version: 66.07.10.p01
glider: 573
mission: 12
dive: 291
start: 9 27 115 15 53 48
data:
$ID,573
$MISSION,12
$DIVE,291
$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,-21937.945
$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,43
$R_STBD_OVSHOOT,43
$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,290
$GPS1,270915,154527,-4504.146,622.837,69,1.0,69,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-68.6
$GPS2,270915,155328,-4504.217,622.825,16,1.0,17,-24.3
$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,99.7,1589,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,34,0.00,0.00,-6.82,0.000,2,0.000,0.000,70,2041,1271,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.3,-0.0,1,112,10.95,2.30,-56.05,0.000,4,0.227,0.072,2812,674,2425,0,0,0,0,0,0
$GC,267,-1.04,-116.8,32.8,-20.3,38,275,0.12,2.25,0.00,0.000,6,0.172,0.045,2840,2044,2427,0,0,0,0,0,0
$GC,417,-1.04,-116.8,63.3,-20.0,63,425,0.00,2.35,0.00,0.000,4,0.000,0.063,2830,3462,2428,0,0,0,0,0,0
$GC,465,-1.04,-116.8,73.4,-20.7,71,470,0.08,2.20,0.00,0.000,6,0.207,0.041,2845,2070,2428,0,0,0,0,0,0
$GC,791,-1.04,-116.8,131.8,-17.7,91,795,0.00,2.30,0.00,0.000,4,0.000,0.056,2836,3481,2428,0,0,0,0,0,0
$GC,823,-1.04,-116.8,138.2,-17.9,92,830,0.00,2.25,0.00,0.000,6,0.000,0.041,2837,2065,2428,0,0,0,0,0,0
$GC,1139,-1.04,-116.8,193.8,-17.6,108,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2064,2429,0,0,0,0,0,0
$GC,1450,-1.04,-116.8,245.9,-16.8,123,1454,0.00,2.28,0.00,0.000,4,0.000,0.054,2837,653,2429,0,0,0,0,0,0
$GC,1539,-1.04,-116.8,261.4,-17.1,127,1544,0.05,2.28,0.00,0.000,6,0.175,0.042,2844,2070,2429,0,0,0,0,0,0
$GC,1867,-1.09,-116.8,313.6,-16.1,143,1871,0.00,2.28,0.00,0.000,4,0.000,0.059,2834,3478,2429,0,0,0,0,0,0
$GC,1944,-1.13,-116.8,326.4,-16.1,146,1950,0.00,2.25,0.00,0.000,6,0.000,0.042,2834,2060,2429,0,0,0,0,0,0
$GC,2259,-1.16,-116.8,376.7,-15.5,162,2261,0.08,0.00,0.00,0.000,6,0.122,0.000,2792,2060,2429,0,0,0,0,0,0
$GC,2570,-1.12,-116.8,430.6,-17.5,177,2572,0.12,0.00,0.00,0.000,6,0.194,0.000,2822,2060,2429,0,0,0,0,0,0
$GC,2878,-1.12,-116.8,482.2,-16.6,192,2882,0.00,2.30,0.00,0.000,4,0.000,0.061,2813,3465,2429,0,0,0,0,0,0
$GC,2910,-1.12,-116.8,487.7,-17.2,193,2915,0.00,2.22,0.00,0.000,6,0.000,0.042,2813,2066,2429,0,0,0,0,0,0
$GC,3226,-1.12,-116.8,540.8,-16.6,209,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2066,2429,0,0,0,0,0,0
$GC,3534,-1.12,-116.8,593.7,-17.3,224,3538,0.00,2.28,0.00,0.000,4,0.000,0.056,2804,3475,2429,0,0,0,0,0,0
$GC,3583,-1.12,-116.8,602.6,-17.6,226,3589,0.03,2.25,0.00,0.000,6,0.203,0.044,2812,2063,2429,0,0,0,0,0,0
$GC,3904,-1.12,-116.8,657.9,-17.2,242,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2062,2429,0,0,0,0,0,0
$GC,4214,-1.12,-116.8,708.3,-15.9,257,4218,0.00,2.30,0.00,0.000,4,0.000,0.059,2803,3476,2428,0,0,0,0,0,0
$GC,4263,-1.12,-116.8,716.5,-16.0,259,4268,0.05,2.28,0.00,0.000,6,0.184,0.044,2819,2051,2428,0,0,0,0,0,0
