version: 66.07.10.p01
glider: 573
mission: 12
dive: 450
start: 11 2 115 9 15 37
data:
$ID,573
$MISSION,12
$DIVE,450
$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,-22401.416
$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,41
$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,449
$GPS1,021115,090734,-4504.016,636.990,33,0.8,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-66.9
$GPS2,021115,091517,-4504.023,637.018,16,1.2,16,-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,296.2,1332,-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,-49.9,0.0,0.0,0,34,0.00,0.00,-6.38,0.000,2,0.000,0.000,62,2072,1253,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.0,-0.0,1,119,10.68,2.35,-62.80,0.000,4,0.209,0.076,2802,3445,2424,0,0,0,0,0,0
$GC,202,-1.10,-116.8,12.6,-15.8,27,211,0.05,2.22,0.00,0.000,6,0.175,0.044,2818,2071,2427,0,0,0,0,0,0
$GC,262,-1.10,-116.8,22.2,-16.5,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2072,2426,0,0,0,0,0,0
$GC,415,-1.10,-116.8,46.2,-15.5,61,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2072,2427,0,0,0,0,0,0
$GC,751,-1.10,-116.8,99.6,-15.7,104,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2072,2427,0,0,0,0,0,0
$GC,1063,-1.10,-116.8,146.4,-15.3,119,1067,0.00,2.30,0.00,0.000,4,0.000,0.054,2818,650,2427,0,0,0,0,0,0
$GC,1105,-1.10,-116.8,153.0,-15.9,121,1110,0.08,2.22,0.00,0.000,6,0.216,0.041,2824,2055,2427,0,0,0,0,0,0
$GC,1436,-1.13,-116.8,202.7,-14.4,137,1440,0.00,2.28,0.00,0.000,4,0.000,0.057,2814,3470,2427,0,0,0,0,0,0
$GC,1626,-1.13,-116.8,232.1,-14.3,145,1632,0.00,2.25,0.00,0.000,6,0.000,0.042,2814,2056,2427,0,0,0,0,0,0
$GC,1945,-1.13,-116.8,279.6,-15.1,161,1949,0.00,2.33,0.00,0.000,4,0.000,0.060,2805,3474,2428,0,0,0,0,0,0
$GC,1977,-1.13,-116.8,285.1,-15.5,162,1984,0.00,2.25,0.00,0.000,6,0.000,0.042,2805,2060,2428,0,0,0,0,0,0
$GC,2292,-1.13,-116.8,331.8,-14.4,178,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2060,2428,0,0,0,0,0,0
$GC,2603,-1.13,-116.8,378.5,-15.0,193,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2060,2428,0,0,0,0,0,0
$GC,2910,-1.13,-116.8,425.3,-15.1,208,2914,0.00,2.28,0.00,0.000,4,0.000,0.055,2805,652,2428,0,0,0,0,0,0
$GC,2954,-1.13,-116.8,432.1,-15.1,210,2959,0.05,2.25,0.00,0.000,6,0.185,0.044,2811,2054,2428,0,0,0,0,0,0
$GC,3280,-1.13,-116.8,480.0,-14.8,226,3284,0.00,2.28,0.00,0.000,4,0.000,0.057,2801,3469,2429,0,0,0,0,0,0
$GC,3379,-1.13,-116.8,495.0,-14.6,230,3386,0.03,2.25,0.00,0.000,6,0.191,0.042,2809,2053,2429,0,0,0,0,0,0
$GC,3694,-1.13,-116.8,540.4,-14.7,246,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2053,2428,0,0,0,0,0,0
$GC,4005,-1.13,-116.8,586.4,-15.2,261,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2053,2429,0,0,0,0,0,0
$GC,4313,-1.16,-116.8,631.5,-14.6,276,4318,0.00,2.33,0.00,0.000,4,0.000,0.060,2800,3475,2428,0,0,0,0,0,0
