version: 66.07.10.p01
glider: 573
mission: 4
dive: 593
start: 2 13 113 1 21 20
data:
$ID,573
$MISSION,4
$DIVE,593
$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,-6110.2432
$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,26
$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,572
$GPS1,130213,011135,-4141.049,-321.000,33,1.8,33,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-66.7
$GPS2,130213,012026,-4140.948,-320.993,18,3.4,37,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.205,0.180
$KALMAN_X,68518.8,504.5,316.0,-85701.2,4110.3
$KALMAN_Y,-62654.4,141.6,467.9,118023.7,-3154.3
$MHEAD_RNG_PITCHd_Wd,333.8,20466,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.05,-165.4,0.0,0.0,0,36,0.00,0.00,-7.30,0.000,2,0.000,0.000,81,1867,700,0,0,0,0,0,0
$GC,39,-1.05,-165.4,3.2,-0.0,1,190,10.18,2.40,-131.05,0.000,4,0.202,0.070,2701,451,3537,0,0,0,0,0,0
$GC,247,-1.03,-165.4,9.5,-9.5,35,255,0.05,2.30,0.00,0.000,6,0.146,0.047,2709,1862,3539,0,0,0,0,0,0
$GC,329,-1.17,-165.4,17.7,-9.5,48,336,0.12,0.00,0.00,0.000,6,0.082,0.000,2638,1862,3539,0,0,0,0,0,0
$GC,410,-1.07,-165.4,26.2,-11.3,61,418,0.20,1.20,0.00,0.000,4,0.142,0.056,2692,2602,3539,0,0,0,0,0,0
$GC,680,-1.11,-165.4,59.6,-10.9,107,685,0.00,1.20,0.00,0.000,6,0.000,0.051,2692,1854,3539,0,0,0,0,0,0
$GC,1004,-1.17,-165.4,96.6,-11.8,138,1006,0.08,0.00,0.00,0.000,6,0.121,0.000,2638,1855,3540,0,0,0,0,0,0
$GC,1429,-1.14,-165.4,149.4,-11.9,166,1434,0.12,2.33,0.00,0.000,4,0.155,0.057,2674,446,3540,0,0,0,0,0,0
$GC,1527,-1.14,-165.4,160.7,-10.7,172,1531,0.00,2.25,0.00,0.000,6,0.000,0.045,2664,1871,3540,0,0,0,0,0,0
$GC,2058,-1.14,-165.4,215.6,-10.1,204,2062,0.00,2.33,0.00,0.000,4,0.000,0.057,2664,454,3541,0,0,0,0,0,0
$GC,2205,-1.12,-165.4,230.7,-9.9,210,2212,0.08,2.25,0.00,0.000,6,0.131,0.044,2680,1853,3541,0,0,0,0,0,0
$GC,2727,-1.16,-165.4,283.6,-10.4,236,2731,0.00,2.30,0.00,0.000,4,0.000,0.058,2681,450,3541,0,0,0,0,0,0
$GC,2843,-1.16,-165.4,295.6,-11.3,241,2847,0.00,2.25,0.00,0.000,6,0.000,0.044,2670,1864,3541,0,0,0,0,0,0
$GC,3361,-1.19,-165.4,354.7,-12.1,259,3365,0.00,2.30,0.00,0.000,4,0.000,0.057,2670,452,3540,0,0,0,0,0,0
$GC,3455,-1.19,-165.4,366.8,-12.3,261,3460,0.00,2.22,0.00,0.000,6,0.000,0.044,2659,1868,3540,0,0,0,0,0,0
$GC,3983,-1.19,-165.4,425.8,-10.8,279,3987,0.00,2.33,0.00,0.000,4,0.000,0.058,2660,454,3540,0,0,0,0,0,0
$GC,4079,-1.19,-165.4,436.1,-10.3,282,4083,0.00,2.25,0.00,0.000,6,0.000,0.044,2648,1866,3540,0,0,0,0,0,0
$GC,4597,-1.19,-165.4,491.2,-11.0,299,4601,0.00,2.30,0.00,0.000,4,0.000,0.057,2649,454,3539,0,0,0,0,0,0
$GC,4744,-1.17,-165.4,508.1,-11.6,303,4749,0.10,2.22,0.00,0.000,6,0.168,0.045,2664,1859,3539,0,0,0,0,0,0
$GC,5284,-1.20,-165.4,566.5,-10.7,321,5288,0.00,2.33,0.00,0.000,4,0.000,0.057,2665,449,3538,0,0,0,0,0,0
$GC,5389,-1.20,-165.4,577.8,-10.6,324,5393,0.00,2.25,0.00,0.000,6,0.000,0.046,2655,1869,3538,0,0,0,0,0,0
