version: 66.07.10.p01
glider: 573
mission: 12
dive: 606
start: 12 7 115 7 18 18
data:
$ID,573
$MISSION,12
$DIVE,606
$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,-22916.561
$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,38
$R_STBD_OVSHOOT,56
$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,605
$GPS1,071215,070957,-4459.701,635.330,37,1.0,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-69.0
$GPS2,071215,071758,-4459.705,635.356,14,1.7,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,RECOVER
$TGT_LATLONG,-4500.100,633.690
$TGT_RADIUS,500.000
$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,275.9,2301,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,35,0.00,0.00,-6.22,0.000,2,0.000,0.000,61,2078,1252,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.1,-0.0,1,126,10.95,2.30,-65.97,0.000,4,0.213,0.070,2807,3450,2427,0,0,0,0,0,0
$GC,240,-1.13,-116.8,16.1,-17.8,33,247,0.00,2.22,0.00,0.000,6,0.000,0.044,2807,2070,2428,0,0,0,0,0,0
$GC,299,-1.13,-116.8,26.2,-16.7,42,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2070,2428,0,0,0,0,0,0
$GC,451,-1.13,-116.8,52.3,-18.0,67,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2070,2428,0,0,0,0,0,0
$GC,794,-1.13,-116.8,112.1,-17.4,103,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2070,2428,0,0,0,0,0,0
$GC,1100,-1.13,-116.8,165.5,-17.8,118,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2070,2429,0,0,0,0,0,0
$GC,1411,-1.13,-116.8,215.6,-16.0,133,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2070,2429,0,0,0,0,0,0
$GC,1718,-1.13,-116.8,264.9,-16.0,148,1722,0.00,2.22,0.00,0.000,4,0.000,0.057,2798,3445,2429,0,0,0,0,0,0
$GC,1768,-1.13,-116.8,273.4,-16.4,150,1773,0.05,2.20,0.00,0.000,6,0.176,0.041,2814,2057,2429,0,0,0,0,0,0
$GC,2089,-1.17,-116.8,322.2,-14.8,166,2093,0.00,2.25,0.00,0.000,4,0.000,0.057,2814,658,2429,0,0,0,0,0,0
$GC,2149,-1.17,-116.8,331.6,-16.0,168,2155,0.00,2.20,0.00,0.000,6,0.000,0.043,2806,2035,2429,0,0,0,0,0,0
$GC,2465,-1.17,-116.8,378.9,-15.3,184,2469,0.00,2.33,0.00,0.000,4,0.000,0.063,2794,3464,2429,0,0,0,0,0,0
$GC,2503,-1.17,-116.8,385.0,-16.5,186,2507,0.00,2.20,0.00,0.000,6,0.000,0.041,2795,2060,2429,0,0,0,0,0,0
$GC,2829,-1.17,-116.8,433.8,-15.2,202,2833,0.00,2.28,0.00,0.000,4,0.000,0.056,2795,652,2429,0,0,0,0,0,0
$GC,2873,-1.17,-116.8,440.8,-15.7,204,2878,0.08,2.25,0.00,0.000,6,0.216,0.044,2801,2071,2429,0,0,0,0,0,0
$GC,3199,-1.17,-116.8,488.4,-14.8,220,3203,0.00,2.25,0.00,0.000,4,0.000,0.060,2791,3462,2429,0,0,0,0,0,0
$GC,3254,-1.17,-116.8,496.4,-14.4,222,3260,0.05,2.20,0.00,0.000,6,0.230,0.041,2801,2048,2429,0,0,0,0,0,0
$GC,3569,-1.20,-116.8,540.1,-13.3,238,3573,0.00,2.22,0.00,0.000,4,0.000,0.053,2801,654,2429,0,0,0,0,0,0
$GC,3612,-1.20,-116.8,546.2,-14.4,240,3617,0.00,2.20,0.00,0.000,6,0.000,0.040,2793,2062,2429,0,0,0,0,0,0
$GC,3939,-1.20,-116.8,590.1,-13.6,256,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2062,2429,0,0,0,0,0,0
