version: 66.07.10.p01
glider: 573
mission: 12
dive: 578
start: 12 1 115 3 21 49
data:
$ID,573
$MISSION,12
$DIVE,578
$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,-22818.91
$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,43
$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,577
$GPS1,011215,031304,-4455.782,625.089,34,1.0,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-69.4
$GPS2,011215,032128,-4455.736,625.167,19,1.6,20,-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,276.7,1606,-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,26,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-18.95,0.000,2,0.000,0.000,61,2078,1500,0,0,0,0,0,0
$GC,50,-1.13,-109.9,3.0,-1.7,3,114,11.38,2.38,-41.40,0.000,4,0.228,0.067,2812,665,2400,0,0,0,0,0,0
$GC,205,-1.10,-109.9,17.6,-16.9,27,212,0.05,2.20,0.00,0.000,6,0.181,0.036,2819,2046,2401,0,0,0,0,0,0
$GC,264,-1.10,-109.9,27.1,-14.6,36,271,0.00,2.33,0.00,0.000,4,0.000,0.057,2809,3464,2402,0,0,0,0,0,0
$GC,305,-1.10,-109.9,33.5,-15.8,42,313,0.05,2.22,0.00,0.000,6,0.170,0.037,2825,2059,2402,0,0,0,0,0,0
$GC,459,-1.10,-109.9,55.8,-14.8,67,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2059,2402,0,0,0,0,0,0
$GC,805,-1.10,-109.9,108.5,-15.5,104,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2059,2402,0,0,0,0,0,0
$GC,1116,-1.10,-109.9,156.9,-15.5,119,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2059,2403,0,0,0,0,0,0
$GC,1424,-1.15,-109.9,203.9,-13.9,134,1428,0.00,2.25,0.00,0.000,4,0.000,0.054,2826,655,2403,0,0,0,0,0,0
$GC,1462,-1.15,-109.9,209.8,-15.2,135,1467,0.00,2.22,0.00,0.000,6,0.000,0.041,2817,2052,2403,0,0,0,0,0,0
$GC,1781,-1.18,-109.9,253.5,-13.6,151,1785,0.00,2.28,0.00,0.000,4,0.000,0.055,2806,3474,2403,0,0,0,0,0,0
$GC,1858,-1.18,-109.9,265.1,-13.8,154,1866,0.00,2.22,0.00,0.000,6,0.000,0.041,2806,2067,2403,0,0,0,0,0,0
$GC,2173,-1.18,-109.9,307.7,-13.9,170,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2067,2403,0,0,0,0,0,0
$GC,2484,-1.18,-109.9,350.6,-14.1,185,2488,0.00,2.25,0.00,0.000,4,0.000,0.050,2806,651,2403,0,0,0,0,0,0
$GC,2518,-1.18,-109.9,355.6,-14.4,186,2523,0.00,2.20,0.00,0.000,6,0.000,0.038,2797,2063,2403,0,0,0,0,0,0
$GC,2832,-1.18,-109.9,400.6,-14.3,202,2836,0.00,2.25,0.00,0.000,4,0.000,0.060,2786,3464,2403,0,0,0,0,0,0
$GC,2904,-1.18,-109.9,411.5,-14.8,205,2909,0.05,2.20,0.00,0.000,6,0.230,0.039,2797,2054,2403,0,0,0,0,0,0
$GC,3231,-1.18,-109.9,458.5,-14.4,221,3235,0.00,2.25,0.00,0.000,4,0.000,0.056,2797,661,2404,0,0,0,0,0,0
$GC,3286,-1.18,-109.9,467.1,-14.8,223,3291,0.00,2.22,0.00,0.000,6,0.000,0.039,2788,2066,2404,0,0,0,0,0,0
$GC,3603,-1.18,-109.9,513.3,-14.7,239,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2066,2404,0,0,0,0,0,0
$GC,3911,-1.18,-109.9,560.1,-15.2,254,3915,0.00,2.25,0.00,0.000,4,0.000,0.060,2778,3460,2403,0,0,0,0,0,0
$GC,3988,-1.18,-109.9,572.5,-15.4,257,3993,0.10,2.20,0.00,0.000,6,0.188,0.041,2802,2053,2403,0,0,0,0,0,0
$GC,4305,-1.22,-109.9,617.5,-14.1,273,4309,0.00,2.28,0.00,0.000,4,0.000,0.057,2802,651,2403,0,0,0,0,0,0
$GC,4354,-1.22,-109.9,625.0,-14.8,275,4358,0.00,2.22,0.00,0.000,6,0.000,0.042,2793,2058,2403,0,0,0,0,0,0
$GC,4676,-1.22,-109.9,669.4,-13.6,291,4680,0.00,2.28,0.00,0.000,4,0.000,0.062,2783,3460,2403,0,0,0,0,0,0