$GC,5934,-1.20,-165.4,631.0,-9.4,342,5938,0.00,2.28,0.00,0.000,4,0.000,0.060,2644,3274,3537,0,0,0,0,0,0
$GC,6092,-1.20,-165.4,646.0,-9.5,346,6097,0.00,2.25,0.00,0.000,6,0.000,0.047,2644,1856,3536,0,0,0,0,0,0
$GC,6619,-1.20,-165.4,692.9,-8.7,364,6623,0.00,2.30,0.00,0.000,4,0.000,0.060,2633,3261,3535,0,0,0,0,0,0
$GC,6876,-1.20,-165.4,714.9,-8.3,371,6882,0.10,2.25,0.00,0.000,6,0.155,0.048,2661,1849,3534,0,0,0,0,0,0
$GC,7404,-1.24,-165.4,763.1,-10.0,389,7408,0.00,2.30,0.00,0.000,4,0.000,0.060,2651,3262,3532,0,0,0,0,0,0
$GC,7506,-1.28,-165.4,774.2,-11.2,392,7510,0.00,2.22,0.00,0.000,6,0.000,0.048,2651,1859,3532,0,0,0,0,0,0
$GC,8031,-1.30,-165.4,837.0,-12.5,409,8035,0.08,0.93,0.00,0.000,4,0.118,0.058,2597,2425,3531,0,0,0,0,0,0
$GC,8119,-1.25,-165.4,848.9,-13.9,411,8124,0.12,0.90,0.00,0.000,6,0.124,0.054,2641,1858,3531,0,0,0,0,0,0
$GC,8652,-1.25,-165.4,910.6,-10.9,429,8656,0.00,2.30,0.00,0.000,4,0.000,0.062,2630,3268,3530,0,0,0,0,0,0
$GC,8817,-1.25,-165.4,928.0,-10.7,434,8821,0.00,2.28,0.00,0.000,6,0.000,0.050,2630,1849,3529,0,0,0,0,0,0
$GC,9151,-1.25,-165.4,962.6,-10.1,445,9155,0.00,1.95,0.00,0.000,4,0.000,0.059,2621,3044,3528,0,0,0,0,0,0
$GC,9280,-1.25,-165.4,975.7,-10.7,448,9286,0.05,1.92,0.00,0.000,6,0.141,0.048,2640,1853,3528,0,0,0,0,0,0
$STATE,9437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9438,begin apogee
$GC,9443,-0.31,0.0,991.2,9.8,454,9590,0.95,0.00,142.75,1.254,6,0.110,0.000,2946,1554,2862,0,0,0,0,0,0
$STATE,9590,end apogee,CONTROL_FINISHED_OK
$STATE,9591,begin climb
$GC,9593,1.05,165.4,1003.6,0.0,459,9750,1.23,2.03,148.57,1.222,4,0.057,0.051,3382,2756,2187,0,0,0,0,0,0
$GC,10003,0.80,431.5,1014.7,-0.8,471,10257,0.30,1.92,240.98,1.226,6,0.170,0.050,3310,1547,1102,0,0,0,0,0,0
$GC,10562,0.85,461.0,974.4,8.5,490,10593,0.00,0.77,27.60,1.170,4,0.000,0.056,3310,2007,982,0,0,0,0,0,0
$GC,10640,0.91,487.8,967.9,8.6,492,10671,0.05,0.73,27.08,1.164,6,0.070,0.063,3354,1568,872,0,0,0,0,0,0
$GC,10996,0.91,508.6,935.8,8.9,504,11022,0.05,2.40,20.38,1.151,4,0.211,0.069,3350,154,788,0,0,0,0,0,0
$GC,11192,0.95,511.8,917.9,9.6,509,11202,0.00,2.28,4.05,0.703,6,0.000,0.050,3350,1558,774,0,0,0,0,0,0
$GC,11535,0.99,525.0,887.6,9.2,520,11554,0.00,1.85,14.23,1.095,4,0.000,0.070,3358,488,720,0,0,0,0,0,0
$GC,11807,1.05,530.8,861.2,9.5,528,11818,0.08,1.70,6.50,0.919,6,0.122,0.050,3396,1560,698,0,0,0,0,0,0
$GC,12352,1.02,530.8,800.8,11.7,546,12357,0.08,2.38,0.00,0.000,4,0.184,0.070,3388,152,695,0,0,0,0,0,0
$GC,12487,1.02,530.8,784.3,11.5,550,12492,0.03,2.30,0.00,0.000,6,0.260,0.049,3378,1569,695,0,0,0,0,0,0
$GC,13032,1.02,530.8,718.2,11.9,568,13035,0.00,1.02,0.00,0.000,4,0.000,0.064,3383,953,695,0,0,0,0,0,0
$GC,13109,1.02,530.8,708.7,12.1,570,13114,0.00,0.98,0.00,0.000,6,0.000,0.049,3383,1558,694,0,0,0,0,0,0
$GC,13654,1.02,540.8,652.5,9.3,588,13668,0.00,0.98,10.80,0.966,4,0.000,0.063,3387,960,657,0,0,0,0,0,0
$GC,13777,1.05,565.5,641.5,8.7,591,13806,0.00,0.98,25.77,1.030,6,0.000,0.050,3387,1557,555,0,0,0,0,0,0
