version: 66.07.10.p01
glider: 573
mission: 4
dive: 581
start: 2 10 113 6 1 53
data:
$ID,573
$MISSION,4
$DIVE,581
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-6082.061
$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,27
$R_STBD_OVSHOOT,32
$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,560
$GPS1,100213,055305,-4150.511,-322.961,31,1.4,31,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-65.7
$GPS2,100213,060100,-4150.486,-322.860,20,1.4,20,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.153,0.225
$KALMAN_X,19953.8,-103.3,58.6,-38832.4,2033.0
$KALMAN_Y,-33933.4,-6.4,-74.4,72334.9,-2833.5
$MHEAD_RNG_PITCHd_Wd,348.3,44774,-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,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-7.22,0.000,2,0.000,0.000,81,1864,574,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,183,10.15,1.30,-126.90,0.000,4,0.205,0.078,2704,1058,3538,0,0,0,0,0,0
$GC,256,-1.05,-165.4,17.2,-14.5,37,263,0.00,1.30,0.00,0.000,6,0.000,0.049,2698,1862,3540,0,0,0,0,0,0
$GC,336,-1.05,-165.4,27.6,-13.0,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1862,3540,0,0,0,0,0,0
$GC,415,-1.05,-165.4,37.6,-12.6,63,420,0.00,0.73,0.00,0.000,4,0.000,0.057,2698,1405,3540,0,0,0,0,0,0
$GC,520,-1.05,-165.4,50.4,-12.8,81,525,0.00,0.73,0.00,0.000,6,0.000,0.054,2694,1864,3540,0,0,0,0,0,0
$GC,855,-1.07,-165.4,88.5,-10.4,119,859,0.00,1.23,0.00,0.000,4,0.000,0.055,2694,1109,3541,0,0,0,0,0,0
$GC,905,-1.07,-165.4,93.4,-9.3,123,912,0.00,1.20,0.00,0.000,6,0.000,0.048,2688,1864,3540,0,0,0,0,0,0
$GC,1333,-1.10,-165.4,126.6,-8.1,153,1337,0.00,1.00,0.00,0.000,4,0.000,0.055,2689,1238,3541,0,0,0,0,0,0
$GC,1385,-1.10,-165.4,131.2,-8.6,156,1389,0.00,0.98,0.00,0.000,6,0.000,0.049,2684,1856,3541,0,0,0,0,0,0
$GC,1920,-1.12,-165.4,189.1,-11.5,190,1924,0.00,0.65,0.00,0.000,4,0.000,0.057,2684,1435,3542,0,0,0,0,0,0
$GC,2009,-1.12,-165.4,199.0,-11.2,195,2013,0.00,0.65,0.00,0.000,6,0.000,0.053,2681,1856,3541,0,0,0,0,0,0
$GC,2544,-1.12,-165.4,255.8,-10.2,221,2548,0.00,2.15,0.00,0.000,4,0.000,0.057,2681,527,3542,0,0,0,0,0,0
$GC,2621,-1.12,-165.4,264.3,-10.7,224,2627,0.00,2.15,0.00,0.000,6,0.000,0.045,2672,1864,3542,0,0,0,0,0,0
$GC,3163,-1.12,-165.4,320.1,-10.4,248,3167,0.00,1.83,0.00,0.000,4,0.000,0.056,2671,756,3542,0,0,0,0,0,0
$GC,3274,-1.12,-165.4,332.8,-11.4,251,3279,0.05,1.77,0.00,0.000,6,0.139,0.046,2686,1861,3542,0,0,0,0,0,0
$GC,3820,-1.16,-165.4,392.9,-11.1,269,3824,0.00,2.33,0.00,0.000,4,0.000,0.057,2686,445,3541,0,0,0,0,0,0
$GC,3910,-1.16,-165.4,403.4,-11.2,271,3915,0.00,2.25,0.00,0.000,6,0.000,0.045,2676,1868,3542,0,0,0,0,0,0
$GC,4437,-1.18,-165.4,459.8,-10.4,289,4441,0.00,1.42,0.00,0.000,4,0.000,0.057,2676,1000,3540,0,0,0,0,0,0
$GC,4515,-1.18,-165.4,468.1,-10.3,291,4519,0.00,1.38,0.00,0.000,6,0.000,0.047,2670,1858,3540,0,0,0,0,0,0
$GC,5059,-1.18,-165.4,523.3,-10.3,309,5063,0.00,2.30,0.00,0.000,4,0.000,0.059,2670,454,3539,0,0,0,0,0,0
$GC,5131,-1.14,-165.4,531.0,-10.2,311,5136,0.08,2.22,0.00,0.000,6,0.186,0.045,2677,1862,3539,0,0,0,0,0,0
