version: 66.07.10.p01
glider: 573
mission: 12
dive: 125
start: 8 22 115 0 48 43
data:
$ID,573
$MISSION,12
$DIVE,125
$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,-21396.668
$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,35
$R_STBD_OVSHOOT,58
$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,124
$GPS1,220815,004003,-4457.518,628.616,31,1.0,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-74.8
$GPS2,220815,004823,-4457.552,628.626,15,1.0,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,97.8,10086,-17.9,-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,23,-0.76,-116.8,0.0,0.0,0,51,0.00,0.00,-26.05,0.000,2,0.000,0.000,66,2089,1664,0,0,0,0,0,0
$GC,54,-0.76,-116.8,3.3,-3.8,4,105,11.93,2.20,-32.25,0.000,4,0.252,0.077,2921,3440,2425,0,0,0,0,0,0
$GC,114,-0.60,-116.8,4.1,-1.8,13,122,0.20,2.20,0.00,0.000,6,0.156,0.041,2982,2061,2426,0,0,0,0,0,0
$GC,173,-0.60,-116.8,9.3,-8.8,22,180,0.00,2.28,0.00,0.000,4,0.000,0.062,2973,3435,2427,0,0,0,0,0,0
$GC,402,-0.60,-116.8,32.0,-9.9,59,410,0.03,2.17,0.00,0.000,6,0.186,0.040,2982,2056,2428,0,0,0,0,0,0
$GC,552,-0.60,-116.8,46.5,-9.9,84,559,0.00,2.28,0.00,0.000,4,0.000,0.055,2982,650,2427,0,0,0,0,0,0
$GC,599,-0.60,-116.8,51.5,-10.9,92,605,0.03,2.22,0.00,0.000,6,0.194,0.043,2981,2039,2428,0,0,0,0,0,0
$GC,949,-0.60,-116.8,85.0,-9.4,153,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2039,2428,0,0,0,0,0,0
$GC,1285,-0.60,-116.8,116.1,-9.1,198,1289,0.00,2.22,0.00,0.000,4,0.000,0.053,2981,651,2428,0,0,0,0,0,0
$GC,1325,-0.60,-116.8,119.8,-9.9,201,1330,0.05,2.22,0.00,0.000,6,0.230,0.042,2983,2072,2428,0,0,0,0,0,0
$GC,1655,-0.60,-116.8,149.7,-9.3,232,1659,0.00,2.22,0.00,0.000,4,0.000,0.060,2972,3472,2428,0,0,0,0,0,0
$GC,1732,-0.60,-116.8,156.3,-7.8,238,1739,0.03,2.22,0.00,0.000,6,0.181,0.040,2982,2050,2428,0,0,0,0,0,0
$GC,2060,-0.64,-116.8,180.9,-7.4,269,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2050,2428,0,0,0,0,0,0
$GC,2377,-0.69,-116.8,205.6,-7.9,299,2382,0.05,2.17,0.00,0.000,4,0.167,0.052,2947,657,2428,0,0,0,0,0,0
$GC,2489,-0.62,-116.8,216.8,-10.0,308,2496,0.12,2.20,0.00,0.000,6,0.155,0.042,2977,2053,2427,0,0,0,0,0,0
$GC,2814,-0.65,-116.8,244.4,-8.6,339,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2053,2428,0,0,0,0,0,0
$GC,3135,-0.68,-116.8,271.9,-8.5,369,3139,0.00,2.20,0.00,0.000,4,0.000,0.050,2978,649,2428,0,0,0,0,0,0
$GC,3175,-0.68,-116.8,275.9,-9.0,372,3179,0.00,2.20,0.00,0.000,6,0.000,0.039,2968,2072,2428,0,0,0,0,0,0
