version: 66.07.10.p01
glider: 573
mission: 12
dive: 106
start: 8 17 115 18 28 47
data:
$ID,573
$MISSION,12
$DIVE,106
$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,-21341.156
$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,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,105
$GPS1,170815,182026,-4504.406,626.104,37,1.3,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-61.7
$GPS2,170815,182827,-4504.351,626.256,20,1.0,20,-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,306.8,3021,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-26.88,0.000,2,0.000,0.000,80,2071,1686,0,0,0,0,0,0
$GC,54,-1.13,-101.7,3.2,-2.6,4,100,11.50,2.30,-26.08,0.000,4,0.257,0.066,2819,664,2366,0,0,0,0,0,0
$GC,212,-1.03,-101.7,20.6,-16.4,29,220,0.12,2.22,0.00,0.000,6,0.181,0.040,2847,2054,2368,0,0,0,0,0,0
$GC,362,-1.03,-101.7,52.7,-20.8,54,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2054,2368,0,0,0,0,0,0
$GC,713,-1.03,-101.7,99.2,-12.8,115,718,0.00,2.25,0.00,0.000,4,0.000,0.052,2847,654,2369,0,0,0,0,0,0
$GC,803,-0.98,-101.7,112.9,-15.1,124,808,0.10,2.22,0.00,0.000,6,0.209,0.041,2861,2065,2369,0,0,0,0,0,0
$GC,1133,-1.04,-101.7,154.4,-13.1,155,1137,0.00,2.22,0.00,0.000,4,0.000,0.051,2861,658,2369,0,0,0,0,0,0
$GC,1187,-1.04,-101.7,162.3,-14.3,159,1193,0.00,2.22,0.00,0.000,6,0.000,0.041,2853,2058,2369,0,0,0,0,0,0
$GC,1513,-1.08,-101.7,210.0,-14.7,190,1517,0.00,2.25,0.00,0.000,4,0.000,0.059,2842,3472,2369,0,0,0,0,0,0
$GC,1557,-1.11,-101.7,216.6,-15.3,193,1562,0.00,2.17,0.00,0.000,6,0.000,0.040,2842,2058,2369,0,0,0,0,0,0
$GC,1881,-1.11,-101.7,262.9,-15.0,224,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2058,2369,0,0,0,0,0,0
$GC,2201,-1.14,-101.7,310.3,-14.8,254,2203,0.08,0.00,0.00,0.000,6,0.122,0.000,2803,2058,2370,0,0,0,0,0,0
$GC,2519,-1.10,-101.7,361.7,-16.1,284,2521,0.10,0.00,0.00,0.000,6,0.203,0.000,2826,2058,2370,0,0,0,0,0,0
$GC,2836,-1.10,-101.7,409.2,-15.0,311,2840,0.00,2.28,0.00,0.000,4,0.000,0.060,2816,3474,2370,0,0,0,0,0,0
$GC,2906,-1.10,-101.7,420.3,-15.2,314,2912,0.00,2.20,0.00,0.000,6,0.000,0.041,2817,2063,2370,0,0,0,0,0,0
$GC,3228,-1.10,-101.7,468.7,-14.7,330,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2063,2370,0,0,0,0,0,0
$GC,3537,-1.10,-101.7,516.1,-15.1,345,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2063,2370,0,0,0,0,0,0
$GC,3847,-1.10,-101.7,563.6,-15.4,360,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2063,2370,0,0,0,0,0,0
$GC,4156,-1.10,-101.7,609.7,-14.4,375,4160,0.00,2.25,0.00,0.000,4,0.000,0.057,2807,3477,2369,0,0,0,0,0,0
$GC,4196,-1.10,-101.7,615.8,-14.7,377,4200,0.10,2.17,0.00,0.000,6,0.195,0.041,2831,2058,2369,0,0,0,0,0,0
$GC,4521,-1.10,-101.7,660.3,-13.5,393,4525,0.00,2.25,0.00,0.000,4,0.000,0.059,2821,3474,2369,0,0,0,0,0,0
$GC,4561,-1.10,-101.7,665.8,-13.8,395,4565,0.00,2.17,0.00,0.000,6,0.000,0.041,2822,2059,2369,0,0,0,0,0,0
$GC,4887,-1.10,-101.7,711.2,-14.2,411,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2059,2369,0,0,0,0,0,0
