version: 66.07.10.p01
glider: 573
mission: 12
dive: 444
start: 10 31 115 23 17 50
data:
$ID,573
$MISSION,12
$DIVE,444
$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,-22381.754
$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,29
$R_STBD_OVSHOOT,47
$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,443
$GPS1,311015,230934,-4456.151,637.196,34,0.9,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-66.9
$GPS2,311015,231730,-4456.121,637.238,16,0.9,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,302.3,1639,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-18.17,0.000,2,0.000,0.000,67,2069,1494,0,0,0,0,0,0
$GC,49,-1.13,-103.4,3.2,-2.4,3,106,11.60,0.00,-41.95,0.000,6,0.241,0.000,2813,2069,2372,0,0,0,0,0,0
$GC,157,-1.13,-103.4,7.5,-10.1,20,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2069,2376,0,0,0,0,0,0
$GC,215,-1.13,-103.4,14.9,-13.4,29,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2069,2375,0,0,0,0,0,0
$GC,273,-1.13,-103.4,23.7,-15.3,38,281,0.00,2.30,0.00,0.000,4,0.000,0.063,2803,3442,2376,0,0,0,0,0,0
$GC,302,-1.09,-103.4,28.7,-17.0,42,310,0.08,2.22,0.00,0.000,6,0.161,0.041,2827,2053,2376,0,0,0,0,0,0
$GC,455,-1.09,-103.4,52.4,-15.3,67,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2054,2376,0,0,0,0,0,0
$GC,798,-1.09,-103.4,107.1,-16.1,106,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2054,2376,0,0,0,0,0,0
$GC,1109,-1.09,-103.4,157.5,-16.9,121,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2054,2376,0,0,0,0,0,0
$GC,1417,-1.09,-103.4,204.5,-15.0,136,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2054,2377,0,0,0,0,0,0
$GC,1728,-1.12,-103.4,246.7,-13.1,151,1732,0.00,2.28,0.00,0.000,4,0.000,0.057,2826,652,2377,0,0,0,0,0,0
$GC,1761,-1.12,-103.4,251.7,-13.8,152,1769,0.00,2.22,0.00,0.000,6,0.000,0.043,2818,2042,2377,0,0,0,0,0,0
$GC,2077,-1.12,-103.4,292.7,-12.9,168,2081,0.00,2.33,0.00,0.000,4,0.000,0.061,2807,3468,2377,0,0,0,0,0,0
$GC,2143,-1.12,-103.4,300.7,-12.7,171,2147,0.05,2.20,0.00,0.000,6,0.220,0.041,2817,2058,2377,0,0,0,0,0,0
$GC,2469,-1.12,-103.4,341.7,-12.3,187,2473,0.00,2.33,0.00,0.000,4,0.000,0.060,2809,3475,2377,0,0,0,0,0,0
$GC,2512,-1.12,-103.4,347.4,-13.1,189,2516,0.00,2.25,0.00,0.000,6,0.000,0.043,2809,2065,2377,0,0,0,0,0,0
$GC,2840,-1.12,-103.4,389.1,-13.0,205,2844,0.00,2.30,0.00,0.000,4,0.000,0.057,2800,3477,2377,0,0,0,0,0,0
$GC,2895,-1.12,-103.4,397.1,-13.8,207,2900,0.05,2.28,0.00,0.000,6,0.172,0.044,2815,2057,2377,0,0,0,0,0,0
$GC,3211,-1.12,-103.4,438.5,-13.3,223,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2057,2377,0,0,0,0,0,0
$GC,3519,-1.12,-103.4,479.6,-13.1,238,3523,0.00,2.33,0.00,0.000,4,0.000,0.061,2806,3471,2378,0,0,0,0,0,0
$GC,3562,-1.12,-103.4,485.5,-14.3,240,3566,0.00,2.25,0.00,0.000,6,0.000,0.044,2807,2063,2377,0,0,0,0,0,0
$GC,3888,-1.12,-103.4,530.9,-14.2,256,3890,0.05,0.00,0.00,0.000,6,0.235,0.000,2817,2062,2377,0,0,0,0,0,0
$GC,4200,-1.16,-103.4,573.9,-13.9,271,4204,0.00,2.30,0.00,0.000,4,0.000,0.059,2808,3471,2377,0,0,0,0,0,0
$GC,4249,-1.16,-103.4,581.4,-14.7,273,4253,0.00,2.25,0.00,0.000,6,0.000,0.044,2809,2060,2377,0,0,0,0,0,0
$GC,4571,-1.16,-103.4,625.3,-13.7,289,4575,0.00,2.30,0.00,0.000,4,0.000,0.060,2800,3466,2377,0,0,0,0,0,0
$GC,4614,-1.16,-103.4,631.7,-14.8,291,4618,0.00,2.25,0.00,0.000,6,0.000,0.042,2800,2053,2377,0,0,0,0,0,0
