version: 66.07.10.p01
glider: 573
mission: 4
dive: 560
start: 2 5 113 7 14 24
data:
$ID,573
$MISSION,4
$DIVE,560
$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,-6032.1929
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$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,539
$GPS1,050213,070205,-4216.318,-304.478,39,1.0,39,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-69.1
$GPS2,050213,071329,-4216.250,-304.530,40,1.6,40,-22.4
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-130.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.235,0.139
$KALMAN_X,-475539.9,-100.9,-60.1,718983.0,-6186.4
$KALMAN_Y,89397.0,5.9,-1020.7,-127416.9,4958.2
$MHEAD_RNG_PITCHd_Wd,81.8,156618,-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,-1.00,-165.4,0.0,0.0,0,35,0.00,0.00,-7.43,0.000,2,0.000,0.000,82,1917,587,0,0,0,0,0,0
$GC,38,-1.00,-165.4,3.2,-0.0,1,183,10.27,2.38,-126.65,0.000,4,0.201,0.071,2725,493,3537,0,0,0,0,0,0
$GC,318,-0.97,-165.4,21.2,-12.2,48,326,0.05,2.30,0.00,0.000,6,0.147,0.048,2732,1907,3538,0,0,0,0,0,0
$GC,400,-1.01,-165.4,30.5,-11.1,61,405,0.00,0.88,0.00,0.000,4,0.000,0.058,2729,2468,3539,0,0,0,0,0,0
$GC,471,-1.08,-165.4,38.5,-11.2,73,476,0.05,0.90,0.00,0.000,6,0.065,0.053,2684,1902,3539,0,0,0,0,0,0
$GC,703,-1.08,-165.4,64.8,-10.6,110,707,0.08,0.57,0.00,0.000,4,0.185,0.060,2699,2263,3539,0,0,0,0,0,0
$GC,781,-1.08,-165.4,72.2,-9.2,117,785,0.00,0.55,0.00,0.000,6,0.000,0.056,2699,1910,3539,0,0,0,0,0,0
$GC,1115,-1.10,-165.4,98.5,-7.0,148,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1910,3539,0,0,0,0,0,0
$GC,1440,-1.14,-165.4,125.6,-9.6,170,1444,0.00,1.02,0.00,0.000,4,0.000,0.056,2699,1260,3540,0,0,0,0,0,0
$GC,1552,-1.17,-165.4,137.7,-10.6,176,1560,0.03,1.05,0.00,0.000,6,0.094,0.049,2656,1923,3540,0,0,0,0,0,0
$GC,1875,-1.13,-165.4,175.4,-12.2,197,1877,0.10,0.00,0.00,0.000,6,0.169,0.000,2682,1923,3540,0,0,0,0,0,0
$GC,2198,-1.13,-165.4,216.1,-12.2,216,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1923,3540,0,0,0,0,0,0
$GC,2509,-1.13,-165.4,253.9,-11.9,231,2513,0.00,0.62,0.00,0.000,4,0.000,0.057,2682,1518,3540,0,0,0,0,0,0
$GC,2570,-1.13,-165.4,261.7,-12.5,233,2575,0.00,0.62,0.00,0.000,6,0.000,0.054,2680,1913,3540,0,0,0,0,0,0
$GC,2886,-1.13,-165.4,299.6,-11.9,249,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1913,3540,0,0,0,0,0,0
$GC,3213,-1.13,-165.4,335.9,-10.9,260,3216,0.00,0.70,0.00,0.000,4,0.000,0.054,2680,1463,3540,0,0,0,0,0,0
$GC,3285,-1.13,-165.4,343.4,-9.6,262,3289,0.00,0.68,0.00,0.000,6,0.000,0.052,2677,1904,3540,0,0,0,0,0,0
