version: 66.07.10.p01
glider: 573
mission: 12
dive: 308
start: 10 1 115 7 23 36
data:
$ID,573
$MISSION,12
$DIVE,308
$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,-21995.658
$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,31
$R_STBD_OVSHOOT,44
$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,307
$GPS1,011015,071333,-4457.469,631.733,31,0.9,31,-24.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-65.0
$GPS2,011015,072316,-4457.514,631.890,18,1.2,19,-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,86.9,6075,-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,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,58,0.00,0.00,-31.75,0.000,2,0.000,0.000,80,2066,1581,0,0,0,0,0,0
$GC,61,-0.76,-116.8,3.2,-3.4,5,119,11.77,2.38,-35.58,0.000,4,0.237,0.068,2934,646,2428,0,0,0,0,0,0
$GC,389,-0.66,-116.8,43.3,-15.3,58,395,0.15,2.22,0.00,0.000,6,0.170,0.037,2964,2054,2430,0,0,0,0,0,0
$GC,748,-0.66,-116.8,84.4,-9.7,115,752,0.00,2.28,0.00,0.000,4,0.000,0.057,2954,3468,2430,0,0,0,0,0,0
$GC,835,-0.66,-116.8,93.1,-10.1,119,839,0.00,2.20,0.00,0.000,6,0.000,0.039,2953,2055,2430,0,0,0,0,0,0
$GC,1164,-0.63,-116.8,128.8,-11.7,135,1165,0.10,0.00,0.00,0.000,6,0.187,0.000,2978,2056,2430,0,0,0,0,0,0
$GC,1470,-0.63,-116.8,160.4,-9.9,150,1474,0.00,2.25,0.00,0.000,4,0.000,0.054,2980,655,2430,0,0,0,0,0,0
$GC,1508,-0.63,-116.8,164.6,-10.4,151,1514,0.00,2.25,0.00,0.000,6,0.000,0.042,2970,2057,2430,0,0,0,0,0,0
$GC,1827,-0.63,-116.8,197.7,-10.2,167,1831,0.00,2.30,0.00,0.000,4,0.000,0.061,2960,3477,2430,0,0,0,0,0,0
$GC,1870,-0.63,-116.8,202.7,-10.3,169,1875,0.03,2.22,0.00,0.000,6,0.183,0.040,2970,2060,2430,0,0,0,0,0,0
$GC,2199,-0.63,-116.8,234.3,-9.4,185,2203,0.00,2.30,0.00,0.000,4,0.000,0.060,2961,3477,2430,0,0,0,0,0,0
$GC,2270,-0.63,-116.8,241.3,-9.4,188,2275,0.03,2.22,0.00,0.000,6,0.185,0.039,2970,2061,2431,0,0,0,0,0,0
$GC,2591,-0.63,-116.8,269.8,-9.0,204,2595,0.00,2.25,0.00,0.000,4,0.000,0.054,2973,658,2430,0,0,0,0,0,0
$GC,2658,-0.63,-116.8,276.3,-9.2,207,2662,0.00,2.25,0.00,0.000,6,0.000,0.041,2965,2067,2430,0,0,0,0,0,0
$GC,2985,-0.63,-116.8,305.6,-9.0,223,2990,0.03,2.28,0.00,0.000,4,0.282,0.061,2963,3468,2431,0,0,0,0,0,0
$GC,3046,-0.66,-116.8,311.1,-9.2,226,3050,0.00,2.17,0.00,0.000,6,0.000,0.039,2963,2053,2430,0,0,0,0,0,0
$GC,3371,-0.66,-116.8,339.3,-8.5,242,3375,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,652,2430,0,0,0,0,0,0
$GC,3409,-0.66,-116.8,342.9,-9.6,244,3413,0.00,2.22,0.00,0.000,6,0.000,0.042,2955,2064,2430,0,0,0,0,0,0
