version: 66.07.10.p01
glider: 573
mission: 12
dive: 252
start: 9 19 115 1 57 18
data:
$ID,573
$MISSION,12
$DIVE,252
$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,-21803.779
$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,42
$R_STBD_OVSHOOT,31
$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,251
$GPS1,190915,014051,-4505.389,637.698,36,1.0,36,-24.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-64.0
$GPS2,190915,015658,-4505.452,637.811,23,1.5,24,-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,343.0,3584,-26.8,-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,-1.06,-53.2,0.0,0.0,0,41,0.00,0.00,-14.38,0.000,2,0.000,0.000,64,2063,1423,0,0,0,0,0,0
$GC,44,-1.09,-101.0,3.0,-3.4,2,106,11.57,0.00,-44.97,0.000,6,0.244,0.000,2829,2063,2361,0,0,0,0,0,0
$GC,159,-1.01,-101.0,11.8,-19.2,20,167,0.10,2.33,0.00,0.000,4,0.208,0.054,2852,666,2363,0,0,0,0,0,0
$GC,182,-0.98,-101.0,16.2,-19.3,23,190,0.05,2.25,0.00,0.000,6,0.190,0.037,2859,2055,2363,0,0,0,0,0,0
$GC,241,-0.98,-101.0,26.1,-16.9,32,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2055,2363,0,0,0,0,0,0
$GC,389,-0.98,-101.0,51.2,-15.4,57,396,0.00,2.30,0.00,0.000,4,0.000,0.054,2858,667,2363,0,0,0,0,0,0
$GC,437,-0.98,-101.0,59.0,-16.2,65,443,0.08,2.22,0.00,0.000,6,0.220,0.039,2865,2067,2363,0,0,0,0,0,0
$GC,775,-0.98,-101.0,112.0,-15.4,98,779,0.00,2.28,0.00,0.000,4,0.000,0.053,2865,660,2363,0,0,0,0,0,0
$GC,852,-0.98,-101.0,124.8,-15.8,101,858,0.00,2.25,0.00,0.000,6,0.000,0.041,2857,2058,2363,0,0,0,0,0,0
$GC,1170,-0.98,-101.0,174.0,-15.8,117,1174,0.00,2.30,0.00,0.000,4,0.000,0.063,2846,3469,2364,0,0,0,0,0,0
$GC,1219,-0.98,-101.0,182.1,-15.8,119,1225,0.05,2.22,0.00,0.000,6,0.176,0.041,2861,2066,2364,0,0,0,0,0,0
$GC,1544,-1.03,-101.0,228.0,-13.6,135,1548,0.00,2.28,0.00,0.000,4,0.000,0.053,2862,646,2364,0,0,0,0,0,0
$GC,1615,-1.03,-101.0,238.7,-13.8,138,1620,0.00,2.25,0.00,0.000,6,0.000,0.038,2853,2063,2364,0,0,0,0,0,0
$GC,1937,-1.06,-101.0,281.9,-13.1,154,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2062,2364,0,0,0,0,0,0
$GC,2247,-1.09,-101.0,321.8,-12.7,169,2251,0.05,2.30,0.00,0.000,4,0.170,0.054,2815,648,2365,0,0,0,0,0,0
$GC,2292,-1.02,-101.0,328.2,-14.7,171,2297,0.17,2.22,0.00,0.000,6,0.186,0.044,2851,2063,2365,0,0,0,0,0,0
$GC,2620,-1.06,-101.0,370.0,-12.7,187,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2063,2364,0,0,0,0,0,0
$GC,2927,-1.09,-101.0,410.3,-13.5,202,2928,0.05,0.00,0.00,0.000,6,0.161,0.000,2814,2063,2364,0,0,0,0,0,0
$GC,3237,-1.06,-101.0,457.1,-15.4,217,3242,0.10,2.28,0.00,0.000,4,0.196,0.056,2838,655,2365,0,0,0,0,0,0
$GC,3282,-1.06,-101.0,463.8,-14.1,219,3286,0.00,2.22,0.00,0.000,6,0.000,0.044,2829,2066,2365,0,0,0,0,0,0
$GC,3613,-1.06,-101.0,511.0,-14.1,235,3617,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,655,2364,0,0,0,0,0,0
$GC,3645,-1.06,-101.0,516.0,-15.1,236,3651,0.05,2.25,0.00,0.000,6,0.179,0.044,2835,2058,2365,0,0,0,0,0,0
$GC,3966,-1.06,-101.0,558.5,-13.1,252,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2058,2364,0,0,0,0,0,0
$GC,4276,-1.06,-101.0,597.3,-12.3,267,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2058,2364,0,0,0,0,0,0
$GC,4584,-1.06,-101.0,634.9,-12.4,282,4588,0.00,2.28,0.00,0.000,4,0.000,0.054,2836,648,2364,0,0,0,0,0,0