$GC,4376,-1.16,-116.8,640.7,-15.1,279,4380,0.00,2.25,0.00,0.000,6,0.000,0.044,2800,2050,2428,0,0,0,0,0,0
$GC,4702,-1.16,-116.8,687.7,-14.3,295,4706,0.00,2.33,0.00,0.000,4,0.000,0.060,2792,3465,2427,0,0,0,0,0,0
$GC,4746,-1.16,-116.8,694.3,-14.5,297,4751,0.03,2.25,0.00,0.000,6,0.200,0.043,2800,2058,2427,0,0,0,0,0,0
$GC,5073,-1.16,-116.8,740.1,-13.9,313,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2058,2427,0,0,0,0,0,0
$GC,5381,-1.16,-116.8,781.1,-13.0,328,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2058,2426,0,0,0,0,0,0
$GC,5692,-1.16,-116.8,820.1,-12.4,343,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2058,2426,0,0,0,0,0,0
$GC,6000,-1.16,-116.8,857.7,-12.0,358,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2058,2426,0,0,0,0,0,0
$GC,6311,-1.19,-116.8,893.9,-11.4,373,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2057,2425,0,0,0,0,0,0
$GC,6619,-1.23,-116.8,931.0,-12.2,388,6623,0.00,2.33,0.00,0.000,4,0.000,0.060,2791,3474,2425,0,0,0,0,0,0
$GC,6729,-1.23,-116.8,945.2,-13.2,393,6734,0.00,2.28,0.00,0.000,6,0.000,0.045,2791,2060,2425,0,0,0,0,0,0
$GC,7057,-1.23,-116.8,985.9,-12.5,409,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2060,2425,0,0,0,0,0,0
$STATE,7179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7179,begin apogee
$GC,7185,-0.19,0.0,1002.0,13.1,415,7300,1.15,0.00,109.97,1.265,6,0.161,0.000,3116,1594,1949,0,0,0,0,0,0
$STATE,7301,end apogee,CONTROL_FINISHED_OK
$STATE,7301,begin climb
$GC,7303,1.13,116.8,1005.9,0.0,421,7430,1.30,2.58,117.25,1.221,4,0.087,0.055,3556,196,1473,0,0,0,0,0,0
$GC,7508,1.13,116.8,984.7,14.5,430,7514,0.00,2.42,0.00,0.000,6,0.000,0.035,3556,1616,1468,0,0,0,0,0,0
$GC,7823,1.19,116.8,940.3,14.0,446,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1616,1465,0,0,0,0,0,0
$GC,8134,1.24,116.8,898.0,13.1,461,8136,0.08,0.00,0.00,0.000,6,0.122,0.000,3597,1617,1464,0,0,0,0,0,0
$GC,8441,1.24,116.8,853.0,14.5,476,8445,0.00,2.35,0.00,0.000,4,0.000,0.054,3608,192,1463,0,0,0,0,0,0
$GC,8521,1.18,116.8,840.9,15.2,479,8526,0.15,2.22,0.00,0.000,6,0.171,0.037,3569,1603,1463,0,0,0,0,0,0
$GC,8837,1.22,116.8,798.9,12.9,495,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1604,1463,0,0,0,0,0,0
$GC,9145,1.26,116.8,758.6,13.0,510,9149,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,187,1462,0,0,0,0,0,0
$GC,9261,1.26,116.8,742.3,15.0,515,9265,0.00,2.25,0.00,0.000,6,0.000,0.037,3577,1602,1462,0,0,0,0,0,0
$GC,9583,1.26,116.8,698.5,13.8,531,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1603,1462,0,0,0,0,0,0
$GC,9891,1.26,116.8,656.0,13.7,546,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1603,1461,0,0,0,0,0,0
$GC,10202,1.26,116.8,613.0,14.1,561,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1603,1461,0,0,0,0,0,0
$GC,10510,1.26,116.8,569.0,14.6,576,10514,0.00,2.20,0.00,0.000,4,0.000,0.054,3578,2993,1461,0,0,0,0,0,0
