version: 66.07.10.p01
glider: 573
mission: 12
dive: 520
start: 11 17 115 20 7 6
data:
$ID,573
$MISSION,12
$DIVE,520
$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,-22619.527
$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,34
$R_STBD_OVSHOOT,46
$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,519
$GPS1,171115,195727,-4502.830,637.662,43,0.9,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-69.6
$GPS2,171115,200646,-4502.876,637.673,21,0.9,21,-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,250.8,3020,-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,-49.9,0.0,0.0,0,35,0.00,0.00,-8.15,0.000,2,0.000,0.000,71,2079,1294,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.0,-0.0,1,120,11.02,2.25,-62.15,0.000,4,0.223,0.063,2812,3453,2420,0,0,0,0,0,0
$GC,385,-1.13,-116.8,33.7,-16.5,57,392,0.00,2.22,0.00,0.000,6,0.000,0.043,2812,2064,2422,0,0,0,0,0,0
$GC,534,-1.13,-116.8,58.3,-16.6,82,539,0.00,2.28,0.00,0.000,4,0.000,0.055,2812,651,2422,0,0,0,0,0,0
$GC,592,-1.13,-116.8,68.7,-17.5,92,597,0.00,2.22,0.00,0.000,6,0.000,0.041,2804,2053,2422,0,0,0,0,0,0
$GC,931,-1.13,-116.8,125.8,-16.8,117,935,0.00,2.28,0.00,0.000,4,0.000,0.057,2793,3469,2422,0,0,0,0,0,0
$GC,1038,-1.13,-116.8,144.8,-16.8,122,1043,0.10,2.22,0.00,0.000,6,0.190,0.042,2816,2051,2422,0,0,0,0,0,0
$GC,1367,-1.13,-116.8,194.2,-15.0,138,1371,0.00,2.30,0.00,0.000,4,0.000,0.059,2808,3462,2422,0,0,0,0,0,0
$GC,1434,-1.13,-116.8,205.8,-16.5,141,1438,0.00,2.20,0.00,0.000,6,0.000,0.041,2808,2065,2422,0,0,0,0,0,0
$GC,1763,-1.13,-116.8,255.8,-15.2,157,1767,0.00,2.25,0.00,0.000,4,0.000,0.054,2808,646,2423,0,0,0,0,0,0
$GC,1858,-1.13,-116.8,271.2,-15.5,161,1863,0.05,2.22,0.00,0.000,6,0.176,0.037,2824,2053,2423,0,0,0,0,0,0
$GC,2180,-1.18,-116.8,316.4,-14.0,177,2185,0.05,2.25,0.00,0.000,4,0.166,0.055,2777,3468,2423,0,0,0,0,0,0
$GC,2223,-1.18,-116.8,323.5,-16.4,179,2228,0.10,2.22,0.00,0.000,6,0.189,0.041,2801,2056,2423,0,0,0,0,0,0
$GC,2550,-1.18,-116.8,374.1,-15.5,195,2554,0.00,2.25,0.00,0.000,4,0.000,0.055,2801,658,2423,0,0,0,0,0,0
$GC,2594,-1.18,-116.8,381.2,-15.7,197,2598,0.00,2.22,0.00,0.000,6,0.000,0.041,2793,2056,2423,0,0,0,0,0,0
$GC,2922,-1.18,-116.8,429.8,-14.6,213,2926,0.00,2.28,0.00,0.000,4,0.000,0.059,2782,3465,2422,0,0,0,0,0,0
$GC,2971,-1.18,-116.8,437.6,-14.6,215,2976,0.08,2.22,0.00,0.000,6,0.207,0.041,2797,2056,2423,0,0,0,0,0,0
$GC,3293,-1.18,-116.8,483.7,-14.1,231,3297,0.00,2.25,0.00,0.000,4,0.000,0.056,2798,661,2423,0,0,0,0,0,0
$GC,3370,-1.18,-116.8,495.6,-15.3,234,3375,0.00,2.22,0.00,0.000,6,0.000,0.042,2790,2053,2423,0,0,0,0,0,0
$GC,3685,-1.18,-116.8,541.5,-14.5,250,3689,0.00,2.28,0.00,0.000,4,0.000,0.057,2779,3469,2423,0,0,0,0,0,0
$GC,3717,-1.18,-116.8,546.2,-14.4,251,3722,0.10,2.22,0.00,0.000,6,0.194,0.042,2802,2067,2423,0,0,0,0,0,0
$GC,4033,-1.18,-116.8,588.4,-13.4,267,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2067,2423,0,0,0,0,0,0
$GC,4341,-1.22,-116.8,630.3,-13.5,282,4345,0.00,2.25,0.00,0.000,4,0.000,0.054,2802,656,2422,0,0,0,0,0,0
$GC,4391,-1.22,-116.8,637.5,-14.2,284,4395,0.00,2.22,0.00,0.000,6,0.000,0.039,2794,2070,2422,0,0,0,0,0,0
