version: 66.07.10.p01
glider: 573
mission: 12
dive: 602
start: 12 6 115 9 21 50
data:
$ID,573
$MISSION,12
$DIVE,602
$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,-22903.303
$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,37
$R_STBD_OVSHOOT,45
$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,601
$GPS1,061215,091233,-4503.491,625.649,40,0.8,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-72.3
$GPS2,061215,092129,-4503.461,625.702,17,0.9,17,-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,270.2,2439,-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,26,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-19.12,0.000,2,0.000,0.000,60,2082,1505,0,0,0,0,0,0
$GC,50,-1.12,-95.0,3.2,-3.4,3,114,11.32,2.33,-42.15,0.000,4,0.229,0.076,2805,3453,2339,0,0,0,0,0,0
$GC,338,-1.12,-95.0,36.6,-17.5,49,345,0.03,2.22,0.00,0.000,6,0.191,0.043,2813,2065,2341,0,0,0,0,0,0
$GC,487,-1.12,-95.0,58.5,-14.3,74,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2065,2342,0,0,0,0,0,0
$GC,826,-1.12,-95.0,107.6,-14.8,109,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2065,2342,0,0,0,0,0,0
$GC,1131,-1.12,-95.0,155.9,-16.6,124,1135,0.00,2.25,0.00,0.000,4,0.000,0.053,2813,651,2343,0,0,0,0,0,0
$GC,1187,-1.12,-95.0,165.4,-16.2,126,1191,0.08,2.20,0.00,0.000,6,0.216,0.041,2821,2050,2343,0,0,0,0,0,0
$GC,1508,-1.15,-95.0,208.2,-12.9,142,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2050,2343,0,0,0,0,0,0
$GC,1820,-1.19,-95.0,248.5,-12.7,157,1822,0.05,0.00,0.00,0.000,6,0.165,0.000,2788,2050,2343,0,0,0,0,0,0
$GC,2127,-1.19,-95.0,293.3,-14.5,172,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2051,2343,0,0,0,0,0,0
$GC,2436,-1.19,-95.0,336.8,-13.5,187,2440,0.00,2.25,0.00,0.000,4,0.000,0.057,2777,3464,2343,0,0,0,0,0,0
$GC,2474,-1.15,-95.0,342.5,-14.0,188,2480,0.12,2.17,0.00,0.000,6,0.182,0.039,2809,2049,2343,0,0,0,0,0,0
$GC,2789,-1.15,-95.0,384.8,-13.4,204,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2049,2343,0,0,0,0,0,0
$GC,3100,-1.15,-95.0,425.9,-13.3,219,3104,0.00,2.20,0.00,0.000,4,0.000,0.052,2810,660,2344,0,0,0,0,0,0
$GC,3149,-1.15,-95.0,433.4,-14.3,221,3153,0.00,2.20,0.00,0.000,6,0.000,0.040,2802,2063,2343,0,0,0,0,0,0
$GC,3471,-1.15,-95.0,477.8,-13.9,237,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2063,2343,0,0,0,0,0,0
$GC,3779,-1.15,-95.0,520.0,-13.4,252,3783,0.00,2.28,0.00,0.000,4,0.000,0.054,2802,663,2343,0,0,0,0,0,0
$GC,3845,-1.15,-95.0,529.2,-13.5,255,3850,0.08,2.20,0.00,0.000,6,0.210,0.040,2809,2065,2343,0,0,0,0,0,0
$GC,4174,-1.19,-95.0,570.8,-12.8,271,4179,0.00,2.28,0.00,0.000,4,0.000,0.066,2799,3459,2343,0,0,0,0,0,0
$GC,4260,-1.19,-95.0,582.5,-13.2,275,4264,0.00,2.20,0.00,0.000,6,0.000,0.041,2800,2053,2343,0,0,0,0,0,0
$GC,4587,-1.19,-95.0,624.8,-12.8,291,4591,0.00,2.25,0.00,0.000,4,0.000,0.055,2799,655,2342,0,0,0,0,0,0
$GC,4698,-1.19,-95.0,640.1,-13.6,296,4702,0.00,2.22,0.00,0.000,6,0.000,0.044,2791,2056,2342,0,0,0,0,0,0
$GC,5024,-1.19,-95.0,682.6,-12.7,312,5028,0.00,2.30,0.00,0.000,4,0.000,0.062,2780,3471,2342,0,0,0,0,0,0
$GC,5113,-1.19,-95.0,694.6,-13.0,316,5118,0.08,2.22,0.00,0.000,6,0.200,0.044,2796,2056,2342,0,0,0,0,0,0
$GC,5439,-1.19,-95.0,736.0,-12.8,332,5443,0.00,2.25,0.00,0.000,4,0.000,0.056,2796,659,2342,0,0,0,0,0,0
