version: 66.07.10.p01
glider: 573
mission: 12
dive: 80
start: 8 12 115 15 7 25
data:
$ID,573
$MISSION,12
$DIVE,80
$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,-21265.25
$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,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,79
$GPS1,120815,145904,-4504.578,626.402,39,0.8,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-72.1
$GPS2,120815,150705,-4504.534,626.513,17,1.2,17,-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,311.1,3433,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,68,0.00,0.00,-42.72,0.000,2,0.000,0.000,80,2063,2010,0,0,0,0,0,0
$GC,71,-1.13,-104.9,3.1,-2.2,7,104,11.43,2.30,-12.50,0.000,4,0.256,0.066,2817,656,2379,0,0,0,0,0,0
$GC,376,-1.02,-104.9,50.0,-17.8,57,384,0.12,2.25,0.00,0.000,6,0.180,0.041,2845,2051,2382,0,0,0,0,0,0
$GC,731,-1.02,-104.9,104.2,-15.8,117,735,0.00,2.22,0.00,0.000,4,0.000,0.050,2846,652,2382,0,0,0,0,0,0
$GC,793,-0.98,-104.9,114.6,-17.1,122,798,0.12,2.22,0.00,0.000,6,0.207,0.041,2867,2066,2382,0,0,0,0,0,0
$GC,1117,-1.04,-104.9,158.6,-12.4,152,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2066,2382,0,0,0,0,0,0
$GC,1436,-1.11,-104.9,199.1,-13.0,182,1438,0.12,0.00,0.00,0.000,6,0.091,0.000,2806,2065,2382,0,0,0,0,0,0
$GC,1755,-1.06,-104.9,247.5,-15.2,212,1757,0.12,0.00,0.00,0.000,6,0.200,0.000,2837,2066,2383,0,0,0,0,0,0
$GC,2073,-1.06,-104.9,291.7,-13.8,242,2077,0.00,2.22,0.00,0.000,4,0.000,0.062,2827,3463,2383,0,0,0,0,0,0
$GC,2172,-1.06,-104.9,306.5,-14.6,250,2179,0.03,2.17,0.00,0.000,6,0.196,0.040,2836,2066,2383,0,0,0,0,0,0
$GC,2500,-1.06,-104.9,352.5,-14.5,281,2504,0.00,2.22,0.00,0.000,4,0.000,0.052,2836,648,2384,0,0,0,0,0,0
$GC,2555,-1.02,-104.9,361.0,-14.9,285,2561,0.10,2.20,0.00,0.000,6,0.213,0.037,2850,2075,2384,0,0,0,0,0,0
$GC,2890,-1.06,-104.9,403.9,-12.7,316,2894,0.00,2.25,0.00,0.000,4,0.000,0.050,2850,650,2384,0,0,0,0,0,0
$GC,2906,-1.06,-104.9,406.0,-12.9,317,2910,0.00,2.20,0.00,0.000,6,0.000,0.039,2841,2071,2384,0,0,0,0,0,0
$GC,3232,-1.06,-104.9,449.3,-13.1,333,3236,0.00,2.17,0.00,0.000,4,0.000,0.059,2830,3463,2384,0,0,0,0,0,0
$GC,3302,-1.06,-104.9,458.8,-13.6,336,3307,0.00,2.17,0.00,0.000,6,0.000,0.040,2831,2063,2384,0,0,0,0,0,0
$GC,3624,-1.06,-104.9,500.1,-13.1,352,3628,0.00,2.20,0.00,0.000,4,0.000,0.052,2830,655,2383,0,0,0,0,0,0
$GC,3664,-1.02,-104.9,505.4,-14.6,354,3669,0.12,2.17,0.00,0.000,6,0.209,0.041,2851,2058,2383,0,0,0,0,0,0
$GC,3991,-1.08,-104.9,545.7,-12.2,370,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2058,2383,0,0,0,0,0,0
$GC,4300,-1.13,-104.9,582.1,-11.2,385,4305,0.10,2.22,0.00,0.000,4,0.101,0.062,2791,3471,2384,0,0,0,0,0,0
$GC,4439,-1.07,-104.9,600.5,-12.7,391,4444,0.17,2.17,0.00,0.000,6,0.182,0.041,2838,2053,2383,0,0,0,0,0,0
$GC,4755,-1.10,-104.9,634.7,-10.8,406,4759,0.00,2.25,0.00,0.000,4,0.000,0.061,2829,3470,2383,0,0,0,0,0,0
$GC,4831,-1.10,-104.9,643.7,-11.4,409,4837,0.00,2.20,0.00,0.000,6,0.000,0.042,2829,2060,2382,0,0,0,0,0,0
$GC,5147,-1.10,-104.9,678.7,-11.2,425,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2060,2382,0,0,0,0,0,0
