version: 66.07.10.p01
glider: 573
mission: 12
dive: 290
start: 9 27 115 11 34 26
data:
$ID,573
$MISSION,12
$DIVE,290
$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,-21934.516
$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,34
$R_STBD_OVSHOOT,42
$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,289
$GPS1,270915,112554,-4503.979,624.954,54,1.2,54,-24.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-69.9
$GPS2,270915,113405,-4503.993,625.004,18,1.7,18,-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,293.8,1314,-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,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-13.62,0.000,2,0.000,0.000,66,2070,1401,0,0,0,0,0,0
$GC,43,-1.13,-116.8,3.0,-0.7,2,106,11.45,2.30,-45.15,0.000,4,0.243,0.078,2804,3453,2423,0,0,0,0,0,0
$GC,377,-1.07,-116.8,54.1,-19.5,57,384,0.08,2.25,0.00,0.000,6,0.173,0.044,2828,2063,2424,0,0,0,0,0,0
$GC,726,-1.07,-116.8,117.8,-17.9,91,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2063,2425,0,0,0,0,0,0
$GC,1032,-1.07,-116.8,171.7,-17.4,106,1036,0.00,2.30,0.00,0.000,4,0.000,0.054,2828,644,2426,0,0,0,0,0,0
$GC,1108,-1.07,-116.8,185.3,-17.0,109,1115,0.03,2.25,0.00,0.000,6,0.205,0.038,2827,2054,2426,0,0,0,0,0,0
$GC,1427,-1.07,-116.8,238.4,-17.4,125,1431,0.00,2.28,0.00,0.000,4,0.000,0.057,2817,3468,2426,0,0,0,0,0,0
$GC,1534,-1.07,-116.8,257.7,-17.8,130,1539,0.08,2.22,0.00,0.000,6,0.205,0.042,2833,2049,2426,0,0,0,0,0,0
$GC,1859,-1.07,-116.8,313.7,-17.4,146,1863,0.00,2.33,0.00,0.000,4,0.000,0.060,2824,3475,2426,0,0,0,0,0,0
$GC,1919,-1.07,-116.8,324.4,-16.6,148,1926,0.00,2.25,0.00,0.000,6,0.000,0.043,2824,2064,2426,0,0,0,0,0,0
$GC,2234,-1.07,-116.8,377.4,-16.7,164,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2426,0,0,0,0,0,0
$GC,2545,-1.07,-116.8,430.9,-17.0,179,2549,0.00,2.28,0.00,0.000,4,0.000,0.058,2815,3477,2427,0,0,0,0,0,0
$GC,2590,-1.07,-116.8,438.8,-18.0,181,2595,0.10,2.22,0.00,0.000,6,0.193,0.043,2838,2052,2426,0,0,0,0,0,0
$GC,2923,-1.12,-116.8,493.9,-16.5,197,2927,0.00,2.33,0.00,0.000,4,0.000,0.061,2829,3475,2426,0,0,0,0,0,0
$GC,2949,-1.16,-116.8,498.8,-16.8,198,2954,0.03,2.25,0.00,0.000,6,0.094,0.044,2798,2064,2427,0,0,0,0,0,0
$GC,3269,-1.16,-116.8,554.4,-17.2,214,3273,0.00,2.28,0.00,0.000,4,0.000,0.057,2789,3471,2426,0,0,0,0,0,0
$GC,3324,-1.12,-116.8,564.4,-18.1,216,3329,0.12,2.22,0.00,0.000,6,0.187,0.044,2820,2052,2426,0,0,0,0,0,0
$GC,3644,-1.12,-116.8,617.1,-16.0,232,3648,0.00,2.33,0.00,0.000,4,0.000,0.062,2811,3475,2426,0,0,0,0,0,0
$GC,3667,-1.12,-116.8,620.5,-15.3,233,3671,0.00,2.22,0.00,0.000,6,0.000,0.044,2811,2061,2426,0,0,0,0,0,0
$GC,3993,-1.12,-116.8,671.6,-15.8,249,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2427,0,0,0,0,0,0
$GC,4301,-1.12,-116.8,718.8,-15.3,264,4305,0.00,2.30,0.00,0.000,4,0.000,0.060,2803,3471,2426,0,0,0,0,0,0
$GC,4356,-1.12,-116.8,727.4,-16.0,266,4361,0.05,2.25,0.00,0.000,6,0.181,0.045,2818,2060,2426,0,0,0,0,0,0
$GC,4676,-1.16,-116.8,774.3,-14.6,282,4680,0.00,2.30,0.00,0.000,4,0.000,0.061,2809,3475,2426,0,0,0,0,0,0