$GC,5196,-1.10,-101.7,753.9,-14.1,426,5200,0.00,2.25,0.00,0.000,4,0.000,0.060,2812,3472,2368,0,0,0,0,0,0
$GC,5239,-1.10,-101.7,760.7,-15.2,428,5245,0.03,2.20,0.00,0.000,6,0.194,0.041,2821,2062,2368,0,0,0,0,0,0
$GC,5566,-1.10,-101.7,805.2,-13.6,444,5570,0.00,2.25,0.00,0.000,4,0.000,0.059,2812,3475,2368,0,0,0,0,0,0
$GC,5638,-1.10,-101.7,815.4,-14.1,447,5643,0.03,2.20,0.00,0.000,6,0.194,0.041,2821,2059,2368,0,0,0,0,0,0
$GC,5959,-1.10,-101.7,856.9,-12.8,463,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2059,2367,0,0,0,0,0,0
$GC,6268,-1.10,-101.7,896.4,-12.8,478,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2059,2367,0,0,0,0,0,0
$GC,6578,-1.10,-101.7,933.6,-12.1,493,6582,0.00,2.28,0.00,0.000,4,0.000,0.060,2812,3481,2367,0,0,0,0,0,0
$GC,6626,-1.10,-101.7,940.0,-12.5,495,6632,0.03,2.20,0.00,0.000,6,0.194,0.040,2822,2064,2367,0,0,0,0,0,0
$GC,6948,-1.13,-101.7,976.1,-11.1,511,6952,0.00,2.22,0.00,0.000,4,0.000,0.058,2813,3471,2366,0,0,0,0,0,0
$GC,6979,-1.13,-101.7,980.0,-11.9,512,6986,0.00,2.20,0.00,0.000,6,0.000,0.041,2812,2053,2367,0,0,0,0,0,0
$STATE,7171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7171,begin apogee
$GC,7175,-0.19,0.0,1002.3,11.7,522,7272,1.02,0.00,91.70,1.290,6,0.171,0.000,3118,1591,1950,0,0,0,0,0,0
$STATE,7273,end apogee,CONTROL_FINISHED_OK
$STATE,7273,begin climb
$GC,7274,1.13,101.7,1005.0,0.0,527,7380,1.27,2.45,97.32,1.257,4,0.091,0.050,3550,198,1535,0,0,0,0,0,0
$GC,7424,1.13,101.7,990.6,14.3,534,7429,0.00,2.38,0.00,0.000,6,0.000,0.034,3551,1621,1531,0,0,0,0,0,0
$GC,7751,1.13,101.7,945.5,13.9,550,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1622,1527,0,0,0,0,0,0
$GC,8061,1.13,101.7,902.7,13.9,565,8065,0.00,2.33,0.00,0.000,4,0.000,0.048,3560,198,1526,0,0,0,0,0,0
$GC,8109,1.13,101.7,895.4,14.8,567,8114,0.03,2.25,0.00,0.000,6,0.200,0.034,3553,1611,1525,0,0,0,0,0,0
$GC,8431,1.13,101.7,851.5,13.6,583,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1611,1525,0,0,0,0,0,0
$GC,8740,1.13,101.7,809.7,13.5,598,8744,0.00,2.28,0.00,0.000,4,0.000,0.049,3561,196,1524,0,0,0,0,0,0
$GC,8824,1.13,101.7,798.0,13.7,602,8828,0.05,2.20,0.00,0.000,6,0.230,0.034,3551,1612,1524,0,0,0,0,0,0
$GC,9151,1.13,101.7,754.9,13.5,618,9155,0.00,2.17,0.00,0.000,4,0.000,0.052,3551,2990,1524,0,0,0,0,0,0
$GC,9212,1.13,101.7,746.5,13.7,621,9216,0.00,2.15,0.00,0.000,6,0.000,0.034,3559,1592,1524,0,0,0,0,0,0
$GC,9539,1.13,101.7,703.8,12.4,637,9543,0.00,2.20,0.00,0.000,4,0.000,0.051,3570,194,1523,0,0,0,0,0,0
$GC,9656,1.09,101.7,688.0,13.0,642,9661,0.10,2.20,0.00,0.000,6,0.173,0.035,3539,1604,1523,0,0,0,0,0,0
$GC,9977,1.14,101.7,653.4,10.4,658,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1604,1523,0,0,0,0,0,0
$GC,10287,1.19,101.7,621.7,10.0,673,10288,0.08,0.00,0.00,0.000,6,0.129,0.000,3582,1604,1523,0,0,0,0,0,0
$GC,10596,1.16,101.7,585.1,12.3,688,10601,0.10,2.22,0.00,0.000,4,0.193,0.049,3569,199,1523,0,0,0,0,0,0
$GC,10658,1.13,101.7,577.4,12.8,691,10662,0.08,2.15,0.00,0.000,6,0.213,0.035,3552,1599,1522,0,0,0,0,0,0
