version: 66.07.10.p01
glider: 573
mission: 4
dive: 564
start: 2 6 113 6 12 51
data:
$ID,573
$MISSION,4
$DIVE,564
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,0
$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,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,-6042.0923
$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,3045
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,1860
$C_ROLL_CLIMB,1560
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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,543
$GPS1,060213,060501,-4212.630,-307.613,41,2.0,41,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-65.6
$GPS2,060213,061231,-4212.636,-307.672,17,0.9,17,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,HEADING
$TGT_LATLONG,-4212.636,-253.092
$TGT_RADIUS,1852.000
$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,112.4,20000,-16.7,-9.706
$D_GRID,990
$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,-1.05,-165.4,0.0,0.0,0,34,0.00,0.00,-6.75,0.000,2,0.000,0.000,83,1858,850,0,0,0,0,0,0
$GC,37,-1.05,-165.4,3.3,-0.0,1,176,10.62,2.38,-118.30,0.000,4,0.222,0.073,2693,3271,3536,0,0,0,0,0,0
$GC,331,-1.05,-165.4,25.5,-12.0,50,338,0.00,2.28,0.00,0.000,6,0.000,0.050,2693,1860,3538,0,0,0,0,0,0
$GC,411,-1.05,-165.4,35.1,-12.8,63,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1860,3539,0,0,0,0,0,0
$GC,749,-1.05,-165.4,77.6,-12.3,111,752,0.00,1.17,0.00,0.000,4,0.000,0.057,2688,2594,3539,0,0,0,0,0,0
$GC,953,-1.07,-165.4,101.1,-11.2,129,956,0.00,1.15,0.00,0.000,6,0.000,0.050,2687,1864,3539,0,0,0,0,0,0
$GC,1488,-1.07,-165.4,155.6,-9.4,163,1492,0.00,2.28,0.00,0.000,4,0.000,0.060,2676,3274,3540,0,0,0,0,0,0
$GC,1628,-1.07,-165.4,168.6,-9.5,171,1632,0.08,2.22,0.00,0.000,6,0.173,0.047,2696,1850,3540,0,0,0,0,0,0
$GC,2160,-1.09,-165.4,221.1,-10.0,202,2164,0.00,1.98,0.00,0.000,4,0.000,0.057,2688,3082,3540,0,0,0,0,0,0
$GC,2261,-1.12,-165.4,231.9,-10.4,206,2264,0.00,1.92,0.00,0.000,6,0.000,0.046,2688,1860,3540,0,0,0,0,0,0
$GC,2793,-1.12,-165.4,285.4,-10.4,232,2797,0.00,2.28,0.00,0.000,4,0.000,0.058,2677,3277,3540,0,0,0,0,0,0
$GC,2901,-1.12,-165.4,297.2,-10.4,237,2905,0.00,2.22,0.00,0.000,6,0.000,0.045,2677,1859,3540,0,0,0,0,0,0
$GC,3429,-1.12,-165.4,355.4,-11.6,255,3433,0.00,2.12,0.00,0.000,4,0.000,0.059,2668,3173,3539,0,0,0,0,0,0
$GC,3523,-1.12,-165.4,367.0,-11.8,257,3529,0.00,2.10,0.00,0.000,6,0.000,0.047,2668,1858,3540,0,0,0,0,0,0
$GC,4051,-1.12,-165.4,431.3,-12.4,275,4052,0.05,0.00,0.00,0.000,6,0.218,0.000,2679,1857,3540,0,0,0,0,0,0
$GC,4571,-1.12,-165.4,491.5,-11.2,292,4575,0.00,0.70,0.00,0.000,4,0.000,0.057,2676,2309,3539,0,0,0,0,0,0
$GC,4654,-1.12,-165.4,500.6,-10.4,294,4659,0.00,0.73,0.00,0.000,6,0.000,0.052,2676,1851,3539,0,0,0,0,0,0
$GC,5193,-1.12,-165.4,555.9,-10.3,312,5197,0.00,2.12,0.00,0.000,4,0.000,0.058,2667,3161,3538,0,0,0,0,0,0
$GC,5271,-1.12,-165.4,564.1,-10.2,314,5275,0.03,2.08,0.00,0.000,6,0.168,0.045,2677,1859,3537,0,0,0,0,0,0
