version: 66.07.10.p01
glider: 573
mission: 12
dive: 101
start: 8 16 115 19 37 19
data:
$ID,573
$MISSION,12
$DIVE,101
$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,-21326.803
$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,40
$R_STBD_OVSHOOT,27
$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,100
$GPS1,160815,192933,-4504.710,624.746,49,0.9,49,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-66.2
$GPS2,160815,193659,-4504.758,624.868,18,1.7,18,-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,345.4,1805,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-26.35,0.000,2,0.000,0.000,61,2050,1674,0,0,0,0,0,0
$GC,54,-1.12,-91.8,3.3,-3.7,4,99,11.35,2.28,-25.60,0.000,4,0.252,0.069,2816,668,2325,0,0,0,0,0,0
$GC,115,-1.09,-110.6,6.0,-6.4,13,123,0.05,2.25,-2.08,0.000,6,0.203,0.043,2822,2060,2403,0,0,0,0,0,0
$GC,174,-1.04,-110.6,16.5,-20.2,22,182,0.10,0.00,0.00,0.000,6,0.208,0.000,2845,2060,2405,0,0,0,0,0,0
$GC,232,-1.04,-110.6,27.1,-18.3,31,239,0.00,2.30,0.00,0.000,4,0.000,0.054,2846,657,2405,0,0,0,0,0,0
$GC,254,-1.04,-110.6,30.4,-16.2,34,261,0.00,2.28,0.00,0.000,6,0.000,0.044,2836,2065,2406,0,0,0,0,0,0
$GC,400,-1.04,-110.6,53.3,-15.4,59,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2066,2405,0,0,0,0,0,0
$GC,743,-1.04,-110.6,107.3,-16.1,116,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2066,2406,0,0,0,0,0,0
$GC,1063,-1.04,-110.6,157.7,-15.7,146,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2066,2406,0,0,0,0,0,0
$GC,1381,-1.04,-110.6,205.7,-15.0,176,1385,0.00,2.25,0.00,0.000,4,0.000,0.061,2826,3475,2407,0,0,0,0,0,0
$GC,1414,-1.04,-110.6,211.0,-15.4,178,1420,0.08,2.17,0.00,0.000,6,0.210,0.041,2841,2068,2406,0,0,0,0,0,0
$GC,1741,-1.04,-110.6,258.3,-13.9,209,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2068,2407,0,0,0,0,0,0
$GC,2058,-1.08,-110.6,304.1,-14.6,239,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2067,2407,0,0,0,0,0,0
$GC,2379,-1.11,-110.6,349.7,-14.4,269,2383,0.00,2.22,0.00,0.000,4,0.000,0.057,2832,3477,2408,0,0,0,0,0,0
$GC,2422,-1.11,-110.6,356.9,-14.9,272,2431,0.00,2.20,0.00,0.000,6,0.000,0.041,2832,2061,2407,0,0,0,0,0,0
$GC,2747,-1.11,-110.6,404.7,-15.0,302,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2061,2407,0,0,0,0,0,0
$GC,3057,-1.11,-110.6,450.7,-15.1,317,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2061,2407,0,0,0,0,0,0
$GC,3366,-1.11,-110.6,495.9,-14.4,332,3370,0.00,2.25,0.00,0.000,4,0.000,0.059,2823,3478,2407,0,0,0,0,0,0
$GC,3431,-1.11,-110.6,505.9,-14.6,335,3436,0.00,2.22,0.00,0.000,6,0.000,0.041,2823,2053,2407,0,0,0,0,0,0
$GC,3759,-1.11,-110.6,554.1,-14.6,351,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2053,2407,0,0,0,0,0,0
$GC,4068,-1.11,-110.6,598.4,-14.4,366,4072,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3475,2407,0,0,0,0,0,0
$GC,4116,-1.11,-110.6,605.5,-14.2,368,4121,0.00,2.20,0.00,0.000,6,0.000,0.041,2814,2063,2407,0,0,0,0,0,0
$GC,4438,-1.11,-110.6,650.3,-13.7,384,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2063,2407,0,0,0,0,0,0