$GC,4760,-1.16,-116.8,786.4,-13.9,286,4764,0.00,2.22,0.00,0.000,6,0.000,0.045,2809,2060,2426,0,0,0,0,0,0
$GC,5091,-1.16,-116.8,836.1,-14.9,302,5095,0.00,2.30,0.00,0.000,4,0.000,0.060,2800,3472,2426,0,0,0,0,0,0
$GC,5140,-1.16,-116.8,843.4,-14.5,304,5145,0.00,2.25,0.00,0.000,6,0.000,0.045,2800,2066,2426,0,0,0,0,0,0
$GC,5466,-1.16,-116.8,891.3,-14.9,320,5470,0.00,2.28,0.00,0.000,4,0.000,0.056,2791,3478,2425,0,0,0,0,0,0
$GC,5538,-1.16,-116.8,902.4,-14.8,323,5544,0.05,2.28,0.00,0.000,6,0.181,0.044,2807,2053,2425,0,0,0,0,0,0
$GC,5866,-1.16,-116.8,949.6,-14.7,339,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2052,2425,0,0,0,0,0,0
$GC,6174,-1.16,-116.8,994.1,-14.5,354,6178,0.00,2.33,0.00,0.000,4,0.000,0.063,2798,3470,2425,0,0,0,0,0,0
$STATE,6217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6217,begin apogee
$GC,6224,-0.19,0.0,1000.7,15.1,356,6338,1.10,0.00,107.55,1.285,6,0.166,0.000,3116,1592,1950,0,0,0,0,0,0
$STATE,6339,end apogee,CONTROL_FINISHED_OK
$STATE,6339,begin climb
$GC,6341,1.13,116.8,1005.7,0.0,362,6463,1.27,2.55,113.70,1.244,4,0.086,0.053,3552,190,1473,0,0,0,0,0,0
$GC,6541,1.13,116.8,987.6,13.9,371,6546,0.00,2.42,0.00,0.000,6,0.000,0.035,3551,1610,1468,0,0,0,0,0,0
$GC,6857,1.13,116.8,945.2,13.5,387,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1610,1466,0,0,0,0,0,0
$GC,7165,1.13,116.8,902.7,13.7,402,7169,0.00,2.38,0.00,0.000,4,0.000,0.053,3561,187,1465,0,0,0,0,0,0
$GC,7221,1.10,116.8,895.0,14.1,404,7226,0.05,2.28,0.00,0.000,6,0.181,0.036,3546,1603,1464,0,0,0,0,0,0
$GC,7541,1.13,116.8,854.0,12.6,420,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1603,1464,0,0,0,0,0,0
$GC,7851,1.16,116.8,815.3,12.5,435,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1604,1464,0,0,0,0,0,0
$GC,8159,1.20,116.8,776.0,12.8,450,8164,0.08,2.33,0.00,0.000,4,0.123,0.054,3597,187,1464,0,0,0,0,0,0
$GC,8208,1.11,116.8,768.6,15.0,452,8213,0.15,2.25,0.00,0.000,6,0.165,0.035,3543,1606,1464,0,0,0,0,0,0
$GC,8528,1.15,116.8,726.7,13.2,468,8533,0.00,2.33,0.00,0.000,4,0.000,0.053,3553,188,1463,0,0,0,0,0,0
$GC,8600,1.15,116.8,716.9,14.1,471,8605,0.00,2.25,0.00,0.000,6,0.000,0.035,3553,1610,1463,0,0,0,0,0,0
$GC,8922,1.15,116.8,675.5,12.7,487,8926,0.00,2.33,0.00,0.000,4,0.000,0.052,3562,187,1463,0,0,0,0,0,0
$GC,9015,1.15,116.8,662.4,13.8,491,9020,0.00,2.22,0.00,0.000,6,0.000,0.035,3561,1595,1463,0,0,0,0,0,0
$GC,9338,1.15,116.8,621.3,12.6,507,9342,0.00,2.30,0.00,0.000,4,0.000,0.054,3570,189,1463,0,0,0,0,0,0
$GC,9423,1.11,116.8,609.8,14.0,511,9427,0.12,2.20,0.00,0.000,6,0.184,0.036,3539,1605,1462,0,0,0,0,0,0
$GC,9756,1.16,116.8,568.8,12.5,527,9760,0.00,2.33,0.00,0.000,4,0.000,0.054,3547,182,1462,0,0,0,0,0,0
$GC,9788,1.16,116.8,564.3,13.6,528,9792,0.00,2.25,0.00,0.000,6,0.000,0.035,3548,1605,1462,0,0,0,0,0,0
$GC,10109,1.20,116.8,524.9,11.9,544,10111,0.08,0.00,0.00,0.000,6,0.123,0.000,3590,1605,1462,0,0,0,0,0,0
$GC,10419,1.17,116.8,486.0,12.2,559,10424,0.12,2.33,0.00,0.000,4,0.187,0.053,3569,179,1462,0,0,0,0,0,0
