version: 66.07.10.p01
glider: 573
mission: 4
dive: 600
start: 2 14 113 15 48 59
data:
$ID,573
$MISSION,4
$DIVE,600
$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,280
$T_MISSION,300
$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,-6126.6763
$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,25
$R_STBD_OVSHOOT,26
$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,579
$GPS1,140213,153935,-4136.511,-316.021,27,1.6,27,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-66.3
$GPS2,140213,154805,-4136.485,-315.967,28,1.3,28,-22.6
$SPEED_LIMITS,0.204,0.290
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.146,0.251
$KALMAN_X,105810.1,350.5,619.8,-116242.8,2606.7
$KALMAN_Y,-75589.4,911.7,1096.1,137818.2,-4407.7
$MHEAD_RNG_PITCHd_Wd,352.4,15474,-19.6,-11.786
$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,26,-1.23,-165.4,0.0,0.0,0,36,0.00,0.00,-7.30,0.000,2,0.000,0.000,69,1855,580,0,0,0,0,0,0
$GC,39,-1.23,-165.4,3.2,-0.0,1,183,10.35,0.00,-124.00,0.000,6,0.214,0.000,2645,1856,3538,0,0,0,0,0,0
$GC,257,-1.26,-165.4,14.5,-12.1,37,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1855,3540,0,0,0,0,0,0
$GC,336,-1.26,-165.4,24.3,-12.1,50,344,0.00,0.80,0.00,0.000,4,0.000,0.058,2642,2372,3540,0,0,0,0,0,0
$GC,405,-1.28,-165.4,32.4,-11.9,61,410,0.00,0.82,0.00,0.000,6,0.000,0.054,2642,1849,3540,0,0,0,0,0,0
$GC,753,-1.31,-165.4,73.0,-12.4,113,757,0.05,0.77,0.00,0.000,4,0.164,0.057,2601,2335,3540,0,0,0,0,0,0
$GC,1012,-1.31,-165.4,108.0,-13.9,134,1017,0.05,0.75,0.00,0.000,6,0.146,0.054,2619,1851,3540,0,0,0,0,0,0
$GC,1542,-1.31,-165.4,177.0,-12.9,168,1546,0.00,2.33,0.00,0.000,4,0.000,0.060,2609,3277,3541,0,0,0,0,0,0
$GC,1681,-1.31,-165.4,195.5,-12.5,176,1689,0.00,2.28,0.00,0.000,6,0.000,0.046,2609,1855,3541,0,0,0,0,0,0
$GC,2216,-1.31,-165.4,263.6,-13.0,203,2220,0.00,2.30,0.00,0.000,4,0.000,0.059,2598,3272,3542,0,0,0,0,0,0
$GC,2393,-1.31,-165.4,286.8,-12.2,211,2398,0.10,2.22,0.00,0.000,6,0.159,0.047,2625,1853,3542,0,0,0,0,0,0
$GC,2920,-1.34,-165.4,349.8,-11.5,230,2924,0.00,2.17,0.00,0.000,4,0.000,0.059,2615,3205,3542,0,0,0,0,0,0
$GC,2993,-1.36,-165.4,358.6,-11.7,232,2997,0.00,2.10,0.00,0.000,6,0.000,0.046,2615,1856,3542,0,0,0,0,0,0
$GC,3531,-1.36,-165.4,415.9,-10.0,250,3535,0.00,2.33,0.00,0.000,4,0.000,0.060,2605,3278,3542,0,0,0,0,0,0
$GC,3728,-1.36,-165.4,435.1,-9.1,256,3732,0.00,2.25,0.00,0.000,6,0.000,0.046,2605,1852,3541,0,0,0,0,0,0
$GC,4252,-1.36,-165.4,486.1,-10.3,273,4256,0.00,2.30,0.00,0.000,4,0.000,0.060,2595,3268,3540,0,0,0,0,0,0
$GC,4448,-1.36,-165.4,509.1,-12.2,278,4454,0.00,2.25,0.00,0.000,6,0.000,0.048,2595,1852,3540,0,0,0,0,0,0
$GC,4976,-1.36,-165.4,573.8,-12.2,296,4980,0.00,2.30,0.00,0.000,4,0.000,0.058,2595,452,3539,0,0,0,0,0,0
$GC,5082,-1.30,-165.4,587.1,-12.1,299,5087,0.15,2.28,0.00,0.000,6,0.163,0.045,2625,1878,3539,0,0,0,0,0,0
