version: 66.07.10.p01
glider: 573
mission: 4
dive: 100
start: 10 18 112 17 21 4
data:
$ID,573
$MISSION,4
$DIVE,100
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,167
$T_MISSION,182
$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,-4600.5259
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$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,79
$GPS1,181012,171429,-4307.430,-836.060,72,1.1,72,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-72.5
$GPS2,181012,172012,-4307.437,-836.039,22,1.5,23,-21.4
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,-0.056
$KALMAN_X,-99492.7,105.6,589.6,215303.6,-1745.2
$KALMAN_Y,-193826.8,-231.5,654.4,142163.9,-1051.3
$MHEAD_RNG_PITCHd_Wd,125.0,64020,-20.0,-9.980
$D_GRID,500
$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,24,-0.91,-121.6,0.0,0.0,0,69,0.00,0.00,-42.28,0.000,2,0.000,0.000,84,1819,2867,0,0,0,0,0,0
$GC,71,-0.91,-121.6,3.1,-1.8,7,103,10.77,2.25,-13.30,0.000,4,0.251,0.068,2709,3220,3359,0,0,0,0,0,0
$GC,367,-0.80,-121.6,46.3,-14.8,57,372,0.17,2.17,0.00,0.000,6,0.172,0.042,2757,1810,3361,0,0,0,0,0,0
$GC,599,-0.75,-121.6,79.9,-14.7,98,605,0.08,0.95,0.00,0.000,4,0.213,0.053,2770,2418,3361,0,0,0,0,0,0
$GC,734,-0.72,-121.6,97.6,-12.8,122,739,0.03,0.93,0.00,0.000,6,0.191,0.046,2779,1810,3361,0,0,0,0,0,0
$GC,1055,-0.72,-121.6,137.8,-13.0,145,1059,0.00,1.15,0.00,0.000,4,0.000,0.053,2775,2545,3360,0,0,0,0,0,0
$GC,1184,-0.72,-121.6,154.8,-13.3,152,1192,0.00,1.12,0.00,0.000,6,0.000,0.044,2775,1819,3361,0,0,0,0,0,0
$GC,1505,-0.70,-121.6,195.1,-12.4,173,1510,0.08,1.27,0.00,0.000,4,0.217,0.054,2786,2624,3361,0,0,0,0,0,0
$GC,1633,-0.70,-121.6,210.7,-11.5,180,1641,0.00,1.25,0.00,0.000,6,0.000,0.044,2786,1814,3361,0,0,0,0,0,0
$GC,1954,-0.70,-121.6,249.2,-12.2,201,1958,0.00,1.27,0.00,0.000,4,0.000,0.052,2780,2629,3361,0,0,0,0,0,0
$GC,2076,-0.70,-121.6,265.0,-12.4,207,2082,0.05,1.27,0.00,0.000,6,0.222,0.044,2792,1808,3361,0,0,0,0,0,0
$GC,2400,-0.70,-121.6,304.1,-12.1,223,2404,0.00,1.02,0.00,0.000,4,0.000,0.052,2788,2470,3361,0,0,0,0,0,0
$GC,2545,-0.70,-121.6,322.5,-12.1,229,2549,0.00,1.02,0.00,0.000,6,0.000,0.044,2788,1805,3362,0,0,0,0,0,0
$GC,2868,-0.70,-121.6,362.8,-12.6,245,2872,0.00,1.55,0.00,0.000,4,0.000,0.053,2781,2789,3361,0,0,0,0,0,0
$GC,2968,-0.70,-121.6,375.3,-11.6,249,2974,0.05,1.50,0.00,0.000,6,0.223,0.042,2791,1821,3361,0,0,0,0,0,0
$GC,3291,-0.70,-121.6,412.3,-11.6,265,3295,0.00,0.52,0.00,0.000,4,0.000,0.053,2790,2180,3361,0,0,0,0,0,0
$GC,3460,-0.70,-121.6,431.5,-10.8,272,3464,0.00,0.55,0.00,0.000,6,0.000,0.049,2790,1813,3362,0,0,0,0,0,0
$GC,3781,-0.70,-121.6,467.9,-11.6,288,3784,0.00,0.57,0.00,0.000,4,0.000,0.053,2788,2205,3362,0,0,0,0,0,0
$GC,3858,-0.70,-121.6,477.6,-12.3,291,3862,0.00,0.57,0.00,0.000,6,0.000,0.048,2788,1819,3362,0,0,0,0,0,0
$STATE,4056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4056,begin apogee
$GC,4060,-0.23,0.0,501.4,12.1,301,4159,0.50,0.00,95.85,0.951,6,0.142,0.000,2945,1646,2861,0,0,0,0,0,0
$STATE,4160,end apogee,CONTROL_FINISHED_OK
$STATE,4160,begin climb
