version: 66.07.10.p01
glider: 573
mission: 12
dive: 49
start: 8 6 115 7 28 42
data:
$ID,573
$MISSION,12
$DIVE,49
$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,130
$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,-21133.316
$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,0.02
$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,38
$R_STBD_OVSHOOT,40
$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,48
$GPS1,060815,072126,-4503.942,626.115,41,1.3,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.9
$GPS2,060815,072822,-4503.973,626.298,18,0.9,18,-24.4
$SPEED_LIMITS,0.172,0.243
$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,293.5,3007,-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,-1.11,-62.6,0.0,0.0,0,58,0.00,0.00,-32.33,0.000,2,0.000,0.000,81,2070,1775,0,0,0,0,0,0
$GC,60,-1.14,-120.2,3.0,-3.8,5,106,10.93,2.33,-24.50,0.000,4,0.245,0.085,2798,3446,2443,0,0,0,0,0,0
$GC,349,-1.09,-120.2,49.7,-18.6,52,355,0.12,2.15,0.00,0.000,6,0.188,0.042,2829,2059,2446,0,0,0,0,0,0
$GC,700,-1.09,-120.2,107.3,-16.5,110,704,0.00,2.20,0.00,0.000,4,0.000,0.052,2829,649,2446,0,0,0,0,0,0
$GC,720,-1.07,-120.2,111.1,-17.2,111,727,0.03,2.22,0.00,0.000,6,0.217,0.042,2829,2046,2446,0,0,0,0,0,0
$GC,1045,-1.07,-120.2,162.4,-14.1,142,1050,0.00,2.28,0.00,0.000,4,0.000,0.058,2818,3481,2447,0,0,0,0,0,0
$GC,1167,-1.07,-120.2,181.0,-15.4,152,1177,0.05,2.22,0.00,0.000,6,0.176,0.037,2833,2052,2447,0,0,0,0,0,0
$GC,1493,-1.07,-120.2,228.4,-14.8,183,1497,0.00,2.20,0.00,0.000,4,0.000,0.051,2834,650,2447,0,0,0,0,0,0
$GC,1513,-1.07,-120.2,231.7,-15.8,184,1521,0.00,2.25,0.00,0.000,6,0.000,0.041,2825,2070,2447,0,0,0,0,0,0
$GC,1838,-1.07,-120.2,280.8,-15.4,215,1842,0.00,2.20,0.00,0.000,4,0.000,0.058,2814,3466,2447,0,0,0,0,0,0
$GC,1859,-1.07,-120.2,284.2,-15.2,216,1868,0.05,2.17,0.00,0.000,6,0.178,0.039,2830,2060,2448,0,0,0,0,0,0
$GC,2184,-1.07,-120.2,333.8,-15.9,247,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2060,2448,0,0,0,0,0,0
$GC,2506,-1.07,-120.2,384.0,-15.5,277,2510,0.00,2.20,0.00,0.000,4,0.000,0.051,2830,647,2448,0,0,0,0,0,0
$GC,2545,-1.07,-120.2,390.7,-16.1,280,2550,0.08,2.20,0.00,0.000,6,0.224,0.041,2837,2064,2448,0,0,0,0,0,0
$GC,2862,-1.10,-120.2,439.1,-15.5,298,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2064,2448,0,0,0,0,0,0
$GC,3171,-1.12,-120.2,485.6,-15.1,313,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2064,2448,0,0,0,0,0,0
$GC,3481,-1.15,-120.2,531.6,-15.0,328,3483,0.08,0.00,0.00,0.000,6,0.123,0.000,2796,2064,2448,0,0,0,0,0,0
$GC,3790,-1.15,-120.2,582.3,-16.5,343,3794,0.08,2.22,0.00,0.000,4,0.223,0.062,2801,3463,2448,0,0,0,0,0,0
$GC,3832,-1.15,-120.2,589.7,-15.9,345,3837,0.00,2.17,0.00,0.000,6,0.000,0.038,2801,2052,2447,0,0,0,0,0,0
$GC,4160,-1.15,-120.2,643.1,-16.5,361,4164,0.00,2.25,0.00,0.000,4,0.000,0.060,2792,3463,2447,0,0,0,0,0,0
$GC,4202,-1.15,-120.2,650.5,-16.4,363,4208,0.05,2.17,0.00,0.000,6,0.182,0.039,2807,2056,2447,0,0,0,0,0,0
