version: 66.07.10.p01
glider: 573
mission: 12
dive: 261
start: 9 20 115 22 37 24
data:
$ID,573
$MISSION,12
$DIVE,261
$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,-21834.117
$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,32
$R_STBD_OVSHOOT,37
$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,260
$GPS1,200915,222821,-4506.480,630.773,42,1.0,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-74.1
$GPS2,200915,223704,-4506.539,630.853,16,1.9,17,-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,322.1,10122,-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,24,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.83,0.000,2,0.000,0.000,60,2061,1526,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.9,3,112,12.02,2.33,-42.80,0.000,4,0.246,0.063,2934,651,2427,0,0,0,0,0,0
$GC,152,-0.63,-116.8,7.4,-10.0,19,160,0.15,2.28,0.00,0.000,6,0.155,0.041,2972,2051,2428,0,0,0,0,0,0
$GC,211,-0.63,-116.8,13.8,-10.3,28,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2051,2429,0,0,0,0,0,0
$GC,269,-0.63,-116.8,19.9,-10.7,37,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2050,2429,0,0,0,0,0,0
$GC,326,-0.63,-116.8,25.6,-9.9,46,334,0.00,2.33,0.00,0.000,4,0.000,0.059,2961,3468,2429,0,0,0,0,0,0
$GC,349,-0.63,-116.8,27.9,-10.4,49,356,0.03,2.25,0.00,0.000,6,0.182,0.039,2970,2054,2429,0,0,0,0,0,0
$GC,503,-0.63,-116.8,43.4,-9.9,74,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2054,2429,0,0,0,0,0,0
$GC,852,-0.63,-116.8,78.9,-10.2,135,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2054,2429,0,0,0,0,0,0
$GC,1174,-0.63,-116.8,111.0,-10.0,152,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2054,2429,0,0,0,0,0,0
$GC,1485,-0.63,-116.8,141.2,-10.1,167,1489,0.00,2.25,0.00,0.000,4,0.000,0.054,2970,651,2429,0,0,0,0,0,0
$GC,1534,-0.63,-116.8,146.6,-10.7,169,1540,0.03,2.25,0.00,0.000,6,0.177,0.041,2971,2062,2430,0,0,0,0,0,0
$GC,1858,-0.63,-116.8,179.6,-9.8,185,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2062,2430,0,0,0,0,0,0
$GC,2165,-0.63,-116.8,208.5,-8.8,200,2169,0.00,2.25,0.00,0.000,4,0.000,0.053,2972,657,2430,0,0,0,0,0,0
$GC,2208,-0.63,-116.8,212.9,-10.0,202,2213,0.03,2.25,0.00,0.000,6,0.181,0.041,2973,2070,2430,0,0,0,0,0,0
$GC,2535,-0.63,-116.8,242.5,-9.3,218,2539,0.00,2.22,0.00,0.000,4,0.000,0.060,2962,3468,2430,0,0,0,0,0,0
$GC,2612,-0.63,-116.8,249.9,-9.7,221,2619,0.03,2.20,0.00,0.000,6,0.186,0.039,2972,2063,2430,0,0,0,0,0,0
$GC,2930,-0.63,-116.8,276.6,-8.2,237,2934,0.00,2.25,0.00,0.000,4,0.000,0.054,2973,654,2430,0,0,0,0,0,0
$GC,2979,-0.63,-116.8,281.5,-9.0,239,2984,0.00,2.22,0.00,0.000,6,0.000,0.039,2964,2060,2430,0,0,0,0,0,0
$GC,3302,-0.63,-116.8,308.2,-8.2,255,3304,0.05,0.00,0.00,0.000,6,0.230,0.000,2975,2060,2430,0,0,0,0,0,0
$GC,3610,-0.66,-116.8,333.8,-8.2,270,3614,0.00,2.28,0.00,0.000,4,0.000,0.062,2964,3475,2430,0,0,0,0,0,0
$GC,3644,-0.66,-116.8,336.5,-8.6,271,3648,0.00,2.20,0.00,0.000,6,0.000,0.041,2965,2057,2430,0,0,0,0,0,0
$GC,3959,-0.66,-116.8,364.9,-9.1,287,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2057,2430,0,0,0,0,0,0
$GC,4267,-0.66,-116.8,392.9,-8.9,302,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2057,2430,0,0,0,0,0,0
$GC,4578,-0.66,-116.8,419.3,-8.5,317,4582,0.00,2.25,0.00,0.000,4,0.000,0.056,2965,652,2430,0,0,0,0,0,0