$GC,5457,-1.10,-104.9,714.0,-11.5,440,5461,0.00,2.25,0.00,0.000,4,0.000,0.062,2819,3470,2382,0,0,0,0,0,0
$GC,5528,-1.10,-104.9,722.6,-12.0,443,5533,0.00,2.20,0.00,0.000,6,0.000,0.041,2820,2053,2382,0,0,0,0,0,0
$GC,5849,-1.10,-104.9,758.7,-10.9,459,5853,0.00,2.25,0.00,0.000,4,0.000,0.060,2810,3463,2381,0,0,0,0,0,0
$GC,5981,-1.10,-104.9,774.4,-11.8,465,5987,0.03,2.17,0.00,0.000,6,0.180,0.041,2820,2063,2381,0,0,0,0,0,0
$GC,6308,-1.10,-104.9,810.9,-11.2,481,6312,0.00,2.22,0.00,0.000,4,0.000,0.060,2811,3463,2381,0,0,0,0,0,0
$GC,6357,-1.10,-104.9,816.7,-11.7,483,6363,0.03,2.17,0.00,0.000,6,0.181,0.041,2820,2063,2381,0,0,0,0,0,0
$GC,6678,-1.10,-104.9,852.8,-11.2,499,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2063,2381,0,0,0,0,0,0
$GC,6988,-1.10,-104.9,888.3,-11.4,514,6992,0.00,2.22,0.00,0.000,4,0.000,0.059,2811,3463,2380,0,0,0,0,0,0
$GC,7027,-1.10,-104.9,893.0,-12.4,516,7031,0.08,2.15,0.00,0.000,6,0.201,0.041,2828,2060,2380,0,0,0,0,0,0
$GC,7353,-1.14,-104.9,928.9,-10.8,532,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2060,2380,0,0,0,0,0,0
$GC,7662,-1.17,-104.9,962.5,-10.6,547,7667,0.05,2.25,0.00,0.000,4,0.166,0.060,2790,3463,2379,0,0,0,0,0,0
$GC,7716,-1.12,-104.9,969.1,-11.4,549,7723,0.08,2.17,0.00,0.000,6,0.177,0.041,2818,2063,2379,0,0,0,0,0,0
$STATE,8012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8012,begin apogee
$GC,8017,-0.19,0.0,1001.7,11.1,564,8117,1.00,0.00,96.95,1.294,6,0.174,0.000,3119,1596,1950,0,0,0,0,0,0
$STATE,8118,end apogee,CONTROL_FINISHED_OK
$STATE,8118,begin climb
$GC,8119,1.13,104.9,1004.8,0.0,569,8224,1.30,0.00,100.65,1.255,6,0.094,0.000,3540,1596,1522,0,0,0,0,0,0
$GC,8522,1.17,104.9,953.8,14.5,589,8527,0.05,2.30,0.00,0.000,4,0.164,0.050,3580,192,1513,0,0,0,0,0,0
$GC,8584,1.11,104.9,943.8,16.9,592,8589,0.15,2.28,0.00,0.000,6,0.177,0.034,3543,1620,1511,0,0,0,0,0,0
$GC,8910,1.14,104.9,896.7,14.3,608,8914,0.00,2.22,0.00,0.000,4,0.000,0.054,3543,2997,1510,0,0,0,0,0,0
$GC,8959,1.14,104.9,889.2,14.5,610,8964,0.00,2.20,0.00,0.000,6,0.000,0.033,3552,1605,1510,0,0,0,0,0,0
$GC,9281,1.14,104.9,843.8,14.1,626,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1605,1509,0,0,0,0,0,0
$GC,9591,1.14,104.9,801.7,13.1,641,9595,0.00,2.25,0.00,0.000,4,0.000,0.050,3563,194,1508,0,0,0,0,0,0
$GC,9630,1.14,104.9,796.0,14.3,643,9634,0.00,2.20,0.00,0.000,6,0.000,0.035,3562,1604,1508,0,0,0,0,0,0
$GC,9955,1.14,104.9,752.8,13.2,659,9959,0.00,2.20,0.00,0.000,4,0.000,0.053,3563,2991,1508,0,0,0,0,0,0
$GC,10017,1.14,104.9,744.2,14.7,662,10022,0.08,2.15,0.00,0.000,6,0.223,0.034,3556,1593,1508,0,0,0,0,0,0
$GC,10343,1.14,104.9,699.9,13.5,678,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1593,1507,0,0,0,0,0,0
$GC,10653,1.14,104.9,658.1,13.1,693,10657,0.00,2.22,0.00,0.000,4,0.000,0.050,3566,193,1507,0,0,0,0,0,0
$GC,10707,1.14,104.9,650.4,14.1,695,10713,0.00,2.20,0.00,0.000,6,0.000,0.033,3566,1601,1507,0,0,0,0,0,0
$GC,11023,1.14,104.9,608.1,13.4,711,11028,0.05,2.17,0.00,0.000,4,0.243,0.053,3555,2991,1506,0,0,0,0,0,0
$GC,11071,1.14,104.9,601.0,13.6,713,11077,0.00,2.15,0.00,0.000,6,0.000,0.034,3563,1603,1507,0,0,0,0,0,0