$GC,4708,-1.22,-109.9,674.3,-14.5,292,4714,0.00,2.22,0.00,0.000,6,0.000,0.041,2783,2034,2403,0,0,0,0,0,0
$GC,5023,-1.22,-109.9,717.0,-13.4,308,5027,0.00,2.35,0.00,0.000,4,0.000,0.061,2774,3463,2403,0,0,0,0,0,0
$GC,5061,-1.22,-109.9,722.5,-14.8,310,5066,0.08,2.20,0.00,0.000,6,0.207,0.042,2790,2063,2402,0,0,0,0,0,0
$GC,5387,-1.22,-109.9,765.4,-13.2,326,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2402,0,0,0,0,0,0
$GC,5697,-1.22,-109.9,805.4,-12.7,341,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2402,0,0,0,0,0,0
$GC,6006,-1.25,-109.9,844.9,-12.8,356,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2401,0,0,0,0,0,0
$GC,6316,-1.25,-109.9,881.9,-11.9,371,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2401,0,0,0,0,0,0
$GC,6624,-1.28,-109.9,919.2,-11.9,386,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2062,2401,0,0,0,0,0,0
$GC,6935,-1.32,-109.9,957.0,-12.2,401,6940,0.10,2.28,0.00,0.000,4,0.101,0.055,2738,656,2400,0,0,0,0,0,0
$GC,7065,-1.22,-109.9,975.7,-14.9,406,7070,0.22,2.22,0.00,0.000,6,0.175,0.042,2787,2062,2400,0,0,0,0,0,0
$STATE,7253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7253,begin apogee
$GC,7260,-0.19,0.0,1000.6,12.8,416,7370,1.10,0.00,106.70,1.248,6,0.147,0.000,3113,1595,1950,0,0,0,0,0,0
$STATE,7371,end apogee,CONTROL_FINISHED_OK
$STATE,7371,begin climb
$GC,7373,1.13,109.9,1004.4,0.0,421,7497,1.27,2.55,112.55,1.210,4,0.082,0.055,3549,199,1501,0,0,0,0,0,0
$GC,7554,1.19,109.9,988.7,13.1,429,7559,0.00,2.38,0.00,0.000,6,0.000,0.036,3549,1606,1497,0,0,0,0,0,0
$GC,7869,1.27,109.9,949.2,12.4,444,7874,0.12,2.38,0.00,0.000,4,0.087,0.054,3616,193,1494,0,0,0,0,0,0
$GC,7896,1.23,109.9,945.2,14.8,445,7901,0.15,2.22,0.00,0.000,6,0.167,0.035,3578,1604,1493,0,0,0,0,0,0
$GC,8211,1.23,109.9,902.0,13.9,460,8215,0.00,2.33,0.00,0.000,4,0.000,0.054,3587,190,1492,0,0,0,0,0,0
$GC,8265,1.23,109.9,893.9,15.2,462,8271,0.00,2.25,0.00,0.000,6,0.000,0.035,3587,1604,1492,0,0,0,0,0,0
$GC,8580,1.23,109.9,849.4,14.2,478,8584,0.00,2.22,0.00,0.000,4,0.000,0.054,3587,2992,1491,0,0,0,0,0,0
$GC,8624,1.23,109.9,843.0,14.3,480,8629,0.08,2.17,0.00,0.000,6,0.209,0.037,3579,1588,1491,0,0,0,0,0,0
$GC,8950,1.23,109.9,800.8,12.7,496,8954,0.00,2.25,0.00,0.000,4,0.000,0.055,3590,203,1491,0,0,0,0,0,0
$GC,9050,1.23,109.9,787.4,14.2,500,9055,0.00,2.20,0.00,0.000,6,0.000,0.037,3590,1589,1490,0,0,0,0,0,0
$GC,9365,1.23,109.9,744.4,14.1,516,9369,0.00,2.22,0.00,0.000,4,0.000,0.055,3590,2992,1490,0,0,0,0,0,0
$GC,9392,1.23,109.9,740.6,14.3,517,9397,0.08,2.15,0.00,0.000,6,0.209,0.036,3582,1597,1490,0,0,0,0,0,0
$GC,9707,1.23,109.9,697.3,13.4,532,9711,0.00,2.28,0.00,0.000,4,0.000,0.055,3593,196,1489,0,0,0,0,0,0
$GC,9791,1.23,109.9,685.3,14.6,536,9795,0.03,2.20,0.00,0.000,6,0.268,0.037,3583,1605,1488,0,0,0,0,0,0
$GC,10116,1.23,109.9,643.7,12.4,552,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1605,1489,0,0,0,0,0,0
$GC,10427,1.26,109.9,605.5,12.3,567,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1605,1489,0,0,0,0,0,0
$GC,10735,1.26,109.9,567.6,12.3,582,10739,0.00,2.28,0.00,0.000,4,0.000,0.052,3592,202,1489,0,0,0,0,0,0
$GC,10767,1.26,109.9,563.1,13.7,583,10772,0.00,2.17,0.00,0.000,6,0.000,0.036,3592,1602,1488,0,0,0,0,0,0