$GC,4717,-1.22,-116.8,683.6,-14.2,300,4721,0.00,2.25,0.00,0.000,4,0.000,0.060,2783,3466,2422,0,0,0,0,0,0
$GC,4767,-1.22,-116.8,691.1,-15.0,302,4771,0.00,2.22,0.00,0.000,6,0.000,0.041,2783,2052,2422,0,0,0,0,0,0
$GC,5087,-1.22,-116.8,737.5,-14.6,318,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2052,2421,0,0,0,0,0,0
$GC,5398,-1.22,-116.8,782.4,-14.6,333,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2052,2421,0,0,0,0,0,0
$GC,5706,-1.22,-116.8,827.9,-14.5,348,5710,0.00,2.33,0.00,0.000,4,0.000,0.061,2774,3467,2420,0,0,0,0,0,0
$GC,5768,-1.22,-116.8,836.8,-13.9,351,5773,0.05,2.22,0.00,0.000,6,0.233,0.043,2784,2052,2421,0,0,0,0,0,0
$GC,6095,-1.22,-116.8,882.6,-13.6,367,6099,0.00,2.28,0.00,0.000,4,0.000,0.057,2785,649,2420,0,0,0,0,0,0
$GC,6143,-1.22,-116.8,889.7,-13.9,369,6148,0.00,2.25,0.00,0.000,6,0.000,0.044,2776,2050,2420,0,0,0,0,0,0
$GC,6465,-1.22,-116.8,933.8,-13.9,385,6469,0.00,2.30,0.00,0.000,4,0.000,0.058,2766,3475,2420,0,0,0,0,0,0
$GC,6486,-1.22,-116.8,936.9,-14.1,386,6490,0.10,2.25,0.00,0.000,6,0.194,0.044,2788,2061,2419,0,0,0,0,0,0
$GC,6812,-1.22,-116.8,977.6,-12.3,402,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2061,2419,0,0,0,0,0,0
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7003,-0.19,0.0,1000.9,12.9,411,7118,1.12,0.00,109.55,1.260,6,0.158,0.000,3113,1594,1950,0,0,0,0,0,0
$STATE,7119,end apogee,CONTROL_FINISHED_OK
$STATE,7119,begin climb
$GC,7121,1.13,116.8,1004.6,0.0,417,7250,1.30,2.55,118.70,1.214,4,0.084,0.052,3554,199,1473,0,0,0,0,0,0
$GC,7289,1.18,116.8,989.0,13.8,425,7293,0.00,2.42,0.00,0.000,6,0.000,0.035,3554,1615,1469,0,0,0,0,0,0
$GC,7610,1.24,116.8,946.7,13.1,441,7615,0.10,2.38,0.00,0.000,4,0.102,0.050,3609,190,1465,0,0,0,0,0,0
$GC,7650,1.18,116.8,940.5,16.6,443,7655,0.17,2.28,0.00,0.000,6,0.166,0.037,3564,1607,1464,0,0,0,0,0,0
$GC,7979,1.23,116.8,895.0,13.8,459,7983,0.00,2.33,0.00,0.000,4,0.000,0.052,3573,194,1464,0,0,0,0,0,0
$GC,8022,1.23,116.8,888.5,15.0,461,8026,0.00,2.25,0.00,0.000,6,0.000,0.036,3573,1605,1464,0,0,0,0,0,0
$GC,8350,1.27,116.8,843.2,13.9,477,8354,0.00,2.30,0.00,0.000,4,0.000,0.051,3582,195,1463,0,0,0,0,0,0
$GC,8394,1.27,116.8,836.6,15.7,479,8398,0.00,2.22,0.00,0.000,6,0.000,0.035,3582,1600,1462,0,0,0,0,0,0
$GC,8722,1.27,116.8,792.1,13.5,495,8726,0.00,2.25,0.00,0.000,4,0.000,0.056,3582,2995,1462,0,0,0,0,0,0
$GC,8794,1.27,116.8,781.4,13.9,498,8798,0.00,2.20,0.00,0.000,6,0.000,0.036,3591,1594,1462,0,0,0,0,0,0
$GC,9114,1.27,116.8,736.5,14.0,514,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1594,1462,0,0,0,0,0,0
$GC,9425,1.27,116.8,690.8,14.9,529,9429,0.00,2.25,0.00,0.000,4,0.000,0.054,3602,199,1462,0,0,0,0,0,0
$GC,9486,1.23,116.8,681.2,15.4,532,9491,0.08,2.20,0.00,0.000,6,0.196,0.037,3585,1606,1461,0,0,0,0,0,0
$GC,9811,1.23,116.8,634.6,13.9,548,9815,0.00,2.30,0.00,0.000,4,0.000,0.053,3594,196,1461,0,0,0,0,0,0
$GC,9882,1.23,116.8,624.2,14.0,551,9887,0.03,2.20,0.00,0.000,6,0.269,0.035,3584,1596,1460,0,0,0,0,0,0
$GC,10204,1.23,116.8,580.6,14.0,567,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1596,1461,0,0,0,0,0,0