$GC,11393,1.14,104.9,557.6,13.4,729,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1603,1507,0,0,0,0,0,0
$GC,11703,1.14,104.9,516.2,13.2,744,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1603,1507,0,0,0,0,0,0
$GC,12012,1.14,104.9,476.4,12.6,759,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1603,1507,0,0,0,0,0,0
$GC,12321,1.14,104.9,438.1,12.2,774,12325,0.00,2.22,0.00,0.000,4,0.000,0.051,3573,193,1506,0,0,0,0,0,0
$GC,12393,1.11,104.9,428.4,13.6,777,12398,0.08,2.17,0.00,0.000,6,0.175,0.033,3549,1597,1506,0,0,0,0,0,0
$GC,12719,1.16,104.9,390.0,11.7,797,12723,0.00,2.20,0.00,0.000,4,0.000,0.053,3549,2996,1506,0,0,0,0,0,0
$GC,12772,1.16,104.9,383.6,11.3,801,12775,0.00,2.12,0.00,0.000,6,0.000,0.033,3557,1598,1506,0,0,0,0,0,0
$GC,13096,1.16,104.9,345.2,11.2,831,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1598,1506,0,0,0,0,0,0
$GC,13418,1.19,104.9,307.9,11.8,861,13422,0.00,2.20,0.00,0.000,4,0.000,0.050,3568,198,1506,0,0,0,0,0,0
$GC,13472,1.19,104.9,300.9,12.7,865,13478,0.00,2.17,0.00,0.000,6,0.000,0.034,3568,1599,1505,0,0,0,0,0,0
$GC,13797,1.19,104.9,262.9,11.9,896,13801,0.00,2.17,0.00,0.000,4,0.000,0.052,3568,2992,1505,0,0,0,0,0,0
$GC,13847,1.19,104.9,256.7,12.5,900,13851,0.00,2.12,0.00,0.000,6,0.000,0.033,3576,1594,1506,0,0,0,0,0,0
$GC,14171,1.19,104.9,215.7,12.3,930,14175,0.00,2.20,0.00,0.000,4,0.000,0.050,3587,192,1505,0,0,0,0,0,0
$GC,14258,1.14,104.9,204.8,12.0,937,14263,0.12,2.17,0.00,0.000,6,0.188,0.034,3556,1622,1505,0,0,0,0,0,0
$GC,14583,1.18,104.9,167.6,11.7,967,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1622,1505,0,0,0,0,0,0
$GC,14904,1.23,104.9,130.3,12.2,997,14906,0.08,0.00,0.00,0.000,6,0.128,0.000,3598,1622,1505,0,0,0,0,0,0
$GC,15228,1.19,104.9,91.1,11.4,1033,15233,0.12,0.00,0.00,0.000,6,0.191,0.000,3567,1629,1505,0,0,0,0,0,0
$GC,15575,1.19,104.9,50.7,12.0,1094,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1629,1506,0,0,0,0,0,0
$GC,15940,1.15,104.9,7.7,16.2,1155,15947,0.00,2.28,0.00,0.000,4,0.000,0.050,3577,198,1505,0,0,0,0,0,0
$STATE,15990,end climb,SURFACE_DEPTH_REACHED
$STATE,15991,begin surface coast
$FINISH,1.3,1.023365
$STATE,16029,end surface coast,CONTROL_FINISHED_OK
$STATE,16029,begin surface
$SM_CCo,16047,43.08,0.055,0,0,1133,200.16
$SM_GC,2.92,0.00,0.00,43.08,0.000,0.000,0.055,70,2068,1133,-9.73,0.23,200.16
$IRIDIUM_FIX,-4447.43,628.16,070608,222258
$TT8_MAMPS,0.026964
$HUMID,62.71
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,14.674
$10V_AH,10.2,12.123
$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,24.850,116.125,197.600,43.075,0.000,27.418,39.714,290.586,0.000,0.000,20.492,2907.163,10081.220,370.354,3074.550,128.893,0.000,1422.467,0.000,2545.088,0.000,0.540,0.000
$DEVICE_MAMPS,256.275,65.790,1293.615,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.445,2150.450,867.090,476.982,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353308
$DATA_FILE_SIZE,80461,1169
$CAP_FILE_SIZE,149235,0
$CFSIZE,2097086464,2081652736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120815,193702,-4504.621,625.380,51,1.3,53,-24.4