$GC,4586,-1.16,-116.8,764.1,-14.2,275,4590,0.00,2.33,0.00,0.000,4,0.000,0.062,2810,3469,2428,0,0,0,0,0,0
$GC,4640,-1.16,-116.8,772.5,-15.0,277,4645,0.00,2.25,0.00,0.000,6,0.000,0.045,2810,2058,2428,0,0,0,0,0,0
$GC,4956,-1.16,-116.8,818.7,-14.6,293,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2058,2428,0,0,0,0,0,0
$GC,5264,-1.16,-116.8,863.4,-14.3,308,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2058,2428,0,0,0,0,0,0
$GC,5575,-1.19,-116.8,907.9,-14.2,323,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2058,2428,0,0,0,0,0,0
$GC,5884,-1.22,-116.8,951.1,-13.6,338,5885,0.05,0.00,0.00,0.000,6,0.170,0.000,2777,2058,2428,0,0,0,0,0,0
$GC,6194,-1.22,-116.8,998.5,-15.2,353,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2058,2428,0,0,0,0,0,0
$STATE,6211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6211,begin apogee
$GC,6217,-0.19,0.0,1001.7,15.2,354,6328,1.20,0.00,107.97,1.286,6,0.174,0.000,3115,1594,1950,0,0,0,0,0,0
$STATE,6329,end apogee,CONTROL_FINISHED_OK
$STATE,6329,begin climb
$GC,6331,1.13,116.8,1006.0,0.0,359,6454,1.30,2.53,113.32,1.242,4,0.086,0.054,3558,199,1473,0,0,0,0,0,0
$GC,6560,1.13,116.8,982.8,15.1,369,6565,0.00,2.40,0.00,0.000,6,0.000,0.036,3557,1607,1468,0,0,0,0,0,0
$GC,6876,1.13,116.8,940.5,13.2,385,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1607,1466,0,0,0,0,0,0
$GC,7186,1.13,116.8,900.7,12.6,400,7190,0.00,2.35,0.00,0.000,4,0.000,0.054,3567,196,1465,0,0,0,0,0,0
$GC,7241,1.09,116.8,893.1,13.4,402,7247,0.08,2.28,0.00,0.000,6,0.166,0.036,3543,1607,1464,0,0,0,0,0,0
$GC,7556,1.13,116.8,853.2,13.0,418,7560,0.00,2.35,0.00,0.000,4,0.000,0.053,3552,186,1464,0,0,0,0,0,0
$GC,7576,1.13,116.8,850.3,13.4,419,7581,0.00,2.28,0.00,0.000,6,0.000,0.035,3552,1604,1464,0,0,0,0,0,0
$GC,7904,1.13,116.8,806.6,13.5,435,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1605,1464,0,0,0,0,0,0
$GC,8212,1.13,116.8,765.4,13.1,450,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1605,1464,0,0,0,0,0,0
$GC,8523,1.13,116.8,725.3,12.7,465,8527,0.00,2.22,0.00,0.000,4,0.000,0.054,3552,3005,1464,0,0,0,0,0,0
$GC,8572,1.13,116.8,718.6,14.0,467,8577,0.03,2.22,0.00,0.000,6,0.210,0.037,3554,1596,1463,0,0,0,0,0,0
$GC,8893,1.13,116.8,677.2,13.2,483,8897,0.00,2.28,0.00,0.000,4,0.000,0.055,3563,196,1463,0,0,0,0,0,0
$GC,9031,1.13,116.8,657.4,14.0,489,9037,0.03,2.22,0.00,0.000,6,0.203,0.037,3554,1602,1462,0,0,0,0,0,0
$GC,9353,1.13,116.8,615.6,12.7,505,9358,0.00,2.30,0.00,0.000,4,0.000,0.053,3562,195,1462,0,0,0,0,0,0
$GC,9397,1.13,116.8,609.6,13.6,507,9402,0.03,2.22,0.00,0.000,6,0.205,0.037,3555,1599,1462,0,0,0,0,0,0
$GC,9724,1.13,116.8,569.8,12.2,523,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1600,1462,0,0,0,0,0,0
$GC,10032,1.13,116.8,532.1,12.1,538,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1600,1462,0,0,0,0,0,0