$GC,4942,-1.16,-103.4,675.9,-13.4,307,4946,0.00,2.33,0.00,0.000,4,0.000,0.060,2791,3466,2376,0,0,0,0,0,0
$GC,4996,-1.16,-103.4,683.8,-13.8,309,5002,0.03,2.25,0.00,0.000,6,0.199,0.044,2799,2063,2376,0,0,0,0,0,0
$GC,5313,-1.16,-103.4,723.3,-12.5,325,5317,0.00,2.30,0.00,0.000,4,0.000,0.060,2790,3466,2376,0,0,0,0,0,0
$GC,5367,-1.16,-103.4,730.4,-12.8,327,5372,0.05,2.25,0.00,0.000,6,0.176,0.042,2806,2055,2375,0,0,0,0,0,0
$GC,5684,-1.16,-103.4,768.3,-11.9,343,5688,0.00,2.28,0.00,0.000,4,0.000,0.060,2806,651,2375,0,0,0,0,0,0
$GC,5739,-1.16,-103.4,775.6,-13.5,345,5743,0.00,2.28,0.00,0.000,6,0.000,0.044,2798,2060,2375,0,0,0,0,0,0
$GC,6055,-1.16,-103.4,812.8,-11.6,361,6059,0.00,2.30,0.00,0.000,4,0.000,0.063,2787,3466,2375,0,0,0,0,0,0
$GC,6132,-1.16,-103.4,822.3,-12.1,364,6138,0.05,2.25,0.00,0.000,6,0.180,0.044,2802,2059,2375,0,0,0,0,0,0
$GC,6447,-1.16,-103.4,857.9,-10.9,380,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2059,2375,0,0,0,0,0,0
$GC,6758,-1.16,-103.4,892.2,-10.9,395,6762,0.00,2.33,0.00,0.000,4,0.000,0.060,2793,3477,2375,0,0,0,0,0,0
$GC,6790,-1.16,-103.4,896.0,-11.7,396,6796,0.00,2.25,0.00,0.000,6,0.000,0.045,2793,2053,2374,0,0,0,0,0,0
$GC,7105,-1.16,-103.4,931.2,-11.3,412,7110,0.05,2.35,0.00,0.000,4,0.240,0.063,2795,3468,2374,0,0,0,0,0,0
$GC,7176,-1.16,-103.4,939.9,-11.6,415,7181,0.00,2.25,0.00,0.000,6,0.000,0.044,2795,2063,2374,0,0,0,0,0,0
$GC,7504,-1.16,-103.4,977.5,-11.7,431,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2062,2374,0,0,0,0,0,0
$STATE,7708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7708,begin apogee
$GC,7714,-0.19,0.0,1001.5,11.4,441,7817,1.12,0.00,99.10,1.267,6,0.158,0.000,3119,1597,1950,0,0,0,0,0,0
$STATE,7818,end apogee,CONTROL_FINISHED_OK
$STATE,7818,begin climb
$GC,7820,1.13,103.4,1004.4,0.0,446,7929,1.30,0.00,103.97,1.226,6,0.082,0.000,3548,1597,1529,0,0,0,0,0,0
$GC,8241,1.19,103.4,953.9,13.4,467,8246,0.00,2.35,0.00,0.000,4,0.000,0.056,3559,196,1520,0,0,0,0,0,0
$GC,8365,1.19,103.4,935.7,14.7,472,8371,0.00,2.28,0.00,0.000,6,0.000,0.036,3559,1619,1518,0,0,0,0,0,0
$GC,8680,1.23,103.4,892.4,13.8,488,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1619,1518,0,0,0,0,0,0
$GC,8991,1.27,103.4,851.6,12.8,503,8992,0.10,0.00,0.00,0.000,6,0.100,0.000,3607,1619,1517,0,0,0,0,0,0
$GC,9298,1.23,103.4,806.9,14.4,518,9303,0.10,2.33,0.00,0.000,4,0.186,0.053,3593,194,1517,0,0,0,0,0,0
$GC,9376,1.18,103.4,795.7,13.7,521,9381,0.10,2.22,0.00,0.000,6,0.184,0.037,3569,1605,1516,0,0,0,0,0,0
$GC,9692,1.18,103.4,755.3,12.7,537,9696,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,189,1516,0,0,0,0,0,0
$GC,9757,1.18,103.4,746.3,13.7,540,9763,0.03,2.22,0.00,0.000,6,0.186,0.036,3569,1595,1515,0,0,0,0,0,0
$GC,10084,1.18,103.4,705.1,12.4,556,10088,0.00,2.30,0.00,0.000,4,0.000,0.054,3578,186,1516,0,0,0,0,0,0
$GC,10152,1.18,103.4,696.3,13.5,559,10156,0.00,2.22,0.00,0.000,6,0.000,0.037,3578,1607,1515,0,0,0,0,0,0
$GC,10478,1.18,103.4,655.0,12.2,575,10482,0.00,2.20,0.00,0.000,4,0.000,0.054,3578,2993,1515,0,0,0,0,0,0
$GC,10518,1.18,103.4,650.0,13.0,577,10523,0.08,2.17,0.00,0.000,6,0.212,0.037,3570,1593,1515,0,0,0,0,0,0
$GC,10847,1.21,103.4,612.1,11.6,593,10851,0.00,2.28,0.00,0.000,4,0.000,0.055,3580,196,1515,0,0,0,0,0,0
$GC,10946,1.21,103.4,598.9,12.8,597,10951,0.00,2.20,0.00,0.000,6,0.000,0.037,3579,1589,1515,0,0,0,0,0,0
