version: 66.07.10.p01
glider: 573
mission: 12
dive: 512
start: 11 16 115 0 35 18
data:
$ID,573
$MISSION,12
$DIVE,512
$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,-22593.352
$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,36
$R_STBD_OVSHOOT,47
$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,511
$GPS1,161115,002603,-4457.154,628.845,70,0.8,70,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-68.0
$GPS2,161115,003458,-4457.130,628.964,15,1.2,15,-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,101.6,9460,-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,25,-0.76,-116.8,0.0,0.0,0,59,0.00,0.00,-31.98,0.000,2,0.000,0.000,78,2082,1590,0,0,0,0,0,0
$GC,62,-0.76,-116.8,3.3,-2.9,5,120,11.75,2.38,-37.22,0.000,4,0.231,0.067,2933,658,2425,0,0,0,0,0,0
$GC,379,-0.67,-116.8,34.2,-13.0,56,387,0.10,2.25,0.00,0.000,6,0.142,0.041,2958,2051,2428,0,0,0,0,0,0
$GC,530,-0.67,-116.8,50.3,-10.6,81,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2051,2428,0,0,0,0,0,0
$GC,884,-0.67,-116.8,83.8,-8.9,137,888,0.00,2.25,0.00,0.000,4,0.000,0.057,2948,3465,2428,0,0,0,0,0,0
$GC,1038,-0.67,-116.8,98.5,-9.4,144,1043,0.08,2.20,0.00,0.000,6,0.181,0.038,2966,2053,2428,0,0,0,0,0,0
$GC,1365,-0.67,-116.8,128.8,-9.2,160,1368,0.00,2.25,0.00,0.000,4,0.000,0.056,2966,649,2429,0,0,0,0,0,0
$GC,1465,-0.67,-116.8,138.7,-9.9,164,1469,0.00,2.25,0.00,0.000,6,0.000,0.041,2957,2059,2429,0,0,0,0,0,0
$GC,1787,-0.67,-116.8,170.2,-9.7,180,1791,0.00,2.28,0.00,0.000,4,0.000,0.060,2947,3463,2429,0,0,0,0,0,0
$GC,1836,-0.67,-116.8,175.2,-10.4,182,1841,0.03,2.22,0.00,0.000,6,0.177,0.038,2957,2056,2429,0,0,0,0,0,0
$GC,2158,-0.67,-116.8,206.5,-9.8,198,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2055,2429,0,0,0,0,0,0
$GC,2469,-0.67,-116.8,235.0,-8.8,213,2473,0.00,2.25,0.00,0.000,4,0.000,0.056,2957,647,2429,0,0,0,0,0,0
$GC,2547,-0.67,-116.8,242.6,-9.0,216,2556,0.03,2.25,0.00,0.000,6,0.175,0.041,2959,2057,2429,0,0,0,0,0,0
$GC,2864,-0.67,-116.8,268.6,-8.2,232,2868,0.00,2.30,0.00,0.000,4,0.000,0.061,2948,3475,2429,0,0,0,0,0,0
$GC,2904,-0.67,-116.8,272.0,-8.0,234,2909,0.08,2.20,0.00,0.000,6,0.178,0.041,2966,2056,2429,0,0,0,0,0,0
$GC,3233,-0.72,-116.8,298.0,-8.2,250,3236,0.00,2.25,0.00,0.000,4,0.000,0.056,2967,658,2429,0,0,0,0,0,0
$GC,3282,-0.72,-116.8,302.8,-9.0,252,3286,0.00,2.25,0.00,0.000,6,0.000,0.041,2958,2068,2429,0,0,0,0,0,0
$GC,3608,-0.72,-116.8,331.5,-8.9,268,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2068,2429,0,0,0,0,0,0
