version: 66.07.10.p01
glider: 573
mission: 12
dive: 254
start: 9 19 115 11 25 7
data:
$ID,573
$MISSION,12
$DIVE,254
$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,-21810.508
$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,35
$R_STBD_OVSHOOT,39
$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,253
$GPS1,190915,111403,-4504.672,636.303,40,0.8,40,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-65.7
$GPS2,190915,112446,-4504.798,636.482,19,0.9,20,-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,1.3,1607,-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,-20.17,0.000,2,0.000,0.000,62,2066,1532,0,0,0,0,0,0
$GC,48,-1.13,-109.3,3.1,-1.7,3,100,11.60,2.30,-33.03,0.000,4,0.247,0.067,2815,659,2396,0,0,0,0,0,0
$GC,170,-1.06,-109.3,17.9,-19.4,22,178,0.10,2.28,0.00,0.000,6,0.184,0.045,2835,2044,2398,0,0,0,0,0,0
$GC,229,-1.06,-109.3,30.5,-20.8,31,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2044,2399,0,0,0,0,0,0
$GC,375,-1.06,-109.3,56.0,-17.3,56,380,0.00,2.28,0.00,0.000,4,0.000,0.054,2835,648,2399,0,0,0,0,0,0
$GC,444,-1.02,-109.3,68.3,-17.8,68,450,0.10,2.28,0.00,0.000,6,0.206,0.044,2849,2078,2399,0,0,0,0,0,0
$GC,770,-1.02,-109.3,121.2,-16.5,93,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2078,2399,0,0,0,0,0,0
$GC,1077,-1.06,-109.3,169.6,-15.3,108,1081,0.00,2.25,0.00,0.000,4,0.000,0.060,2839,3466,2400,0,0,0,0,0,0
$GC,1097,-1.06,-109.3,173.5,-16.6,109,1102,0.00,2.22,0.00,0.000,6,0.000,0.041,2839,2062,2399,0,0,0,0,0,0
$GC,1427,-1.10,-109.3,225.1,-15.3,125,1431,0.00,2.28,0.00,0.000,4,0.000,0.054,2839,645,2400,0,0,0,0,0,0
$GC,1544,-1.10,-109.3,245.0,-16.8,130,1549,0.00,2.25,0.00,0.000,6,0.000,0.039,2830,2058,2400,0,0,0,0,0,0
$GC,1866,-1.10,-109.3,295.6,-15.5,146,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2059,2400,0,0,0,0,0,0
$GC,2176,-1.10,-109.3,341.6,-15.0,161,2180,0.00,2.25,0.00,0.000,4,0.000,0.054,2830,656,2400,0,0,0,0,0,0
$GC,2219,-1.10,-109.3,348.7,-15.3,163,2224,0.00,2.25,0.00,0.000,6,0.000,0.042,2821,2061,2400,0,0,0,0,0,0
$GC,2547,-1.10,-109.3,399.1,-15.1,179,2551,0.00,2.28,0.00,0.000,4,0.000,0.055,2821,647,2400,0,0,0,0,0,0
$GC,2573,-1.10,-109.3,403.4,-15.4,180,2578,0.03,2.25,0.00,0.000,6,0.206,0.043,2820,2053,2400,0,0,0,0,0,0
$GC,2894,-1.10,-109.3,452.9,-15.3,196,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2052,2400,0,0,0,0,0,0
$GC,3204,-1.10,-109.3,500.1,-15.2,211,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2053,2400,0,0,0,0,0,0
$GC,3512,-1.10,-109.3,544.8,-13.9,226,3516,0.00,2.28,0.00,0.000,4,0.000,0.058,2810,3475,2400,0,0,0,0,0,0
$GC,3536,-1.10,-109.3,547.9,-14.6,227,3540,0.08,2.20,0.00,0.000,6,0.197,0.043,2826,2054,2400,0,0,0,0,0,0
$GC,3867,-1.10,-109.3,593.1,-13.3,243,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2054,2400,0,0,0,0,0,0
$GC,4176,-1.13,-109.3,636.8,-14.5,258,4180,0.00,2.25,0.00,0.000,4,0.000,0.057,2826,658,2400,0,0,0,0,0,0
$GC,4202,-1.13,-109.3,640.9,-15.2,259,4206,0.00,2.25,0.00,0.000,6,0.000,0.044,2818,2063,2400,0,0,0,0,0,0
$GC,4524,-1.13,-109.3,688.2,-14.5,275,4528,0.00,2.28,0.00,0.000,4,0.000,0.057,2818,650,2399,0,0,0,0,0,0
