version: 66.07.10.p01
glider: 573
mission: 4
dive: 440
start: 1 7 113 11 20 31
data:
$ID,573
$MISSION,4
$DIVE,440
$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,-5715.7764
$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,27
$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,419
$GPS1,070113,111207,-4221.392,-428.051,44,1.2,44,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-74.0
$GPS2,070113,111937,-4221.463,-428.089,20,1.2,20,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.045,0.270
$KALMAN_X,-108415.7,295.7,423.0,235813.9,-3443.9
$KALMAN_Y,-99934.2,-460.0,147.5,51593.8,-2903.2
$MHEAD_RNG_PITCHd_Wd,31.6,3767,-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,26,-0.94,-165.4,0.0,0.0,0,35,0.00,0.00,-7.20,0.000,2,0.000,0.000,81,1896,1616,0,0,0,0,0,0
$GC,37,-0.94,-165.4,3.1,-0.0,1,147,10.73,2.40,-88.20,0.000,4,0.221,0.076,2739,488,3538,0,0,0,0,0,0
$GC,198,-0.90,-165.4,8.8,-9.0,27,205,0.08,2.30,0.00,0.000,6,0.151,0.051,2754,1890,3539,0,0,0,0,0,0
$GC,278,-0.90,-165.4,15.9,-8.7,40,286,0.00,2.05,0.00,0.000,4,0.000,0.063,2746,3135,3539,0,0,0,0,0,0
$GC,330,-0.94,-165.4,20.5,-9.6,48,337,0.00,2.03,0.00,0.000,6,0.000,0.051,2746,1886,3540,0,0,0,0,0,0
$GC,411,-0.97,-165.4,28.2,-8.9,61,418,0.00,1.80,0.00,0.000,4,0.000,0.060,2745,804,3540,0,0,0,0,0,0
$GC,462,-0.94,-165.4,33.2,-10.8,69,467,0.00,1.75,0.00,0.000,6,0.000,0.050,2737,1894,3540,0,0,0,0,0,0
$GC,697,-0.97,-165.4,57.9,-10.6,110,704,0.00,1.08,0.00,0.000,4,0.000,0.058,2737,1231,3540,0,0,0,0,0,0
$GC,737,-0.97,-165.4,62.3,-11.1,115,742,0.00,1.08,0.00,0.000,6,0.000,0.051,2732,1895,3540,0,0,0,0,0,0
$GC,1064,-0.97,-165.4,93.9,-9.7,146,1068,0.00,2.30,0.00,0.000,4,0.000,0.063,2722,3305,3541,0,0,0,0,0,0
$GC,1144,-0.97,-165.4,101.7,-10.3,153,1149,0.08,2.25,0.00,0.000,6,0.174,0.049,2740,1879,3541,0,0,0,0,0,0
$GC,1477,-1.02,-165.4,132.6,-8.6,174,1480,0.00,1.42,0.00,0.000,4,0.000,0.060,2734,2759,3542,0,0,0,0,0,0
$GC,1589,-1.07,-165.4,143.1,-9.1,180,1597,0.05,1.38,0.00,0.000,6,0.064,0.050,2693,1896,3542,0,0,0,0,0,0
$GC,1911,-1.05,-165.4,175.9,-10.8,201,1915,0.08,1.55,0.00,0.000,4,0.187,0.060,2705,2838,3542,0,0,0,0,0,0
$GC,1966,-1.05,-165.4,182.3,-10.9,204,1971,0.00,1.52,0.00,0.000,6,0.000,0.050,2704,1878,3542,0,0,0,0,0,0
$GC,2297,-1.05,-165.4,217.1,-10.8,223,2301,0.00,1.83,0.00,0.000,4,0.000,0.060,2697,2995,3543,0,0,0,0,0,0
$GC,2357,-1.05,-165.4,224.2,-11.2,225,2365,0.00,1.77,0.00,0.000,6,0.000,0.048,2697,1884,3543,0,0,0,0,0,0
$GC,2675,-1.05,-165.4,259.5,-11.3,241,2679,0.08,0.55,0.00,0.000,4,0.194,0.060,2712,2239,3543,0,0,0,0,0,0