$GC,3621,-1.13,-165.4,373.3,-8.5,273,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1904,3539,0,0,0,0,0,0
$GC,3927,-1.13,-165.4,399.3,-8.4,283,3931,0.00,0.55,0.00,0.000,4,0.000,0.060,2674,2273,3539,0,0,0,0,0,0
$GC,4123,-1.13,-165.4,416.0,-9.1,288,4128,0.00,0.55,0.00,0.000,6,0.000,0.054,2674,1912,3539,0,0,0,0,0,0
$GC,4436,-1.13,-165.4,445.9,-10.0,299,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1913,3538,0,0,0,0,0,0
$GC,4742,-1.13,-165.4,479.0,-11.2,309,4746,0.00,1.00,0.00,0.000,4,0.000,0.058,2670,2533,3538,0,0,0,0,0,0
$GC,4837,-1.15,-165.4,490.4,-11.2,311,4842,0.00,1.00,0.00,0.000,6,0.000,0.051,2670,1905,3537,0,0,0,0,0,0
$GC,5150,-1.15,-165.4,527.7,-12.0,322,5153,0.00,1.60,0.00,0.000,4,0.000,0.059,2663,2884,3536,0,0,0,0,0,0
$GC,5238,-1.15,-165.4,538.4,-11.7,324,5242,0.00,1.55,0.00,0.000,6,0.000,0.047,2663,1911,3536,0,0,0,0,0,0
$GC,5557,-1.15,-165.4,574.5,-11.1,335,5561,0.03,1.62,0.00,0.000,4,0.263,0.060,2666,2892,3536,0,0,0,0,0,0
$GC,5629,-1.15,-165.4,582.3,-10.3,337,5633,0.00,1.58,0.00,0.000,6,0.000,0.047,2666,1907,3536,0,0,0,0,0,0
$GC,5965,-1.15,-165.4,615.2,-9.5,348,5969,0.00,0.43,0.00,0.000,4,0.000,0.060,2664,2188,3535,0,0,0,0,0,0
$GC,6223,-1.15,-165.4,638.9,-9.2,355,6227,0.00,0.45,0.00,0.000,6,0.000,0.057,2664,1900,3535,0,0,0,0,0,0
$GC,6542,-1.15,-165.4,667.6,-9.3,366,6545,0.00,1.33,0.00,0.000,4,0.000,0.058,2658,2713,3534,0,0,0,0,0,0
$GC,6636,-1.15,-165.4,676.9,-10.1,368,6642,0.05,1.27,0.00,0.000,6,0.136,0.049,2677,1914,3534,0,0,0,0,0,0
$GC,6949,-1.15,-165.4,708.8,-10.5,379,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1913,3533,0,0,0,0,0,0
$GC,7256,-1.15,-165.4,743.5,-11.5,389,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1914,3532,0,0,0,0,0,0
$GC,7562,-1.17,-165.4,779.3,-11.4,399,7566,0.00,0.75,0.00,0.000,4,0.000,0.057,2677,1427,3531,0,0,0,0,0,0
$GC,7640,-1.17,-165.4,788.4,-11.3,401,7644,0.00,0.77,0.00,0.000,6,0.000,0.053,2674,1909,3532,0,0,0,0,0,0
$GC,7970,-1.20,-165.4,825.3,-11.1,412,7974,0.00,0.77,0.00,0.000,4,0.000,0.056,2674,1419,3531,0,0,0,0,0,0
$GC,8027,-1.20,-165.4,831.3,-10.8,413,8031,0.00,0.77,0.00,0.000,6,0.000,0.053,2671,1910,3531,0,0,0,0,0,0
$GC,8346,-1.20,-165.4,863.2,-9.8,424,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1909,3530,0,0,0,0,0,0
$GC,8652,-1.20,-165.4,892.9,-9.7,434,8655,0.00,0.80,0.00,0.000,4,0.000,0.059,2667,2419,3529,0,0,0,0,0,0
$GC,8741,-1.20,-165.4,901.8,-10.4,436,8745,0.00,0.80,0.00,0.000,6,0.000,0.053,2667,1914,3529,0,0,0,0,0,0
$GC,9059,-1.20,-165.4,934.7,-10.4,447,9063,0.00,0.62,0.00,0.000,4,0.000,0.060,2664,2319,3527,0,0,0,0,0,0
