version: 66.07.10.p01
glider: 573
mission: 12
dive: 556
start: 11 25 115 22 9 12
data:
$ID,573
$MISSION,12
$DIVE,556
$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,-22740.174
$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,32
$R_STBD_OVSHOOT,50
$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,555
$GPS1,251115,220104,-4504.344,625.739,39,0.8,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-73.2
$GPS2,251115,220852,-4504.360,625.781,18,1.1,18,-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,310.4,2424,-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,27,-1.09,-49.9,0.0,0.0,0,35,0.00,0.00,-6.47,0.000,2,0.000,0.000,73,2075,1254,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.1,-0.0,1,120,11.73,2.22,-62.92,0.000,4,0.241,0.068,2802,3447,2426,0,0,0,0,0,0
$GC,394,-1.13,-116.8,45.3,-17.1,59,400,0.08,2.20,0.00,0.000,6,0.212,0.045,2818,2059,2427,0,0,0,0,0,0
$GC,730,-1.13,-116.8,100.9,-16.6,102,734,0.00,2.28,0.00,0.000,4,0.000,0.060,2809,3445,2427,0,0,0,0,0,0
$GC,779,-1.13,-116.8,109.6,-17.2,104,783,0.00,2.20,0.00,0.000,6,0.000,0.043,2809,2049,2427,0,0,0,0,0,0
$GC,1101,-1.13,-116.8,161.4,-15.7,120,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2049,2428,0,0,0,0,0,0
$GC,1412,-1.13,-116.8,210.0,-15.7,135,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2049,2428,0,0,0,0,0,0
$GC,1719,-1.13,-116.8,256.4,-14.8,150,1723,0.00,2.22,0.00,0.000,4,0.000,0.054,2809,651,2428,0,0,0,0,0,0
$GC,1746,-1.13,-116.8,260.2,-16.5,151,1751,0.08,2.20,0.00,0.000,6,0.216,0.041,2815,2046,2428,0,0,0,0,0,0
$GC,2075,-1.17,-116.8,310.5,-15.4,167,2079,0.00,2.28,0.00,0.000,4,0.000,0.058,2805,3465,2428,0,0,0,0,0,0
$GC,2137,-1.17,-116.8,320.4,-15.9,170,2141,0.00,2.20,0.00,0.000,6,0.000,0.039,2806,2045,2428,0,0,0,0,0,0
$GC,2463,-1.17,-116.8,370.4,-15.3,186,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2045,2428,0,0,0,0,0,0
$GC,2773,-1.17,-116.8,417.6,-15.6,201,2777,0.00,2.22,0.00,0.000,4,0.000,0.052,2805,653,2428,0,0,0,0,0,0
$GC,2794,-1.17,-116.8,421.3,-16.0,202,2798,0.00,2.22,0.00,0.000,6,0.000,0.040,2796,2075,2428,0,0,0,0,0,0
$GC,3120,-1.17,-116.8,471.3,-15.4,218,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2074,2428,0,0,0,0,0,0
$GC,3431,-1.17,-116.8,518.3,-14.8,233,3435,0.00,2.22,0.00,0.000,4,0.000,0.057,2786,3469,2428,0,0,0,0,0,0
$GC,3497,-1.17,-116.8,528.8,-15.2,236,3502,0.08,2.20,0.00,0.000,6,0.208,0.042,2801,2059,2428,0,0,0,0,0,0
$GC,3824,-1.20,-116.8,574.6,-13.6,252,3828,0.00,2.25,0.00,0.000,4,0.000,0.055,2801,653,2428,0,0,0,0,0,0
$GC,3863,-1.20,-116.8,580.4,-14.1,254,3867,0.00,2.22,0.00,0.000,6,0.000,0.044,2794,2057,2428,0,0,0,0,0,0
$GC,4188,-1.20,-116.8,625.8,-13.5,270,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2057,2428,0,0,0,0,0,0
$GC,4499,-1.20,-116.8,669.0,-13.9,285,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2057,2428,0,0,0,0,0,0
$GC,4807,-1.20,-116.8,711.8,-14.1,300,4811,0.00,2.30,0.00,0.000,4,0.000,0.063,2782,3467,2428,0,0,0,0,0,0
$GC,4856,-1.20,-116.8,719.1,-14.4,302,4860,0.00,2.22,0.00,0.000,6,0.000,0.044,2783,2053,2428,0,0,0,0,0,0