$GC,4530,-1.15,-120.2,700.5,-15.0,379,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2056,2447,0,0,0,0,0,0
$GC,4839,-1.15,-120.2,745.6,-14.5,394,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2056,2447,0,0,0,0,0,0
$GC,5148,-1.15,-120.2,787.8,-13.2,409,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2056,2447,0,0,0,0,0,0
$GC,5458,-1.15,-120.2,829.4,-13.4,424,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2056,2446,0,0,0,0,0,0
$GC,5767,-1.15,-120.2,870.0,-13.2,439,5771,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3465,2446,0,0,0,0,0,0
$GC,5820,-1.15,-120.2,877.7,-13.6,441,5827,0.00,2.15,0.00,0.000,6,0.000,0.039,2798,2069,2445,0,0,0,0,0,0
$GC,6137,-1.15,-120.2,920.4,-13.5,457,6141,0.00,2.22,0.00,0.000,4,0.000,0.057,2789,3473,2445,0,0,0,0,0,0
$GC,6176,-1.15,-120.2,925.8,-13.6,459,6180,0.10,2.17,0.00,0.000,6,0.201,0.040,2813,2049,2445,0,0,0,0,0,0
$GC,6502,-1.17,-120.2,970.5,-14.1,475,6506,0.00,2.25,0.00,0.000,4,0.000,0.059,2804,3469,2445,0,0,0,0,0,0
$GC,6527,-1.17,-120.2,974.7,-15.1,476,6533,0.00,2.17,0.00,0.000,6,0.000,0.039,2804,2058,2444,0,0,0,0,0,0
$STATE,6704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6704,begin apogee
$GC,6708,-0.19,0.0,1000.2,14.6,485,6825,1.05,0.00,109.95,1.294,6,0.168,0.000,3121,1728,1949,0,0,0,0,0,0
$STATE,6825,end apogee,CONTROL_FINISHED_OK
$STATE,6825,begin climb
$GC,6827,1.14,120.2,1004.9,0.0,491,6949,1.27,2.40,113.55,1.250,4,0.087,0.044,3555,328,1459,0,0,0,0,0,0
$GC,6994,1.14,120.2,989.4,14.0,499,6999,0.00,2.30,0.00,0.000,6,0.000,0.030,3555,1738,1453,0,0,0,0,0,0
$GC,7321,1.14,120.2,944.1,14.2,515,7325,0.00,2.30,0.00,0.000,4,0.000,0.043,3565,326,1449,0,0,0,0,0,0
$GC,7414,1.14,120.2,929.8,15.4,519,7419,0.00,2.25,0.00,0.000,6,0.000,0.029,3564,1737,1449,0,0,0,0,0,0
$GC,7736,1.14,120.2,883.2,14.4,535,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1737,1448,0,0,0,0,0,0
$GC,8045,1.14,120.2,837.7,14.8,550,8049,0.00,2.28,0.00,0.000,4,0.000,0.044,3574,316,1447,0,0,0,0,0,0
$GC,8098,1.14,120.2,829.0,15.7,552,8106,0.05,2.22,0.00,0.000,6,0.177,0.030,3557,1734,1447,0,0,0,0,0,0
$GC,8415,1.14,120.2,782.4,15.0,568,8419,0.00,2.25,0.00,0.000,4,0.000,0.044,3567,317,1446,0,0,0,0,0,0
$GC,8491,1.14,120.2,770.0,16.1,571,8498,0.03,2.20,0.00,0.000,6,0.203,0.030,3558,1729,1446,0,0,0,0,0,0
$GC,8807,1.14,120.2,724.2,14.6,587,8811,0.00,2.22,0.00,0.000,4,0.000,0.044,3567,324,1446,0,0,0,0,0,0
$GC,8892,1.14,120.2,711.4,16.2,591,8896,0.05,2.17,0.00,0.000,6,0.236,0.031,3557,1736,1445,0,0,0,0,0,0
$GC,9219,1.16,120.2,665.1,14.4,607,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1736,1446,0,0,0,0,0,0
$GC,9527,1.19,120.2,620.4,14.4,622,9531,0.00,2.22,0.00,0.000,4,0.000,0.044,3566,325,1445,0,0,0,0,0,0
$GC,9558,1.19,120.2,615.4,14.9,623,9565,0.00,2.17,0.00,0.000,6,0.000,0.030,3566,1726,1445,0,0,0,0,0,0
$GC,9875,1.19,120.2,569.8,14.4,639,9879,0.00,2.22,0.00,0.000,4,0.000,0.044,3575,315,1445,0,0,0,0,0,0
$GC,9928,1.19,120.2,561.5,14.9,641,9935,0.00,2.20,0.00,0.000,6,0.000,0.031,3575,1727,1446,0,0,0,0,0,0