$GC,5622,-1.33,-165.4,647.5,-10.9,317,5626,0.00,2.22,0.00,0.000,4,0.000,0.060,2615,3262,3538,0,0,0,0,0,0
$GC,5797,-1.36,-165.4,666.2,-10.7,322,5802,0.00,2.25,0.00,0.000,6,0.000,0.048,2615,1850,3538,0,0,0,0,0,0
$GC,6336,-1.36,-165.4,724.8,-10.8,340,6340,0.00,2.30,0.00,0.000,4,0.000,0.059,2615,449,3537,0,0,0,0,0,0
$GC,6430,-1.36,-165.4,735.6,-11.3,342,6435,0.00,2.25,0.00,0.000,6,0.000,0.046,2604,1867,3537,0,0,0,0,0,0
$GC,6958,-1.36,-165.4,794.0,-11.1,360,6962,0.00,2.28,0.00,0.000,4,0.000,0.061,2593,3265,3535,0,0,0,0,0,0
$GC,7136,-1.36,-165.4,813.6,-11.4,365,7140,0.00,2.25,0.00,0.000,6,0.000,0.050,2594,1858,3535,0,0,0,0,0,0
$GC,7669,-1.36,-165.4,868.3,-9.9,383,7673,0.00,2.33,0.00,0.000,4,0.000,0.063,2583,3265,3533,0,0,0,0,0,0
$GC,7837,-1.36,-165.4,885.8,-10.7,388,7841,0.08,2.25,0.00,0.000,6,0.181,0.050,2602,1859,3533,0,0,0,0,0,0
$GC,8382,-1.36,-165.4,939.0,-10.0,406,8386,0.00,2.33,0.00,0.000,4,0.000,0.063,2592,3268,3531,0,0,0,0,0,0
$GC,8535,-1.36,-165.4,955.2,-10.6,410,8539,0.00,2.25,0.00,0.000,6,0.000,0.050,2592,1857,3531,0,0,0,0,0,0
$GC,8848,-1.36,-165.4,989.3,-11.2,420,8852,0.00,1.98,0.00,0.000,4,0.000,0.062,2583,3042,3530,0,0,0,0,0,0
$STATE,8856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8856,begin apogee
$GC,8864,-0.31,0.0,990.8,11.5,420,9011,1.12,0.00,143.25,1.250,6,0.127,0.000,2934,1556,2862,0,0,0,0,0,0
$STATE,9012,end apogee,CONTROL_FINISHED_OK
$STATE,9012,begin climb
$GC,9015,1.23,165.4,1004.4,0.0,425,9169,1.45,0.00,148.40,1.223,6,0.056,0.000,3449,1556,2187,0,0,0,0,0,0
$GC,9474,0.99,486.5,1027.9,-3.5,440,9777,0.30,2.03,294.50,1.232,4,0.184,0.052,3366,2696,878,0,0,0,0,0,0
$GC,9842,1.03,549.0,1006.8,8.8,451,9908,0.00,1.90,60.55,1.191,6,0.000,0.052,3374,1551,624,0,0,0,0,0,0
$GC,10216,1.11,571.2,967.9,10.7,464,10240,0.08,0.00,21.23,1.149,6,0.122,0.000,3417,1551,533,0,0,0,0,0,0
$GC,10522,1.13,571.2,931.6,12.1,474,10526,0.00,2.25,0.00,0.000,4,0.000,0.067,3428,205,527,0,0,0,0,0,0
$GC,10617,1.13,571.2,919.6,12.5,476,10623,0.08,2.17,0.00,0.000,6,0.184,0.047,3411,1560,527,0,0,0,0,0,0
$GC,10931,1.17,571.2,880.9,12.5,487,10935,0.00,2.35,0.00,0.000,4,0.000,0.069,3421,160,526,0,0,0,0,0,0
$GC,11019,1.17,571.2,869.3,12.4,489,11024,0.00,2.25,0.00,0.000,6,0.000,0.047,3421,1568,526,0,0,0,0,0,0
$GC,11553,1.17,571.2,801.9,12.6,507,11556,0.00,1.98,0.00,0.000,4,0.000,0.065,3430,385,525,0,0,0,0,0,0
$GC,11670,1.17,571.2,786.7,12.6,510,11674,0.00,1.90,0.00,0.000,6,0.000,0.047,3430,1554,524,0,0,0,0,0,0
$GC,12208,1.17,571.2,720.7,12.0,528,12213,0.00,2.38,0.00,0.000,4,0.000,0.070,3441,153,524,0,0,0,0,0,0
$GC,12331,1.17,571.8,705.7,11.8,531,12337,0.08,2.28,0.00,0.000,6,0.178,0.049,3423,1561,524,0,0,0,0,0,0
$GC,12861,1.20,574.5,643.7,11.7,549,12864,0.00,1.80,0.00,0.000,4,0.000,0.067,3430,486,524,0,0,0,0,0,0