$GC,5488,-1.19,-95.0,742.7,-13.3,334,5492,0.00,2.22,0.00,0.000,6,0.000,0.044,2788,2065,2341,0,0,0,0,0,0
$GC,5808,-1.19,-95.0,783.4,-12.5,350,5813,0.00,2.30,0.00,0.000,4,0.000,0.056,2788,658,2341,0,0,0,0,0,0
$GC,5897,-1.19,-95.0,794.9,-13.1,354,5902,0.10,2.22,0.00,0.000,6,0.198,0.043,2802,2060,2341,0,0,0,0,0,0
$GC,6224,-1.23,-95.0,832.0,-11.2,370,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2063,2340,0,0,0,0,0,0
$GC,6534,-1.27,-95.0,864.6,-10.3,385,6536,0.08,0.00,0.00,0.000,6,0.121,0.000,2759,2063,2340,0,0,0,0,0,0
$GC,6842,-1.24,-95.0,898.7,-11.4,400,6844,0.10,0.00,0.00,0.000,6,0.198,0.000,2782,2063,2340,0,0,0,0,0,0
$GC,7154,-1.24,-95.0,931.5,-10.6,415,7158,0.00,2.33,0.00,0.000,4,0.000,0.067,2772,3470,2340,0,0,0,0,0,0
$GC,7226,-1.24,-95.0,939.8,-10.8,418,7230,0.00,2.25,0.00,0.000,6,0.000,0.046,2772,2052,2339,0,0,0,0,0,0
$GC,7546,-1.24,-95.0,977.0,-12.4,434,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2052,2339,0,0,0,0,0,0
$STATE,7750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7750,begin apogee
$GC,7757,-0.19,0.0,1002.3,11.9,444,7854,1.20,0.00,92.75,1.243,6,0.156,0.000,3119,1597,1950,0,0,0,0,0,0
$STATE,7854,end apogee,CONTROL_FINISHED_OK
$STATE,7854,begin climb
$GC,7857,1.12,95.0,1004.8,0.0,449,7964,1.25,2.55,96.43,1.208,4,0.082,0.054,3551,206,1561,0,0,0,0,0,0
$GC,7997,1.16,95.0,992.6,13.4,455,8001,0.00,2.40,0.00,0.000,6,0.000,0.035,3550,1616,1558,0,0,0,0,0,0
$GC,8314,1.22,95.0,950.8,13.8,471,8318,0.08,2.28,0.00,0.000,4,0.122,0.057,3592,2998,1554,0,0,0,0,0,0
$GC,8363,1.19,95.0,942.9,14.8,473,8368,0.12,2.20,0.00,0.000,6,0.181,0.035,3571,1597,1553,0,0,0,0,0,0
$GC,8678,1.22,95.0,897.7,14.1,488,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1597,1552,0,0,0,0,0,0
$GC,8989,1.22,95.0,855.2,13.6,503,8993,0.00,2.25,0.00,0.000,4,0.000,0.055,3581,200,1552,0,0,0,0,0,0
$GC,9101,1.22,95.0,838.7,14.4,508,9105,0.00,2.20,0.00,0.000,6,0.000,0.038,3580,1602,1550,0,0,0,0,0,0
$GC,9427,1.22,95.0,793.5,13.4,524,9431,0.00,2.28,0.00,0.000,4,0.000,0.052,3590,199,1550,0,0,0,0,0,0
$GC,9482,1.22,95.0,785.2,14.8,526,9487,0.00,2.20,0.00,0.000,6,0.000,0.037,3590,1608,1550,0,0,0,0,0,0
$GC,9797,1.22,95.0,743.8,12.7,542,9801,0.00,2.30,0.00,0.000,4,0.000,0.052,3599,195,1550,0,0,0,0,0,0
$GC,9829,1.17,95.0,739.4,13.3,543,9834,0.12,2.20,0.00,0.000,6,0.174,0.037,3566,1602,1549,0,0,0,0,0,0
$GC,10146,1.22,95.0,702.6,11.5,559,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1602,1549,0,0,0,0,0,0
$GC,10454,1.27,95.0,667.3,11.5,574,10456,0.08,0.00,0.00,0.000,6,0.125,0.000,3611,1602,1549,0,0,0,0,0,0
$GC,10765,1.24,95.0,627.5,12.7,589,10766,0.10,0.00,0.00,0.000,6,0.183,0.000,3587,1604,1548,0,0,0,0,0,0
$GC,11072,1.24,95.0,590.2,12.4,604,11076,0.00,2.30,0.00,0.000,4,0.000,0.054,3597,192,1549,0,0,0,0,0,0
$GC,11166,1.24,95.0,578.0,12.8,608,11171,0.03,2.20,0.00,0.000,6,0.271,0.037,3587,1601,1548,0,0,0,0,0,0
$GC,11487,1.24,95.0,541.3,11.5,624,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1601,1548,0,0,0,0,0,0
$GC,11797,1.24,95.0,504.2,11.9,639,11801,0.00,2.28,0.00,0.000,4,0.000,0.052,3596,192,1548,0,0,0,0,0,0
$GC,11903,1.24,95.0,490.1,12.3,643,11908,0.00,2.20,0.00,0.000,6,0.000,0.037,3596,1602,1548,0,0,0,0,0,0
