version: 66.07.10.p01
glider: 573
mission: 12
dive: 368
start: 10 14 115 14 42 18
data:
$ID,573
$MISSION,12
$DIVE,368
$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,-22174.479
$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,33
$R_STBD_OVSHOOT,40
$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,367
$GPS1,141015,143403,-4504.180,637.637,58,0.8,58,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-67.4
$GPS2,141015,144158,-4504.131,637.664,21,0.8,21,-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,300.8,2191,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-19.62,0.000,2,0.000,0.000,80,2067,1519,0,0,0,0,0,0
$GC,50,-1.13,-106.6,3.1,-2.0,3,107,11.20,2.35,-38.12,0.000,4,0.233,0.068,2813,665,2384,0,0,0,0,0,0
$GC,233,-1.05,-106.6,29.1,-22.2,32,241,0.10,2.25,0.00,0.000,6,0.171,0.042,2835,2041,2385,0,0,0,0,0,0
$GC,382,-1.05,-106.6,54.3,-15.1,57,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2041,2385,0,0,0,0,0,0
$GC,714,-1.05,-106.6,106.1,-15.5,94,719,0.00,2.38,0.00,0.000,4,0.000,0.067,2825,3478,2386,0,0,0,0,0,0
$GC,846,-1.05,-106.6,125.9,-14.7,100,850,0.08,2.25,0.00,0.000,6,0.199,0.045,2841,2066,2386,0,0,0,0,0,0
$GC,1172,-1.05,-106.6,175.1,-15.5,116,1176,0.00,2.30,0.00,0.000,4,0.000,0.059,2832,3477,2386,0,0,0,0,0,0
$GC,1198,-1.05,-106.6,179.6,-15.8,117,1203,0.00,2.25,0.00,0.000,6,0.000,0.044,2832,2058,2386,0,0,0,0,0,0
$GC,1528,-1.05,-106.6,226.9,-14.0,133,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2058,2386,0,0,0,0,0,0
$GC,1835,-1.05,-106.6,272.7,-15.1,148,1837,0.05,0.00,0.00,0.000,6,0.238,0.000,2842,2059,2386,0,0,0,0,0,0
$GC,2145,-1.10,-106.6,314.1,-12.8,163,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2058,2387,0,0,0,0,0,0
$GC,2453,-1.16,-106.6,356.1,-13.6,178,2458,0.10,2.35,0.00,0.000,4,0.101,0.064,2782,3472,2387,0,0,0,0,0,0
$GC,2530,-1.09,-106.6,368.2,-15.4,181,2536,0.17,2.25,0.00,0.000,6,0.171,0.046,2828,2060,2387,0,0,0,0,0,0
$GC,2847,-1.13,-106.6,412.2,-13.8,197,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2060,2386,0,0,0,0,0,0
$GC,3155,-1.16,-106.6,455.6,-14.3,212,3159,0.00,2.33,0.00,0.000,4,0.000,0.065,2819,3477,2387,0,0,0,0,0,0
$GC,3186,-1.16,-106.6,460.4,-15.1,213,3191,0.00,2.28,0.00,0.000,6,0.000,0.046,2819,2061,2387,0,0,0,0,0,0
$GC,3509,-1.16,-106.6,507.7,-15.1,229,3513,0.00,2.33,0.00,0.000,4,0.000,0.063,2809,3471,2387,0,0,0,0,0,0
$GC,3541,-1.16,-106.6,512.8,-15.1,230,3547,0.00,2.28,0.00,0.000,6,0.000,0.046,2809,2053,2387,0,0,0,0,0,0
$GC,3856,-1.16,-106.6,559.4,-14.2,246,3860,0.00,2.35,0.00,0.000,4,0.000,0.064,2800,3480,2387,0,0,0,0,0,0
$GC,3910,-1.16,-106.6,567.2,-14.5,248,3916,0.00,2.28,0.00,0.000,6,0.000,0.045,2801,2060,2386,0,0,0,0,0,0
$GC,4225,-1.16,-106.6,611.2,-13.8,264,4229,0.00,2.33,0.00,0.000,4,0.000,0.063,2792,3472,2386,0,0,0,0,0,0
$GC,4269,-1.16,-106.6,617.6,-14.3,266,4274,0.05,2.28,0.00,0.000,6,0.185,0.047,2806,2055,2386,0,0,0,0,0,0
$GC,4595,-1.16,-106.6,664.8,-15.0,282,4599,0.00,2.35,0.00,0.000,4,0.000,0.065,2798,3472,2386,0,0,0,0,0,0
$GC,4672,-1.16,-106.6,677.1,-16.0,285,4677,0.00,2.28,0.00,0.000,6,0.000,0.047,2798,2063,2386,0,0,0,0,0,0
