version: 66.07.10.p01
glider: 573
mission: 12
dive: 295
start: 9 28 115 10 28 12
data:
$ID,573
$MISSION,12
$DIVE,295
$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,-21951.186
$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,23
$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,294
$GPS1,280915,101526,-4504.700,625.638,41,1.1,44,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.4
$GPS2,280915,102752,-4504.791,625.708,15,2.0,15,-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,327.6,2671,-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,-49.9,0.0,0.0,0,59,0.00,0.00,-31.92,0.000,2,0.000,0.000,63,2054,1749,0,0,0,0,0,0
$GC,62,-1.12,-94.7,3.2,-3.4,5,101,11.45,2.35,-22.58,0.000,4,0.241,0.073,2805,3482,2335,0,0,0,0,0,0
$GC,299,-1.04,-94.7,34.7,-16.0,43,307,0.12,2.30,0.00,0.000,6,0.174,0.043,2842,2060,2338,0,0,0,0,0,0
$GC,447,-1.04,-94.7,57.1,-15.5,68,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2060,2338,0,0,0,0,0,0
$GC,784,-1.04,-94.7,107.1,-15.3,103,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2060,2339,0,0,0,0,0,0
$GC,1090,-1.04,-94.7,154.2,-14.7,118,1094,0.00,2.33,0.00,0.000,4,0.000,0.061,2833,3478,2339,0,0,0,0,0,0
$GC,1162,-1.04,-94.7,165.0,-13.5,121,1167,0.03,2.28,0.00,0.000,6,0.203,0.042,2842,2053,2339,0,0,0,0,0,0
$GC,1485,-1.04,-94.7,209.0,-14.4,137,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2053,2339,0,0,0,0,0,0
$GC,1793,-1.07,-94.7,253.9,-14.2,152,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2052,2339,0,0,0,0,0,0
$GC,2104,-1.10,-94.7,297.7,-14.0,167,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2053,2340,0,0,0,0,0,0
$GC,2410,-1.13,-94.7,342.1,-14.3,182,2412,0.08,0.00,0.00,0.000,6,0.124,0.000,2803,2053,2340,0,0,0,0,0,0
$GC,2721,-1.10,-94.7,391.8,-16.0,197,2726,0.10,2.35,0.00,0.000,4,0.196,0.064,2817,3475,2340,0,0,0,0,0,0
$GC,2805,-1.10,-94.7,405.1,-14.6,201,2809,0.00,2.22,0.00,0.000,6,0.000,0.045,2817,2061,2339,0,0,0,0,0,0
$GC,3132,-1.10,-94.7,451.3,-13.5,217,3136,0.00,2.33,0.00,0.000,4,0.000,0.061,2808,3482,2340,0,0,0,0,0,0
$GC,3216,-1.10,-94.7,463.2,-14.2,221,3221,0.08,2.22,0.00,0.000,6,0.207,0.043,2824,2060,2340,0,0,0,0,0,0
$GC,3542,-1.10,-94.7,504.3,-12.3,237,3546,0.00,2.30,0.00,0.000,4,0.000,0.061,2814,3478,2340,0,0,0,0,0,0
$GC,3581,-1.10,-94.7,509.5,-12.9,239,3585,0.00,2.22,0.00,0.000,6,0.000,0.044,2815,2060,2339,0,0,0,0,0,0
$GC,3907,-1.10,-94.7,553.9,-13.5,255,3911,0.00,2.30,0.00,0.000,4,0.000,0.061,2806,3471,2339,0,0,0,0,0,0
$GC,3972,-1.10,-94.7,563.3,-14.0,258,3978,0.05,2.25,0.00,0.000,6,0.182,0.045,2821,2064,2339,0,0,0,0,0,0
$GC,4299,-1.10,-94.7,606.9,-13.7,274,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2064,2339,0,0,0,0,0,0
$GC,4609,-1.10,-94.7,646.9,-12.5,289,4613,0.00,2.30,0.00,0.000,4,0.000,0.059,2812,3482,2339,0,0,0,0,0,0
$GC,4709,-1.10,-94.7,660.4,-13.3,293,4714,0.03,2.25,0.00,0.000,6,0.199,0.044,2821,2063,2339,0,0,0,0,0,0
$GC,5025,-1.10,-94.7,699.8,-12.8,309,5029,0.00,2.28,0.00,0.000,4,0.000,0.059,2812,3477,2339,0,0,0,0,0,0
$GC,5065,-1.10,-94.7,704.9,-12.7,311,5070,0.08,2.22,0.00,0.000,6,0.203,0.044,2828,2058,2338,0,0,0,0,0,0
$GC,5392,-1.14,-94.7,746.1,-12.3,327,5397,0.00,2.30,0.00,0.000,4,0.000,0.064,2819,3471,2339,0,0,0,0,0,0
