version: 66.07.10.p01
glider: 573
mission: 12
dive: 403
start: 10 22 115 13 53 28
data:
$ID,573
$MISSION,12
$DIVE,403
$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,-22266.549
$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,37
$R_STBD_OVSHOOT,36
$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,402
$GPS1,221015,134421,-4503.372,626.597,59,0.9,59,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-72.3
$GPS2,221015,135307,-4503.345,626.711,22,1.1,22,-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,275.5,3747,-25.6,-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,-1.02,-58.0,0.0,0.0,0,40,0.00,0.00,-13.77,0.000,2,0.000,0.000,64,2054,1408,0,0,0,0,0,0
$GC,43,-1.05,-114.1,3.1,-3.0,2,113,11.45,2.33,-49.47,0.000,4,0.235,0.068,2830,3454,2417,0,0,0,0,0,0
$GC,196,-1.02,-114.1,13.6,-14.9,26,204,0.05,2.22,0.00,0.000,6,0.172,0.041,2846,2071,2419,0,0,0,0,0,0
$GC,255,-1.02,-114.1,22.5,-14.4,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2071,2419,0,0,0,0,0,0
$GC,408,-1.02,-114.1,45.4,-15.0,60,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2071,2419,0,0,0,0,0,0
$GC,761,-1.02,-114.1,99.6,-15.3,106,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2071,2419,0,0,0,0,0,0
$GC,1072,-1.02,-114.1,147.4,-15.6,121,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2071,2420,0,0,0,0,0,0
$GC,1379,-1.02,-114.1,192.7,-13.8,136,1383,0.00,2.25,0.00,0.000,4,0.000,0.052,2837,3471,2420,0,0,0,0,0,0
$GC,1407,-1.02,-114.1,196.9,-14.5,137,1412,0.03,2.25,0.00,0.000,6,0.197,0.041,2846,2052,2420,0,0,0,0,0,0
$GC,1730,-1.02,-114.1,242.9,-14.7,153,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2052,2420,0,0,0,0,0,0
$GC,2038,-1.02,-114.1,287.3,-14.1,168,2042,0.00,2.30,0.00,0.000,4,0.000,0.058,2837,3463,2420,0,0,0,0,0,0
$GC,2104,-1.02,-114.1,297.4,-14.5,171,2109,0.05,2.22,0.00,0.000,6,0.174,0.040,2853,2053,2420,0,0,0,0,0,0
$GC,2432,-1.02,-114.1,341.9,-14.0,187,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2053,2420,0,0,0,0,0,0
$GC,2740,-1.05,-114.1,383.2,-13.3,202,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2053,2420,0,0,0,0,0,0
$GC,3051,-1.08,-114.1,423.6,-12.7,217,3055,0.00,2.30,0.00,0.000,4,0.000,0.060,2843,3460,2420,0,0,0,0,0,0
$GC,3100,-1.08,-114.1,430.5,-13.7,219,3104,0.00,2.20,0.00,0.000,6,0.000,0.040,2844,2067,2420,0,0,0,0,0,0
$GC,3422,-1.08,-114.1,472.9,-13.8,235,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2067,2420,0,0,0,0,0,0
$GC,3731,-1.08,-114.1,515.5,-13.8,250,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2067,2420,0,0,0,0,0,0
$GC,4040,-1.08,-114.1,558.5,-13.9,265,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2067,2420,0,0,0,0,0,0
$GC,4349,-1.08,-114.1,601.4,-13.8,280,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2067,2420,0,0,0,0,0,0
$GC,4659,-1.08,-114.1,643.3,-13.7,295,4663,0.00,2.28,0.00,0.000,4,0.000,0.054,2844,653,2420,0,0,0,0,0,0
$GC,4685,-1.08,-114.1,647.3,-15.1,296,4690,0.00,2.22,0.00,0.000,6,0.000,0.039,2835,2056,2420,0,0,0,0,0,0
$GC,5006,-1.08,-114.1,691.2,-13.4,312,5010,0.00,2.28,0.00,0.000,4,0.000,0.057,2824,3472,2419,0,0,0,0,0,0
$GC,5084,-1.08,-114.1,701.8,-14.1,315,5089,0.00,2.22,0.00,0.000,6,0.000,0.044,2824,2059,2419,0,0,0,0,0,0
