version: 66.07.10.p01
glider: 573
mission: 12
dive: 196
start: 9 6 115 1 52 50
data:
$ID,573
$MISSION,12
$DIVE,196
$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,-21617.189
$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,39
$R_STBD_OVSHOOT,46
$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,195
$GPS1,060915,014503,-4504.539,623.778,30,1.0,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.8
$GPS2,060915,015229,-4504.583,623.859,15,0.9,16,-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,34.1,1095,-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,-49.9,0.0,0.0,0,51,0.00,0.00,-25.88,0.000,2,0.000,0.000,82,2074,1642,0,0,0,0,0,0
$GC,54,-1.12,-96.7,3.3,-3.2,4,105,11.32,2.30,-32.60,0.000,4,0.246,0.068,2817,658,2345,0,0,0,0,0,0
$GC,367,-1.04,-96.7,45.5,-17.3,55,373,0.15,2.22,0.00,0.000,6,0.193,0.044,2847,2045,2347,0,0,0,0,0,0
$GC,715,-1.04,-96.7,98.2,-14.7,116,720,0.00,2.30,0.00,0.000,4,0.000,0.060,2836,3479,2348,0,0,0,0,0,0
$GC,782,-1.04,-96.7,108.6,-14.8,124,787,0.00,2.22,0.00,0.000,6,0.000,0.041,2836,2061,2348,0,0,0,0,0,0
$GC,1107,-1.04,-96.7,157.8,-15.6,154,1111,0.00,2.25,0.00,0.000,4,0.000,0.056,2836,645,2348,0,0,0,0,0,0
$GC,1148,-1.04,-96.7,163.8,-15.3,157,1153,0.08,2.25,0.00,0.000,6,0.218,0.041,2843,2073,2348,0,0,0,0,0,0
$GC,1472,-1.04,-96.7,209.3,-14.0,187,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2073,2349,0,0,0,0,0,0
$GC,1794,-1.07,-96.7,252.5,-13.7,217,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2073,2349,0,0,0,0,0,0
$GC,2120,-1.10,-96.7,299.0,-14.6,248,2124,0.00,2.22,0.00,0.000,4,0.000,0.058,2833,3473,2349,0,0,0,0,0,0
$GC,2153,-1.10,-96.7,304.1,-15.5,250,2158,0.00,2.20,0.00,0.000,6,0.000,0.042,2833,2054,2349,0,0,0,0,0,0
$GC,2479,-1.10,-96.7,352.6,-14.6,281,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2054,2349,0,0,0,0,0,0
$GC,2797,-1.10,-96.7,400.0,-14.8,311,2801,0.00,2.28,0.00,0.000,4,0.000,0.061,2824,3465,2349,0,0,0,0,0,0
$GC,2863,-1.10,-96.7,410.0,-15.0,314,2867,0.00,2.20,0.00,0.000,6,0.000,0.042,2824,2064,2349,0,0,0,0,0,0
$GC,3190,-1.10,-96.7,457.0,-14.2,330,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2349,0,0,0,0,0,0
$GC,3499,-1.10,-96.7,499.7,-13.3,345,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2348,0,0,0,0,0,0
$GC,3809,-1.10,-96.7,540.2,-12.8,360,3813,0.00,2.25,0.00,0.000,4,0.000,0.054,2824,647,2349,0,0,0,0,0,0
$GC,3840,-1.10,-96.7,544.7,-13.2,361,3847,0.00,2.22,0.00,0.000,6,0.000,0.040,2815,2061,2349,0,0,0,0,0,0
$GC,4157,-1.10,-96.7,585.4,-12.9,377,4161,0.00,2.25,0.00,0.000,4,0.000,0.063,2805,3467,2349,0,0,0,0,0,0
$GC,4200,-1.10,-96.7,591.1,-12.4,379,4205,0.05,2.22,0.00,0.000,6,0.171,0.042,2820,2053,2349,0,0,0,0,0,0
$GC,4527,-1.10,-96.7,631.5,-12.2,395,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2052,2348,0,0,0,0,0,0
$GC,4836,-1.10,-96.7,669.3,-12.1,410,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2053,2348,0,0,0,0,0,0
$GC,5146,-1.10,-96.7,708.4,-12.9,425,5150,0.00,2.28,0.00,0.000,4,0.000,0.062,2811,3463,2348,0,0,0,0,0,0
$GC,5207,-1.10,-96.7,716.9,-14.0,428,5212,0.05,2.17,0.00,0.000,6,0.223,0.043,2821,2057,2347,0,0,0,0,0,0
