version: 66.07.10.p01
glider: 573
mission: 12
dive: 257
start: 9 20 115 0 55 8
data:
$ID,573
$MISSION,12
$DIVE,257
$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,-21820.582
$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,38
$R_STBD_OVSHOOT,29
$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,256
$GPS1,200915,003834,-4504.967,637.804,38,1.0,38,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-72.2
$GPS2,200915,005447,-4505.099,637.803,14,1.0,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,335.2,3115,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-20.25,0.000,2,0.000,0.000,62,2061,1524,0,0,0,0,0,0
$GC,48,-1.13,-107.9,3.0,-1.9,3,106,11.32,2.30,-40.38,0.000,4,0.238,0.067,2804,3478,2388,0,0,0,0,0,0
$GC,140,-1.04,-107.9,6.9,-10.7,17,148,0.12,2.28,0.00,0.000,6,0.174,0.043,2841,2072,2390,0,0,0,0,0,0
$GC,199,-1.04,-107.9,17.1,-16.6,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2071,2391,0,0,0,0,0,0
$GC,257,-1.04,-107.9,27.2,-17.7,35,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2071,2391,0,0,0,0,0,0
$GC,405,-1.04,-107.9,52.7,-17.1,60,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2072,2391,0,0,0,0,0,0
$GC,740,-1.04,-107.9,107.7,-16.3,97,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2071,2391,0,0,0,0,0,0
$GC,1047,-1.04,-107.9,156.5,-15.1,112,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2071,2391,0,0,0,0,0,0
$GC,1358,-1.04,-107.9,201.3,-15.1,127,1362,0.00,2.25,0.00,0.000,4,0.000,0.055,2832,3469,2392,0,0,0,0,0,0
$GC,1390,-1.04,-107.9,206.9,-16.2,128,1399,0.00,2.22,0.00,0.000,6,0.000,0.041,2832,2057,2391,0,0,0,0,0,0
$GC,1707,-1.04,-107.9,253.3,-14.5,144,1709,0.05,0.00,0.00,0.000,6,0.239,0.000,2842,2057,2392,0,0,0,0,0,0
$GC,2018,-1.08,-107.9,296.5,-13.9,159,2022,0.00,2.25,0.00,0.000,4,0.000,0.057,2842,658,2392,0,0,0,0,0,0
$GC,2067,-1.08,-107.9,304.2,-14.7,161,2072,0.00,2.25,0.00,0.000,6,0.000,0.043,2833,2066,2392,0,0,0,0,0,0
$GC,2389,-1.08,-107.9,349.9,-14.3,177,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2066,2392,0,0,0,0,0,0
$GC,2697,-1.08,-107.9,394.5,-14.6,192,2701,0.00,2.28,0.00,0.000,4,0.000,0.054,2833,657,2392,0,0,0,0,0,0
$GC,2730,-1.08,-107.9,399.4,-14.6,193,2735,0.00,2.25,0.00,0.000,6,0.000,0.044,2824,2064,2392,0,0,0,0,0,0
$GC,3052,-1.08,-107.9,447.3,-15.1,209,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2392,0,0,0,0,0,0
$GC,3360,-1.08,-107.9,492.6,-14.4,224,3364,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3471,2392,0,0,0,0,0,0
$GC,3420,-1.08,-107.9,501.6,-15.0,226,3427,0.05,2.22,0.00,0.000,6,0.170,0.043,2829,2061,2392,0,0,0,0,0,0
$GC,3737,-1.08,-107.9,544.8,-13.6,242,3741,0.00,2.28,0.00,0.000,4,0.000,0.060,2820,3477,2392,0,0,0,0,0,0
$GC,3785,-1.08,-107.9,552.0,-14.5,244,3790,0.00,2.25,0.00,0.000,6,0.000,0.043,2820,2055,2391,0,0,0,0,0,0
$GC,4106,-1.08,-107.9,597.8,-14.6,260,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2055,2391,0,0,0,0,0,0
$GC,4417,-1.08,-107.9,642.5,-14.8,275,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2055,2391,0,0,0,0,0,0
$GC,4725,-1.08,-107.9,687.6,-14.3,290,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2055,2391,0,0,0,0,0,0