$GC,12220,1.24,95.0,450.9,12.6,659,12224,0.00,2.28,0.00,0.000,4,0.000,0.052,3605,193,1548,0,0,0,0,0,0
$GC,12275,1.20,95.0,443.4,13.4,661,12280,0.12,2.20,0.00,0.000,6,0.177,0.037,3573,1601,1548,0,0,0,0,0,0
$GC,12590,1.24,95.0,407.2,11.3,676,12594,0.00,2.28,0.00,0.000,4,0.000,0.053,3582,200,1548,0,0,0,0,0,0
$GC,12635,1.24,95.0,401.7,12.2,678,12639,0.00,2.20,0.00,0.000,6,0.000,0.037,3582,1610,1548,0,0,0,0,0,0
$GC,12966,1.24,95.0,363.6,11.4,694,12970,0.00,2.30,0.00,0.000,4,0.000,0.051,3591,192,1548,0,0,0,0,0,0
$GC,13010,1.24,95.0,358.5,11.7,696,13014,0.00,2.20,0.00,0.000,6,0.000,0.036,3590,1610,1548,0,0,0,0,0,0
$GC,13341,1.24,95.0,319.5,12.3,712,13345,0.00,2.30,0.00,0.000,4,0.000,0.052,3601,196,1548,0,0,0,0,0,0
$GC,13396,1.21,95.0,312.4,13.4,714,13401,0.10,2.20,0.00,0.000,6,0.186,0.037,3577,1603,1548,0,0,0,0,0,0
$GC,13716,1.26,95.0,277.3,10.6,729,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1603,1548,0,0,0,0,0,0
$GC,14022,1.31,95.0,244.6,10.6,744,14026,0.10,2.22,0.00,0.000,4,0.099,0.056,3622,2992,1548,0,0,0,0,0,0
$GC,14049,1.28,95.0,241.3,11.6,745,14053,0.12,2.15,0.00,0.000,6,0.190,0.036,3600,1592,1548,0,0,0,0,0,0
$GC,14372,1.28,95.0,205.7,11.3,761,14376,0.00,2.25,0.00,0.000,4,0.000,0.054,3611,199,1548,0,0,0,0,0,0
$GC,14416,1.23,95.0,200.5,11.1,763,14421,0.10,2.17,0.00,0.000,6,0.185,0.037,3586,1606,1548,0,0,0,0,0,0
$GC,14747,1.28,95.0,167.9,9.9,779,14751,0.00,2.28,0.00,0.000,4,0.000,0.050,3595,192,1548,0,0,0,0,0,0
$GC,14901,1.28,95.0,151.5,10.7,786,14905,0.00,2.17,0.00,0.000,6,0.000,0.034,3594,1601,1548,0,0,0,0,0,0
$GC,15228,1.31,95.0,118.7,10.1,802,15232,0.00,2.22,0.00,0.000,4,0.000,0.056,3594,2992,1548,0,0,0,0,0,0
$GC,15260,1.31,95.0,115.0,10.5,803,15264,0.00,2.15,0.00,0.000,6,0.000,0.034,3603,1593,1548,0,0,0,0,0,0
$GC,15584,1.31,95.0,80.2,11.2,819,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1592,1548,0,0,0,0,0,0
$GC,15922,1.31,95.0,44.4,9.3,876,15930,0.00,2.28,0.00,0.000,4,0.000,0.053,3614,196,1548,0,0,0,0,0,0
$GC,16084,1.28,95.0,26.7,10.8,902,16092,0.05,2.20,0.00,0.000,6,0.156,0.037,3597,1599,1548,0,0,0,0,0,0
$GC,16245,1.28,95.0,9.7,11.2,927,16252,0.00,2.25,0.00,0.000,4,0.000,0.054,3597,2990,1548,0,0,0,0,0,0
$STATE,16308,end climb,SURFACE_DEPTH_REACHED
$STATE,16308,begin surface coast
$FINISH,1.7,1.013204
$STATE,16328,end surface coast,CONTROL_FINISHED_OK
$STATE,16328,begin surface
$SM_CCo,16348,50.25,0.055,0,0,1133,200.16
$SM_GC,3.58,0.00,0.00,50.25,0.000,0.000,0.055,83,2045,1133,-9.69,-0.40,200.16
$IRIDIUM_FIX,-4447.43,625.13,011008,161652
$TT8_MAMPS,0.026964
$HUMID,65.19
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.9,69.673
$10V_AH,9.7,73.195
$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,24.975,125.650,189.175,50.250,0.000,24.854,18.743,317.374,0.000,0.000,20.171,2075.267,11539.850,331.738,2689.034,288.884,0.000,1313.462,0.000,2227.512,0.000,0.539,0.000
$DEVICE_MAMPS,270.810,75.735,1243.125,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.820,1373.237,772.992,454.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,70482,940
$CAP_FILE_SIZE,142451,0
$CFSIZE,2097086464,2013167616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061215,135628,-4503.944,623.993,41,1.0,41,-24.4