$GC,2770,-1.07,-165.4,269.9,-10.3,245,2773,0.00,0.55,0.00,0.000,6,0.000,0.055,2713,1887,3543,0,0,0,0,0,0
$GC,3107,-1.07,-165.4,304.5,-10.2,261,3110,0.00,1.85,0.00,0.000,4,0.000,0.060,2705,3042,3543,0,0,0,0,0,0
$GC,3167,-1.07,-165.4,310.6,-9.8,262,3173,0.00,1.83,0.00,0.000,6,0.000,0.048,2705,1897,3543,0,0,0,0,0,0
$GC,3480,-1.07,-165.4,341.3,-9.9,273,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1897,3543,0,0,0,0,0,0
$GC,3787,-1.07,-165.4,369.3,-8.7,283,3791,0.00,1.90,0.00,0.000,4,0.000,0.060,2697,3054,3543,0,0,0,0,0,0
$GC,3855,-1.07,-165.4,375.0,-8.5,285,3859,0.00,1.83,0.00,0.000,6,0.000,0.049,2697,1879,3543,0,0,0,0,0,0
$GC,4196,-1.07,-165.4,405.0,-8.8,296,4199,0.00,1.23,0.00,0.000,4,0.000,0.060,2691,2635,3543,0,0,0,0,0,0
$GC,4251,-1.07,-165.4,409.8,-8.9,297,4256,0.03,1.17,0.00,0.000,6,0.165,0.050,2702,1896,3543,0,0,0,0,0,0
$GC,4570,-1.07,-165.4,438.3,-9.5,308,4574,0.00,2.28,0.00,0.000,4,0.000,0.062,2692,3294,3543,0,0,0,0,0,0
$GC,4652,-1.07,-165.4,446.8,-10.3,310,4657,0.00,2.25,0.00,0.000,6,0.000,0.048,2692,1884,3542,0,0,0,0,0,0
$GC,4971,-1.07,-165.4,480.0,-10.8,321,4975,0.05,1.58,0.00,0.000,4,0.222,0.060,2696,2840,3542,0,0,0,0,0,0
$GC,5031,-1.07,-165.4,486.4,-10.4,322,5037,0.00,1.52,0.00,0.000,6,0.000,0.048,2696,1882,3542,0,0,0,0,0,0
$GC,5344,-1.07,-165.4,519.1,-10.6,333,5348,0.00,0.93,0.00,0.000,4,0.000,0.059,2692,2458,3542,0,0,0,0,0,0
$GC,5399,-1.07,-165.4,524.9,-10.1,334,5404,0.05,0.93,0.00,0.000,6,0.206,0.051,2704,1878,3542,0,0,0,0,0,0
$GC,5718,-1.07,-165.4,558.0,-10.5,345,5721,0.00,1.27,0.00,0.000,4,0.000,0.060,2699,2659,3541,0,0,0,0,0,0
$GC,5778,-1.07,-165.4,564.6,-10.3,346,5784,0.00,1.23,0.00,0.000,6,0.000,0.050,2699,1888,3541,0,0,0,0,0,0
$GC,6091,-1.07,-165.4,597.9,-10.7,357,6095,0.00,0.90,0.00,0.000,4,0.000,0.060,2695,2449,3541,0,0,0,0,0,0
$GC,6236,-1.07,-165.4,613.7,-10.8,361,6240,0.00,0.90,0.00,0.000,6,0.000,0.054,2695,1888,3541,0,0,0,0,0,0
$GC,6566,-1.07,-165.4,648.2,-10.5,372,6570,0.00,2.03,0.00,0.000,4,0.000,0.063,2686,3129,3540,0,0,0,0,0,0
$GC,6615,-1.07,-165.4,653.4,-10.0,373,6620,0.05,2.00,0.00,0.000,6,0.146,0.050,2704,1886,3540,0,0,0,0,0,0
$GC,6939,-1.07,-165.4,684.4,-9.3,384,6943,0.00,0.75,0.00,0.000,4,0.000,0.060,2701,2363,3539,0,0,0,0,0,0
$GC,7000,-1.07,-165.4,690.3,-9.1,385,7005,0.00,0.73,0.00,0.000,6,0.000,0.056,2701,1896,3540,0,0,0,0,0,0
$GC,7313,-1.07,-165.4,719.1,-9.2,396,7317,0.00,0.77,0.00,0.000,4,0.000,0.061,2698,2381,3538,0,0,0,0,0,0