$GC,11084,1.26,109.9,522.1,13.1,599,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1601,1488,0,0,0,0,0,0
$GC,11392,1.26,109.9,481.0,13.3,614,11396,0.00,2.28,0.00,0.000,4,0.000,0.052,3601,201,1488,0,0,0,0,0,0
$GC,11435,1.26,109.9,474.7,14.2,616,11439,0.00,2.20,0.00,0.000,6,0.000,0.036,3601,1610,1488,0,0,0,0,0,0
$GC,11762,1.26,109.9,429.1,13.9,632,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1611,1488,0,0,0,0,0,0
$GC,12072,1.26,109.9,388.4,12.9,647,12076,0.00,2.30,0.00,0.000,4,0.000,0.053,3610,200,1488,0,0,0,0,0,0
$GC,12179,1.22,109.9,373.5,13.6,652,12184,0.12,2.20,0.00,0.000,6,0.172,0.037,3578,1604,1488,0,0,0,0,0,0
$GC,12506,1.27,109.9,334.2,11.8,668,12510,0.00,2.30,0.00,0.000,4,0.000,0.053,3587,193,1488,0,0,0,0,0,0
$GC,12555,1.27,109.9,327.8,11.9,670,12559,0.00,2.20,0.00,0.000,6,0.000,0.035,3587,1609,1488,0,0,0,0,0,0
$GC,12877,1.31,109.9,289.1,12.4,686,12881,0.00,2.30,0.00,0.000,4,0.000,0.052,3596,199,1488,0,0,0,0,0,0
$GC,12918,1.31,109.9,283.8,13.9,688,12922,0.00,2.20,0.00,0.000,6,0.000,0.037,3596,1609,1488,0,0,0,0,0,0
$GC,13245,1.31,109.9,240.3,13.5,704,13249,0.00,2.28,0.00,0.000,4,0.000,0.052,3606,203,1487,0,0,0,0,0,0
$GC,13291,1.31,109.9,233.6,14.3,706,13295,0.00,2.17,0.00,0.000,6,0.000,0.037,3605,1599,1488,0,0,0,0,0,0
$GC,13618,1.31,109.9,189.2,13.4,722,13622,0.00,2.28,0.00,0.000,4,0.000,0.052,3614,202,1488,0,0,0,0,0,0
$GC,13667,1.27,109.9,182.5,14.0,724,13672,0.08,2.17,0.00,0.000,6,0.200,0.037,3598,1598,1487,0,0,0,0,0,0
$GC,13985,1.27,109.9,144.8,11.0,739,13989,0.00,2.22,0.00,0.000,4,0.000,0.054,3598,2990,1488,0,0,0,0,0,0
$GC,14075,1.27,109.9,134.0,11.6,743,14079,0.00,2.15,0.00,0.000,6,0.000,0.036,3606,1599,1487,0,0,0,0,0,0
$GC,14405,1.27,109.9,94.4,12.2,759,14409,0.00,2.25,0.00,0.000,4,0.000,0.054,3617,202,1488,0,0,0,0,0,0
$GC,14468,1.24,109.9,86.0,13.1,762,14473,0.12,2.17,0.00,0.000,6,0.181,0.035,3584,1605,1487,0,0,0,0,0,0
$GC,14815,1.30,109.9,45.3,12.2,815,14820,0.00,2.28,0.00,0.000,4,0.000,0.051,3593,202,1487,0,0,0,0,0,0
$GC,14961,1.30,109.9,27.3,12.6,839,14968,0.00,2.20,0.00,0.000,6,0.000,0.035,3594,1611,1487,0,0,0,0,0,0
$GC,15121,1.34,109.9,8.0,12.4,864,15128,0.05,0.00,0.00,0.000,6,0.169,0.000,3626,1612,1487,0,0,0,0,0,0
$STATE,15154,end climb,SURFACE_DEPTH_REACHED
$STATE,15154,begin surface coast
$FINISH,2.0,1.011988
$STATE,15180,end surface coast,CONTROL_FINISHED_OK
$STATE,15180,begin surface
$SM_CCo,15199,42.90,0.055,0,0,1133,200.16
$SM_GC,3.72,0.00,0.00,42.90,0.000,0.000,0.055,61,2069,1133,-9.76,0.28,200.16
$IRIDIUM_FIX,-4441.36,621.08,260908,111100
$TT8_MAMPS,0.026964
$HUMID,65.43
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.8,67.167
$10V_AH,9.7,70.522
$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,24.525,131.775,219.250,42.900,0.000,28.376,26.236,284.686,0.000,0.000,21.683,1918.646,10687.781,365.532,2494.388,275.166,0.000,1305.322,0.000,2059.364,0.000,0.540,0.000
$DEVICE_MAMPS,267.750,66.555,1248.480,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.896,1261.131,700.004,414.950,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,63695,873
$CAP_FILE_SIZE,136952,0
$CFSIZE,2097086464,2016346112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011215,073703,-4455.795,623.255,34,1.0,34,-24.4