$GC,3499,-0.68,-116.8,304.8,-8.7,402,3503,0.00,2.20,0.00,0.000,4,0.000,0.060,2958,3468,2428,0,0,0,0,0,0
$GC,3540,-0.68,-116.8,308.2,-9.0,405,3544,0.00,2.15,0.00,0.000,6,0.000,0.039,2958,2052,2428,0,0,0,0,0,0
$GC,3869,-0.68,-116.8,338.0,-8.9,436,3873,0.00,2.17,0.00,0.000,4,0.000,0.053,2958,655,2428,0,0,0,0,0,0
$GC,3991,-0.64,-116.8,350.0,-9.3,446,3998,0.05,2.20,0.00,0.000,6,0.161,0.042,2966,2051,2428,0,0,0,0,0,0
$GC,4319,-0.64,-116.8,378.9,-9.2,477,4323,0.00,2.25,0.00,0.000,4,0.000,0.059,2956,3475,2428,0,0,0,0,0,0
$GC,4361,-0.64,-116.8,383.3,-9.8,480,4370,0.03,2.20,0.00,0.000,6,0.184,0.040,2965,2054,2428,0,0,0,0,0,0
$GC,4694,-0.64,-116.8,414.1,-9.4,505,4698,0.00,2.17,0.00,0.000,4,0.000,0.054,2965,655,2428,0,0,0,0,0,0
$GC,4823,-0.64,-116.8,427.0,-9.9,511,4828,0.08,2.20,0.00,0.000,6,0.200,0.043,2973,2067,2428,0,0,0,0,0,0
$GC,5150,-0.68,-116.8,455.6,-8.4,527,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2068,2428,0,0,0,0,0,0
$GC,5459,-0.72,-116.8,480.6,-7.9,542,5463,0.05,2.22,0.00,0.000,4,0.165,0.051,2938,654,2428,0,0,0,0,0,0
$GC,5498,-0.65,-116.8,484.2,-9.8,544,5503,0.15,2.20,0.00,0.000,6,0.174,0.041,2969,2073,2428,0,0,0,0,0,0
$GC,5824,-0.65,-116.8,510.4,-7.9,560,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2073,2428,0,0,0,0,0,0
$GC,6134,-0.68,-116.8,534.0,-7.4,575,6138,0.00,2.20,0.00,0.000,4,0.000,0.051,2969,658,2427,0,0,0,0,0,0
$GC,6183,-0.68,-116.8,538.2,-8.2,577,6188,0.00,2.20,0.00,0.000,6,0.000,0.040,2960,2064,2427,0,0,0,0,0,0
$GC,6505,-0.68,-116.8,562.8,-7.5,593,6509,0.00,2.22,0.00,0.000,4,0.000,0.064,2950,3462,2427,0,0,0,0,0,0
$GC,6532,-0.68,-116.8,565.1,-8.4,594,6536,0.00,2.17,0.00,0.000,6,0.000,0.040,2950,2054,2427,0,0,0,0,0,0
$GC,6854,-0.68,-116.8,590.1,-8.1,610,6858,0.03,2.17,0.00,0.000,4,0.264,0.054,2961,662,2426,0,0,0,0,0,0
$GC,6983,-0.68,-116.8,601.0,-7.9,616,6987,0.00,2.17,0.00,0.000,6,0.000,0.041,2951,2064,2426,0,0,0,0,0,0
$GC,7310,-0.68,-116.8,628.7,-8.8,632,7314,0.00,2.22,0.00,0.000,4,0.000,0.053,2952,662,2426,0,0,0,0,0,0
$GC,7386,-0.68,-116.8,636.2,-9.5,635,7393,0.05,2.20,0.00,0.000,6,0.167,0.041,2959,2063,2426,0,0,0,0,0,0
$GC,7703,-0.68,-116.8,663.6,-9.0,651,7707,0.00,2.22,0.00,0.000,4,0.000,0.053,2960,660,2426,0,0,0,0,0,0
$GC,7773,-0.68,-116.8,670.6,-9.8,654,7778,0.00,2.20,0.00,0.000,6,0.000,0.041,2951,2060,2426,0,0,0,0,0,0
$GC,8096,-0.68,-116.8,699.0,-8.7,670,8099,0.00,2.20,0.00,0.000,4,0.000,0.053,2951,654,2425,0,0,0,0,0,0