$GC,4249,-1.20,-116.8,631.9,-13.7,271,4253,0.00,2.28,0.00,0.000,4,0.000,0.064,2782,3458,2429,0,0,0,0,0,0
$GC,4316,-1.20,-116.8,641.5,-14.1,274,4320,0.00,2.20,0.00,0.000,6,0.000,0.042,2783,2056,2429,0,0,0,0,0,0
$GC,4642,-1.20,-116.8,687.7,-14.2,290,4646,0.00,2.28,0.00,0.000,4,0.000,0.057,2782,652,2429,0,0,0,0,0,0
$GC,4681,-1.20,-116.8,693.6,-15.9,292,4686,0.08,2.22,0.00,0.000,6,0.216,0.044,2789,2055,2429,0,0,0,0,0,0
$GC,5007,-1.20,-116.8,738.5,-13.9,308,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2055,2428,0,0,0,0,0,0
$GC,5317,-1.20,-116.8,780.5,-13.6,323,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2055,2428,0,0,0,0,0,0
$GC,5626,-1.23,-116.8,822.5,-13.5,338,5630,0.00,2.28,0.00,0.000,4,0.000,0.060,2779,3465,2428,0,0,0,0,0,0
$GC,5710,-1.23,-116.8,834.1,-13.7,342,5714,0.00,2.20,0.00,0.000,6,0.000,0.042,2779,2062,2428,0,0,0,0,0,0
$GC,6035,-1.23,-116.8,880.8,-14.9,358,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2062,2428,0,0,0,0,0,0
$GC,6346,-1.23,-116.8,927.0,-14.7,373,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2060,2427,0,0,0,0,0,0
$GC,6654,-1.23,-116.8,973.1,-14.9,388,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2060,2426,0,0,0,0,0,0
$STATE,6838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6838,begin apogee
$GC,6845,-0.19,0.0,1000.2,14.9,397,6961,1.15,0.00,112.35,1.244,6,0.154,0.000,3114,1592,1950,0,0,0,0,0,0
$STATE,6962,end apogee,CONTROL_FINISHED_OK
$STATE,6962,begin climb
$GC,6965,1.13,116.8,1006.0,0.0,403,7089,1.33,0.00,120.50,1.208,6,0.083,0.000,3549,1592,1473,0,0,0,0,0,0
$GC,7391,1.22,116.8,961.5,12.2,424,7396,0.08,2.35,0.00,0.000,4,0.119,0.056,3603,195,1466,0,0,0,0,0,0
$GC,7469,1.17,116.8,949.7,15.4,427,7474,0.15,2.28,0.00,0.000,6,0.165,0.037,3565,1611,1465,0,0,0,0,0,0
$GC,7785,1.23,116.8,909.1,12.3,443,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1611,1465,0,0,0,0,0,0
$GC,8093,1.29,116.8,871.3,12.2,458,8095,0.10,0.00,0.00,0.000,6,0.100,0.000,3613,1611,1464,0,0,0,0,0,0
$GC,8403,1.29,116.8,826.7,14.6,473,8408,0.05,2.30,0.00,0.000,4,0.221,0.053,3612,190,1463,0,0,0,0,0,0
$GC,8464,1.23,116.8,817.3,15.6,475,8469,0.12,2.22,0.00,0.000,6,0.176,0.036,3580,1614,1463,0,0,0,0,0,0
$GC,8781,1.26,116.8,773.9,13.2,491,8785,0.00,2.33,0.00,0.000,4,0.000,0.052,3589,188,1463,0,0,0,0,0,0
$GC,8824,1.26,116.8,767.4,14.7,493,8828,0.00,2.22,0.00,0.000,6,0.000,0.037,3589,1609,1462,0,0,0,0,0,0
$GC,9152,1.26,116.8,720.8,14.6,509,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1609,1462,0,0,0,0,0,0
$GC,9460,1.26,116.8,676.0,14.5,524,9464,0.00,2.30,0.00,0.000,4,0.000,0.052,3598,196,1462,0,0,0,0,0,0
$GC,9515,1.26,116.8,667.5,15.4,526,9520,0.00,2.20,0.00,0.000,6,0.000,0.037,3598,1614,1462,0,0,0,0,0,0
$GC,9830,1.26,116.8,622.2,13.7,542,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1615,1462,0,0,0,0,0,0
$GC,10140,1.26,116.8,577.8,14.2,557,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1615,1461,0,0,0,0,0,0
