version: 66.07.10.p01
glider: 573
mission: 12
dive: 97
start: 8 16 115 0 36 44
data:
$ID,573
$MISSION,12
$DIVE,97
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,390
$T_MISSION,420
$T_ABORT,1440
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-4300
$TGT_DEFAULT_LON,800
$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,-21314.543
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,-87.994217
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$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,0
$GC_LAST_COLLECTION,96
$GPS1,160815,002857,-4504.482,624.416,39,1.0,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-68.5
$GPS2,160815,003624,-4504.526,624.517,15,0.8,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,349.6,1187,-27.7,-8.547
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,58,0.00,0.00,-32.20,0.000,2,0.000,0.000,62,2056,1805,0,0,0,0,0,0
$GC,60,-1.12,-93.9,3.5,-3.5,5,100,11.35,2.28,-20.52,0.000,4,0.252,0.067,2819,664,2332,0,0,0,0,0,0
$GC,369,-1.04,-93.9,53.8,-16.6,56,376,0.15,2.20,0.00,0.000,6,0.199,0.041,2848,2064,2335,0,0,0,0,0,0
$GC,722,-1.04,-93.9,109.2,-15.7,113,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2064,2335,0,0,0,0,0,0
$GC,1038,-1.04,-93.9,152.7,-12.9,143,1042,0.00,2.25,0.00,0.000,4,0.000,0.063,2837,3469,2336,0,0,0,0,0,0
$GC,1167,-1.04,-93.9,172.0,-15.0,154,1171,0.00,2.17,0.00,0.000,6,0.000,0.043,2837,2059,2336,0,0,0,0,0,0
$GC,1500,-1.04,-93.9,219.0,-14.0,185,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2059,2336,0,0,0,0,0,0
$GC,1816,-1.04,-93.9,262.3,-13.2,215,1820,0.00,2.25,0.00,0.000,4,0.000,0.061,2828,3472,2336,0,0,0,0,0,0
$GC,1870,-1.04,-93.9,270.0,-13.2,219,1878,0.05,2.20,0.00,0.000,6,0.184,0.041,2843,2068,2337,0,0,0,0,0,0
$GC,2196,-1.04,-93.9,312.8,-13.6,250,2200,0.00,2.22,0.00,0.000,4,0.000,0.057,2834,3475,2337,0,0,0,0,0,0
$GC,2272,-1.04,-93.9,323.9,-14.1,256,2281,0.00,2.22,0.00,0.000,6,0.000,0.041,2834,2051,2337,0,0,0,0,0,0
$GC,2598,-1.04,-93.9,367.9,-13.8,287,2600,0.05,0.00,0.00,0.000,6,0.242,0.000,2843,2051,2337,0,0,0,0,0,0
$GC,2916,-1.07,-93.9,408.6,-12.7,314,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2050,2337,0,0,0,0,0,0
$GC,3225,-1.10,-93.9,446.8,-12.2,329,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2050,2337,0,0,0,0,0,0
$GC,3534,-1.14,-93.9,484.4,-12.2,344,3536,0.08,0.00,0.00,0.000,6,0.126,0.000,2806,2051,2337,0,0,0,0,0,0
$GC,3843,-1.11,-93.9,527.0,-14.0,359,3848,0.08,2.25,0.00,0.000,4,0.210,0.060,2812,3465,2337,0,0,0,0,0,0
$GC,3937,-1.11,-93.9,540.4,-14.3,363,3942,0.00,2.20,0.00,0.000,6,0.000,0.042,2812,2054,2337,0,0,0,0,0,0
$GC,4259,-1.11,-93.9,586.0,-14.7,379,4263,0.00,2.22,0.00,0.000,4,0.000,0.060,2803,3465,2337,0,0,0,0,0,0
$GC,4291,-1.06,-93.9,591.4,-15.8,380,4297,0.10,2.20,0.00,0.000,6,0.171,0.042,2835,2053,2337,0,0,0,0,0,0
$GC,4607,-1.09,-93.9,634.2,-13.7,396,4611,0.00,2.22,0.00,0.000,4,0.000,0.061,2825,3465,2336,0,0,0,0,0,0
$GC,4650,-1.09,-93.9,640.7,-14.1,398,4655,0.00,2.20,0.00,0.000,6,0.000,0.042,2825,2056,2336,0,0,0,0,0,0
$GC,4978,-1.09,-93.9,684.2,-13.2,414,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2056,2336,0,0,0,0,0,0
