version: 66.07.10.p01
glider: 573
mission: 12
dive: 47
start: 8 5 115 22 17 37
data:
$ID,573
$MISSION,12
$DIVE,47
$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,335
$T_MISSION,350
$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,130
$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,-21127.605
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,42
$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,46
$GPS1,050815,220921,-4504.139,627.211,95,0.9,95,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-74.1
$GPS2,050815,221716,-4504.134,627.203,17,1.1,17,-24.4
$SPEED_LIMITS,0.172,0.243
$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,297.8,4197,-23.0,-9.950
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.94,-91.5,0.0,0.0,0,57,0.00,0.00,-32.38,0.000,2,0.000,0.000,81,2072,1793,0,0,0,0,0,0
$GC,59,-0.96,-126.5,3.3,-4.7,5,105,11.48,2.28,-25.62,0.000,4,0.253,0.070,2858,3457,2465,0,0,0,0,0,0
$GC,307,-0.90,-126.5,35.7,-16.1,45,315,0.10,2.20,0.00,0.000,6,0.177,0.038,2888,2060,2469,0,0,0,0,0,0
$GC,456,-0.86,-126.5,57.8,-15.2,70,461,0.05,0.00,0.00,0.000,6,0.252,0.000,2899,2060,2470,0,0,0,0,0,0
$GC,799,-0.86,-126.5,108.4,-14.4,126,803,0.00,2.20,0.00,0.000,4,0.000,0.051,2899,657,2470,0,0,0,0,0,0
$GC,831,-0.83,-126.5,113.4,-14.9,128,839,0.05,2.22,0.00,0.000,6,0.188,0.041,2906,2054,2470,0,0,0,0,0,0
$GC,1156,-0.83,-126.5,159.4,-14.3,159,1160,0.00,2.22,0.00,0.000,4,0.000,0.048,2906,649,2469,0,0,0,0,0,0
$GC,1206,-0.83,-126.5,166.9,-15.3,163,1211,0.08,2.20,0.00,0.000,6,0.221,0.040,2914,2062,2469,0,0,0,0,0,0
$GC,1533,-0.85,-126.5,210.0,-12.7,193,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2061,2470,0,0,0,0,0,0
$GC,1849,-0.88,-126.5,251.0,-12.9,223,1853,0.00,2.22,0.00,0.000,4,0.000,0.061,2903,3462,2470,0,0,0,0,0,0
$GC,1880,-0.90,-126.5,254.7,-12.9,225,1884,0.00,2.15,0.00,0.000,6,0.000,0.037,2903,2053,2470,0,0,0,0,0,0
$GC,2204,-0.90,-126.5,298.1,-13.2,255,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2053,2470,0,0,0,0,0,0
$GC,2525,-0.90,-126.5,338.4,-12.0,285,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2053,2470,0,0,0,0,0,0
$GC,2841,-0.90,-126.5,377.5,-12.1,315,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2053,2470,0,0,0,0,0,0
$GC,3155,-0.90,-126.5,415.2,-11.5,339,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2053,2470,0,0,0,0,0,0
$GC,3465,-0.90,-126.5,451.4,-11.3,354,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2053,2470,0,0,0,0,0,0
$GC,3774,-0.90,-126.5,485.4,-11.0,369,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2053,2469,0,0,0,0,0,0
$GC,4084,-0.92,-126.5,519.9,-10.9,384,4088,0.00,2.25,0.00,0.000,4,0.000,0.060,2894,3464,2469,0,0,0,0,0,0
$GC,4123,-0.92,-126.5,524.3,-11.2,386,4126,0.00,2.15,0.00,0.000,6,0.000,0.038,2894,2049,2469,0,0,0,0,0,0
$GC,4449,-0.92,-126.5,561.1,-11.1,402,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2049,2469,0,0,0,0,0,0
$GC,4758,-0.92,-126.5,597.8,-12.1,417,4762,0.00,2.25,0.00,0.000,4,0.000,0.057,2885,3466,2468,0,0,0,0,0,0
$GC,4806,-0.92,-126.5,604.0,-12.5,419,4811,0.00,2.15,0.00,0.000,6,0.000,0.038,2885,2069,2468,0,0,0,0,0,0
$GC,5128,-0.92,-126.5,643.5,-12.0,435,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2069,2468,0,0,0,0,0,0
$GC,5437,-0.92,-126.5,680.4,-12.0,450,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2069,2468,0,0,0,0,0,0
