version: 66.07.10.p01
glider: 573
mission: 4
dive: 338
start: 12 15 112 6 39 56
data:
$ID,573
$MISSION,4
$DIVE,338
$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,1
$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,-5402.3027
$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,25
$R_STBD_OVSHOOT,28
$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,317
$GPS1,151212,063153,-4135.593,-602.734,67,1.0,67,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-67.9
$GPS2,151212,063936,-4135.619,-602.742,17,1.0,17,-22.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4135.619,-548.303
$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,-121.6,0.0,0.0,0,89,0.00,0.00,-60.50,0.000,2,0.000,0.000,79,2001,2667,0,0,0,0,0,0
$GC,91,-1.00,-121.6,3.1,-1.4,10,130,11.15,2.33,-21.75,0.000,4,0.242,0.077,2717,3410,3358,0,0,0,0,0,0
$GC,274,-0.97,-121.6,16.0,-7.9,40,282,0.05,2.30,0.00,0.000,6,0.161,0.052,2733,1995,3360,0,0,0,0,0,0
$GC,355,-0.97,-121.6,24.4,-10.5,53,362,0.00,2.33,0.00,0.000,4,0.000,0.060,2733,597,3360,0,0,0,0,0,0
$GC,456,-0.97,-121.6,35.6,-10.4,70,463,0.03,2.28,0.00,0.000,6,0.195,0.049,2733,1994,3361,0,0,0,0,0,0
$GC,694,-0.99,-121.6,57.0,-8.4,111,699,0.00,2.30,0.00,0.000,4,0.000,0.060,2732,594,3361,0,0,0,0,0,0
$GC,789,-0.99,-121.6,67.1,-10.3,128,794,0.00,2.25,0.00,0.000,6,0.000,0.048,2723,2002,3361,0,0,0,0,0,0
$GC,1142,-0.99,-121.6,103.5,-10.8,187,1146,0.00,2.28,0.00,0.000,4,0.000,0.058,2723,592,3361,0,0,0,0,0,0
$GC,1222,-0.99,-121.6,112.5,-11.3,192,1227,0.08,2.25,0.00,0.000,6,0.196,0.047,2729,2007,3361,0,0,0,0,0,0
$GC,1550,-1.02,-121.6,146.1,-10.1,213,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2008,3362,0,0,0,0,0,0
$GC,1861,-1.06,-121.6,176.0,-9.4,233,1866,0.05,2.33,0.00,0.000,4,0.165,0.057,2696,584,3362,0,0,0,0,0,0
$GC,1892,-1.03,-121.6,179.1,-10.2,235,1897,0.12,2.25,0.00,0.000,6,0.174,0.047,2717,2004,3362,0,0,0,0,0,0
$GC,2217,-1.03,-121.6,209.9,-9.6,256,2221,0.00,2.25,0.00,0.000,4,0.000,0.060,2708,3409,3363,0,0,0,0,0,0
$GC,2301,-1.03,-121.6,218.7,-9.9,261,2305,0.00,2.25,0.00,0.000,6,0.000,0.047,2708,1989,3363,0,0,0,0,0,0
$GC,2631,-1.03,-121.6,252.2,-10.1,282,2635,0.00,2.25,0.00,0.000,4,0.000,0.056,2708,590,3362,0,0,0,0,0,0
$GC,2641,-1.03,-121.6,253.4,-10.2,282,2649,0.05,2.25,0.00,0.000,6,0.175,0.044,2713,2000,3363,0,0,0,0,0,0
$GC,2957,-1.03,-121.6,285.1,-10.0,298,2961,0.00,0.82,0.00,0.000,4,0.000,0.057,2710,2528,3363,0,0,0,0,0,0
$GC,2984,-1.03,-121.6,287.4,-9.4,299,2988,0.00,0.82,0.00,0.000,6,0.000,0.051,2710,1999,3362,0,0,0,0,0,0
