version: 66.07.10.p01
glider: 573
mission: 12
dive: 44
start: 8 5 115 7 2 1
data:
$ID,573
$MISSION,12
$DIVE,44
$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,335
$T_MISSION,350
$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,150
$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,-21119.596
$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,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,37
$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,0.0012000001
$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,43
$GPS1,050815,065433,-4500.153,630.794,41,0.9,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.8
$GPS2,050815,070140,-4500.150,630.824,21,0.9,21,-24.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$TGT_RADIUS,800.000
$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,308.8,1115,-27.8,-9.950
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,58,0.00,0.00,-32.42,0.000,2,0.000,0.000,79,2057,1796,0,0,0,0,0,0
$GC,60,-1.42,-126.0,3.1,-3.2,5,105,10.73,2.30,-23.85,0.000,4,0.249,0.071,2713,3460,2468,0,0,0,0,0,0
$GC,355,-1.26,-126.0,65.2,-24.2,54,362,0.20,2.20,0.00,0.000,6,0.190,0.040,2770,2057,2469,0,0,0,0,0,0
$GC,697,-1.17,-126.0,138.6,-20.6,99,702,0.15,2.22,0.00,0.000,4,0.216,0.052,2805,650,2470,0,0,0,0,0,0
$GC,728,-1.10,-126.0,146.0,-21.7,101,735,0.08,2.25,0.00,0.000,6,0.188,0.044,2820,2053,2470,0,0,0,0,0,0
$GC,1054,-1.10,-126.0,202.0,-16.2,132,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2470,0,0,0,0,0,0
$GC,1373,-1.10,-126.0,255.3,-16.6,162,1377,0.00,2.25,0.00,0.000,4,0.000,0.060,2810,3473,2470,0,0,0,0,0,0
$GC,1426,-1.10,-126.0,264.9,-17.4,166,1434,0.05,2.20,0.00,0.000,6,0.182,0.041,2826,2061,2471,0,0,0,0,0,0
$GC,1754,-1.10,-126.0,315.3,-15.5,197,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2061,2471,0,0,0,0,0,0
$GC,2071,-1.10,-126.0,364.1,-15.0,227,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2061,2471,0,0,0,0,0,0
$GC,2398,-1.10,-126.0,414.0,-15.9,254,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2061,2471,0,0,0,0,0,0
$GC,2707,-1.10,-126.0,462.0,-15.5,269,2711,0.00,2.25,0.00,0.000,4,0.000,0.060,2816,3469,2471,0,0,0,0,0,0
$GC,2746,-1.10,-126.0,468.3,-16.2,271,2751,0.00,2.15,0.00,0.000,6,0.000,0.041,2816,2058,2471,0,0,0,0,0,0
$GC,3073,-1.10,-126.0,521.1,-16.3,287,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2058,2471,0,0,0,0,0,0
$GC,3382,-1.10,-126.0,572.0,-16.3,302,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2058,2471,0,0,0,0,0,0
$GC,3691,-1.10,-126.0,622.6,-16.4,317,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2058,2471,0,0,0,0,0,0
$GC,4001,-1.10,-126.0,672.7,-15.9,332,4005,0.00,2.17,0.00,0.000,4,0.000,0.053,2816,660,2470,0,0,0,0,0,0
$GC,4032,-1.10,-126.0,678.3,-17.5,333,4039,0.05,2.20,0.00,0.000,6,0.194,0.041,2822,2064,2470,0,0,0,0,0,0
