version: 66.07.10.p01
glider: 573
mission: 12
dive: 428
start: 10 28 115 6 38 1
data:
$ID,573
$MISSION,12
$DIVE,428
$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,-22333.814
$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,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,427
$GPS1,281015,062834,-4504.034,629.552,34,0.9,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-68.2
$GPS2,281015,063740,-4504.016,629.575,15,1.0,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,294.6,7292,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-25.65,0.000,2,0.000,0.000,80,2058,1631,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-2.9,4,113,11.60,2.33,-38.03,0.000,4,0.230,0.073,2920,3447,2424,0,0,0,0,0,0
$GC,220,-0.67,-116.8,12.6,-10.8,30,228,0.12,2.22,0.00,0.000,6,0.134,0.043,2960,2064,2427,0,0,0,0,0,0
$GC,280,-0.67,-116.8,18.8,-9.8,39,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2064,2427,0,0,0,0,0,0
$GC,338,-0.67,-116.8,24.1,-9.1,48,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2065,2428,0,0,0,0,0,0
$GC,493,-0.67,-116.8,38.2,-10.0,73,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2065,2428,0,0,0,0,0,0
$GC,638,-0.67,-116.8,52.9,-10.2,98,643,0.00,2.28,0.00,0.000,4,0.000,0.054,2961,654,2428,0,0,0,0,0,0
$GC,673,-0.67,-116.8,56.4,-10.5,104,678,0.00,2.20,0.00,0.000,6,0.000,0.037,2952,2053,2428,0,0,0,0,0,0
$GC,1010,-0.67,-116.8,90.7,-10.1,150,1014,0.00,2.28,0.00,0.000,4,0.000,0.055,2941,3469,2428,0,0,0,0,0,0
$GC,1042,-0.64,-116.8,94.4,-10.5,151,1049,0.12,2.20,0.00,0.000,6,0.158,0.039,2974,2051,2428,0,0,0,0,0,0
$GC,1361,-0.64,-116.8,122.9,-9.1,167,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2051,2428,0,0,0,0,0,0
$GC,1668,-0.64,-116.8,150.6,-9.1,182,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2051,2428,0,0,0,0,0,0
$GC,1979,-0.67,-116.8,178.7,-9.0,197,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2051,2428,0,0,0,0,0,0
$GC,2287,-0.72,-116.8,207.3,-9.8,212,2289,0.05,0.00,0.00,0.000,6,0.164,0.000,2926,2051,2428,0,0,0,0,0,0
$GC,2598,-0.66,-116.8,243.8,-11.9,227,2603,0.15,2.25,0.00,0.000,4,0.154,0.056,2969,653,2428,0,0,0,0,0,0
$GC,2641,-0.66,-116.8,248.3,-10.6,229,2645,0.00,2.22,0.00,0.000,6,0.000,0.041,2960,2065,2428,0,0,0,0,0,0
$GC,2970,-0.66,-116.8,281.2,-9.7,245,2974,0.00,2.28,0.00,0.000,4,0.000,0.063,2950,3462,2428,0,0,0,0,0,0
$GC,3019,-0.66,-116.8,286.1,-9.5,247,3024,0.05,2.20,0.00,0.000,6,0.148,0.038,2967,2061,2428,0,0,0,0,0,0
$GC,3342,-0.69,-116.8,313.3,-8.2,263,3346,0.00,2.25,0.00,0.000,4,0.000,0.054,2967,660,2429,0,0,0,0,0,0
$GC,3380,-0.69,-116.8,316.9,-8.4,264,3386,0.00,2.20,0.00,0.000,6,0.000,0.040,2958,2068,2428,0,0,0,0,0,0
$GC,3696,-0.69,-116.8,343.1,-8.1,280,3700,0.00,2.28,0.00,0.000,4,0.000,0.060,2948,3473,2429,0,0,0,0,0,0
$GC,3750,-0.69,-116.8,347.8,-8.6,282,3756,0.00,2.22,0.00,0.000,6,0.000,0.041,2948,2067,2428,0,0,0,0,0,0
$GC,4065,-0.69,-116.8,374.9,-8.6,298,4069,0.00,2.25,0.00,0.000,4,0.000,0.054,2948,652,2428,0,0,0,0,0,0
$GC,4120,-0.69,-116.8,380.0,-9.8,300,4127,0.05,2.25,0.00,0.000,6,0.153,0.041,2956,2056,2428,0,0,0,0,0,0
$GC,4436,-0.69,-116.8,406.5,-8.2,316,4440,0.00,2.28,0.00,0.000,4,0.000,0.057,2946,3469,2428,0,0,0,0,0,0
$GC,4490,-0.69,-116.8,411.4,-9.1,318,4496,0.00,2.22,0.00,0.000,6,0.000,0.040,2946,2055,2428,0,0,0,0,0,0