$GC,9137,-1.20,-165.4,943.0,-11.3,449,9141,0.00,0.65,0.00,0.000,6,0.000,0.055,2664,1909,3527,0,0,0,0,0,0
$GC,9467,-1.20,-165.4,979.5,-11.5,460,9470,0.00,0.85,0.00,0.000,4,0.000,0.059,2664,1366,3526,0,0,0,0,0,0
$GC,9552,-1.20,-165.4,989.7,-13.1,462,9555,0.00,0.88,0.00,0.000,6,0.000,0.054,2660,1912,3526,0,0,0,0,0,0
$STATE,9659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9659,begin apogee
$GC,9665,-0.29,0.0,1002.6,12.0,466,9813,0.93,0.00,144.30,1.255,6,0.120,0.000,2950,1573,2862,0,0,0,0,0,0
$STATE,9813,end apogee,CONTROL_FINISHED_OK
$STATE,9813,begin climb
$GC,9816,1.00,165.4,1018.1,0.0,471,9975,1.23,1.42,151.52,1.229,4,0.055,0.052,3381,2363,2187,0,0,0,0,0,0
$GC,10132,0.77,399.8,1029.7,0.5,481,10355,0.28,1.27,213.38,1.226,6,0.163,0.050,3307,1583,1233,0,0,0,0,0,0
$GC,10680,0.81,436.2,991.7,8.4,499,10716,0.00,0.00,34.92,1.187,6,0.000,0.000,3307,1583,1082,0,0,0,0,0,0
$GC,11016,0.88,436.2,960.0,9.9,510,11020,0.08,1.05,0.00,0.000,4,0.122,0.064,3352,948,1075,0,0,0,0,0,0
$GC,11117,0.88,436.2,949.1,11.8,513,11121,0.05,1.02,0.00,0.000,6,0.137,0.049,3334,1581,1074,0,0,0,0,0,0
$GC,11457,0.90,436.2,912.4,10.5,524,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1581,1073,0,0,0,0,0,0
$GC,11764,0.93,440.0,882.5,9.7,534,11767,0.00,1.67,0.00,0.000,4,0.000,0.068,3342,576,1072,0,0,0,0,0,0
$GC,11881,0.93,452.4,870.8,9.3,537,11901,0.00,1.65,14.62,1.117,6,0.000,0.050,3342,1592,1018,0,0,0,0,0,0
$GC,12239,0.93,461.1,836.6,9.5,549,12253,0.00,1.33,9.65,1.017,4,0.000,0.066,3347,821,982,0,0,0,0,0,0
$GC,12362,0.95,492.5,825.1,8.6,552,12402,0.00,1.25,32.90,1.128,6,0.000,0.049,3347,1585,853,0,0,0,0,0,0
$GC,12711,1.00,501.7,792.3,9.4,564,12726,0.08,2.15,9.00,0.976,4,0.122,0.069,3397,338,815,0,0,0,0,0,0
$GC,12817,0.98,501.7,781.6,10.2,567,12821,0.12,2.03,0.00,0.000,6,0.157,0.048,3363,1590,815,0,0,0,0,0,0
$GC,13146,0.98,511.4,750.4,9.4,578,13161,0.00,1.62,10.57,0.995,4,0.000,0.064,3370,611,777,0,0,0,0,0,0
$GC,13290,1.03,511.4,736.4,9.9,582,13294,0.00,1.60,0.00,0.000,6,0.000,0.050,3370,1589,775,0,0,0,0,0,0
$GC,13614,1.07,511.4,702.6,10.6,593,13618,0.05,1.65,0.00,0.000,4,0.164,0.068,3413,608,774,0,0,0,0,0,0
$GC,13720,1.03,511.4,690.2,12.0,596,13724,0.08,1.58,0.00,0.000,6,0.141,0.049,3387,1578,773,0,0,0,0,0,0
$GC,14056,1.03,511.4,651.4,11.6,607,14059,0.00,0.85,0.00,0.000,4,0.000,0.065,3391,1064,773,0,0,0,0,0,0
$GC,14172,1.03,511.4,638.1,11.3,610,14176,0.00,0.85,0.00,0.000,6,0.000,0.051,3391,1589,772,0,0,0,0,0,0
