version: 66.07.10.p01
glider: 573
mission: 12
dive: 498
start: 11 13 115 1 7 7
data:
$ID,573
$MISSION,12
$DIVE,498
$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,-22548.992
$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,33
$R_STBD_OVSHOOT,36
$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,497
$GPS1,131115,005551,-4504.292,626.826,64,1.2,64,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-67.0
$GPS2,131115,010646,-4504.291,626.848,18,1.3,18,-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,302.6,3764,-25.5,-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,-1.02,-58.5,0.0,0.0,0,41,0.00,0.00,-13.85,0.000,2,0.000,0.000,79,2053,1402,0,0,0,0,0,0
$GC,44,-1.04,-104.6,3.1,-4.0,2,107,10.82,2.33,-44.72,0.000,4,0.211,0.066,2841,657,2374,0,0,0,0,0,0
$GC,208,-1.04,-104.6,13.4,-14.8,28,216,0.00,2.28,0.00,0.000,6,0.000,0.045,2832,2044,2377,0,0,0,0,0,0
$GC,268,-0.98,-104.6,22.5,-15.5,37,275,0.12,0.00,0.00,0.000,6,0.188,0.000,2862,2044,2377,0,0,0,0,0,0
$GC,419,-0.98,-104.6,47.4,-14.0,62,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2377,0,0,0,0,0,0
$GC,756,-1.01,-104.6,94.4,-13.4,108,760,0.00,2.33,0.00,0.000,4,0.000,0.065,2852,3476,2377,0,0,0,0,0,0
$GC,941,-1.01,-104.6,119.7,-14.1,116,945,0.00,2.28,0.00,0.000,6,0.000,0.043,2853,2060,2377,0,0,0,0,0,0
$GC,1263,-1.01,-104.6,164.8,-14.7,132,1267,0.00,2.28,0.00,0.000,4,0.000,0.057,2853,654,2378,0,0,0,0,0,0
$GC,1306,-1.01,-104.6,171.5,-15.1,134,1311,0.00,2.28,0.00,0.000,6,0.000,0.046,2843,2066,2378,0,0,0,0,0,0
$GC,1634,-1.01,-104.6,216.7,-13.4,150,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2066,2378,0,0,0,0,0,0
$GC,1945,-1.01,-104.6,257.9,-13.3,165,1949,0.00,2.30,0.00,0.000,4,0.000,0.064,2832,3469,2378,0,0,0,0,0,0
$GC,2017,-1.01,-104.6,268.3,-14.0,168,2022,0.05,2.25,0.00,0.000,6,0.160,0.044,2859,2066,2378,0,0,0,0,0,0
$GC,2338,-1.06,-104.6,309.5,-13.0,184,2342,0.00,2.28,0.00,0.000,4,0.000,0.056,2859,649,2378,0,0,0,0,0,0
$GC,2403,-1.06,-104.6,318.6,-13.5,187,2408,0.00,2.28,0.00,0.000,6,0.000,0.044,2850,2060,2379,0,0,0,0,0,0
$GC,2731,-1.06,-104.6,359.5,-12.5,203,2734,0.00,2.30,0.00,0.000,4,0.000,0.067,2839,3463,2378,0,0,0,0,0,0
$GC,2763,-1.06,-104.6,363.8,-13.1,204,2767,0.00,2.25,0.00,0.000,6,0.000,0.043,2839,2056,2378,0,0,0,0,0,0
$GC,3084,-1.06,-104.6,405.8,-13.1,220,3088,0.00,2.35,0.00,0.000,4,0.000,0.066,2830,3471,2378,0,0,0,0,0,0
$GC,3122,-1.06,-104.6,411.0,-13.4,222,3126,0.00,2.25,0.00,0.000,6,0.000,0.044,2830,2047,2378,0,0,0,0,0,0
$GC,3447,-1.06,-104.6,451.6,-12.5,238,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2047,2378,0,0,0,0,0,0
$GC,3758,-1.06,-104.6,488.8,-12.1,253,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2048,2378,0,0,0,0,0,0
$GC,4066,-1.06,-104.6,526.2,-12.6,268,4070,0.00,2.33,0.00,0.000,4,0.000,0.060,2821,3465,2378,0,0,0,0,0,0
$GC,4131,-1.06,-104.6,534.6,-13.1,271,4136,0.05,2.22,0.00,0.000,6,0.165,0.043,2852,2067,2378,0,0,0,0,0,0
$GC,4460,-1.11,-104.6,571.0,-10.8,287,4462,0.08,0.00,0.00,0.000,6,0.126,0.000,2814,2067,2378,0,0,0,0,0,0
$GC,4766,-1.11,-104.6,610.1,-12.9,302,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2067,2378,0,0,0,0,0,0
$GC,5077,-1.11,-104.6,651.2,-13.5,317,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2068,2378,0,0,0,0,0,0
$GC,5385,-1.11,-104.6,693.7,-13.8,332,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2067,2377,0,0,0,0,0,0
