version: 66.07.10.p01
glider: 573
mission: 12
dive: 59
start: 8 8 115 9 50 2
data:
$ID,573
$MISSION,12
$DIVE,59
$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,-21204.811
$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,41
$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,0.00060000003
$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,58
$GPS1,080815,094133,-4457.002,633.617,43,0.9,43,-24.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.8
$GPS2,080815,094941,-4456.968,633.736,18,0.9,18,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,83.3,3467,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.11,-62.7,0.0,0.0,0,51,0.00,0.00,-26.35,0.000,2,0.000,0.000,80,2080,1677,0,0,0,0,0,0
$GC,53,-1.14,-124.2,3.3,-3.4,4,104,11.30,2.30,-32.40,0.000,4,0.255,0.076,2796,3456,2458,0,0,0,0,0,0
$GC,375,-1.09,-124.2,54.4,-18.5,57,382,0.10,2.20,0.00,0.000,6,0.177,0.041,2826,2071,2461,0,0,0,0,0,0
$GC,724,-1.09,-124.2,113.6,-16.9,112,728,0.00,2.22,0.00,0.000,4,0.000,0.058,2817,3461,2461,0,0,0,0,0,0
$GC,824,-1.07,-124.2,131.2,-16.5,120,833,0.05,2.20,0.00,0.000,6,0.188,0.041,2833,2060,2461,0,0,0,0,0,0
$GC,1150,-1.07,-124.2,183.2,-15.5,151,1154,0.00,2.22,0.00,0.000,4,0.000,0.054,2833,652,2461,0,0,0,0,0,0
$GC,1245,-1.07,-124.2,199.1,-16.6,159,1250,0.00,2.22,0.00,0.000,6,0.000,0.044,2824,2063,2461,0,0,0,0,0,0
$GC,1573,-1.07,-124.2,252.1,-16.6,189,1577,0.00,2.25,0.00,0.000,4,0.000,0.063,2813,3469,2462,0,0,0,0,0,0
$GC,1725,-1.07,-124.2,278.2,-16.4,202,1730,0.10,2.20,0.00,0.000,6,0.196,0.042,2836,2047,2462,0,0,0,0,0,0
$GC,2056,-1.07,-124.2,329.7,-15.1,233,2060,0.00,2.28,0.00,0.000,4,0.000,0.060,2828,3466,2463,0,0,0,0,0,0
$GC,2086,-1.07,-124.2,334.4,-15.9,235,2090,0.00,2.17,0.00,0.000,6,0.000,0.041,2828,2051,2462,0,0,0,0,0,0
$GC,2412,-1.07,-124.2,386.1,-16.1,265,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2051,2463,0,0,0,0,0,0
$GC,2732,-1.07,-124.2,435.7,-14.8,285,2737,0.00,2.28,0.00,0.000,4,0.000,0.061,2818,3475,2463,0,0,0,0,0,0
$GC,2764,-1.07,-124.2,440.8,-15.1,286,2771,0.03,2.20,0.00,0.000,6,0.193,0.041,2826,2061,2463,0,0,0,0,0,0
$GC,3081,-1.07,-124.2,488.2,-15.0,302,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2061,2463,0,0,0,0,0,0
$GC,3390,-1.07,-124.2,533.2,-14.4,317,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2061,2463,0,0,0,0,0,0
$GC,3699,-1.07,-124.2,578.2,-14.6,332,3703,0.00,2.17,0.00,0.000,4,0.000,0.053,2827,654,2463,0,0,0,0,0,0
$GC,3725,-1.07,-124.2,582.5,-15.2,333,3731,0.05,2.22,0.00,0.000,6,0.191,0.043,2834,2065,2463,0,0,0,0,0,0
$GC,4048,-1.10,-124.2,627.0,-13.3,349,4052,0.00,2.22,0.00,0.000,4,0.000,0.064,2823,3474,2463,0,0,0,0,0,0
$GC,4164,-1.10,-124.2,643.4,-14.1,354,4169,0.00,2.20,0.00,0.000,6,0.000,0.042,2823,2058,2462,0,0,0,0,0,0
$GC,4486,-1.10,-124.2,687.8,-13.9,370,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2058,2461,0,0,0,0,0,0