$GC,4349,-1.10,-126.0,726.5,-14.8,349,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2064,2470,0,0,0,0,0,0
$GC,4658,-1.12,-126.0,771.2,-14.1,364,4662,0.00,2.22,0.00,0.000,4,0.000,0.062,2812,3473,2470,0,0,0,0,0,0
$GC,4724,-1.12,-126.0,781.1,-14.1,367,4729,0.00,2.17,0.00,0.000,6,0.000,0.041,2812,2063,2470,0,0,0,0,0,0
$GC,5051,-1.12,-126.0,827.6,-14.5,383,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2062,2470,0,0,0,0,0,0
$GC,5361,-1.12,-126.0,870.6,-13.5,398,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2063,2469,0,0,0,0,0,0
$GC,5670,-1.12,-126.0,910.6,-12.8,413,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2062,2469,0,0,0,0,0,0
$GC,5979,-1.12,-126.0,951.6,-13.4,428,5983,0.00,2.22,0.00,0.000,4,0.000,0.059,2803,3470,2469,0,0,0,0,0,0
$GC,6019,-1.12,-126.0,957.0,-14.1,430,6023,0.08,2.15,0.00,0.000,6,0.207,0.041,2819,2056,2468,0,0,0,0,0,0
$STATE,6343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6344,begin apogee
$GC,6347,-0.23,0.0,1000.4,13.0,446,6466,0.95,0.00,115.10,1.294,6,0.171,0.000,3105,1727,1950,0,0,0,0,0,0
$STATE,6467,end apogee,CONTROL_FINISHED_OK
$STATE,6467,begin climb
$GC,6468,1.42,126.0,1004.6,0.0,452,6596,1.62,2.40,118.88,1.246,4,0.094,0.043,3644,322,1434,0,0,0,0,0,0
$GC,6690,1.31,126.0,973.6,18.0,462,6697,0.12,2.33,0.00,0.000,6,0.178,0.031,3608,1740,1428,0,0,0,0,0,0
$GC,7007,1.26,126.0,922.5,15.9,478,7011,0.08,2.30,0.00,0.000,4,0.229,0.044,3603,320,1425,0,0,0,0,0,0
$GC,7092,1.20,126.0,908.9,16.2,482,7097,0.12,2.22,0.00,0.000,6,0.199,0.031,3573,1733,1425,0,0,0,0,0,0
$GC,7418,1.20,126.0,862.1,13.7,498,7422,0.00,2.25,0.00,0.000,4,0.000,0.044,3582,326,1424,0,0,0,0,0,0
$GC,7457,1.17,126.0,856.4,15.1,500,7462,0.10,2.20,0.00,0.000,6,0.198,0.031,3559,1736,1423,0,0,0,0,0,0
$GC,7783,1.17,126.0,810.8,13.8,516,7787,0.00,2.25,0.00,0.000,4,0.000,0.044,3568,322,1423,0,0,0,0,0,0
$GC,7844,1.17,126.0,802.1,14.0,519,7848,0.00,2.17,0.00,0.000,6,0.000,0.031,3568,1727,1423,0,0,0,0,0,0
$GC,8169,1.17,126.0,754.8,14.7,535,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1728,1422,0,0,0,0,0,0
$GC,8479,1.17,126.0,709.2,14.8,550,8483,0.00,2.22,0.00,0.000,4,0.000,0.043,3577,319,1422,0,0,0,0,0,0
$GC,8550,1.14,126.0,698.3,16.1,553,8555,0.08,2.20,0.00,0.000,6,0.175,0.031,3555,1740,1422,0,0,0,0,0,0
$GC,8872,1.17,126.0,653.0,14.5,569,8876,0.00,2.25,0.00,0.000,4,0.000,0.045,3563,316,1421,0,0,0,0,0,0
$GC,8959,1.17,126.0,639.5,15.6,573,8964,0.00,2.17,0.00,0.000,6,0.000,0.030,3563,1720,1422,0,0,0,0,0,0
$GC,9287,1.17,126.0,592.2,14.0,589,9291,0.00,2.20,0.00,0.000,4,0.000,0.044,3572,322,1422,0,0,0,0,0,0
$GC,9374,1.17,126.0,578.6,16.6,593,9379,0.00,2.17,0.00,0.000,6,0.000,0.031,3572,1727,1421,0,0,0,0,0,0
$GC,9702,1.17,126.0,531.0,14.6,609,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1727,1421,0,0,0,0,0,0