$GC,4633,-1.06,-101.0,641.3,-12.9,284,4638,0.00,2.28,0.00,0.000,6,0.000,0.044,2826,2069,2364,0,0,0,0,0,0
$GC,4960,-1.06,-101.0,685.6,-13.6,300,4962,0.05,0.00,0.00,0.000,6,0.245,0.000,2837,2069,2363,0,0,0,0,0,0
$GC,5271,-1.06,-101.0,726.4,-13.1,315,5275,0.00,2.30,0.00,0.000,4,0.000,0.054,2837,645,2363,0,0,0,0,0,0
$GC,5355,-1.06,-101.0,737.9,-13.4,319,5359,0.00,2.20,0.00,0.000,6,0.000,0.041,2828,2063,2363,0,0,0,0,0,0
$GC,5687,-1.06,-101.0,780.4,-12.4,335,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2063,2363,0,0,0,0,0,0
$GC,5995,-1.06,-101.0,817.5,-12.0,350,5999,0.00,2.28,0.00,0.000,4,0.000,0.055,2829,655,2362,0,0,0,0,0,0
$GC,6056,-1.06,-101.0,824.9,-12.4,352,6063,0.05,2.25,0.00,0.000,6,0.181,0.044,2835,2060,2362,0,0,0,0,0,0
$GC,6371,-1.10,-101.0,858.9,-10.3,368,6375,0.00,2.30,0.00,0.000,4,0.000,0.055,2836,649,2362,0,0,0,0,0,0
$GC,6420,-1.10,-101.0,864.6,-11.4,370,6425,0.00,2.28,0.00,0.000,6,0.000,0.044,2826,2067,2362,0,0,0,0,0,0
$GC,6741,-1.10,-101.0,899.4,-10.6,386,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2067,2362,0,0,0,0,0,0
$GC,7052,-1.10,-101.0,936.1,-12.0,401,7056,0.00,2.25,0.00,0.000,4,0.000,0.063,2816,3470,2362,0,0,0,0,0,0
$GC,7129,-1.10,-101.0,946.3,-13.6,404,7133,0.00,2.22,0.00,0.000,6,0.000,0.043,2816,2061,2361,0,0,0,0,0,0
$GC,7449,-1.10,-101.0,987.3,-12.7,420,7454,0.05,2.28,0.00,0.000,4,0.237,0.055,2826,652,2361,0,0,0,0,0,0
$GC,7538,-1.10,-101.0,998.9,-13.7,424,7542,0.00,2.22,0.00,0.000,6,0.000,0.044,2817,2063,2361,0,0,0,0,0,0
$STATE,7547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7547,begin apogee
$GC,7552,-0.19,0.0,1000.3,12.9,424,7648,1.00,0.00,92.12,1.283,6,0.168,0.000,3111,1587,1950,0,0,0,0,0,0
$STATE,7648,end apogee,CONTROL_FINISHED_OK
$STATE,7649,begin climb
$GC,7650,1.09,101.0,1003.9,0.0,429,7752,1.30,0.00,97.93,1.250,6,0.092,0.000,3533,1587,1538,0,0,0,0,0,0
$GC,8053,1.09,101.0,958.7,13.2,449,8057,0.00,2.35,0.00,0.000,4,0.000,0.054,3543,192,1531,0,0,0,0,0,0
$GC,8114,1.09,101.0,950.2,13.6,452,8119,0.00,2.30,0.00,0.000,6,0.000,0.037,3544,1609,1530,0,0,0,0,0,0
$GC,8445,1.09,101.0,904.8,13.8,468,8450,0.00,2.30,0.00,0.000,4,0.000,0.056,3543,2995,1529,0,0,0,0,0,0
$GC,8562,1.09,101.0,888.0,14.4,473,8567,0.05,2.22,0.00,0.000,6,0.184,0.035,3538,1599,1529,0,0,0,0,0,0
$GC,8890,1.09,101.0,844.5,13.3,489,8894,0.00,2.28,0.00,0.000,4,0.000,0.054,3548,190,1528,0,0,0,0,0,0
$GC,9024,1.06,101.0,826.1,14.1,495,9028,0.10,2.22,0.00,0.000,6,0.194,0.035,3525,1607,1528,0,0,0,0,0,0
$GC,9350,1.10,101.0,788.3,11.1,511,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1607,1528,0,0,0,0,0,0
$GC,9658,1.14,101.0,756.1,10.3,526,9660,0.08,0.00,0.00,0.000,6,0.130,0.000,3566,1607,1528,0,0,0,0,0,0
$GC,9969,1.11,101.0,720.4,11.4,541,9974,0.10,2.30,0.00,0.000,4,0.188,0.052,3552,192,1527,0,0,0,0,0,0
$GC,10040,1.08,101.0,711.7,12.5,544,10045,0.05,2.22,0.00,0.000,6,0.187,0.035,3536,1605,1526,0,0,0,0,0,0
$GC,10360,1.08,101.0,678.1,10.6,560,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1605,1526,0,0,0,0,0,0
$GC,10671,1.08,101.0,645.6,10.4,575,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1605,1526,0,0,0,0,0,0
$GC,10979,1.08,101.0,613.4,10.2,590,10983,0.00,2.30,0.00,0.000,4,0.000,0.052,3545,203,1526,0,0,0,0,0,0