$GC,10581,1.26,116.8,557.9,14.9,579,10585,0.00,2.17,0.00,0.000,6,0.000,0.036,3586,1603,1461,0,0,0,0,0,0
$GC,10903,1.26,116.8,509.2,15.2,595,10907,0.00,2.30,0.00,0.000,4,0.000,0.055,3597,187,1461,0,0,0,0,0,0
$GC,11071,1.22,116.8,482.1,15.7,602,11077,0.08,2.20,0.00,0.000,6,0.194,0.035,3580,1605,1460,0,0,0,0,0,0
$GC,11386,1.25,116.8,436.2,14.4,618,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1605,1460,0,0,0,0,0,0
$GC,11697,1.29,116.8,393.8,13.3,633,11701,0.00,2.30,0.00,0.000,4,0.000,0.053,3590,195,1460,0,0,0,0,0,0
$GC,11736,1.29,116.8,388.4,13.2,635,11740,0.00,2.20,0.00,0.000,6,0.000,0.035,3590,1610,1460,0,0,0,0,0,0
$GC,12063,1.29,116.8,343.9,13.6,651,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1610,1460,0,0,0,0,0,0
$GC,12370,1.29,116.8,301.8,13.4,666,12375,0.00,2.33,0.00,0.000,4,0.000,0.054,3599,190,1460,0,0,0,0,0,0
$GC,12435,1.29,116.8,293.1,13.4,669,12439,0.00,2.20,0.00,0.000,6,0.000,0.035,3599,1604,1460,0,0,0,0,0,0
$GC,12765,1.29,116.8,247.9,13.4,685,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1604,1460,0,0,0,0,0,0
$GC,13071,1.29,116.8,205.9,13.6,700,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1604,1460,0,0,0,0,0,0
$GC,13382,1.29,116.8,165.2,12.4,715,13386,0.00,2.20,0.00,0.000,4,0.000,0.050,3599,2989,1460,0,0,0,0,0,0
$GC,13425,1.29,116.8,159.9,12.5,717,13429,0.00,2.15,0.00,0.000,6,0.000,0.036,3607,1594,1460,0,0,0,0,0,0
$GC,13753,1.29,116.8,115.4,13.0,733,13757,0.00,2.28,0.00,0.000,4,0.000,0.054,3619,193,1460,0,0,0,0,0,0
$GC,13826,1.25,116.8,104.6,14.1,736,13830,0.12,2.20,0.00,0.000,6,0.181,0.035,3587,1609,1460,0,0,0,0,0,0
$GC,14155,1.29,116.8,63.3,12.9,766,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1610,1460,0,0,0,0,0,0
$GC,14518,1.33,116.8,16.8,13.5,827,14526,0.08,2.33,0.00,0.000,4,0.125,0.054,3634,202,1460,0,0,0,0,0,0
$STATE,14606,end climb,SURFACE_DEPTH_REACHED
$STATE,14606,begin surface coast
$FINISH,2.1,1.022618
$STATE,14628,end surface coast,CONTROL_FINISHED_OK
$STATE,14629,begin surface
$SM_CCo,14649,39.58,0.055,0,0,1132,200.16
$SM_GC,3.16,0.00,0.00,39.58,0.000,0.000,0.055,64,2045,1132,-9.75,-0.42,200.16
$IRIDIUM_FIX,-4447.43,634.22,280808,171735
$TT8_MAMPS,0.026964
$HUMID,65.00
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,2
$24V_AH,22.1,53.420
$10V_AH,9.7,56.115
$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,23.375,87.875,227.225,39.575,0.000,26.611,19.139,273.187,0.500,0.000,19.309,1818.293,10399.174,346.973,2379.192,206.381,0.000,1214.580,0.000,1959.150,0.000,0.540,0.000
$DEVICE_MAMPS,216.495,76.500,1265.310,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.295,1225.179,683.022,419.367,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,60592,844
$CAP_FILE_SIZE,119720,0
$CFSIZE,2097086464,2033156096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021115,132133,-4504.391,635.562,30,0.9,30,-24.4