version: 66.07.10.p01
glider: 573
mission: 4
dive: 298
start: 12 6 112 13 13 44
data:
$ID,573
$MISSION,4
$DIVE,298
$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,300
$T_MISSION,325
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-5264.8213
$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,3052
$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,2000
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,35
$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,277
$GPS1,061212,130558,-4140.671,-543.569,41,1.2,46,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-71.6
$GPS2,061212,131324,-4140.659,-543.546,26,1.8,27,-22.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4140.659,-529.087
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.247,0.010
$KALMAN_X,-377392.6,44.8,179.0,704612.1,-3258.3
$KALMAN_Y,-227005.3,-227.1,759.8,319635.8,-463.6
$MHEAD_RNG_PITCHd_Wd,112.3,20000,-21.8,-11.111
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.00,-121.6,0.0,0.0,0,77,0.00,0.00,-48.83,0.000,2,0.000,0.000,82,2013,2469,0,0,0,0,0,0
$GC,79,-1.00,-121.6,3.1,-1.2,8,129,11.02,2.28,-33.22,0.000,4,0.240,0.075,2716,3401,3358,0,0,0,0,0,0
$GC,221,-0.95,-121.6,14.3,-12.6,31,229,0.08,2.28,0.00,0.000,6,0.153,0.049,2740,1996,3360,0,0,0,0,0,0
$GC,302,-0.95,-121.6,23.4,-9.9,44,309,0.00,1.33,0.00,0.000,4,0.000,0.057,2741,1172,3360,0,0,0,0,0,0
$GC,353,-0.95,-121.6,29.1,-11.1,52,360,0.00,1.33,0.00,0.000,6,0.000,0.050,2735,1998,3360,0,0,0,0,0,0
$GC,432,-0.95,-121.6,37.5,-10.6,65,437,0.00,1.73,0.00,0.000,4,0.000,0.060,2727,3082,3361,0,0,0,0,0,0
$GC,491,-0.95,-121.6,43.8,-11.0,75,496,0.08,1.73,0.00,0.000,6,0.185,0.049,2744,1998,3361,0,0,0,0,0,0
$GC,724,-0.97,-121.6,67.7,-9.7,116,729,0.00,2.22,0.00,0.000,4,0.000,0.058,2744,626,3361,0,0,0,0,0,0
$GC,788,-0.97,-121.6,74.1,-10.7,127,792,0.00,2.20,0.00,0.000,6,0.000,0.047,2734,2006,3361,0,0,0,0,0,0
$GC,1131,-1.00,-121.6,109.8,-10.2,177,1135,0.00,2.28,0.00,0.000,4,0.000,0.057,2734,590,3362,0,0,0,0,0,0
$GC,1230,-0.97,-121.6,119.8,-9.7,183,1234,0.00,2.25,0.00,0.000,6,0.000,0.045,2724,2011,3361,0,0,0,0,0,0
$GC,1554,-0.97,-121.6,149.3,-8.7,204,1558,0.00,2.30,0.00,0.000,4,0.000,0.056,2724,592,3362,0,0,0,0,0,0
$GC,1656,-0.94,-121.6,159.7,-9.4,210,1660,0.12,2.22,0.00,0.000,6,0.170,0.044,2747,2001,3362,0,0,0,0,0,0
$GC,1976,-0.98,-121.6,187.2,-8.7,230,1980,0.00,1.80,0.00,0.000,4,0.000,0.054,2747,868,3363,0,0,0,0,0,0
$GC,2049,-0.98,-121.6,194.3,-10.0,234,2053,0.00,1.80,0.00,0.000,6,0.000,0.045,2739,1999,3363,0,0,0,0,0,0