$GC,4795,-1.12,-124.2,730.9,-14.6,385,4799,0.00,2.25,0.00,0.000,4,0.000,0.063,2814,3467,2462,0,0,0,0,0,0
$GC,4838,-1.12,-124.2,737.8,-15.1,387,4843,0.00,2.17,0.00,0.000,6,0.000,0.041,2814,2065,2461,0,0,0,0,0,0
$GC,5166,-1.12,-124.2,787.3,-15.3,403,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2065,2461,0,0,0,0,0,0
$GC,5476,-1.12,-124.2,832.4,-13.9,418,5480,0.00,2.25,0.00,0.000,4,0.000,0.060,2805,3474,2460,0,0,0,0,0,0
$GC,5514,-1.12,-124.2,838.1,-14.8,420,5519,0.08,2.15,0.00,0.000,6,0.206,0.042,2821,2056,2460,0,0,0,0,0,0
$GC,5841,-1.14,-124.2,882.2,-13.7,436,5845,0.00,2.25,0.00,0.000,4,0.000,0.063,2812,3465,2460,0,0,0,0,0,0
$GC,5895,-1.14,-124.2,890.1,-14.3,438,5901,0.00,2.17,0.00,0.000,6,0.000,0.042,2812,2060,2460,0,0,0,0,0,0
$GC,6211,-1.14,-124.2,933.2,-13.5,454,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2060,2460,0,0,0,0,0,0
$GC,6521,-1.14,-124.2,975.5,-13.4,469,6525,0.00,2.25,0.00,0.000,4,0.000,0.062,2803,3466,2458,0,0,0,0,0,0
$GC,6575,-1.14,-124.2,983.3,-14.3,471,6581,0.00,2.17,0.00,0.000,6,0.000,0.041,2803,2059,2458,0,0,0,0,0,0
$STATE,6704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6704,begin apogee
$GC,6708,-0.19,0.0,1001.1,13.7,478,6826,1.05,0.00,113.22,1.291,6,0.171,0.000,3118,1730,1950,0,0,0,0,0,0
$STATE,6827,end apogee,CONTROL_FINISHED_OK
$STATE,6827,begin climb
$GC,6828,1.14,124.2,1005.2,0.0,484,6954,1.30,2.42,117.38,1.251,4,0.090,0.047,3557,326,1442,0,0,0,0,0,0
$GC,7031,1.14,124.2,982.2,16.3,493,7038,0.00,2.35,0.00,0.000,6,0.000,0.032,3557,1735,1437,0,0,0,0,0,0
$GC,7348,1.16,124.2,933.7,15.0,509,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1736,1434,0,0,0,0,0,0
$GC,7657,1.18,124.2,886.5,15.1,524,7661,0.00,2.30,0.00,0.000,4,0.000,0.046,3566,317,1433,0,0,0,0,0,0
$GC,7741,1.18,124.2,873.1,15.8,528,7746,0.00,2.25,0.00,0.000,6,0.000,0.032,3566,1743,1432,0,0,0,0,0,0
$GC,8069,1.18,124.2,821.9,15.7,544,8073,0.00,2.28,0.00,0.000,4,0.000,0.045,3574,326,1431,0,0,0,0,0,0
$GC,8134,1.18,124.2,810.8,16.0,547,8139,0.00,2.22,0.00,0.000,6,0.000,0.033,3575,1731,1431,0,0,0,0,0,0
$GC,8463,1.18,124.2,759.3,15.6,563,8467,0.00,2.25,0.00,0.000,4,0.000,0.045,3584,324,1431,0,0,0,0,0,0
$GC,8511,1.16,124.2,750.9,17.0,565,8517,0.08,2.22,0.00,0.000,6,0.169,0.034,3561,1737,1430,0,0,0,0,0,0
$GC,8833,1.18,124.2,702.9,14.7,581,8837,0.00,2.22,0.00,0.000,4,0.000,0.045,3570,324,1430,0,0,0,0,0,0
$GC,8904,1.18,124.2,691.8,14.8,584,8909,0.00,2.20,0.00,0.000,6,0.000,0.032,3570,1725,1430,0,0,0,0,0,0
$GC,9226,1.18,124.2,645.5,14.2,600,9230,0.00,2.22,0.00,0.000,4,0.000,0.045,3578,322,1429,0,0,0,0,0,0
$GC,9337,1.18,124.2,628.9,15.0,605,9342,0.00,2.20,0.00,0.000,6,0.000,0.034,3579,1722,1430,0,0,0,0,0,0
$GC,9664,1.18,124.2,582.7,14.3,621,9666,0.05,0.00,0.00,0.000,6,0.233,0.000,3570,1724,1429,0,0,0,0,0,0
