version: 66.07.10.p01
glider: 573
mission: 12
dive: 372
start: 10 15 115 8 29 0
data:
$ID,573
$MISSION,12
$DIVE,372
$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,-22183.775
$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,30
$R_STBD_OVSHOOT,32
$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,371
$GPS1,151015,082057,-4504.616,635.953,43,0.8,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-72.5
$GPS2,151015,082840,-4504.608,635.911,18,0.9,18,-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,30.3,1133,-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,25,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-18.92,0.000,2,0.000,0.000,69,2065,1507,0,0,0,0,0,0
$GC,49,-1.12,-85.4,3.4,-4.5,3,106,11.30,2.35,-39.58,0.000,4,0.235,0.072,2819,649,2299,0,0,0,0,0,0
$GC,123,-1.17,-116.8,4.1,-4.1,14,137,0.00,2.30,-4.03,0.000,6,0.000,0.047,2811,2046,2424,0,0,0,0,0,0
$GC,189,-1.13,-116.8,14.0,-16.6,24,196,0.00,2.33,0.00,0.000,4,0.000,0.057,2811,659,2425,0,0,0,0,0,0
$GC,463,-1.07,-116.8,64.6,-17.2,70,469,0.15,2.25,0.00,0.000,6,0.187,0.045,2839,2063,2426,0,0,0,0,0,0
$GC,789,-1.07,-116.8,118.0,-16.6,98,793,0.00,2.33,0.00,0.000,4,0.000,0.057,2840,649,2426,0,0,0,0,0,0
$GC,867,-1.07,-116.8,131.2,-16.4,101,873,0.00,2.30,0.00,0.000,6,0.000,0.046,2831,2061,2426,0,0,0,0,0,0
$GC,1186,-1.07,-116.8,183.7,-16.9,117,1190,0.00,2.33,0.00,0.000,4,0.000,0.065,2820,3472,2426,0,0,0,0,0,0
$GC,1340,-1.07,-116.8,208.5,-15.8,124,1344,0.08,2.25,0.00,0.000,6,0.199,0.046,2836,2061,2426,0,0,0,0,0,0
$GC,1667,-1.11,-116.8,255.7,-14.4,140,1671,0.00,2.33,0.00,0.000,4,0.000,0.062,2827,3470,2426,0,0,0,0,0,0
$GC,1706,-1.14,-116.8,261.8,-15.1,141,1711,0.00,2.25,0.00,0.000,6,0.000,0.044,2827,2066,2426,0,0,0,0,0,0
$GC,2022,-1.17,-116.8,307.7,-15.0,157,2027,0.05,2.28,0.00,0.000,4,0.167,0.056,2786,3471,2427,0,0,0,0,0,0
$GC,2056,-1.12,-116.8,313.4,-16.6,158,2062,0.12,2.22,0.00,0.000,6,0.183,0.044,2816,2060,2427,0,0,0,0,0,0
$GC,2370,-1.12,-116.8,361.7,-15.2,174,2374,0.00,2.33,0.00,0.000,4,0.000,0.061,2808,3478,2427,0,0,0,0,0,0
$GC,2408,-1.12,-116.8,367.4,-14.4,175,2413,0.00,2.25,0.00,0.000,6,0.000,0.044,2808,2065,2427,0,0,0,0,0,0
$GC,2724,-1.12,-116.8,414.7,-15.2,191,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2065,2427,0,0,0,0,0,0
$GC,3033,-1.12,-116.8,461.5,-15.2,206,3037,0.00,2.28,0.00,0.000,4,0.000,0.057,2808,651,2427,0,0,0,0,0,0
$GC,3059,-1.12,-116.8,465.8,-15.6,207,3065,0.05,2.28,0.00,0.000,6,0.184,0.042,2813,2073,2427,0,0,0,0,0,0
$GC,3381,-1.12,-116.8,512.6,-14.6,223,3386,0.00,2.25,0.00,0.000,4,0.000,0.057,2804,3469,2426,0,0,0,0,0,0
$GC,3402,-1.12,-116.8,515.9,-14.0,224,3408,0.03,2.25,0.00,0.000,6,0.197,0.044,2812,2063,2427,0,0,0,0,0,0
$GC,3729,-1.12,-116.8,559.3,-12.7,240,3733,0.00,2.33,0.00,0.000,4,0.000,0.061,2803,3477,2427,0,0,0,0,0,0
$GC,3791,-1.12,-116.8,567.2,-12.2,243,3796,0.08,2.22,0.00,0.000,6,0.200,0.044,2819,2057,2427,0,0,0,0,0,0
