version: 66.07.10.p01
glider: 573
mission: 4
dive: 421
start: 1 2 113 22 2 7
data:
$ID,573
$MISSION,4
$DIVE,421
$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,340
$T_MISSION,355
$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,170
$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,0
$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,200
$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,-5665.2876
$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,18
$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,1890
$C_ROLL_CLIMB,1572
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,31
$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,400
$GPS1,020113,215358,-4211.647,-446.604,39,1.1,44,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-69.2
$GPS2,020113,220113,-4211.623,-446.694,20,1.0,20,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.252,-0.105
$KALMAN_X,-43623.4,-138.0,-680.7,146941.2,-2004.2
$KALMAN_Y,-96008.1,51.1,300.3,65205.0,25.7
$MHEAD_RNG_PITCHd_Wd,134.8,27624,-16.8,-9.804
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.94,-165.4,0.0,0.0,0,35,0.00,0.00,-7.50,0.000,2,0.000,0.000,80,1898,1275,0,0,0,0,0,0
$GC,37,-0.94,-165.4,3.0,-0.0,1,159,10.73,2.30,-103.25,0.000,4,0.221,0.076,2734,3292,3537,0,0,0,0,0,0
$GC,248,-0.94,-165.4,12.4,-9.8,36,255,0.00,2.28,0.00,0.000,6,0.000,0.052,2734,1892,3539,0,0,0,0,0,0
$GC,328,-0.94,-165.4,19.7,-9.2,49,335,0.00,1.30,0.00,0.000,4,0.000,0.061,2734,1097,3539,0,0,0,0,0,0
$GC,380,-0.90,-165.4,24.8,-9.8,57,387,0.08,1.27,0.00,0.000,6,0.131,0.053,2755,1884,3539,0,0,0,0,0,0
$GC,458,-0.94,-165.4,32.4,-9.4,70,465,0.00,0.52,0.00,0.000,4,0.000,0.061,2754,2238,3539,0,0,0,0,0,0
$GC,540,-0.99,-165.4,40.8,-10.5,84,548,0.03,0.55,0.00,0.000,6,0.100,0.058,2720,1885,3539,0,0,0,0,0,0
$GC,779,-0.97,-165.4,67.7,-11.1,120,780,0.08,0.00,0.00,0.000,6,0.182,0.000,2739,1885,3540,0,0,0,0,0,0
$GC,1105,-0.97,-165.4,102.2,-9.9,150,1108,0.00,0.93,0.00,0.000,4,0.000,0.060,2735,2467,3540,0,0,0,0,0,0
$GC,1241,-0.97,-165.4,115.7,-9.4,158,1244,0.00,0.93,0.00,0.000,6,0.000,0.054,2735,1881,3540,0,0,0,0,0,0
$GC,1574,-1.00,-165.4,146.1,-8.9,179,1578,0.00,1.60,0.00,0.000,4,0.000,0.060,2728,2870,3541,0,0,0,0,0,0
$GC,1630,-1.03,-165.4,151.4,-8.5,182,1634,0.00,1.58,0.00,0.000,6,0.000,0.050,2727,1884,3541,0,0,0,0,0,0
$GC,1957,-1.03,-165.4,178.2,-8.1,203,1961,0.00,0.40,0.00,0.000,4,0.000,0.063,2728,1606,3541,0,0,0,0,0,0
$GC,1995,-1.05,-165.4,181.0,-7.8,205,1999,0.00,0.45,0.00,0.000,6,0.000,0.058,2726,1899,3541,0,0,0,0,0,0