$GC,5436,-1.14,-94.7,752.1,-12.8,329,5440,0.00,2.25,0.00,0.000,6,0.000,0.045,2819,2062,2338,0,0,0,0,0,0
$GC,5763,-1.14,-94.7,793.9,-12.9,345,5768,0.00,2.28,0.00,0.000,4,0.000,0.061,2810,3477,2338,0,0,0,0,0,0
$GC,5796,-1.14,-94.7,798.4,-13.6,346,5802,0.00,2.25,0.00,0.000,6,0.000,0.044,2810,2059,2337,0,0,0,0,0,0
$GC,6111,-1.14,-94.7,841.0,-13.9,362,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2059,2337,0,0,0,0,0,0
$GC,6421,-1.14,-94.7,883.8,-13.8,377,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2059,2338,0,0,0,0,0,0
$GC,6729,-1.14,-94.7,926.2,-13.5,392,6733,0.00,2.30,0.00,0.000,4,0.000,0.062,2801,3472,2337,0,0,0,0,0,0
$GC,6818,-1.14,-94.7,938.5,-14.3,396,6823,0.05,2.25,0.00,0.000,6,0.227,0.047,2811,2051,2337,0,0,0,0,0,0
$GC,7149,-1.14,-94.7,979.6,-12.3,412,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2051,2337,0,0,0,0,0,0
$STATE,7335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7335,begin apogee
$GC,7340,-0.19,0.0,1001.8,11.6,421,7431,1.05,0.00,87.53,1.288,6,0.167,0.000,3114,1588,1950,0,0,0,0,0,0
$STATE,7432,end apogee,CONTROL_FINISHED_OK
$STATE,7432,begin climb
$GC,7434,1.12,94.7,1004.6,0.0,425,7535,1.27,2.53,92.00,1.252,4,0.088,0.055,3549,202,1564,0,0,0,0,0,0
$GC,7604,1.12,94.7,988.8,13.8,433,7608,0.00,2.40,0.00,0.000,6,0.000,0.038,3549,1620,1559,0,0,0,0,0,0
$GC,7930,1.12,94.7,945.9,13.1,449,7934,0.00,2.40,0.00,0.000,4,0.000,0.054,3558,190,1555,0,0,0,0,0,0
$GC,7995,1.09,94.7,937.1,13.0,452,8000,0.10,2.30,0.00,0.000,6,0.187,0.037,3536,1599,1555,0,0,0,0,0,0
$GC,8321,1.12,94.7,900.5,10.6,468,8325,0.00,2.35,0.00,0.000,4,0.000,0.054,3545,188,1554,0,0,0,0,0,0
$GC,8359,1.12,94.7,896.2,11.5,470,8364,0.00,2.28,0.00,0.000,6,0.000,0.037,3545,1610,1554,0,0,0,0,0,0
$GC,8691,1.12,94.7,858.4,11.4,486,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1610,1554,0,0,0,0,0,0
$GC,9001,1.12,94.7,822.2,11.9,501,9006,0.00,2.35,0.00,0.000,4,0.000,0.054,3554,187,1553,0,0,0,0,0,0
$GC,9135,1.12,94.7,805.3,13.2,507,9140,0.00,2.25,0.00,0.000,6,0.000,0.036,3554,1600,1553,0,0,0,0,0,0
$GC,9462,1.12,94.7,765.8,12.5,523,9466,0.00,2.30,0.00,0.000,4,0.000,0.054,3563,192,1553,0,0,0,0,0,0
$GC,9512,1.08,94.7,758.8,13.5,525,9516,0.08,2.25,0.00,0.000,6,0.165,0.037,3531,1605,1553,0,0,0,0,0,0
$GC,9834,1.13,94.7,720.3,11.8,541,9838,0.00,2.30,0.00,0.000,4,0.000,0.054,3541,192,1552,0,0,0,0,0,0
$GC,9876,1.13,94.7,714.8,12.3,543,9881,0.00,2.25,0.00,0.000,6,0.000,0.037,3541,1605,1552,0,0,0,0,0,0
$GC,10205,1.17,94.7,676.6,11.9,559,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1605,1552,0,0,0,0,0,0
$GC,10513,1.20,94.7,642.0,10.8,574,10515,0.08,0.00,0.00,0.000,6,0.126,0.000,3585,1605,1552,0,0,0,0,0,0
$GC,10823,1.15,94.7,604.3,12.3,589,10828,0.12,2.22,0.00,0.000,4,0.181,0.054,3554,2995,1552,0,0,0,0,0,0
$GC,10889,1.15,94.7,596.1,12.2,592,10893,0.00,2.20,0.00,0.000,6,0.000,0.037,3562,1597,1552,0,0,0,0,0,0
$GC,11217,1.15,94.7,559.8,11.1,608,11221,0.00,2.28,0.00,0.000,4,0.000,0.056,3573,196,1552,0,0,0,0,0,0
$GC,11300,1.11,94.7,549.8,11.6,612,11305,0.12,2.20,0.00,0.000,6,0.184,0.037,3542,1613,1551,0,0,0,0,0,0
$GC,11632,1.15,94.7,515.7,10.2,628,11636,0.00,2.20,0.00,0.000,4,0.000,0.055,3542,2992,1551,0,0,0,0,0,0
$GC,11699,1.15,94.7,508.7,10.3,631,11704,0.00,2.17,0.00,0.000,6,0.000,0.037,3551,1592,1551,0,0,0,0,0,0