$GC,2377,-1.01,-121.6,223.4,-9.0,255,2381,0.00,2.25,0.00,0.000,4,0.000,0.059,2729,3407,3363,0,0,0,0,0,0
$GC,2437,-1.01,-121.6,229.8,-9.9,258,2446,0.00,2.22,0.00,0.000,6,0.000,0.047,2728,2001,3363,0,0,0,0,0,0
$GC,2772,-1.04,-121.6,263.3,-10.5,278,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2001,3363,0,0,0,0,0,0
$GC,3083,-1.06,-121.6,296.4,-10.9,293,3086,0.00,2.08,0.00,0.000,4,0.000,0.055,2728,705,3363,0,0,0,0,0,0
$GC,3151,-1.06,-121.6,304.5,-11.8,296,3154,0.00,2.05,0.00,0.000,6,0.000,0.045,2719,2008,3363,0,0,0,0,0,0
$GC,3483,-1.06,-121.6,339.9,-10.8,312,3487,0.00,2.22,0.00,0.000,4,0.000,0.060,2708,3405,3363,0,0,0,0,0,0
$GC,3584,-1.06,-121.6,351.7,-11.7,316,3592,0.00,2.22,0.00,0.000,6,0.000,0.045,2708,1997,3363,0,0,0,0,0,0
$GC,3900,-1.06,-121.6,387.0,-11.4,332,3904,0.00,2.28,0.00,0.000,4,0.000,0.060,2698,3413,3363,0,0,0,0,0,0
$GC,3985,-1.06,-121.6,397.0,-11.7,336,3989,0.00,2.20,0.00,0.000,6,0.000,0.045,2698,1999,3363,0,0,0,0,0,0
$GC,4299,-1.06,-121.6,430.9,-10.3,347,4303,0.00,2.28,0.00,0.000,4,0.000,0.060,2687,3412,3363,0,0,0,0,0,0
$GC,4382,-1.02,-121.6,439.3,-10.1,349,4387,0.12,2.20,0.00,0.000,6,0.167,0.045,2721,2000,3363,0,0,0,0,0,0
$GC,4695,-1.02,-121.6,465.4,-8.1,359,4698,0.00,0.90,0.00,0.000,4,0.000,0.055,2722,1418,3363,0,0,0,0,0,0
$GC,4763,-1.02,-121.6,471.0,-8.1,361,4767,0.00,0.90,0.00,0.000,6,0.000,0.049,2717,2000,3363,0,0,0,0,0,0
$GC,5103,-1.02,-121.6,499.5,-8.8,372,5107,0.00,2.25,0.00,0.000,4,0.000,0.055,2718,586,3362,0,0,0,0,0,0
$GC,5181,-0.99,-121.6,507.5,-9.8,374,5185,0.10,2.22,0.00,0.000,6,0.186,0.044,2732,2000,3362,0,0,0,0,0,0
$GC,5505,-1.04,-121.6,539.1,-10.3,385,5509,0.00,1.95,0.00,0.000,4,0.000,0.058,2723,3240,3362,0,0,0,0,0,0
$GC,5578,-1.07,-121.6,546.9,-10.2,387,5581,0.00,1.95,0.00,0.000,6,0.000,0.046,2723,1995,3362,0,0,0,0,0,0
$GC,5913,-1.10,-121.6,582.6,-10.8,398,5918,0.08,0.88,0.00,0.000,4,0.125,0.059,2681,2529,3361,0,0,0,0,0,0
$GC,5947,-1.07,-121.6,586.5,-11.8,399,5951,0.05,0.82,0.00,0.000,6,0.164,0.050,2698,2001,3361,0,0,0,0,0,0
$GC,6287,-1.07,-121.6,624.8,-11.3,410,6290,0.00,1.77,0.00,0.000,4,0.000,0.056,2699,888,3360,0,0,0,0,0,0
$GC,6336,-1.03,-121.6,630.8,-12.5,411,6341,0.08,1.77,0.00,0.000,6,0.164,0.046,2715,1999,3360,0,0,0,0,0,0
$GC,6660,-1.06,-121.6,664.8,-10.6,422,6664,0.00,0.80,0.00,0.000,4,0.000,0.055,2714,1476,3360,0,0,0,0,0,0
$GC,6717,-1.06,-121.6,671.0,-11.0,423,6720,0.00,0.82,0.00,0.000,6,0.000,0.051,2711,2005,3360,0,0,0,0,0,0
$GC,7035,-1.08,-121.6,704.5,-10.6,434,7039,0.00,1.73,0.00,0.000,4,0.000,0.059,2703,3085,3359,0,0,0,0,0,0
