version: 66.07.10.p01
glider: 573
mission: 12
dive: 424
start: 10 27 115 6 6 43
data:
$ID,573
$MISSION,12
$DIVE,424
$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,-22322.223
$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,51
$R_STBD_OVSHOOT,51
$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,423
$GPS1,271015,055833,-4504.104,637.178,51,1.1,51,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-67.8
$GPS2,271015,060623,-4504.180,637.278,17,1.5,17,-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,305.7,1704,-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,26,-1.09,-49.9,0.0,0.0,0,53,0.00,0.00,-25.70,0.000,2,0.000,0.000,82,2031,1637,0,0,0,0,0,0
$GC,56,-1.12,-96.1,3.3,-3.3,4,113,11.18,2.35,-34.70,0.000,4,0.230,0.073,2806,3444,2342,0,0,0,0,0,0
$GC,389,-1.08,-96.1,47.0,-17.2,58,394,0.10,2.17,0.00,0.000,6,0.190,0.041,2829,2072,2344,0,0,0,0,0,0
$GC,743,-1.08,-96.1,100.8,-14.1,101,747,0.00,2.25,0.00,0.000,4,0.000,0.056,2820,3447,2344,0,0,0,0,0,0
$GC,786,-1.08,-96.1,106.7,-14.0,103,790,0.00,2.20,0.00,0.000,6,0.000,0.042,2820,2053,2344,0,0,0,0,0,0
$GC,1114,-1.08,-96.1,154.4,-14.9,119,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2053,2345,0,0,0,0,0,0
$GC,1422,-1.08,-96.1,198.5,-13.7,134,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2053,2345,0,0,0,0,0,0
$GC,1733,-1.08,-96.1,240.1,-12.8,149,1737,0.00,2.28,0.00,0.000,4,0.000,0.060,2812,3447,2345,0,0,0,0,0,0
$GC,1849,-1.08,-96.1,256.1,-13.8,154,1854,0.05,2.20,0.00,0.000,6,0.169,0.042,2827,2064,2345,0,0,0,0,0,0
$GC,2171,-1.08,-96.1,297.6,-12.7,170,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2064,2345,0,0,0,0,0,0
$GC,2481,-1.08,-96.1,335.9,-12.3,185,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2064,2345,0,0,0,0,0,0
$GC,2789,-1.11,-96.1,374.9,-12.9,200,2793,0.00,2.25,0.00,0.000,4,0.000,0.060,2819,3442,2345,0,0,0,0,0,0
$GC,2827,-1.11,-96.1,380.0,-13.4,202,2831,0.00,2.17,0.00,0.000,6,0.000,0.041,2819,2047,2345,0,0,0,0,0,0
$GC,3158,-1.11,-96.1,424.9,-13.5,218,3162,0.00,2.28,0.00,0.000,4,0.000,0.055,2810,3450,2345,0,0,0,0,0,0
$GC,3221,-1.11,-96.1,433.2,-14.0,221,3225,0.00,2.20,0.00,0.000,6,0.000,0.044,2810,2050,2345,0,0,0,0,0,0
$GC,3547,-1.11,-96.1,475.7,-12.7,237,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2050,2345,0,0,0,0,0,0
$GC,3857,-1.11,-96.1,516.0,-12.7,252,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2050,2346,0,0,0,0,0,0
$GC,4166,-1.11,-96.1,557.2,-13.5,267,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2050,2345,0,0,0,0,0,0
$GC,4474,-1.11,-96.1,598.0,-12.9,282,4478,0.00,2.30,0.00,0.000,4,0.000,0.061,2801,3444,2344,0,0,0,0,0,0
$GC,4537,-1.11,-96.1,606.4,-13.5,285,4541,0.10,2.17,0.00,0.000,6,0.190,0.044,2824,2062,2345,0,0,0,0,0,0
$GC,4865,-1.16,-96.1,648.7,-12.9,301,4869,0.00,2.28,0.00,0.000,4,0.000,0.061,2816,3442,2344,0,0,0,0,0,0
$GC,4914,-1.16,-96.1,655.9,-14.4,303,4918,0.00,2.20,0.00,0.000,6,0.000,0.042,2816,2060,2345,0,0,0,0,0,0
$GC,5236,-1.16,-96.1,698.3,-13.3,319,5240,0.00,2.30,0.00,0.000,4,0.000,0.061,2807,3444,2344,0,0,0,0,0,0
$GC,5279,-1.16,-96.1,704.2,-13.0,321,5283,0.00,2.20,0.00,0.000,6,0.000,0.044,2807,2060,2344,0,0,0,0,0,0
