version: 66.07.10.p01
glider: 573
mission: 12
dive: 508
start: 11 15 115 5 5 38
data:
$ID,573
$MISSION,12
$DIVE,508
$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,-22581.236
$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,40
$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,507
$GPS1,151115,045733,-4455.594,624.644,33,1.0,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-71.7
$GPS2,151115,050518,-4455.637,624.721,14,0.7,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,259.0,1160,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-17.98,0.000,2,0.000,0.000,78,2063,1486,0,0,0,0,0,0
$GC,49,-1.13,-103.0,3.1,-2.5,3,113,11.12,2.33,-43.28,0.000,4,0.225,0.070,2804,3458,2372,0,0,0,0,0,0
$GC,293,-1.13,-103.0,29.9,-17.4,42,301,0.03,2.22,0.00,0.000,6,0.195,0.041,2812,2069,2375,0,0,0,0,0,0
$GC,448,-1.13,-103.0,55.7,-16.9,67,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2069,2374,0,0,0,0,0,0
$GC,783,-1.13,-103.0,110.8,-16.0,102,787,0.00,2.28,0.00,0.000,4,0.000,0.056,2804,3468,2375,0,0,0,0,0,0
$GC,877,-1.13,-103.0,127.4,-16.7,106,883,0.03,2.25,0.00,0.000,6,0.196,0.041,2813,2055,2375,0,0,0,0,0,0
$GC,1199,-1.13,-103.0,177.9,-16.1,122,1203,0.00,2.25,0.00,0.000,4,0.000,0.055,2813,660,2376,0,0,0,0,0,0
$GC,1220,-1.13,-103.0,181.4,-15.4,123,1224,0.00,2.22,0.00,0.000,6,0.000,0.041,2805,2051,2376,0,0,0,0,0,0
$GC,1550,-1.13,-103.0,229.7,-14.6,139,1554,0.05,2.30,0.00,0.000,4,0.255,0.057,2805,3469,2376,0,0,0,0,0,0
$GC,1683,-1.13,-103.0,248.8,-14.3,145,1688,0.05,2.22,0.00,0.000,6,0.228,0.043,2815,2055,2376,0,0,0,0,0,0
$GC,2012,-1.13,-103.0,295.1,-13.8,161,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2055,2377,0,0,0,0,0,0
$GC,2318,-1.13,-103.0,335.4,-13.1,176,2322,0.00,2.28,0.00,0.000,4,0.000,0.056,2816,651,2377,0,0,0,0,0,0
$GC,2434,-1.13,-103.0,351.6,-13.9,181,2439,0.00,2.28,0.00,0.000,6,0.000,0.044,2807,2067,2377,0,0,0,0,0,0
$GC,2756,-1.13,-103.0,394.4,-13.3,197,2760,0.00,2.28,0.00,0.000,4,0.000,0.062,2796,3464,2377,0,0,0,0,0,0
$GC,2806,-1.13,-103.0,401.5,-13.4,199,2811,0.10,2.22,0.00,0.000,6,0.190,0.041,2820,2058,2377,0,0,0,0,0,0
$GC,3128,-1.17,-103.0,442.9,-13.1,215,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2059,2377,0,0,0,0,0,0
$GC,3436,-1.21,-103.0,483.1,-13.1,230,3441,0.08,2.28,0.00,0.000,4,0.129,0.057,2781,661,2377,0,0,0,0,0,0
$GC,3508,-1.15,-103.0,494.2,-16.2,233,3513,0.15,2.22,0.00,0.000,6,0.192,0.044,2809,2059,2377,0,0,0,0,0,0