$GC,10984,1.16,101.7,539.0,12.1,707,10988,0.00,2.22,0.00,0.000,4,0.000,0.050,3561,199,1522,0,0,0,0,0,0
$GC,11091,1.16,101.7,525.4,13.3,712,11095,0.00,2.15,0.00,0.000,6,0.000,0.035,3560,1596,1522,0,0,0,0,0,0
$GC,11417,1.16,101.7,485.5,12.0,728,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1596,1522,0,0,0,0,0,0
$GC,11726,1.16,101.7,447.9,12.5,743,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1596,1522,0,0,0,0,0,0
$GC,12036,1.16,101.7,407.3,13.4,758,12040,0.00,2.22,0.00,0.000,4,0.000,0.049,3570,198,1522,0,0,0,0,0,0
$GC,12090,1.16,101.7,399.4,14.0,760,12096,0.00,2.17,0.00,0.000,6,0.000,0.034,3570,1593,1522,0,0,0,0,0,0
$GC,12416,1.16,101.7,355.4,13.5,791,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1593,1521,0,0,0,0,0,0
$GC,12737,1.16,101.7,313.1,13.3,821,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1593,1521,0,0,0,0,0,0
$GC,13053,1.16,101.7,272.8,12.0,851,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1594,1521,0,0,0,0,0,0
$GC,13374,1.16,101.7,233.0,12.6,881,13378,0.00,2.20,0.00,0.000,4,0.000,0.048,3579,199,1521,0,0,0,0,0,0
$GC,13481,1.13,101.7,218.2,13.6,890,13486,0.12,2.15,0.00,0.000,6,0.185,0.034,3547,1608,1521,0,0,0,0,0,0
$GC,13806,1.18,101.7,180.0,11.6,920,13810,0.00,2.22,0.00,0.000,4,0.000,0.049,3556,198,1521,0,0,0,0,0,0
$GC,13856,1.18,101.7,173.9,11.8,924,13860,0.00,2.15,0.00,0.000,6,0.000,0.034,3556,1604,1521,0,0,0,0,0,0
$GC,14181,1.21,101.7,136.7,10.6,954,14185,0.00,2.22,0.00,0.000,4,0.000,0.048,3566,198,1521,0,0,0,0,0,0
$GC,14231,1.21,101.7,131.0,11.4,958,14235,0.00,2.15,0.00,0.000,6,0.000,0.034,3566,1607,1522,0,0,0,0,0,0
$GC,14560,1.21,101.7,96.3,9.7,991,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1607,1521,0,0,0,0,0,0
$GC,14906,1.21,101.7,63.2,8.8,1052,14912,0.00,2.22,0.00,0.000,4,0.000,0.048,3574,189,1521,0,0,0,0,0,0
$GC,15057,1.21,101.7,46.8,10.7,1078,15062,0.00,2.12,0.00,0.000,6,0.000,0.032,3574,1605,1521,0,0,0,0,0,0
$GC,15425,1.21,101.7,3.5,15.9,1139,15432,0.00,2.28,0.00,0.000,4,0.000,0.053,3585,198,1521,0,0,0,0,0,0
$STATE,15440,end climb,SURFACE_DEPTH_REACHED
$STATE,15440,begin surface coast
$FINISH,1.7,1.013738
$STATE,15459,end surface coast,CONTROL_FINISHED_OK
$STATE,15460,begin surface
$SM_CCo,15478,45.38,0.056,0,0,1133,200.16
$SM_GC,2.67,0.00,0.00,45.38,0.000,0.000,0.056,78,2059,1133,-9.71,-0.03,200.16
$IRIDIUM_FIX,-4450.47,625.47,130608,020256
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.5,16.978
$10V_AH,10.1,15.228
$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,24.050,108.100,189.025,45.375,0.000,28.012,45.587,283.870,0.000,0.000,23.043,2825.571,9691.604,333.010,3013.083,135.162,0.000,1371.587,0.000,2485.686,0.000,0.539,0.000
$DEVICE_MAMPS,257.040,65.790,1289.790,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.842,2088.960,860.386,471.585,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353320
$DATA_FILE_SIZE,80416,1144
$CAP_FILE_SIZE,142390,0
$CFSIZE,2097086464,2078244864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170815,224903,-4504.577,624.981,58,1.0,58,-24.4