$GC,7363,-1.07,-165.4,723.8,-9.0,397,7367,0.00,0.77,0.00,0.000,6,0.000,0.056,2698,1890,3538,0,0,0,0,0,0
$GC,7687,-1.07,-165.4,753.9,-9.5,408,7691,0.00,1.45,0.00,0.000,4,0.000,0.061,2691,2773,3537,0,0,0,0,0,0
$GC,7748,-1.07,-165.4,760.2,-9.9,409,7754,0.03,1.42,0.00,0.000,6,0.170,0.051,2701,1886,3537,0,0,0,0,0,0
$GC,8061,-1.07,-165.4,791.2,-10.1,420,8065,0.00,0.55,0.00,0.000,4,0.000,0.063,2699,2243,3536,0,0,0,0,0,0
$GC,8177,-1.07,-165.4,803.7,-10.7,423,8182,0.00,0.57,0.00,0.000,6,0.000,0.059,2699,1882,3536,0,0,0,0,0,0
$GC,8501,-1.07,-165.4,837.2,-10.4,434,8505,0.00,1.98,0.00,0.000,4,0.000,0.064,2690,3086,3535,0,0,0,0,0,0
$GC,8562,-1.07,-165.4,843.6,-10.2,435,8569,0.03,1.92,0.00,0.000,6,0.171,0.051,2701,1890,3535,0,0,0,0,0,0
$GC,8875,-1.07,-165.4,875.4,-10.1,446,8879,0.00,0.82,0.00,0.000,4,0.000,0.061,2697,2410,3534,0,0,0,0,0,0
$GC,8952,-1.07,-165.4,883.2,-10.0,448,8957,0.00,0.85,0.00,0.000,6,0.000,0.054,2697,1880,3534,0,0,0,0,0,0
$GC,9283,-1.09,-165.4,914.2,-9.1,459,9287,0.00,2.33,0.00,0.000,4,0.000,0.066,2686,3296,3534,0,0,0,0,0,0
$GC,9355,-1.09,-165.4,920.9,-7.9,461,9360,0.00,2.22,0.00,0.000,6,0.000,0.051,2686,1885,3534,0,0,0,0,0,0
$GC,9685,-1.09,-165.4,950.6,-9.1,472,9689,0.00,0.60,0.00,0.000,4,0.000,0.063,2684,2272,3533,0,0,0,0,0,0
$GC,9943,-1.09,-165.4,974.3,-8.9,479,9947,0.05,0.62,0.00,0.000,6,0.209,0.058,2697,1881,3533,0,0,0,0,0,0
$STATE,10260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10260,begin apogee
$GC,10265,-0.28,0.0,1002.3,8.7,490,10413,0.82,0.00,144.05,1.260,6,0.115,0.000,2962,1569,2862,0,0,0,0,0,0
$STATE,10413,end apogee,CONTROL_FINISHED_OK
$STATE,10414,begin climb
$GC,10416,0.94,165.4,1011.8,0.0,495,10576,1.12,2.55,149.95,1.222,4,0.059,0.057,3357,2982,2186,0,0,0,0,0,0
$GC,10735,0.79,237.3,1002.5,6.9,505,10806,0.22,2.33,65.15,1.204,6,0.164,0.050,3308,1574,1894,0,0,0,0,0,0
$GC,11132,0.79,287.2,972.2,7.8,518,11182,0.00,1.30,45.40,1.196,4,0.000,0.055,3308,2369,1689,0,0,0,0,0,0
$GC,11232,0.79,318.6,964.1,8.6,521,11267,0.00,1.33,29.98,1.165,6,0.000,0.055,3313,1576,1562,0,0,0,0,0,0
$GC,11593,0.84,341.7,932.5,8.9,533,11620,0.00,0.00,22.08,1.151,6,0.000,0.000,3313,1576,1468,0,0,0,0,0,0
$GC,11928,0.90,368.0,902.7,8.8,544,11957,0.08,0.00,25.25,1.144,6,0.119,0.000,3361,1576,1361,0,0,0,0,0,0
$GC,12264,0.90,374.5,870.1,9.5,555,12275,0.08,1.45,6.45,0.907,4,0.179,0.058,3342,2440,1335,0,0,0,0,0,0
$GC,12327,0.93,378.3,864.0,9.7,557,12337,0.00,1.42,5.53,0.846,6,0.000,0.057,3348,1572,1319,0,0,0,0,0,0
$GC,12663,0.98,386.5,832.2,9.5,568,12674,0.00,0.00,8.70,0.985,6,0.000,0.000,3348,1572,1286,0,0,0,0,0,0