$GC,5696,-1.11,-104.6,734.4,-13.0,347,5700,0.00,2.30,0.00,0.000,4,0.000,0.060,2804,3468,2377,0,0,0,0,0,0
$GC,5790,-1.07,-104.6,747.9,-13.9,351,5795,0.12,2.22,0.00,0.000,6,0.172,0.045,2836,2060,2376,0,0,0,0,0,0
$GC,6105,-1.11,-104.6,786.9,-12.1,366,6109,0.00,2.33,0.00,0.000,4,0.000,0.067,2827,3463,2376,0,0,0,0,0,0
$GC,6188,-1.11,-104.6,797.7,-13.3,370,6192,0.00,2.22,0.00,0.000,6,0.000,0.044,2827,2057,2376,0,0,0,0,0,0
$GC,6513,-1.11,-104.6,838.8,-12.7,386,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2376,0,0,0,0,0,0
$GC,6824,-1.11,-104.6,876.8,-12.3,401,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2376,0,0,0,0,0,0
$GC,7132,-1.11,-104.6,913.3,-12.1,416,7136,0.00,2.28,0.00,0.000,4,0.000,0.060,2827,646,2375,0,0,0,0,0,0
$GC,7164,-1.11,-104.6,917.0,-11.8,417,7169,0.00,2.30,0.00,0.000,6,0.000,0.047,2818,2066,2376,0,0,0,0,0,0
$GC,7480,-1.11,-104.6,952.3,-11.1,433,7484,0.00,2.33,0.00,0.000,4,0.000,0.067,2807,3476,2375,0,0,0,0,0,0
$GC,7582,-1.11,-104.6,964.2,-11.8,437,7587,0.08,2.28,0.00,0.000,6,0.194,0.047,2824,2052,2375,0,0,0,0,0,0
$GC,7896,-1.11,-104.6,997.8,-10.8,452,7900,0.00,2.30,0.00,0.000,4,0.000,0.060,2824,646,2375,0,0,0,0,0,0
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7917,begin apogee
$GC,7924,-0.19,0.0,1000.1,10.7,453,8027,1.02,0.00,99.97,1.257,6,0.151,0.000,3117,1617,1950,0,0,0,0,0,0
$STATE,8028,end apogee,CONTROL_FINISHED_OK
$STATE,8028,begin climb
$GC,8030,1.04,104.6,1003.3,0.0,458,8141,1.23,0.00,106.43,1.216,6,0.084,0.000,3520,1617,1523,0,0,0,0,0,0
$GC,8450,1.10,104.6,959.9,11.9,479,8454,0.00,2.42,0.00,0.000,4,0.000,0.055,3530,192,1515,0,0,0,0,0,0
$GC,8556,1.10,104.6,946.0,13.0,484,8560,0.00,2.30,0.00,0.000,6,0.000,0.037,3530,1616,1514,0,0,0,0,0,0
$GC,8881,1.13,104.6,905.9,12.3,500,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1616,1513,0,0,0,0,0,0
$GC,9192,1.17,104.6,869.3,11.7,515,9197,0.10,2.35,0.00,0.000,4,0.103,0.054,3592,186,1513,0,0,0,0,0,0
$GC,9348,1.06,104.6,847.0,14.4,522,9353,0.22,2.25,0.00,0.000,6,0.161,0.037,3531,1608,1512,0,0,0,0,0,0
$GC,9670,1.10,104.6,809.5,11.5,538,9674,0.00,2.33,0.00,0.000,4,0.000,0.054,3539,190,1511,0,0,0,0,0,0
$GC,9758,1.10,104.6,798.4,12.5,542,9762,0.00,2.25,0.00,0.000,6,0.000,0.037,3540,1601,1510,0,0,0,0,0,0
$GC,10084,1.10,104.6,760.4,11.5,558,10088,0.00,2.28,0.00,0.000,4,0.000,0.058,3540,3005,1511,0,0,0,0,0,0
$GC,10147,1.10,104.6,752.6,12.6,561,10151,0.00,2.20,0.00,0.000,6,0.000,0.037,3548,1593,1511,0,0,0,0,0,0
$GC,10473,1.10,104.6,712.0,12.5,577,10477,0.00,2.28,0.00,0.000,4,0.000,0.056,3559,193,1510,0,0,0,0,0,0
$GC,10585,1.06,104.6,696.9,13.5,582,10590,0.12,2.22,0.00,0.000,6,0.167,0.039,3525,1609,1510,0,0,0,0,0,0
$GC,10906,1.11,104.6,660.3,11.3,598,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1609,1510,0,0,0,0,0,0
$GC,11216,1.17,104.6,624.9,11.2,613,11221,0.10,2.30,0.00,0.000,4,0.106,0.054,3588,189,1510,0,0,0,0,0,0
$GC,11323,1.08,104.6,610.4,13.5,618,11328,0.20,2.22,0.00,0.000,6,0.164,0.037,3534,1608,1509,0,0,0,0,0,0
$GC,11650,1.12,104.6,572.7,11.2,634,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1608,1509,0,0,0,0,0,0
$GC,11960,1.16,104.6,538.4,11.1,649,11965,0.08,2.30,0.00,0.000,4,0.129,0.054,3587,198,1509,0,0,0,0,0,0
$GC,12021,1.08,104.6,530.1,12.9,652,12026,0.20,2.20,0.00,0.000,6,0.165,0.038,3533,1601,1509,0,0,0,0,0,0