$GC,7085,-1.08,-121.6,710.0,-10.3,435,7089,0.00,1.73,0.00,0.000,6,0.000,0.047,2703,2001,3359,0,0,0,0,0,0
$GC,7409,-1.08,-121.6,743.6,-10.3,446,7413,0.00,1.90,0.00,0.000,4,0.000,0.060,2695,3168,3358,0,0,0,0,0,0
$GC,7458,-1.08,-121.6,749.0,-11.0,447,7462,0.00,1.85,0.00,0.000,6,0.000,0.048,2695,2007,3358,0,0,0,0,0,0
$GC,7782,-1.08,-121.6,782.7,-10.3,458,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2007,3358,0,0,0,0,0,0
$GC,8088,-1.08,-121.6,811.6,-9.2,468,8092,0.00,1.60,0.00,0.000,4,0.000,0.056,2695,1014,3357,0,0,0,0,0,0
$GC,8149,-1.05,-121.6,817.7,-9.6,469,8155,0.05,1.58,0.00,0.000,6,0.183,0.047,2705,1999,3357,0,0,0,0,0,0
$GC,8462,-1.07,-121.6,844.4,-8.5,480,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1998,3356,0,0,0,0,0,0
$GC,8768,-1.07,-121.6,871.9,-9.2,490,8772,0.00,1.65,0.00,0.000,4,0.000,0.056,2705,987,3356,0,0,0,0,0,0
$GC,8829,-1.07,-121.6,878.3,-9.7,491,8834,0.00,1.62,0.00,0.000,6,0.000,0.048,2698,1999,3356,0,0,0,0,0,0
$GC,9142,-1.07,-121.6,910.2,-10.4,502,9146,0.00,0.77,0.00,0.000,4,0.000,0.056,2698,1501,3355,0,0,0,0,0,0
$GC,9197,-1.07,-121.6,916.4,-11.0,503,9201,0.00,0.80,0.00,0.000,6,0.000,0.053,2694,2003,3355,0,0,0,0,0,0
$GC,9516,-1.07,-121.6,950.6,-10.7,514,9520,0.00,2.28,0.00,0.000,4,0.000,0.063,2683,3408,3354,0,0,0,0,0,0
$GC,9593,-1.04,-121.6,959.6,-12.0,516,9598,0.08,2.25,0.00,0.000,6,0.154,0.049,2717,2003,3354,0,0,0,0,0,0
$STATE,9762,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9762,begin apogee
$GC,9767,-0.23,0.0,977.5,10.5,522,9872,0.82,0.00,102.45,1.266,6,0.132,0.000,2971,1622,2862,0,0,0,0,0,0
$STATE,9873,end apogee,CONTROL_FINISHED_OK
$STATE,9873,begin climb
$GC,9875,1.00,121.6,982.8,0.0,525,9991,1.15,2.58,105.88,1.231,4,0.073,0.059,3377,221,2365,0,0,0,0,0,0
$GC,10159,0.90,192.4,973.9,6.8,533,10230,0.12,2.35,62.90,1.210,6,0.181,0.043,3348,1641,2077,0,0,0,0,0,0
$GC,10566,0.90,236.2,940.4,8.4,547,10611,0.00,2.33,39.15,1.195,4,0.000,0.057,3348,3030,1898,0,0,0,0,0,0
$GC,10706,0.90,249.9,926.7,10.3,551,10728,0.03,2.33,12.82,1.099,6,0.192,0.048,3349,1630,1843,0,0,0,0,0,0
$GC,11035,0.93,278.2,895.9,9.4,562,11066,0.00,0.68,26.40,1.154,4,0.000,0.054,3349,2033,1727,0,0,0,0,0,0
$GC,11136,0.97,291.1,886.0,10.3,565,11152,0.00,0.65,12.77,1.088,6,0.000,0.056,3352,1629,1675,0,0,0,0,0,0
$GC,11471,1.01,305.8,851.6,10.2,576,11488,0.08,0.00,14.20,1.083,6,0.122,0.000,3387,1629,1615,0,0,0,0,0,0
$GC,11776,1.01,305.8,815.5,11.6,586,11780,0.00,0.52,0.00,0.000,4,0.000,0.054,3386,1966,1612,0,0,0,0,0,0
$GC,11858,1.01,305.8,805.7,11.5,588,11862,0.00,0.57,0.00,0.000,6,0.000,0.059,3389,1617,1611,0,0,0,0,0,0