$GC,12026,1.15,94.7,476.3,9.8,647,12030,0.00,2.28,0.00,0.000,4,0.000,0.056,3561,190,1551,0,0,0,0,0,0
$GC,12142,1.15,94.7,464.1,10.5,652,12147,0.00,2.22,0.00,0.000,6,0.000,0.037,3561,1598,1551,0,0,0,0,0,0
$GC,12463,1.15,94.7,433.0,9.8,668,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1599,1551,0,0,0,0,0,0
$GC,12773,1.15,94.7,402.5,9.9,683,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1598,1551,0,0,0,0,0,0
$GC,13081,1.15,94.7,372.2,9.7,698,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1598,1551,0,0,0,0,0,0
$GC,13392,1.15,94.7,341.1,10.2,713,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1598,1551,0,0,0,0,0,0
$GC,13700,1.15,94.7,310.3,10.1,728,13704,0.00,2.28,0.00,0.000,4,0.000,0.053,3569,191,1551,0,0,0,0,0,0
$GC,13755,1.12,94.7,304.4,11.4,730,13760,0.08,2.22,0.00,0.000,6,0.168,0.037,3547,1602,1551,0,0,0,0,0,0
$GC,14078,1.16,94.7,274.7,9.2,746,14082,0.00,2.28,0.00,0.000,4,0.000,0.054,3556,193,1551,0,0,0,0,0,0
$GC,14155,1.16,94.7,267.1,10.4,749,14161,0.00,2.22,0.00,0.000,6,0.000,0.037,3556,1604,1551,0,0,0,0,0,0
$GC,14473,1.16,94.7,238.6,9.2,765,14477,0.00,2.22,0.00,0.000,4,0.000,0.054,3556,2997,1551,0,0,0,0,0,0
$GC,14591,1.16,94.7,227.0,9.4,770,14595,0.00,2.20,0.00,0.000,6,0.000,0.037,3564,1594,1551,0,0,0,0,0,0
$GC,14913,1.16,100.4,199.9,7.9,786,14922,0.00,2.28,4.07,0.498,4,0.000,0.055,3574,196,1540,0,0,0,0,0,0
$GC,14984,1.17,107.3,194.0,7.8,789,15001,0.05,2.20,8.27,0.721,6,0.228,0.037,3565,1607,1513,0,0,0,0,0,0
$GC,15313,1.17,107.3,159.2,12.5,805,15317,0.00,2.30,0.00,0.000,4,0.000,0.053,3573,195,1513,0,0,0,0,0,0
$GC,15571,1.12,107.3,130.4,11.9,816,15580,0.08,2.22,0.00,0.000,6,0.165,0.035,3550,1602,1512,0,0,0,0,0,0
$GC,15889,1.18,131.0,109.4,5.8,832,15918,0.00,2.38,22.92,0.723,4,0.000,0.056,3560,190,1415,0,0,0,0,0,0
$GC,16173,1.21,179.6,92.1,3.0,844,16222,0.00,2.25,43.65,0.716,6,0.000,0.034,3560,1613,1216,0,0,0,0,0,0
$GC,16559,1.33,218.4,44.4,4.1,895,16599,0.15,2.38,33.88,0.674,4,0.083,0.054,3632,189,1060,0,0,0,0,0,0
$GC,16650,1.26,218.4,35.7,16.0,910,16658,0.15,2.28,0.00,0.000,6,0.164,0.036,3588,1600,1056,0,0,0,0,0,0
$GC,16807,1.26,218.4,3.3,21.6,935,16815,0.00,2.35,0.00,0.000,4,0.000,0.057,3598,203,1054,0,0,0,0,0,0
$STATE,16822,end climb,SURFACE_DEPTH_REACHED
$STATE,16822,begin surface coast
$FINISH,1.8,1.023449
$STATE,16842,end surface coast,CONTROL_FINISHED_OK
$STATE,16842,begin surface
$SM_CCo,16922,0.00,0.000,0,0,1050,220.52
$SM_GC,2.98,9.35,0.00,0.00,0.033,0.000,0.000,85,2076,1050,-9.61,0.45,220.52
$IRIDIUM_FIX,-4447.43,622.10,240708,232334
$TT8_MAMPS,0.026964
$HUMID,64.09
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,36.765
$10V_AH,9.7,38.662
$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,24.725,133.675,292.325,0.000,0.000,53.849,41.126,437.531,0.000,0.000,18.191,2072.469,12064.767,359.615,2966.892,200.115,0.000,1421.420,0.000,2311.528,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,72.675,1288.260,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.943,1325.733,699.585,351.906,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,67291,940
$CAP_FILE_SIZE,152052,0
$CFSIZE,2097086464,2053406720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280915,151251,-4503.513,624.604,124,1.3,124,-24.4