$GC,3919,-0.76,-116.8,358.1,-9.0,283,3923,0.00,2.30,0.00,0.000,4,0.000,0.054,2958,650,2428,0,0,0,0,0,0
$GC,3969,-0.76,-116.8,362.9,-9.0,285,3973,0.00,2.22,0.00,0.000,6,0.000,0.041,2949,2061,2429,0,0,0,0,0,0
$GC,4296,-0.76,-116.8,393.3,-9.4,301,4301,0.00,2.30,0.00,0.000,4,0.000,0.063,2938,3471,2428,0,0,0,0,0,0
$GC,4358,-0.76,-116.8,399.7,-10.7,304,4362,0.00,2.22,0.00,0.000,6,0.000,0.042,2939,2056,2429,0,0,0,0,0,0
$GC,4683,-0.76,-116.8,431.9,-9.6,320,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2056,2429,0,0,0,0,0,0
$GC,4994,-0.76,-116.8,459.9,-9.1,335,4998,0.00,2.28,0.00,0.000,4,0.000,0.056,2938,651,2429,0,0,0,0,0,0
$GC,5071,-0.76,-116.8,467.4,-9.7,338,5077,0.00,2.25,0.00,0.000,6,0.000,0.043,2930,2057,2429,0,0,0,0,0,0
$GC,5386,-0.76,-116.8,496.3,-9.1,354,5390,0.00,2.28,0.00,0.000,4,0.000,0.054,2929,647,2429,0,0,0,0,0,0
$GC,5441,-0.71,-116.8,501.7,-10.3,356,5447,0.12,2.25,0.00,0.000,6,0.161,0.041,2954,2078,2429,0,0,0,0,0,0
$GC,5757,-0.75,-116.8,527.0,-8.0,372,5761,0.00,2.22,0.00,0.000,4,0.000,0.057,2944,3471,2429,0,0,0,0,0,0
$GC,5853,-0.79,-116.8,535.0,-7.9,376,5857,0.00,2.20,0.00,0.000,6,0.000,0.042,2944,2058,2428,0,0,0,0,0,0
$GC,6169,-0.79,-116.8,560.6,-8.2,391,6173,0.00,2.25,0.00,0.000,4,0.000,0.057,2944,657,2428,0,0,0,0,0,0
$GC,6209,-0.79,-116.8,564.2,-8.6,393,6213,0.00,2.22,0.00,0.000,6,0.000,0.043,2935,2061,2428,0,0,0,0,0,0
$GC,6536,-0.79,-116.8,592.8,-8.5,409,6540,0.00,2.28,0.00,0.000,4,0.000,0.064,2925,3462,2428,0,0,0,0,0,0
$GC,6579,-0.79,-116.8,596.8,-9.0,411,6584,0.00,2.22,0.00,0.000,6,0.000,0.040,2925,2053,2428,0,0,0,0,0,0
$GC,6907,-0.79,-116.8,625.3,-8.8,427,6911,0.00,2.25,0.00,0.000,4,0.000,0.057,2924,652,2428,0,0,0,0,0,0
$GC,6962,-0.75,-116.8,630.7,-9.6,429,6967,0.10,2.22,0.00,0.000,6,0.174,0.042,2941,2059,2428,0,0,0,0,0,0
$GC,7278,-0.75,-116.8,656.4,-7.9,445,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2058,2428,0,0,0,0,0,0
$GC,7587,-0.75,-116.8,680.5,-7.9,460,7591,0.00,2.30,0.00,0.000,4,0.000,0.063,2931,3465,2428,0,0,0,0,0,0
$GC,7664,-0.75,-116.8,687.1,-8.5,463,7669,0.00,2.20,0.00,0.000,6,0.000,0.041,2931,2055,2427,0,0,0,0,0,0
$GC,7981,-0.75,-116.8,712.9,-8.2,479,7985,0.00,2.25,0.00,0.000,4,0.000,0.057,2931,656,2427,0,0,0,0,0,0
$GC,8024,-0.75,-116.8,717.0,-9.0,481,8029,0.08,2.22,0.00,0.000,6,0.187,0.043,2941,2059,2427,0,0,0,0,0,0
$GC,8352,-0.75,-116.8,744.1,-8.3,497,8356,0.00,2.30,0.00,0.000,4,0.000,0.063,2930,3464,2427,0,0,0,0,0,0