$GC,4578,-1.13,-109.3,696.7,-15.0,277,4583,0.00,2.25,0.00,0.000,6,0.000,0.045,2809,2052,2400,0,0,0,0,0,0
$GC,4894,-1.13,-109.3,742.9,-14.6,293,4898,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3471,2399,0,0,0,0,0,0
$GC,4934,-1.13,-109.3,748.9,-15.1,295,4939,0.08,2.22,0.00,0.000,6,0.203,0.044,2813,2052,2399,0,0,0,0,0,0
$GC,5260,-1.13,-109.3,795.6,-14.2,311,5264,0.00,2.22,0.00,0.000,4,0.000,0.058,2814,656,2399,0,0,0,0,0,0
$GC,5286,-1.13,-109.3,799.8,-14.9,312,5291,0.00,2.28,0.00,0.000,6,0.000,0.045,2805,2071,2399,0,0,0,0,0,0
$GC,5606,-1.13,-109.3,845.7,-14.7,328,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2072,2398,0,0,0,0,0,0
$GC,5917,-1.13,-109.3,892.5,-14.9,343,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2072,2398,0,0,0,0,0,0
$GC,6225,-1.13,-109.3,938.2,-14.6,358,6229,0.03,2.30,0.00,0.000,4,0.304,0.055,2813,651,2398,0,0,0,0,0,0
$GC,6273,-1.13,-109.3,945.5,-15.4,360,6278,0.00,2.25,0.00,0.000,6,0.000,0.043,2805,2060,2398,0,0,0,0,0,0
$GC,6600,-1.13,-109.3,993.8,-14.7,376,6604,0.00,2.25,0.00,0.000,4,0.000,0.057,2805,653,2398,0,0,0,0,0,0
$STATE,6642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6643,begin apogee
$GC,6648,-0.19,0.0,1000.4,15.7,378,6753,1.10,0.00,101.07,1.284,6,0.174,0.000,3113,1604,1950,0,0,0,0,0,0
$STATE,6754,end apogee,CONTROL_FINISHED_OK
$STATE,6754,begin climb
$GC,6756,1.13,109.3,1005.2,0.0,383,6872,1.33,2.60,105.72,1.248,4,0.093,0.050,3556,189,1503,0,0,0,0,0,0
$GC,6928,1.13,109.3,990.4,13.6,391,6932,0.00,2.42,0.00,0.000,6,0.000,0.034,3556,1610,1498,0,0,0,0,0,0
$GC,7255,1.13,109.3,947.6,13.2,407,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1610,1494,0,0,0,0,0,0
$GC,7563,1.13,109.3,905.4,13.7,422,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1610,1494,0,0,0,0,0,0
$GC,7874,1.13,109.3,861.7,14.3,437,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1610,1493,0,0,0,0,0,0
$GC,8182,1.13,109.3,817.7,14.5,452,8186,0.00,2.25,0.00,0.000,4,0.000,0.054,3556,3005,1492,0,0,0,0,0,0
$GC,8271,1.13,109.3,803.8,15.2,456,8276,0.08,2.22,0.00,0.000,6,0.212,0.035,3550,1582,1492,0,0,0,0,0,0
$GC,8602,1.13,109.3,755.8,14.1,472,8606,0.00,2.25,0.00,0.000,4,0.000,0.054,3559,199,1492,0,0,0,0,0,0
$GC,8719,1.13,109.3,738.5,14.9,477,8723,0.00,2.22,0.00,0.000,6,0.000,0.037,3559,1598,1491,0,0,0,0,0,0
$GC,9046,1.13,109.3,692.4,14.1,493,9050,0.00,2.22,0.00,0.000,4,0.000,0.055,3559,2996,1491,0,0,0,0,0,0
$GC,9090,1.13,109.3,685.7,15.8,495,9095,0.05,2.20,0.00,0.000,6,0.181,0.035,3553,1594,1491,0,0,0,0,0,0
$GC,9417,1.13,109.3,641.8,13.3,511,9421,0.00,2.28,0.00,0.000,4,0.000,0.054,3562,189,1491,0,0,0,0,0,0
$GC,9482,1.13,109.3,632.7,13.6,514,9488,0.03,2.22,0.00,0.000,6,0.195,0.036,3554,1598,1490,0,0,0,0,0,0
$GC,9809,1.16,109.3,590.8,12.6,530,9813,0.00,2.25,0.00,0.000,4,0.000,0.055,3554,3001,1490,0,0,0,0,0,0
$GC,9858,1.16,109.3,584.0,13.6,532,9863,0.00,2.20,0.00,0.000,6,0.000,0.035,3562,1596,1490,0,0,0,0,0,0
$GC,10179,1.16,109.3,542.6,12.6,548,10183,0.00,2.25,0.00,0.000,4,0.000,0.054,3573,188,1491,0,0,0,0,0,0