$GC,4119,-1.16,-116.8,607.2,-12.3,259,4123,0.00,2.35,0.00,0.000,4,0.000,0.065,2810,3471,2427,0,0,0,0,0,0
$GC,4158,-1.16,-116.8,612.3,-12.5,261,4162,0.00,2.25,0.00,0.000,6,0.000,0.047,2810,2057,2427,0,0,0,0,0,0
$GC,4485,-1.16,-116.8,655.6,-13.5,277,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2056,2427,0,0,0,0,0,0
$GC,4793,-1.16,-116.8,697.3,-13.5,292,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2056,2427,0,0,0,0,0,0
$GC,5104,-1.16,-116.8,739.8,-13.8,307,5108,0.00,2.33,0.00,0.000,4,0.000,0.064,2801,3466,2427,0,0,0,0,0,0
$GC,5143,-1.16,-116.8,745.4,-14.5,309,5147,0.00,2.22,0.00,0.000,6,0.000,0.046,2801,2061,2427,0,0,0,0,0,0
$GC,5469,-1.16,-116.8,792.7,-14.3,325,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2061,2426,0,0,0,0,0,0
$GC,5779,-1.16,-116.8,837.4,-14.5,340,5783,0.00,2.33,0.00,0.000,4,0.000,0.062,2792,3469,2427,0,0,0,0,0,0
$GC,5822,-1.16,-116.8,844.2,-14.8,342,5827,0.03,2.25,0.00,0.000,6,0.208,0.046,2800,2065,2426,0,0,0,0,0,0
$GC,6148,-1.16,-116.8,888.8,-13.4,358,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2065,2427,0,0,0,0,0,0
$GC,6458,-1.16,-116.8,930.7,-13.4,373,6462,0.00,2.30,0.00,0.000,4,0.000,0.058,2792,3475,2426,0,0,0,0,0,0
$GC,6491,-1.16,-116.8,935.2,-14.2,374,6497,0.05,2.28,0.00,0.000,6,0.177,0.046,2807,2061,2426,0,0,0,0,0,0
$GC,6806,-1.20,-116.8,975.8,-12.8,390,6810,0.00,2.33,0.00,0.000,4,0.000,0.061,2798,3471,2426,0,0,0,0,0,0
$GC,6868,-1.20,-116.8,983.8,-13.4,393,6872,0.00,2.25,0.00,0.000,6,0.000,0.046,2798,2053,2425,0,0,0,0,0,0
$STATE,7005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7011,-0.19,0.0,1002.1,13.2,400,7126,1.10,0.00,109.05,1.275,6,0.162,0.000,3114,1592,1949,0,0,0,0,0,0
$STATE,7127,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$GC,7129,1.13,116.8,1005.8,0.0,406,7256,1.30,2.58,116.25,1.232,4,0.087,0.055,3554,202,1473,0,0,0,0,0,0
$GC,7322,1.13,116.8,986.7,15.4,415,7327,0.00,2.42,0.00,0.000,6,0.000,0.035,3554,1616,1468,0,0,0,0,0,0
$GC,7650,1.18,116.8,940.8,13.9,431,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1617,1465,0,0,0,0,0,0
$GC,7958,1.23,116.8,897.2,14.1,446,7960,0.08,0.00,0.00,0.000,6,0.122,0.000,3594,1617,1463,0,0,0,0,0,0
$GC,8268,1.23,116.8,848.3,16.0,461,8270,0.05,0.00,0.00,0.000,6,0.221,0.000,3583,1617,1463,0,0,0,0,0,0
$GC,8576,1.23,116.8,801.2,15.1,476,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1617,1462,0,0,0,0,0,0
$GC,8887,1.23,116.8,756.4,14.0,491,8891,0.00,2.35,0.00,0.000,4,0.000,0.054,3592,192,1461,0,0,0,0,0,0
$GC,8953,1.18,116.8,746.8,15.2,494,8958,0.10,2.25,0.00,0.000,6,0.185,0.037,3569,1613,1461,0,0,0,0,0,0
$GC,9279,1.18,116.8,703.4,13.1,510,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1613,1461,0,0,0,0,0,0
$GC,9589,1.18,116.8,662.7,13.1,525,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1613,1460,0,0,0,0,0,0
$GC,9898,1.21,116.8,622.8,12.9,540,9902,0.00,2.35,0.00,0.000,4,0.000,0.054,3578,185,1461,0,0,0,0,0,0
$GC,9974,1.21,116.8,611.8,13.4,543,9979,0.00,2.25,0.00,0.000,6,0.000,0.037,3578,1600,1460,0,0,0,0,0,0
