version: 66.07.10.p01
glider: 573
mission: 4
dive: 429
start: 1 4 113 20 28 59
data:
$ID,573
$MISSION,4
$DIVE,429
$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,-5686.2192
$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,21
$R_STBD_OVSHOOT,26
$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,408
$GPS1,040113,202035,-4216.582,-438.769,33,1.2,33,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-70.1
$GPS2,040113,202805,-4216.597,-438.696,31,1.1,31,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.272,-0.023
$KALMAN_X,-72756.4,-128.9,169.4,186231.2,-3413.4
$KALMAN_Y,-88408.3,-69.3,714.1,48102.7,-668.7
$MHEAD_RNG_PITCHd_Wd,116.9,13471,-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,-165.4,0.0,0.0,0,46,0.00,0.00,-19.05,0.000,2,0.000,0.000,81,1895,1527,0,0,0,0,0,0
$GC,49,-0.94,-165.4,3.1,-0.9,3,159,10.80,2.33,-91.60,0.000,4,0.224,0.076,2730,3302,3536,0,0,0,0,0,0
$GC,270,-0.94,-165.4,16.5,-10.0,40,278,0.03,2.30,0.00,0.000,6,0.158,0.051,2741,1882,3538,0,0,0,0,0,0
$GC,351,-0.94,-165.4,24.7,-9.5,53,358,0.00,2.35,0.00,0.000,4,0.000,0.063,2741,480,3538,0,0,0,0,0,0
$GC,408,-0.89,-165.4,30.4,-10.2,62,416,0.10,2.30,0.00,0.000,6,0.141,0.050,2763,1895,3538,0,0,0,0,0,0
$GC,649,-0.96,-165.4,52.6,-9.6,103,654,0.05,0.00,0.00,0.000,6,0.161,0.000,2725,1896,3538,0,0,0,0,0,0
$GC,879,-0.96,-165.4,74.9,-9.9,131,883,0.08,1.20,0.00,0.000,4,0.173,0.060,2739,2637,3539,0,0,0,0,0,0
$GC,972,-1.00,-165.4,83.5,-9.8,139,975,0.00,1.20,0.00,0.000,6,0.000,0.053,2739,1887,3539,0,0,0,0,0,0
$GC,1303,-1.05,-165.4,117.0,-10.6,165,1307,0.08,1.60,0.00,0.000,4,0.121,0.063,2685,2885,3539,0,0,0,0,0,0
$GC,1376,-1.01,-165.4,124.9,-10.7,169,1380,0.10,1.60,0.00,0.000,6,0.128,0.050,2729,1885,3539,0,0,0,0,0,0
$GC,1703,-1.03,-165.4,156.5,-9.6,190,1707,0.00,0.93,0.00,0.000,4,0.000,0.059,2725,2466,3540,0,0,0,0,0,0
$GC,1792,-1.06,-165.4,165.1,-10.1,195,1796,0.00,0.90,0.00,0.000,6,0.000,0.054,2725,1896,3540,0,0,0,0,0,0
$GC,2123,-1.09,-165.4,200.9,-11.0,216,2128,0.08,1.65,0.00,0.000,4,0.122,0.061,2671,2912,3540,0,0,0,0,0,0
$GC,2185,-1.03,-165.4,208.5,-11.8,218,2191,0.12,1.62,0.00,0.000,6,0.130,0.050,2714,1892,3540,0,0,0,0,0,0
$GC,2500,-1.03,-165.4,244.7,-11.4,234,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1892,3540,0,0,0,0,0,0
$GC,2810,-1.03,-165.4,279.1,-10.7,249,2813,0.00,0.70,0.00,0.000,4,0.000,0.060,2711,2339,3540,0,0,0,0,0,0
$GC,2912,-1.03,-165.4,289.4,-9.7,253,2915,0.00,0.70,0.00,0.000,6,0.000,0.054,2711,1891,3540,0,0,0,0,0,0