$GC,10448,1.26,116.8,533.4,14.0,572,10452,0.00,2.30,0.00,0.000,4,0.000,0.052,3607,198,1462,0,0,0,0,0,0
$GC,10543,1.26,116.8,519.2,14.9,576,10548,0.08,2.20,0.00,0.000,6,0.198,0.037,3590,1604,1461,0,0,0,0,0,0
$GC,10863,1.26,116.8,474.2,14.1,592,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1605,1461,0,0,0,0,0,0
$GC,11175,1.29,116.8,433.8,12.3,607,11179,0.00,2.30,0.00,0.000,4,0.000,0.052,3599,192,1461,0,0,0,0,0,0
$GC,11275,1.29,116.8,420.2,13.5,611,11279,0.00,2.20,0.00,0.000,6,0.000,0.036,3599,1602,1461,0,0,0,0,0,0
$GC,11591,1.29,116.8,378.5,13.4,627,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1601,1461,0,0,0,0,0,0
$GC,11899,1.29,116.8,338.8,13.0,642,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1602,1461,0,0,0,0,0,0
$GC,12210,1.29,116.8,298.1,13.3,657,12214,0.00,2.28,0.00,0.000,4,0.000,0.052,3609,198,1460,0,0,0,0,0,0
$GC,12242,1.29,116.8,293.4,13.7,658,12250,0.00,2.22,0.00,0.000,6,0.000,0.037,3608,1604,1460,0,0,0,0,0,0
$GC,12559,1.29,116.8,252.0,13.0,674,12563,0.00,2.30,0.00,0.000,4,0.000,0.051,3617,192,1460,0,0,0,0,0,0
$GC,12820,1.25,116.8,219.8,12.9,685,12826,0.12,2.20,0.00,0.000,6,0.173,0.035,3586,1611,1460,0,0,0,0,0,0
$GC,13138,1.31,116.8,184.3,11.4,701,13142,0.00,2.30,0.00,0.000,4,0.000,0.051,3595,195,1460,0,0,0,0,0,0
$GC,13397,1.31,116.8,155.5,9.7,712,13405,0.00,2.20,0.00,0.000,6,0.000,0.036,3594,1591,1460,0,0,0,0,0,0
$GC,13714,1.36,116.8,125.0,10.2,728,13719,0.08,2.22,0.00,0.000,4,0.126,0.055,3632,2993,1460,0,0,0,0,0,0
$GC,13905,1.32,116.8,101.6,12.5,736,13910,0.12,2.15,0.00,0.000,6,0.186,0.035,3610,1590,1460,0,0,0,0,0,0
$GC,14237,1.32,116.8,60.8,13.1,769,14242,0.00,2.22,0.00,0.000,4,0.000,0.052,3621,205,1460,0,0,0,0,0,0
$GC,14510,1.32,116.8,24.8,12.7,815,14518,0.00,2.20,0.00,0.000,6,0.000,0.036,3620,1610,1460,0,0,0,0,0,0
$GC,14670,1.32,116.8,4.8,13.5,840,14677,0.00,2.30,0.00,0.000,4,0.000,0.051,3629,205,1459,0,0,0,0,0,0
$STATE,14684,end climb,SURFACE_DEPTH_REACHED
$STATE,14684,begin surface coast
$FINISH,2.0,1.023298
$STATE,14710,end surface coast,CONTROL_FINISHED_OK
$STATE,14710,begin surface
$SM_CCo,14732,39.62,0.054,0,0,1133,200.16
$SM_GC,3.10,0.00,0.00,39.62,0.000,0.000,0.054,63,2059,1133,-9.76,-0.03,200.16
$IRIDIUM_FIX,-4441.36,636.90,021008,161628
$TT8_MAMPS,0.027713
$HUMID,65.90
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.30
$XPDR_PINGS,1
$24V_AH,21.7,70.115
$10V_AH,9.7,73.647
$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,23.850,100.250,232.850,39.625,0.000,28.048,24.952,273.041,0.250,0.000,17.563,1832.452,10354.570,382.917,2420.051,261.115,0.000,1264.261,0.000,2008.387,0.000,0.540,0.000
$DEVICE_MAMPS,229.500,70.380,1243.890,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.108,1247.640,703.527,433.358,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,60656,846
$CAP_FILE_SIZE,123063,0
$CFSIZE,2097086464,2012708864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071215,112533,-4500.090,633.836,25,0.9,25,-24.4