version: 66.07.10.p01
glider: 573
mission: 12
dive: 253
start: 9 19 115 6 46 6
data:
$ID,573
$MISSION,12
$DIVE,253
$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,-21807.133
$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,38
$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,252
$GPS1,190915,063833,-4505.024,636.721,26,1.1,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-64.0
$GPS2,190915,064546,-4505.065,636.785,17,1.5,18,-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,356.9,2224,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,53,0.00,0.00,-26.33,0.000,2,0.000,0.000,63,2076,1659,0,0,0,0,0,0
$GC,56,-1.12,-96.8,3.5,-3.2,4,100,11.38,0.00,-25.98,0.000,6,0.243,0.000,2817,2074,2345,0,0,0,0,0,0
$GC,152,-1.03,-96.8,13.0,-17.7,19,159,0.12,0.00,0.00,0.000,6,0.181,0.000,2849,2074,2347,0,0,0,0,0,0
$GC,210,-1.03,-96.8,21.0,-13.0,28,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2074,2347,0,0,0,0,0,0
$GC,361,-1.03,-96.8,45.7,-15.4,53,366,0.00,2.28,0.00,0.000,4,0.000,0.054,2849,658,2347,0,0,0,0,0,0
$GC,426,-1.03,-96.8,55.7,-16.3,64,431,0.00,2.25,0.00,0.000,6,0.000,0.044,2840,2061,2347,0,0,0,0,0,0
$GC,773,-1.03,-96.8,107.9,-14.3,101,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2061,2347,0,0,0,0,0,0
$GC,1080,-1.03,-96.8,155.9,-15.9,116,1084,0.00,2.28,0.00,0.000,4,0.000,0.063,2829,3465,2348,0,0,0,0,0,0
$GC,1112,-1.03,-96.8,161.6,-17.6,117,1118,0.05,2.22,0.00,0.000,6,0.175,0.041,2845,2058,2348,0,0,0,0,0,0
$GC,1436,-1.07,-96.8,207.6,-13.2,133,1440,0.00,2.25,0.00,0.000,4,0.000,0.054,2844,658,2348,0,0,0,0,0,0
$GC,1523,-1.07,-96.8,219.6,-12.9,137,1527,0.00,2.20,0.00,0.000,6,0.000,0.043,2836,2061,2348,0,0,0,0,0,0
$GC,1851,-1.07,-96.8,263.7,-13.1,153,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2061,2349,0,0,0,0,0,0
$GC,2157,-1.07,-96.8,305.1,-13.7,168,2161,0.00,2.30,0.00,0.000,4,0.000,0.055,2837,657,2349,0,0,0,0,0,0
$GC,2184,-1.07,-96.8,309.1,-15.0,169,2189,0.00,2.25,0.00,0.000,6,0.000,0.044,2827,2057,2349,0,0,0,0,0,0
$GC,2511,-1.07,-96.8,356.9,-15.2,185,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2349,0,0,0,0,0,0
$GC,2820,-1.07,-96.8,403.7,-15.4,200,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2349,0,0,0,0,0,0
$GC,3130,-1.07,-96.8,449.5,-14.6,215,3134,0.00,2.25,0.00,0.000,4,0.000,0.054,2828,654,2349,0,0,0,0,0,0
$GC,3156,-1.07,-96.8,453.7,-14.7,216,3162,0.05,2.25,0.00,0.000,6,0.184,0.044,2834,2061,2349,0,0,0,0,0,0
$GC,3477,-1.10,-96.8,498.7,-13.8,232,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2061,2348,0,0,0,0,0,0
$GC,3788,-1.14,-96.8,539.0,-12.6,247,3792,0.00,2.28,0.00,0.000,4,0.000,0.056,2834,647,2348,0,0,0,0,0,0
$GC,3853,-1.14,-96.8,547.6,-12.5,250,3858,0.00,2.25,0.00,0.000,6,0.000,0.044,2825,2057,2348,0,0,0,0,0,0
$GC,4179,-1.14,-96.8,590.1,-13.4,266,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2057,2348,0,0,0,0,0,0
$GC,4490,-1.14,-96.8,630.2,-12.7,281,4494,0.00,2.28,0.00,0.000,4,0.000,0.055,2826,652,2348,0,0,0,0,0,0
$GC,4578,-1.14,-96.8,642.2,-13.1,285,4582,0.00,2.25,0.00,0.000,6,0.000,0.044,2817,2058,2348,0,0,0,0,0,0
$GC,4905,-1.14,-96.8,683.4,-12.3,301,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2058,2348,0,0,0,0,0,0
$GC,5213,-1.14,-96.8,723.5,-13.0,316,5217,0.00,2.30,0.00,0.000,4,0.000,0.064,2806,3463,2348,0,0,0,0,0,0