$GC,5400,-1.08,-114.1,741.5,-12.0,331,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2059,2419,0,0,0,0,0,0
$GC,5708,-1.08,-114.1,778.9,-12.0,346,5712,0.00,2.30,0.00,0.000,4,0.000,0.060,2815,3462,2419,0,0,0,0,0,0
$GC,5740,-1.08,-114.1,782.9,-12.9,347,5745,0.05,2.22,0.00,0.000,6,0.174,0.041,2831,2057,2419,0,0,0,0,0,0
$GC,6056,-1.08,-114.1,820.2,-11.9,363,6060,0.00,2.28,0.00,0.000,4,0.000,0.057,2831,655,2419,0,0,0,0,0,0
$GC,6082,-1.08,-114.1,823.9,-13.6,364,6087,0.00,2.25,0.00,0.000,6,0.000,0.044,2822,2055,2418,0,0,0,0,0,0
$GC,6402,-1.08,-114.1,862.4,-12.6,380,6406,0.00,2.30,0.00,0.000,4,0.000,0.058,2811,3477,2418,0,0,0,0,0,0
$GC,6457,-1.08,-114.1,869.5,-13.2,382,6464,0.05,2.28,0.00,0.000,6,0.171,0.044,2828,2055,2418,0,0,0,0,0,0
$GC,6772,-1.08,-114.1,907.9,-12.0,398,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2055,2418,0,0,0,0,0,0
$GC,7083,-1.08,-114.1,944.2,-11.8,413,7087,0.00,2.33,0.00,0.000,4,0.000,0.061,2818,3465,2417,0,0,0,0,0,0
$GC,7137,-1.08,-114.1,951.2,-12.7,415,7143,0.03,2.25,0.00,0.000,6,0.189,0.043,2828,2057,2417,0,0,0,0,0,0
$GC,7454,-1.08,-114.1,987.6,-11.7,431,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2057,2417,0,0,0,0,0,0
$STATE,7575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7576,begin apogee
$GC,7581,-0.19,0.0,1001.3,11.2,437,7696,0.98,0.00,107.72,1.268,6,0.150,0.000,3115,1591,1950,0,0,0,0,0,0
$STATE,7697,end apogee,CONTROL_FINISHED_OK
$STATE,7697,begin climb
$GC,7699,1.05,114.1,1004.7,0.0,443,7822,1.20,2.55,113.30,1.225,4,0.086,0.054,3527,193,1483,0,0,0,0,0,0
$GC,7900,1.05,114.1,985.1,14.2,452,7905,0.00,2.42,0.00,0.000,6,0.000,0.035,3526,1611,1478,0,0,0,0,0,0
$GC,8221,1.10,114.1,944.8,12.6,468,8225,0.00,2.40,0.00,0.000,4,0.000,0.053,3536,189,1475,0,0,0,0,0,0
$GC,8260,1.10,114.1,939.7,12.1,470,8264,0.00,2.28,0.00,0.000,6,0.000,0.036,3536,1605,1474,0,0,0,0,0,0
$GC,8591,1.10,114.1,897.5,12.8,486,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1605,1474,0,0,0,0,0,0
$GC,8902,1.10,114.1,858.4,12.5,501,8906,0.00,2.33,0.00,0.000,4,0.000,0.053,3545,187,1474,0,0,0,0,0,0
$GC,8948,1.10,114.1,852.2,14.3,503,8952,0.00,2.22,0.00,0.000,6,0.000,0.034,3545,1614,1474,0,0,0,0,0,0
$GC,9280,1.10,114.1,809.4,12.5,519,9284,0.00,2.30,0.00,0.000,4,0.000,0.053,3554,196,1474,0,0,0,0,0,0
$GC,9329,1.10,114.1,802.5,14.8,521,9334,0.08,2.22,0.00,0.000,6,0.200,0.037,3538,1606,1473,0,0,0,0,0,0
$GC,9656,1.10,114.1,761.5,12.5,537,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1606,1473,0,0,0,0,0,0
$GC,9964,1.10,114.1,723.6,12.3,552,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1606,1473,0,0,0,0,0,0
$GC,10275,1.10,114.1,686.2,12.2,567,10279,0.00,2.30,0.00,0.000,4,0.000,0.053,3547,196,1472,0,0,0,0,0,0
$GC,10329,1.10,114.1,678.9,13.4,569,10334,0.00,2.22,0.00,0.000,6,0.000,0.035,3547,1603,1471,0,0,0,0,0,0
$GC,10646,1.10,114.1,639.4,12.6,585,10650,0.00,2.22,0.00,0.000,4,0.000,0.053,3547,2991,1471,0,0,0,0,0,0
$GC,10685,1.10,114.1,634.2,13.5,587,10690,0.08,2.17,0.00,0.000,6,0.216,0.036,3541,1590,1471,0,0,0,0,0,0
$GC,11013,1.13,114.1,594.5,12.0,603,11017,0.00,2.28,0.00,0.000,4,0.000,0.055,3550,193,1471,0,0,0,0,0,0
