version: 66.07.10.p01
glider: 573
mission: 12
dive: 387
start: 10 18 115 20 16 55
data:
$ID,573
$MISSION,12
$DIVE,387
$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,-22224.457
$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,386
$GPS1,181015,200752,-4454.695,634.094,41,0.8,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-69.3
$GPS2,181015,201634,-4454.719,634.102,18,1.1,18,-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,158.0,3437,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-13.82,0.000,2,0.000,0.000,83,2069,1403,0,0,0,0,0,0
$GC,43,-1.13,-114.8,3.1,-1.1,2,112,11.05,2.30,-51.65,0.000,4,0.228,0.066,2813,657,2416,0,0,0,0,0,0
$GC,123,-1.22,-116.8,3.9,-4.3,14,131,0.00,2.25,0.00,0.000,6,0.000,0.040,2805,2048,2417,0,0,0,0,0,0
$GC,182,-1.17,-116.8,13.6,-18.0,23,190,0.00,2.33,0.00,0.000,4,0.000,0.054,2805,652,2418,0,0,0,0,0,0
$GC,456,-1.10,-116.8,65.3,-18.1,69,464,0.08,2.28,0.00,0.000,6,0.177,0.043,2819,2054,2418,0,0,0,0,0,0
$GC,793,-1.10,-116.8,122.1,-16.9,96,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,2418,0,0,0,0,0,0
$GC,1103,-1.10,-116.8,174.0,-16.2,111,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,2419,0,0,0,0,0,0
$GC,1410,-1.10,-116.8,222.8,-15.7,126,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,2419,0,0,0,0,0,0
$GC,1722,-1.10,-116.8,271.3,-15.4,141,1726,0.00,2.30,0.00,0.000,4,0.000,0.057,2807,3478,2419,0,0,0,0,0,0
$GC,1829,-1.10,-116.8,288.3,-15.7,146,1834,0.08,2.22,0.00,0.000,6,0.201,0.041,2825,2060,2419,0,0,0,0,0,0
$GC,2154,-1.10,-116.8,335.6,-14.4,162,2158,0.00,2.28,0.00,0.000,4,0.000,0.055,2825,649,2419,0,0,0,0,0,0
$GC,2238,-1.10,-116.8,348.6,-16.5,166,2242,0.00,2.22,0.00,0.000,6,0.000,0.043,2816,2066,2419,0,0,0,0,0,0
$GC,2564,-1.10,-116.8,398.8,-15.3,182,2568,0.00,2.28,0.00,0.000,4,0.000,0.063,2805,3462,2419,0,0,0,0,0,0
$GC,2702,-1.10,-116.8,420.0,-15.4,188,2708,0.05,2.22,0.00,0.000,6,0.176,0.041,2821,2057,2419,0,0,0,0,0,0
$GC,3023,-1.10,-116.8,466.1,-14.3,204,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2057,2420,0,0,0,0,0,0
$GC,3334,-1.13,-116.8,510.7,-14.0,219,3338,0.00,2.30,0.00,0.000,4,0.000,0.060,2812,3462,2419,0,0,0,0,0,0
$GC,3394,-1.13,-116.8,519.2,-13.6,222,3398,0.00,2.20,0.00,0.000,6,0.000,0.041,2812,2056,2419,0,0,0,0,0,0
$GC,3725,-1.13,-116.8,566.3,-14.2,238,3730,0.00,2.30,0.00,0.000,4,0.000,0.060,2803,3462,2419,0,0,0,0,0,0
$GC,3809,-1.13,-116.8,578.6,-15.0,242,3814,0.05,2.20,0.00,0.000,6,0.226,0.041,2813,2061,2419,0,0,0,0,0,0
$GC,4140,-1.13,-116.8,626.3,-14.6,258,4144,0.00,2.30,0.00,0.000,4,0.000,0.060,2805,3463,2419,0,0,0,0,0,0
$GC,4190,-1.13,-116.8,633.9,-15.5,260,4194,0.00,2.22,0.00,0.000,6,0.000,0.041,2805,2061,2419,0,0,0,0,0,0
$GC,4510,-1.13,-116.8,682.2,-15.4,276,4514,0.00,2.28,0.00,0.000,4,0.000,0.057,2805,659,2419,0,0,0,0,0,0
$GC,4549,-1.13,-116.8,688.5,-16.5,278,4554,0.10,2.20,0.00,0.000,6,0.202,0.044,2818,2055,2419,0,0,0,0,0,0
$GC,4882,-1.17,-116.8,735.4,-13.5,294,4886,0.00,2.30,0.00,0.000,4,0.000,0.058,2808,3475,2419,0,0,0,0,0,0