$GC,12978,1.20,575.2,629.6,11.8,552,12982,0.00,1.75,0.00,0.000,6,0.000,0.048,3431,1564,524,0,0,0,0,0,0
$GC,13517,1.20,588.5,568.1,11.1,570,13538,0.00,2.40,16.38,0.965,4,0.000,0.067,3442,161,462,0,0,0,0,0,0
$GC,13661,1.20,614.2,551.2,10.6,574,13681,0.00,2.25,13.75,0.929,6,0.000,0.049,3442,1561,409,0,0,0,0,0,0
$GC,14201,1.20,614.2,486.7,12.4,592,14204,0.00,1.85,0.00,0.000,4,0.000,0.067,3450,446,405,0,0,0,0,0,0
$GC,14273,1.20,614.2,477.1,13.2,594,14277,0.08,1.83,0.00,0.000,6,0.181,0.048,3432,1563,405,0,0,0,0,0,0
$GC,14794,1.23,614.2,408.4,13.3,611,14798,0.00,0.57,0.00,0.000,4,0.000,0.068,3434,1213,405,0,0,0,0,0,0
$GC,14883,1.25,614.2,396.5,11.9,613,14886,0.00,0.55,0.00,0.000,6,0.000,0.055,3434,1565,405,0,0,0,0,0,0
$GC,15416,1.27,617.9,330.9,11.6,631,15421,0.05,2.38,0.00,0.000,4,0.164,0.067,3476,162,404,0,0,0,0,0,0
$GC,15524,1.23,626.3,318.3,11.4,634,15529,0.12,2.25,0.00,0.000,6,0.164,0.047,3442,1567,404,0,0,0,0,0,0
$GC,16045,1.23,626.3,258.3,12.1,657,16049,0.00,2.35,0.00,0.000,4,0.000,0.067,3453,160,404,0,0,0,0,0,0
$GC,16175,1.23,626.3,242.2,12.0,663,16179,0.00,2.25,0.00,0.000,6,0.000,0.048,3453,1566,404,0,0,0,0,0,0
$GC,16701,1.23,626.3,179.0,11.9,691,16704,0.00,1.38,0.00,0.000,4,0.000,0.063,3460,748,403,0,0,0,0,0,0
$GC,16829,1.23,626.3,162.7,12.6,698,16837,0.05,1.33,0.00,0.000,6,0.147,0.047,3441,1565,404,0,0,0,0,0,0
$GC,17357,1.23,626.6,93.8,11.8,734,17361,0.00,2.35,0.00,0.000,4,0.000,0.065,3452,160,404,0,0,0,0,0,0
$GC,17488,1.23,626.6,78.9,12.1,745,17492,0.00,2.25,0.00,0.000,6,0.000,0.047,3452,1568,404,0,0,0,0,0,0
$GC,17943,1.23,661.6,28.1,10.1,809,17950,0.00,2.40,0.00,0.000,4,0.000,0.065,3463,161,404,0,0,0,0,0,0
$GC,18013,1.20,601.7,19.7,12.1,820,18020,0.08,2.28,0.00,0.000,6,0.139,0.046,3437,1560,404,0,0,0,0,0,0
$GC,18094,1.23,601.7,9.2,13.3,833,18101,0.00,1.92,0.00,0.000,4,0.000,0.064,3446,414,404,0,0,0,0,0,0
$STATE,18143,end climb,SURFACE_DEPTH_REACHED
$STATE,18143,begin surface coast
$FINISH,2.6,1.013445
$STATE,18174,end surface coast,CONTROL_FINISHED_OK
$STATE,18174,begin surface
$SM_CCo,18255,0.00,0.000,0,0,403,603.43
$SM_GC,3.48,8.93,0.00,0.00,0.035,0.000,0.000,87,1859,403,-9.16,-0.03,603.43
$IRIDIUM_FIX,-4123.62,-318.78,140213,101032
$TT8_MAMPS,0.026964
$HUMID,50.39
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.2,110.044
$10V_AH,9.8,76.955
$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,23.175,117.350,698.050,0.000,0.000,25.331,45.868,278.891,0.250,0.000,30.333,2150.252,12691.458,680.935,2939.618,298.272,33.392,1915.576,0.000,2567.612,0.000,1.008,0.000
$DEVICE_MAMPS,214.200,69.615,1250.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.748,784.486,581.052,67.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,50225,846
$CAP_FILE_SIZE,146725,1
$CFSIZE,2097086464,2015264768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140213,205429,-4135.751,-314.808,39,1.8,39,-22.6