$GC,5176,-1.20,-116.8,764.3,-14.0,318,5180,0.00,2.25,0.00,0.000,4,0.000,0.057,2782,660,2428,0,0,0,0,0,0
$GC,5203,-1.20,-116.8,768.4,-15.4,319,5208,0.10,2.22,0.00,0.000,6,0.204,0.041,2795,2069,2427,0,0,0,0,0,0
$GC,5525,-1.24,-116.8,810.9,-12.6,335,5529,0.00,2.28,0.00,0.000,4,0.000,0.062,2785,3469,2428,0,0,0,0,0,0
$GC,5580,-1.24,-116.8,818.2,-13.1,337,5585,0.00,2.22,0.00,0.000,6,0.000,0.044,2786,2056,2428,0,0,0,0,0,0
$GC,5897,-1.24,-116.8,857.7,-12.1,353,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2056,2427,0,0,0,0,0,0
$GC,6205,-1.24,-116.8,895.4,-12.5,368,6209,0.00,2.28,0.00,0.000,4,0.000,0.057,2786,654,2427,0,0,0,0,0,0
$GC,6254,-1.24,-116.8,901.9,-13.5,370,6258,0.00,2.25,0.00,0.000,6,0.000,0.046,2777,2066,2426,0,0,0,0,0,0
$GC,6575,-1.24,-116.8,944.7,-13.5,386,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2066,2426,0,0,0,0,0,0
$GC,6885,-1.24,-116.8,988.1,-14.1,401,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2066,2426,0,0,0,0,0,0
$STATE,6985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6985,begin apogee
$GC,6991,-0.19,0.0,1002.6,14.1,406,7107,1.20,0.00,112.40,1.253,6,0.163,0.000,3117,1597,1950,0,0,0,0,0,0
$STATE,7108,end apogee,CONTROL_FINISHED_OK
$STATE,7108,begin climb
$GC,7111,1.13,116.8,1007.3,0.0,412,7242,1.27,2.55,119.65,1.213,4,0.084,0.053,3550,202,1472,0,0,0,0,0,0
$GC,7276,1.19,116.8,993.5,13.7,420,7280,0.00,2.42,0.00,0.000,6,0.000,0.035,3550,1619,1469,0,0,0,0,0,0
$GC,7601,1.26,116.8,951.4,13.1,436,7603,0.12,0.00,0.00,0.000,6,0.085,0.000,3609,1619,1465,0,0,0,0,0,0
$GC,7912,1.23,116.8,903.4,15.6,451,7914,0.10,0.00,0.00,0.000,6,0.184,0.000,3585,1620,1464,0,0,0,0,0,0
$GC,8219,1.23,116.8,857.5,15.1,466,8224,0.00,2.33,0.00,0.000,4,0.000,0.053,3594,198,1463,0,0,0,0,0,0
$GC,8308,1.23,116.8,843.0,16.4,470,8313,0.05,2.22,0.00,0.000,6,0.226,0.037,3584,1613,1462,0,0,0,0,0,0
$GC,8634,1.23,116.8,794.7,14.6,486,8638,0.00,2.22,0.00,0.000,4,0.000,0.055,3584,3000,1463,0,0,0,0,0,0
$GC,8672,1.23,116.8,788.7,15.6,488,8676,0.00,2.17,0.00,0.000,6,0.000,0.035,3592,1594,1462,0,0,0,0,0,0
$GC,8998,1.23,116.8,738.6,15.7,504,9002,0.00,2.25,0.00,0.000,4,0.000,0.054,3603,200,1462,0,0,0,0,0,0
$GC,9053,1.19,116.8,729.5,16.4,506,9059,0.12,2.20,0.00,0.000,6,0.178,0.037,3572,1608,1462,0,0,0,0,0,0
$GC,9368,1.24,116.8,684.8,14.4,522,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1608,1461,0,0,0,0,0,0
$GC,9679,1.29,116.8,641.6,13.5,537,9683,0.08,2.28,0.00,0.000,4,0.124,0.052,3629,195,1461,0,0,0,0,0,0
$GC,9764,1.20,116.8,628.2,16.3,541,9769,0.20,2.20,0.00,0.000,6,0.172,0.035,3575,1607,1461,0,0,0,0,0,0
$GC,10092,1.25,116.8,586.2,12.2,557,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1607,1461,0,0,0,0,0,0
$GC,10399,1.29,116.8,549.2,11.8,572,10404,0.08,2.20,0.00,0.000,4,0.124,0.054,3614,3001,1461,0,0,0,0,0,0
$GC,10431,1.25,116.8,544.7,14.3,573,10436,0.15,2.15,0.00,0.000,6,0.190,0.036,3586,1599,1461,0,0,0,0,0,0
$GC,10747,1.28,116.8,507.0,12.4,588,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1461,0,0,0,0,0,0