$GC,4599,-0.66,-116.8,421.4,-8.9,318,4604,0.00,2.25,0.00,0.000,6,0.000,0.042,2955,2069,2430,0,0,0,0,0,0
$GC,4925,-0.66,-116.8,451.4,-9.3,334,4930,0.05,2.22,0.00,0.000,4,0.216,0.060,2956,3465,2430,0,0,0,0,0,0
$GC,4974,-0.66,-116.8,455.8,-9.2,336,4979,0.00,2.20,0.00,0.000,6,0.000,0.040,2956,2061,2430,0,0,0,0,0,0
$GC,5300,-0.66,-116.8,484.9,-8.7,352,5302,0.05,0.00,0.00,0.000,6,0.226,0.000,2967,2061,2430,0,0,0,0,0,0
$GC,5611,-0.66,-116.8,511.9,-9.0,367,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2429,0,0,0,0,0,0
$GC,5919,-0.69,-116.8,540.2,-9.2,382,5923,0.00,2.28,0.00,0.000,4,0.000,0.059,2958,3465,2430,0,0,0,0,0,0
$GC,5951,-0.69,-116.8,543.2,-9.9,383,5957,0.00,2.20,0.00,0.000,6,0.000,0.040,2958,2062,2430,0,0,0,0,0,0
$GC,6268,-0.69,-116.8,572.7,-9.5,399,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2062,2430,0,0,0,0,0,0
$GC,6576,-0.69,-116.8,600.1,-8.5,414,6580,0.00,2.25,0.00,0.000,4,0.000,0.056,2958,657,2430,0,0,0,0,0,0
$GC,6648,-0.69,-116.8,606.9,-9.3,417,6652,0.00,2.22,0.00,0.000,6,0.000,0.041,2949,2059,2430,0,0,0,0,0,0
$GC,6970,-0.69,-116.8,634.3,-8.3,433,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2058,2429,0,0,0,0,0,0
$GC,7278,-0.69,-116.8,660.0,-8.2,448,7282,0.00,2.25,0.00,0.000,4,0.000,0.062,2939,3468,2429,0,0,0,0,0,0
$GC,7333,-0.69,-116.8,665.0,-9.6,450,7339,0.05,2.22,0.00,0.000,6,0.155,0.041,2955,2055,2429,0,0,0,0,0,0
$GC,7648,-0.69,-116.8,692.0,-8.8,466,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2055,2429,0,0,0,0,0,0
$GC,7958,-0.69,-116.8,719.5,-9.1,481,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2055,2429,0,0,0,0,0,0
$GC,8266,-0.69,-116.8,747.1,-8.9,496,8270,0.00,2.25,0.00,0.000,4,0.000,0.057,2956,657,2429,0,0,0,0,0,0
$GC,8350,-0.69,-116.8,754.9,-9.6,499,8355,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,2063,2428,0,0,0,0,0,0
$GC,8666,-0.69,-116.8,780.6,-7.8,515,8670,0.00,2.25,0.00,0.000,4,0.000,0.064,2937,3469,2428,0,0,0,0,0,0
$GC,8710,-0.69,-116.8,784.7,-9.0,517,8715,0.05,2.22,0.00,0.000,6,0.157,0.042,2953,2057,2428,0,0,0,0,0,0
$GC,9037,-0.69,-116.8,810.7,-8.1,533,9041,0.00,2.22,0.00,0.000,4,0.000,0.057,2954,657,2428,0,0,0,0,0,0
$GC,9063,-0.69,-116.8,813.1,-8.6,534,9068,0.00,2.25,0.00,0.000,6,0.000,0.043,2945,2063,2428,0,0,0,0,0,0
$GC,9383,-0.69,-116.8,838.9,-7.7,550,9388,0.05,2.28,0.00,0.000,4,0.215,0.063,2946,3472,2428,0,0,0,0,0,0
$GC,9426,-0.69,-116.8,842.3,-7.0,552,9431,0.00,2.22,0.00,0.000,6,0.000,0.042,2946,2062,2428,0,0,0,0,0,0
$GC,9753,-0.69,-116.8,868.1,-8.0,568,9757,0.00,2.28,0.00,0.000,4,0.000,0.057,2946,648,2428,0,0,0,0,0,0
$GC,9807,-0.69,-116.8,872.8,-9.9,570,9814,0.05,2.25,0.00,0.000,6,0.159,0.041,2954,2066,2428,0,0,0,0,0,0
$GC,10123,-0.72,-116.8,898.1,-7.9,586,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2066,2428,0,0,0,0,0,0
$GC,10433,-0.75,-116.8,922.9,-7.7,601,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2065,2427,0,0,0,0,0,0
$GC,10741,-0.79,-116.8,946.3,-7.6,616,10743,0.08,0.00,0.00,0.000,6,0.122,0.000,2908,2066,2427,0,0,0,0,0,0
$GC,11052,-0.72,-116.8,975.1,-9.3,631,11056,0.15,2.30,0.00,0.000,4,0.168,0.064,2937,3468,2427,0,0,0,0,0,0
$GC,11078,-0.72,-116.8,977.7,-9.1,632,11082,0.00,2.22,0.00,0.000,6,0.000,0.042,2938,2057,2427,0,0,0,0,0,0
$STATE,11378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11378,begin apogee
$GC,11383,-0.19,0.0,1000.7,7.7,647,11494,0.60,0.00,108.00,1.288,6,0.144,0.000,3119,1588,1950,0,0,0,0,0,0
