version: 66.07.10.p01
glider: 573
mission: 12
dive: 398
start: 10 21 115 7 41 7
data:
$ID,573
$MISSION,12
$DIVE,398
$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,-22252.582
$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,37
$R_STBD_OVSHOOT,42
$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,397
$GPS1,211015,072757,-4503.474,637.239,39,0.9,39,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-66.3
$GPS2,211015,074046,-4503.353,637.319,19,0.9,19,-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,259.6,2101,-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,25,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-13.62,0.000,2,0.000,0.000,81,2082,1399,0,0,0,0,0,0
$GC,43,-1.13,-116.8,3.0,-0.7,2,112,11.43,2.33,-47.47,0.000,4,0.238,0.075,2800,3444,2428,0,0,0,0,0,0
$GC,214,-1.08,-116.8,23.7,-20.1,29,222,0.10,2.22,0.00,0.000,6,0.170,0.041,2830,2067,2430,0,0,0,0,0,0
$GC,366,-1.08,-116.8,50.8,-17.5,54,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2068,2430,0,0,0,0,0,0
$GC,704,-1.08,-116.8,108.4,-17.1,92,708,0.00,2.30,0.00,0.000,4,0.000,0.052,2830,645,2430,0,0,0,0,0,0
$GC,758,-1.08,-116.8,118.5,-18.2,94,766,0.00,2.25,0.00,0.000,6,0.000,0.037,2822,2058,2430,0,0,0,0,0,0
$GC,1075,-1.08,-116.8,171.8,-16.4,110,1079,0.00,2.30,0.00,0.000,4,0.000,0.060,2811,3471,2430,0,0,0,0,0,0
$GC,1124,-1.08,-116.8,180.2,-16.2,112,1129,0.05,2.25,0.00,0.000,6,0.174,0.042,2827,2057,2430,0,0,0,0,0,0
$GC,1445,-1.08,-116.8,226.2,-14.2,128,1449,0.00,2.30,0.00,0.000,4,0.000,0.060,2819,3462,2431,0,0,0,0,0,0
$GC,1494,-1.08,-116.8,233.8,-14.7,130,1500,0.03,2.22,0.00,0.000,6,0.202,0.040,2827,2052,2430,0,0,0,0,0,0
$GC,1824,-1.11,-116.8,281.2,-14.5,146,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2052,2431,0,0,0,0,0,0
$GC,2132,-1.14,-116.8,327.4,-14.9,161,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2052,2431,0,0,0,0,0,0
$GC,2440,-1.18,-116.8,374.2,-15.1,176,2445,0.08,2.33,0.00,0.000,4,0.127,0.058,2782,3466,2431,0,0,0,0,0,0
$GC,2503,-1.14,-116.8,384.2,-16.9,179,2507,0.12,2.20,0.00,0.000,6,0.190,0.041,2812,2060,2431,0,0,0,0,0,0
$GC,2829,-1.14,-116.8,435.1,-15.6,195,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2060,2431,0,0,0,0,0,0
$GC,3137,-1.14,-116.8,483.0,-15.6,210,3141,0.00,2.30,0.00,0.000,4,0.000,0.060,2804,3462,2431,0,0,0,0,0,0
$GC,3186,-1.14,-116.8,490.9,-16.3,212,3190,0.00,2.22,0.00,0.000,6,0.000,0.041,2804,2054,2431,0,0,0,0,0,0
$GC,3506,-1.14,-116.8,541.8,-16.3,228,3510,0.00,2.30,0.00,0.000,4,0.000,0.060,2795,3462,2431,0,0,0,0,0,0
$GC,3550,-1.14,-116.8,549.0,-15.9,230,3555,0.05,2.22,0.00,0.000,6,0.178,0.041,2810,2057,2431,0,0,0,0,0,0
$GC,3876,-1.14,-116.8,599.0,-15.3,246,3880,0.00,2.30,0.00,0.000,4,0.000,0.060,2801,3462,2431,0,0,0,0,0,0
$GC,3908,-1.14,-116.8,604.1,-16.8,247,3913,0.00,2.22,0.00,0.000,6,0.000,0.041,2801,2056,2430,0,0,0,0,0,0
$GC,4224,-1.14,-116.8,651.7,-15.1,263,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2056,2430,0,0,0,0,0,0