$GC,5811,-1.14,-165.4,623.2,-11.5,332,5815,0.00,2.28,0.00,0.000,4,0.000,0.060,2667,3275,3536,0,0,0,0,0,0
$GC,5951,-1.14,-165.4,639.7,-12.1,336,5955,0.00,2.25,0.00,0.000,6,0.000,0.047,2667,1855,3536,0,0,0,0,0,0
$GC,6495,-1.14,-165.4,702.3,-11.4,354,6499,0.00,2.30,0.00,0.000,4,0.000,0.060,2657,3278,3535,0,0,0,0,0,0
$GC,6612,-1.14,-165.4,715.6,-11.4,357,6617,0.08,2.22,0.00,0.000,6,0.174,0.047,2675,1858,3535,0,0,0,0,0,0
$GC,7145,-1.14,-165.4,771.2,-10.0,375,7148,0.00,0.77,0.00,0.000,4,0.000,0.058,2672,2350,3533,0,0,0,0,0,0
$GC,7267,-1.14,-165.4,783.5,-10.3,378,7271,0.00,0.80,0.00,0.000,6,0.000,0.054,2673,1843,3532,0,0,0,0,0,0
$GC,7801,-1.14,-165.4,835.3,-9.6,396,7804,0.00,0.60,0.00,0.000,4,0.000,0.059,2671,2232,3531,0,0,0,0,0,0
$GC,7964,-1.16,-165.4,851.2,-10.0,400,7969,0.00,0.57,0.00,0.000,6,0.000,0.056,2671,1856,3531,0,0,0,0,0,0
$GC,8492,-1.19,-165.4,907.1,-11.4,418,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1856,3530,0,0,0,0,0,0
$GC,8798,-1.19,-165.4,942.5,-11.9,428,8801,0.00,0.65,0.00,0.000,4,0.000,0.060,2668,2272,3530,0,0,0,0,0,0
$GC,8853,-1.21,-165.4,949.5,-12.6,429,8857,0.00,0.62,0.00,0.000,6,0.000,0.056,2667,1868,3529,0,0,0,0,0,0
$GC,9171,-1.21,-165.4,987.4,-12.1,440,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1868,3529,0,0,0,0,0,0
$STATE,9200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9200,begin apogee
$GC,9206,-0.31,0.0,990.9,11.9,441,9353,0.88,0.00,143.98,1.252,6,0.117,0.000,2945,1556,2862,0,0,0,0,0,0
$STATE,9354,end apogee,CONTROL_FINISHED_OK
$STATE,9354,begin climb
$GC,9356,1.05,165.4,1006.2,0.0,446,9516,1.25,2.03,150.23,1.222,4,0.059,0.054,3384,2747,2186,0,0,0,0,0,0
$GC,9769,0.81,347.2,1012.9,2.5,458,9940,0.30,1.90,163.45,1.222,6,0.171,0.047,3313,1559,1446,0,0,0,0,0,0
$GC,10264,0.81,360.4,974.7,9.2,475,10280,0.00,0.73,12.10,1.094,4,0.000,0.063,3315,1131,1392,0,0,0,0,0,0
$GC,10382,0.81,371.4,963.7,9.3,478,10397,0.00,0.70,11.82,1.066,6,0.000,0.050,3315,1567,1347,0,0,0,0,0,0
$GC,10728,0.81,371.4,928.4,10.7,490,10732,0.00,1.10,0.00,0.000,4,0.000,0.063,3320,910,1342,0,0,0,0,0,0
$GC,10932,0.81,371.4,905.8,11.9,496,10936,0.03,1.05,0.00,0.000,6,0.165,0.049,3310,1561,1341,0,0,0,0,0,0
$GC,11273,0.81,372.7,871.1,9.7,507,11277,0.00,1.25,0.00,0.000,4,0.000,0.064,3315,816,1341,0,0,0,0,0,0
$GC,11401,0.81,383.8,859.0,9.3,510,11417,0.00,1.20,12.15,1.066,6,0.000,0.049,3315,1558,1297,0,0,0,0,0,0
$GC,11956,0.83,442.4,813.6,7.4,529,12018,0.00,1.90,56.53,1.141,4,0.000,0.069,3323,489,1058,0,0,0,0,0,0
$GC,12148,0.90,500.5,799.2,7.4,535,12209,0.00,1.75,55.83,1.120,6,0.000,0.050,3323,1569,820,0,0,0,0,0,0
$GC,12731,0.99,520.5,749.7,8.9,554,12756,0.12,2.42,18.33,1.063,4,0.085,0.068,3397,169,739,0,0,0,0,0,0
$GC,12864,0.99,520.5,736.1,11.1,558,12869,0.12,2.28,0.00,0.000,6,0.150,0.048,3363,1571,735,0,0,0,0,0,0
$GC,13384,1.05,520.5,679.4,11.5,575,13388,0.00,1.83,0.00,0.000,4,0.000,0.067,3371,475,733,0,0,0,0,0,0