$GC,4806,-0.69,-116.8,437.7,-8.4,334,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2056,2428,0,0,0,0,0,0
$GC,5116,-0.69,-116.8,464.2,-8.6,349,5120,0.00,2.25,0.00,0.000,4,0.000,0.056,2946,657,2428,0,0,0,0,0,0
$GC,5166,-0.69,-116.8,469.0,-9.6,351,5171,0.08,2.22,0.00,0.000,6,0.194,0.040,2955,2068,2428,0,0,0,0,0,0
$GC,5494,-0.69,-116.8,495.1,-7.8,367,5498,0.00,2.28,0.00,0.000,4,0.000,0.061,2945,3467,2428,0,0,0,0,0,0
$GC,5571,-0.69,-116.8,501.4,-8.3,370,5577,0.00,2.22,0.00,0.000,6,0.000,0.039,2945,2055,2428,0,0,0,0,0,0
$GC,5886,-0.69,-116.8,527.1,-8.2,386,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2055,2428,0,0,0,0,0,0
$GC,6197,-0.69,-116.8,552.0,-7.9,401,6201,0.00,2.25,0.00,0.000,4,0.000,0.057,2945,652,2428,0,0,0,0,0,0
$GC,6257,-0.69,-116.8,557.2,-8.4,404,6262,0.10,2.22,0.00,0.000,6,0.171,0.042,2962,2057,2428,0,0,0,0,0,0
$GC,6585,-0.73,-116.8,579.8,-6.7,420,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2427,0,0,0,0,0,0
$GC,6894,-0.78,-116.8,600.2,-6.3,435,6899,0.10,2.30,0.00,0.000,4,0.097,0.060,2893,3466,2427,0,0,0,0,0,0
$GC,6956,-0.68,-116.8,605.4,-8.2,438,6960,0.22,2.20,0.00,0.000,6,0.142,0.041,2958,2061,2426,0,0,0,0,0,0
$GC,7283,-0.73,-116.8,627.7,-6.7,454,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2061,2427,0,0,0,0,0,0
$GC,7592,-0.77,-116.8,647.8,-6.5,469,7594,0.08,0.00,0.00,0.000,6,0.121,0.000,2908,2061,2426,0,0,0,0,0,0
$GC,7900,-0.70,-116.8,673.4,-8.2,484,7905,0.17,2.30,0.00,0.000,4,0.151,0.057,2958,652,2426,0,0,0,0,0,0
$GC,7963,-0.70,-116.8,677.9,-6.7,487,7967,0.00,2.25,0.00,0.000,6,0.000,0.042,2949,2074,2426,0,0,0,0,0,0
$GC,8290,-0.70,-116.8,700.5,-7.3,503,8294,0.00,2.28,0.00,0.000,4,0.000,0.060,2938,3470,2426,0,0,0,0,0,0
$GC,8367,-0.70,-116.8,706.7,-7.8,506,8374,0.03,2.22,0.00,0.000,6,0.170,0.041,2949,2065,2425,0,0,0,0,0,0
$GC,8682,-0.70,-116.8,731.0,-7.9,522,8687,0.00,2.28,0.00,0.000,4,0.000,0.055,2949,645,2426,0,0,0,0,0,0
$GC,8754,-0.70,-116.8,737.2,-8.5,525,8759,0.05,2.22,0.00,0.000,6,0.223,0.037,2952,2062,2425,0,0,0,0,0,0
$GC,9078,-0.74,-116.8,761.5,-7.6,541,9082,0.00,2.30,0.00,0.000,4,0.000,0.063,2942,3466,2425,0,0,0,0,0,0
$GC,9122,-0.77,-116.8,765.4,-7.4,543,9126,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,2050,2425,0,0,0,0,0,0
$GC,9443,-0.77,-116.8,790.3,-7.8,559,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2049,2425,0,0,0,0,0,0
$GC,9751,-0.77,-116.8,813.8,-7.6,574,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2050,2425,0,0,0,0,0,0
$GC,10062,-0.77,-116.8,836.5,-7.1,589,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2050,2425,0,0,0,0,0,0
$GC,10370,-0.77,-116.8,859.1,-7.6,604,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2050,2424,0,0,0,0,0,0
$GC,10680,-0.77,-116.8,882.4,-7.9,619,10684,0.00,2.28,0.00,0.000,4,0.000,0.055,2941,647,2425,0,0,0,0,0,0
$GC,10709,-0.77,-116.8,884.8,-8.5,620,10713,0.00,2.25,0.00,0.000,6,0.000,0.041,2932,2071,2424,0,0,0,0,0,0
$GC,11025,-0.77,-116.8,910.9,-8.5,635,11029,0.00,2.25,0.00,0.000,4,0.000,0.060,2922,3463,2424,0,0,0,0,0,0
$GC,11074,-0.77,-116.8,915.2,-8.9,637,11078,0.00,2.20,0.00,0.000,6,0.000,0.041,2922,2056,2424,0,0,0,0,0,0
$GC,11402,-0.77,-116.8,942.9,-8.4,653,11406,0.00,2.28,0.00,0.000,4,0.000,0.057,2922,658,2424,0,0,0,0,0,0
$GC,11429,-0.74,-116.8,945.8,-10.1,654,11434,0.12,2.20,0.00,0.000,6,0.162,0.041,2947,2064,2424,0,0,0,0,0,0