$GC,5035,-1.08,-107.9,730.4,-13.7,305,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2055,2390,0,0,0,0,0,0
$GC,5344,-1.12,-107.9,771.5,-13.3,320,5348,0.00,2.28,0.00,0.000,4,0.000,0.063,2811,3468,2390,0,0,0,0,0,0
$GC,5364,-1.12,-107.9,774.5,-13.1,321,5369,0.00,2.22,0.00,0.000,6,0.000,0.044,2811,2062,2389,0,0,0,0,0,0
$GC,5692,-1.12,-107.9,819.3,-14.1,337,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2062,2389,0,0,0,0,0,0
$GC,6000,-1.12,-107.9,862.5,-13.8,352,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2062,2389,0,0,0,0,0,0
$GC,6310,-1.12,-107.9,904.6,-13.5,367,6314,0.00,2.28,0.00,0.000,4,0.000,0.060,2802,3476,2389,0,0,0,0,0,0
$GC,6365,-1.12,-107.9,912.3,-13.7,369,6371,0.05,2.22,0.00,0.000,6,0.177,0.044,2817,2066,2389,0,0,0,0,0,0
$GC,6682,-1.16,-107.9,954.5,-13.6,385,6686,0.00,2.25,0.00,0.000,4,0.000,0.057,2809,3480,2389,0,0,0,0,0,0
$GC,6730,-1.16,-107.9,961.6,-13.8,387,6735,0.00,2.25,0.00,0.000,6,0.000,0.043,2809,2058,2389,0,0,0,0,0,0
$STATE,7029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7029,begin apogee
$GC,7034,-0.19,0.0,1001.9,13.5,402,7137,1.05,0.00,99.47,1.288,6,0.165,0.000,3113,1591,1949,0,0,0,0,0,0
$STATE,7138,end apogee,CONTROL_FINISHED_OK
$STATE,7138,begin climb
$GC,7140,1.13,107.9,1005.6,0.0,407,7255,1.30,2.58,104.78,1.246,4,0.091,0.054,3553,190,1509,0,0,0,0,0,0
$GC,7333,1.13,107.9,986.5,14.3,416,7338,0.00,2.42,0.00,0.000,6,0.000,0.036,3553,1615,1504,0,0,0,0,0,0
$GC,7659,1.13,107.9,940.4,14.4,432,7663,0.00,2.28,0.00,0.000,4,0.000,0.056,3553,2999,1501,0,0,0,0,0,0
$GC,7709,1.13,107.9,932.9,15.4,434,7713,0.00,2.28,0.00,0.000,6,0.000,0.035,3562,1596,1501,0,0,0,0,0,0
$GC,8035,1.13,107.9,884.2,14.8,450,8039,0.00,2.30,0.00,0.000,4,0.000,0.055,3572,189,1500,0,0,0,0,0,0
$GC,8097,1.09,107.9,874.5,16.3,452,8103,0.15,2.25,0.00,0.000,6,0.174,0.037,3535,1605,1499,0,0,0,0,0,0
$GC,8412,1.15,107.9,831.5,13.2,468,8416,0.00,2.33,0.00,0.000,4,0.000,0.052,3544,189,1498,0,0,0,0,0,0
$GC,8449,1.15,107.9,826.3,13.5,469,8455,0.00,2.25,0.00,0.000,6,0.000,0.035,3544,1598,1498,0,0,0,0,0,0
$GC,8766,1.19,107.9,783.1,13.6,485,8771,0.08,2.25,0.00,0.000,4,0.122,0.057,3587,2992,1498,0,0,0,0,0,0
$GC,8798,1.13,107.9,778.0,15.3,486,8805,0.15,2.20,0.00,0.000,6,0.163,0.037,3552,1596,1498,0,0,0,0,0,0
$GC,9113,1.16,107.9,735.8,13.7,502,9117,0.00,2.28,0.00,0.000,4,0.000,0.054,3562,196,1498,0,0,0,0,0,0
$GC,9179,1.16,107.9,726.5,13.9,505,9184,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1601,1497,0,0,0,0,0,0
$GC,9507,1.16,107.9,682.7,13.5,521,9511,0.00,2.28,0.00,0.000,4,0.000,0.052,3571,193,1497,0,0,0,0,0,0
$GC,9600,1.13,107.9,669.4,13.0,525,9605,0.08,2.22,0.00,0.000,6,0.166,0.037,3548,1601,1497,0,0,0,0,0,0
$GC,9923,1.17,107.9,627.8,13.3,541,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1600,1497,0,0,0,0,0,0
$GC,10232,1.21,107.9,586.1,13.5,556,10234,0.08,0.00,0.00,0.000,6,0.122,0.000,3589,1601,1496,0,0,0,0,0,0
$GC,10541,1.17,107.9,540.9,14.6,571,10546,0.10,2.25,0.00,0.000,4,0.190,0.053,3575,198,1496,0,0,0,0,0,0
$GC,10607,1.14,107.9,531.1,14.6,574,10612,0.10,2.20,0.00,0.000,6,0.190,0.037,3552,1603,1497,0,0,0,0,0,0