$GC,4953,-1.17,-116.8,745.3,-13.6,297,4957,0.00,2.25,0.00,0.000,6,0.000,0.045,2808,2068,2418,0,0,0,0,0,0
$GC,5275,-1.17,-116.8,786.1,-12.3,313,5279,0.00,2.25,0.00,0.000,4,0.000,0.059,2799,3466,2418,0,0,0,0,0,0
$GC,5329,-1.17,-116.8,793.4,-12.6,315,5334,0.00,2.25,0.00,0.000,6,0.000,0.042,2799,2053,2418,0,0,0,0,0,0
$GC,5645,-1.17,-116.8,831.8,-12.3,331,5650,0.00,2.30,0.00,0.000,4,0.000,0.062,2790,3465,2417,0,0,0,0,0,0
$GC,5689,-1.17,-116.8,837.7,-12.4,333,5694,0.03,2.25,0.00,0.000,6,0.201,0.044,2798,2060,2417,0,0,0,0,0,0
$GC,6016,-1.17,-116.8,878.8,-12.6,349,6020,0.00,2.28,0.00,0.000,4,0.000,0.059,2798,650,2417,0,0,0,0,0,0
$GC,6055,-1.17,-116.8,884.0,-12.8,351,6060,0.08,2.25,0.00,0.000,6,0.220,0.046,2805,2072,2418,0,0,0,0,0,0
$GC,6382,-1.17,-116.8,924.3,-12.2,367,6386,0.00,2.30,0.00,0.000,4,0.000,0.063,2795,3476,2417,0,0,0,0,0,0
$GC,6511,-1.17,-116.8,940.9,-13.3,373,6516,0.00,2.25,0.00,0.000,6,0.000,0.046,2795,2058,2416,0,0,0,0,0,0
$GC,6838,-1.17,-116.8,982.2,-12.5,389,6842,0.00,2.28,0.00,0.000,4,0.000,0.057,2795,648,2416,0,0,0,0,0,0
$GC,6893,-1.17,-116.8,989.9,-13.4,391,6899,0.05,2.28,0.00,0.000,6,0.187,0.044,2801,2054,2416,0,0,0,0,0,0
$STATE,6979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6985,-0.19,0.0,1001.0,12.9,396,7096,1.08,0.00,106.75,1.272,6,0.158,0.000,3113,1593,1949,0,0,0,0,0,0
$STATE,7096,end apogee,CONTROL_FINISHED_OK
$STATE,7097,begin climb
$GC,7098,1.13,116.8,1004.3,0.0,401,7225,1.30,2.60,115.50,1.229,4,0.086,0.054,3555,198,1473,0,0,0,0,0,0
$GC,7269,1.13,116.8,987.7,14.5,409,7274,0.00,2.45,0.00,0.000,6,0.000,0.036,3555,1611,1470,0,0,0,0,0,0
$GC,7597,1.18,116.8,940.2,14.8,425,7601,0.00,2.38,0.00,0.000,4,0.000,0.050,3564,191,1466,0,0,0,0,0,0
$GC,7681,1.18,116.8,927.3,16.4,429,7686,0.00,2.30,0.00,0.000,6,0.000,0.036,3564,1614,1465,0,0,0,0,0,0
$GC,8008,1.18,116.8,879.5,14.5,445,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1614,1464,0,0,0,0,0,0
$GC,8317,1.21,116.8,836.0,13.7,460,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1614,1463,0,0,0,0,0,0
$GC,8627,1.21,116.8,794.4,13.5,475,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1614,1463,0,0,0,0,0,0
$GC,8935,1.24,116.8,753.3,12.8,490,8939,0.00,2.30,0.00,0.000,4,0.000,0.051,3573,199,1462,0,0,0,0,0,0
$GC,8962,1.24,116.8,749.6,13.3,491,8966,0.00,2.25,0.00,0.000,6,0.000,0.037,3573,1608,1462,0,0,0,0,0,0
$GC,9290,1.24,116.8,706.5,13.5,507,9294,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,196,1462,0,0,0,0,0,0
$GC,9329,1.24,116.8,700.9,14.1,509,9333,0.00,2.20,0.00,0.000,6,0.000,0.036,3583,1601,1462,0,0,0,0,0,0
$GC,9656,1.24,116.8,655.3,13.9,525,9660,0.00,2.28,0.00,0.000,4,0.000,0.052,3591,198,1462,0,0,0,0,0,0
$GC,9677,1.24,116.8,651.9,15.4,526,9681,0.00,2.22,0.00,0.000,6,0.000,0.037,3591,1596,1461,0,0,0,0,0,0
$GC,10003,1.24,116.8,603.8,14.8,542,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1597,1461,0,0,0,0,0,0
$GC,10314,1.24,116.8,557.0,15.2,557,10318,0.00,2.25,0.00,0.000,4,0.000,0.056,3591,2992,1461,0,0,0,0,0,0
$GC,10346,1.21,116.8,551.6,15.3,558,10352,0.05,2.20,0.00,0.000,6,0.151,0.035,3573,1593,1461,0,0,0,0,0,0