$GC,3740,-0.66,-116.8,374.6,-9.5,260,3745,0.05,2.30,0.00,0.000,4,0.223,0.063,2955,3470,2430,0,0,0,0,0,0
$GC,3789,-0.66,-116.8,379.5,-9.3,262,3794,0.00,2.20,0.00,0.000,6,0.000,0.040,2955,2067,2431,0,0,0,0,0,0
$GC,4116,-0.66,-116.8,408.4,-8.8,278,4120,0.00,2.28,0.00,0.000,4,0.000,0.054,2955,648,2431,0,0,0,0,0,0
$GC,4178,-0.66,-116.8,414.2,-9.1,280,4184,0.08,2.22,0.00,0.000,6,0.186,0.040,2964,2072,2430,0,0,0,0,0,0
$GC,4492,-0.66,-116.8,440.4,-8.2,296,4496,0.00,2.22,0.00,0.000,4,0.000,0.061,2954,3462,2430,0,0,0,0,0,0
$GC,4537,-0.66,-116.8,444.0,-8.2,298,4541,0.05,2.17,0.00,0.000,6,0.214,0.039,2965,2053,2430,0,0,0,0,0,0
$GC,4868,-0.66,-116.8,469.3,-7.6,314,4872,0.00,2.25,0.00,0.000,4,0.000,0.056,2966,654,2430,0,0,0,0,0,0
$GC,4906,-0.66,-116.8,472.7,-8.4,315,4911,0.00,2.25,0.00,0.000,6,0.000,0.042,2957,2061,2430,0,0,0,0,0,0
$GC,5222,-0.66,-116.8,499.3,-8.8,331,5226,0.00,2.28,0.00,0.000,4,0.000,0.063,2946,3466,2430,0,0,0,0,0,0
$GC,5248,-0.66,-116.8,502.0,-9.9,332,5253,0.05,2.22,0.00,0.000,6,0.149,0.040,2963,2053,2430,0,0,0,0,0,0
$GC,5569,-0.69,-116.8,531.8,-9.3,348,5573,0.00,2.22,0.00,0.000,4,0.000,0.056,2963,651,2430,0,0,0,0,0,0
$GC,5595,-0.69,-116.8,534.5,-10.6,349,5600,0.00,2.25,0.00,0.000,6,0.000,0.043,2954,2061,2430,0,0,0,0,0,0
$GC,5917,-0.69,-116.8,563.7,-9.4,365,5921,0.00,2.30,0.00,0.000,4,0.000,0.063,2944,3478,2430,0,0,0,0,0,0
$GC,5977,-0.69,-116.8,569.7,-9.8,367,5982,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2065,2430,0,0,0,0,0,0
$GC,6293,-0.69,-116.8,599.3,-9.3,383,6298,0.05,2.30,0.00,0.000,4,0.222,0.056,2961,647,2430,0,0,0,0,0,0
$GC,6370,-0.69,-116.8,606.8,-9.2,386,6376,0.00,2.25,0.00,0.000,6,0.000,0.039,2952,2069,2430,0,0,0,0,0,0
$GC,6685,-0.69,-116.8,635.2,-8.9,402,6689,0.00,2.25,0.00,0.000,4,0.000,0.062,2941,3465,2430,0,0,0,0,0,0
$GC,6712,-0.69,-116.8,637.5,-9.0,403,6717,0.03,2.22,0.00,0.000,6,0.169,0.040,2950,2054,2429,0,0,0,0,0,0
$GC,7039,-0.69,-116.8,663.0,-7.6,419,7043,0.00,2.25,0.00,0.000,4,0.000,0.057,2951,658,2429,0,0,0,0,0,0
$GC,7078,-0.69,-116.8,666.3,-8.8,421,7083,0.08,2.22,0.00,0.000,6,0.184,0.041,2959,2067,2429,0,0,0,0,0,0
$GC,7406,-0.73,-116.8,691.6,-8.2,437,7410,0.00,2.28,0.00,0.000,4,0.000,0.064,2949,3465,2430,0,0,0,0,0,0
$GC,7482,-0.73,-116.8,698.5,-9.0,440,7489,0.00,2.20,0.00,0.000,6,0.000,0.040,2949,2063,2429,0,0,0,0,0,0
$GC,7798,-0.73,-116.8,725.2,-8.4,456,7802,0.00,2.25,0.00,0.000,4,0.000,0.055,2949,654,2429,0,0,0,0,0,0
