version: 66.07.10.p01
glider: 573
mission: 4
dive: 602
start: 2 15 113 2 33 30
data:
$ID,573
$MISSION,4
$DIVE,602
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1000
$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,180
$T_MISSION,200
$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,-6131.376
$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,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,581
$GPS1,150213,022004,-4135.197,-313.479,44,1.9,44,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-64.9
$GPS2,150213,023234,-4135.034,-313.290,44,1.2,46,-22.6
$SPEED_LIMITS,0.225,0.299
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4131.000,-315.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.268,0.133
$KALMAN_X,116715.0,253.0,439.5,-123211.6,2417.1
$KALMAN_Y,-76423.2,-741.2,441.5,143656.5,82.6
$MHEAD_RNG_PITCHd_Wd,319.0,7839,-21.2,-12.963
$D_GRID,700
$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,-1.33,-165.4,0.0,0.0,0,35,0.00,0.00,-7.10,0.000,2,0.000,0.000,78,1864,573,0,0,0,0,0,0
$GC,38,-1.33,-165.4,3.2,-0.0,1,177,10.15,0.00,-123.95,0.000,6,0.213,0.000,2613,1865,3539,0,0,0,0,0,0
$GC,251,-1.31,-165.4,14.4,-10.2,36,258,0.00,1.20,0.00,0.000,4,0.000,0.058,2613,1123,3541,0,0,0,0,0,0
$GC,298,-1.29,-165.4,19.1,-10.4,43,305,0.05,1.20,0.00,0.000,6,0.166,0.050,2625,1866,3541,0,0,0,0,0,0
$GC,379,-1.29,-165.4,27.8,-10.2,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1867,3541,0,0,0,0,0,0
$GC,458,-1.29,-165.4,36.7,-11.2,69,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1868,3541,0,0,0,0,0,0
$GC,801,-1.31,-165.4,79.1,-13.7,117,805,0.00,2.33,0.00,0.000,4,0.000,0.058,2625,447,3542,0,0,0,0,0,0
$GC,931,-1.31,-165.4,98.1,-14.8,128,935,0.00,2.28,0.00,0.000,6,0.000,0.045,2614,1873,3542,0,0,0,0,0,0
$GC,1356,-1.33,-165.4,158.1,-14.1,155,1360,0.00,0.80,0.00,0.000,4,0.000,0.057,2614,1366,3542,0,0,0,0,0,0
$GC,1468,-1.33,-165.4,175.0,-14.4,161,1473,0.00,0.77,0.00,0.000,6,0.000,0.050,2611,1863,3542,0,0,0,0,0,0
$GC,2002,-1.36,-165.4,244.8,-12.6,190,2006,0.00,1.62,0.00,0.000,4,0.000,0.054,2611,865,3543,0,0,0,0,0,0
$GC,2080,-1.36,-165.4,255.5,-12.5,193,2084,0.00,1.60,0.00,0.000,6,0.000,0.045,2604,1864,3543,0,0,0,0,0,0
$GC,2629,-1.36,-165.4,323.0,-12.2,217,2633,0.00,2.15,0.00,0.000,4,0.000,0.057,2593,3215,3543,0,0,0,0,0,0
$GC,2712,-1.36,-165.4,333.9,-12.3,219,2717,0.05,2.15,0.00,0.000,6,0.203,0.046,2604,1849,3543,0,0,0,0,0,0
$GC,3246,-1.36,-165.4,388.5,-9.5,237,3250,0.00,0.45,0.00,0.000,4,0.000,0.059,2605,1545,3542,0,0,0,0,0,0
$GC,3399,-1.36,-165.4,403.2,-9.5,241,3402,0.00,0.47,0.00,0.000,6,0.000,0.054,2603,1855,3543,0,0,0,0,0,0
$GC,3938,-1.36,-165.4,461.0,-11.9,259,3941,0.00,0.60,0.00,0.000,4,0.000,0.057,2601,2256,3542,0,0,0,0,0,0
$GC,4074,-1.36,-165.4,477.9,-12.3,263,4077,0.00,0.60,0.00,0.000,6,0.000,0.055,2601,1861,3542,0,0,0,0,0,0
$GC,4599,-1.36,-165.4,546.1,-12.5,280,4602,0.00,2.00,0.00,0.000,4,0.000,0.059,2590,3105,3541,0,0,0,0,0,0
$GC,4677,-1.36,-165.4,555.8,-12.0,282,4681,0.05,1.98,0.00,0.000,6,0.203,0.048,2604,1858,3541,0,0,0,0,0,0
$GC,5222,-1.38,-165.4,610.4,-8.9,300,5226,0.00,0.73,0.00,0.000,4,0.000,0.056,2601,2326,3540,0,0,0,0,0,0
$GC,5273,-1.41,-165.4,615.2,-9.0,301,5276,0.00,0.73,0.00,0.000,6,0.000,0.054,2601,1859,3539,0,0,0,0,0,0
$GC,5812,-1.43,-165.4,662.9,-9.1,319,5815,0.00,1.27,0.00,0.000,4,0.000,0.057,2601,1074,3538,0,0,0,0,0,0