$GC,5676,-1.17,-165.4,586.3,-10.1,329,5680,0.00,2.30,0.00,0.000,4,0.000,0.058,2678,454,3538,0,0,0,0,0,0
$GC,5793,-1.17,-165.4,599.1,-10.0,332,5798,0.00,2.25,0.00,0.000,6,0.000,0.045,2667,1864,3537,0,0,0,0,0,0
$GC,6332,-1.17,-165.4,654.4,-10.5,350,6336,0.00,2.20,0.00,0.000,4,0.000,0.058,2667,524,3536,0,0,0,0,0,0
$GC,6410,-1.14,-165.4,663.0,-11.0,352,6415,0.08,2.15,0.00,0.000,6,0.181,0.046,2675,1867,3536,0,0,0,0,0,0
$GC,6944,-1.18,-165.4,722.2,-11.7,370,6948,0.00,1.12,0.00,0.000,4,0.000,0.058,2675,1175,3535,0,0,0,0,0,0
$GC,7047,-1.21,-165.4,734.7,-12.1,373,7050,0.00,1.10,0.00,0.000,6,0.000,0.051,2671,1862,3534,0,0,0,0,0,0
$GC,7572,-1.23,-165.4,800.5,-12.5,390,7577,0.05,2.35,0.00,0.000,4,0.164,0.060,2625,454,3532,0,0,0,0,0,0
$GC,7634,-1.14,-165.4,808.7,-13.3,392,7639,0.22,2.25,0.00,0.000,6,0.145,0.047,2679,1872,3532,0,0,0,0,0,0
$GC,8155,-1.19,-165.4,868.9,-11.1,409,8159,0.00,1.70,0.00,0.000,4,0.000,0.063,2671,2942,3531,0,0,0,0,0,0
$GC,8216,-1.23,-165.4,875.9,-11.1,410,8222,0.03,1.75,0.00,0.000,6,0.099,0.051,2634,1858,3531,0,0,0,0,0,0
$GC,8744,-1.19,-165.4,935.4,-11.0,428,8748,0.10,2.15,0.00,0.000,4,0.174,0.061,2660,561,3530,0,0,0,0,0,0
$GC,8821,-1.19,-165.4,943.8,-10.7,430,8825,0.00,2.08,0.00,0.000,6,0.000,0.048,2650,1865,3530,0,0,0,0,0,0
$GC,9145,-1.19,-165.4,975.7,-9.8,441,9149,0.00,1.65,0.00,0.000,4,0.000,0.060,2642,2885,3530,0,0,0,0,0,0
$GC,9223,-1.19,-165.4,983.3,-8.8,443,9227,0.03,1.65,0.00,0.000,6,0.161,0.051,2654,1859,3530,0,0,0,0,0,0
$STATE,9306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9306,begin apogee
$GC,9312,-0.31,0.0,991.3,9.5,446,9459,0.90,0.00,143.77,1.245,6,0.112,0.000,2942,1558,2862,0,0,0,0,0,0
$STATE,9460,end apogee,CONTROL_FINISHED_OK
$STATE,9460,begin climb
$GC,9462,1.05,165.4,1002.8,0.0,451,9623,1.27,2.55,149.77,1.216,4,0.055,0.055,3390,2966,2186,0,0,0,0,0,0
$GC,9877,0.78,330.1,1005.5,3.2,464,10033,0.38,2.28,146.82,1.217,6,0.172,0.050,3300,1556,1516,0,0,0,0,0,0
$GC,10369,0.78,376.5,970.2,7.9,480,10419,0.00,2.42,42.40,1.185,4,0.000,0.059,3300,2967,1326,0,0,0,0,0,0
$GC,10600,0.79,404.2,950.8,8.6,487,10632,0.00,2.25,26.30,1.157,6,0.000,0.054,3309,1563,1214,0,0,0,0,0,0
$GC,10968,0.81,439.1,919.4,8.3,499,11007,0.00,0.90,33.58,1.166,4,0.000,0.056,3309,2100,1070,0,0,0,0,0,0
$GC,11126,0.86,465.1,905.4,8.7,503,11156,0.00,0.88,25.17,1.142,6,0.000,0.060,3313,1561,966,0,0,0,0,0,0
$GC,11471,0.92,465.1,872.6,9.9,515,11475,0.10,1.08,0.00,0.000,4,0.095,0.056,3366,2221,960,0,0,0,0,0,0
$GC,11539,0.89,465.1,865.5,10.1,517,11543,0.10,1.08,0.00,0.000,6,0.132,0.059,3338,1554,960,0,0,0,0,0,0
$GC,12065,0.92,465.1,810.8,10.4,534,12068,0.00,0.80,0.00,0.000,4,0.000,0.063,3341,1055,958,0,0,0,0,0,0
$GC,12154,0.95,465.7,801.4,9.7,536,12158,0.00,0.82,0.00,0.000,6,0.000,0.051,3341,1568,958,0,0,0,0,0,0
$GC,12687,0.98,465.7,747.0,10.2,554,12691,0.00,0.57,0.00,0.000,4,0.000,0.066,3343,1210,957,0,0,0,0,0,0
$GC,12777,1.00,465.7,737.7,10.0,556,12781,0.03,0.55,0.00,0.000,6,0.099,0.056,3374,1561,957,0,0,0,0,0,0
$GC,13311,0.98,465.7,679.9,11.3,574,13315,0.00,0.80,0.00,0.000,4,0.000,0.065,3377,1075,956,0,0,0,0,0,0