$GC,5746,-0.92,-126.5,716.1,-11.4,465,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2069,2467,0,0,0,0,0,0
$GC,6056,-0.92,-126.5,750.3,-10.9,480,6060,0.00,2.20,0.00,0.000,4,0.000,0.051,2885,651,2466,0,0,0,0,0,0
$GC,6087,-0.92,-126.5,754.3,-12.2,481,6093,0.00,2.20,0.00,0.000,6,0.000,0.040,2876,2058,2466,0,0,0,0,0,0
$GC,6403,-0.92,-126.5,789.2,-10.9,497,6407,0.00,2.22,0.00,0.000,4,0.000,0.060,2865,3469,2467,0,0,0,0,0,0
$GC,6446,-0.92,-126.5,794.4,-12.2,499,6452,0.05,2.17,0.00,0.000,6,0.191,0.039,2880,2058,2466,0,0,0,0,0,0
$GC,6773,-0.92,-126.5,830.1,-11.1,515,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2058,2466,0,0,0,0,0,0
$GC,7083,-0.92,-126.5,864.7,-11.4,530,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2058,2466,0,0,0,0,0,0
$GC,7392,-0.92,-126.5,900.5,-11.7,545,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2058,2466,0,0,0,0,0,0
$GC,7701,-0.92,-126.5,935.7,-11.4,560,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2058,2465,0,0,0,0,0,0
$GC,8010,-0.92,-126.5,969.4,-10.8,575,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2058,2466,0,0,0,0,0,0
$STATE,8298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8298,begin apogee
$GC,8302,-0.19,0.0,1000.7,11.0,589,8420,0.77,0.00,114.57,1.297,6,0.155,0.000,3120,1727,1950,0,0,0,0,0,0
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8422,0.96,126.5,1004.5,0.0,595,8549,1.10,2.38,118.72,1.250,4,0.090,0.044,3496,332,1435,0,0,0,0,0,0
$GC,8598,0.96,126.5,989.8,11.7,603,8605,0.00,2.35,0.00,0.000,6,0.000,0.031,3495,1738,1430,0,0,0,0,0,0
$GC,8914,0.96,126.5,952.7,11.6,619,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1738,1427,0,0,0,0,0,0
$GC,9224,0.96,126.5,917.2,11.1,634,9228,0.00,2.30,0.00,0.000,4,0.000,0.044,3505,319,1425,0,0,0,0,0,0
$GC,9278,0.94,126.5,910.8,11.1,636,9284,0.05,2.25,0.00,0.000,6,0.168,0.030,3489,1739,1424,0,0,0,0,0,0
$GC,9594,0.94,126.5,876.2,11.2,652,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,1740,1424,0,0,0,0,0,0
$GC,9903,0.94,126.5,841.6,11.2,667,9907,0.00,2.25,0.00,0.000,4,0.000,0.044,3498,329,1424,0,0,0,0,0,0
$GC,9968,0.94,126.5,833.7,11.9,670,9973,0.00,2.20,0.00,0.000,6,0.000,0.031,3498,1730,1423,0,0,0,0,0,0
$GC,10295,0.94,126.5,794.5,12.3,686,10299,0.00,2.22,0.00,0.000,4,0.000,0.043,3507,326,1423,0,0,0,0,0,0
$GC,10395,0.91,126.5,780.9,13.3,690,10402,0.08,2.20,0.00,0.000,6,0.165,0.031,3482,1738,1423,0,0,0,0,0,0
$GC,10711,0.94,126.5,742.6,12.4,706,10715,0.00,2.22,0.00,0.000,4,0.000,0.044,3492,328,1423,0,0,0,0,0,0
$GC,10773,0.94,126.5,734.3,13.8,709,10777,0.00,2.17,0.00,0.000,6,0.000,0.031,3492,1738,1423,0,0,0,0,0,0
$GC,11100,0.94,126.5,692.3,12.8,725,11104,0.00,2.25,0.00,0.000,4,0.000,0.044,3501,318,1423,0,0,0,0,0,0
$GC,11139,0.94,126.5,687.2,13.2,727,11144,0.05,2.17,0.00,0.000,6,0.231,0.030,3490,1742,1422,0,0,0,0,0,0
$GC,11465,0.94,126.5,646.6,12.6,743,11469,0.00,2.25,0.00,0.000,4,0.000,0.044,3499,317,1422,0,0,0,0,0,0
$GC,11558,0.94,126.5,633.7,13.6,747,11563,0.00,2.17,0.00,0.000,6,0.000,0.029,3499,1722,1422,0,0,0,0,0,0
$GC,11880,0.94,126.5,593.6,12.2,763,11884,0.00,2.20,0.00,0.000,4,0.000,0.044,3509,326,1422,0,0,0,0,0,0
$GC,11945,0.94,126.5,585.2,12.6,766,11951,0.05,2.17,0.00,0.000,6,0.171,0.030,3492,1737,1422,0,0,0,0,0,0
$GC,12272,0.94,126.5,548.5,11.0,782,12277,0.00,2.22,0.00,0.000,4,0.000,0.044,3501,322,1422,0,0,0,0,0,0