$GC,5534,-1.10,-96.7,757.5,-12.8,444,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2056,2347,0,0,0,0,0,0
$GC,5844,-1.10,-96.7,796.0,-12.4,459,5848,0.00,2.20,0.00,0.000,4,0.000,0.057,2822,658,2347,0,0,0,0,0,0
$GC,5860,-1.10,-96.7,798.3,-12.9,460,5864,0.00,2.20,0.00,0.000,6,0.000,0.044,2813,2062,2347,0,0,0,0,0,0
$GC,6186,-1.10,-96.7,838.4,-12.2,476,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2062,2347,0,0,0,0,0,0
$GC,6496,-1.10,-96.7,877.3,-13.0,491,6500,0.00,2.25,0.00,0.000,4,0.000,0.064,2803,3462,2346,0,0,0,0,0,0
$GC,6572,-1.10,-96.7,888.0,-13.8,494,6579,0.05,2.20,0.00,0.000,6,0.175,0.043,2818,2059,2346,0,0,0,0,0,0
$GC,6889,-1.14,-96.7,925.1,-11.4,510,6893,0.00,2.22,0.00,0.000,4,0.000,0.057,2818,654,2346,0,0,0,0,0,0
$GC,6929,-1.14,-96.7,929.8,-11.8,512,6933,0.00,2.22,0.00,0.000,6,0.000,0.045,2810,2071,2346,0,0,0,0,0,0
$GC,7255,-1.14,-96.7,968.6,-11.8,528,7259,0.00,2.22,0.00,0.000,4,0.000,0.061,2799,3465,2346,0,0,0,0,0,0
$GC,7326,-1.14,-96.7,978.0,-13.0,531,7331,0.03,2.20,0.00,0.000,6,0.184,0.042,2808,2060,2346,0,0,0,0,0,0
$STATE,7522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7522,begin apogee
$GC,7527,-0.19,0.0,1001.7,12.0,541,7623,1.05,0.00,89.30,1.293,6,0.167,0.000,3118,1588,1950,0,0,0,0,0,0
$STATE,7624,end apogee,CONTROL_FINISHED_OK
$STATE,7624,begin climb
$GC,7626,1.12,96.7,1004.8,0.0,546,7729,1.27,2.45,92.85,1.259,4,0.089,0.053,3552,198,1554,0,0,0,0,0,0
$GC,7774,1.12,96.7,991.7,13.7,553,7778,0.00,2.35,0.00,0.000,6,0.000,0.037,3552,1607,1550,0,0,0,0,0,0
$GC,8101,1.12,96.7,948.1,13.4,569,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1607,1546,0,0,0,0,0,0
$GC,8410,1.12,96.7,905.3,13.7,584,8414,0.00,2.33,0.00,0.000,4,0.000,0.051,3561,198,1544,0,0,0,0,0,0
$GC,8526,1.09,96.7,888.3,15.0,589,8531,0.08,2.25,0.00,0.000,6,0.168,0.035,3538,1604,1544,0,0,0,0,0,0
$GC,8848,1.13,96.7,846.7,13.1,605,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1603,1543,0,0,0,0,0,0
$GC,9157,1.16,96.7,807.1,12.7,620,9162,0.05,2.25,0.00,0.000,4,0.168,0.051,3584,196,1542,0,0,0,0,0,0
$GC,9268,1.09,96.7,791.0,15.0,625,9273,0.17,2.20,0.00,0.000,6,0.177,0.036,3538,1608,1541,0,0,0,0,0,0
$GC,9590,1.13,96.7,751.9,12.0,641,9594,0.00,2.30,0.00,0.000,4,0.000,0.051,3548,187,1541,0,0,0,0,0,0
$GC,9638,1.13,96.7,745.2,13.0,643,9643,0.00,2.22,0.00,0.000,6,0.000,0.034,3548,1605,1541,0,0,0,0,0,0
$GC,9961,1.13,96.7,704.4,12.9,659,9965,0.00,2.17,0.00,0.000,4,0.000,0.053,3548,2995,1541,0,0,0,0,0,0
$GC,10033,1.13,96.7,694.4,13.4,662,10037,0.00,2.17,0.00,0.000,6,0.000,0.036,3556,1600,1541,0,0,0,0,0,0
$GC,10355,1.13,96.7,652.1,13.0,678,10359,0.00,2.25,0.00,0.000,4,0.000,0.053,3567,192,1541,0,0,0,0,0,0
$GC,10485,1.09,96.7,633.7,14.6,684,10490,0.12,2.17,0.00,0.000,6,0.186,0.034,3537,1611,1541,0,0,0,0,0,0
$GC,10818,1.14,96.7,593.2,11.6,700,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1612,1541,0,0,0,0,0,0
$GC,11126,1.20,96.7,555.2,12.2,715,11128,0.10,0.00,0.00,0.000,6,0.102,0.000,3589,1611,1540,0,0,0,0,0,0
$GC,11436,1.15,96.7,513.0,13.6,730,11440,0.12,2.28,0.00,0.000,4,0.190,0.051,3568,192,1540,0,0,0,0,0,0