$GC,10251,1.16,109.3,532.9,14.7,551,10256,0.03,2.22,0.00,0.000,6,0.195,0.036,3564,1601,1490,0,0,0,0,0,0
$GC,10578,1.16,109.3,490.9,13.2,567,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1601,1490,0,0,0,0,0,0
$GC,10886,1.16,109.3,450.8,12.7,582,10890,0.00,2.30,0.00,0.000,4,0.000,0.052,3573,186,1490,0,0,0,0,0,0
$GC,10963,1.16,109.3,440.4,12.8,585,10968,0.03,2.22,0.00,0.000,6,0.196,0.036,3564,1601,1490,0,0,0,0,0,0
$GC,11284,1.16,109.3,398.6,13.1,601,11285,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1602,1490,0,0,0,0,0,0
$GC,11592,1.16,109.3,359.1,12.9,616,11596,0.00,2.28,0.00,0.000,4,0.000,0.052,3573,196,1489,0,0,0,0,0,0
$GC,11686,1.16,109.3,346.8,12.4,620,11691,0.03,2.20,0.00,0.000,6,0.194,0.036,3564,1600,1489,0,0,0,0,0,0
$GC,12013,1.16,109.3,308.2,11.3,636,12017,0.00,2.22,0.00,0.000,4,0.000,0.054,3565,2996,1489,0,0,0,0,0,0
$GC,12081,1.16,109.3,300.1,11.8,639,12086,0.05,2.12,0.00,0.000,6,0.243,0.035,3562,1597,1490,0,0,0,0,0,0
$GC,12410,1.19,109.3,262.5,11.2,655,12414,0.00,2.25,0.00,0.000,4,0.000,0.054,3573,198,1490,0,0,0,0,0,0
$GC,12550,1.19,109.3,245.1,12.4,661,12554,0.00,2.17,0.00,0.000,6,0.000,0.037,3572,1601,1489,0,0,0,0,0,0
$GC,12873,1.19,109.3,206.7,12.3,677,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1601,1489,0,0,0,0,0,0
$GC,13181,1.19,109.3,170.4,11.2,692,13185,0.00,2.20,0.00,0.000,4,0.000,0.054,3573,2993,1489,0,0,0,0,0,0
$GC,13271,1.19,109.3,159.7,11.8,696,13275,0.00,2.12,0.00,0.000,6,0.000,0.036,3581,1597,1489,0,0,0,0,0,0
$GC,13598,1.19,109.3,119.8,12.0,712,13602,0.05,2.22,0.00,0.000,4,0.245,0.053,3581,192,1489,0,0,0,0,0,0
$GC,13856,1.19,109.3,87.2,12.2,723,13861,0.03,2.20,0.00,0.000,6,0.201,0.035,3573,1604,1489,0,0,0,0,0,0
$GC,14198,1.22,109.3,45.9,11.5,774,14205,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,199,1489,0,0,0,0,0,0
$GC,14473,1.19,109.3,16.4,9.6,819,14481,0.03,2.20,0.00,0.000,6,0.207,0.037,3573,1602,1489,0,0,0,0,0,0
$GC,14532,1.20,115.7,11.1,7.8,828,14539,0.00,0.00,1.65,0.080,6,0.000,0.000,3573,1603,1477,0,0,0,0,0,0
$GC,14590,1.15,115.7,4.0,11.5,837,14599,0.08,2.30,0.00,0.000,4,0.197,0.054,3566,205,1477,0,0,0,0,0,0
$STATE,14606,end climb,SURFACE_DEPTH_REACHED
$STATE,14606,begin surface coast
$FINISH,1.7,1.013605
$STATE,14632,end surface coast,CONTROL_FINISHED_OK
$STATE,14632,begin surface
$SM_CCo,14652,42.28,0.055,0,0,1133,200.16
$SM_GC,2.39,0.00,0.00,42.28,0.000,0.000,0.055,62,2054,1133,-9.76,-0.17,200.16
$IRIDIUM_FIX,-4444.39,640.27,150708,202035
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.7,32.300
$10V_AH,9.8,34.168
$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,24.275,126.025,208.450,42.275,0.000,49.044,124.229,281.810,0.000,0.000,22.605,1873.767,10346.956,349.057,2609.246,158.819,0.000,1272.313,0.000,2053.374,0.000,0.540,0.000
$DEVICE_MAMPS,304.470,67.320,1284.435,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.160,1227.568,686.529,410.621,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,60464,843
$CAP_FILE_SIZE,131264,0
$CFSIZE,2097086464,2058813440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,190915,153151,-4504.309,636.844,74,0.8,74,-24.4