$GC,14340,1.07,567.9,590.7,9.6,610,14344,0.00,2.38,0.00,0.000,4,0.000,0.070,3398,153,549,0,0,0,0,0,0
$GC,14597,1.10,567.9,564.8,9.8,617,14602,0.00,2.28,0.00,0.000,6,0.000,0.050,3398,1568,548,0,0,0,0,0,0
$GC,15124,1.10,567.9,502.2,12.7,635,15129,0.00,2.28,0.00,0.000,4,0.000,0.058,3397,2970,548,0,0,0,0,0,0
$GC,15255,1.10,567.9,485.2,13.0,639,15259,0.00,2.28,0.00,0.000,6,0.000,0.055,3407,1555,548,0,0,0,0,0,0
$GC,15773,1.10,567.9,419.1,12.2,656,15778,0.00,2.38,0.00,0.000,4,0.000,0.069,3418,148,547,0,0,0,0,0,0
$GC,16031,1.10,567.9,387.8,12.1,663,16037,0.08,2.30,0.00,0.000,6,0.179,0.049,3400,1563,547,0,0,0,0,0,0
$GC,16558,1.10,567.9,328.4,11.0,681,16563,0.00,2.25,0.00,0.000,4,0.000,0.059,3400,2962,547,0,0,0,0,0,0
$GC,16707,1.10,567.9,312.4,9.9,685,16711,0.00,2.28,0.00,0.000,6,0.000,0.054,3409,1549,547,0,0,0,0,0,0
$GC,17237,1.10,567.9,252.8,11.6,709,17241,0.00,2.33,0.00,0.000,4,0.000,0.068,3420,159,546,0,0,0,0,0,0
$GC,17494,1.10,567.9,223.9,9.8,720,17502,0.05,2.30,0.00,0.000,6,0.150,0.049,3403,1554,546,0,0,0,0,0,0
$GC,18027,1.10,567.9,166.8,11.4,751,18031,0.00,2.38,0.00,0.000,4,0.000,0.069,3413,159,546,0,0,0,0,0,0
$GC,18167,1.10,567.9,150.1,12.1,759,18173,0.03,2.28,0.00,0.000,6,0.256,0.048,3402,1564,546,0,0,0,0,0,0
$GC,18702,1.10,567.9,90.1,10.5,796,18706,0.00,2.40,0.00,0.000,4,0.000,0.067,3412,150,547,0,0,0,0,0,0
$GC,18831,1.10,567.9,76.7,10.3,807,18835,0.00,2.28,0.00,0.000,6,0.000,0.048,3412,1561,547,0,0,0,0,0,0
$GC,19286,1.05,567.9,30.9,9.8,872,19293,0.10,0.95,0.00,0.000,4,0.185,0.062,3391,1001,547,0,0,0,0,0,0
$GC,19326,1.05,611.1,27.5,8.0,878,19357,0.00,0.90,23.08,0.609,6,0.000,0.049,3391,1561,407,0,0,0,0,0,0
$GC,19433,1.10,662.1,18.9,7.7,895,19439,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1561,403,0,0,0,0,0,0
$GC,19513,1.18,679.9,11.9,9.0,908,19521,0.10,0.43,0.00,0.000,4,0.096,0.070,3443,1294,401,0,0,0,0,0,0
$STATE,19616,end climb,SURFACE_DEPTH_REACHED
$STATE,19616,begin surface coast
$FINISH,2.5,1.013878
$STATE,19648,end surface coast,CONTROL_FINISHED_OK
$STATE,19648,begin surface
$SM_CCo,19727,0.00,0.000,0,0,399,604.16
$SM_GC,3.31,8.88,0.00,0.00,0.034,0.000,0.000,86,1879,399,-9.17,0.54,604.16
$IRIDIUM_FIX,-4126.50,-318.94,120213,191927
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,9.01091
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.3,108.303
$10V_AH,9.8,76.198
$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,23.250,121.225,691.775,0.000,0.000,28.770,41.430,294.237,0.000,0.000,40.355,2380.282,13527.206,687.048,3342.081,316.235,33.397,2064.695,0.000,2940.867,0.000,1.009,0.000
$DEVICE_MAMPS,260.100,70.380,1253.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.464,920.265,637.279,76.666,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354488
$DATA_FILE_SIZE,56833,930
$CAP_FILE_SIZE,163927,0
$CFSIZE,2097086464,2016149504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130213,065129,-4140.333,-320.217,46,1.1,46,-22.5