version: 66.07.10.p01
glider: 573
mission: 12
dive: 385
start: 10 18 115 7 18 51
data:
$ID,573
$MISSION,12
$DIVE,385
$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,-22218.791
$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,34
$R_STBD_OVSHOOT,51
$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,384
$GPS1,181015,071035,-4456.165,624.576,25,0.9,25,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-71.6
$GPS2,181015,071830,-4456.234,624.586,25,0.8,25,-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,112.7,14971,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.76,-116.8,0.0,0.0,0,47,0.00,0.00,-19.48,0.000,2,0.000,0.000,65,2083,1516,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.1,-2.5,3,114,11.93,2.35,-46.12,0.000,4,0.237,0.065,2933,651,2424,0,0,0,0,0,0
$GC,143,-0.69,-116.8,5.1,-7.4,17,151,0.10,2.28,0.00,0.000,6,0.153,0.043,2956,2042,2426,0,0,0,0,0,0
$GC,202,-0.65,-116.8,11.4,-10.4,26,211,0.05,2.35,0.00,0.000,4,0.235,0.057,2973,658,2426,0,0,0,0,0,0
$GC,256,-0.65,-116.8,16.9,-10.1,34,263,0.00,2.30,0.00,0.000,6,0.000,0.044,2964,2063,2426,0,0,0,0,0,0
$GC,315,-0.65,-116.8,22.8,-10.5,43,322,0.00,2.35,0.00,0.000,4,0.000,0.063,2953,3465,2427,0,0,0,0,0,0
$GC,350,-0.65,-116.8,26.3,-10.2,48,358,0.03,2.25,0.00,0.000,6,0.177,0.041,2963,2067,2428,0,0,0,0,0,0
$GC,508,-0.65,-116.8,42.0,-9.9,73,513,0.00,2.33,0.00,0.000,4,0.000,0.057,2964,644,2428,0,0,0,0,0,0
$GC,546,-0.62,-116.8,46.0,-10.4,79,552,0.10,2.28,0.00,0.000,6,0.179,0.039,2979,2078,2428,0,0,0,0,0,0
$GC,897,-0.62,-116.8,78.9,-8.8,140,902,0.00,2.28,0.00,0.000,4,0.000,0.060,2969,3469,2427,0,0,0,0,0,0
$GC,946,-0.65,-116.8,83.1,-8.4,145,950,0.00,2.25,0.00,0.000,6,0.000,0.041,2969,2045,2428,0,0,0,0,0,0
$GC,1274,-0.65,-116.8,112.7,-8.9,161,1278,0.00,2.28,0.00,0.000,4,0.000,0.055,2969,647,2427,0,0,0,0,0,0
$GC,1336,-0.65,-116.8,118.8,-9.7,164,1340,0.00,2.25,0.00,0.000,6,0.000,0.041,2960,2064,2428,0,0,0,0,0,0
$GC,1662,-0.65,-116.8,151.7,-10.6,180,1666,0.00,2.30,0.00,0.000,4,0.000,0.065,2950,3463,2427,0,0,0,0,0,0
$GC,1711,-0.65,-116.8,157.1,-10.1,182,1716,0.05,2.22,0.00,0.000,6,0.145,0.040,2967,2060,2427,0,0,0,0,0,0
$GC,2033,-0.65,-116.8,185.3,-8.7,198,2037,0.00,2.25,0.00,0.000,4,0.000,0.057,2967,654,2428,0,0,0,0,0,0
$GC,2208,-0.65,-116.8,201.9,-9.5,206,2212,0.00,2.25,0.00,0.000,6,0.000,0.044,2958,2065,2428,0,0,0,0,0,0
$GC,2534,-0.65,-116.8,231.8,-9.4,222,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2065,2428,0,0,0,0,0,0
$GC,2845,-0.65,-116.8,260.9,-9.5,237,2849,0.00,2.30,0.00,0.000,4,0.000,0.063,2948,3464,2428,0,0,0,0,0,0
$GC,2908,-0.65,-116.8,267.0,-9.4,240,2913,0.10,2.20,0.00,0.000,6,0.165,0.040,2973,2057,2428,0,0,0,0,0,0
$GC,3236,-0.69,-116.8,292.8,-7.5,256,3240,0.00,2.25,0.00,0.000,4,0.000,0.057,2974,658,2428,0,0,0,0,0,0
$GC,3301,-0.69,-116.8,297.9,-8.6,259,3305,0.00,2.22,0.00,0.000,6,0.000,0.042,2965,2059,2428,0,0,0,0,0,0
$GC,3629,-0.69,-116.8,323.0,-7.8,275,3633,0.00,2.30,0.00,0.000,4,0.000,0.063,2955,3468,2428,0,0,0,0,0,0
$GC,3661,-0.69,-116.8,325.8,-8.1,276,3667,0.00,2.22,0.00,0.000,6,0.000,0.041,2955,2068,2428,0,0,0,0,0,0
$GC,3976,-0.69,-116.8,350.8,-7.8,292,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2068,2428,0,0,0,0,0,0