$GC,3319,-1.03,-121.6,317.6,-8.6,315,3322,0.00,2.28,0.00,0.000,4,0.000,0.060,2700,3414,3363,0,0,0,0,0,0
$GC,3387,-1.03,-121.6,323.8,-8.3,318,3392,0.08,2.22,0.00,0.000,6,0.182,0.047,2717,1994,3363,0,0,0,0,0,0
$GC,3715,-1.06,-121.6,348.0,-7.1,334,3719,0.00,2.25,0.00,0.000,4,0.000,0.057,2718,594,3363,0,0,0,0,0,0
$GC,3736,-1.06,-121.6,349.8,-7.3,335,3740,0.00,2.25,0.00,0.000,6,0.000,0.046,2708,2001,3363,0,0,0,0,0,0
$GC,4066,-1.06,-121.6,372.7,-7.1,351,4070,0.00,2.22,0.00,0.000,4,0.000,0.059,2697,3404,3363,0,0,0,0,0,0
$GC,4114,-1.06,-121.6,376.2,-8.1,353,4118,0.00,2.20,0.00,0.000,6,0.000,0.047,2697,1999,3363,0,0,0,0,0,0
$GC,4443,-1.06,-121.6,401.7,-8.0,369,4447,0.00,2.28,0.00,0.000,4,0.000,0.061,2686,3416,3362,0,0,0,0,0,0
$GC,4520,-1.06,-121.6,408.9,-9.1,371,4525,0.10,2.25,0.00,0.000,6,0.172,0.047,2713,1999,3362,0,0,0,0,0,0
$GC,4850,-1.08,-121.6,437.3,-9.0,382,4854,0.00,2.28,0.00,0.000,4,0.000,0.062,2702,3406,3362,0,0,0,0,0,0
$GC,4928,-1.08,-121.6,444.7,-9.5,384,4932,0.00,2.22,0.00,0.000,6,0.000,0.049,2703,2004,3362,0,0,0,0,0,0
$GC,5252,-1.08,-121.6,475.4,-9.8,395,5256,0.00,2.28,0.00,0.000,4,0.000,0.057,2702,591,3361,0,0,0,0,0,0
$GC,5262,-1.08,-121.6,476.7,-9.9,395,5267,0.00,2.25,0.00,0.000,6,0.000,0.046,2692,2016,3361,0,0,0,0,0,0
$GC,5587,-1.08,-121.6,510.7,-10.6,406,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2016,3361,0,0,0,0,0,0
$GC,5893,-1.08,-121.6,543.4,-10.6,416,5897,0.00,2.33,0.00,0.000,4,0.000,0.057,2692,587,3361,0,0,0,0,0,0
$GC,5908,-1.06,-121.6,545.3,-10.7,416,5913,0.10,2.25,0.00,0.000,6,0.187,0.046,2706,2010,3360,0,0,0,0,0,0
$GC,6221,-1.06,-121.6,575.5,-9.5,426,6225,0.00,2.25,0.00,0.000,4,0.000,0.061,2696,3411,3360,0,0,0,0,0,0
$GC,6289,-1.06,-121.6,581.8,-8.8,428,6293,0.00,2.20,0.00,0.000,6,0.000,0.048,2696,1998,3359,0,0,0,0,0,0
$GC,6624,-1.06,-121.6,610.9,-8.7,439,6628,0.00,2.25,0.00,0.000,4,0.000,0.061,2685,3401,3359,0,0,0,0,0,0
$GC,6701,-1.06,-121.6,617.9,-9.5,441,6706,0.10,2.25,0.00,0.000,6,0.174,0.049,2711,1992,3359,0,0,0,0,0,0
$GC,7031,-1.09,-121.6,645.1,-8.4,452,7035,0.00,2.30,0.00,0.000,4,0.000,0.062,2701,3408,3357,0,0,0,0,0,0
$GC,7103,-1.09,-121.6,651.9,-9.3,454,7107,0.00,2.25,0.00,0.000,6,0.000,0.050,2701,2004,3357,0,0,0,0,0,0
$GC,7433,-1.09,-121.6,681.2,-9.0,465,7437,0.00,2.28,0.00,0.000,4,0.000,0.063,2691,3411,3357,0,0,0,0,0,0
$GC,7504,-1.09,-121.6,688.1,-9.5,467,7509,0.00,2.25,0.00,0.000,6,0.000,0.049,2691,1970,3356,0,0,0,0,0,0
