version: 66.07.10.p01
glider: 573
mission: 12
dive: 333
start: 10 6 115 12 26 54
data:
$ID,573
$MISSION,12
$DIVE,333
$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,-22077.18
$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,29
$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,332
$GPS1,061015,121904,-4504.930,624.755,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.5
$GPS2,061015,122634,-4504.960,624.768,20,1.0,20,-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,354.9,2042,-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,-49.9,0.0,0.0,0,47,0.00,0.00,-19.67,0.000,2,0.000,0.000,69,2053,1515,0,0,0,0,0,0
$GC,50,-1.13,-110.7,3.0,-1.6,3,113,11.48,2.33,-41.78,0.000,4,0.245,0.069,2815,663,2403,0,0,0,0,0,0
$GC,208,-1.07,-110.7,19.5,-17.9,28,216,0.08,2.28,0.00,0.000,6,0.185,0.040,2829,2066,2405,0,0,0,0,0,0
$GC,267,-1.07,-110.7,30.7,-18.4,37,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2066,2405,0,0,0,0,0,0
$GC,415,-1.07,-110.7,57.9,-17.4,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2066,2405,0,0,0,0,0,0
$GC,754,-1.07,-110.7,115.7,-16.2,95,758,0.00,2.30,0.00,0.000,4,0.000,0.061,2819,3469,2405,0,0,0,0,0,0
$GC,894,-1.07,-110.7,139.5,-16.1,101,899,0.03,2.25,0.00,0.000,6,0.199,0.044,2826,2071,2406,0,0,0,0,0,0
$GC,1218,-1.07,-110.7,190.4,-16.1,117,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2071,2406,0,0,0,0,0,0
$GC,1527,-1.07,-110.7,239.5,-15.8,132,1531,0.00,2.28,0.00,0.000,4,0.000,0.058,2817,3463,2406,0,0,0,0,0,0
$GC,1640,-1.07,-110.7,258.8,-17.0,137,1645,0.05,2.25,0.00,0.000,6,0.173,0.041,2834,2050,2406,0,0,0,0,0,0
$GC,1968,-1.11,-110.7,309.2,-15.3,153,1972,0.00,2.28,0.00,0.000,4,0.000,0.058,2824,3464,2407,0,0,0,0,0,0
$GC,2016,-1.11,-110.7,317.1,-15.1,155,2021,0.00,2.22,0.00,0.000,6,0.000,0.042,2825,2064,2407,0,0,0,0,0,0
$GC,2338,-1.11,-110.7,366.4,-15.3,171,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2064,2407,0,0,0,0,0,0
$GC,2646,-1.11,-110.7,415.3,-16.0,186,2650,0.00,2.28,0.00,0.000,4,0.000,0.059,2816,3462,2407,0,0,0,0,0,0
$GC,2735,-1.11,-110.7,430.2,-16.5,190,2740,0.00,2.22,0.00,0.000,6,0.000,0.043,2816,2051,2407,0,0,0,0,0,0
$GC,3067,-1.11,-110.7,485.2,-16.4,206,3071,0.00,2.30,0.00,0.000,4,0.000,0.059,2806,3463,2407,0,0,0,0,0,0
$GC,3099,-1.11,-110.7,490.5,-16.8,207,3104,0.05,2.25,0.00,0.000,6,0.174,0.043,2822,2054,2407,0,0,0,0,0,0
$GC,3415,-1.11,-110.7,539.3,-15.6,223,3419,0.00,2.33,0.00,0.000,4,0.000,0.061,2813,3468,2406,0,0,0,0,0,0
$GC,3454,-1.11,-110.7,545.6,-15.9,225,3459,0.00,2.20,0.00,0.000,6,0.000,0.045,2813,2057,2406,0,0,0,0,0,0
$GC,3781,-1.11,-110.7,597.4,-15.6,241,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2058,2407,0,0,0,0,0,0
$GC,4089,-1.11,-110.7,644.3,-14.5,256,4093,0.00,2.30,0.00,0.000,4,0.000,0.063,2804,3466,2407,0,0,0,0,0,0
$GC,4133,-1.11,-110.7,650.9,-15.8,258,4138,0.05,2.25,0.00,0.000,6,0.177,0.044,2820,2064,2407,0,0,0,0,0,0
$GC,4459,-1.14,-110.7,698.1,-14.6,274,4463,0.00,2.28,0.00,0.000,4,0.000,0.060,2811,3468,2406,0,0,0,0,0,0
$GC,4502,-1.14,-110.7,704.7,-15.4,276,4506,0.00,2.25,0.00,0.000,6,0.000,0.045,2811,2063,2406,0,0,0,0,0,0
