version: 66.07.10.p01
glider: 573
mission: 12
dive: 495
start: 11 12 115 12 18 2
data:
$ID,573
$MISSION,12
$DIVE,495
$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,-22540.148
$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,56
$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,494
$GPS1,121115,120951,-4504.289,626.496,39,1.0,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-66.3
$GPS2,121115,121742,-4504.308,626.614,18,1.9,18,-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,303.9,3467,-27.6,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,53,0.00,0.00,-24.25,0.000,2,0.000,0.000,80,2087,1607,0,0,0,0,0,0
$GC,56,-1.13,-116.8,3.1,-0.8,4,107,11.35,2.25,-32.58,0.000,4,0.233,0.068,2804,3435,2425,0,0,0,0,0,0
$GC,281,-1.13,-116.8,35.8,-16.0,40,288,0.00,2.20,0.00,0.000,6,0.000,0.041,2804,2063,2428,0,0,0,0,0,0
$GC,428,-1.13,-116.8,61.6,-17.8,65,433,0.05,2.30,0.00,0.000,4,0.246,0.054,2814,657,2428,0,0,0,0,0,0
$GC,452,-1.13,-116.8,65.8,-17.2,69,459,0.00,2.22,0.00,0.000,6,0.000,0.042,2806,2033,2428,0,0,0,0,0,0
$GC,789,-1.13,-116.8,121.8,-16.7,96,793,0.00,2.30,0.00,0.000,4,0.000,0.060,2795,3464,2429,0,0,0,0,0,0
$GC,948,-1.13,-116.8,149.2,-17.5,103,953,0.10,2.20,0.00,0.000,6,0.189,0.041,2819,2059,2429,0,0,0,0,0,0
$GC,1271,-1.16,-116.8,201.6,-15.5,119,1275,0.00,2.28,0.00,0.000,4,0.000,0.056,2819,652,2429,0,0,0,0,0,0
$GC,1314,-1.16,-116.8,209.3,-15.8,121,1319,0.00,2.25,0.00,0.000,6,0.000,0.042,2810,2071,2429,0,0,0,0,0,0
$GC,1644,-1.16,-116.8,262.0,-16.3,137,1648,0.00,2.25,0.00,0.000,4,0.000,0.058,2799,3472,2429,0,0,0,0,0,0
$GC,1676,-1.16,-116.8,267.9,-17.1,138,1684,0.00,2.25,0.00,0.000,6,0.000,0.042,2800,2055,2429,0,0,0,0,0,0
$GC,1991,-1.16,-116.8,318.2,-16.0,154,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2055,2430,0,0,0,0,0,0
$GC,2301,-1.16,-116.8,367.1,-16.0,169,2305,0.00,2.25,0.00,0.000,4,0.000,0.056,2800,662,2430,0,0,0,0,0,0
$GC,2318,-1.16,-116.8,370.0,-16.2,170,2322,0.08,2.20,0.00,0.000,6,0.223,0.038,2806,2067,2430,0,0,0,0,0,0
$GC,2643,-1.16,-116.8,419.3,-15.3,186,2647,0.00,2.28,0.00,0.000,4,0.000,0.061,2796,3469,2429,0,0,0,0,0,0
$GC,2750,-1.16,-116.8,436.1,-15.9,191,2754,0.00,2.20,0.00,0.000,6,0.000,0.044,2796,2066,2430,0,0,0,0,0,0
$GC,3082,-1.16,-116.8,487.3,-15.4,207,3086,0.00,2.28,0.00,0.000,4,0.000,0.054,2796,650,2430,0,0,0,0,0,0
$GC,3104,-1.16,-116.8,490.8,-15.7,208,3109,0.10,2.22,0.00,0.000,6,0.206,0.040,2809,2067,2429,0,0,0,0,0,0
$GC,3431,-1.20,-116.8,537.5,-14.1,224,3435,0.00,2.28,0.00,0.000,4,0.000,0.061,2799,3466,2430,0,0,0,0,0,0
$GC,3502,-1.20,-116.8,548.2,-14.2,227,3506,0.00,2.25,0.00,0.000,6,0.000,0.041,2800,2051,2429,0,0,0,0,0,0
$GC,3824,-1.20,-116.8,595.8,-14.7,243,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2051,2429,0,0,0,0,0,0
$GC,4132,-1.20,-116.8,641.4,-14.2,258,4136,0.00,2.30,0.00,0.000,4,0.000,0.059,2790,3463,2428,0,0,0,0,0,0