$GC,12348,1.13,104.6,494.0,10.8,668,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1601,1509,0,0,0,0,0,0
$GC,12658,1.18,104.6,460.5,10.7,683,12662,0.08,2.30,0.00,0.000,4,0.131,0.054,3584,195,1509,0,0,0,0,0,0
$GC,12759,1.10,104.6,447.8,12.8,687,12764,0.17,2.22,0.00,0.000,6,0.166,0.038,3538,1611,1509,0,0,0,0,0,0
$GC,13075,1.14,104.6,415.9,9.6,703,13079,0.00,2.33,0.00,0.000,4,0.000,0.054,3547,189,1509,0,0,0,0,0,0
$GC,13191,1.14,104.6,404.0,9.8,708,13196,0.00,2.25,0.00,0.000,6,0.000,0.037,3547,1603,1509,0,0,0,0,0,0
$GC,13512,1.17,104.6,373.5,9.4,724,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1604,1508,0,0,0,0,0,0
$GC,13823,1.17,104.6,343.6,9.8,739,13824,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1603,1508,0,0,0,0,0,0
$GC,14131,1.17,104.6,312.4,10.1,754,14135,0.00,2.30,0.00,0.000,4,0.000,0.054,3556,198,1509,0,0,0,0,0,0
$GC,14197,1.17,104.6,305.1,10.9,757,14201,0.00,2.22,0.00,0.000,6,0.000,0.037,3556,1599,1508,0,0,0,0,0,0
$GC,14528,1.17,104.6,270.6,10.9,773,14532,0.00,2.30,0.00,0.000,4,0.000,0.053,3564,195,1508,0,0,0,0,0,0
$GC,14583,1.17,104.6,263.5,11.8,775,14588,0.00,2.22,0.00,0.000,6,0.000,0.037,3564,1600,1508,0,0,0,0,0,0
$GC,14901,1.17,104.6,228.6,11.0,791,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1600,1508,0,0,0,0,0,0
$GC,15208,1.17,104.6,197.4,9.4,806,15212,0.00,2.30,0.00,0.000,4,0.000,0.053,3573,192,1508,0,0,0,0,0,0
$GC,15258,1.17,104.6,192.4,9.7,808,15262,0.00,2.22,0.00,0.000,6,0.000,0.036,3570,1599,1508,0,0,0,0,0,0
$GC,15585,1.17,104.6,160.5,9.8,824,15589,0.00,2.28,0.00,0.000,4,0.000,0.052,3579,196,1508,0,0,0,0,0,0
$GC,15734,1.13,104.6,145.1,10.4,830,15742,0.08,2.22,0.00,0.000,6,0.142,0.037,3553,1593,1508,0,0,0,0,0,0
$GC,16050,1.16,104.6,113.8,9.8,846,16055,0.00,2.30,0.00,0.000,4,0.000,0.052,3562,187,1508,0,0,0,0,0,0
$GC,16083,1.16,104.6,110.2,10.6,847,16089,0.00,2.25,0.00,0.000,6,0.000,0.037,3561,1607,1508,0,0,0,0,0,0
$GC,16402,1.16,104.6,77.7,10.0,866,16407,0.00,2.25,0.00,0.000,4,0.000,0.057,3561,3003,1508,0,0,0,0,0,0
$GC,16630,1.16,104.6,53.2,11.5,906,16637,0.00,2.20,0.00,0.000,6,0.000,0.036,3569,1599,1508,0,0,0,0,0,0
$GC,16998,1.16,104.6,15.8,10.5,967,17005,0.00,2.30,0.00,0.000,4,0.000,0.054,3580,198,1508,0,0,0,0,0,0
$STATE,17115,end climb,SURFACE_DEPTH_REACHED
$STATE,17115,begin surface coast
$FINISH,1.9,1.004290
$STATE,17143,end surface coast,CONTROL_FINISHED_OK
$STATE,17143,begin surface
$SM_CCo,17164,45.55,0.054,0,0,1134,200.16
$SM_GC,3.60,0.00,0.00,45.55,0.000,0.000,0.054,81,2073,1134,-9.70,0.37,200.16
$IRIDIUM_FIX,-4447.43,628.16,080908,141418
$TT8_MAMPS,0.026964
$HUMID,64.13
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,2
$24V_AH,22.0,58.449
$10V_AH,9.7,61.455
$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,24.300,132.050,206.400,45.550,0.000,56.036,126.589,266.004,0.500,0.000,21.003,2182.260,12117.228,376.020,2934.500,254.751,0.000,1402.224,0.000,2376.647,0.000,0.540,0.000
$DEVICE_MAMPS,211.140,67.320,1256.895,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.802,1435.337,802.133,476.476,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353244
$DATA_FILE_SIZE,70516,990
$CAP_FILE_SIZE,147762,0
$CFSIZE,2097086464,2026799104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131115,055503,-4504.051,624.931,29,0.9,29,-24.4