$GC,11137,1.08,101.0,596.1,11.3,597,11142,0.05,2.15,0.00,0.000,6,0.233,0.036,3535,1601,1525,0,0,0,0,0,0
$GC,11464,1.11,101.0,561.8,10.7,613,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1601,1525,0,0,0,0,0,0
$GC,11771,1.15,101.0,527.7,11.0,628,11775,0.00,2.22,0.00,0.000,4,0.000,0.054,3535,2995,1525,0,0,0,0,0,0
$GC,11865,1.15,101.0,516.2,12.1,632,11870,0.00,2.17,0.00,0.000,6,0.000,0.036,3543,1602,1525,0,0,0,0,0,0
$GC,12185,1.15,101.0,479.1,11.6,648,12189,0.00,2.28,0.00,0.000,4,0.000,0.054,3554,192,1525,0,0,0,0,0,0
$GC,12365,1.15,101.0,458.2,11.4,656,12369,0.00,2.22,0.00,0.000,6,0.000,0.036,3554,1605,1525,0,0,0,0,0,0
$GC,12696,1.15,101.0,419.6,11.8,672,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1525,0,0,0,0,0,0
$GC,13007,1.15,101.0,382.4,12.0,687,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1525,0,0,0,0,0,0
$GC,13315,1.15,101.0,346.8,11.2,702,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1525,0,0,0,0,0,0
$GC,13625,1.15,101.0,313.1,10.5,717,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1525,0,0,0,0,0,0
$GC,13935,1.15,101.0,281.4,10.3,732,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1605,1525,0,0,0,0,0,0
$GC,14246,1.15,101.0,251.2,9.4,747,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1605,1525,0,0,0,0,0,0
$GC,14553,1.15,101.0,220.5,9.7,762,14557,0.00,2.28,0.00,0.000,4,0.000,0.051,3563,195,1524,0,0,0,0,0,0
$GC,14619,1.15,101.0,213.9,10.2,765,14623,0.00,2.17,0.00,0.000,6,0.000,0.035,3563,1602,1525,0,0,0,0,0,0
$GC,14947,1.15,101.0,181.0,9.5,781,14951,0.00,2.20,0.00,0.000,4,0.000,0.054,3563,2991,1525,0,0,0,0,0,0
$GC,15009,1.15,101.0,174.9,9.0,784,15014,0.08,2.12,0.00,0.000,6,0.213,0.036,3557,1593,1525,0,0,0,0,0,0
$GC,15336,1.15,105.8,148.1,8.0,800,15340,0.00,2.22,0.00,0.000,4,0.000,0.053,3566,192,1525,0,0,0,0,0,0
$GC,15402,1.15,105.8,141.6,10.0,803,15406,0.00,2.20,0.00,0.000,6,0.000,0.034,3567,1599,1525,0,0,0,0,0,0
$GC,15731,1.15,105.8,108.5,10.9,819,15732,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1599,1525,0,0,0,0,0,0
$GC,16042,1.15,105.8,74.5,10.2,840,16049,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1599,1524,0,0,0,0,0,0
$GC,16395,1.15,105.8,40.2,11.2,901,16399,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1599,1525,0,0,0,0,0,0
$STATE,16723,end climb,SURFACE_DEPTH_REACHED
$STATE,16723,begin surface coast
$FINISH,1.8,1.004617
$STATE,16749,end surface coast,CONTROL_FINISHED_OK
$STATE,16749,begin surface
$SM_CCo,16767,47.00,0.054,0,0,1134,200.16
$SM_GC,3.35,0.00,0.00,47.00,0.000,0.000,0.054,63,2076,1134,-9.76,0.45,200.16
$IRIDIUM_FIX,-4444.39,630.84,150708,101034
$TT8_MAMPS,0.026215
$HUMID,63.34
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.9,32.114
$10V_AH,9.8,33.975
$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,24.500,109.525,190.050,47.000,0.000,55.002,99.591,578.247,0.000,0.000,26.387,2098.449,12019.320,352.811,3093.688,198.857,0.000,1328.772,0.000,2248.449,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,62.730,1282.905,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.268,1379.801,762.524,431.245,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,70458,959
$CAP_FILE_SIZE,145383,0
$CFSIZE,2097086464,2059042816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,190915,063833,-4505.024,636.721,26,1.1,26,-24.4