$GC,4828,-1.14,-110.7,753.2,-15.0,292,4832,0.00,2.30,0.00,0.000,4,0.000,0.060,2811,651,2406,0,0,0,0,0,0
$GC,4883,-1.14,-110.7,761.8,-16.3,294,4889,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2055,2406,0,0,0,0,0,0
$GC,5198,-1.14,-110.7,808.7,-14.5,310,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2055,2405,0,0,0,0,0,0
$GC,5509,-1.14,-110.7,853.1,-14.2,325,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2055,2405,0,0,0,0,0,0
$GC,5817,-1.14,-110.7,897.6,-14.6,340,5821,0.00,2.30,0.00,0.000,4,0.000,0.060,2791,3474,2404,0,0,0,0,0,0
$GC,5917,-1.14,-110.7,912.4,-14.9,344,5922,0.05,2.28,0.00,0.000,6,0.178,0.047,2807,2061,2405,0,0,0,0,0,0
$GC,6238,-1.18,-110.7,956.2,-13.4,360,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2061,2405,0,0,0,0,0,0
$GC,6548,-1.21,-110.7,995.9,-12.7,375,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2060,2405,0,0,0,0,0,0
$STATE,6587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6588,begin apogee
$GC,6593,-0.19,0.0,1001.2,12.7,377,6701,1.08,0.00,103.88,1.281,6,0.161,0.000,3119,1593,1950,0,0,0,0,0,0
$STATE,6702,end apogee,CONTROL_FINISHED_OK
$STATE,6702,begin climb
$GC,6703,1.13,110.7,1004.0,0.0,382,6821,1.27,2.53,108.28,1.235,4,0.086,0.054,3552,195,1498,0,0,0,0,0,0
$GC,6927,1.13,110.7,979.8,14.3,391,6932,0.00,2.40,0.00,0.000,6,0.000,0.035,3553,1609,1493,0,0,0,0,0,0
$GC,7243,1.13,110.7,937.4,13.3,407,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1609,1491,0,0,0,0,0,0
$GC,7551,1.13,110.7,896.0,13.3,422,7555,0.00,2.38,0.00,0.000,4,0.000,0.054,3562,189,1490,0,0,0,0,0,0
$GC,7595,1.13,110.7,889.7,14.3,424,7600,0.03,2.28,0.00,0.000,6,0.190,0.035,3554,1603,1489,0,0,0,0,0,0
$GC,7926,1.13,110.7,847.0,12.7,440,7930,0.00,2.25,0.00,0.000,4,0.000,0.054,3554,2999,1489,0,0,0,0,0,0
$GC,7970,1.13,110.7,841.2,13.3,442,7975,0.03,2.22,0.00,0.000,6,0.203,0.036,3554,1595,1489,0,0,0,0,0,0
$GC,8301,1.13,110.7,800.7,12.2,458,8305,0.00,2.28,0.00,0.000,4,0.000,0.056,3564,198,1488,0,0,0,0,0,0
$GC,8469,1.13,110.7,779.3,12.6,465,8473,0.08,2.20,0.00,0.000,6,0.201,0.037,3548,1606,1488,0,0,0,0,0,0
$GC,8784,1.17,110.7,742.0,11.7,480,8788,0.00,2.33,0.00,0.000,4,0.000,0.053,3557,192,1487,0,0,0,0,0,0
$GC,8878,1.17,110.7,729.6,13.4,484,8882,0.00,2.25,0.00,0.000,6,0.000,0.035,3557,1607,1487,0,0,0,0,0,0
$GC,9198,1.17,110.7,689.0,12.9,500,9202,0.00,2.30,0.00,0.000,4,0.000,0.053,3566,198,1487,0,0,0,0,0,0
$GC,9259,1.17,110.7,680.5,13.9,502,9265,0.00,2.22,0.00,0.000,6,0.000,0.036,3566,1598,1487,0,0,0,0,0,0
$GC,9574,1.17,110.7,637.8,13.6,518,9578,0.00,2.28,0.00,0.000,4,0.000,0.055,3566,3012,1487,0,0,0,0,0,0
$GC,9618,1.17,110.7,631.3,15.2,520,9622,0.00,2.22,0.00,0.000,6,0.000,0.037,3575,1601,1487,0,0,0,0,0,0
$GC,9950,1.17,110.7,585.7,13.5,536,9954,0.00,2.28,0.00,0.000,4,0.000,0.056,3586,197,1487,0,0,0,0,0,0
$GC,10056,1.12,110.7,570.9,14.0,540,10062,0.15,2.20,0.00,0.000,6,0.174,0.037,3548,1601,1487,0,0,0,0,0,0
$GC,10371,1.18,110.7,533.2,11.6,556,10375,0.00,2.30,0.00,0.000,4,0.000,0.053,3556,186,1486,0,0,0,0,0,0
$GC,10472,1.18,110.7,520.9,11.9,560,10476,0.00,2.20,0.00,0.000,6,0.000,0.037,3557,1605,1486,0,0,0,0,0,0