$GC,7852,-0.73,-116.8,729.9,-8.9,458,7856,0.00,2.22,0.00,0.000,6,0.000,0.040,2940,2058,2429,0,0,0,0,0,0
$GC,8173,-0.73,-116.8,755.8,-7.8,474,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2058,2429,0,0,0,0,0,0
$GC,8484,-0.73,-116.8,779.2,-7.4,489,8488,0.00,2.30,0.00,0.000,4,0.000,0.062,2929,3472,2429,0,0,0,0,0,0
$GC,8555,-0.73,-116.8,784.9,-8.0,492,8560,0.08,2.22,0.00,0.000,6,0.180,0.043,2947,2050,2429,0,0,0,0,0,0
$GC,8875,-0.73,-116.8,808.7,-7.4,508,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2049,2429,0,0,0,0,0,0
$GC,9186,-0.73,-116.8,833.6,-8.1,523,9190,0.00,2.22,0.00,0.000,4,0.000,0.057,2948,657,2428,0,0,0,0,0,0
$GC,9218,-0.73,-116.8,836.6,-8.8,524,9224,0.00,2.25,0.00,0.000,6,0.000,0.042,2938,2065,2428,0,0,0,0,0,0
$GC,9535,-0.73,-116.8,863.5,-8.4,540,9539,0.00,2.30,0.00,0.000,4,0.000,0.065,2928,3475,2428,0,0,0,0,0,0
$GC,9617,-0.73,-116.8,870.8,-9.1,544,9622,0.05,2.25,0.00,0.000,6,0.148,0.043,2946,2053,2428,0,0,0,0,0,0
$GC,9948,-0.73,-116.8,896.1,-7.4,560,9952,0.00,2.25,0.00,0.000,4,0.000,0.057,2946,658,2428,0,0,0,0,0,0
$GC,10017,-0.73,-116.8,901.9,-8.3,563,10021,0.00,2.22,0.00,0.000,6,0.000,0.044,2937,2063,2427,0,0,0,0,0,0
$GC,10343,-0.73,-116.8,929.4,-8.7,579,10347,0.00,2.30,0.00,0.000,4,0.000,0.064,2926,3474,2427,0,0,0,0,0,0
$GC,10420,-0.73,-116.8,936.7,-8.7,582,10427,0.03,2.25,0.00,0.000,6,0.164,0.043,2937,2057,2427,0,0,0,0,0,0
$GC,10736,-0.73,-116.8,964.3,-8.9,598,10740,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,650,2427,0,0,0,0,0,0
$GC,10779,-0.73,-116.8,968.5,-9.6,600,10784,0.03,2.25,0.00,0.000,6,0.168,0.044,2939,2055,2427,0,0,0,0,0,0
$GC,11105,-0.73,-116.8,996.8,-8.5,616,11109,0.00,2.28,0.00,0.000,4,0.000,0.060,2928,3466,2427,0,0,0,0,0,0
$GC,11132,-0.73,-116.8,999.1,-9.0,617,11137,0.05,2.22,0.00,0.000,6,0.151,0.041,2946,2055,2427,0,0,0,0,0,0
$STATE,11141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11141,begin apogee
$GC,11146,-0.19,0.0,1000.1,9.0,618,11258,0.55,0.00,108.85,1.282,6,0.142,0.000,3115,1599,1950,0,0,0,0,0,0
$STATE,11259,end apogee,CONTROL_FINISHED_OK
$STATE,11259,begin climb
$GC,11261,0.76,116.8,1003.5,0.0,623,11384,0.93,2.55,113.85,1.239,4,0.093,0.055,3428,201,1475,0,0,0,0,0,0
$GC,11417,0.76,116.8,995.5,9.1,630,11421,0.00,2.42,0.00,0.000,6,0.000,0.035,3428,1608,1471,0,0,0,0,0,0
$GC,11738,0.77,132.8,970.1,7.8,646,11759,0.00,2.42,16.25,1.132,4,0.000,0.053,3438,196,1408,0,0,0,0,0,0
$GC,11781,0.80,177.7,966.8,6.3,648,11832,0.00,2.28,45.40,1.201,6,0.000,0.036,3437,1604,1225,0,0,0,0,0,0