$GC,5908,-1.43,-165.4,672.5,-9.8,321,5913,0.00,1.27,0.00,0.000,6,0.000,0.049,2595,1864,3538,0,0,0,0,0,0
$STATE,6004,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6004,begin apogee
$GC,6010,-0.31,0.0,682.6,10.3,325,6155,1.12,0.00,138.20,1.030,6,0.125,0.000,2945,1555,2862,0,0,0,0,0,0
$STATE,6156,end apogee,CONTROL_FINISHED_OK
$STATE,6156,begin climb
$GC,6158,1.33,165.4,695.2,0.0,330,6308,1.52,2.42,139.40,1.011,4,0.059,0.057,3494,153,2186,0,0,0,0,0,0
$GC,6561,1.04,487.8,715.6,-4.0,342,6850,0.43,2.25,278.67,1.020,6,0.189,0.042,3382,1567,873,0,0,0,0,0,0
$GC,7371,1.10,545.7,652.4,9.9,369,7432,0.00,1.98,53.05,0.992,4,0.000,0.063,3391,427,636,0,0,0,0,0,0
$GC,7510,1.19,572.3,637.1,11.6,373,7541,0.10,1.83,25.27,0.953,6,0.099,0.047,3436,1558,528,0,0,0,0,0,0
$GC,8080,1.23,572.3,563.2,13.0,392,8084,0.00,2.35,0.00,0.000,4,0.000,0.067,3447,158,520,0,0,0,0,0,0
$GC,8211,1.23,589.2,546.9,12.1,396,8230,0.00,2.25,15.05,0.910,6,0.000,0.047,3447,1561,460,0,0,0,0,0,0
$GC,8760,1.26,619.5,481.9,11.4,414,8779,0.00,2.42,12.15,0.871,4,0.000,0.067,3458,156,409,0,0,0,0,0,0
$GC,8914,1.26,657.8,464.8,10.9,418,8918,0.00,2.28,0.00,0.000,6,0.000,0.047,3458,1567,407,0,0,0,0,0,0
$GC,9447,1.26,695.5,407.7,11.0,436,9451,0.00,2.35,0.00,0.000,4,0.000,0.065,3469,163,405,0,0,0,0,0,0
$GC,9593,1.26,715.7,390.3,11.9,440,9598,0.08,2.25,0.00,0.000,6,0.184,0.047,3451,1568,404,0,0,0,0,0,0
$GC,10133,1.29,715.7,316.3,15.0,458,10137,0.00,1.05,0.00,0.000,4,0.000,0.063,3456,938,404,0,0,0,0,0,0
$GC,10228,1.31,715.7,301.6,14.9,460,10233,0.00,1.00,0.00,0.000,6,0.000,0.049,3456,1561,403,0,0,0,0,0,0
$GC,10764,1.34,718.7,227.6,12.8,486,10767,0.00,0.75,0.00,0.000,4,0.000,0.063,3459,1104,404,0,0,0,0,0,0
$GC,10927,1.36,758.2,208.4,10.9,493,10931,0.03,0.73,0.00,0.000,6,0.099,0.050,3486,1563,404,0,0,0,0,0,0
$GC,11466,1.36,782.8,147.4,11.7,526,11470,0.00,1.73,0.00,0.000,4,0.000,0.063,3494,508,403,0,0,0,0,0,0
$GC,11539,1.34,810.6,138.4,11.5,530,11543,0.08,1.67,0.00,0.000,6,0.190,0.047,3477,1563,403,0,0,0,0,0,0
$GC,12014,1.33,601.7,79.1,13.1,565,12017,0.00,1.33,0.00,0.000,4,0.000,0.062,3483,770,403,0,0,0,0,0,0
$GC,12097,1.33,616.0,68.1,12.2,572,12102,0.00,1.27,0.00,0.000,6,0.000,0.047,3483,1561,404,0,0,0,0,0,0
$GC,12563,1.29,624.7,13.5,12.5,647,12569,0.08,0.00,0.00,0.000,6,0.199,0.000,3465,1561,403,0,0,0,0,0,0
$GC,12643,1.24,733.8,6.3,7.2,660,12651,0.08,0.70,0.00,0.000,4,0.206,0.063,3451,1126,404,0,0,0,0,0,0
$STATE,12681,end climb,SURFACE_DEPTH_REACHED
$STATE,12682,begin surface coast
$FINISH,2.5,1.013143
$STATE,12713,end surface coast,CONTROL_FINISHED_OK
$STATE,12713,begin surface
$SM_CCo,12792,0.00,0.000,0,0,402,603.43
$SM_GC,3.23,9.02,0.00,0.00,0.041,0.000,0.000,85,1863,402,-9.17,0.08,603.43
$IRIDIUM_FIX,-4120.75,-315.90,140213,212157
$TT8_MAMPS,0.026964
$HUMID,51.06
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.3,110.539
$10V_AH,9.8,77.156
$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,22.825,60.500,661.800,0.000,0.000,26.183,47.686,446.541,0.000,0.000,49.048,1669.177,8331.488,634.415,2591.879,293.388,33.354,1591.366,0.000,2052.248,0.000,1.009,0.000
$DEVICE_MAMPS,213.435,67.320,1030.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.509,796.677,445.353,68.401,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,40236,671
$CAP_FILE_SIZE,116285,1
$CFSIZE,2097086464,2015035392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,060759,-4134.318,-312.943,41,0.9,42,-22.6