$GC,4287,-0.69,-116.8,376.6,-8.4,307,4291,0.00,2.30,0.00,0.000,4,0.000,0.056,2954,648,2428,0,0,0,0,0,0
$GC,4335,-0.69,-116.8,381.1,-8.8,309,4340,0.00,2.25,0.00,0.000,6,0.000,0.041,2946,2055,2428,0,0,0,0,0,0
$GC,4657,-0.69,-116.8,409.3,-9.2,325,4662,0.00,2.30,0.00,0.000,4,0.000,0.059,2934,3471,2427,0,0,0,0,0,0
$GC,4720,-0.69,-116.8,415.2,-10.1,328,4725,0.10,2.22,0.00,0.000,6,0.168,0.042,2961,2058,2428,0,0,0,0,0,0
$GC,5045,-0.69,-116.8,440.8,-7.4,344,5049,0.00,2.25,0.00,0.000,4,0.000,0.057,2961,654,2428,0,0,0,0,0,0
$GC,5072,-0.69,-116.8,443.1,-8.4,345,5077,0.00,2.28,0.00,0.000,6,0.000,0.045,2952,2062,2428,0,0,0,0,0,0
$GC,5393,-0.69,-116.8,469.5,-8.6,361,5398,0.00,2.33,0.00,0.000,4,0.000,0.064,2942,3475,2428,0,0,0,0,0,0
$GC,5426,-0.69,-116.8,472.5,-9.2,362,5432,0.03,2.25,0.00,0.000,6,0.171,0.043,2951,2066,2427,0,0,0,0,0,0
$GC,5741,-0.69,-116.8,499.3,-8.8,378,5745,0.00,2.28,0.00,0.000,4,0.000,0.056,2951,650,2427,0,0,0,0,0,0
$GC,5773,-0.69,-116.8,502.4,-10.2,379,5778,0.03,2.28,0.00,0.000,6,0.181,0.041,2953,2069,2427,0,0,0,0,0,0
$GC,6089,-0.69,-116.8,531.3,-9.3,395,6093,0.00,2.28,0.00,0.000,4,0.000,0.063,2943,3464,2426,0,0,0,0,0,0
$GC,6183,-0.69,-116.8,540.5,-9.2,399,6188,0.03,2.22,0.00,0.000,6,0.167,0.041,2953,2059,2427,0,0,0,0,0,0
$GC,6510,-0.69,-116.8,569.7,-9.1,415,6514,0.00,2.28,0.00,0.000,4,0.000,0.057,2953,655,2426,0,0,0,0,0,0
$GC,6564,-0.69,-116.8,575.3,-10.2,417,6569,0.00,2.28,0.00,0.000,6,0.000,0.044,2945,2063,2427,0,0,0,0,0,0
$GC,6886,-0.69,-116.8,605.4,-9.5,433,6891,0.00,2.33,0.00,0.000,4,0.000,0.065,2934,3474,2426,0,0,0,0,0,0
$GC,6941,-0.69,-116.8,610.7,-9.3,435,6947,0.05,2.25,0.00,0.000,6,0.153,0.044,2952,2068,2426,0,0,0,0,0,0
$GC,7258,-0.69,-116.8,638.1,-8.5,451,7262,0.00,2.30,0.00,0.000,4,0.000,0.056,2952,651,2426,0,0,0,0,0,0
$GC,7318,-0.69,-116.8,643.6,-9.0,454,7323,0.05,2.25,0.00,0.000,6,0.223,0.044,2955,2066,2426,0,0,0,0,0,0
$GC,7651,-0.69,-116.8,670.2,-8.1,470,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2066,2425,0,0,0,0,0,0
$GC,7960,-0.69,-116.8,695.8,-8.5,485,7964,0.00,2.30,0.00,0.000,4,0.000,0.066,2945,3469,2426,0,0,0,0,0,0
$GC,8039,-0.69,-116.8,702.9,-8.9,488,8044,0.00,2.22,0.00,0.000,6,0.000,0.043,2945,2055,2426,0,0,0,0,0,0
$GC,8354,-0.69,-116.8,729.6,-8.5,504,8358,0.00,2.28,0.00,0.000,4,0.000,0.057,2945,648,2425,0,0,0,0,0,0
$GC,8425,-0.69,-116.8,735.9,-9.2,507,8430,0.05,2.28,0.00,0.000,6,0.151,0.044,2954,2054,2425,0,0,0,0,0,0
$GC,8753,-0.69,-116.8,760.7,-7.6,523,8757,0.00,2.33,0.00,0.000,4,0.000,0.061,2944,3477,2425,0,0,0,0,0,0
$GC,8802,-0.69,-116.8,764.6,-8.4,525,8806,0.05,2.22,0.00,0.000,6,0.203,0.042,2956,2053,2425,0,0,0,0,0,0
$GC,9124,-0.74,-116.8,786.6,-6.6,541,9128,0.00,2.30,0.00,0.000,4,0.000,0.058,2956,648,2425,0,0,0,0,0,0
$GC,9196,-0.74,-116.8,792.3,-7.2,544,9201,0.00,2.28,0.00,0.000,6,0.000,0.044,2947,2069,2425,0,0,0,0,0,0
$GC,9517,-0.74,-116.8,817.0,-7.8,560,9521,0.00,2.28,0.00,0.000,4,0.000,0.063,2937,3474,2424,0,0,0,0,0,0
$GC,9595,-0.74,-116.8,823.6,-8.1,563,9599,0.00,2.22,0.00,0.000,6,0.000,0.044,2937,2061,2425,0,0,0,0,0,0
$GC,9911,-0.74,-116.8,850.4,-8.7,579,9915,0.00,2.28,0.00,0.000,4,0.000,0.057,2936,651,2424,0,0,0,0,0,0
$GC,9960,-0.70,-116.8,855.2,-10.0,581,9965,0.10,2.25,0.00,0.000,6,0.172,0.042,2953,2068,2424,0,0,0,0,0,0