$GC,12182,1.01,305.8,769.3,11.2,599,12186,0.00,0.50,0.00,0.000,4,0.000,0.057,3389,1945,1610,0,0,0,0,0,0
$GC,12219,1.01,305.8,765.0,11.3,600,12223,0.00,0.52,0.00,0.000,6,0.000,0.060,3391,1624,1610,0,0,0,0,0,0
$GC,12554,1.01,305.8,726.9,11.4,611,12558,0.00,0.60,0.00,0.000,4,0.000,0.055,3391,2013,1610,0,0,0,0,0,0
$GC,12615,1.01,307.4,719.6,11.0,612,12621,0.05,0.62,0.00,0.000,6,0.237,0.057,3383,1629,1610,0,0,0,0,0,0
$GC,12928,1.01,309.5,684.9,11.0,623,12937,0.00,0.82,4.00,0.672,4,0.000,0.060,3386,1124,1599,0,0,0,0,0,0
$GC,12987,1.01,311.9,678.3,11.0,624,12996,0.00,0.82,3.88,0.643,6,0.000,0.048,3386,1636,1590,0,0,0,0,0,0
$GC,13332,1.01,322.2,642.0,10.5,636,13347,0.00,0.50,11.52,0.975,4,0.000,0.057,3386,1954,1547,0,0,0,0,0,0
$GC,13385,1.01,325.4,636.2,10.9,637,13394,0.00,0.55,4.45,0.691,6,0.000,0.059,3389,1619,1535,0,0,0,0,0,0
$GC,13732,1.05,333.1,598.6,10.6,649,13745,0.00,0.60,8.52,0.897,4,0.000,0.062,3392,1248,1504,0,0,0,0,0,0
$GC,13774,1.09,337.3,593.7,10.9,650,13784,0.00,0.60,5.43,0.751,6,0.000,0.051,3391,1629,1487,0,0,0,0,0,0
$GC,14104,1.18,339.2,557.9,11.0,661,14108,0.12,0.88,0.00,0.000,4,0.087,0.061,3455,1106,1484,0,0,0,0,0,0
$GC,14137,1.13,339.2,553.5,13.0,662,14142,0.10,0.82,0.00,0.000,6,0.160,0.048,3423,1629,1484,0,0,0,0,0,0
$GC,14478,1.13,339.2,509.9,12.9,673,14481,0.00,0.73,0.00,0.000,4,0.000,0.060,3425,1176,1484,0,0,0,0,0,0
$GC,14546,1.11,339.2,501.0,12.9,675,14550,0.03,0.70,0.00,0.000,6,0.196,0.050,3416,1624,1484,0,0,0,0,0,0
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$STATE,18755,end climb,SURFACE_DEPTH_REACHED
$STATE,18755,begin surface coast
$FINISH,1.8,1.007981
$STATE,18780,end surface coast,CONTROL_FINISHED_OK
$STATE,18780,begin surface
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$SM_GC,2.77,8.70,0.00,0.00,0.033,0.000,0.000,82,2003,1431,-9.18,0.08,350.77
$IRIDIUM_FIX,-4126.50,-540.91,061212,070715
$TT8_MAMPS,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.0,47.361
$10V_AH,10.0,43.019
$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
$DEVICE_SECS,23.325,130.375,426.650,0.000,0.000,26.307,39.208,242.939,0.000,0.000,29.376,2548.095,12841.773,500.523,3206.844,199.024,0.000,1758.767,0.000,2841.100,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.899,1112.932,646.446,82.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,60305,985
$CAP_FILE_SIZE,184581,0
$CFSIZE,2097086464,2054815744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061212,182905,-4140.057,-543.180,31,0.9,31,-22.3