.061,3292,1331,1849,0,0,0,0,0,0
$GC,16014,0.83,249.4,643.4,9.0,741,16019,0.00,0.52,0.00,0.000,6,0.000,0.053,3292,1668,1850,0,0,0,0,0,0
$GC,16326,0.83,249.4,616.4,8.5,752,16330,0.00,0.32,0.00,0.000,4,0.000,0.067,3293,1449,1850,0,0,0,0,0,0
$GC,16436,0.83,249.4,606.9,8.2,755,16438,0.00,0.32,0.00,0.000,6,0.000,0.060,3293,1661,1850,0,0,0,0,0,0
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$STATE,23235,end climb,SURFACE_DEPTH_REACHED
$STATE,23235,begin surface coast
$FINISH,1.5,1.026694
$STATE,23272,end surface coast,CONTROL_FINISHED_OK
$STATE,23272,begin surface
$SM_CCo,23287,0.73,0.075,0,0,1841,250.20
$SM_GC,2.89,0.00,0.00,0.73,0.000,0.000,0.075,82,1872,1841,-9.19,0.23,250.20
$IRIDIUM_FIX,-4236.17,-853.93,151012,151535
$TT8_MAMPS,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.13787
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.8,17.032
$10V_AH,10.3,16.159
$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,21.675,59.575,315.950,0.725,0.000,28.829,38.213,211.065,0.000,0.000,22.196,3117.670,16018.747,413.583,3992.546,132.083,33.356,1905.446,0.000,3645.231,0.000,1.009,0.000
$DEVICE_MAMPS,267.750,67.320,1311.975,74.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.379,1438.324,791.090,93.690,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,73620,1220
$CAP_FILE_SIZE,197322,0
$CFSIZE,2097086464,2082930688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161012,043453,-4248.351,-850.790,39,1.6,39,-21.5