$GC,8429,-0.75,-116.8,751.1,-8.7,500,8435,0.00,2.22,0.00,0.000,6,0.000,0.041,2930,2060,2426,0,0,0,0,0,0
$GC,8746,-0.75,-116.8,777.6,-8.3,516,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2060,2426,0,0,0,0,0,0
$GC,9055,-0.75,-116.8,802.5,-8.2,531,9059,0.00,2.25,0.00,0.000,4,0.000,0.056,2931,656,2426,0,0,0,0,0,0
$GC,9087,-0.75,-116.8,805.5,-8.7,532,9093,0.05,2.25,0.00,0.000,6,0.147,0.044,2940,2054,2426,0,0,0,0,0,0
$GC,9404,-0.78,-116.8,829.4,-7.2,548,9408,0.00,2.30,0.00,0.000,4,0.000,0.060,2929,3476,2426,0,0,0,0,0,0
$GC,9437,-0.78,-116.8,832.1,-7.8,549,9442,0.00,2.22,0.00,0.000,6,0.000,0.041,2929,2053,2426,0,0,0,0,0,0
$GC,9754,-0.78,-116.8,855.6,-7.5,565,9758,0.00,2.25,0.00,0.000,4,0.000,0.056,2929,651,2425,0,0,0,0,0,0
$GC,9820,-0.78,-116.8,861.3,-8.6,568,9824,0.00,2.25,0.00,0.000,6,0.000,0.043,2920,2073,2425,0,0,0,0,0,0
$GC,10147,-0.78,-116.8,887.6,-8.1,584,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2073,2425,0,0,0,0,0,0
$GC,10457,-0.78,-116.8,912.7,-8.4,599,10461,0.00,2.28,0.00,0.000,4,0.000,0.060,2910,3471,2425,0,0,0,0,0,0
$GC,10501,-0.78,-116.8,916.7,-9.1,601,10506,0.08,2.25,0.00,0.000,6,0.175,0.042,2928,2056,2425,0,0,0,0,0,0
$GC,10829,-0.78,-116.8,942.4,-8.0,617,10833,0.00,2.25,0.00,0.000,4,0.000,0.057,2928,656,2425,0,0,0,0,0,0
$GC,10906,-0.78,-116.8,949.4,-8.7,620,10912,0.00,2.25,0.00,0.000,6,0.000,0.044,2920,2056,2425,0,0,0,0,0,0
$GC,11221,-0.78,-116.8,976.3,-8.5,636,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2056,2425,0,0,0,0,0,0
$STATE,11508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11508,begin apogee
$GC,11514,-0.19,0.0,1000.7,8.4,650,11630,0.65,0.00,111.32,1.261,6,0.139,0.000,3115,1597,1950,0,0,0,0,0,0
$STATE,11631,end apogee,CONTROL_FINISHED_OK
$STATE,11631,begin climb
$GC,11633,0.76,116.8,1004.1,0.0,656,11760,0.93,2.47,118.90,1.218,4,0.089,0.055,3432,201,1473,0,0,0,0,0,0
$GC,11799,0.76,116.8,994.6,9.1,664,11803,0.00,2.42,0.00,0.000,6,0.000,0.036,3432,1618,1470,0,0,0,0,0,0
$GC,12124,0.76,116.8,966.2,9.2,680,12128,0.00,2.40,0.00,0.000,4,0.000,0.053,3441,195,1465,0,0,0,0,0,0
$GC,12167,0.76,116.8,962.1,9.6,682,12172,0.00,2.28,0.00,0.000,6,0.000,0.035,3441,1603,1464,0,0,0,0,0,0
$GC,12493,0.76,116.8,930.4,9.7,698,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1603,1463,0,0,0,0,0,0
$GC,12804,0.76,116.8,900.3,9.9,713,12808,0.00,2.33,0.00,0.000,4,0.000,0.054,3451,192,1462,0,0,0,0,0,0