$GC,11263,1.21,103.4,560.9,12.1,613,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1589,1515,0,0,0,0,0,0
$GC,11571,1.21,103.4,522.8,12.1,628,11575,0.00,2.25,0.00,0.000,4,0.000,0.053,3589,196,1515,0,0,0,0,0,0
$GC,11631,1.21,103.4,515.0,12.9,630,11637,0.03,2.22,0.00,0.000,6,0.197,0.037,3580,1600,1514,0,0,0,0,0,0
$GC,11946,1.21,103.4,476.7,12.0,646,11950,0.00,2.30,0.00,0.000,4,0.000,0.053,3589,192,1514,0,0,0,0,0,0
$GC,12036,1.21,103.4,465.0,13.8,650,12041,0.05,2.22,0.00,0.000,6,0.224,0.037,3578,1610,1514,0,0,0,0,0,0
$GC,12357,1.24,103.4,425.2,12.3,666,12361,0.00,2.22,0.00,0.000,4,0.000,0.054,3579,3002,1514,0,0,0,0,0,0
$GC,12425,1.24,103.4,416.1,14.3,669,12430,0.00,2.17,0.00,0.000,6,0.000,0.035,3586,1599,1514,0,0,0,0,0,0
$GC,12752,1.24,103.4,374.5,12.6,685,12756,0.00,2.28,0.00,0.000,4,0.000,0.055,3598,195,1514,0,0,0,0,0,0
$GC,12859,1.21,103.4,360.2,12.7,690,12864,0.10,2.20,0.00,0.000,6,0.184,0.036,3574,1604,1514,0,0,0,0,0,0
$GC,13185,1.25,103.4,322.4,11.2,706,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1604,1514,0,0,0,0,0,0
$GC,13497,1.29,103.4,286.3,11.6,721,13502,0.08,2.30,0.00,0.000,4,0.124,0.053,3625,194,1514,0,0,0,0,0,0
$GC,13631,1.21,103.4,267.5,14.1,727,13635,0.20,2.20,0.00,0.000,6,0.171,0.036,3572,1601,1514,0,0,0,0,0,0
$GC,13962,1.26,103.4,227.2,11.7,743,13966,0.00,2.28,0.00,0.000,4,0.000,0.053,3581,195,1514,0,0,0,0,0,0
$GC,13995,1.26,103.4,222.6,12.5,744,14003,0.00,2.22,0.00,0.000,6,0.000,0.037,3581,1599,1514,0,0,0,0,0,0
$GC,14311,1.29,103.4,187.0,11.5,760,14316,0.00,2.30,0.00,0.000,4,0.000,0.052,3590,192,1514,0,0,0,0,0,0
$GC,14384,1.29,103.4,178.3,11.4,763,14388,0.00,2.22,0.00,0.000,6,0.000,0.037,3589,1603,1514,0,0,0,0,0,0
$GC,14708,1.29,103.4,142.0,10.6,779,14712,0.00,2.22,0.00,0.000,4,0.000,0.054,3590,2992,1514,0,0,0,0,0,0
$GC,14869,1.29,103.4,122.6,12.4,786,14874,0.00,2.17,0.00,0.000,6,0.000,0.036,3598,1598,1514,0,0,0,0,0,0
$GC,15192,1.29,103.4,85.5,11.6,802,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1598,1514,0,0,0,0,0,0
$GC,15529,1.29,103.4,46.1,12.1,853,15534,0.00,2.28,0.00,0.000,4,0.000,0.054,3610,193,1514,0,0,0,0,0,0
$GC,15694,1.25,103.4,25.0,12.5,880,15702,0.05,2.20,0.00,0.000,6,0.171,0.034,3593,1593,1514,0,0,0,0,0,0
$GC,15852,1.25,103.4,5.7,11.7,905,15858,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1593,1514,0,0,0,0,0,0
$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15878,begin surface coast
$FINISH,2.0,1.012033
$STATE,15910,end surface coast,CONTROL_FINISHED_OK
$STATE,15910,begin surface
$SM_CCo,15929,45.78,0.054,0,0,1133,200.16
$SM_GC,3.35,0.00,0.00,45.78,0.000,0.000,0.054,61,2086,1133,-9.76,0.74,200.16
$IRIDIUM_FIX,-4438.33,636.54,270808,080819
$TT8_MAMPS,0.026964
$HUMID,64.88
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.2,52.776
$10V_AH,9.7,55.415
$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,24.650,132.600,203.075,45.775,0.000,24.716,44.866,262.023,0.000,0.000,20.353,2014.508,11206.393,382.801,2615.362,230.995,0.000,1355.820,0.000,2180.228,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,63.495,1266.840,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.488,1319.894,732.864,441.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353156
$DATA_FILE_SIZE,67193,914
$CAP_FILE_SIZE,141671,0
$CFSIZE,2097086464,2033876992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011115,034521,-4455.657,635.989,39,0.9,39,-24.4