$GC,10291,1.21,116.8,566.6,14.4,559,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1601,1460,0,0,0,0,0,0
$GC,10599,1.21,116.8,521.3,14.5,574,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1601,1460,0,0,0,0,0,0
$GC,10910,1.21,116.8,477.1,14.6,589,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1601,1460,0,0,0,0,0,0
$GC,11217,1.21,116.8,433.9,13.8,604,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1601,1460,0,0,0,0,0,0
$GC,11528,1.21,116.8,392.4,13.2,619,11532,0.00,2.33,0.00,0.000,4,0.000,0.054,3587,185,1460,0,0,0,0,0,0
$GC,11617,1.21,116.8,380.0,13.6,623,11621,0.00,2.22,0.00,0.000,6,0.000,0.036,3587,1622,1460,0,0,0,0,0,0
$GC,11945,1.21,116.8,336.6,13.1,639,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1622,1460,0,0,0,0,0,0
$GC,12254,1.21,116.8,296.1,13.1,654,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1622,1460,0,0,0,0,0,0
$GC,12565,1.21,116.8,254.5,13.7,669,12569,0.00,2.20,0.00,0.000,4,0.000,0.055,3587,2999,1460,0,0,0,0,0,0
$GC,12619,1.21,116.8,246.2,14.0,671,12626,0.05,2.20,0.00,0.000,6,0.175,0.037,3580,1597,1460,0,0,0,0,0,0
$GC,12937,1.21,116.8,202.2,13.8,687,12942,0.00,2.30,0.00,0.000,4,0.000,0.055,3590,187,1460,0,0,0,0,0,0
$GC,13060,1.21,116.8,183.4,14.9,692,13069,0.03,2.22,0.00,0.000,6,0.196,0.035,3582,1599,1459,0,0,0,0,0,0
$GC,13377,1.24,116.8,143.2,11.6,708,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1599,1460,0,0,0,0,0,0
$GC,13689,1.28,116.8,108.7,11.2,723,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1598,1460,0,0,0,0,0,0
$GC,14000,1.32,116.8,72.8,11.7,744,14007,0.08,2.33,0.00,0.000,4,0.125,0.053,3629,193,1460,0,0,0,0,0,0
$GC,14062,1.23,116.8,64.7,14.0,754,14067,0.17,2.20,0.00,0.000,6,0.184,0.037,3584,1599,1460,0,0,0,0,0,0
$GC,14423,1.27,116.8,20.6,12.5,815,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1600,1460,0,0,0,0,0,0
$STATE,14564,end climb,SURFACE_DEPTH_REACHED
$STATE,14564,begin surface coast
$FINISH,2.0,1.005793
$STATE,14591,end surface coast,CONTROL_FINISHED_OK
$STATE,14591,begin surface
$SM_CCo,14609,39.58,0.055,0,0,1132,200.16
$SM_GC,3.25,0.00,0.00,39.58,0.000,0.000,0.055,62,2071,1132,-9.76,0.31,200.16
$IRIDIUM_FIX,-4444.39,636.90,100808,171718
$TT8_MAMPS,0.026215
$HUMID,64.76
$INTERNAL_PRESSURE,9.25506
$TCM_TEMP,10.90
$XPDR_PINGS,1
$24V_AH,22.3,44.945
$10V_AH,9.7,47.142
$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,24.150,102.175,225.300,39.575,0.000,27.334,30.440,267.551,0.250,0.000,20.964,1810.543,10421.504,353.939,2339.178,185.056,0.000,1212.996,0.000,1916.363,0.000,0.540,0.000
$DEVICE_MAMPS,234.855,71.910,1275.255,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.786,1215.527,673.163,411.199,0.000,0.000,0.000,0.000,0.000,0.000
$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,60598,842
$CAP_FILE_SIZE,122104,0
$CFSIZE,2097086464,2043379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151015,123423,-4502.683,637.426,36,1.9,36,-24.4