$GC,5246,-1.14,-96.8,727.9,-13.5,317,5250,0.00,2.20,0.00,0.000,6,0.000,0.043,2806,2067,2348,0,0,0,0,0,0
$GC,5568,-1.14,-96.8,769.6,-12.8,333,5572,0.00,2.28,0.00,0.000,4,0.000,0.056,2806,648,2347,0,0,0,0,0,0
$GC,5629,-1.11,-96.8,778.2,-14.0,336,5634,0.12,2.22,0.00,0.000,6,0.195,0.044,2827,2073,2347,0,0,0,0,0,0
$GC,5960,-1.15,-96.8,818.9,-12.5,352,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2073,2347,0,0,0,0,0,0
$GC,6270,-1.20,-96.8,856.6,-12.0,367,6275,0.10,2.33,0.00,0.000,4,0.099,0.055,2776,642,2347,0,0,0,0,0,0
$GC,6347,-1.12,-96.8,867.4,-14.5,370,6354,0.17,2.25,0.00,0.000,6,0.183,0.041,2827,2064,2346,0,0,0,0,0,0
$GC,6663,-1.17,-96.8,905.2,-11.9,386,6667,0.00,2.28,0.00,0.000,4,0.000,0.057,2827,649,2346,0,0,0,0,0,0
$GC,6689,-1.17,-96.8,908.7,-13.0,387,6694,0.00,2.25,0.00,0.000,6,0.000,0.044,2818,2055,2347,0,0,0,0,0,0
$GC,7011,-1.21,-96.8,948.2,-12.2,403,7016,0.08,2.28,0.00,0.000,4,0.121,0.061,2764,3476,2346,0,0,0,0,0,0
$GC,7060,-1.14,-96.8,955.1,-14.4,405,7065,0.12,2.25,0.00,0.000,6,0.175,0.044,2814,2053,2346,0,0,0,0,0,0
$GC,7382,-1.18,-96.8,994.3,-12.0,421,7386,0.00,2.25,0.00,0.000,4,0.000,0.058,2814,648,2346,0,0,0,0,0,0
$GC,7407,-1.18,-96.8,998.1,-13.8,422,7412,0.00,2.28,0.00,0.000,6,0.000,0.046,2806,2063,2346,0,0,0,0,0,0
$STATE,7439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7440,begin apogee
$GC,7445,-0.19,0.0,1002.2,13.5,424,7541,1.08,0.00,89.60,1.284,6,0.168,0.000,3117,1593,1949,0,0,0,0,0,0
$STATE,7541,end apogee,CONTROL_FINISHED_OK
$STATE,7542,begin climb
$GC,7543,1.12,96.8,1005.7,0.0,429,7641,1.30,0.00,94.07,1.248,6,0.089,0.000,3543,1593,1554,0,0,0,0,0,0
$GC,7951,1.12,96.8,958.6,13.6,449,7955,0.00,2.35,0.00,0.000,4,0.000,0.053,3554,196,1546,0,0,0,0,0,0
$GC,8103,1.12,96.8,936.7,14.7,456,8107,0.00,2.28,0.00,0.000,6,0.000,0.035,3554,1623,1544,0,0,0,0,0,0
$GC,8427,1.12,96.8,892.5,13.4,472,8431,0.00,2.25,0.00,0.000,4,0.000,0.055,3554,3001,1544,0,0,0,0,0,0
$GC,8460,1.12,96.8,887.9,13.3,473,8465,0.05,2.25,0.00,0.000,6,0.179,0.035,3548,1589,1544,0,0,0,0,0,0
$GC,8781,1.12,96.8,845.5,12.9,489,8785,0.00,2.28,0.00,0.000,4,0.000,0.054,3558,196,1543,0,0,0,0,0,0
$GC,8976,1.12,96.8,818.6,14.2,498,8980,0.00,2.22,0.00,0.000,6,0.000,0.037,3558,1604,1542,0,0,0,0,0,0
$GC,9307,1.12,96.8,772.2,14.3,514,9311,0.00,2.22,0.00,0.000,4,0.000,0.054,3558,3001,1542,0,0,0,0,0,0
$GC,9357,1.12,96.8,764.7,15.0,516,9362,0.05,2.20,0.00,0.000,6,0.186,0.035,3551,1602,1542,0,0,0,0,0,0
$GC,9682,1.12,96.8,720.3,13.6,532,9687,0.00,2.25,0.00,0.000,4,0.000,0.054,3561,197,1542,0,0,0,0,0,0
$GC,9777,1.12,96.8,707.1,14.0,536,9782,0.03,2.22,0.00,0.000,6,0.205,0.037,3553,1600,1542,0,0,0,0,0,0
$GC,10103,1.12,96.8,664.4,13.0,552,10107,0.00,2.25,0.00,0.000,4,0.000,0.054,3553,2999,1541,0,0,0,0,0,0
$GC,10186,1.12,96.8,653.1,13.4,555,10191,0.05,2.20,0.00,0.000,6,0.189,0.035,3546,1597,1541,0,0,0,0,0,0
$GC,10502,1.15,96.8,615.9,11.5,571,10506,0.00,2.25,0.00,0.000,4,0.000,0.054,3556,196,1542,0,0,0,0,0,0
$GC,10552,1.15,96.8,609.5,12.7,573,10556,0.00,2.22,0.00,0.000,6,0.000,0.037,3556,1605,1541,0,0,0,0,0,0
$GC,10879,1.15,96.8,570.4,12.9,589,10883,0.00,2.20,0.00,0.000,4,0.000,0.053,3556,3001,1541,0,0,0,0,0,0
$GC,10911,1.15,96.8,566.0,12.4,590,10918,0.00,2.20,0.00,0.000,6,0.000,0.035,3564,1598,1541,0,0,0,0,0,0