$GC,5288,-1.09,-93.9,722.7,-12.0,429,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2056,2336,0,0,0,0,0,0
$GC,5597,-1.09,-93.9,759.4,-12.1,444,5601,0.00,2.22,0.00,0.000,4,0.000,0.061,2816,3464,2336,0,0,0,0,0,0
$GC,5628,-1.09,-93.9,763.5,-12.8,445,5635,0.03,2.17,0.00,0.000,6,0.189,0.042,2825,2065,2336,0,0,0,0,0,0
$GC,5944,-1.09,-93.9,800.1,-11.4,461,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2064,2335,0,0,0,0,0,0
$GC,6254,-1.09,-93.9,835.1,-11.2,476,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2064,2336,0,0,0,0,0,0
$GC,6563,-1.09,-93.9,870.1,-11.1,491,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2064,2335,0,0,0,0,0,0
$GC,6873,-1.09,-93.9,904.1,-11.1,506,6877,0.00,2.25,0.00,0.000,4,0.000,0.060,2816,3473,2335,0,0,0,0,0,0
$GC,6927,-1.09,-93.9,910.8,-11.7,508,6934,0.03,2.20,0.00,0.000,6,0.194,0.043,2824,2061,2335,0,0,0,0,0,0
$GC,7243,-1.09,-93.9,946.2,-11.4,524,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2061,2335,0,0,0,0,0,0
$GC,7553,-1.12,-93.9,980.7,-11.1,539,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2061,2335,0,0,0,0,0,0
$STATE,7737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7737,begin apogee
$GC,7742,-0.19,0.0,1001.6,11.1,548,7831,0.98,0.00,85.95,1.293,6,0.172,0.000,3115,1585,1950,0,0,0,0,0,0
$STATE,7832,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7833,1.12,93.9,1004.6,0.0,552,7931,1.27,2.40,89.60,1.258,4,0.093,0.050,3546,189,1566,0,0,0,0,0,0
$GC,7963,1.12,93.9,994.0,12.9,557,7968,0.00,2.38,0.00,0.000,6,0.000,0.035,3547,1608,1562,0,0,0,0,0,0
$GC,8285,1.12,93.9,952.8,12.8,573,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1608,1557,0,0,0,0,0,0
$GC,8595,1.12,93.9,912.5,13.3,588,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1608,1555,0,0,0,0,0,0
$GC,8904,1.12,93.9,872.6,12.7,603,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1608,1555,0,0,0,0,0,0
$GC,9213,1.12,93.9,835.1,11.7,618,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1608,1554,0,0,0,0,0,0
$GC,9523,1.12,93.9,798.5,11.8,633,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1608,1554,0,0,0,0,0,0
$GC,9832,1.12,93.9,762.2,11.7,648,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1608,1554,0,0,0,0,0,0
$GC,10142,1.15,93.9,723.4,12.8,663,10146,0.00,2.25,0.00,0.000,4,0.000,0.051,3557,195,1554,0,0,0,0,0,0
$GC,10190,1.15,93.9,716.9,13.6,665,10195,0.00,2.20,0.00,0.000,6,0.000,0.034,3557,1603,1553,0,0,0,0,0,0
$GC,10511,1.15,93.9,676.6,12.2,681,10515,0.00,2.25,0.00,0.000,4,0.000,0.050,3566,196,1553,0,0,0,0,0,0
$GC,10573,1.11,93.9,668.6,13.1,684,10578,0.10,2.15,0.00,0.000,6,0.196,0.034,3543,1617,1552,0,0,0,0,0,0
$GC,10900,1.15,93.9,630.8,11.3,700,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1617,1553,0,0,0,0,0,0
$GC,11209,1.19,93.9,594.6,12.0,715,11213,0.08,2.25,0.00,0.000,4,0.125,0.050,3595,185,1552,0,0,0,0,0,0
$GC,11294,1.10,93.9,583.1,13.7,719,11299,0.20,2.15,0.00,0.000,6,0.178,0.034,3542,1602,1552,0,0,0,0,0,0
$GC,11621,1.14,93.9,542.9,12.2,735,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1602,1552,0,0,0,0,0,0
$GC,11930,1.19,93.9,507.2,11.2,750,11935,0.08,2.22,0.00,0.000,4,0.130,0.050,3593,195,1552,0,0,0,0,0,0