$GC,7834,-1.09,-121.6,718.5,-9.5,478,7839,0.00,2.33,0.00,0.000,4,0.000,0.062,2680,3401,3356,0,0,0,0,0,0
$GC,7912,-1.09,-121.6,726.4,-10.0,480,7917,0.08,2.22,0.00,0.000,6,0.194,0.050,2698,2007,3356,0,0,0,0,0,0
$GC,8236,-1.09,-121.6,755.8,-9.0,491,8240,0.00,2.28,0.00,0.000,4,0.000,0.060,2698,592,3355,0,0,0,0,0,0
$GC,8264,-1.09,-121.6,758.5,-9.8,492,8268,0.00,2.22,0.00,0.000,6,0.000,0.047,2687,2004,3355,0,0,0,0,0,0
$GC,8605,-1.09,-121.6,790.1,-9.4,503,8609,0.00,2.30,0.00,0.000,4,0.000,0.060,2688,595,3355,0,0,0,0,0,0
$GC,8701,-1.05,-121.6,799.5,-9.9,506,8706,0.12,2.25,0.00,0.000,6,0.180,0.047,2709,2007,3355,0,0,0,0,0,0
$GC,9036,-1.08,-121.6,829.1,-8.8,517,9040,0.00,2.28,0.00,0.000,4,0.000,0.062,2699,3414,3354,0,0,0,0,0,0
$GC,9113,-1.08,-121.6,836.3,-9.1,519,9117,0.00,2.28,0.00,0.000,6,0.000,0.049,2699,1976,3354,0,0,0,0,0,0
$GC,9437,-1.08,-121.6,866.5,-9.5,530,9441,0.00,2.25,0.00,0.000,4,0.000,0.060,2699,595,3354,0,0,0,0,0,0
$GC,9549,-1.08,-121.6,878.4,-10.8,533,9553,0.00,2.25,0.00,0.000,6,0.000,0.048,2688,2004,3353,0,0,0,0,0,0
$STATE,9779,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9779,begin apogee
$GC,9784,-0.23,0.0,902.3,10.5,541,9890,0.93,0.00,102.60,1.206,6,0.135,0.000,2971,1630,2862,0,0,0,0,0,0
$STATE,9891,end apogee,CONTROL_FINISHED_OK
$STATE,9891,begin climb
$GC,9893,1.00,121.6,908.2,0.0,544,10003,1.15,0.00,105.65,1.174,6,0.070,0.000,3371,1630,2365,0,0,0,0,0,0
$GC,10291,0.94,224.1,898.7,4.8,557,10388,0.08,2.45,89.60,1.167,4,0.205,0.057,3356,3039,1947,0,0,0,0,0,0
$GC,10472,0.94,269.4,885.9,8.3,562,10519,0.00,2.38,41.95,1.133,6,0.000,0.049,3366,1631,1762,0,0,0,0,0,0
$GC,10843,1.00,308.0,854.2,8.7,575,10883,0.00,1.48,35.00,1.131,4,0.000,0.060,3372,746,1606,0,0,0,0,0,0
$GC,10912,1.03,328.6,847.7,9.9,577,10938,0.00,1.48,20.38,1.086,6,0.000,0.046,3372,1633,1522,0,0,0,0,0,0
$GC,11246,1.11,336.7,813.5,10.6,588,11259,0.10,0.80,8.02,0.971,4,0.103,0.060,3424,1162,1488,0,0,0,0,0,0
$GC,11277,1.09,336.7,809.6,12.1,589,11282,0.05,0.75,0.00,0.000,6,0.167,0.050,3409,1630,1487,0,0,0,0,0,0
$GC,11620,1.14,336.7,769.2,11.9,600,11624,0.00,2.35,0.00,0.000,4,0.000,0.066,3418,224,1485,0,0,0,0,0,0
$GC,11674,1.12,336.7,762.0,12.7,601,11680,0.00,2.28,0.00,0.000,6,0.000,0.047,3419,1640,1484,0,0,0,0,0,0
$GC,11987,1.14,336.7,724.9,11.8,612,11991,0.00,2.35,0.00,0.000,4,0.000,0.065,3430,222,1484,0,0,0,0,0,0
$GC,12042,1.10,336.7,718.1,11.6,613,12049,0.10,2.28,0.00,0.000,6,0.181,0.047,3406,1642,1483,0,0,0,0,0,0
$GC,12356,1.15,337.6,683.2,11.1,624,12360,0.00,2.35,0.00,0.000,4,0.000,0.067,3416,215,1483,0,0,0,0,0,0
