version: 66.07.10.p01
glider: 573
mission: 12
dive: 82
start: 8 13 115 0 36 28
data:
$ID,573
$MISSION,12
$DIVE,82
$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,-21270.738
$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,41
$R_STBD_OVSHOOT,53
$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,81
$GPS1,130815,002803,-4503.769,625.009,88,0.9,88,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-60.8
$GPS2,130815,003608,-4503.729,625.114,27,0.9,28,-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,275.4,1541,-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,-49.9,0.0,0.0,0,62,0.00,0.00,-36.33,0.000,2,0.000,0.000,63,2068,1866,0,0,0,0,0,0
$GC,64,-1.12,-93.6,3.2,-3.5,6,104,11.30,2.28,-18.73,0.000,4,0.251,0.073,2810,3448,2335,0,0,0,0,0,0
$GC,375,-1.04,-93.6,54.9,-16.1,57,382,0.10,2.20,0.00,0.000,6,0.173,0.044,2840,2068,2338,0,0,0,0,0,0
$GC,722,-1.04,-93.6,102.9,-12.1,116,726,0.00,2.22,0.00,0.000,4,0.000,0.053,2840,651,2337,0,0,0,0,0,0
$GC,981,-1.01,-93.6,142.6,-15.7,138,988,0.08,2.22,0.00,0.000,6,0.184,0.041,2854,2046,2338,0,0,0,0,0,0
$GC,1309,-1.04,-93.6,183.7,-12.4,169,1313,0.00,2.25,0.00,0.000,4,0.000,0.058,2844,3465,2338,0,0,0,0,0,0
$GC,1361,-1.04,-93.6,190.4,-12.7,173,1365,0.00,2.17,0.00,0.000,6,0.000,0.039,2844,2053,2338,0,0,0,0,0,0
$GC,1690,-1.04,-93.6,233.3,-12.7,204,1694,0.00,2.28,0.00,0.000,4,0.000,0.058,2835,3473,2339,0,0,0,0,0,0
$GC,1789,-1.04,-93.6,247.1,-13.0,212,1798,0.00,2.20,0.00,0.000,6,0.000,0.041,2835,2064,2338,0,0,0,0,0,0
$GC,2114,-1.04,-93.6,290.4,-13.5,243,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2064,2339,0,0,0,0,0,0
$GC,2436,-1.04,-93.6,335.3,-14.5,273,2440,0.00,2.25,0.00,0.000,4,0.000,0.057,2825,3477,2340,0,0,0,0,0,0
$GC,2489,-1.04,-93.6,343.0,-14.9,277,2494,0.08,2.17,0.00,0.000,6,0.206,0.039,2841,2056,2339,0,0,0,0,0,0
$GC,2813,-1.04,-93.6,387.5,-13.3,307,2818,0.00,2.28,0.00,0.000,4,0.000,0.060,2832,3477,2340,0,0,0,0,0,0
$GC,2853,-1.04,-93.6,392.9,-13.7,310,2857,0.05,2.17,0.00,0.000,6,0.238,0.041,2842,2059,2339,0,0,0,0,0,0
$GC,3180,-1.04,-93.6,433.9,-12.4,328,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2059,2339,0,0,0,0,0,0
$GC,3489,-1.04,-93.6,471.4,-12.5,343,3493,0.00,2.25,0.00,0.000,4,0.000,0.060,2833,3465,2339,0,0,0,0,0,0
$GC,3520,-1.04,-93.6,475.7,-12.8,344,3527,0.00,2.17,0.00,0.000,6,0.000,0.040,2833,2065,2339,0,0,0,0,0,0
$GC,3837,-1.04,-93.6,515.3,-12.6,360,3841,0.00,2.25,0.00,0.000,4,0.000,0.057,2824,3477,2338,0,0,0,0,0,0
$GC,3913,-1.04,-93.6,525.7,-13.8,363,3920,0.05,2.20,0.00,0.000,6,0.182,0.040,2839,2064,2339,0,0,0,0,0,0
$GC,4229,-1.04,-93.6,566.3,-12.9,379,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2063,2338,0,0,0,0,0,0
$GC,4539,-1.07,-93.6,607.3,-13.2,394,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2338,0,0,0,0,0,0
$GC,4849,-1.10,-93.6,647.4,-12.9,409,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2338,0,0,0,0,0,0
$GC,5158,-1.14,-93.6,686.8,-12.5,424,5160,0.08,0.00,0.00,0.000,6,0.129,0.000,2803,2063,2337,0,0,0,0,0,0