$GC,11165,1.13,114.1,574.8,12.9,610,11169,0.00,2.20,0.00,0.000,6,0.000,0.037,3550,1601,1471,0,0,0,0,0,0
$GC,11491,1.13,114.1,535.0,12.2,626,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1601,1471,0,0,0,0,0,0
$GC,11801,1.13,114.1,497.3,12.4,641,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1601,1471,0,0,0,0,0,0
$GC,12109,1.13,114.1,458.8,12.9,656,12113,0.00,2.30,0.00,0.000,4,0.000,0.052,3560,193,1471,0,0,0,0,0,0
$GC,12159,1.13,114.1,451.8,14.0,658,12163,0.00,2.22,0.00,0.000,6,0.000,0.036,3560,1599,1471,0,0,0,0,0,0
$GC,12479,1.13,114.1,408.9,13.5,674,12483,0.00,2.30,0.00,0.000,4,0.000,0.053,3569,193,1471,0,0,0,0,0,0
$GC,12603,1.09,114.1,391.8,14.4,679,12608,0.12,2.20,0.00,0.000,6,0.171,0.036,3537,1607,1470,0,0,0,0,0,0
$GC,12919,1.15,114.1,354.3,11.9,695,12923,0.00,2.30,0.00,0.000,4,0.000,0.054,3546,198,1470,0,0,0,0,0,0
$GC,12963,1.15,114.1,348.7,12.6,697,12967,0.00,2.20,0.00,0.000,6,0.000,0.036,3546,1596,1471,0,0,0,0,0,0
$GC,13291,1.18,114.1,307.5,12.8,713,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1596,1470,0,0,0,0,0,0
$GC,13600,1.22,114.1,268.2,12.9,728,13605,0.10,2.28,0.00,0.000,4,0.101,0.052,3608,199,1470,0,0,0,0,0,0
$GC,13712,1.11,114.1,252.2,14.7,733,13717,0.25,2.20,0.00,0.000,6,0.161,0.037,3540,1606,1470,0,0,0,0,0,0
$GC,14042,1.16,114.1,214.1,11.0,749,14046,0.00,2.30,0.00,0.000,4,0.000,0.052,3549,198,1471,0,0,0,0,0,0
$GC,14096,1.16,114.1,207.3,11.5,751,14102,0.00,2.22,0.00,0.000,6,0.000,0.036,3549,1607,1470,0,0,0,0,0,0
$GC,14415,1.20,114.1,173.7,10.3,767,14420,0.05,2.30,0.00,0.000,4,0.168,0.051,3594,193,1470,0,0,0,0,0,0
$GC,14551,1.12,114.1,156.5,12.6,773,14556,0.17,2.20,0.00,0.000,6,0.161,0.034,3548,1606,1471,0,0,0,0,0,0
$GC,14875,1.17,114.1,122.2,10.8,789,14879,0.00,2.30,0.00,0.000,4,0.000,0.051,3557,196,1470,0,0,0,0,0,0
$GC,14919,1.17,114.1,116.7,11.3,791,14924,0.00,2.20,0.00,0.000,6,0.000,0.035,3557,1613,1471,0,0,0,0,0,0
$GC,15249,1.17,114.1,80.5,11.2,807,15250,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1613,1470,0,0,0,0,0,0
$GC,15587,1.17,114.1,41.4,11.3,864,15593,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1613,1470,0,0,0,0,0,0
$STATE,15929,end climb,SURFACE_DEPTH_REACHED
$STATE,15929,begin surface coast
$FINISH,2.2,1.023440
$STATE,15955,end surface coast,CONTROL_FINISHED_OK
$STATE,15955,begin surface
$SM_CCo,15973,40.83,0.055,0,0,1133,200.16
$SM_GC,3.29,0.00,0.00,40.83,0.000,0.000,0.055,74,2069,1133,-9.72,0.23,200.16
$IRIDIUM_FIX,-4447.43,419.48,170808,202049
$TT8_MAMPS,0.026964
$HUMID,64.21
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,22.3,48.390
$10V_AH,9.7,50.748
$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,24.025,110.300,221.025,40.825,0.000,27.373,19.021,320.585,0.250,0.000,25.653,2005.249,11320.019,353.711,2628.899,222.905,0.000,1301.056,0.000,2152.787,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,68.085,1267.605,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.308,1351.017,759.135,464.532,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,67239,924
$CAP_FILE_SIZE,134427,0
$CFSIZE,2097086464,2039250944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221015,182135,-4503.570,625.283,35,0.9,36,-24.4