$GC,12968,1.02,386.5,802.4,9.8,578,12973,0.10,1.73,0.00,0.000,4,0.099,0.061,3397,2613,1284,0,0,0,0,0,0
$GC,13019,0.97,386.5,797.0,10.1,579,13023,0.15,1.70,0.00,0.000,6,0.163,0.055,3365,1556,1285,0,0,0,0,0,0
$GC,13342,0.99,386.5,763.3,10.4,590,13346,0.00,0.68,0.00,0.000,4,0.000,0.058,3365,1985,1284,0,0,0,0,0,0
$GC,13392,1.01,386.5,758.0,10.0,591,13396,0.00,0.68,0.00,0.000,6,0.000,0.063,3368,1567,1283,0,0,0,0,0,0
$GC,13716,1.01,386.5,724.7,10.3,602,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1567,1283,0,0,0,0,0,0
$GC,14023,1.03,386.5,693.2,10.4,612,14024,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1567,1282,0,0,0,0,0,0
$GC,14328,1.03,386.5,662.0,10.1,622,14332,0.00,1.38,0.00,0.000,4,0.000,0.060,3368,2416,1282,0,0,0,0,0,0
$GC,14389,1.03,386.5,655.7,10.1,623,14395,0.00,1.35,0.00,0.000,6,0.000,0.056,3373,1581,1282,0,0,0,0,0,0
$GC,14702,1.03,386.5,623.9,10.0,634,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1581,1281,0,0,0,0,0,0
$GC,15008,1.03,394.6,594.1,9.5,644,15022,0.00,0.70,8.77,0.895,4,0.000,0.058,3374,2001,1253,0,0,0,0,0,0
$GC,15061,1.03,427.9,589.2,8.5,645,15099,0.00,0.73,33.50,1.001,6,0.000,0.061,3377,1560,1117,0,0,0,0,0,0
$GC,15406,1.07,439.2,557.0,9.4,656,15421,0.05,1.25,10.60,0.891,4,0.163,0.057,3416,2346,1071,0,0,0,0,0,0
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$GC,20468,1.10,490.8,6.8,8.8,949,20487,0.00,1.55,13.07,0.525,4,0.000,0.065,3413,652,859,0,0,0,0,0,0
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$STATE,20536,end climb,SURFACE_DEPTH_REACHED
$STATE,20536,begin surface coast
$FINISH,2.1,1.013954
$STATE,20572,end surface coast,CONTROL_FINISHED_OK
$STATE,20573,begin surface
$SM_CCo,20650,0.00,0.000,0,0,720,525.42
$SM_GC,3.12,8.80,0.00,0.00,0.038,0.000,0.000,90,1897,720,-9.18,0.20,525.42
$IRIDIUM_FIX,-4206.99,-428.39,070113,050548
$TT8_MAMPS,0.026964
$HUMID,47.36
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,22.2,73.654
$10V_AH,9.9,59.412
$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
$DEVICE_SECS,23.225,110.775,611.475,0.000,0.000,33.566,42.599,232.897,0.250,0.000,23.157,2509.228,14624.117,647.295,3069.323,246.553,33.376,1952.326,0.000,2706.042,0.000,1.010,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.928,912.133,661.652,76.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,56897,965
$CAP_FILE_SIZE,183691,0
$CFSIZE,2097086464,2036203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070113,170558,-4221.361,-428.171,39,1.6,42,-22.2