$GC,4747,-1.11,-110.6,689.8,-12.5,399,4751,0.00,2.22,0.00,0.000,4,0.000,0.058,2804,3474,2406,0,0,0,0,0,0
$GC,4795,-1.11,-110.6,696.1,-12.7,401,4801,0.05,2.20,0.00,0.000,6,0.172,0.041,2820,2059,2407,0,0,0,0,0,0
$GC,5117,-1.11,-110.6,735.1,-12.4,417,5121,0.00,2.25,0.00,0.000,4,0.000,0.061,2811,3478,2406,0,0,0,0,0,0
$GC,5156,-1.11,-110.6,740.2,-13.8,419,5160,0.05,2.20,0.00,0.000,6,0.230,0.042,2821,2051,2406,0,0,0,0,0,0
$GC,5481,-1.11,-110.6,779.9,-12.0,435,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2050,2406,0,0,0,0,0,0
$GC,5791,-1.11,-110.6,817.7,-12.5,450,5795,0.00,2.25,0.00,0.000,4,0.000,0.059,2812,3474,2406,0,0,0,0,0,0
$GC,5867,-1.11,-110.6,828.1,-13.6,453,5874,0.00,2.22,0.00,0.000,6,0.000,0.043,2812,2049,2406,0,0,0,0,0,0
$GC,6184,-1.11,-110.6,868.1,-12.8,469,6188,0.00,2.25,0.00,0.000,4,0.000,0.060,2803,3477,2405,0,0,0,0,0,0
$GC,6254,-1.11,-110.6,878.0,-14.1,472,6260,0.05,2.20,0.00,0.000,6,0.172,0.042,2819,2062,2405,0,0,0,0,0,0
$GC,6576,-1.14,-110.6,920.0,-13.3,488,6580,0.00,2.22,0.00,0.000,4,0.000,0.059,2810,3479,2404,0,0,0,0,0,0
$GC,6602,-1.14,-110.6,923.7,-13.5,489,6607,0.00,2.20,0.00,0.000,6,0.000,0.041,2810,2062,2404,0,0,0,0,0,0
$GC,6924,-1.14,-110.6,967.4,-13.6,505,6928,0.00,2.25,0.00,0.000,4,0.000,0.059,2801,3475,2404,0,0,0,0,0,0
$GC,6950,-1.14,-110.6,971.4,-14.1,506,6955,0.00,2.20,0.00,0.000,6,0.000,0.041,2801,2056,2404,0,0,0,0,0,0
$STATE,7167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7167,begin apogee
$GC,7172,-0.19,0.0,1000.5,13.4,517,7277,1.05,0.00,101.43,1.291,6,0.172,0.000,3114,1594,1949,0,0,0,0,0,0
$STATE,7278,end apogee,CONTROL_FINISHED_OK
$STATE,7278,begin climb
$GC,7279,1.13,110.6,1004.2,0.0,522,7395,1.30,2.47,104.97,1.255,4,0.093,0.050,3551,199,1498,0,0,0,0,0,0
$GC,7491,1.13,110.6,980.4,15.8,532,7495,0.00,2.30,0.00,0.000,6,0.000,0.035,3551,1612,1492,0,0,0,0,0,0
$GC,7817,1.13,110.6,932.6,14.7,548,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1488,0,0,0,0,0,0
$GC,8126,1.13,110.6,888.1,14.6,563,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1487,0,0,0,0,0,0
$GC,8435,1.13,110.6,843.5,14.6,578,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1487,0,0,0,0,0,0
$GC,8745,1.16,110.6,798.0,14.9,593,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1486,0,0,0,0,0,0
$GC,9054,1.16,110.6,753.5,14.1,608,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1486,0,0,0,0,0,0
$GC,9363,1.16,110.6,711.4,13.4,623,9367,0.00,2.28,0.00,0.000,4,0.000,0.050,3560,196,1485,0,0,0,0,0,0
$GC,9412,1.16,110.6,704.2,14.4,625,9417,0.00,2.20,0.00,0.000,6,0.000,0.034,3560,1595,1484,0,0,0,0,0,0
$GC,9734,1.16,110.6,659.2,14.2,641,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1485,0,0,0,0,0,0
$GC,10043,1.16,110.6,619.0,12.6,656,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1484,0,0,0,0,0,0
$GC,10353,1.16,110.6,581.6,12.1,671,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1484,0,0,0,0,0,0