$GC,2314,-1.05,-165.4,208.3,-8.8,224,2317,0.00,0.98,0.00,0.000,4,0.000,0.060,2721,2514,3541,0,0,0,0,0,0
$GC,2386,-1.05,-165.4,214.8,-8.8,227,2390,0.00,1.00,0.00,0.000,6,0.000,0.051,2721,1884,3541,0,0,0,0,0,0
$GC,2713,-1.05,-165.4,245.2,-9.8,243,2717,0.00,0.90,0.00,0.000,4,0.000,0.059,2717,2450,3540,0,0,0,0,0,0
$GC,2781,-1.05,-165.4,252.2,-10.4,246,2785,0.00,0.88,0.00,0.000,6,0.000,0.053,2717,1892,3541,0,0,0,0,0,0
$GC,3116,-1.05,-165.4,287.9,-10.7,262,3119,0.00,1.35,0.00,0.000,4,0.000,0.059,2711,2736,3541,0,0,0,0,0,0
$GC,3170,-1.05,-165.4,294.3,-10.5,264,3175,0.00,1.35,0.00,0.000,6,0.000,0.050,2711,1888,3540,0,0,0,0,0,0
$GC,3490,-1.05,-165.4,328.5,-10.8,276,3493,0.00,1.42,0.00,0.000,4,0.000,0.059,2705,2767,3541,0,0,0,0,0,0
$GC,3550,-1.05,-165.4,335.1,-10.6,277,3556,0.00,1.40,0.00,0.000,6,0.000,0.048,2705,1883,3541,0,0,0,0,0,0
$GC,3863,-1.05,-165.4,368.1,-10.6,288,3867,0.00,0.40,0.00,0.000,4,0.000,0.061,2704,2155,3540,0,0,0,0,0,0
$GC,4069,-1.05,-165.4,390.5,-10.4,294,4073,0.00,0.43,0.00,0.000,6,0.000,0.059,2703,1881,3541,0,0,0,0,0,0
$GC,4405,-1.05,-165.4,424.0,-9.9,305,4409,0.00,1.48,0.00,0.000,4,0.000,0.059,2697,2793,3540,0,0,0,0,0,0
$GC,4465,-1.05,-165.4,430.1,-9.7,306,4471,0.03,1.42,0.00,0.000,6,0.170,0.049,2707,1896,3540,0,0,0,0,0,0
$GC,4779,-1.05,-165.4,458.9,-9.1,317,4782,0.00,1.27,0.00,0.000,4,0.000,0.058,2702,2691,3540,0,0,0,0,0,0
$GC,4847,-1.05,-165.4,464.9,-8.3,319,4851,0.00,1.27,0.00,0.000,6,0.000,0.050,2702,1888,3540,0,0,0,0,0,0
$GC,5188,-1.05,-165.4,493.6,-8.3,330,5191,0.00,1.25,0.00,0.000,4,0.000,0.059,2696,2666,3540,0,0,0,0,0,0
$GC,5243,-1.05,-165.4,498.4,-8.2,331,5247,0.03,1.23,0.00,0.000,6,0.171,0.050,2707,1892,3539,0,0,0,0,0,0
$GC,5562,-1.05,-165.4,524.4,-8.1,342,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1892,3539,0,0,0,0,0,0
$GC,5868,-1.05,-165.4,550.1,-8.5,352,5871,0.00,1.17,0.00,0.000,4,0.000,0.059,2702,2623,3539,0,0,0,0,0,0
$GC,5917,-1.05,-165.4,554.4,-8.6,353,5921,0.00,1.15,0.00,0.000,6,0.000,0.051,2702,1898,3539,0,0,0,0,0,0
$GC,6242,-1.05,-165.4,582.7,-9.0,364,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1898,3538,0,0,0,0,0,0
$GC,6548,-1.05,-165.4,611.8,-9.6,374,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1898,3537,0,0,0,0,0,0
$GC,6854,-1.05,-165.4,642.2,-9.9,384,6858,0.00,0.45,0.00,0.000,4,0.000,0.061,2700,2197,3537,0,0,0,0,0,0
$GC,6956,-1.05,-165.4,652.5,-10.2,387,6959,0.00,0.47,0.00,0.000,6,0.000,0.059,2700,1883,3536,0,0,0,0,0,0
$GC,7296,-1.05,-165.4,687.0,-10.1,398,7300,0.00,2.30,0.00,0.000,4,0.000,0.064,2690,3294,3535,0,0,0,0,0,0