$GC,10933,1.18,107.9,491.7,11.9,590,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1604,1496,0,0,0,0,0,0
$GC,11243,1.22,107.9,457.6,10.8,605,11248,0.08,2.25,0.00,0.000,4,0.124,0.052,3603,199,1496,0,0,0,0,0,0
$GC,11298,1.14,107.9,450.5,13.5,607,11304,0.15,2.20,0.00,0.000,6,0.164,0.037,3558,1598,1496,0,0,0,0,0,0
$GC,11614,1.17,107.9,415.1,10.9,623,11618,0.00,2.25,0.00,0.000,4,0.000,0.052,3567,195,1496,0,0,0,0,0,0
$GC,11691,1.17,107.9,405.8,12.3,626,11698,0.00,2.20,0.00,0.000,6,0.000,0.037,3567,1590,1496,0,0,0,0,0,0
$GC,12006,1.17,107.9,369.9,11.5,642,12011,0.00,2.28,0.00,0.000,4,0.000,0.052,3576,203,1496,0,0,0,0,0,0
$GC,12084,1.17,107.9,360.5,12.3,645,12089,0.03,2.20,0.00,0.000,6,0.200,0.037,3568,1603,1496,0,0,0,0,0,0
$GC,12405,1.17,107.9,322.9,12.1,661,12409,0.00,2.28,0.00,0.000,4,0.000,0.052,3576,198,1496,0,0,0,0,0,0
$GC,12471,1.17,107.9,314.2,12.2,664,12477,0.03,2.20,0.00,0.000,6,0.202,0.037,3568,1598,1496,0,0,0,0,0,0
$GC,12798,1.17,107.9,272.4,13.4,680,12802,0.00,2.22,0.00,0.000,4,0.000,0.055,3568,2991,1496,0,0,0,0,0,0
$GC,12898,1.17,107.9,258.7,13.3,684,12906,0.03,2.17,0.00,0.000,6,0.213,0.035,3568,1597,1496,0,0,0,0,0,0
$GC,13214,1.17,107.9,220.0,12.0,700,13218,0.00,2.22,0.00,0.000,4,0.000,0.054,3578,199,1496,0,0,0,0,0,0
$GC,13422,1.17,107.9,193.3,12.0,709,13427,0.05,2.20,0.00,0.000,6,0.178,0.037,3562,1602,1496,0,0,0,0,0,0
$GC,13748,1.22,107.9,157.4,11.3,725,13752,0.00,2.20,0.00,0.000,4,0.000,0.053,3562,2991,1496,0,0,0,0,0,0
$GC,13814,1.22,107.9,149.1,12.2,728,13818,0.00,2.17,0.00,0.000,6,0.000,0.035,3570,1595,1496,0,0,0,0,0,0
$GC,14141,1.25,107.9,114.3,10.7,744,14146,0.00,2.25,0.00,0.000,4,0.000,0.054,3581,194,1496,0,0,0,0,0,0
$GC,14259,1.25,107.9,100.7,12.1,749,14264,0.00,2.20,0.00,0.000,6,0.000,0.035,3581,1601,1496,0,0,0,0,0,0
$GC,14589,1.25,107.9,63.8,11.0,782,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1601,1495,0,0,0,0,0,0
$GC,14948,1.25,107.9,23.3,12.8,843,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1601,1495,0,0,0,0,0,0
$GC,15102,1.25,107.9,5.7,11.7,868,15109,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1601,1495,0,0,0,0,0,0
$STATE,15122,end climb,SURFACE_DEPTH_REACHED
$STATE,15122,begin surface coast
$FINISH,1.8,1.015676
$STATE,15148,end surface coast,CONTROL_FINISHED_OK
$STATE,15148,begin surface
$SM_CCo,15166,43.53,0.055,0,0,1132,200.16
$SM_GC,3.49,0.00,0.00,43.53,0.000,0.000,0.055,75,2068,1132,-9.72,0.23,200.16
$IRIDIUM_FIX,-4447.43,628.16,160708,141440
$TT8_MAMPS,0.026964
$HUMID,63.07
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.8,32.590
$10V_AH,9.8,34.462
$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,24.175,114.125,204.250,43.525,0.000,80.104,122.559,479.994,0.000,0.000,16.990,1923.858,10818.867,359.233,2903.036,177.023,0.000,1296.797,0.000,2086.957,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,66.555,1288.260,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.436,1279.156,719.619,427.602,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,63881,875
$CAP_FILE_SIZE,139567,0
$CFSIZE,2097086464,2058420224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,200915,051003,-4504.805,636.687,50,0.8,50,-24.4