$GC,5467,-1.11,-93.6,726.9,-12.6,439,5469,0.10,0.00,0.00,0.000,6,0.202,0.000,2826,2064,2337,0,0,0,0,0,0
$GC,5776,-1.11,-93.6,761.7,-11.4,454,5780,0.00,2.25,0.00,0.000,4,0.000,0.059,2817,3472,2337,0,0,0,0,0,0
$GC,5815,-1.11,-93.6,766.3,-12.5,456,5819,0.00,2.17,0.00,0.000,6,0.000,0.042,2817,2054,2337,0,0,0,0,0,0
$GC,6140,-1.11,-93.6,805.2,-11.9,472,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2055,2336,0,0,0,0,0,0
$GC,6450,-1.11,-93.6,842.2,-11.8,487,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2054,2336,0,0,0,0,0,0
$GC,6759,-1.11,-93.6,879.0,-11.8,502,6763,0.00,2.20,0.00,0.000,4,0.000,0.056,2817,657,2336,0,0,0,0,0,0
$GC,6813,-1.07,-93.6,886.1,-12.3,504,6820,0.05,2.22,0.00,0.000,6,0.197,0.044,2823,2069,2336,0,0,0,0,0,0
$GC,7129,-1.07,-93.6,924.8,-12.6,520,7131,0.03,0.00,0.00,0.000,6,0.302,0.000,2833,2069,2336,0,0,0,0,0,0
$GC,7439,-1.11,-93.6,961.8,-11.9,535,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2069,2335,0,0,0,0,0,0
$GC,7748,-1.16,-93.6,998.4,-11.7,550,7750,0.05,0.00,0.00,0.000,6,0.169,0.000,2801,2070,2335,0,0,0,0,0,0
$STATE,7767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7767,begin apogee
$GC,7772,-0.19,0.0,1001.0,11.9,551,7861,1.05,0.00,86.07,1.293,6,0.174,0.000,3114,1600,1951,0,0,0,0,0,0
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7862,begin climb
$GC,7863,1.12,93.6,1004.8,0.0,555,7957,1.27,0.00,90.10,1.253,6,0.093,0.000,3534,1599,1568,0,0,0,0,0,0
$GC,8259,1.16,93.6,964.2,12.1,575,8264,0.08,2.30,0.00,0.000,4,0.122,0.050,3586,199,1559,0,0,0,0,0,0
$GC,8308,1.08,93.6,957.4,14.1,577,8314,0.15,2.28,0.00,0.000,6,0.163,0.034,3541,1610,1558,0,0,0,0,0,0
$GC,8629,1.08,93.6,917.0,12.8,593,8633,0.00,2.30,0.00,0.000,4,0.000,0.049,3550,196,1556,0,0,0,0,0,0
$GC,8655,1.08,93.6,913.4,13.6,594,8660,0.03,2.22,0.00,0.000,6,0.206,0.033,3541,1598,1556,0,0,0,0,0,0
$GC,8976,1.12,93.6,870.1,13.9,610,8980,0.00,2.28,0.00,0.000,4,0.000,0.049,3549,190,1556,0,0,0,0,0,0
$GC,9060,1.12,93.6,857.9,14.9,614,9065,0.00,2.20,0.00,0.000,6,0.000,0.034,3548,1597,1555,0,0,0,0,0,0
$GC,9387,1.12,93.6,813.6,13.5,630,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1598,1555,0,0,0,0,0,0
$GC,9696,1.12,93.6,774.2,12.4,645,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1598,1554,0,0,0,0,0,0
$GC,10005,1.12,93.6,736.2,12.0,660,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1598,1554,0,0,0,0,0,0
$GC,10315,1.12,93.6,700.4,11.3,675,10319,0.00,2.25,0.00,0.000,4,0.000,0.049,3556,190,1554,0,0,0,0,0,0
$GC,10346,1.12,93.6,696.4,11.8,676,10353,0.00,2.20,0.00,0.000,6,0.000,0.034,3555,1598,1553,0,0,0,0,0,0
$GC,10663,1.12,93.6,658.8,12.0,692,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1599,1553,0,0,0,0,0,0
$GC,10972,1.12,93.6,621.5,12.1,707,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1598,1553,0,0,0,0,0,0
$GC,11281,1.12,93.6,586.1,11.4,722,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1598,1553,0,0,0,0,0,0
$GC,11591,1.12,93.6,551.7,11.1,737,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1598,1553,0,0,0,0,0,0