$GC,4988,-1.16,-106.6,723.7,-14.2,301,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2063,2386,0,0,0,0,0,0
$GC,5296,-1.16,-106.6,767.3,-13.7,316,5300,0.00,2.33,0.00,0.000,4,0.000,0.062,2789,3473,2386,0,0,0,0,0,0
$GC,5350,-1.16,-106.6,774.7,-15.0,318,5357,0.05,2.28,0.00,0.000,6,0.183,0.047,2804,2061,2386,0,0,0,0,0,0
$GC,5665,-1.16,-106.6,815.0,-12.4,334,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2061,2385,0,0,0,0,0,0
$GC,5976,-1.16,-106.6,853.7,-12.2,349,5980,0.00,2.33,0.00,0.000,4,0.000,0.063,2795,3477,2385,0,0,0,0,0,0
$GC,6042,-1.16,-106.6,862.6,-13.6,352,6047,0.05,2.28,0.00,0.000,6,0.233,0.047,2805,2052,2385,0,0,0,0,0,0
$GC,6373,-1.16,-106.6,906.1,-13.6,368,6377,0.00,2.35,0.00,0.000,4,0.000,0.065,2796,3471,2384,0,0,0,0,0,0
$GC,6406,-1.16,-106.6,910.8,-14.5,369,6411,0.00,2.28,0.00,0.000,6,0.000,0.047,2796,2064,2385,0,0,0,0,0,0
$GC,6722,-1.16,-106.6,954.2,-13.3,385,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2064,2385,0,0,0,0,0,0
$GC,7030,-1.16,-106.6,994.1,-12.7,400,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2064,2384,0,0,0,0,0,0
$STATE,7092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7092,begin apogee
$GC,7097,-0.19,0.0,1001.7,12.4,403,7200,1.10,0.00,98.65,1.277,6,0.160,0.000,3113,1585,1950,0,0,0,0,0,0
$STATE,7200,end apogee,CONTROL_FINISHED_OK
$STATE,7201,begin climb
$GC,7202,1.13,106.6,1004.8,0.0,408,7319,1.27,2.60,105.20,1.232,4,0.087,0.057,3549,193,1514,0,0,0,0,0,0
$GC,7369,1.13,106.6,988.9,13.5,416,7373,0.00,2.45,0.00,0.000,6,0.000,0.039,3548,1622,1510,0,0,0,0,0,0
$GC,7700,1.18,106.6,944.5,13.4,432,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1622,1507,0,0,0,0,0,0
$GC,8011,1.23,106.6,904.4,12.7,447,8015,0.10,2.40,0.00,0.000,4,0.098,0.055,3609,188,1505,0,0,0,0,0,0
$GC,8095,1.14,106.6,891.8,15.4,451,8100,0.20,2.28,0.00,0.000,6,0.166,0.039,3555,1602,1505,0,0,0,0,0,0
$GC,8423,1.17,106.6,850.2,12.6,467,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1602,1504,0,0,0,0,0,0
$GC,8730,1.21,106.6,811.3,12.7,482,8734,0.00,2.35,0.00,0.000,4,0.000,0.055,3565,186,1504,0,0,0,0,0,0
$GC,8802,1.21,106.6,801.5,13.5,485,8806,0.00,2.28,0.00,0.000,6,0.000,0.038,3564,1600,1503,0,0,0,0,0,0
$GC,9124,1.21,106.6,760.1,13.0,501,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1601,1503,0,0,0,0,0,0
$GC,9432,1.21,106.6,720.8,12.5,516,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1601,1503,0,0,0,0,0,0
$GC,9743,1.21,106.6,682.6,12.4,531,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1601,1503,0,0,0,0,0,0
$GC,10050,1.21,106.6,643.8,12.6,546,10054,0.00,2.25,0.00,0.000,4,0.000,0.057,3564,2997,1502,0,0,0,0,0,0
$GC,10106,1.21,106.6,636.3,13.8,548,10110,0.00,2.22,0.00,0.000,6,0.000,0.038,3573,1593,1502,0,0,0,0,0,0
$GC,10426,1.21,106.6,594.4,13.3,564,10430,0.00,2.30,0.00,0.000,4,0.000,0.057,3584,185,1502,0,0,0,0,0,0
$GC,10504,1.17,106.6,583.9,13.6,567,10509,0.10,2.25,0.00,0.000,6,0.185,0.037,3561,1610,1502,0,0,0,0,0,0
$GC,10820,1.21,106.6,545.0,12.2,583,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1610,1502,0,0,0,0,0,0
$GC,11128,1.26,106.6,507.7,12.1,598,11130,0.08,0.00,0.00,0.000,6,0.123,0.000,3601,1610,1502,0,0,0,0,0,0