$GC,5606,-1.16,-96.1,746.1,-12.9,337,5610,0.00,2.28,0.00,0.000,4,0.000,0.060,2798,3442,2344,0,0,0,0,0,0
$GC,5656,-1.16,-96.1,752.8,-13.7,339,5660,0.00,2.20,0.00,0.000,6,0.000,0.043,2798,2061,2344,0,0,0,0,0,0
$GC,5978,-1.16,-96.1,794.8,-13.1,355,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2061,2344,0,0,0,0,0,0
$GC,6286,-1.16,-96.1,835.1,-13.0,370,6290,0.00,2.30,0.00,0.000,4,0.000,0.058,2798,651,2343,0,0,0,0,0,0
$GC,6319,-1.16,-96.1,839.3,-13.5,371,6324,0.10,2.22,0.00,0.000,6,0.210,0.044,2811,2043,2343,0,0,0,0,0,0
$GC,6635,-1.16,-96.1,878.9,-12.7,387,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2043,2343,0,0,0,0,0,0
$GC,6943,-1.19,-96.1,916.7,-11.9,402,6947,0.00,2.35,0.00,0.000,4,0.000,0.064,2801,3469,2343,0,0,0,0,0,0
$GC,7059,-1.19,-96.1,930.6,-11.6,407,7064,0.00,2.25,0.00,0.000,6,0.000,0.044,2801,2065,2343,0,0,0,0,0,0
$GC,7381,-1.19,-96.1,967.2,-11.2,423,7385,0.00,2.30,0.00,0.000,4,0.000,0.061,2792,3465,2343,0,0,0,0,0,0
$GC,7458,-1.19,-96.1,976.4,-11.9,426,7464,0.00,2.25,0.00,0.000,6,0.000,0.044,2792,2058,2343,0,0,0,0,0,0
$STATE,7670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7670,begin apogee
$GC,7676,-0.19,0.0,1000.2,11.0,437,7771,1.12,0.00,91.30,1.265,6,0.161,0.000,3114,1595,1950,0,0,0,0,0,0
$STATE,7772,end apogee,CONTROL_FINISHED_OK
$STATE,7772,begin climb
$GC,7774,1.12,96.1,1002.4,0.0,442,7880,1.27,2.58,95.57,1.220,4,0.087,0.054,3549,200,1556,0,0,0,0,0,0
$GC,7937,1.12,96.1,985.9,14.6,449,7941,0.00,2.40,0.00,0.000,6,0.000,0.037,3549,1608,1552,0,0,0,0,0,0
$GC,8253,1.17,96.1,941.6,14.1,465,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1608,1548,0,0,0,0,0,0
$GC,8561,1.21,96.1,899.6,13.5,480,8563,0.08,0.00,0.00,0.000,6,0.125,0.000,3589,1609,1547,0,0,0,0,0,0
$GC,8871,1.21,96.1,853.6,15.0,495,8876,0.05,2.30,0.00,0.000,4,0.221,0.053,3588,196,1546,0,0,0,0,0,0
$GC,8973,1.16,96.1,838.1,15.4,499,8978,0.12,2.22,0.00,0.000,6,0.173,0.036,3556,1607,1545,0,0,0,0,0,0
$GC,9288,1.20,96.1,796.2,12.8,514,9292,0.00,2.33,0.00,0.000,4,0.000,0.054,3565,187,1545,0,0,0,0,0,0
$GC,9377,1.20,96.1,784.1,13.0,518,9381,0.00,2.22,0.00,0.000,6,0.000,0.036,3565,1608,1545,0,0,0,0,0,0
$GC,9708,1.20,96.1,742.4,12.4,534,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1608,1545,0,0,0,0,0,0
$GC,10019,1.20,96.1,704.0,12.5,549,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1608,1545,0,0,0,0,0,0
$GC,10327,1.20,96.1,664.5,12.6,564,10331,0.00,2.33,0.00,0.000,4,0.000,0.053,3574,189,1544,0,0,0,0,0,0
$GC,10392,1.20,96.1,655.7,14.4,567,10397,0.00,2.22,0.00,0.000,6,0.000,0.035,3574,1597,1544,0,0,0,0,0,0
$GC,10720,1.20,96.1,613.6,12.8,583,10724,0.00,2.30,0.00,0.000,4,0.000,0.054,3583,195,1544,0,0,0,0,0,0
$GC,10814,1.20,96.1,600.5,14.2,587,10819,0.03,2.22,0.00,0.000,6,0.189,0.037,3574,1593,1544,0,0,0,0,0,0
$GC,11136,1.20,96.1,560.4,12.3,603,11140,0.00,2.30,0.00,0.000,4,0.000,0.054,3583,189,1544,0,0,0,0,0,0
$GC,11196,1.20,96.1,552.6,13.0,606,11201,0.05,2.22,0.00,0.000,6,0.224,0.037,3573,1604,1544,0,0,0,0,0,0
$GC,11527,1.20,96.1,511.8,12.5,622,11532,0.00,2.33,0.00,0.000,4,0.000,0.054,3581,186,1544,0,0,0,0,0,0