$GC,4216,-1.20,-116.8,653.7,-14.5,262,4220,0.00,2.22,0.00,0.000,6,0.000,0.042,2791,2052,2428,0,0,0,0,0,0
$GC,4541,-1.20,-116.8,699.9,-14.2,278,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2052,2429,0,0,0,0,0,0
$GC,4852,-1.20,-116.8,742.8,-13.5,293,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2052,2428,0,0,0,0,0,0
$GC,5160,-1.20,-116.8,785.5,-13.8,308,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2052,2427,0,0,0,0,0,0
$GC,5470,-1.20,-116.8,827.7,-13.8,323,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2052,2428,0,0,0,0,0,0
$GC,5778,-1.20,-116.8,870.1,-13.5,338,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2053,2427,0,0,0,0,0,0
$GC,6089,-1.20,-116.8,911.1,-12.9,353,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2052,2427,0,0,0,0,0,0
$GC,6397,-1.20,-116.8,950.5,-12.9,368,6401,0.00,2.33,0.00,0.000,4,0.000,0.061,2782,3463,2427,0,0,0,0,0,0
$GC,6451,-1.20,-116.8,957.8,-13.4,370,6458,0.03,2.25,0.00,0.000,6,0.201,0.044,2790,2060,2427,0,0,0,0,0,0
$GC,6766,-1.20,-116.8,997.3,-12.4,386,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2060,2427,0,0,0,0,0,0
$STATE,6806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6806,begin apogee
$GC,6812,-0.19,0.0,1002.4,12.5,388,6927,1.12,0.00,110.57,1.260,6,0.152,0.000,3118,1593,1949,0,0,0,0,0,0
$STATE,6928,end apogee,CONTROL_FINISHED_OK
$STATE,6928,begin climb
$GC,6930,1.13,116.8,1005.7,0.0,394,7058,1.27,2.58,117.88,1.214,4,0.083,0.054,3553,193,1473,0,0,0,0,0,0
$GC,7131,1.17,116.8,984.6,15.2,403,7135,0.00,2.40,0.00,0.000,6,0.000,0.035,3553,1605,1468,0,0,0,0,0,0
$GC,7447,1.23,116.8,941.4,13.1,419,7449,0.08,0.00,0.00,0.000,6,0.120,0.000,3592,1605,1465,0,0,0,0,0,0
$GC,7755,1.23,116.8,894.5,15.6,434,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1605,1464,0,0,0,0,0,0
$GC,8065,1.23,116.8,847.6,14.8,449,8069,0.00,2.33,0.00,0.000,4,0.000,0.053,3602,193,1463,0,0,0,0,0,0
$GC,8197,1.18,116.8,827.7,14.8,455,8202,0.15,2.22,0.00,0.000,6,0.165,0.036,3563,1616,1463,0,0,0,0,0,0
$GC,8525,1.23,116.8,784.4,12.9,471,8529,0.00,2.33,0.00,0.000,4,0.000,0.053,3572,190,1463,0,0,0,0,0,0
$GC,8571,1.23,116.8,778.0,14.6,473,8575,0.00,2.22,0.00,0.000,6,0.000,0.037,3572,1611,1462,0,0,0,0,0,0
$GC,8904,1.26,116.8,732.7,13.9,489,8908,0.00,2.33,0.00,0.000,4,0.000,0.053,3581,192,1462,0,0,0,0,0,0
$GC,8958,1.26,116.8,724.4,13.9,491,8964,0.00,2.22,0.00,0.000,6,0.000,0.037,3581,1598,1462,0,0,0,0,0,0
$GC,9275,1.26,116.8,680.3,14.2,507,9279,0.00,2.30,0.00,0.000,4,0.000,0.052,3590,193,1462,0,0,0,0,0,0
$GC,9324,1.26,116.8,672.6,15.5,509,9328,0.00,2.25,0.00,0.000,6,0.000,0.037,3590,1609,1462,0,0,0,0,0,0
$GC,9646,1.26,116.8,627.2,13.8,525,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1609,1461,0,0,0,0,0,0
$GC,9954,1.26,116.8,585.0,13.6,540,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1609,1461,0,0,0,0,0,0