$GC,10480,1.17,116.8,478.5,11.5,562,10484,0.00,2.22,0.00,0.000,6,0.000,0.036,3567,1611,1462,0,0,0,0,0,0
$GC,10811,1.17,116.8,442.2,10.9,578,10815,0.00,2.33,0.00,0.000,4,0.000,0.053,3576,183,1462,0,0,0,0,0,0
$GC,10867,1.12,116.8,435.9,11.7,580,10872,0.08,2.22,0.00,0.000,6,0.167,0.035,3551,1599,1462,0,0,0,0,0,0
$GC,11188,1.17,116.8,403.8,10.1,596,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1600,1461,0,0,0,0,0,0
$GC,11498,1.21,116.8,371.5,10.8,611,11500,0.05,0.00,0.00,0.000,6,0.172,0.000,3584,1600,1462,0,0,0,0,0,0
$GC,11806,1.21,116.8,336.2,11.5,626,11810,0.00,2.30,0.00,0.000,4,0.000,0.054,3593,190,1462,0,0,0,0,0,0
$GC,11969,1.14,116.8,315.7,12.3,633,11973,0.15,2.20,0.00,0.000,6,0.185,0.036,3556,1606,1461,0,0,0,0,0,0
$GC,12297,1.18,116.8,279.6,11.0,649,12301,0.00,2.30,0.00,0.000,4,0.000,0.053,3566,190,1462,0,0,0,0,0,0
$GC,12374,1.18,116.8,270.3,11.8,652,12382,0.00,2.22,0.00,0.000,6,0.000,0.035,3565,1604,1462,0,0,0,0,0,0
$GC,12690,1.18,116.8,235.5,11.1,668,12694,0.00,2.28,0.00,0.000,4,0.000,0.052,3574,190,1462,0,0,0,0,0,0
$GC,12735,1.18,116.8,230.1,12.2,670,12739,0.00,2.20,0.00,0.000,6,0.000,0.035,3573,1606,1462,0,0,0,0,0,0
$GC,13061,1.18,116.8,194.1,11.2,686,13065,0.00,2.20,0.00,0.000,4,0.000,0.053,3573,2992,1462,0,0,0,0,0,0
$GC,13149,1.18,116.8,183.9,12.2,690,13154,0.05,2.17,0.00,0.000,6,0.194,0.037,3567,1598,1462,0,0,0,0,0,0
$GC,13477,1.21,116.8,151.4,9.4,706,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1598,1462,0,0,0,0,0,0
$GC,13787,1.21,116.8,123.1,9.4,721,13791,0.00,2.28,0.00,0.000,4,0.000,0.054,3577,190,1462,0,0,0,0,0,0
$GC,14045,1.21,116.8,94.7,11.0,732,14054,0.00,2.20,0.00,0.000,6,0.000,0.034,3574,1599,1462,0,0,0,0,0,0
$GC,14385,1.21,116.8,55.2,11.1,775,14389,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1599,1462,0,0,0,0,0,0
$GC,14749,1.22,131.7,16.7,6.8,836,14763,0.00,0.00,7.05,0.552,6,0.000,0.000,3574,1599,1412,0,0,0,0,0,0
$GC,14814,1.25,131.7,10.0,10.2,846,14821,0.00,2.25,0.00,0.000,4,0.000,0.052,3574,2997,1412,0,0,0,0,0,0
$STATE,14877,end climb,SURFACE_DEPTH_REACHED
$STATE,14877,begin surface coast
$FINISH,1.9,1.015370
$STATE,14903,end surface coast,CONTROL_FINISHED_OK
$STATE,14903,begin surface
$SM_CCo,14922,34.28,0.052,0,0,1132,200.16
$SM_GC,2.69,0.00,0.00,34.28,0.000,0.000,0.052,70,2041,1132,-9.73,-0.54,200.16
$IRIDIUM_FIX,-4447.43,622.10,230708,202038
$TT8_MAMPS,0.026964
$HUMID,63.11
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,22.5,36.239
$10V_AH,9.8,38.168
$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,24.500,127.425,228.300,34.275,0.000,26.509,43.258,294.907,0.250,0.000,21.054,1918.171,10396.838,354.633,2610.257,169.941,0.000,1312.104,0.000,2137.311,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,78.030,1285.200,52.020,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.662,1266.004,716.230,433.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,63861,860
$CAP_FILE_SIZE,135281,0
$CFSIZE,2097086464,2054094848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270915,154527,-4504.146,622.837,69,1.0,69,-24.3