$GC,3241,-1.03,-165.4,320.8,-9.3,266,3245,0.00,0.45,0.00,0.000,4,0.000,0.061,2709,2189,3540,0,0,0,0,0,0
$GC,3319,-1.03,-165.4,328.3,-9.0,268,3324,0.00,0.47,0.00,0.000,6,0.000,0.057,2709,1882,3540,0,0,0,0,0,0
$GC,3649,-1.03,-165.4,357.8,-9.0,279,3653,0.00,1.27,0.00,0.000,4,0.000,0.060,2704,2672,3540,0,0,0,0,0,0
$GC,3710,-1.03,-165.4,363.4,-8.9,280,3716,0.03,1.25,0.00,0.000,6,0.158,0.052,2715,1887,3540,0,0,0,0,0,0
$GC,4023,-1.03,-165.4,390.9,-9.0,291,4027,0.00,0.50,0.00,0.000,4,0.000,0.062,2713,2217,3539,0,0,0,0,0,0
$GC,4101,-1.05,-165.4,398.3,-9.6,293,4104,0.00,0.50,0.00,0.000,6,0.000,0.059,2713,1889,3539,0,0,0,0,0,0
$GC,4430,-1.05,-165.4,432.4,-10.9,304,4434,0.00,0.88,0.00,0.000,4,0.000,0.060,2709,2445,3539,0,0,0,0,0,0
$GC,4497,-1.05,-165.4,440.0,-10.7,306,4501,0.00,0.88,0.00,0.000,6,0.000,0.054,2709,1890,3539,0,0,0,0,0,0
$GC,4838,-1.05,-165.4,480.8,-12.3,317,4841,0.00,1.25,0.00,0.000,4,0.000,0.061,2704,2655,3538,0,0,0,0,0,0
$GC,4893,-1.05,-165.4,487.6,-11.9,318,4897,0.00,1.23,0.00,0.000,6,0.000,0.052,2704,1886,3539,0,0,0,0,0,0
$GC,5211,-1.05,-165.4,525.8,-12.2,329,5215,0.00,1.75,0.00,0.000,4,0.000,0.061,2696,2971,3538,0,0,0,0,0,0
$GC,5279,-1.05,-165.4,533.8,-11.8,331,5283,0.08,1.70,0.00,0.000,6,0.174,0.050,2715,1880,3538,0,0,0,0,0,0
$GC,5619,-1.08,-165.4,571.0,-10.6,342,5623,0.00,1.58,0.00,0.000,4,0.000,0.061,2708,2842,3538,0,0,0,0,0,0
$GC,5688,-1.08,-165.4,578.1,-9.5,344,5691,0.00,1.52,0.00,0.000,6,0.000,0.051,2708,1889,3538,0,0,0,0,0,0
$GC,6028,-1.08,-165.4,610.8,-9.1,355,6032,0.00,1.25,0.00,0.000,4,0.000,0.061,2702,2665,3537,0,0,0,0,0,0
$GC,6097,-1.08,-165.4,617.1,-8.6,357,6100,0.00,1.25,0.00,0.000,6,0.000,0.053,2702,1884,3537,0,0,0,0,0,0
$GC,6438,-1.08,-165.4,648.4,-9.2,368,6441,0.00,1.95,0.00,0.000,4,0.000,0.062,2693,3085,3536,0,0,0,0,0,0
$GC,6506,-1.08,-165.4,654.9,-9.2,370,6509,0.00,1.90,0.00,0.000,6,0.000,0.050,2693,1887,3536,0,0,0,0,0,0
$GC,6846,-1.08,-165.4,688.2,-9.8,381,6850,0.00,0.80,0.00,0.000,4,0.000,0.062,2690,2392,3535,0,0,0,0,0,0
$GC,6918,-1.08,-165.4,695.5,-10.2,383,6922,0.00,0.80,0.00,0.000,6,0.000,0.055,2690,1887,3536,0,0,0,0,0,0
$GC,7254,-1.08,-165.4,730.6,-10.7,394,7257,0.00,1.30,0.00,0.000,4,0.000,0.062,2684,2687,3534,0,0,0,0,0,0
$GC,7314,-1.08,-165.4,737.6,-11.6,395,7320,0.05,1.27,0.00,0.000,6,0.147,0.052,2702,1889,3534,0,0,0,0,0,0
$GC,7627,-1.08,-165.4,773.0,-11.5,406,7631,0.00,0.82,0.00,0.000,4,0.000,0.060,2699,2408,3533,0,0,0,0,0,0