$GC,4161,0.91,121.6,507.3,0.0,304,4266,1.12,0.68,96.30,0.930,4,0.099,0.054,3315,1240,2365,0,0,0,0,0,0
$GC,4344,0.92,213.3,503.2,4.9,310,4426,0.00,0.65,75.50,0.920,6,0.000,0.045,3315,1646,1991,0,0,0,0,0,0
$GC,4736,0.96,241.7,472.9,8.4,328,4766,0.00,0.77,24.23,0.890,4,0.000,0.056,3318,1182,1876,0,0,0,0,0,0
$GC,4862,1.02,242.1,460.9,10.0,333,4868,0.05,0.73,0.00,0.000,6,0.073,0.046,3354,1643,1872,0,0,0,0,0,0
$GC,5179,1.02,242.1,425.8,11.1,349,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1643,1870,0,0,0,0,0,0
$GC,5486,1.02,242.1,390.4,11.9,364,5490,0.00,0.68,0.00,0.000,4,0.000,0.056,3357,1205,1869,0,0,0,0,0,0
$GC,5569,1.02,242.1,380.5,12.4,367,5575,0.00,0.70,0.00,0.000,6,0.000,0.047,3357,1654,1868,0,0,0,0,0,0
$GC,5887,1.02,242.1,343.9,11.6,383,5890,0.00,0.62,0.00,0.000,4,0.000,0.057,3360,1244,1868,0,0,0,0,0,0
$GC,5958,1.02,242.1,335.2,12.1,386,5962,0.00,0.62,0.00,0.000,6,0.000,0.047,3360,1648,1867,0,0,0,0,0,0
$GC,6285,1.02,242.1,297.2,11.6,402,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1648,1867,0,0,0,0,0,0
$GC,6596,1.02,242.1,260.2,12.2,417,6599,0.00,0.60,0.00,0.000,4,0.000,0.051,3360,2062,1866,0,0,0,0,0,0
$GC,6690,1.02,242.1,248.1,12.6,421,6696,0.00,0.65,0.00,0.000,6,0.000,0.051,3363,1644,1867,0,0,0,0,0,0
$GC,7010,1.02,242.1,209.3,12.3,442,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1644,1867,0,0,0,0,0,0
$GC,7321,1.02,242.1,170.2,12.8,462,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1644,1867,0,0,0,0,0,0
$GC,7633,1.02,242.1,130.0,13.0,482,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1644,1867,0,0,0,0,0,0
$GC,7951,1.02,242.1,91.6,13.4,508,7955,0.00,0.38,0.00,0.000,4,0.000,0.055,3363,1907,1867,0,0,0,0,0,0
$GC,8107,1.02,242.1,69.7,14.4,536,8112,0.00,0.40,0.00,0.000,6,0.000,0.055,3365,1645,1866,0,0,0,0,0,0
$GC,8457,1.02,242.1,27.0,13.9,597,8464,0.00,0.28,0.00,0.000,4,0.000,0.058,3364,1841,1867,0,0,0,0,0,0
$GC,8507,1.02,242.1,20.3,13.2,605,8515,0.03,0.28,0.00,0.000,6,0.195,0.063,3357,1651,1867,0,0,0,0,0,0
$GC,8587,1.02,242.1,10.5,12.6,618,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1652,1867,0,0,0,0,0,0
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8654,begin surface coast
$FINISH,1.5,1.026760
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8700,1.77,0.061,0,0,1841,250.20
$SM_GC,3.38,0.00,0.00,1.77,0.000,0.000,0.061,93,1820,1841,-9.16,0.03,250.20
$IRIDIUM_FIX,-4247.91,-831.55,181012,141444
$TT8_MAMPS,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.1574
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.3,18.812
$10V_AH,10.4,17.749
$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,21.400,29.500,291.875,1.775,0.000,25.113,43.588,178.153,0.000,0.000,25.077,1522.400,4912.386,340.969,2200.271,78.099,33.343,1036.883,0.000,1915.571,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,68.085,950.895,61.200,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.597,1095.188,378.830,68.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,37021,634
$CAP_FILE_SIZE,87353,0
$CFSIZE,2097086464,2081226752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,181012,194805,-4308.142,-835.089,85,1.0,85,-21.4