$GC,10661,1.21,116.8,505.3,14.7,574,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1592,1461,0,0,0,0,0,0
$GC,10972,1.21,116.8,462.8,13.6,589,10976,0.00,2.25,0.00,0.000,4,0.000,0.054,3584,196,1461,0,0,0,0,0,0
$GC,10982,1.21,116.8,461.3,13.6,589,10986,0.00,2.17,0.00,0.000,6,0.000,0.037,3583,1602,1461,0,0,0,0,0,0
$GC,11298,1.21,116.8,419.5,12.9,605,11302,0.00,2.28,0.00,0.000,4,0.000,0.052,3593,195,1461,0,0,0,0,0,0
$GC,11324,1.21,116.8,415.9,12.5,606,11329,0.05,2.22,0.00,0.000,6,0.177,0.037,3577,1602,1461,0,0,0,0,0,0
$GC,11644,1.21,116.8,375.2,12.4,622,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1602,1461,0,0,0,0,0,0
$GC,11955,1.21,116.8,337.4,12.2,637,11959,0.00,2.22,0.00,0.000,4,0.000,0.054,3577,2999,1461,0,0,0,0,0,0
$GC,12054,1.21,116.8,324.2,12.6,641,12059,0.03,2.17,0.00,0.000,6,0.202,0.035,3578,1606,1461,0,0,0,0,0,0
$GC,12372,1.21,116.8,283.1,12.9,657,12376,0.00,2.28,0.00,0.000,4,0.000,0.054,3588,192,1461,0,0,0,0,0,0
$GC,12444,1.21,116.8,272.4,14.4,660,12449,0.03,2.22,0.00,0.000,6,0.203,0.037,3579,1602,1460,0,0,0,0,0,0
$GC,12768,1.21,116.8,231.6,12.1,676,12772,0.00,2.30,0.00,0.000,4,0.000,0.051,3587,193,1461,0,0,0,0,0,0
$GC,12817,1.21,116.8,224.7,13.4,678,12822,0.03,2.22,0.00,0.000,6,0.205,0.037,3579,1604,1460,0,0,0,0,0,0
$GC,13139,1.21,116.8,183.4,13.0,694,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1604,1461,0,0,0,0,0,0
$GC,13451,1.25,116.8,143.9,12.6,709,13455,0.00,2.28,0.00,0.000,4,0.000,0.051,3588,193,1461,0,0,0,0,0,0
$GC,13528,1.25,116.8,133.0,12.9,712,13536,0.00,2.22,0.00,0.000,6,0.000,0.036,3588,1607,1461,0,0,0,0,0,0
$GC,13844,1.25,116.8,93.7,12.5,728,13846,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1606,1460,0,0,0,0,0,0
$GC,14175,1.25,116.8,53.0,12.3,770,14180,0.00,2.30,0.00,0.000,4,0.000,0.051,3596,196,1461,0,0,0,0,0,0
$GC,14267,1.25,116.8,40.6,13.7,786,14274,0.00,2.20,0.00,0.000,6,0.000,0.034,3596,1597,1461,0,0,0,0,0,0
$STATE,14585,end climb,SURFACE_DEPTH_REACHED
$STATE,14585,begin surface coast
$FINISH,1.7,1.011841
$STATE,14617,end surface coast,CONTROL_FINISHED_OK
$STATE,14618,begin surface
$SM_CCo,14636,40.62,0.054,0,0,1132,200.16
$SM_GC,3.58,0.00,0.00,40.62,0.000,0.000,0.054,81,2060,1132,-9.70,0.00,200.16
$IRIDIUM_FIX,-4441.36,639.57,140808,030304
$TT8_MAMPS,0.027713
$HUMID,64.01
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.3,46.599
$10V_AH,9.7,48.873
$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,23.400,128.400,222.250,40.625,0.000,26.714,22.431,316.300,0.000,0.000,21.499,1854.626,10289.670,358.888,2481.525,204.342,0.000,1272.833,0.000,2016.363,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,65.790,1272.195,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.938,1222.687,680.185,418.046,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353188
$DATA_FILE_SIZE,60465,843
$CAP_FILE_SIZE,130975,0
$CFSIZE,2097086464,2041413632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191015,002251,-4455.358,636.235,42,1.0,43,-24.4