$GC,7704,-1.08,-165.4,781.7,-11.6,408,7708,0.00,0.85,0.00,0.000,6,0.000,0.054,2699,1878,3533,0,0,0,0,0,0
$GC,8034,-1.08,-165.4,816.5,-10.4,419,8038,0.00,1.30,0.00,0.000,4,0.000,0.062,2693,2673,3532,0,0,0,0,0,0
$GC,8111,-1.08,-165.4,824.6,-10.4,421,8115,0.00,1.25,0.00,0.000,6,0.000,0.054,2693,1894,3532,0,0,0,0,0,0
$GC,8441,-1.08,-165.4,855.7,-9.2,432,8445,0.00,1.30,0.00,0.000,4,0.000,0.062,2687,2688,3531,0,0,0,0,0,0
$GC,8502,-1.08,-165.4,861.3,-9.2,433,8508,0.03,1.27,0.00,0.000,6,0.179,0.053,2697,1894,3531,0,0,0,0,0,0
$GC,8815,-1.08,-165.4,889.6,-9.3,444,8819,0.00,1.45,0.00,0.000,4,0.000,0.063,2691,2778,3531,0,0,0,0,0,0
$GC,8876,-1.08,-165.4,895.5,-9.1,445,8881,0.00,1.42,0.00,0.000,6,0.000,0.054,2691,1895,3531,0,0,0,0,0,0
$GC,9189,-1.08,-165.4,924.8,-9.5,456,9193,0.00,1.52,0.00,0.000,4,0.000,0.063,2684,2823,3530,0,0,0,0,0,0
$GC,9249,-1.08,-165.4,930.7,-9.8,457,9255,0.05,1.50,0.00,0.000,6,0.149,0.052,2702,1889,3530,0,0,0,0,0,0
$GC,9563,-1.10,-165.4,959.6,-9.3,468,9567,0.00,2.17,0.00,0.000,4,0.000,0.065,2692,3230,3529,0,0,0,0,0,0
$GC,9625,-1.10,-165.4,965.6,-9.0,470,9629,0.00,2.12,0.00,0.000,6,0.000,0.051,2692,1884,3529,0,0,0,0,0,0
$GC,9966,-1.10,-165.4,998.7,-9.8,481,9969,0.00,1.58,0.00,0.000,4,0.000,0.063,2686,2839,3528,0,0,0,0,0,0
$STATE,9979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9980,begin apogee
$GC,9986,-0.28,0.0,1000.5,9.7,481,10132,0.85,0.00,142.38,1.259,6,0.120,0.000,2959,1574,2862,0,0,0,0,0,0
$STATE,10133,end apogee,CONTROL_FINISHED_OK
$STATE,10133,begin climb
$GC,10135,0.94,165.4,1010.5,0.0,486,10292,1.15,2.55,148.50,1.226,4,0.064,0.062,3369,186,2187,0,0,0,0,0,0
$GC,10371,0.77,256.3,1008.6,6.2,493,10462,0.25,2.35,83.45,1.205,6,0.157,0.046,3304,1573,1818,0,0,0,0,0,0
$GC,10781,0.78,325.6,979.6,7.0,507,10850,0.00,2.28,63.30,1.206,4,0.000,0.060,3304,2888,1533,0,0,0,0,0,0
$GC,10902,0.82,364.7,970.2,8.2,510,10946,0.00,2.20,37.12,1.176,6,0.000,0.056,3313,1570,1375,0,0,0,0,0,0
$GC,11277,0.91,398.5,938.7,8.5,523,11316,0.10,2.47,31.55,1.174,4,0.097,0.071,3379,166,1236,0,0,0,0,0,0
$GC,11377,0.91,398.5,928.6,10.2,526,11382,0.12,2.33,0.00,0.000,6,0.151,0.050,3345,1581,1232,0,0,0,0,0,0
$GC,11713,0.97,398.5,895.6,10.0,537,11715,0.05,0.00,0.00,0.000,6,0.164,0.000,3379,1581,1228,0,0,0,0,0,0
$GC,12019,0.97,398.5,861.1,11.5,547,12022,0.00,0.88,0.00,0.000,4,0.000,0.068,3384,1055,1228,0,0,0,0,0,0
$GC,12073,0.97,398.5,854.3,11.3,548,12078,0.08,0.85,0.00,0.000,6,0.177,0.054,3365,1572,1227,0,0,0,0,0,0