$GC,12146,0.80,177.7,934.1,8.8,666,12150,0.00,2.38,0.00,0.000,4,0.000,0.054,3447,196,1219,0,0,0,0,0,0
$GC,12179,0.80,177.7,930.9,10.2,667,12183,0.00,2.28,0.00,0.000,6,0.000,0.036,3447,1598,1218,0,0,0,0,0,0
$GC,12501,0.80,177.7,899.3,10.1,683,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1599,1217,0,0,0,0,0,0
$GC,12809,0.80,177.7,869.3,9.7,698,12813,0.00,2.33,0.00,0.000,4,0.000,0.055,3458,190,1216,0,0,0,0,0,0
$GC,12841,0.80,177.7,865.8,11.4,699,12846,0.03,2.25,0.00,0.000,6,0.161,0.036,3446,1602,1216,0,0,0,0,0,0
$GC,13162,0.80,177.7,834.1,9.8,715,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1603,1216,0,0,0,0,0,0
$GC,13470,0.80,177.7,802.7,10.5,730,13474,0.00,2.30,0.00,0.000,4,0.000,0.054,3456,195,1216,0,0,0,0,0,0
$GC,13538,0.80,177.7,795.3,10.8,733,13543,0.05,2.20,0.00,0.000,6,0.207,0.036,3442,1601,1215,0,0,0,0,0,0
$GC,13864,0.80,177.7,762.3,10.2,749,13868,0.00,2.30,0.00,0.000,4,0.000,0.054,3452,196,1215,0,0,0,0,0,0
$GC,13919,0.80,177.7,756.1,10.3,751,13924,0.00,2.22,0.00,0.000,6,0.000,0.036,3452,1602,1215,0,0,0,0,0,0
$GC,14235,0.80,177.7,721.3,11.2,767,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1602,1215,0,0,0,0,0,0
$GC,14543,0.80,177.7,686.5,10.9,782,14547,0.00,2.33,0.00,0.000,4,0.000,0.055,3462,186,1215,0,0,0,0,0,0
$GC,14621,0.80,177.7,677.4,11.4,785,14626,0.05,2.22,0.00,0.000,6,0.136,0.035,3442,1599,1215,0,0,0,0,0,0
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$STATE,21086,end climb,SURFACE_DEPTH_REACHED
$STATE,21086,begin surface coast
$FINISH,1.7,1.023434
$STATE,21125,end surface coast,CONTROL_FINISHED_OK
$STATE,21125,begin surface
$SM_CCo,21142,4.68,0.056,0,0,1132,200.16
$SM_GC,3.46,0.00,0.00,4.68,0.000,0.000,0.056,82,2079,1132,-9.70,0.54,200.16
$IRIDIUM_FIX,-4438.33,627.13,270708,141435
$TT8_MAMPS,0.026964
$HUMID,63.78
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.5,38.177
$10V_AH,9.7,40.112
$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
$DEVICE_SECS,23.550,222.625,289.850,4.675,0.000,24.381,25.609,385.495,0.000,0.000,21.770,2627.992,14981.327,441.632,3425.376,243.053,0.000,1778.306,0.000,2854.771,0.000,0.539,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.743,1674.221,890.935,512.614,0.000,0.000,0.000,0.000,0.000,0.000
$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,87193,1196
$CAP_FILE_SIZE,195415,0
$CFSIZE,2097086464,2051670016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011015,131720,-4457.920,636.141,27,1.4,41,-24.4