$GC,8157,-0.68,-116.8,704.9,-9.4,673,8162,0.08,2.20,0.00,0.000,6,0.200,0.043,2958,2064,2425,0,0,0,0,0,0
$GC,8484,-0.68,-116.8,732.3,-8.2,689,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2064,2425,0,0,0,0,0,0
$GC,8793,-0.68,-116.8,758.1,-8.4,704,8797,0.00,2.22,0.00,0.000,4,0.000,0.054,2959,651,2425,0,0,0,0,0,0
$GC,8880,-0.68,-116.8,766.2,-8.8,708,8885,0.00,2.22,0.00,0.000,6,0.000,0.043,2950,2061,2425,0,0,0,0,0,0
$GC,9209,-0.68,-116.8,793.7,-8.0,724,9213,0.00,2.22,0.00,0.000,4,0.000,0.053,2950,661,2424,0,0,0,0,0,0
$GC,9302,-0.68,-116.8,802.0,-8.7,728,9308,0.05,2.20,0.00,0.000,6,0.161,0.041,2959,2061,2425,0,0,0,0,0,0
$GC,9625,-0.68,-116.8,826.4,-7.5,744,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2061,2424,0,0,0,0,0,0
$GC,9934,-0.68,-116.8,849.2,-7.4,759,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2061,2424,0,0,0,0,0,0
$GC,10244,-0.71,-116.8,873.1,-7.9,774,10248,0.00,2.20,0.00,0.000,4,0.000,0.065,2948,3463,2424,0,0,0,0,0,0
$GC,10275,-0.71,-116.8,876.0,-9.4,775,10282,0.00,2.17,0.00,0.000,6,0.000,0.040,2948,2062,2423,0,0,0,0,0,0
$GC,10592,-0.71,-116.8,901.3,-7.8,791,10596,0.00,2.20,0.00,0.000,4,0.000,0.053,2948,657,2423,0,0,0,0,0,0
$GC,10721,-0.71,-116.8,912.1,-8.0,797,10726,0.05,2.20,0.00,0.000,6,0.226,0.041,2950,2073,2423,0,0,0,0,0,0
$GC,11048,-0.71,-116.8,934.8,-6.7,813,11052,0.00,2.22,0.00,0.000,4,0.000,0.051,2950,651,2423,0,0,0,0,0,0
$GC,11097,-0.71,-116.8,938.4,-7.1,815,11102,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,2055,2423,0,0,0,0,0,0
$GC,11419,-0.71,-116.8,959.9,-6.8,831,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2055,2423,0,0,0,0,0,0
$GC,11729,-0.71,-116.8,979.8,-6.3,846,11733,0.00,2.22,0.00,0.000,4,0.000,0.051,2942,649,2423,0,0,0,0,0,0
$GC,11813,-0.71,-116.8,986.3,-7.6,850,11818,0.08,2.20,0.00,0.000,6,0.194,0.040,2950,2070,2423,0,0,0,0,0,0
$STATE,12035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12035,begin apogee
$GC,12040,-0.19,0.0,1001.0,6.6,861,12149,0.55,0.00,105.97,1.294,6,0.143,0.000,3121,1595,1950,0,0,0,0,0,0
$STATE,12150,end apogee,CONTROL_FINISHED_OK
$STATE,12150,begin climb
$GC,12151,0.76,116.8,1002.8,0.0,866,12274,0.90,2.50,110.88,1.252,4,0.091,0.053,3431,203,1472,0,0,0,0,0,0
$GC,12306,0.73,116.8,991.1,11.5,873,12311,0.00,2.38,0.00,0.000,6,0.000,0.034,3431,1605,1468,0,0,0,0,0,0
$GC,12628,0.73,116.8,957.6,10.6,889,12632,0.00,2.28,0.00,0.000,4,0.000,0.053,3431,2996,1464,0,0,0,0,0,0
$GC,12750,0.67,116.8,943.6,11.6,894,12756,0.15,2.20,0.00,0.000,6,0.158,0.034,3399,1592,1464,0,0,0,0,0,0