$GC,3823,-1.15,-103.0,538.2,-14.4,248,3827,0.00,2.33,0.00,0.000,4,0.000,0.066,2799,3471,2376,0,0,0,0,0,0
$GC,3901,-1.15,-103.0,549.5,-14.2,251,3906,0.00,2.22,0.00,0.000,6,0.000,0.046,2799,2065,2377,0,0,0,0,0,0
$GC,4217,-1.15,-103.0,593.5,-13.4,267,4221,0.00,2.30,0.00,0.000,4,0.000,0.062,2790,3466,2376,0,0,0,0,0,0
$GC,4288,-1.15,-103.0,604.2,-14.7,270,4293,0.05,2.25,0.00,0.000,6,0.171,0.043,2814,2059,2376,0,0,0,0,0,0
$GC,4614,-1.20,-103.0,645.5,-12.4,286,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2058,2375,0,0,0,0,0,0
$GC,4925,-1.25,-103.0,681.8,-11.3,301,4930,0.10,2.33,0.00,0.000,4,0.104,0.064,2746,3463,2375,0,0,0,0,0,0
$GC,4957,-1.16,-103.0,686.1,-13.0,302,4963,0.22,2.22,0.00,0.000,6,0.179,0.044,2805,2055,2375,0,0,0,0,0,0
$GC,5274,-1.16,-103.0,723.3,-11.8,317,5278,0.00,2.35,0.00,0.000,4,0.000,0.065,2796,3469,2375,0,0,0,0,0,0
$GC,5351,-1.16,-103.0,733.7,-12.5,320,5356,0.00,2.25,0.00,0.000,6,0.000,0.046,2795,2065,2375,0,0,0,0,0,0
$GC,5666,-1.16,-103.0,774.9,-12.9,336,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2065,2375,0,0,0,0,0,0
$GC,5976,-1.16,-103.0,815.2,-12.9,351,5980,0.00,2.30,0.00,0.000,4,0.000,0.060,2787,3467,2374,0,0,0,0,0,0
$GC,6016,-1.16,-103.0,820.5,-13.1,353,6021,0.08,2.22,0.00,0.000,6,0.200,0.043,2803,2055,2374,0,0,0,0,0,0
$GC,6345,-1.21,-103.0,861.9,-12.5,369,6349,0.00,2.28,0.00,0.000,4,0.000,0.059,2803,658,2374,0,0,0,0,0,0
$GC,6366,-1.21,-103.0,865.2,-13.6,370,6370,0.00,2.25,0.00,0.000,6,0.000,0.044,2795,2055,2374,0,0,0,0,0,0
$GC,6692,-1.21,-103.0,905.1,-11.9,386,6696,0.00,2.33,0.00,0.000,4,0.000,0.062,2784,3480,2374,0,0,0,0,0,0
$GC,6724,-1.21,-103.0,909.2,-13.4,387,6729,0.00,2.25,0.00,0.000,6,0.000,0.044,2784,2053,2373,0,0,0,0,0,0
$GC,7041,-1.21,-103.0,947.6,-12.1,403,7045,0.00,2.35,0.00,0.000,4,0.000,0.064,2775,3476,2373,0,0,0,0,0,0
$GC,7101,-1.21,-103.0,955.7,-13.8,405,7107,0.08,2.25,0.00,0.000,6,0.205,0.046,2790,2060,2373,0,0,0,0,0,0
$GC,7418,-1.21,-103.0,994.4,-12.0,421,7422,0.00,2.28,0.00,0.000,4,0.000,0.057,2791,654,2373,0,0,0,0,0,0
$GC,7458,-1.21,-103.0,999.4,-12.5,423,7462,0.00,2.12,0.00,0.000,3,0.000,0.046,2783,1979,2373,0,0,0,0,0,0
$STATE,7462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7463,begin apogee
$GC,7468,-0.19,0.0,1000.3,12.8,423,7572,1.12,0.00,99.70,1.261,6,0.161,0.000,3109,1592,1950,0,0,0,0,0,0
$STATE,7573,end apogee,CONTROL_FINISHED_OK
$STATE,7573,begin climb
$GC,7575,1.13,103.0,1004.0,0.0,428,7688,1.33,2.58,105.22,1.220,4,0.086,0.054,3553,201,1529,0,0,0,0,0,0