$GC,7362,-1.02,-165.4,694.0,-10.5,400,7367,0.12,2.22,0.00,0.000,6,0.150,0.050,2724,1886,3535,0,0,0,0,0,0
$GC,7698,-1.07,-165.4,726.5,-9.9,411,7701,0.00,0.82,0.00,0.000,4,0.000,0.060,2721,2409,3535,0,0,0,0,0,0
$GC,7753,-1.12,-165.4,732.3,-10.4,412,7757,0.05,0.82,0.00,0.000,6,0.066,0.054,2678,1888,3534,0,0,0,0,0,0
$GC,8072,-1.09,-165.4,764.1,-9.8,423,8076,0.08,1.15,0.00,0.000,4,0.197,0.060,2691,2592,3533,0,0,0,0,0,0
$GC,8143,-1.09,-165.4,771.1,-9.2,425,8148,0.00,1.12,0.00,0.000,6,0.000,0.054,2691,1888,3532,0,0,0,0,0,0
$GC,8479,-1.09,-165.4,800.1,-8.5,436,8483,0.00,1.30,0.00,0.000,4,0.000,0.061,2684,2689,3532,0,0,0,0,0,0
$GC,8535,-1.07,-165.4,804.9,-8.4,437,8539,0.05,1.27,0.00,0.000,6,0.145,0.053,2703,1892,3532,0,0,0,0,0,0
$GC,8853,-1.07,-165.4,830.4,-8.1,448,8856,0.00,0.95,0.00,0.000,4,0.000,0.060,2699,2485,3531,0,0,0,0,0,0
$GC,8908,-1.07,-165.4,835.1,-8.5,449,8912,0.00,0.95,0.00,0.000,6,0.000,0.054,2699,1887,3531,0,0,0,0,0,0
$GC,9226,-1.07,-165.4,863.1,-9.1,460,9230,0.00,2.30,0.00,0.000,4,0.000,0.066,2689,3290,3531,0,0,0,0,0,0
$GC,9293,-1.07,-165.4,869.6,-9.4,462,9298,0.03,2.25,0.00,0.000,6,0.168,0.051,2699,1897,3531,0,0,0,0,0,0
$GC,9628,-1.07,-165.4,903.5,-10.5,473,9631,0.00,0.45,0.00,0.000,4,0.000,0.066,2700,1601,3531,0,0,0,0,0,0
$GC,9662,-1.07,-165.4,907.2,-11.0,474,9665,0.00,0.45,0.00,0.000,6,0.000,0.060,2698,1892,3531,0,0,0,0,0,0
$GC,10002,-1.07,-165.4,945.4,-11.4,485,10006,0.00,2.17,0.00,0.000,4,0.000,0.065,2688,3232,3530,0,0,0,0,0,0
$GC,10062,-1.05,-165.4,952.6,-11.7,486,10068,0.10,2.15,0.00,0.000,6,0.161,0.050,2715,1879,3530,0,0,0,0,0,0
$GC,10375,-1.09,-165.4,987.8,-11.4,497,10380,0.00,2.33,0.00,0.000,4,0.000,0.066,2705,3298,3529,0,0,0,0,0,0
$GC,10442,-1.09,-165.4,995.8,-11.6,499,10446,0.00,2.25,0.00,0.000,6,0.000,0.050,2705,1896,3529,0,0,0,0,0,0
$STATE,10500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10500,begin apogee
$GC,10505,-0.28,0.0,1002.3,11.1,501,10651,0.80,0.00,142.88,1.269,6,0.112,0.000,2963,1566,2862,0,0,0,0,0,0
$STATE,10652,end apogee,CONTROL_FINISHED_OK
$STATE,10652,begin climb
$GC,10654,0.94,165.4,1014.7,0.0,506,10810,1.12,0.00,149.68,1.234,6,0.063,0.000,3354,1565,2187,0,0,0,0,0,0
$GC,11113,0.82,259.8,1000.9,6.0,521,11202,0.12,0.00,84.43,1.229,6,0.178,0.000,3323,1565,1801,0,0,0,0,0,0
$GC,11509,0.83,299.8,969.5,8.2,534,11547,0.00,0.00,36.40,1.202,6,0.000,0.000,3322,1565,1638,0,0,0,0,0,0
$GC,11845,0.86,334.9,940.3,8.4,545,11884,0.00,1.73,32.50,1.192,4,0.000,0.067,3330,582,1494,0,0,0,0,0,0
$GC,11925,0.88,373.1,933.6,8.3,547,11965,0.00,1.65,35.95,1.180,6,0.000,0.050,3329,1571,1341,0,0,0,0,0,0