$GC,13531,1.10,520.5,661.6,12.1,579,13535,0.08,1.75,0.00,0.000,6,0.122,0.048,3411,1568,732,0,0,0,0,0,0
$GC,14076,1.07,520.5,594.3,12.2,597,14081,0.08,2.38,0.00,0.000,4,0.187,0.067,3403,164,732,0,0,0,0,0,0
$GC,14207,1.05,520.5,579.1,11.9,601,14212,0.08,2.25,0.00,0.000,6,0.182,0.048,3385,1561,731,0,0,0,0,0,0
$GC,14728,1.07,520.5,523.8,10.3,618,14731,0.00,1.55,0.00,0.000,4,0.000,0.067,3392,645,731,0,0,0,0,0,0
$GC,14833,1.07,520.5,512.6,10.5,621,14837,0.00,1.48,0.00,0.000,6,0.000,0.050,3392,1552,731,0,0,0,0,0,0
$GC,15353,1.07,520.5,457.8,11.3,638,15357,0.00,2.35,0.00,0.000,4,0.000,0.069,3402,164,731,0,0,0,0,0,0
$GC,15453,1.07,520.5,445.7,12.1,641,15457,0.00,2.28,0.00,0.000,6,0.000,0.049,3402,1570,731,0,0,0,0,0,0
$GC,15972,1.07,520.5,380.1,12.8,658,15976,0.00,2.40,0.00,0.000,4,0.000,0.068,3413,156,731,0,0,0,0,0,0
$GC,16104,1.04,520.5,362.6,13.7,662,16109,0.12,2.28,0.00,0.000,6,0.158,0.049,3379,1561,730,0,0,0,0,0,0
$GC,16624,1.07,520.5,299.4,11.7,679,16629,0.00,2.35,0.00,0.000,4,0.000,0.068,3390,162,730,0,0,0,0,0,0
$GC,16792,1.07,520.5,279.8,10.9,686,16797,0.00,2.28,0.00,0.000,6,0.000,0.049,3390,1571,730,0,0,0,0,0,0
$GC,17318,1.07,536.8,228.2,9.1,712,17339,0.00,2.40,14.98,0.736,4,0.000,0.067,3400,164,672,0,0,0,0,0,0
$GC,17491,1.07,569.0,211.7,8.4,719,17527,0.00,2.25,30.77,0.747,6,0.000,0.047,3400,1563,542,0,0,0,0,0,0
$GC,18060,1.09,569.0,143.4,14.4,754,18064,0.00,2.35,0.00,0.000,4,0.000,0.067,3411,158,534,0,0,0,0,0,0
$GC,18310,1.09,569.0,105.7,15.0,769,18314,0.00,2.28,0.00,0.000,6,0.000,0.048,3410,1568,534,0,0,0,0,0,0
$GC,18861,1.12,569.0,40.2,10.3,834,18868,0.00,1.60,0.00,0.000,4,0.000,0.063,3418,617,533,0,0,0,0,0,0
$GC,19035,1.14,569.0,20.7,11.6,863,19042,0.00,1.52,0.00,0.000,6,0.000,0.047,3418,1563,533,0,0,0,0,0,0
$GC,19115,1.14,569.0,11.5,11.9,876,19121,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1563,533,0,0,0,0,0,0
$STATE,19186,end climb,SURFACE_DEPTH_REACHED
$STATE,19187,begin surface coast
$FINISH,2.5,1.025386
$STATE,19217,end surface coast,CONTROL_FINISHED_OK
$STATE,19218,begin surface
$SM_CCo,19296,0.00,0.000,0,0,531,571.78
$SM_GC,3.24,8.77,0.00,0.00,0.034,0.000,0.000,78,1866,531,-9.17,0.17,571.78
$IRIDIUM_FIX,-4158.28,-306.11,060213,000010
$TT8_MAMPS,0.026964
$HUMID,50.15
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.2,101.392
$10V_AH,9.8,73.070
$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,22.675,99.625,670.150,0.000,0.000,27.122,39.449,234.761,0.250,0.000,19.761,2277.236,13492.416,653.435,3052.778,263.880,0.000,1917.916,0.000,2705.856,0.000,1.009,0.000
$DEVICE_MAMPS,221.850,72.675,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.481,819.819,612.566,67.744,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,53713,893
$CAP_FILE_SIZE,151362,0
$CFSIZE,2097086464,2019983360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060213,113604,-4212.055,-308.296,58,1.1,62,-22.4