$GC,12423,1.15,337.6,675.3,11.5,626,12427,0.00,2.28,0.00,0.000,6,0.000,0.047,3416,1634,1483,0,0,0,0,0,0
$GC,12758,1.19,337.6,636.8,11.6,637,12762,0.00,1.35,0.00,0.000,4,0.000,0.061,3422,819,1482,0,0,0,0,0,0
$GC,12792,1.19,337.6,632.8,11.2,638,12796,0.00,1.30,0.00,0.000,6,0.000,0.048,3422,1631,1482,0,0,0,0,0,0
$GC,13133,1.22,337.6,592.8,11.7,649,13138,0.05,2.35,0.00,0.000,4,0.167,0.066,3467,222,1483,0,0,0,0,0,0
$GC,13199,1.13,337.6,583.7,13.6,651,13204,0.17,2.25,0.00,0.000,6,0.163,0.047,3419,1631,1482,0,0,0,0,0,0
$GC,13535,1.16,337.6,542.9,12.1,662,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1631,1482,0,0,0,0,0,0
$GC,13841,1.19,337.6,507.5,11.3,672,13845,0.00,2.28,0.00,0.000,4,0.000,0.066,3429,248,1482,0,0,0,0,0,0
$GC,13884,1.19,338.2,502.2,11.1,673,13888,0.00,2.22,0.00,0.000,6,0.000,0.048,3429,1623,1481,0,0,0,0,0,0
$GC,14209,1.21,340.5,465.9,11.0,684,14213,0.00,2.33,0.00,0.000,4,0.000,0.066,3440,218,1482,0,0,0,0,0,0
$GC,14253,1.18,343.3,460.8,10.9,685,14264,0.00,2.25,6.32,0.766,6,0.000,0.048,3440,1635,1462,0,0,0,0,0,0
$GC,14577,1.18,346.2,425.1,10.9,696,14586,0.00,2.28,4.62,0.645,4,0.000,0.060,3439,3042,1450,0,0,0,0,0,0
$GC,14664,1.15,346.2,414.8,11.6,698,14669,0.10,2.25,0.00,0.000,6,0.184,0.051,3427,1629,1450,0,0,0,0,0,0
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$GC,15040,1.18,354.6,373.7,10.6,714,15055,0.00,1.20,9.80,0.802,6,0.000,0.056,3431,1635,1415,0,0,0,0,0,0
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$STATE,18246,end climb,SURFACE_DEPTH_REACHED
$STATE,18246,begin surface coast
$FINISH,2.0,1.026293
$STATE,18260,end surface coast,CONTROL_FINISHED_OK
$STATE,18260,begin surface
$SM_CCo,18340,0.00,0.000,0,0,1294,384.62
$SM_GC,2.79,9.07,0.00,0.00,0.047,0.000,0.000,88,1999,1294,-9.20,-0.03,384.62
$IRIDIUM_FIX,-4120.75,-603.56,151212,010155
$TT8_MAMPS,0.026964
$HUMID,46.06
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.9,53.886
$10V_AH,10.0,47.675
$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
$DEVICE_SECS,24.250,182.525,453.000,0.000,0.000,27.852,37.674,263.500,0.000,0.000,19.154,2551.004,12314.723,531.009,3182.889,215.360,0.000,1753.695,0.000,2806.356,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.643,1185.012,653.833,88.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,60316,995
$CAP_FILE_SIZE,182133,0
$CFSIZE,2097086464,2049572864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151212,114659,-4135.787,-603.381,49,1.7,49,-22.3