$STATE,11495,end apogee,CONTROL_FINISHED_OK
$STATE,11495,begin climb
$GC,11497,0.76,116.8,1002.8,0.0,652,11615,0.93,0.00,114.70,1.245,6,0.092,0.000,3422,1589,1473,0,0,0,0,0,0
$GC,11912,0.76,116.8,967.0,9.7,673,11916,0.00,2.35,0.00,0.000,4,0.000,0.057,3434,195,1466,0,0,0,0,0,0
$GC,11984,0.72,116.8,959.5,10.2,676,11988,0.05,2.30,0.00,0.000,6,0.201,0.036,3421,1615,1465,0,0,0,0,0,0
$GC,12303,0.72,116.8,929.9,9.0,692,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1615,1464,0,0,0,0,0,0
$GC,12614,0.72,116.8,901.9,8.8,707,12618,0.00,2.33,0.00,0.000,4,0.000,0.054,3430,195,1463,0,0,0,0,0,0
$GC,12679,0.72,116.8,895.6,9.6,710,12684,0.00,2.25,0.00,0.000,6,0.000,0.036,3430,1605,1463,0,0,0,0,0,0
$GC,13005,0.72,116.8,865.5,9.1,726,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1605,1462,0,0,0,0,0,0
$GC,13315,0.72,116.8,837.7,8.8,741,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1605,1462,0,0,0,0,0,0
$GC,13623,0.72,116.8,810.4,9.1,756,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1605,1462,0,0,0,0,0,0
$GC,13934,0.72,116.8,782.4,8.9,771,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1605,1461,0,0,0,0,0,0
$GC,14242,0.73,122.0,756.8,8.3,786,14248,0.00,0.00,4.07,0.691,6,0.000,0.000,3430,1605,1451,0,0,0,0,0,0
$GC,14553,0.73,133.7,731.9,8.0,801,14570,0.00,0.00,13.20,1.037,6,0.000,0.000,3430,1605,1404,0,0,0,0,0,0
$GC,14882,0.74,145.2,705.8,8.0,817,14896,0.00,0.00,12.32,1.008,6,0.000,0.000,3430,1605,1357,0,0,0,0,0,0
$GC,15190,0.74,145.2,679.8,8.7,832,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1605,1355,0,0,0,0,0,0
$GC,15500,0.74,145.2,652.6,8.7,847,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1605,1355,0,0,0,0,0,0
$GC,15809,0.74,153.2,627.4,8.2,862,15819,0.00,0.00,8.95,0.916,6,0.000,0.000,3430,1605,1325,0,0,0,0,0,0
$GC,16119,0.75,166.1,602.3,7.9,877,16137,0.00,0.00,14.32,0.974,6,0.000,0.000,3430,1605,1271,0,0,0,0,0,0
$GC,16449,0.79,166.1,574.7,8.7,893,16453,0.00,2.30,0.00,0.000,4,0.000,0.056,3439,197,1268,0,0,0,0,0,0
$GC,16526,0.79,166.1,567.1,11.1,896,16531,0.00,2.22,0.00,0.000,6,0.000,0.035,3439,1602,1267,0,0,0,0,0,0
$GC,16840,0.79,166.1,535.0,10.4,912,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1602,1268,0,0,0,0,0,0
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$STATE,22344,end climb,SURFACE_DEPTH_REACHED
$STATE,22344,begin surface coast
$FINISH,1.7,1.009601
$STATE,22383,end surface coast,CONTROL_FINISHED_OK
$STATE,22383,begin surface
$SM_CCo,22400,16.23,0.056,0,0,1133,200.16
$SM_GC,3.66,0.00,0.00,16.23,0.000,0.000,0.056,62,2055,1133,-9.76,-0.14,200.16
$IRIDIUM_FIX,-4450.47,631.53,170708,050517
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.6,33.033
$10V_AH,9.9,34.941
$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,23.650,136.175,275.575,16.225,0.000,26.644,44.580,311.445,0.000,0.000,19.605,2718.999,16248.129,454.359,3296.614,211.373,0.000,1663.390,0.000,2779.427,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,64.260,1288.260,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,622.710,1811.797,983.743,580.626,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,93842,1282
$CAP_FILE_SIZE,178598,0
$CFSIZE,2097086464,2057830400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210915,045233,-4506.262,628.651,57,0.9,57,-24.4