$GC,7710,1.16,103.0,993.7,12.5,435,7715,0.00,2.45,0.00,0.000,6,0.000,0.037,3553,1619,1526,0,0,0,0,0,0
$GC,8032,1.21,103.0,954.7,12.1,451,8034,0.05,0.00,0.00,0.000,6,0.164,0.000,3584,1620,1521,0,0,0,0,0,0
$GC,8340,1.21,103.0,914.1,13.5,466,8344,0.00,2.25,0.00,0.000,4,0.000,0.058,3584,2994,1520,0,0,0,0,0,0
$GC,8383,1.21,103.0,907.8,15.0,468,8388,0.08,2.22,0.00,0.000,6,0.209,0.036,3578,1591,1520,0,0,0,0,0,0
$GC,8709,1.21,103.0,863.4,13.9,484,8713,0.00,2.28,0.00,0.000,4,0.000,0.055,3588,201,1519,0,0,0,0,0,0
$GC,8821,1.21,103.0,847.1,14.3,489,8826,0.05,2.22,0.00,0.000,6,0.227,0.038,3578,1608,1518,0,0,0,0,0,0
$GC,9142,1.21,103.0,803.0,13.6,505,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1608,1517,0,0,0,0,0,0
$GC,9450,1.21,103.0,760.0,14.0,520,9454,0.00,2.30,0.00,0.000,4,0.000,0.053,3587,202,1517,0,0,0,0,0,0
$GC,9504,1.21,103.0,752.1,14.8,522,9511,0.03,2.22,0.00,0.000,6,0.193,0.037,3578,1602,1517,0,0,0,0,0,0
$GC,9819,1.21,103.0,709.0,13.8,538,9823,0.00,2.22,0.00,0.000,4,0.000,0.056,3578,2996,1517,0,0,0,0,0,0
$GC,9852,1.21,103.0,704.2,14.6,539,9857,0.00,2.20,0.00,0.000,6,0.000,0.036,3586,1599,1517,0,0,0,0,0,0
$GC,10168,1.21,103.0,658.8,14.1,555,10172,0.00,2.28,0.00,0.000,4,0.000,0.054,3597,196,1517,0,0,0,0,0,0
$GC,10235,1.17,103.0,648.8,14.9,558,10240,0.15,2.20,0.00,0.000,6,0.174,0.037,3559,1604,1517,0,0,0,0,0,0
$GC,10556,1.22,103.0,607.0,13.2,574,10560,0.00,2.22,0.00,0.000,4,0.000,0.055,3559,2992,1516,0,0,0,0,0,0
$GC,10606,1.26,103.0,600.1,13.3,576,10611,0.08,2.15,0.00,0.000,6,0.125,0.037,3606,1598,1516,0,0,0,0,0,0
$GC,10924,1.23,103.0,553.9,14.7,591,10929,0.10,2.25,0.00,0.000,4,0.191,0.051,3581,2995,1516,0,0,0,0,0,0
$GC,10945,1.23,103.0,550.6,13.4,592,10949,0.00,2.17,0.00,0.000,6,0.000,0.036,3589,1612,1516,0,0,0,0,0,0
$GC,11271,1.23,103.0,508.7,12.8,608,11275,0.00,2.30,0.00,0.000,4,0.000,0.054,3600,195,1516,0,0,0,0,0,0
$GC,11426,1.19,103.0,489.2,13.3,615,11430,0.12,2.20,0.00,0.000,6,0.183,0.037,3569,1604,1515,0,0,0,0,0,0
$GC,11754,1.24,103.0,451.6,11.7,631,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1604,1516,0,0,0,0,0,0
$GC,12061,1.30,103.0,417.0,11.5,646,12065,0.10,2.30,0.00,0.000,4,0.098,0.052,3630,195,1515,0,0,0,0,0,0
$GC,12123,1.19,103.0,408.9,13.9,649,12128,0.22,2.20,0.00,0.000,6,0.177,0.037,3568,1604,1515,0,0,0,0,0,0
$GC,12452,1.25,103.0,372.9,10.7,665,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1604,1515,0,0,0,0,0,0
$GC,12758,1.30,103.0,339.3,10.9,680,12763,0.10,2.30,0.00,0.000,4,0.103,0.053,3625,198,1516,0,0,0,0,0,0