$GC,11670,1.11,96.7,481.7,12.1,740,11676,0.08,2.20,0.00,0.000,6,0.173,0.035,3545,1601,1540,0,0,0,0,0,0
$GC,11986,1.15,96.7,446.3,10.8,756,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1601,1540,0,0,0,0,0,0
$GC,12296,1.20,96.7,413.7,10.6,771,12300,0.08,2.25,0.00,0.000,4,0.129,0.051,3595,195,1540,0,0,0,0,0,0
$GC,12344,1.12,96.7,407.4,13.3,773,12350,0.15,2.20,0.00,0.000,6,0.172,0.036,3549,1604,1539,0,0,0,0,0,0
$GC,12677,1.15,96.7,372.7,10.3,801,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1604,1540,0,0,0,0,0,0
$GC,13003,1.19,96.7,338.8,10.5,832,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1604,1540,0,0,0,0,0,0
$GC,13322,1.23,96.7,307.2,10.3,862,13327,0.08,2.25,0.00,0.000,4,0.127,0.051,3599,193,1540,0,0,0,0,0,0
$GC,13376,1.14,96.7,300.5,12.0,866,13383,0.15,2.17,0.00,0.000,6,0.177,0.036,3552,1594,1540,0,0,0,0,0,0
$GC,13704,1.17,96.7,266.9,10.4,897,13708,0.00,2.25,0.00,0.000,4,0.000,0.051,3561,188,1540,0,0,0,0,0,0
$GC,13770,1.17,96.7,259.0,11.4,902,13776,0.00,2.20,0.00,0.000,6,0.000,0.035,3561,1596,1540,0,0,0,0,0,0
$GC,14098,1.17,96.7,224.8,10.3,933,14102,0.00,2.25,0.00,0.000,4,0.000,0.050,3569,191,1540,0,0,0,0,0,0
$GC,14195,1.17,96.7,213.7,11.0,941,14200,0.00,2.20,0.00,0.000,6,0.000,0.036,3568,1618,1541,0,0,0,0,0,0
$GC,14520,1.17,96.7,176.0,11.7,971,14524,0.00,2.15,0.00,0.000,4,0.000,0.054,3568,2996,1540,0,0,0,0,0,0
$GC,14574,1.17,96.7,169.4,11.6,975,14581,0.03,2.17,0.00,0.000,6,0.215,0.034,3569,1584,1540,0,0,0,0,0,0
$GC,14899,1.17,96.7,133.7,10.8,1006,14903,0.00,2.20,0.00,0.000,4,0.000,0.052,3579,198,1540,0,0,0,0,0,0
$GC,14941,1.14,96.7,128.9,12.0,1009,14946,0.10,2.15,0.00,0.000,6,0.203,0.037,3555,1609,1540,0,0,0,0,0,0
$GC,15272,1.18,96.7,92.6,10.9,1045,15277,0.00,2.15,0.00,0.000,4,0.000,0.051,3555,2994,1540,0,0,0,0,0,0
$GC,15334,1.18,96.7,85.2,11.4,1056,15342,0.00,2.15,0.00,0.000,6,0.000,0.035,3563,1599,1540,0,0,0,0,0,0
$GC,15688,1.18,96.7,46.2,10.5,1117,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1598,1540,0,0,0,0,0,0
$GC,16056,1.18,96.7,5.6,10.0,1178,16063,0.00,2.25,0.00,0.000,4,0.000,0.052,3574,194,1540,0,0,0,0,0,0
$STATE,16082,end climb,SURFACE_DEPTH_REACHED
$STATE,16082,begin surface coast
$FINISH,1.7,1.007304
$STATE,16114,end surface coast,CONTROL_FINISHED_OK
$STATE,16115,begin surface
$SM_CCo,16133,48.15,0.055,0,0,1132,200.16
$SM_GC,3.23,0.00,0.00,48.15,0.000,0.000,0.055,61,2069,1132,-9.76,0.25,200.16
$IRIDIUM_FIX,-4447.43,621.76,020708,101002
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.3,25.964
$10V_AH,10.0,26.973
$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,24.375,121.825,182.150,48.150,0.000,28.252,19.011,273.292,0.000,0.000,19.522,2941.254,10033.610,345.701,3133.343,170.977,0.000,1447.239,0.000,2641.732,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,68.085,1292.850,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.418,2201.669,910.608,505.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,83779,1187
$CAP_FILE_SIZE,149579,0
$CFSIZE,2097086464,2066415616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060915,062333,-4504.477,625.555,26,0.8,26,-24.4