$GC,10011,1.17,126.0,487.4,13.8,624,10015,0.00,2.20,0.00,0.000,4,0.000,0.043,3581,323,1421,0,0,0,0,0,0
$GC,10088,1.15,126.0,476.0,14.4,627,10095,0.08,2.17,0.00,0.000,6,0.174,0.031,3558,1734,1421,0,0,0,0,0,0
$GC,10405,1.17,126.0,434.9,12.8,643,10409,0.00,2.20,0.00,0.000,4,0.000,0.044,3567,325,1421,0,0,0,0,0,0
$GC,10498,1.17,126.0,421.9,13.3,647,10503,0.00,2.15,0.00,0.000,6,0.000,0.031,3567,1720,1420,0,0,0,0,0,0
$GC,10825,1.17,126.0,377.7,14.0,670,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1720,1421,0,0,0,0,0,0
$GC,11143,1.17,126.0,334.5,13.8,700,11147,0.00,2.17,0.00,0.000,4,0.000,0.044,3576,315,1421,0,0,0,0,0,0
$GC,11330,1.17,126.0,307.6,14.3,716,11335,0.05,2.17,0.00,0.000,6,0.230,0.031,3566,1745,1421,0,0,0,0,0,0
$GC,11654,1.17,126.0,264.1,13.6,746,11658,0.00,2.22,0.00,0.000,4,0.000,0.043,3574,319,1421,0,0,0,0,0,0
$GC,11719,1.17,126.0,254.4,13.9,751,11726,0.00,2.17,0.00,0.000,6,0.000,0.030,3574,1730,1421,0,0,0,0,0,0
$GC,12045,1.17,126.0,210.1,13.5,782,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1730,1421,0,0,0,0,0,0
$GC,12364,1.17,126.0,167.0,13.2,812,12368,0.00,2.20,0.00,0.000,4,0.000,0.043,3584,320,1420,0,0,0,0,0,0
$GC,12414,1.17,126.0,160.1,13.6,816,12419,0.10,2.15,0.00,0.000,6,0.196,0.031,3560,1740,1421,0,0,0,0,0,0
$GC,12738,1.20,126.0,122.2,11.6,846,12742,0.00,2.12,0.00,0.000,4,0.000,0.050,3560,3116,1421,0,0,0,0,0,0
$GC,12792,1.20,126.0,115.4,12.7,850,12799,0.00,2.10,0.00,0.000,6,0.000,0.028,3568,1722,1421,0,0,0,0,0,0
$GC,13132,1.22,126.0,71.7,13.4,900,13140,0.00,2.17,0.00,0.000,4,0.000,0.044,3578,328,1420,0,0,0,0,0,0
$GC,13261,1.22,126.0,54.4,14.5,922,13267,0.00,2.12,0.00,0.000,6,0.000,0.031,3578,1732,1420,0,0,0,0,0,0
$GC,13626,1.22,126.0,6.3,12.9,983,13634,0.00,2.20,0.00,0.000,4,0.000,0.043,3588,335,1420,0,0,0,0,0,0
$STATE,13653,end climb,SURFACE_DEPTH_REACHED
$STATE,13653,begin surface coast
$FINISH,1.3,1.023366
$STATE,13679,end surface coast,CONTROL_FINISHED_OK
$STATE,13679,begin surface
$SM_CCo,13697,33.55,0.057,0,0,1133,200.16
$SM_GC,2.07,0.00,0.00,33.55,0.000,0.000,0.057,63,2069,1133,-9.76,0.25,200.16
$IRIDIUM_FIX,-4435.30,922.24,310508,161610
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,10.660
$10V_AH,10.2,7.704
$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,23.775,98.050,233.975,33.550,0.000,28.139,19.460,269.081,0.000,0.000,25.142,2449.917,8593.763,352.242,2659.066,104.388,0.000,1286.958,0.000,2187.726,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,71.145,1294.380,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.385,1838.528,731.767,399.608,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353848
$DATA_FILE_SIZE,70406,991
$CAP_FILE_SIZE,126660,0
$CFSIZE,2097086464,2086404096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050815,105220,-4500.250,628.925,35,1.1,55,-24.4