$GC,10788,1.22,110.7,485.0,11.4,575,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1605,1486,0,0,0,0,0,0
$GC,11095,1.26,110.7,452.5,10.5,590,11097,0.10,0.00,0.00,0.000,6,0.099,0.000,3605,1605,1486,0,0,0,0,0,0
$GC,11406,1.21,110.7,413.7,13.2,605,11408,0.12,0.00,0.00,0.000,6,0.185,0.000,3574,1608,1486,0,0,0,0,0,0
$GC,11714,1.21,110.7,377.6,11.5,620,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1607,1486,0,0,0,0,0,0
$GC,12024,1.21,110.7,342.5,11.2,635,12028,0.00,2.30,0.00,0.000,4,0.000,0.054,3584,193,1486,0,0,0,0,0,0
$GC,12096,1.21,110.7,333.7,11.9,638,12100,0.00,2.22,0.00,0.000,6,0.000,0.034,3583,1605,1486,0,0,0,0,0,0
$GC,12424,1.21,110.7,294.9,12.1,654,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1605,1486,0,0,0,0,0,0
$GC,12735,1.21,110.7,256.7,12.3,669,12739,0.00,2.30,0.00,0.000,4,0.000,0.052,3592,196,1486,0,0,0,0,0,0
$GC,12870,1.17,110.7,239.4,12.3,675,12875,0.12,2.20,0.00,0.000,6,0.184,0.035,3562,1607,1486,0,0,0,0,0,0
$GC,13193,1.21,110.7,204.2,10.8,691,13197,0.00,2.30,0.00,0.000,4,0.000,0.053,3570,196,1486,0,0,0,0,0,0
$GC,13401,1.21,110.7,180.5,10.6,700,13405,0.00,2.20,0.00,0.000,6,0.000,0.035,3570,1596,1486,0,0,0,0,0,0
$GC,13723,1.21,110.7,149.2,8.9,716,13727,0.00,2.30,0.00,0.000,4,0.000,0.052,3580,187,1486,0,0,0,0,0,0
$GC,13976,1.21,110.7,123.5,10.1,727,13980,0.00,2.22,0.00,0.000,6,0.000,0.035,3579,1600,1486,0,0,0,0,0,0
$GC,14299,1.21,110.7,90.2,10.7,743,14304,0.00,2.28,0.00,0.000,4,0.000,0.051,3589,192,1486,0,0,0,0,0,0
$GC,14466,1.17,110.7,70.6,11.7,758,14472,0.10,2.17,0.00,0.000,6,0.188,0.035,3564,1604,1486,0,0,0,0,0,0
$GC,14822,1.22,110.7,34.2,9.4,819,14828,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1604,1486,0,0,0,0,0,0
$GC,14977,1.26,110.7,18.0,11.1,844,14984,0.08,0.00,0.00,0.000,6,0.125,0.000,3602,1604,1486,0,0,0,0,0,0
$GC,15036,1.26,110.7,11.3,11.0,853,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1604,1486,0,0,0,0,0,0
$GC,15093,1.26,110.7,5.4,11.0,862,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1605,1486,0,0,0,0,0,0
$STATE,15113,end climb,SURFACE_DEPTH_REACHED
$STATE,15113,begin surface coast
$FINISH,1.7,1.011124
$STATE,15145,end surface coast,CONTROL_FINISHED_OK
$STATE,15145,begin surface
$SM_CCo,15163,43.88,0.055,0,0,1132,200.16
$SM_GC,2.55,0.00,0.00,43.88,0.000,0.000,0.055,65,2075,1132,-9.75,0.42,200.16
$IRIDIUM_FIX,-4447.43,621.76,010808,212114
$TT8_MAMPS,0.026964
$HUMID,63.34
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,1
$24V_AH,22.4,40.699
$10V_AH,9.8,42.744
$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,24.275,114.950,212.150,43.875,0.000,28.530,17.791,268.875,0.250,0.000,21.905,1939.496,10535.779,355.079,2638.932,186.449,0.000,1345.476,0.000,2218.716,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,68.850,1280.610,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.994,1285.394,729.503,441.694,0.000,0.000,0.000,0.000,0.000,0.000
$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,63823,870
$CAP_FILE_SIZE,134419,0
$CFSIZE,2097086464,2048458752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061015,164133,-4502.879,624.875,35,0.9,35,-24.4