$GC,10264,1.26,116.8,541.8,14.0,555,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1609,1461,0,0,0,0,0,0
$GC,10573,1.26,116.8,498.5,14.0,570,10577,0.00,2.33,0.00,0.000,4,0.000,0.054,3600,192,1461,0,0,0,0,0,0
$GC,10622,1.26,116.8,491.2,14.8,572,10626,0.00,2.22,0.00,0.000,6,0.000,0.037,3600,1596,1461,0,0,0,0,0,0
$GC,10943,1.26,116.8,447.4,13.5,588,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1596,1461,0,0,0,0,0,0
$GC,11253,1.26,116.8,406.3,13.3,603,11257,0.00,2.28,0.00,0.000,4,0.000,0.053,3609,192,1461,0,0,0,0,0,0
$GC,11385,1.21,116.8,387.8,14.3,609,11390,0.12,2.20,0.00,0.000,6,0.173,0.037,3577,1599,1460,0,0,0,0,0,0
$GC,11713,1.25,116.8,345.9,12.7,625,11718,0.00,2.30,0.00,0.000,4,0.000,0.052,3586,192,1460,0,0,0,0,0,0
$GC,11763,1.25,116.8,338.7,14.7,627,11767,0.00,2.22,0.00,0.000,6,0.000,0.037,3586,1599,1461,0,0,0,0,0,0
$GC,12085,1.25,116.8,298.4,12.4,643,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1600,1460,0,0,0,0,0,0
$GC,12395,1.29,116.8,259.4,13.0,658,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1461,0,0,0,0,0,0
$GC,12706,1.32,116.8,220.2,12.6,673,12708,0.05,0.00,0.00,0.000,6,0.172,0.000,3616,1599,1460,0,0,0,0,0,0
$GC,13013,1.32,116.8,181.0,11.4,688,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,1600,1460,0,0,0,0,0,0
$GC,13324,1.32,116.8,142.0,13.4,703,13328,0.00,2.30,0.00,0.000,4,0.000,0.052,3626,191,1460,0,0,0,0,0,0
$GC,13441,1.26,116.8,124.9,14.7,708,13446,0.15,2.20,0.00,0.000,6,0.174,0.036,3587,1602,1460,0,0,0,0,0,0
$GC,13761,1.30,116.8,85.3,12.4,723,13765,0.00,2.30,0.00,0.000,4,0.000,0.052,3596,192,1460,0,0,0,0,0,0
$GC,14026,1.30,116.8,51.9,13.0,763,14031,0.00,2.20,0.00,0.000,6,0.000,0.036,3596,1602,1460,0,0,0,0,0,0
$GC,14394,1.30,116.8,3.8,17.5,824,14401,0.00,2.30,0.00,0.000,4,0.000,0.048,3606,196,1459,0,0,0,0,0,0
$STATE,14408,end climb,SURFACE_DEPTH_REACHED
$STATE,14409,begin surface coast
$FINISH,1.8,1.011604
$STATE,14428,end surface coast,CONTROL_FINISHED_OK
$STATE,14429,begin surface
$SM_CCo,14450,40.28,0.054,0,0,1133,200.16
$SM_GC,2.43,0.00,0.00,40.28,0.000,0.000,0.054,82,2066,1133,-9.70,0.17,200.16
$IRIDIUM_FIX,-4447.43,625.13,070908,212100
$TT8_MAMPS,0.026964
$HUMID,64.60
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.0,58.154
$10V_AH,9.7,61.159
$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,24.075,101.275,228.450,40.275,0.000,24.596,21.898,276.452,0.000,0.000,21.093,1797.456,10256.636,341.868,2340.344,223.512,0.000,1201.067,0.000,1924.607,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,68.085,1259.955,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.014,1186.872,653.444,385.479,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,60539,829
$CAP_FILE_SIZE,120165,0
$CFSIZE,2097086464,2027257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121115,162055,-4504.007,624.942,45,1.0,45,-24.4