$GC,10512,1.23,116.8,538.1,13.7,582,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1596,1460,0,0,0,0,0,0
$GC,10823,1.23,116.8,497.3,13.0,597,10827,0.00,2.25,0.00,0.000,4,0.000,0.055,3584,2997,1461,0,0,0,0,0,0
$GC,10866,1.23,116.8,491.1,13.5,599,10871,0.00,2.17,0.00,0.000,6,0.000,0.035,3592,1606,1460,0,0,0,0,0,0
$GC,11194,1.23,116.8,447.6,13.1,615,11198,0.00,2.28,0.00,0.000,4,0.000,0.054,3603,198,1460,0,0,0,0,0,0
$GC,11249,1.23,116.8,439.9,13.8,617,11254,0.10,2.22,0.00,0.000,6,0.187,0.037,3579,1604,1460,0,0,0,0,0,0
$GC,11566,1.27,116.8,399.7,12.9,633,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1603,1460,0,0,0,0,0,0
$GC,11873,1.32,116.8,358.7,13.5,648,11878,0.08,2.30,0.00,0.000,4,0.125,0.051,3632,188,1460,0,0,0,0,0,0
$GC,11936,1.24,116.8,349.2,15.9,651,11941,0.17,2.20,0.00,0.000,6,0.175,0.035,3586,1603,1460,0,0,0,0,0,0
$GC,12265,1.27,116.8,303.9,13.8,667,12269,0.00,2.30,0.00,0.000,4,0.000,0.052,3595,189,1460,0,0,0,0,0,0
$GC,12353,1.27,116.8,290.2,15.3,671,12358,0.00,2.22,0.00,0.000,6,0.000,0.036,3595,1600,1459,0,0,0,0,0,0
$GC,12685,1.27,116.8,243.6,14.1,687,12689,0.00,2.22,0.00,0.000,4,0.000,0.054,3595,2991,1460,0,0,0,0,0,0
$GC,12727,1.27,116.8,237.2,14.2,689,12731,0.00,2.15,0.00,0.000,6,0.000,0.036,3604,1596,1459,0,0,0,0,0,0
$GC,13057,1.27,116.8,191.1,13.3,705,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1596,1459,0,0,0,0,0,0
$GC,13363,1.27,116.8,149.4,12.8,720,13367,0.00,2.25,0.00,0.000,4,0.000,0.051,3604,2994,1459,0,0,0,0,0,0
$GC,13407,1.27,116.8,142.9,13.6,722,13412,0.05,2.17,0.00,0.000,6,0.176,0.035,3597,1595,1459,0,0,0,0,0,0
$GC,13735,1.27,116.8,103.2,12.1,738,13739,0.00,2.25,0.00,0.000,4,0.000,0.053,3607,201,1459,0,0,0,0,0,0
$GC,13778,1.27,116.8,97.0,13.9,740,13783,0.05,2.20,0.00,0.000,6,0.233,0.035,3597,1606,1459,0,0,0,0,0,0
$GC,14116,1.30,116.8,55.6,12.3,781,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1606,1459,0,0,0,0,0,0
$GC,14483,1.30,116.8,10.7,12.4,842,14490,0.00,2.22,0.00,0.000,4,0.000,0.050,3597,2992,1459,0,0,0,0,0,0
$STATE,14540,end climb,SURFACE_DEPTH_REACHED
$STATE,14540,begin surface coast
$FINISH,1.9,1.023399
$STATE,14566,end surface coast,CONTROL_FINISHED_OK
$STATE,14566,begin surface
$SM_CCo,14586,39.33,0.055,0,0,1133,200.16
$SM_GC,3.16,0.00,0.00,39.33,0.000,0.000,0.055,79,2070,1133,-9.71,0.28,200.16
$IRIDIUM_FIX,-4441.36,636.54,130908,030351
$TT8_MAMPS,0.026964
$HUMID,64.53
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,2
$24V_AH,21.9,60.796
$10V_AH,9.7,63.854
$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,24.275,135.175,228.250,39.325,0.000,25.349,42.048,317.753,0.500,0.000,23.574,1894.418,10117.523,363.333,2547.711,248.355,0.000,1289.059,0.000,2063.828,0.000,0.540,0.000
$DEVICE_MAMPS,269.280,62.730,1259.955,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.509,1268.036,726.434,464.094,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,60444,855
$CAP_FILE_SIZE,134297,0
$CFSIZE,2097086464,2023948288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181115,001204,-4505.154,636.485,35,0.9,35,-24.4