$GC,11900,1.12,93.6,516.9,10.9,752,11904,0.00,2.22,0.00,0.000,4,0.000,0.047,3564,198,1552,0,0,0,0,0,0
$GC,11953,1.12,93.6,510.6,11.0,754,11961,0.05,2.20,0.00,0.000,6,0.184,0.034,3548,1613,1552,0,0,0,0,0,0
$GC,12270,1.15,93.6,478.3,10.3,770,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1614,1552,0,0,0,0,0,0
$GC,12580,1.18,93.6,445.4,10.9,785,12581,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1614,1552,0,0,0,0,0,0
$GC,12889,1.22,93.6,411.5,11.1,800,12891,0.08,0.00,0.00,0.000,6,0.131,0.000,3589,1614,1552,0,0,0,0,0,0
$GC,13207,1.18,93.6,372.8,12.3,825,13212,0.10,2.25,0.00,0.000,4,0.194,0.048,3576,186,1552,0,0,0,0,0,0
$GC,13330,1.13,93.6,357.3,12.2,835,13336,0.08,2.17,0.00,0.000,6,0.171,0.033,3553,1598,1552,0,0,0,0,0,0
$GC,13655,1.13,93.6,320.6,10.9,866,13659,0.00,2.22,0.00,0.000,4,0.000,0.049,3562,192,1552,0,0,0,0,0,0
$GC,13682,1.13,93.6,317.3,11.8,868,13686,0.00,2.15,0.00,0.000,6,0.000,0.034,3561,1599,1552,0,0,0,0,0,0
$GC,14007,1.13,93.6,277.2,12.5,898,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1599,1552,0,0,0,0,0,0
$GC,14326,1.13,93.6,239.9,10.9,928,14330,0.00,2.17,0.00,0.000,4,0.000,0.053,3561,2990,1551,0,0,0,0,0,0
$GC,14380,1.13,93.6,233.2,11.8,932,14389,0.05,2.12,0.00,0.000,6,0.201,0.033,3555,1595,1552,0,0,0,0,0,0
$GC,14705,1.13,93.6,195.8,11.5,963,14709,0.00,2.20,0.00,0.000,4,0.000,0.049,3555,2998,1551,0,0,0,0,0,0
$GC,14755,1.13,93.6,189.5,13.0,967,14759,0.00,2.12,0.00,0.000,6,0.000,0.033,3563,1594,1551,0,0,0,0,0,0
$GC,15082,1.13,93.6,148.6,12.4,997,15086,0.00,2.20,0.00,0.000,4,0.000,0.049,3574,189,1551,0,0,0,0,0,0
$GC,15246,1.09,93.6,128.4,10.8,1011,15250,0.15,2.12,0.00,0.000,6,0.191,0.033,3536,1603,1551,0,0,0,0,0,0
$GC,15572,1.16,93.6,99.1,11.0,1041,15579,0.05,0.00,0.00,0.000,6,0.174,0.000,3563,1604,1551,0,0,0,0,0,0
$GC,15924,1.16,93.6,56.1,11.2,1102,15929,0.00,2.20,0.00,0.000,4,0.000,0.048,3572,198,1551,0,0,0,0,0,0
$GC,15987,1.16,93.6,47.7,12.8,1113,15994,0.03,2.15,0.00,0.000,6,0.208,0.034,3563,1600,1551,0,0,0,0,0,0
$STATE,16348,end climb,SURFACE_DEPTH_REACHED
$STATE,16349,begin surface coast
$FINISH,2.6,1.023380
$STATE,16369,end surface coast,CONTROL_FINISHED_OK
$STATE,16369,begin surface
$SM_CCo,16386,48.28,0.057,0,0,1134,200.16
$SM_GC,2.54,0.00,0.00,48.28,0.000,0.000,0.057,68,2060,1134,-9.74,0.00,200.16
$IRIDIUM_FIX,-4447.43,622.10,080608,090953
$TT8_MAMPS,0.026964
$HUMID,61.61
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.5,14.847
$10V_AH,10.2,12.356
$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,25.375,94.375,176.175,48.275,0.000,20.876,25.066,310.369,0.000,0.000,30.817,2888.407,10562.512,348.103,2995.364,122.043,0.000,1364.224,0.000,2453.940,0.000,0.540,0.000
$DEVICE_MAMPS,302.175,73.440,1292.850,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.073,2137.895,830.430,434.232,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,80428,1176
$CAP_FILE_SIZE,142218,0
$CFSIZE,2097086464,2081390592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130815,051151,-4504.793,624.404,54,0.9,54,-24.4