$GC,11750,-0.78,-116.8,969.0,-6.9,670,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2064,2424,0,0,0,0,0,0
$GC,12060,-0.83,-116.8,989.5,-6.4,685,12065,0.10,2.30,0.00,0.000,4,0.096,0.063,2880,3462,2423,0,0,0,0,0,0
$GC,12092,-0.73,-116.8,992.3,-8.8,686,12099,0.22,2.20,0.00,0.000,6,0.143,0.041,2945,2058,2423,0,0,0,0,0,0
$STATE,12221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12221,begin apogee
$GC,12227,-0.19,0.0,1000.8,6.2,693,12342,0.55,0.00,110.05,1.267,6,0.132,0.000,3115,1590,1950,0,0,0,0,0,0
$STATE,12343,end apogee,CONTROL_FINISHED_OK
$STATE,12343,begin climb
$GC,12345,0.76,116.8,1002.5,0.0,699,12467,0.93,0.00,117.93,1.223,6,0.086,0.000,3423,1590,1473,0,0,0,0,0,0
$GC,12775,0.76,116.8,967.8,8.6,720,12779,0.00,2.38,0.00,0.000,4,0.000,0.057,3434,190,1466,0,0,0,0,0,0
$GC,12863,0.76,116.8,959.7,9.3,724,12867,0.00,2.30,0.00,0.000,6,0.000,0.037,3433,1607,1464,0,0,0,0,0,0
$GC,13189,0.76,116.8,931.0,8.7,740,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1607,1463,0,0,0,0,0,0
$GC,13500,0.76,116.8,903.9,8.6,755,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1607,1463,0,0,0,0,0,0
$GC,13808,0.76,116.8,877.6,8.6,770,13812,0.00,2.33,0.00,0.000,4,0.000,0.054,3443,197,1462,0,0,0,0,0,0
$GC,13870,0.76,116.8,871.9,8.9,773,13874,0.05,2.20,0.00,0.000,6,0.207,0.036,3431,1600,1461,0,0,0,0,0,0
$GC,14198,0.76,116.9,843.0,8.5,789,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1600,1461,0,0,0,0,0,0
$GC,14504,0.76,116.9,816.2,8.6,804,14508,0.00,2.25,0.00,0.000,4,0.000,0.054,3430,2998,1461,0,0,0,0,0,0
$GC,14543,0.76,116.9,812.6,9.3,806,14547,0.00,2.17,0.00,0.000,6,0.000,0.036,3438,1599,1461,0,0,0,0,0,0
$GC,14869,0.76,116.9,783.8,8.6,822,14873,0.00,2.30,0.00,0.000,4,0.000,0.057,3449,190,1461,0,0,0,0,0,0
$GC,14946,0.76,116.9,776.3,9.8,825,14951,0.05,2.22,0.00,0.000,6,0.141,0.037,3431,1598,1460,0,0,0,0,0,0
$GC,15263,0.76,120.9,749.9,8.3,841,15264,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1598,1461,0,0,0,0,0,0
$GC,15571,0.76,123.2,723.8,8.4,856,15581,0.00,2.28,5.20,0.789,4,0.000,0.053,3440,190,1446,0,0,0,0,0,0
$GC,15632,0.76,123.2,718.1,9.1,859,15636,0.00,2.20,0.00,0.000,6,0.000,0.036,3440,1608,1446,0,0,0,0,0,0
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$STATE,23342,end climb,SURFACE_DEPTH_REACHED
$STATE,23342,begin surface coast
$FINISH,1.9,1.023417
$STATE,23368,end surface coast,CONTROL_FINISHED_OK
$STATE,23368,begin surface
$SM_CCo,23389,7.30,0.055,0,0,1133,200.16
$SM_GC,4.04,0.00,0.00,7.30,0.000,0.000,0.055,82,2042,1133,-9.70,-0.51,200.16
$IRIDIUM_FIX,-4447.43,628.16,230808,131332
$TT8_MAMPS,0.026964
$HUMID,64.72
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,22.1,51.074
$10V_AH,9.6,53.608
$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
$DEVICE_SECS,25.450,163.825,298.575,7.300,0.000,25.148,41.961,322.261,0.250,0.000,18.804,2843.029,16865.949,449.790,3472.198,301.845,0.000,1747.554,0.000,2939.022,0.000,0.539,0.000
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$SENSOR_SECS,637.709,1848.811,976.735,577.413,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,97296,1326
$CAP_FILE_SIZE,197253,0
$CFSIZE,2097086464,2035908608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281015,130905,-4504.317,628.490,30,1.8,31,-24.4