version: 66.07.10.p01
glider: 573
mission: 12
dive: 195
start: 9 5 115 21 24 44
data:
$ID,573
$MISSION,12
$DIVE,195
$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,-21614.076
$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,30
$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,194
$GPS1,050915,211657,-4504.627,624.572,45,0.9,45,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.1
$GPS2,050915,212423,-4504.707,624.601,20,1.2,20,-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,353.4,1526,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-20.42,0.000,2,0.000,0.000,60,2058,1536,0,0,0,0,0,0
$GC,48,-1.13,-107.2,3.0,-2.0,3,105,11.27,0.00,-40.62,0.000,6,0.241,0.000,2817,2052,2389,0,0,0,0,0,0
$GC,157,-1.06,-107.2,8.9,-12.4,20,165,0.10,0.00,0.00,0.000,6,0.198,0.000,2840,2052,2391,0,0,0,0,0,0
$GC,215,-1.06,-107.2,18.7,-18.1,29,223,0.00,2.35,0.00,0.000,4,0.000,0.062,2830,3467,2391,0,0,0,0,0,0
$GC,231,-1.06,-107.2,21.0,-16.5,31,239,0.00,2.22,0.00,0.000,6,0.000,0.042,2830,2069,2392,0,0,0,0,0,0
$GC,383,-1.06,-107.2,46.7,-17.5,56,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2070,2392,0,0,0,0,0,0
$GC,726,-1.06,-107.2,103.7,-16.6,115,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2069,2392,0,0,0,0,0,0
$GC,1049,-1.06,-107.2,155.2,-16.0,145,1053,0.00,2.25,0.00,0.000,4,0.000,0.053,2830,645,2392,0,0,0,0,0,0
$GC,1082,-1.02,-107.2,161.4,-16.8,147,1088,0.08,2.25,0.00,0.000,6,0.161,0.039,2855,2063,2393,0,0,0,0,0,0
$GC,1407,-1.07,-107.2,206.3,-12.6,178,1411,0.00,2.25,0.00,0.000,4,0.000,0.064,2845,3470,2393,0,0,0,0,0,0
$GC,1494,-1.11,-107.2,218.5,-14.1,185,1498,0.00,2.17,0.00,0.000,6,0.000,0.043,2845,2060,2393,0,0,0,0,0,0
$GC,1819,-1.15,-107.2,265.0,-14.2,215,1821,0.10,0.00,0.00,0.000,6,0.103,0.000,2800,2060,2393,0,0,0,0,0,0
$GC,2140,-1.10,-107.2,314.4,-15.3,245,2145,0.10,2.22,0.00,0.000,4,0.197,0.056,2824,655,2393,0,0,0,0,0,0
$GC,2171,-1.07,-107.2,319.9,-15.1,247,2178,0.05,2.25,0.00,0.000,6,0.187,0.044,2831,2061,2393,0,0,0,0,0,0
$GC,2497,-1.07,-107.2,366.6,-14.5,278,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2061,2393,0,0,0,0,0,0
$GC,2823,-1.07,-107.2,412.5,-14.1,305,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2061,2393,0,0,0,0,0,0
$GC,3133,-1.07,-107.2,454.3,-13.0,320,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2061,2393,0,0,0,0,0,0
$GC,3442,-1.07,-107.2,495.1,-13.6,335,3446,0.00,2.28,0.00,0.000,4,0.000,0.064,2821,3476,2393,0,0,0,0,0,0
$GC,3535,-1.07,-107.2,508.2,-13.4,339,3541,0.03,2.22,0.00,0.000,6,0.182,0.043,2831,2060,2393,0,0,0,0,0,0
$GC,3859,-1.10,-107.2,550.3,-12.9,355,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2060,2393,0,0,0,0,0,0
$GC,4167,-1.13,-107.2,590.5,-12.6,370,4171,0.00,2.22,0.00,0.000,4,0.000,0.057,2831,645,2393,0,0,0,0,0,0
$GC,4188,-1.13,-107.2,593.7,-14.2,371,4193,0.00,2.25,0.00,0.000,6,0.000,0.043,2822,2066,2393,0,0,0,0,0,0
$GC,4516,-1.13,-107.2,636.5,-13.7,387,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2066,2393,0,0,0,0,0,0
$GC,4825,-1.13,-107.2,679.9,-13.9,402,4829,0.00,2.22,0.00,0.000,4,0.000,0.063,2811,3463,2393,0,0,0,0,0,0