$GC,12321,0.94,126.5,542.7,11.4,784,12327,0.03,2.15,0.00,0.000,6,0.199,0.031,3492,1726,1422,0,0,0,0,0,0
$GC,12642,0.94,126.5,508.8,10.4,800,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1726,1422,0,0,0,0,0,0
$GC,12952,0.96,126.5,475.8,10.9,815,12956,0.00,2.20,0.00,0.000,4,0.000,0.044,3501,322,1422,0,0,0,0,0,0
$GC,13023,0.96,126.5,467.9,11.2,818,13028,0.00,2.15,0.00,0.000,6,0.000,0.030,3501,1718,1422,0,0,0,0,0,0
$GC,13345,0.96,126.5,433.0,11.1,834,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,1718,1421,0,0,0,0,0,0
$GC,13654,0.96,126.5,399.7,10.8,849,13658,0.00,2.20,0.00,0.000,4,0.000,0.044,3510,319,1421,0,0,0,0,0,0
$GC,13694,0.96,126.5,395.1,11.7,852,13699,0.08,2.17,0.00,0.000,6,0.200,0.030,3493,1754,1421,0,0,0,0,0,0
$GC,14018,0.98,126.5,361.6,10.0,882,14022,0.00,2.25,0.00,0.000,4,0.000,0.044,3503,319,1421,0,0,0,0,0,0
$GC,14061,0.98,126.5,356.7,10.9,885,14068,0.00,2.15,0.00,0.000,6,0.000,0.030,3502,1717,1421,0,0,0,0,0,0
$GC,14387,0.98,126.5,323.2,10.4,916,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1717,1421,0,0,0,0,0,0
$GC,14706,0.98,126.5,289.9,10.7,946,14710,0.00,2.17,0.00,0.000,4,0.000,0.044,3512,328,1421,0,0,0,0,0,0
$GC,14771,0.98,126.5,282.5,11.0,951,14777,0.00,2.15,0.00,0.000,6,0.000,0.030,3512,1730,1421,0,0,0,0,0,0
$GC,15096,0.98,126.5,247.4,10.8,982,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1730,1421,0,0,0,0,0,0
$GC,15416,0.98,126.5,211.4,10.9,1012,15419,0.00,2.20,0.00,0.000,4,0.000,0.043,3521,323,1421,0,0,0,0,0,0
$GC,15470,0.96,126.5,204.6,12.0,1016,15479,0.08,2.17,0.00,0.000,6,0.165,0.031,3496,1745,1421,0,0,0,0,0,0
$GC,15796,0.98,126.5,169.1,11.2,1047,15797,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1744,1421,0,0,0,0,0,0
$GC,16117,1.00,133.9,135.6,9.4,1077,16125,0.00,0.00,5.55,0.595,6,0.000,0.000,3496,1745,1404,0,0,0,0,0,0
$GC,16443,1.03,133.9,102.9,10.8,1108,16445,0.05,0.00,0.00,0.000,6,0.166,0.000,3526,1745,1404,0,0,0,0,0,0
$GC,16785,1.03,133.9,64.1,11.7,1165,16790,0.00,2.22,0.00,0.000,4,0.000,0.043,3536,319,1404,0,0,0,0,0,0
$GC,16881,1.00,133.9,52.3,11.4,1182,16889,0.08,2.15,0.00,0.000,6,0.158,0.029,3511,1733,1404,0,0,0,0,0,0
$GC,17249,1.00,133.9,13.7,11.6,1243,17256,0.00,2.22,0.00,0.000,4,0.000,0.044,3521,319,1404,0,0,0,0,0,0
$GC,17325,1.00,133.9,4.4,13.1,1255,17333,0.03,2.15,0.00,0.000,6,0.198,0.031,3512,1709,1403,0,0,0,0,0,0
$STATE,17339,end climb,SURFACE_DEPTH_REACHED
$STATE,17340,begin surface coast
$FINISH,1.3,1.006731
$STATE,17366,end surface coast,CONTROL_FINISHED_OK
$STATE,17366,begin surface
$SM_CCo,17381,31.77,0.058,0,0,1132,200.16
$SM_GC,1.86,0.00,0.00,31.77,0.000,0.000,0.058,86,2092,1132,-9.68,0.90,200.16
$IRIDIUM_FIX,-4444.39,618.39,010608,050536
$TT8_MAMPS,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,23.4,11.006
$10V_AH,10.2,8.108
$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,23.075,107.025,238.850,31.775,0.000,26.644,41.690,288.617,0.000,0.000,19.645,3079.916,11113.498,369.307,3198.556,117.912,0.000,1490.014,0.000,2659.414,0.000,0.540,0.000
$DEVICE_MAMPS,253.215,70.380,1296.675,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.091,2317.814,923.158,503.928,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353296
$DATA_FILE_SIZE,86912,1261
$CAP_FILE_SIZE,153298,0
$CFSIZE,2097086464,2085978112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060815,030934,-4505.016,626.039,69,0.8,70,-24.4