$GC,11057,1.28,116.8,466.7,13.0,603,11061,0.00,2.25,0.00,0.000,4,0.000,0.054,3596,199,1461,0,0,0,0,0,0
$GC,11168,1.28,116.8,450.8,14.6,608,11172,0.00,2.20,0.00,0.000,6,0.000,0.037,3595,1606,1460,0,0,0,0,0,0
$GC,11494,1.28,116.8,406.0,13.8,624,11498,0.00,2.22,0.00,0.000,4,0.000,0.053,3596,3003,1460,0,0,0,0,0,0
$GC,11543,1.28,116.8,398.6,14.5,626,11547,0.00,2.17,0.00,0.000,6,0.000,0.036,3604,1594,1460,0,0,0,0,0,0
$GC,11864,1.28,116.8,353.3,14.4,642,11868,0.00,2.22,0.00,0.000,4,0.000,0.054,3615,200,1460,0,0,0,0,0,0
$GC,12005,1.23,116.8,331.9,16.4,648,12009,0.12,2.17,0.00,0.000,6,0.182,0.037,3583,1603,1460,0,0,0,0,0,0
$GC,12326,1.28,116.8,289.4,13.0,664,12330,0.00,2.22,0.00,0.000,4,0.000,0.054,3581,2996,1460,0,0,0,0,0,0
$GC,12367,1.28,116.8,283.8,13.9,666,12371,0.00,2.15,0.00,0.000,6,0.000,0.035,3589,1600,1460,0,0,0,0,0,0
$GC,12694,1.31,116.8,242.2,12.4,682,12698,0.00,2.25,0.00,0.000,4,0.000,0.054,3600,195,1460,0,0,0,0,0,0
$GC,12785,1.31,116.8,229.8,13.2,686,12789,0.00,2.20,0.00,0.000,6,0.000,0.036,3600,1609,1459,0,0,0,0,0,0
$GC,13112,1.31,116.8,185.0,14.0,702,13116,0.00,2.20,0.00,0.000,4,0.000,0.054,3600,3003,1459,0,0,0,0,0,0
$GC,13157,1.31,116.8,178.6,14.7,704,13161,0.00,2.17,0.00,0.000,6,0.000,0.035,3609,1591,1460,0,0,0,0,0,0
$GC,13484,1.31,116.8,134.4,13.0,720,13488,0.00,2.25,0.00,0.000,4,0.000,0.053,3620,195,1460,0,0,0,0,0,0
$GC,13551,1.28,116.8,125.5,14.5,723,13556,0.10,2.20,0.00,0.000,6,0.190,0.037,3596,1608,1460,0,0,0,0,0,0
$GC,13882,1.31,116.8,85.5,11.9,739,13886,0.00,2.30,0.00,0.000,4,0.000,0.051,3605,190,1460,0,0,0,0,0,0
$GC,13936,1.31,116.8,77.9,13.5,741,13942,0.00,2.20,0.00,0.000,6,0.000,0.034,3603,1596,1459,0,0,0,0,0,0
$GC,14290,1.31,116.8,34.9,11.4,802,14297,0.00,2.30,0.00,0.000,4,0.000,0.050,3612,195,1460,0,0,0,0,0,0
$GC,14379,1.31,116.8,23.3,13.2,816,14387,0.00,2.20,0.00,0.000,6,0.000,0.036,3607,1594,1460,0,0,0,0,0,0
$GC,14537,1.31,116.8,3.5,12.4,841,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1605,1459,0,0,0,0,0,0
$STATE,14552,end climb,SURFACE_DEPTH_REACHED
$STATE,14552,begin surface coast
$FINISH,2.0,1.011641
$STATE,14584,end surface coast,CONTROL_FINISHED_OK
$STATE,14585,begin surface
$SM_CCo,14604,39.53,0.055,0,0,1132,200.16
$SM_GC,3.72,0.00,0.00,39.53,0.000,0.000,0.055,61,2083,1132,-9.76,0.65,200.16
$IRIDIUM_FIX,-4444.39,621.76,210908,070702
$TT8_MAMPS,0.026964
$HUMID,65.23
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.8,64.723
$10V_AH,9.7,67.934
$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,25.025,117.725,232.050,39.525,0.000,23.193,40.791,251.532,0.000,0.000,20.639,1863.649,10227.291,353.431,2415.642,251.230,0.000,1254.735,0.000,2002.984,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,68.085,1253.070,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.741,1242.821,699.929,441.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,60511,848
$CAP_FILE_SIZE,129049,0
$CFSIZE,2097086464,2019262464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261115,021434,-4503.595,624.007,40,0.9,40,-24.4