$GC,4932,-1.13,-107.2,695.4,-14.0,407,4936,0.00,2.15,0.00,0.000,6,0.000,0.042,2811,2060,2393,0,0,0,0,0,0
$GC,5258,-1.13,-107.2,741.9,-14.1,423,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2060,2393,0,0,0,0,0,0
$GC,5567,-1.13,-107.2,786.9,-14.7,438,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2059,2391,0,0,0,0,0,0
$GC,5877,-1.13,-107.2,828.1,-12.4,453,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2059,2391,0,0,0,0,0,0
$GC,6186,-1.13,-107.2,866.3,-12.1,468,6190,0.00,2.25,0.00,0.000,4,0.000,0.060,2802,3469,2391,0,0,0,0,0,0
$GC,6211,-1.13,-107.2,869.6,-12.9,469,6217,0.03,2.20,0.00,0.000,6,0.185,0.043,2811,2068,2391,0,0,0,0,0,0
$GC,6533,-1.13,-107.2,907.3,-11.5,485,6537,0.00,2.22,0.00,0.000,4,0.000,0.059,2802,3467,2391,0,0,0,0,0,0
$GC,6598,-1.13,-107.2,915.4,-12.6,488,6603,0.03,2.22,0.00,0.000,6,0.190,0.043,2811,2051,2390,0,0,0,0,0,0
$GC,6926,-1.13,-107.2,952.4,-11.7,504,6930,0.00,2.25,0.00,0.000,4,0.000,0.061,2803,3463,2390,0,0,0,0,0,0
$GC,6980,-1.13,-107.2,959.4,-13.1,506,6986,0.00,2.20,0.00,0.000,6,0.000,0.043,2803,2060,2390,0,0,0,0,0,0
$GC,7297,-1.13,-107.2,997.0,-12.1,522,7301,0.05,2.25,0.00,0.000,4,0.238,0.057,2813,655,2390,0,0,0,0,0,0
$STATE,7321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7321,begin apogee
$GC,7327,-0.19,0.0,1000.4,12.5,523,7429,1.02,0.00,98.45,1.291,6,0.171,0.000,3111,1612,1950,0,0,0,0,0,0
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7431,1.13,107.2,1003.4,0.0,528,7539,1.30,0.00,103.75,1.252,6,0.092,0.000,3539,1612,1512,0,0,0,0,0,0
$GC,7848,1.17,107.2,954.2,13.4,549,7853,0.05,2.40,0.00,0.000,4,0.157,0.052,3586,195,1504,0,0,0,0,0,0
$GC,7971,1.10,107.2,935.2,15.7,554,7977,0.17,2.28,0.00,0.000,6,0.173,0.037,3541,1612,1502,0,0,0,0,0,0
$GC,8287,1.14,107.2,894.3,12.8,570,8291,0.00,2.25,0.00,0.000,4,0.000,0.054,3541,2998,1502,0,0,0,0,0,0
$GC,8380,1.14,107.2,881.4,13.6,574,8385,0.00,2.22,0.00,0.000,6,0.000,0.034,3549,1595,1501,0,0,0,0,0,0
$GC,8704,1.14,107.2,840.5,12.7,590,8708,0.00,2.28,0.00,0.000,4,0.000,0.053,3560,190,1501,0,0,0,0,0,0
$GC,8774,1.14,107.2,830.6,13.9,593,8779,0.00,2.25,0.00,0.000,6,0.000,0.037,3560,1601,1500,0,0,0,0,0,0
$GC,9098,1.14,107.2,790.4,12.9,609,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1602,1500,0,0,0,0,0,0
$GC,9407,1.14,107.2,749.9,13.0,624,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1602,1500,0,0,0,0,0,0
$GC,9717,1.14,107.2,708.6,13.6,639,9721,0.00,2.28,0.00,0.000,4,0.000,0.051,3569,193,1500,0,0,0,0,0,0
$GC,9847,1.10,107.2,690.3,14.8,645,9852,0.12,2.20,0.00,0.000,6,0.187,0.036,3539,1611,1499,0,0,0,0,0,0
$GC,10180,1.16,107.2,649.1,12.3,661,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1611,1499,0,0,0,0,0,0
$GC,10488,1.21,107.2,611.4,11.9,676,10493,0.10,2.28,0.00,0.000,4,0.101,0.052,3601,194,1499,0,0,0,0,0,0
$GC,10618,1.11,107.2,592.6,15.1,682,10623,0.20,2.15,0.00,0.000,6,0.180,0.036,3548,1604,1498,0,0,0,0,0,0
$GC,10946,1.16,107.2,552.9,11.9,698,10950,0.00,2.28,0.00,0.000,4,0.000,0.052,3557,186,1499,0,0,0,0,0,0
$GC,11022,1.16,107.2,543.0,12.8,701,11028,0.00,2.20,0.00,0.000,6,0.000,0.035,3557,1590,1498,0,0,0,0,0,0