$GC,11627,1.20,96.1,498.3,14.2,626,11633,0.00,2.22,0.00,0.000,6,0.000,0.036,3582,1598,1544,0,0,0,0,0,0
$GC,11942,1.20,96.1,457.1,12.9,642,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1598,1544,0,0,0,0,0,0
$GC,12253,1.20,96.1,421.0,11.2,657,12257,0.00,2.28,0.00,0.000,4,0.000,0.053,3591,195,1544,0,0,0,0,0,0
$GC,12331,1.16,96.1,411.4,12.6,660,12336,0.12,2.20,0.00,0.000,6,0.171,0.037,3560,1597,1544,0,0,0,0,0,0
$GC,12653,1.22,96.1,377.3,10.2,676,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1597,1543,0,0,0,0,0,0
$GC,12964,1.27,96.1,345.5,10.4,691,12969,0.10,2.30,0.00,0.000,4,0.100,0.054,3617,193,1543,0,0,0,0,0,0
$GC,13058,1.19,96.1,333.2,12.6,695,13063,0.17,2.20,0.00,0.000,6,0.172,0.037,3571,1600,1543,0,0,0,0,0,0
$GC,13382,1.22,96.1,296.3,11.8,711,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1600,1543,0,0,0,0,0,0
$GC,13691,1.26,96.1,260.3,11.4,726,13695,0.00,2.30,0.00,0.000,4,0.000,0.054,3580,195,1544,0,0,0,0,0,0
$GC,13781,1.26,96.1,249.4,12.2,730,13785,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1598,1543,0,0,0,0,0,0
$GC,14108,1.26,96.1,212.3,11.6,746,14112,0.00,2.22,0.00,0.000,4,0.000,0.054,3579,2990,1544,0,0,0,0,0,0
$GC,14224,1.26,96.1,198.0,12.6,751,14228,0.00,2.17,0.00,0.000,6,0.000,0.036,3588,1589,1543,0,0,0,0,0,0
$GC,14553,1.26,96.1,156.3,11.5,767,14557,0.00,2.28,0.00,0.000,4,0.000,0.055,3599,190,1543,0,0,0,0,0,0
$GC,14722,1.22,96.1,136.1,11.8,774,14730,0.05,2.22,0.00,0.000,6,0.171,0.037,3583,1596,1544,0,0,0,0,0,0
$GC,15038,1.22,96.1,101.7,11.0,790,15042,0.00,2.30,0.00,0.000,4,0.000,0.052,3592,190,1543,0,0,0,0,0,0
$GC,15218,1.22,96.1,80.0,12.1,798,15222,0.03,2.25,0.00,0.000,6,0.190,0.037,3583,1608,1543,0,0,0,0,0,0
$GC,15567,1.22,96.1,41.6,11.5,857,15572,0.00,2.28,0.00,0.000,4,0.000,0.050,3592,196,1543,0,0,0,0,0,0
$GC,15806,1.22,96.1,13.9,12.0,896,15813,0.00,2.22,0.00,0.000,6,0.000,0.036,3592,1600,1543,0,0,0,0,0,0
$GC,15865,1.22,96.7,8.3,8.5,905,15873,0.05,2.28,0.00,0.000,4,0.232,0.056,3580,2996,1543,0,0,0,0,0,0
$STATE,15929,end climb,SURFACE_DEPTH_REACHED
$STATE,15929,begin surface coast
$FINISH,1.6,1.002145
$STATE,15968,end surface coast,CONTROL_FINISHED_OK
$STATE,15969,begin surface
$SM_CCo,15988,49.30,0.055,0,0,1132,200.16
$SM_GC,3.42,0.00,0.00,49.30,0.000,0.000,0.055,70,2031,1132,-9.73,-0.82,200.16
$IRIDIUM_FIX,-4444.39,639.92,220808,141423
$TT8_MAMPS,0.026964
$HUMID,64.25
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.3,50.586
$10V_AH,9.7,53.077
$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,24.150,122.100,186.875,49.300,0.000,28.091,22.635,275.439,0.000,0.000,19.649,2039.844,11220.479,332.125,2696.588,216.517,0.000,1316.166,0.000,2259.618,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,72.675,1265.310,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.497,1351.828,762.292,465.522,0.000,0.000,0.000,0.000,0.000,0.000
$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,67372,921
$CAP_FILE_SIZE,137375,0
$CFSIZE,2097086464,2036498432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271015,103506,-4503.675,635.757,28,1.3,28,-24.4