$GC,12838,0.76,116.8,896.8,10.3,714,12844,0.10,2.20,0.00,0.000,6,0.159,0.036,3424,1602,1462,0,0,0,0,0,0
$GC,13153,0.81,123.2,869.3,8.2,730,13164,0.00,2.20,5.50,0.850,4,0.000,0.053,3423,2989,1447,0,0,0,0,0,0
$GC,13191,0.81,123.2,865.8,8.9,732,13196,0.00,2.17,0.00,0.000,6,0.000,0.036,3432,1594,1447,0,0,0,0,0,0
$GC,13519,0.84,135.7,839.0,7.9,748,13541,0.08,2.30,14.38,1.078,4,0.122,0.057,3487,189,1396,0,0,0,0,0,0
$GC,13615,0.76,135.7,829.2,11.2,752,13620,0.20,2.22,0.00,0.000,6,0.138,0.036,3428,1599,1394,0,0,0,0,0,0
$GC,13936,0.81,155.6,804.2,7.6,768,13962,0.00,2.35,20.80,1.095,4,0.000,0.054,3437,189,1315,0,0,0,0,0,0
$GC,13990,0.85,157.0,799.8,8.5,770,13997,0.05,2.25,0.00,0.000,6,0.162,0.035,3475,1616,1312,0,0,0,0,0,0
$GC,14305,0.82,157.0,769.1,9.9,786,14310,0.10,2.20,0.00,0.000,4,0.159,0.054,3447,2994,1311,0,0,0,0,0,0
$GC,14337,0.82,157.0,766.0,9.5,787,14342,0.00,2.17,0.00,0.000,6,0.000,0.036,3456,1599,1311,0,0,0,0,0,0
$GC,14654,0.82,157.0,737.0,9.3,803,14657,0.00,2.28,0.00,0.000,4,0.000,0.057,3467,199,1310,0,0,0,0,0,0
$GC,14708,0.82,157.0,731.1,9.4,805,14713,0.05,2.20,0.00,0.000,6,0.136,0.037,3447,1597,1310,0,0,0,0,0,0
$GC,15030,0.82,157.0,699.9,10.0,821,15034,0.00,2.28,0.00,0.000,4,0.000,0.054,3457,198,1310,0,0,0,0,0,0
$GC,15056,0.82,157.0,697.0,11.1,822,15061,0.00,2.20,0.00,0.000,6,0.000,0.036,3458,1599,1310,0,0,0,0,0,0
$GC,15377,0.82,157.0,663.2,10.7,838,15381,0.00,2.20,0.00,0.000,4,0.000,0.053,3457,2991,1310,0,0,0,0,0,0
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$STATE,22405,end climb,SURFACE_DEPTH_REACHED
$STATE,22405,begin surface coast
$FINISH,1.7,1.010843
$STATE,22437,end surface coast,CONTROL_FINISHED_OK
$STATE,22437,begin surface
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$IRIDIUM_FIX,-4438.33,624.11,110908,070746
$TT8_MAMPS,0.026964
$HUMID,65.00
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,21.9,59.956
$10V_AH,9.7,62.981
$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
$DEVICE_SECS,24.075,203.800,285.350,11.225,0.000,24.739,40.341,304.238,0.250,0.000,17.819,2782.997,15946.456,430.059,3498.396,331.737,0.000,1797.769,0.000,2995.553,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
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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,353248
$DATA_FILE_SIZE,93645,1280
$CAP_FILE_SIZE,200483,0
$CFSIZE,2097086464,2024898560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161115,065127,-4457.645,633.336,64,0.8,64,-24.4