$GC,11226,1.15,96.8,527.0,12.4,606,11230,0.00,2.28,0.00,0.000,4,0.000,0.054,3575,185,1541,0,0,0,0,0,0
$GC,11332,1.11,96.8,512.9,13.3,610,11339,0.10,2.22,0.00,0.000,6,0.167,0.035,3545,1601,1541,0,0,0,0,0,0
$GC,11647,1.15,96.8,476.2,11.8,626,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1601,1541,0,0,0,0,0,0
$GC,11958,1.20,96.8,438.2,12.2,641,11963,0.08,2.28,0.00,0.000,4,0.126,0.052,3597,193,1541,0,0,0,0,0,0
$GC,12029,1.11,96.8,427.7,15.0,644,12034,0.15,2.20,0.00,0.000,6,0.164,0.036,3538,1593,1541,0,0,0,0,0,0
$GC,12350,1.18,96.8,388.8,11.9,660,12352,0.08,0.00,0.00,0.000,6,0.128,0.000,3578,1594,1541,0,0,0,0,0,0
$GC,12660,1.18,96.8,350.1,12.3,675,12664,0.05,2.22,0.00,0.000,4,0.231,0.052,3577,195,1541,0,0,0,0,0,0
$GC,12737,1.14,96.8,340.2,13.4,678,12743,0.08,2.20,0.00,0.000,6,0.171,0.036,3555,1597,1541,0,0,0,0,0,0
$GC,13052,1.18,96.8,304.9,11.2,694,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1597,1541,0,0,0,0,0,0
$GC,13364,1.22,96.8,271.7,10.3,709,13366,0.05,0.00,0.00,0.000,6,0.171,0.000,3587,1597,1541,0,0,0,0,0,0
$GC,13671,1.22,96.8,236.4,11.6,724,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1597,1541,0,0,0,0,0,0
$GC,13983,1.22,96.8,199.4,11.7,739,13987,0.00,2.28,0.00,0.000,4,0.000,0.051,3597,189,1541,0,0,0,0,0,0
$GC,14162,1.14,96.8,176.7,11.7,747,14167,0.12,2.22,0.00,0.000,6,0.169,0.036,3559,1605,1541,0,0,0,0,0,0
$GC,14493,1.18,96.8,145.3,9.6,763,14497,0.00,2.28,0.00,0.000,4,0.000,0.051,3568,195,1541,0,0,0,0,0,0
$GC,14570,1.18,96.8,136.6,10.5,766,14579,0.00,2.20,0.00,0.000,6,0.000,0.035,3568,1596,1541,0,0,0,0,0,0
$GC,14887,1.18,96.8,107.9,8.9,782,14891,0.00,2.22,0.00,0.000,4,0.000,0.055,3568,2995,1541,0,0,0,0,0,0
$GC,15072,1.18,96.8,88.5,10.6,790,15077,0.00,2.17,0.00,0.000,6,0.000,0.034,3576,1593,1541,0,0,0,0,0,0
$GC,15416,1.18,96.8,53.9,8.9,838,15421,0.00,2.25,0.00,0.000,4,0.000,0.053,3588,188,1541,0,0,0,0,0,0
$GC,15690,1.18,96.8,23.3,11.9,884,15698,0.05,2.20,0.00,0.000,6,0.184,0.034,3571,1596,1540,0,0,0,0,0,0
$GC,15848,1.18,96.8,8.7,12.9,909,15856,0.00,2.28,0.00,0.000,4,0.000,0.052,3580,203,1541,0,0,0,0,0,0
$GC,15889,1.11,96.8,3.1,12.9,915,15897,0.10,2.20,0.00,0.000,6,0.120,0.039,3545,1621,1540,0,0,0,0,0,0
$STATE,15904,end climb,SURFACE_DEPTH_REACHED
$STATE,15904,begin surface coast
$FINISH,1.8,1.007675
$STATE,15936,end surface coast,CONTROL_FINISHED_OK
$STATE,15936,begin surface
$SM_CCo,15953,49.00,0.055,0,0,1133,200.16
$SM_GC,2.95,0.00,0.00,49.00,0.000,0.000,0.055,62,2065,1133,-9.76,0.17,200.16
$IRIDIUM_FIX,-4447.43,637.25,150708,151524
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,23.0,32.200
$10V_AH,9.9,34.075
$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,25.050,131.675,183.675,49.000,0.000,25.494,17.304,265.289,0.000,0.000,19.840,2056.656,11173.247,369.488,2665.650,169.099,0.000,1351.765,0.000,2248.120,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,64.260,1284.435,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.168,1360.781,772.392,456.866,0.000,0.000,0.000,0.000,0.000,0.000
$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,67233,922
$CAP_FILE_SIZE,142677,0
$CFSIZE,2097086464,2058911744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,190915,111403,-4504.672,636.303,40,0.8,40,-24.4