$GC,11996,1.10,93.9,498.6,13.7,753,12001,0.12,2.17,0.00,0.000,6,0.172,0.035,3540,1593,1552,0,0,0,0,0,0
$GC,12323,1.15,93.9,462.3,10.9,769,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1593,1552,0,0,0,0,0,0
$GC,12632,1.19,93.9,429.9,10.1,784,12637,0.08,2.20,0.00,0.000,4,0.135,0.050,3587,187,1552,0,0,0,0,0,0
$GC,12732,1.12,93.9,417.2,12.8,788,12738,0.15,2.17,0.00,0.000,6,0.184,0.034,3549,1596,1552,0,0,0,0,0,0
$GC,13053,1.15,93.9,382.7,11.1,811,13057,0.00,2.20,0.00,0.000,4,0.000,0.054,3549,2994,1552,0,0,0,0,0,0
$GC,13163,1.15,93.9,370.2,10.4,820,13172,0.00,2.15,0.00,0.000,6,0.000,0.033,3557,1597,1551,0,0,0,0,0,0
$GC,13489,1.15,93.9,336.0,11.2,851,13493,0.00,2.17,0.00,0.000,4,0.000,0.051,3568,197,1551,0,0,0,0,0,0
$GC,13600,1.12,93.9,322.4,11.4,860,13609,0.05,2.17,0.00,0.000,6,0.187,0.035,3552,1600,1551,0,0,0,0,0,0
$GC,13925,1.15,93.9,285.6,11.5,891,13929,0.00,2.17,0.00,0.000,4,0.000,0.053,3553,2991,1551,0,0,0,0,0,0
$GC,14038,1.15,93.9,271.7,11.9,900,14045,0.00,2.15,0.00,0.000,6,0.000,0.034,3561,1592,1551,0,0,0,0,0,0
$GC,14362,1.15,93.9,230.7,12.4,931,14366,0.00,2.17,0.00,0.000,4,0.000,0.050,3572,193,1551,0,0,0,0,0,0
$GC,14492,1.15,93.9,213.6,12.9,942,14497,0.05,2.12,0.00,0.000,6,0.237,0.034,3560,1602,1550,0,0,0,0,0,0
$GC,14824,1.15,93.9,176.3,10.5,973,14828,0.00,2.20,0.00,0.000,4,0.000,0.049,3569,197,1551,0,0,0,0,0,0
$GC,14921,1.15,93.9,165.0,11.5,981,14925,0.00,2.12,0.00,0.000,6,0.000,0.034,3568,1600,1550,0,0,0,0,0,0
$GC,15246,1.15,93.9,130.4,10.3,1011,15250,0.00,2.22,0.00,0.000,4,0.000,0.048,3576,192,1551,0,0,0,0,0,0
$GC,15504,1.12,93.9,101.1,10.8,1033,15511,0.08,2.17,0.00,0.000,6,0.175,0.033,3553,1603,1551,0,0,0,0,0,0
$GC,15855,1.17,93.9,65.2,8.6,1093,15860,0.00,2.20,0.00,0.000,4,0.000,0.047,3562,195,1550,0,0,0,0,0,0
$GC,15959,1.17,93.9,53.9,10.0,1111,15965,0.00,2.15,0.00,0.000,6,0.000,0.033,3561,1608,1551,0,0,0,0,0,0
$GC,16323,1.17,93.9,11.3,12.0,1172,16329,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1608,1551,0,0,0,0,0,0
$GC,16380,1.17,93.9,4.5,11.4,1181,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1616,1551,0,0,0,0,0,0
$STATE,16400,end climb,SURFACE_DEPTH_REACHED
$STATE,16400,begin surface coast
$FINISH,1.6,1.014418
$STATE,16438,end surface coast,CONTROL_FINISHED_OK
$STATE,16438,begin surface
$SM_CCo,16454,48.80,0.056,0,0,1132,200.16
$SM_GC,3.39,0.00,0.00,48.80,0.000,0.000,0.056,68,2073,1132,-9.74,0.37,200.16
$IRIDIUM_FIX,-4450.47,622.10,110608,040413
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.5,16.151
$10V_AH,10.2,14.167
$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,24.325,98.525,175.550,48.800,0.000,24.472,22.180,283.970,0.000,0.000,18.914,2935.729,10454.236,329.126,3089.201,137.436,0.000,1408.338,0.000,2584.039,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,66.555,1292.850,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.770,2182.589,873.581,475.606,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,83792,1190
$CAP_FILE_SIZE,146189,0
$CFSIZE,2097086464,2079424512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160815,051303,-4503.548,624.409,41,0.8,41,-24.4