$GC,12785,1.25,103.0,335.9,12.5,681,12790,0.12,2.20,0.00,0.000,6,0.194,0.037,3591,1605,1516,0,0,0,0,0,0
$GC,13100,1.25,103.0,298.3,12.0,696,13104,0.00,2.30,0.00,0.000,4,0.000,0.051,3601,195,1515,0,0,0,0,0,0
$GC,13155,1.21,103.0,291.0,14.1,698,13163,0.05,2.22,0.00,0.000,6,0.179,0.036,3582,1603,1515,0,0,0,0,0,0
$GC,13472,1.24,103.0,252.7,11.9,714,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1603,1515,0,0,0,0,0,0
$GC,13783,1.29,103.0,216.6,11.7,729,13787,0.00,2.30,0.00,0.000,4,0.000,0.051,3591,195,1515,0,0,0,0,0,0
$GC,13816,1.29,103.0,212.1,12.0,730,13823,0.00,2.22,0.00,0.000,6,0.000,0.036,3590,1612,1515,0,0,0,0,0,0
$GC,14132,1.29,103.0,174.2,12.3,746,14136,0.00,2.22,0.00,0.000,4,0.000,0.055,3590,2996,1515,0,0,0,0,0,0
$GC,14173,1.29,103.0,168.7,13.6,748,14177,0.00,2.17,0.00,0.000,6,0.000,0.036,3598,1596,1515,0,0,0,0,0,0
$GC,14500,1.29,103.0,128.9,11.9,764,14504,0.00,2.25,0.00,0.000,4,0.000,0.054,3610,195,1515,0,0,0,0,0,0
$GC,14713,1.29,103.0,100.6,13.3,773,14717,0.00,2.22,0.00,0.000,6,0.000,0.037,3609,1597,1515,0,0,0,0,0,0
$GC,15044,1.29,103.0,58.8,12.4,809,15049,0.00,2.25,0.00,0.000,4,0.000,0.056,3609,2996,1515,0,0,0,0,0,0
$GC,15128,1.29,103.0,48.6,12.5,823,15134,0.08,2.17,0.00,0.000,6,0.222,0.034,3602,1585,1515,0,0,0,0,0,0
$GC,15500,1.29,103.0,5.6,10.1,884,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1584,1515,0,0,0,0,0,0
$STATE,15520,end climb,SURFACE_DEPTH_REACHED
$STATE,15520,begin surface coast
$FINISH,1.8,1.023409
$STATE,15552,end surface coast,CONTROL_FINISHED_OK
$STATE,15552,begin surface
$SM_CCo,15571,46.33,0.054,0,0,1132,200.16
$SM_GC,3.40,0.00,0.00,46.33,0.000,0.000,0.054,68,2074,1132,-9.74,0.40,200.16
$IRIDIUM_FIX,-4438.33,624.11,100908,131343
$TT8_MAMPS,0.026964
$HUMID,64.60
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,22.0,59.513
$10V_AH,9.7,62.534
$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,25.325,145.950,204.925,46.325,0.000,24.655,34.663,258.894,0.250,0.000,18.006,1991.468,10879.262,378.467,2581.022,250.159,0.000,1342.880,0.000,2161.538,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,70.380,1261.485,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.279,1295.158,719.544,442.645,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,63761,892
$CAP_FILE_SIZE,144206,0
$CFSIZE,2097086464,2025521152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151115,092704,-4457.200,623.305,31,1.1,31,-24.4