$GC,4532,-1.14,-116.8,698.5,-15.3,278,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2056,2430,0,0,0,0,0,0
$GC,4843,-1.14,-116.8,743.8,-14.5,293,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2056,2430,0,0,0,0,0,0
$GC,5151,-1.14,-116.8,787.2,-13.6,308,5155,0.00,2.28,0.00,0.000,4,0.000,0.057,2801,658,2430,0,0,0,0,0,0
$GC,5177,-1.14,-116.8,790.9,-12.7,309,5183,0.05,2.25,0.00,0.000,6,0.192,0.043,2807,2053,2430,0,0,0,0,0,0
$GC,5500,-1.14,-116.8,831.8,-12.8,325,5504,0.00,2.30,0.00,0.000,4,0.000,0.057,2797,3474,2429,0,0,0,0,0,0
$GC,5560,-1.14,-116.8,840.2,-13.4,328,5565,0.08,2.25,0.00,0.000,6,0.203,0.044,2813,2053,2430,0,0,0,0,0,0
$GC,5893,-1.19,-116.8,879.4,-11.6,344,5897,0.00,2.35,0.00,0.000,4,0.000,0.062,2804,3475,2430,0,0,0,0,0,0
$GC,5992,-1.19,-116.8,892.0,-12.7,348,5998,0.00,2.28,0.00,0.000,6,0.000,0.045,2804,2054,2430,0,0,0,0,0,0
$GC,6308,-1.22,-116.8,931.2,-12.5,364,6312,0.00,2.35,0.00,0.000,4,0.000,0.062,2795,3475,2429,0,0,0,0,0,0
$GC,6357,-1.22,-116.8,937.9,-13.2,366,6361,0.00,2.28,0.00,0.000,6,0.000,0.045,2795,2056,2429,0,0,0,0,0,0
$GC,6677,-1.22,-116.8,979.4,-12.7,382,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2056,2429,0,0,0,0,0,0
$STATE,6862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6863,begin apogee
$GC,6868,-0.19,0.0,1002.1,12.1,391,6984,1.10,0.00,109.85,1.269,6,0.158,0.000,3113,1592,1950,0,0,0,0,0,0
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6987,1.13,116.8,1005.0,0.0,397,7113,1.30,2.60,115.78,1.222,4,0.088,0.053,3552,196,1473,0,0,0,0,0,0
$GC,7214,1.17,116.8,978.6,15.3,407,7219,0.00,2.40,0.00,0.000,6,0.000,0.035,3552,1619,1468,0,0,0,0,0,0
$GC,7531,1.22,116.8,935.0,13.5,423,7532,0.08,0.00,0.00,0.000,6,0.122,0.000,3589,1619,1465,0,0,0,0,0,0
$GC,7838,1.22,116.8,889.0,14.9,438,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1619,1464,0,0,0,0,0,0
$GC,8149,1.22,116.8,843.7,14.7,453,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1620,1464,0,0,0,0,0,0
$GC,8457,1.22,116.8,799.2,14.3,468,8461,0.00,2.35,0.00,0.000,4,0.000,0.053,3598,192,1463,0,0,0,0,0,0
$GC,8540,1.17,116.8,786.7,15.0,472,8545,0.15,2.20,0.00,0.000,6,0.169,0.036,3560,1603,1462,0,0,0,0,0,0
$GC,8872,1.21,116.8,744.9,12.1,488,8876,0.00,2.30,0.00,0.000,4,0.000,0.052,3569,192,1462,0,0,0,0,0,0
$GC,8922,1.21,116.8,738.3,13.9,490,8926,0.00,2.22,0.00,0.000,6,0.000,0.037,3569,1607,1462,0,0,0,0,0,0
$GC,9248,1.21,116.8,697.2,12.8,506,9252,0.00,2.22,0.00,0.000,4,0.000,0.054,3568,2992,1461,0,0,0,0,0,0
$GC,9274,1.21,116.8,693.5,13.7,507,9279,0.00,2.20,0.00,0.000,6,0.000,0.037,3576,1599,1461,0,0,0,0,0,0
$GC,9596,1.21,116.8,649.7,14.0,523,9600,0.00,2.30,0.00,0.000,4,0.000,0.054,3588,184,1461,0,0,0,0,0,0
$GC,9667,1.18,116.8,639.2,14.7,526,9672,0.10,2.22,0.00,0.000,6,0.185,0.034,3564,1610,1461,0,0,0,0,0,0
$GC,9988,1.22,116.8,597.6,12.5,542,9992,0.00,2.33,0.00,0.000,4,0.000,0.053,3573,189,1461,0,0,0,0,0,0
$GC,10031,1.22,116.8,591.7,13.4,544,10036,0.00,2.22,0.00,0.000,6,0.000,0.035,3573,1596,1461,0,0,0,0,0,0
$GC,10357,1.22,116.8,547.9,13.8,560,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1597,1461,0,0,0,0,0,0