$GC,13395,0.96,465.7,670.1,11.5,576,13399,0.05,0.77,0.00,0.000,6,0.146,0.052,3358,1561,956,0,0,0,0,0,0
$GC,13934,0.96,474.6,614.9,9.4,594,13948,0.00,1.15,8.50,0.930,4,0.000,0.065,3364,901,927,0,0,0,0,0,0
$GC,14045,0.96,501.3,605.0,8.7,597,14079,0.00,1.08,27.88,1.004,6,0.000,0.050,3363,1561,818,0,0,0,0,0,0
$GC,14618,0.98,501.3,551.5,10.0,616,14622,0.00,0.75,0.00,0.000,4,0.000,0.066,3367,1112,810,0,0,0,0,0,0
$GC,14756,1.01,501.3,537.2,11.5,620,14760,0.00,0.73,0.00,0.000,6,0.000,0.053,3367,1565,810,0,0,0,0,0,0
$GC,15281,1.03,501.3,474.3,12.5,637,15285,0.00,2.12,0.00,0.000,4,0.000,0.069,3376,307,810,0,0,0,0,0,0
$GC,15377,1.03,501.3,462.1,11.8,640,15381,0.00,2.00,0.00,0.000,6,0.000,0.049,3376,1562,810,0,0,0,0,0,0
$GC,15902,1.03,501.3,398.8,11.5,657,15906,0.00,0.52,0.00,0.000,4,0.000,0.067,3378,1237,810,0,0,0,0,0,0
$GC,16030,1.03,501.3,383.9,11.3,660,16036,0.00,0.52,0.00,0.000,6,0.000,0.056,3379,1563,809,0,0,0,0,0,0
$GC,16558,1.03,501.3,326.1,10.3,678,16561,0.00,0.95,0.00,0.000,4,0.000,0.065,3383,999,810,0,0,0,0,0,0
$GC,16636,1.03,522.3,318.2,8.9,680,16660,0.00,0.90,19.52,0.814,6,0.000,0.050,3383,1562,731,0,0,0,0,0,0
$GC,17194,1.03,522.3,263.4,9.8,704,17197,0.00,0.95,0.00,0.000,4,0.000,0.065,3387,992,727,0,0,0,0,0,0
$GC,17272,1.03,522.3,255.5,10.9,707,17276,0.00,0.93,0.00,0.000,6,0.000,0.050,3387,1568,727,0,0,0,0,0,0
$GC,17803,1.03,522.3,201.9,10.9,733,17807,0.00,0.57,0.00,0.000,4,0.000,0.054,3387,1952,727,0,0,0,0,0,0
$GC,17898,1.03,522.3,190.8,11.0,738,17906,0.00,0.65,0.00,0.000,6,0.000,0.060,3390,1555,727,0,0,0,0,0,0
$GC,18438,1.03,522.3,129.8,10.8,773,18442,0.00,0.60,0.00,0.000,4,0.000,0.064,3393,1173,727,0,0,0,0,0,0
$GC,18542,1.03,522.3,119.5,10.1,779,18547,0.03,0.60,0.00,0.000,6,0.168,0.053,3382,1558,727,0,0,0,0,0,0
$GC,19083,1.03,522.3,61.2,12.2,823,19084,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1558,727,0,0,0,0,0,0
$GC,19546,1.03,522.3,7.2,10.0,901,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1558,727,0,0,0,0,0,0
$STATE,19583,end climb,SURFACE_DEPTH_REACHED
$STATE,19583,begin surface coast
$FINISH,2.4,1.011297
$STATE,19614,end surface coast,CONTROL_FINISHED_OK
$STATE,19614,begin surface
$SM_CCo,19692,0.00,0.000,0,0,725,524.20
$SM_GC,3.33,8.88,0.00,0.00,0.042,0.000,0.000,86,1863,725,-9.17,0.08,524.20
$IRIDIUM_FIX,-4138.02,-322.50,100213,000012
$TT8_MAMPS,0.026215
$HUMID,51.02
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,22.2,105.380
$10V_AH,9.8,74.898
$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,22.500,89.975,623.725,0.000,0.000,27.984,43.706,245.905,0.250,0.000,22.744,2317.311,13908.939,647.157,2998.867,286.822,33.374,1882.150,0.000,2643.256,0.000,1.008,0.000
$DEVICE_MAMPS,205.020,78.030,1244.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.654,842.889,628.283,67.107,0.000,0.000,0.000,0.000,0.000,0.000
$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,53643,912
$CAP_FILE_SIZE,153910,0
$CFSIZE,2097086464,2017755136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100213,113134,-4149.504,-323.045,42,0.9,54,-22.5