$GC,10282,-0.74,-116.8,883.5,-8.7,597,10286,0.00,2.30,0.00,0.000,4,0.000,0.064,2942,3465,2423,0,0,0,0,0,0
$GC,10331,-0.78,-116.8,888.2,-10.0,599,10335,0.00,2.20,0.00,0.000,6,0.000,0.041,2943,2056,2423,0,0,0,0,0,0
$GC,10653,-0.78,-116.8,915.9,-8.3,615,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2056,2423,0,0,0,0,0,0
$GC,10961,-0.78,-116.8,941.0,-7.9,630,10965,0.00,2.28,0.00,0.000,4,0.000,0.057,2942,660,2422,0,0,0,0,0,0
$GC,11010,-0.78,-116.8,945.2,-8.9,632,11014,0.00,2.25,0.00,0.000,6,0.000,0.043,2935,2058,2423,0,0,0,0,0,0
$GC,11336,-0.78,-116.8,972.3,-8.5,648,11340,0.00,2.28,0.00,0.000,4,0.000,0.063,2923,3465,2422,0,0,0,0,0,0
$GC,11414,-0.78,-116.8,979.4,-9.4,651,11419,0.00,2.22,0.00,0.000,6,0.000,0.041,2923,2064,2422,0,0,0,0,0,0
$STATE,11665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11665,begin apogee
$GC,11671,-0.19,0.0,1001.6,8.7,664,11783,0.65,0.00,108.47,1.271,6,0.135,0.000,3122,1593,1949,0,0,0,0,0,0
$STATE,11783,end apogee,CONTROL_FINISHED_OK
$STATE,11783,begin climb
$GC,11785,0.76,116.8,1005.0,0.0,669,11912,0.90,2.62,116.05,1.231,4,0.086,0.052,3420,3009,1473,0,0,0,0,0,0
$GC,11928,0.77,140.1,997.3,7.4,676,11959,0.00,2.42,25.25,1.160,6,0.000,0.035,3429,1597,1378,0,0,0,0,0,0
$GC,12275,0.77,140.1,964.7,9.7,693,12279,0.00,2.38,0.00,0.000,4,0.000,0.056,3440,189,1370,0,0,0,0,0,0
$GC,12359,0.77,140.1,956.3,9.7,697,12363,0.00,2.33,0.00,0.000,6,0.000,0.037,3440,1624,1368,0,0,0,0,0,0
$GC,12685,0.77,140.1,921.8,10.6,713,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1624,1368,0,0,0,0,0,0
$GC,12993,0.77,140.1,887.5,11.4,728,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1624,1368,0,0,0,0,0,0
$GC,13304,0.77,140.1,852.5,11.4,743,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1624,1367,0,0,0,0,0,0
$GC,13612,0.77,140.1,819.7,10.0,758,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1624,1366,0,0,0,0,0,0
$GC,13923,0.77,140.1,791.4,8.6,773,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1624,1366,0,0,0,0,0,0
$GC,14230,0.77,140.1,764.8,8.7,788,14235,0.00,2.35,0.00,0.000,4,0.000,0.055,3450,193,1366,0,0,0,0,0,0
$GC,14263,0.77,140.1,761.7,9.1,789,14268,0.03,2.22,0.00,0.000,6,0.168,0.037,3439,1596,1365,0,0,0,0,0,0
$GC,14584,0.77,140.1,732.9,9.2,805,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1596,1366,0,0,0,0,0,0
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$STATE,22662,end climb,SURFACE_DEPTH_REACHED
$STATE,22662,begin surface coast
$FINISH,1.7,1.023454
$STATE,22670,end surface coast,CONTROL_FINISHED_OK
$STATE,22670,begin surface
$SM_CCo,22689,9.57,0.053,0,0,1133,200.16
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$IRIDIUM_FIX,-4438.33,617.73,130808,151541
$TT8_MAMPS,0.026215
$HUMID,64.05
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.2,46.377
$10V_AH,9.6,48.649
$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
$DEVICE_SECS,24.075,226.800,292.450,9.575,0.000,25.593,41.893,261.741,0.000,0.000,27.466,2846.905,16054.962,457.549,3532.449,278.423,0.000,1852.809,0.000,3049.520,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,93801,1292
$CAP_FILE_SIZE,206916,0
$CFSIZE,2097086464,2041544704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181015,133827,-4455.305,629.302,41,1.0,41,-24.4