$GC,11439,1.23,106.6,467.8,13.1,613,11444,0.10,2.33,0.00,0.000,4,0.185,0.054,3586,193,1502,0,0,0,0,0,0
$GC,11516,1.19,106.6,457.3,12.4,616,11523,0.05,2.25,0.00,0.000,6,0.174,0.037,3571,1606,1502,0,0,0,0,0,0
$GC,11831,1.19,106.6,419.7,11.9,632,11835,0.00,2.33,0.00,0.000,4,0.000,0.054,3579,194,1501,0,0,0,0,0,0
$GC,11894,1.19,106.6,412.1,12.0,635,11898,0.00,2.22,0.00,0.000,6,0.000,0.037,3579,1615,1502,0,0,0,0,0,0
$GC,12220,1.19,106.6,373.4,12.0,651,12224,0.00,2.22,0.00,0.000,4,0.000,0.057,3579,2993,1501,0,0,0,0,0,0
$GC,12291,1.19,106.6,364.5,12.3,654,12296,0.05,2.20,0.00,0.000,6,0.181,0.037,3573,1592,1502,0,0,0,0,0,0
$GC,12611,1.19,106.6,326.9,11.6,670,12615,0.00,2.30,0.00,0.000,4,0.000,0.056,3583,186,1501,0,0,0,0,0,0
$GC,12719,1.19,106.6,313.9,12.2,675,12723,0.05,2.20,0.00,0.000,6,0.235,0.038,3573,1604,1501,0,0,0,0,0,0
$GC,13054,1.19,106.6,276.0,11.3,691,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1604,1501,0,0,0,0,0,0
$GC,13360,1.23,106.6,238.3,11.8,706,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1603,1501,0,0,0,0,0,0
$GC,13671,1.23,106.6,203.2,11.0,721,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1603,1501,0,0,0,0,0,0
$GC,13979,1.26,106.6,171.9,9.3,736,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1604,1500,0,0,0,0,0,0
$GC,14290,1.29,106.6,140.2,10.8,751,14295,0.08,2.22,0.00,0.000,4,0.124,0.054,3612,2990,1501,0,0,0,0,0,0
$GC,14447,1.24,106.6,121.3,11.6,758,14452,0.15,2.17,0.00,0.000,6,0.200,0.037,3585,1579,1501,0,0,0,0,0,0
$GC,14774,1.24,106.6,84.8,10.9,774,14778,0.00,2.25,0.00,0.000,4,0.000,0.055,3595,196,1501,0,0,0,0,0,0
$GC,14832,1.24,106.6,78.0,12.6,778,14837,0.00,2.20,0.00,0.000,6,0.000,0.037,3594,1603,1501,0,0,0,0,0,0
$GC,15184,1.24,106.6,35.8,11.5,839,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1603,1501,0,0,0,0,0,0
$GC,15340,1.24,106.6,17.3,12.3,864,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1603,1501,0,0,0,0,0,0
$GC,15398,1.24,106.6,10.6,12.0,873,15404,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1603,1501,0,0,0,0,0,0
$STATE,15447,end climb,SURFACE_DEPTH_REACHED
$STATE,15447,begin surface coast
$FINISH,2.0,1.023492
$STATE,15467,end surface coast,CONTROL_FINISHED_OK
$STATE,15467,begin surface
$SM_CCo,15486,44.45,0.054,0,0,1132,200.16
$SM_GC,3.26,0.00,0.00,44.45,0.000,0.000,0.054,71,2066,1132,-9.73,0.17,200.16
$IRIDIUM_FIX,-4447.43,628.16,090808,232352
$TT8_MAMPS,0.026964
$HUMID,63.70
$INTERNAL_PRESSURE,9.25506
$TCM_TEMP,11.30
$XPDR_PINGS,1
$24V_AH,22.4,44.564
$10V_AH,9.7,46.765
$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,24.400,106.950,203.850,44.450,0.000,25.035,47.267,264.001,0.250,0.000,23.410,1929.495,11043.138,342.664,2496.123,192.653,0.000,1262.335,0.000,2055.677,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,68.085,1276.785,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.713,1260.263,686.514,385.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,63717,884
$CAP_FILE_SIZE,131691,0
$CFSIZE,2097086464,2043871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141015,190302,-4503.588,635.430,76,0.8,77,-24.4