$GC,10662,1.16,110.6,544.1,12.1,686,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1484,0,0,0,0,0,0
$GC,10971,1.16,110.6,507.1,12.1,701,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1484,0,0,0,0,0,0
$GC,11280,1.16,110.6,468.6,12.8,716,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1484,0,0,0,0,0,0
$GC,11590,1.16,110.6,430.0,12.6,731,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1595,1484,0,0,0,0,0,0
$GC,11903,1.16,110.6,391.1,12.0,749,11907,0.00,2.22,0.00,0.000,4,0.000,0.050,3570,192,1484,0,0,0,0,0,0
$GC,11970,1.16,110.6,381.9,13.4,755,11974,0.00,2.17,0.00,0.000,6,0.000,0.035,3569,1605,1483,0,0,0,0,0,0
$GC,12296,1.16,110.6,339.1,13.4,785,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1605,1483,0,0,0,0,0,0
$GC,12613,1.16,110.6,296.8,13.4,815,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1605,1483,0,0,0,0,0,0
$GC,12934,1.16,110.6,254.8,13.5,845,12938,0.00,2.22,0.00,0.000,4,0.000,0.050,3579,193,1483,0,0,0,0,0,0
$GC,13008,1.16,110.6,243.8,15.3,851,13012,0.08,2.17,0.00,0.000,6,0.201,0.034,3563,1619,1483,0,0,0,0,0,0
$GC,13334,1.20,110.6,201.8,12.6,881,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1619,1484,0,0,0,0,0,0
$GC,13651,1.20,110.6,161.0,12.5,911,13655,0.00,2.15,0.00,0.000,4,0.000,0.052,3563,2994,1483,0,0,0,0,0,0
$GC,13701,1.20,110.6,154.2,13.5,915,13705,0.00,2.12,0.00,0.000,6,0.000,0.034,3570,1592,1483,0,0,0,0,0,0
$GC,14028,1.20,110.6,115.0,11.8,945,14032,0.00,2.20,0.00,0.000,4,0.000,0.050,3581,192,1483,0,0,0,0,0,0
$GC,14204,1.20,110.6,91.0,13.4,965,14209,0.00,2.12,0.00,0.000,6,0.000,0.034,3581,1599,1483,0,0,0,0,0,0
$GC,14550,1.20,110.6,48.2,10.4,1026,14557,0.00,2.25,0.00,0.000,4,0.000,0.050,3591,195,1483,0,0,0,0,0,0
$GC,14634,1.15,110.6,38.1,12.6,1040,14642,0.10,2.17,0.00,0.000,6,0.169,0.034,3559,1611,1483,0,0,0,0,0,0
$GC,14791,1.15,110.6,16.4,13.7,1065,14798,0.00,2.17,0.00,0.000,4,0.000,0.048,3559,2994,1483,0,0,0,0,0,0
$GC,14836,1.15,110.6,10.1,13.0,1072,14844,0.03,2.15,0.00,0.000,6,0.213,0.035,3560,1593,1483,0,0,0,0,0,0
$STATE,14882,end climb,SURFACE_DEPTH_REACHED
$STATE,14882,begin surface coast
$FINISH,1.7,1.009580
$STATE,14902,end surface coast,CONTROL_FINISHED_OK
$STATE,14902,begin surface
$SM_CCo,14919,41.10,0.056,0,0,1132,200.16
$SM_GC,2.79,0.00,0.00,41.10,0.000,0.000,0.056,61,2064,1132,-9.76,0.11,200.16
$IRIDIUM_FIX,-4447.43,621.76,120608,040400
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.4,16.515
$10V_AH,10.1,14.639
$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,23.775,90.325,206.400,41.100,0.000,25.521,41.345,262.612,0.000,0.000,20.814,2647.071,9535.865,336.327,2757.288,126.168,0.000,1307.444,0.000,2269.249,0.000,0.539,0.000
$DEVICE_MAMPS,251.685,68.850,1290.555,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.294,1978.311,787.903,422.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,73723,1082
$CAP_FILE_SIZE,131195,0
$CFSIZE,2097086464,2078900224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160815,234751,-4504.029,625.037,38,0.8,38,-24.4