$GC,12393,1.02,398.5,816.8,11.8,559,12396,0.00,0.57,0.00,0.000,4,0.000,0.070,3367,1217,1227,0,0,0,0,0,0
$GC,12437,1.06,398.5,811.5,11.6,560,12441,0.03,0.57,0.00,0.000,6,0.100,0.057,3397,1579,1226,0,0,0,0,0,0
$GC,12766,1.06,398.5,773.1,11.2,571,12769,0.00,0.98,0.00,0.000,4,0.000,0.067,3402,995,1226,0,0,0,0,0,0
$GC,12821,1.03,401.5,766.9,9.7,572,12825,0.05,0.93,0.00,0.000,6,0.154,0.054,3385,1568,1226,0,0,0,0,0,0
$GC,13139,1.03,401.5,733.7,10.3,583,13143,0.00,0.62,0.00,0.000,4,0.000,0.067,3387,1176,1225,0,0,0,0,0,0
$GC,13183,1.03,422.6,729.3,9.0,584,13209,0.00,0.62,22.60,1.088,6,0.000,0.057,3387,1574,1138,0,0,0,0,0,0
$GC,13541,1.06,423.7,694.8,9.8,596,13544,0.00,1.02,0.00,0.000,4,0.000,0.058,3387,2229,1132,0,0,0,0,0,0
$GC,13590,1.06,423.7,689.6,10.2,597,13594,0.00,1.05,0.00,0.000,6,0.000,0.058,3392,1576,1132,0,0,0,0,0,0
$GC,13914,1.06,423.7,656.6,10.6,608,13918,0.00,1.55,0.00,0.000,4,0.000,0.067,3399,640,1131,0,0,0,0,0,0
$GC,13964,1.06,423.7,651.1,10.9,609,13968,0.00,1.52,0.00,0.000,6,0.000,0.051,3399,1576,1131,0,0,0,0,0,0
$GC,14288,1.06,423.7,614.3,11.6,620,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1576,1130,0,0,0,0,0,0
$GC,14594,1.06,423.7,576.5,12.5,630,14598,0.00,0.90,0.00,0.000,4,0.000,0.068,3403,1031,1130,0,0,0,0,0,0
$GC,14649,1.06,423.7,569.4,12.3,631,14653,0.00,0.90,0.00,0.000,6,0.000,0.054,3403,1577,1130,0,0,0,0,0,0
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$STATE,19694,end climb,SURFACE_DEPTH_REACHED
$STATE,19695,begin surface coast
$FINISH,2.2,1.013160
$STATE,19726,end surface coast,CONTROL_FINISHED_OK
$STATE,19726,begin surface
$SM_CCo,19804,0.00,0.000,0,0,802,505.06
$SM_GC,2.93,8.73,0.00,0.00,0.035,0.000,0.000,88,1891,802,-9.19,0.03,505.06
$IRIDIUM_FIX,-4158.28,-439.30,040113,141430
$TT8_MAMPS,0.026964
$HUMID,48.46
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.10
$XPDR_PINGS,3
$24V_AH,22.3,71.440
$10V_AH,9.9,58.236
$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
$DEVICE_SECS,23.375,108.600,593.725,0.000,0.000,25.330,41.972,229.564,0.750,0.000,33.491,2429.133,13937.846,621.456,3015.809,241.932,33.369,1912.692,0.000,2658.649,0.000,1.008,0.000
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$SENSOR_SECS,622.050,882.842,633.777,76.948,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,56964,928
$CAP_FILE_SIZE,181130,0
$CFSIZE,2097086464,2037645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050113,020005,-4217.249,-437.684,27,1.1,27,-22.2