$GC,14497,1.03,511.4,602.0,11.1,621,14501,0.00,1.88,0.00,0.000,4,0.000,0.067,3399,479,773,0,0,0,0,0,0
$GC,14579,1.03,511.4,592.8,10.5,623,14584,0.05,1.80,0.00,0.000,6,0.148,0.048,3382,1590,772,0,0,0,0,0,0
$GC,14904,1.05,511.4,558.8,10.6,634,14907,0.00,1.45,0.00,0.000,4,0.000,0.066,3388,729,772,0,0,0,0,0,0
$GC,15009,1.05,511.4,547.5,10.1,637,15013,0.00,1.40,0.00,0.000,6,0.000,0.048,3388,1590,772,0,0,0,0,0,0
$GC,15345,1.05,511.4,511.1,10.7,648,15349,0.00,2.17,0.00,0.000,4,0.000,0.068,3398,291,772,0,0,0,0,0,0
$GC,15447,1.05,511.4,500.2,10.6,651,15451,0.00,2.10,0.00,0.000,6,0.000,0.049,3397,1594,772,0,0,0,0,0,0
$GC,15787,1.05,511.4,463.4,11.1,662,15791,0.00,1.73,0.00,0.000,4,0.000,0.067,3405,557,772,0,0,0,0,0,0
$GC,15871,1.03,511.4,453.8,10.9,664,15875,0.08,1.67,0.00,0.000,6,0.142,0.050,3364,1589,772,0,0,0,0,0,0
$GC,16195,1.07,511.4,417.7,11.4,675,16199,0.10,1.33,0.00,0.000,4,0.099,0.067,3422,819,772,0,0,0,0,0,0
$GC,16296,1.03,511.4,405.5,12.9,678,16301,0.10,1.25,0.00,0.000,6,0.138,0.049,3389,1589,772,0,0,0,0,0,0
$GC,16637,1.03,511.4,364.2,12.2,689,16641,0.00,1.60,0.00,0.000,4,0.000,0.065,3396,642,772,0,0,0,0,0,0
$GC,16773,1.03,511.4,347.0,11.9,693,16777,0.03,1.52,0.00,0.000,6,0.175,0.049,3386,1582,772,0,0,0,0,0,0
$GC,17113,1.03,511.4,307.2,11.5,704,17117,0.00,1.95,0.00,0.000,4,0.000,0.068,3395,434,772,0,0,0,0,0,0
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$GC,19827,1.08,513.1,14.5,9.7,914,19834,0.00,1.30,0.00,0.000,6,0.000,0.047,3398,1591,772,0,0,0,0,0,0
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$STATE,19932,end climb,SURFACE_DEPTH_REACHED
$STATE,19932,begin surface coast
$FINISH,2.5,1.010198
$STATE,19963,end surface coast,CONTROL_FINISHED_OK
$STATE,19963,begin surface
$SM_CCo,20042,0.00,0.000,0,0,770,512.91
$SM_GC,3.29,8.85,0.00,0.00,0.040,0.000,0.000,85,1920,770,-9.18,0.31,512.91
$IRIDIUM_FIX,-4201.18,-303.37,050213,070711
$TT8_MAMPS,0.026964
$HUMID,50.07
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,22.2,100.465
$10V_AH,9.9,72.633
$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,22.850,101.475,620.875,0.000,0.000,51.391,77.457,302.713,0.250,0.000,42.130,2454.128,13930.888,682.899,3368.519,281.769,33.380,2023.425,0.000,2846.290,0.000,1.008,0.000
$DEVICE_MAMPS,263.160,71.145,1255.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.928,882.363,637.132,75.677,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,56955,936
$CAP_FILE_SIZE,178126,0
$CFSIZE,2097086464,2020474880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050213,124959,-4215.129,-304.882,58,1.0,58,-22.4