$GC,11338,1.16,107.2,503.6,12.6,717,11342,0.00,2.20,0.00,0.000,4,0.000,0.054,3557,2996,1498,0,0,0,0,0,0
$GC,11410,1.16,107.2,494.0,12.9,720,11415,0.03,2.17,0.00,0.000,6,0.211,0.034,3559,1593,1498,0,0,0,0,0,0
$GC,11731,1.16,107.2,453.9,12.5,736,11735,0.00,2.20,0.00,0.000,4,0.000,0.053,3568,198,1499,0,0,0,0,0,0
$GC,11860,1.16,107.2,436.7,13.2,742,11864,0.00,2.15,0.00,0.000,6,0.000,0.037,3568,1602,1498,0,0,0,0,0,0
$GC,12176,1.16,107.2,395.6,12.9,759,12180,0.00,2.17,0.00,0.000,4,0.000,0.054,3568,2994,1498,0,0,0,0,0,0
$GC,12227,1.16,107.2,388.7,13.4,763,12232,0.08,2.12,0.00,0.000,6,0.223,0.035,3562,1589,1498,0,0,0,0,0,0
$GC,12554,1.16,107.2,347.7,13.1,793,12558,0.00,2.22,0.00,0.000,4,0.000,0.054,3571,195,1498,0,0,0,0,0,0
$GC,12684,1.16,107.2,329.4,13.7,804,12688,0.05,2.17,0.00,0.000,6,0.235,0.037,3562,1606,1497,0,0,0,0,0,0
$GC,13013,1.16,107.2,286.1,13.5,835,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1607,1498,0,0,0,0,0,0
$GC,13335,1.16,107.2,244.0,12.8,865,13339,0.00,2.25,0.00,0.000,4,0.000,0.051,3570,200,1498,0,0,0,0,0,0
$GC,13441,1.16,107.2,229.2,13.6,874,13446,0.05,2.17,0.00,0.000,6,0.234,0.035,3560,1616,1498,0,0,0,0,0,0
$GC,13766,1.19,107.2,188.0,12.6,904,13770,0.00,2.17,0.00,0.000,4,0.000,0.054,3560,2993,1498,0,0,0,0,0,0
$GC,13843,1.19,107.2,178.2,12.5,910,13850,0.00,2.15,0.00,0.000,6,0.000,0.034,3568,1601,1498,0,0,0,0,0,0
$GC,14171,1.19,107.2,142.7,10.5,941,14175,0.00,2.22,0.00,0.000,4,0.000,0.052,3579,198,1498,0,0,0,0,0,0
$GC,14404,1.19,107.2,117.1,11.8,961,14408,0.00,2.15,0.00,0.000,6,0.000,0.036,3579,1596,1498,0,0,0,0,0,0
$GC,14743,1.19,107.2,81.8,10.6,1006,14748,0.00,2.22,0.00,0.000,4,0.000,0.050,3588,195,1498,0,0,0,0,0,0
$GC,14801,1.16,107.2,75.1,11.1,1016,14807,0.12,2.15,0.00,0.000,6,0.190,0.036,3557,1606,1498,0,0,0,0,0,0
$GC,15151,1.22,107.2,39.9,11.0,1077,15158,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1606,1497,0,0,0,0,0,0
$GC,15307,1.27,107.2,23.4,10.9,1102,15315,0.10,2.25,0.00,0.000,4,0.103,0.050,3614,203,1498,0,0,0,0,0,0
$GC,15402,1.19,107.2,10.4,14.4,1117,15410,0.12,2.15,0.00,0.000,6,0.178,0.034,3573,1599,1498,0,0,0,0,0,0
$STATE,15460,end climb,SURFACE_DEPTH_REACHED
$STATE,15460,begin surface coast
$FINISH,1.8,1.012394
$STATE,15493,end surface coast,CONTROL_FINISHED_OK
$STATE,15493,begin surface
$SM_CCo,15510,43.28,0.056,0,0,1133,200.16
$SM_GC,3.04,0.00,0.00,43.28,0.000,0.000,0.056,83,2074,1133,-9.70,0.40,200.16
$IRIDIUM_FIX,-4450.47,625.13,020708,060637
$TT8_MAMPS,0.026964
$HUMID,63.03
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,23.1,25.878
$10V_AH,10.0,26.852
$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,24.300,115.525,202.200,43.275,0.000,27.570,20.208,269.470,0.000,0.000,22.836,2826.269,9607.224,371.923,3026.972,163.926,0.000,1445.137,0.000,2539.590,0.000,0.539,0.000
$DEVICE_MAMPS,240.975,64.260,1291.320,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.839,2078.236,857.801,489.356,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353236
$DATA_FILE_SIZE,77121,1131
$CAP_FILE_SIZE,147738,0
$CFSIZE,2097086464,2066546688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060915,014503,-4504.539,623.778,30,1.0,30,-24.4