$GC,12274,0.96,417.4,904.0,8.0,558,12320,0.10,1.38,41.38,1.178,4,0.101,0.057,3381,2383,1160,0,0,0,0,0,0
$GC,12359,0.96,423.6,896.0,9.6,560,12371,0.05,1.35,6.75,0.948,6,0.145,0.058,3367,1579,1135,0,0,0,0,0,0
$GC,12702,1.01,423.6,863.8,9.8,572,12705,0.00,2.03,0.00,0.000,4,0.000,0.069,3376,365,1127,0,0,0,0,0,0
$GC,12757,1.06,423.6,858.0,10.1,573,12761,0.03,1.98,0.00,0.000,6,0.102,0.050,3405,1574,1126,0,0,0,0,0,0
$GC,13075,1.06,423.6,822.3,11.7,584,13079,0.00,0.55,0.00,0.000,4,0.000,0.070,3408,1235,1125,0,0,0,0,0,0
$GC,13169,1.06,423.6,811.0,12.1,586,13175,0.05,0.55,0.00,0.000,6,0.210,0.057,3396,1572,1125,0,0,0,0,0,0
$GC,13482,1.06,423.6,773.5,12.3,597,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1572,1124,0,0,0,0,0,0
$GC,13789,1.06,423.6,735.3,12.5,607,13792,0.00,0.68,0.00,0.000,4,0.000,0.067,3398,1159,1124,0,0,0,0,0,0
$GC,13838,1.06,423.6,728.8,11.9,608,13842,0.00,0.68,0.00,0.000,6,0.000,0.055,3399,1573,1124,0,0,0,0,0,0
$GC,14162,1.06,423.6,690.1,11.7,619,14166,0.00,0.62,0.00,0.000,4,0.000,0.059,3399,1982,1123,0,0,0,0,0,0
$GC,14217,1.06,423.6,683.6,11.7,620,14221,0.00,0.70,0.00,0.000,6,0.000,0.063,3402,1557,1124,0,0,0,0,0,0
$GC,14536,1.06,423.6,648.8,10.6,631,14539,0.00,1.50,0.00,0.000,4,0.000,0.060,3402,2481,1124,0,0,0,0,0,0
$GC,14591,1.06,428.4,642.8,9.6,632,14595,0.03,1.48,0.00,0.000,6,0.186,0.060,3399,1577,1124,0,0,0,0,0,0
$GC,14909,1.06,428.4,610.4,10.0,643,14910,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1577,1123,0,0,0,0,0,0
$GC,15215,1.06,428.4,579.7,9.9,653,15219,0.00,1.58,0.00,0.000,4,0.000,0.060,3399,2539,1123,0,0,0,0,0,0
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$STATE,20288,end climb,SURFACE_DEPTH_REACHED
$STATE,20288,begin surface coast
$FINISH,2.1,1.025130
$STATE,20307,end surface coast,CONTROL_FINISHED_OK
$STATE,20307,begin surface
$SM_CCo,20384,0.00,0.000,0,0,897,482.01
$SM_GC,3.08,8.75,0.00,0.00,0.033,0.000,0.000,82,1876,897,-9.19,-0.40,482.01
$IRIDIUM_FIX,-4158.28,-522.98,020113,161652
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.3,69.816
$10V_AH,9.9,57.360
$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
$DEVICE_SECS,22.575,104.975,587.500,0.000,0.000,24.935,44.965,223.103,0.250,0.000,23.105,2469.635,14500.783,668.102,2935.041,238.898,33.370,1904.829,0.000,2592.132,0.000,1.010,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.934,868.714,645.253,70.602,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,56875,941
$CAP_FILE_SIZE,180502,0
$CFSIZE,2097086464,2038693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030113,034329,-4212.355,-445.221,63,1.0,63,-22.2