$GC,10245,1.19,120.2,515.1,14.9,657,10249,0.00,2.22,0.00,0.000,4,0.000,0.044,3584,314,1445,0,0,0,0,0,0
$GC,10316,1.16,120.2,503.7,16.3,660,10321,0.08,2.20,0.00,0.000,6,0.171,0.031,3561,1737,1445,0,0,0,0,0,0
$GC,10638,1.18,120.2,459.2,13.7,676,10642,0.00,2.22,0.00,0.000,4,0.000,0.044,3570,320,1445,0,0,0,0,0,0
$GC,10704,1.18,120.2,449.6,13.9,679,10709,0.00,2.17,0.00,0.000,6,0.000,0.029,3570,1727,1445,0,0,0,0,0,0
$GC,11031,1.18,120.2,404.9,13.7,695,11035,0.00,2.20,0.00,0.000,4,0.000,0.044,3579,324,1445,0,0,0,0,0,0
$GC,11071,1.18,120.2,399.3,14.6,697,11075,0.03,2.17,0.00,0.000,6,0.272,0.031,3570,1746,1445,0,0,0,0,0,0
$GC,11395,1.18,120.2,354.8,13.9,727,11399,0.00,2.22,0.00,0.000,4,0.000,0.043,3578,324,1445,0,0,0,0,0,0
$GC,11536,1.18,120.2,333.1,15.7,739,11541,0.03,2.15,0.00,0.000,6,0.273,0.031,3569,1736,1445,0,0,0,0,0,0
$GC,11864,1.18,120.2,286.1,14.2,769,11868,0.00,2.22,0.00,0.000,4,0.000,0.044,3578,317,1444,0,0,0,0,0,0
$GC,11951,1.18,120.2,272.1,15.0,776,11960,0.00,2.17,0.00,0.000,6,0.000,0.030,3578,1724,1445,0,0,0,0,0,0
$GC,12277,1.18,120.2,226.4,13.9,807,12281,0.00,2.20,0.00,0.000,4,0.000,0.042,3587,317,1445,0,0,0,0,0,0
$GC,12339,1.16,120.2,217.5,14.5,812,12344,0.12,2.17,0.00,0.000,6,0.188,0.031,3556,1746,1445,0,0,0,0,0,0
$GC,12663,1.19,120.2,174.5,13.4,842,12667,0.00,2.22,0.00,0.000,4,0.000,0.043,3565,323,1444,0,0,0,0,0,0
$GC,12830,1.19,120.2,149.4,14.3,856,12840,0.00,2.15,0.00,0.000,6,0.000,0.030,3565,1719,1444,0,0,0,0,0,0
$GC,13157,1.22,120.2,109.0,11.9,887,13161,0.00,2.20,0.00,0.000,4,0.000,0.044,3574,313,1445,0,0,0,0,0,0
$GC,13414,1.22,120.2,76.0,13.4,925,13419,0.00,2.17,0.00,0.000,6,0.000,0.031,3574,1743,1444,0,0,0,0,0,0
$GC,13768,1.22,120.2,28.0,14.6,986,13776,0.00,2.25,0.00,0.000,4,0.000,0.042,3583,319,1444,0,0,0,0,0,0
$GC,13900,1.20,127.5,11.8,9.2,1007,13908,0.00,2.15,1.90,0.078,6,0.000,0.028,3583,1734,1429,0,0,0,0,0,0
$GC,13959,1.16,127.5,3.5,15.0,1016,13966,0.10,0.00,0.00,0.000,6,0.213,0.000,3561,1738,1429,0,0,0,0,0,0
$STATE,13973,end climb,SURFACE_DEPTH_REACHED
$STATE,13973,begin surface coast
$FINISH,1.2,1.012094
$STATE,13999,end surface coast,CONTROL_FINISHED_OK
$STATE,14000,begin surface
$SM_CCo,14015,34.65,0.056,0,0,1133,200.16
$SM_GC,2.03,0.00,0.00,34.65,0.000,0.000,0.056,74,2061,1133,-9.72,0.03,200.16
$IRIDIUM_FIX,-4456.56,217.93,010608,161638
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.4,11.203
$10V_AH,10.2,8.319
$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,23.475,120.525,225.400,34.650,0.000,24.700,19.228,261.217,0.000,0.000,21.139,2544.369,8696.593,376.281,2743.267,105.846,0.000,1370.635,0.000,2278.029,0.000,0.539,0.000
$DEVICE_MAMPS,273.105,84.915,1294.380,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.594,1880.453,774.631,434.971,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,70516,1022
$CAP_FILE_SIZE,136796,0
$CFSIZE,2097086464,2085715968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060815,112403,-4504.290,624.900,37,0.8,37,-24.4