$GC,13066,0.71,116.8,914.3,9.1,910,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1591,1463,0,0,0,0,0,0
$GC,13375,0.75,116.8,886.1,8.9,925,13380,0.08,2.25,0.00,0.000,4,0.118,0.051,3443,3003,1462,0,0,0,0,0,0
$GC,13430,0.68,116.8,880.2,10.5,927,13436,0.12,2.20,0.00,0.000,6,0.140,0.034,3410,1594,1461,0,0,0,0,0,0
$GC,13746,0.68,116.8,852.2,8.8,943,13750,0.00,2.25,0.00,0.000,4,0.000,0.051,3410,2999,1461,0,0,0,0,0,0
$GC,13854,0.68,116.8,842.3,9.0,948,13859,0.05,2.15,0.00,0.000,6,0.225,0.034,3407,1602,1461,0,0,0,0,0,0
$GC,14181,0.71,120.1,814.1,8.4,964,14185,0.00,2.20,0.00,0.000,4,0.000,0.050,3406,2997,1460,0,0,0,0,0,0
$GC,14235,0.71,120.1,809.2,9.2,966,14241,0.00,2.15,0.00,0.000,6,0.000,0.034,3415,1611,1460,0,0,0,0,0,0
$GC,14552,0.71,124.2,782.3,8.3,982,14559,0.00,0.00,5.95,0.880,6,0.000,0.000,3415,1611,1443,0,0,0,0,0,0
$GC,14861,0.73,146.7,758.3,7.4,997,14890,0.00,2.30,23.12,1.108,4,0.000,0.052,3415,2997,1351,0,0,0,0,0,0
$GC,14928,0.73,155.6,752.8,8.1,1000,14945,0.00,2.20,9.35,0.969,6,0.000,0.034,3424,1608,1316,0,0,0,0,0,0
$GC,15255,0.73,155.6,726.0,8.6,1016,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1608,1313,0,0,0,0,0,0
$GC,15564,0.76,155.6,698.7,8.9,1031,15568,0.00,2.25,0.00,0.000,4,0.000,0.051,3424,3006,1312,0,0,0,0,0,0
$GC,15652,0.76,155.6,690.5,9.5,1035,15657,0.00,2.20,0.00,0.000,6,0.000,0.034,3433,1602,1312,0,0,0,0,0,0
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$STATE,22914,end climb,SURFACE_DEPTH_REACHED
$STATE,22914,begin surface coast
$FINISH,1.6,1.013172
$STATE,22934,end surface coast,CONTROL_FINISHED_OK
$STATE,22934,begin surface
$SM_CCo,22952,18.17,0.056,0,0,1132,200.16
$SM_GC,3.17,0.00,0.00,18.17,0.000,0.000,0.056,80,2073,1132,-9.70,0.37,200.16
$IRIDIUM_FIX,-4438.33,624.11,170608,070725
$TT8_MAMPS,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,18.929
$10V_AH,10.1,17.841
$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,24.100,208.575,262.125,18.175,0.000,27.359,18.931,322.139,0.000,0.000,17.566,4126.499,14363.570,446.567,4304.297,214.159,0.000,2046.072,0.000,3701.526,0.000,0.540,0.000
$DEVICE_MAMPS,263.925,77.265,1294.380,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.172,3037.368,1203.587,657.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,113672,1656
$CAP_FILE_SIZE,223673,0
$CFSIZE,2097086464,2075656192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220815,071233,-4458.304,633.571,25,1.2,25,-24.4