$GC,10343,1.16,116.8,494.2,12.4,553,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1599,1462,0,0,0,0,0,0
$GC,10651,1.20,116.8,457.1,11.7,568,10655,0.00,2.30,0.00,0.000,4,0.000,0.053,3563,189,1462,0,0,0,0,0,0
$GC,10744,1.20,116.8,444.9,12.7,572,10749,0.00,2.22,0.00,0.000,6,0.000,0.037,3563,1599,1462,0,0,0,0,0,0
$GC,11065,1.20,116.8,406.0,11.8,588,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1599,1462,0,0,0,0,0,0
$GC,11376,1.20,116.8,370.1,11.6,603,11380,0.00,2.30,0.00,0.000,4,0.000,0.052,3571,188,1462,0,0,0,0,0,0
$GC,11527,1.20,116.8,351.1,12.6,610,11531,0.00,2.20,0.00,0.000,6,0.000,0.037,3571,1608,1461,0,0,0,0,0,0
$GC,11852,1.20,116.8,311.6,11.6,626,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1608,1462,0,0,0,0,0,0
$GC,12166,1.20,116.8,276.2,11.6,641,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1608,1462,0,0,0,0,0,0
$GC,12472,1.20,116.8,241.1,10.9,656,12476,0.00,2.22,0.00,0.000,4,0.000,0.054,3571,3002,1461,0,0,0,0,0,0
$GC,12520,1.20,116.8,235.5,10.8,658,12525,0.00,2.20,0.00,0.000,6,0.000,0.036,3579,1598,1461,0,0,0,0,0,0
$GC,12842,1.20,116.8,200.0,10.7,674,12844,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1598,1461,0,0,0,0,0,0
$GC,13154,1.20,116.8,165.9,11.2,689,13158,0.00,2.25,0.00,0.000,4,0.000,0.054,3590,192,1461,0,0,0,0,0,0
$GC,13412,1.15,116.8,132.9,12.1,700,13421,0.10,2.22,0.00,0.000,6,0.164,0.036,3560,1605,1461,0,0,0,0,0,0
$GC,13728,1.20,116.8,97.7,11.4,716,13732,0.00,2.28,0.00,0.000,4,0.000,0.051,3569,192,1462,0,0,0,0,0,0
$GC,13834,1.20,116.8,83.8,12.7,720,13842,0.00,2.22,0.00,0.000,6,0.000,0.035,3569,1603,1461,0,0,0,0,0,0
$GC,14182,1.20,116.8,43.5,12.1,775,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1603,1461,0,0,0,0,0,0
$GC,14552,1.20,128.1,9.4,7.3,836,14567,0.00,2.30,5.03,0.480,4,0.000,0.047,3578,187,1426,0,0,0,0,0,0
$STATE,14634,end climb,SURFACE_DEPTH_REACHED
$STATE,14634,begin surface coast
$FINISH,1.6,1.023425
$STATE,14663,end surface coast,CONTROL_FINISHED_OK
$STATE,14663,begin surface
$SM_CCo,14683,36.00,0.054,0,0,1132,200.16
$SM_GC,2.29,0.00,0.00,36.00,0.000,0.000,0.054,61,2064,1132,-9.76,0.11,200.16
$IRIDIUM_FIX,-4447.43,618.73,240708,000058
$TT8_MAMPS,0.026964
$HUMID,63.38
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.5,36.339
$10V_AH,9.8,38.262
$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,23.400,97.025,226.325,36.000,0.000,25.666,70.266,260.063,0.000,0.000,18.876,1851.091,10347.877,348.394,2486.258,166.755,0.000,1235.086,0.000,2025.948,0.000,0.539,0.000
$DEVICE_MAMPS,227.205,71.910,1285.965,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.448,1282.594,739.564,474.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353184
$DATA_FILE_SIZE,60705,853
$CAP_FILE_SIZE,122103,0
$CFSIZE,2097086464,2053996544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270915,200021,-4504.851,625.388,38,1.0,38,-24.4