$GC,9974,1.18,124.2,541.8,13.1,636,9978,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,317,1429,0,0,0,0,0,0
$GC,10148,1.18,124.2,517.1,14.5,644,10152,0.00,2.20,0.00,0.000,6,0.000,0.034,3578,1740,1429,0,0,0,0,0,0
$GC,10474,1.18,124.2,471.5,13.9,660,10478,0.00,2.25,0.00,0.000,4,0.000,0.046,3587,318,1429,0,0,0,0,0,0
$GC,10550,1.16,124.2,460.3,14.5,663,10557,0.08,2.20,0.00,0.000,6,0.168,0.032,3563,1733,1429,0,0,0,0,0,0
$GC,10867,1.18,124.2,420.6,12.3,679,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1733,1429,0,0,0,0,0,0
$GC,11180,1.21,124.2,380.7,13.1,700,11184,0.00,2.22,0.00,0.000,4,0.000,0.045,3572,319,1429,0,0,0,0,0,0
$GC,11276,1.21,124.2,367.7,14.2,708,11280,0.00,2.15,0.00,0.000,6,0.000,0.033,3572,1732,1429,0,0,0,0,0,0
$GC,11600,1.21,124.2,324.2,13.3,738,11604,0.00,2.22,0.00,0.000,4,0.000,0.045,3581,317,1428,0,0,0,0,0,0
$GC,11665,1.21,124.2,314.7,14.1,743,11672,0.00,2.20,0.00,0.000,6,0.000,0.033,3581,1732,1429,0,0,0,0,0,0
$GC,11991,1.21,124.2,270.0,13.9,774,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1732,1428,0,0,0,0,0,0
$GC,12310,1.21,124.2,225.6,14.2,804,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1732,1428,0,0,0,0,0,0
$GC,12628,1.21,124.2,177.3,14.7,834,12632,0.00,2.17,0.00,0.000,4,0.000,0.055,3581,3131,1428,0,0,0,0,0,0
$GC,12656,1.21,124.2,173.0,14.9,836,12661,0.08,2.12,0.00,0.000,6,0.223,0.031,3575,1714,1428,0,0,0,0,0,0
$GC,12981,1.23,124.2,129.5,13.0,866,12985,0.00,2.15,0.00,0.000,4,0.000,0.047,3584,330,1428,0,0,0,0,0,0
$GC,13103,1.23,124.2,112.0,13.8,876,13111,0.00,2.17,0.00,0.000,6,0.000,0.033,3584,1734,1428,0,0,0,0,0,0
$GC,13445,1.23,124.2,60.6,14.2,929,13450,0.00,2.20,0.00,0.000,4,0.000,0.044,3593,328,1428,0,0,0,0,0,0
$GC,13497,1.21,124.2,53.0,15.2,938,13502,0.08,2.15,0.00,0.000,6,0.217,0.033,3577,1746,1428,0,0,0,0,0,0
$STATE,13837,end climb,SURFACE_DEPTH_REACHED
$STATE,13837,begin surface coast
$FINISH,1.6,1.013979
$STATE,13864,end surface coast,CONTROL_FINISHED_OK
$STATE,13864,begin surface
$SM_CCo,13879,34.42,0.058,0,0,1134,200.16
$SM_GC,2.30,0.00,0.00,34.42,0.000,0.000,0.058,82,2077,1134,-9.68,0.48,200.16
$IRIDIUM_FIX,-4438.33,627.13,030608,171702
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,12.351
$10V_AH,10.2,9.573
$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,23.525,111.975,230.600,34.425,0.000,27.361,17.582,323.504,0.000,0.000,21.571,2493.620,8634.937,357.848,2796.846,110.937,0.000,1339.264,0.000,2271.157,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,76.500,1291.320,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.898,1843.444,738.409,408.681,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,70419,999
$CAP_FILE_SIZE,131953,0
$CFSIZE,2097086464,2084405248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080815,134303,-4456.875,636.720,33,0.8,33,-24.4