$GC,10669,1.25,116.8,505.0,14.1,575,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1597,1461,0,0,0,0,0,0
$GC,10976,1.28,116.8,462.0,13.8,590,10978,0.08,0.00,0.00,0.000,6,0.123,0.000,3612,1597,1461,0,0,0,0,0,0
$GC,11287,1.24,116.8,416.3,15.1,605,11289,0.10,0.00,0.00,0.000,6,0.187,0.000,3588,1598,1461,0,0,0,0,0,0
$GC,11595,1.24,116.8,372.8,14.0,620,11599,0.00,2.30,0.00,0.000,4,0.000,0.054,3598,192,1461,0,0,0,0,0,0
$GC,11767,1.24,116.8,348.1,13.5,628,11772,0.05,2.22,0.00,0.000,6,0.226,0.037,3587,1611,1460,0,0,0,0,0,0
$GC,12098,1.24,116.8,305.6,12.7,644,12102,0.00,2.22,0.00,0.000,4,0.000,0.053,3587,2997,1460,0,0,0,0,0,0
$GC,12147,1.24,116.8,299.1,13.8,646,12151,0.00,2.20,0.00,0.000,6,0.000,0.036,3596,1597,1460,0,0,0,0,0,0
$GC,12469,1.24,116.8,258.0,13.4,662,12473,0.00,2.28,0.00,0.000,4,0.000,0.054,3607,196,1460,0,0,0,0,0,0
$GC,12627,1.19,116.8,235.1,14.3,669,12632,0.15,2.20,0.00,0.000,6,0.177,0.036,3568,1607,1460,0,0,0,0,0,0
$GC,12957,1.25,116.8,195.1,12.3,685,12961,0.00,2.30,0.00,0.000,4,0.000,0.051,3577,198,1460,0,0,0,0,0,0
$GC,13092,1.25,116.8,177.1,13.7,691,13096,0.00,2.20,0.00,0.000,6,0.000,0.036,3576,1605,1460,0,0,0,0,0,0
$GC,13415,1.29,116.8,142.0,10.3,707,13420,0.05,2.30,0.00,0.000,4,0.168,0.051,3618,189,1461,0,0,0,0,0,0
$GC,13600,1.23,116.8,117.7,13.4,715,13605,0.12,2.20,0.00,0.000,6,0.184,0.034,3585,1599,1460,0,0,0,0,0,0
$GC,13926,1.26,116.8,78.8,12.3,731,13931,0.00,2.25,0.00,0.000,4,0.000,0.054,3585,2994,1460,0,0,0,0,0,0
$GC,13949,1.26,116.8,75.6,12.1,735,13956,0.00,2.17,0.00,0.000,6,0.000,0.034,3594,1602,1461,0,0,0,0,0,0
$GC,14304,1.26,116.8,32.3,12.7,796,14311,0.00,2.30,0.00,0.000,4,0.000,0.053,3605,196,1460,0,0,0,0,0,0
$GC,14418,1.22,116.8,16.6,14.3,814,14426,0.08,2.20,0.00,0.000,6,0.167,0.035,3580,1598,1460,0,0,0,0,0,0
$GC,14477,1.22,116.8,8.8,13.0,823,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1599,1460,0,0,0,0,0,0
$STATE,14521,end climb,SURFACE_DEPTH_REACHED
$STATE,14521,begin surface coast
$FINISH,1.9,1.023430
$STATE,14547,end surface coast,CONTROL_FINISHED_OK
$STATE,14547,begin surface
$SM_CCo,14566,39.42,0.054,0,0,1133,200.16
$SM_GC,3.24,0.00,0.00,39.42,0.000,0.000,0.054,83,2077,1133,-9.69,0.48,200.16
$IRIDIUM_FIX,-4447.43,422.75,160808,202037
$TT8_MAMPS,0.028462
$HUMID,63.86
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,1
$24V_AH,22.2,47.800
$10V_AH,9.7,50.121
$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,24.475,114.950,225.625,39.425,0.000,50.991,80.169,405.069,0.250,0.000,22.775,1841.507,10299.848,355.785,2654.683,219.028,0.000,1272.096,0.000,2006.134,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,74.970,1269.135,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.555,1194.504,656.590,376.633,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353308
$DATA_FILE_SIZE,60672,834
$CAP_FILE_SIZE,132763,0
$CFSIZE,2097086464,2039939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211015,114553,-4504.139,635.961,43,1.1,44,-24.4