version: 66.07.10.p01
glider: 573
mission: 12
dive: 8
start: 7 30 115 7 23 24
data:
$ID,573
$MISSION,12
$DIVE,8
$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,250
$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,-21032.881
$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,2063
$C_ROLL_CLIMB,1824
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,44
$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,1882
$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,7
$GPS1,300715,071634,-4500.318,630.324,29,0.9,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-67.6
$GPS2,300715,072304,-4500.336,630.371,15,1.6,15,-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,346.4,790,-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,-62.6,0.0,0.0,0,71,0.00,0.00,-44.38,0.000,2,0.000,0.000,77,2084,1826,0,0,0,0,0,0
$GC,72,-1.41,-121.1,3.0,-3.7,7,112,11.07,2.33,-17.50,0.000,4,0.261,0.067,2727,662,2377,0,0,0,0,0,0
$GC,362,-1.27,-121.1,68.5,-22.9,55,368,0.22,2.22,0.00,0.000,6,0.210,0.049,2773,2043,2380,0,0,0,0,0,0
$GC,703,-1.20,-121.1,136.9,-20.3,100,707,0.10,2.35,0.00,0.000,4,0.237,0.070,2784,3478,2380,0,0,0,0,0,0
$GC,768,-1.17,-121.1,149.7,-19.4,105,773,0.10,2.22,0.00,0.000,6,0.210,0.044,2806,2056,2380,0,0,0,0,0,0
$GC,1092,-1.17,-121.1,206.8,-17.9,135,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2056,2381,0,0,0,0,0,0
$GC,1413,-1.17,-121.1,263.1,-17.8,165,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2057,2381,0,0,0,0,0,0
$GC,1729,-1.17,-121.1,320.4,-18.2,195,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2056,2381,0,0,0,0,0,0
$GC,2050,-1.17,-121.1,376.5,-17.1,225,2054,0.00,2.30,0.00,0.000,4,0.000,0.070,2797,3480,2382,0,0,0,0,0,0
$GC,2081,-1.17,-121.1,382.8,-17.9,227,2087,0.00,2.22,0.00,0.000,6,0.000,0.042,2797,2058,2382,0,0,0,0,0,0
$GC,2410,-1.17,-121.1,438.9,-16.7,248,2414,0.00,2.20,0.00,0.000,4,0.000,0.055,2798,648,2382,0,0,0,0,0,0
$GC,2427,-1.14,-121.1,441.8,-16.6,249,2432,0.10,2.22,0.00,0.000,6,0.225,0.049,2810,2070,2382,0,0,0,0,0,0
$GC,2753,-1.14,-121.1,494.1,-16.0,265,2757,0.00,2.25,0.00,0.000,4,0.000,0.067,2800,3474,2382,0,0,0,0,0,0
$GC,2796,-1.14,-121.1,501.5,-16.1,267,2801,0.00,2.20,0.00,0.000,6,0.000,0.041,2800,2062,2382,0,0,0,0,0,0
$GC,3124,-1.14,-121.1,556.0,-16.6,283,3129,0.05,2.30,0.00,0.000,4,0.245,0.065,2800,3478,2381,0,0,0,0,0,0
$GC,3149,-1.14,-121.1,560.7,-17.1,284,3154,0.00,2.20,0.00,0.000,6,0.000,0.041,2801,2063,2381,0,0,0,0,0,0
$GC,3471,-1.14,-121.1,613.1,-16.8,300,3473,0.05,0.00,0.00,0.000,6,0.243,0.000,2810,2062,2381,0,0,0,0,0,0
$GC,3781,-1.14,-121.1,662.0,-15.9,315,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2062,2381,0,0,0,0,0,0
$GC,4090,-1.14,-121.1,711.7,-15.9,330,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2063,2381,0,0,0,0,0,0
$GC,4399,-1.14,-121.1,759.1,-14.6,345,4403,0.00,2.28,0.00,0.000,4,0.000,0.064,2801,3475,2381,0,0,0,0,0,0
$GC,4425,-1.14,-121.1,763.3,-15.4,346,4430,0.00,2.20,0.00,0.000,6,0.000,0.041,2801,2058,2381,0,0,0,0,0,0
$GC,4747,-1.14,-121.1,812.2,-15.2,362,4752,0.03,2.28,0.00,0.000,4,0.282,0.067,2800,3473,2381,0,0,0,0,0,0
$GC,4818,-1.14,-121.1,823.7,-15.8,365,4823,0.03,2.20,0.00,0.000,6,0.208,0.042,2807,2058,2381,0,0,0,0,0,0
$GC,5140,-1.14,-121.1,872.9,-15.3,381,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2058,2381,0,0,0,0,0,0
$GC,5449,-1.14,-121.1,918.9,-14.5,396,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2058,2380,0,0,0,0,0,0
$GC,5759,-1.16,-121.1,963.4,-14.1,411,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2059,2380,0,0,0,0,0,0
$STATE,6025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6025,begin apogee
$GC,6029,-0.23,0.0,1000.5,13.6,424,6147,1.00,0.00,111.45,1.306,6,0.176,0.000,3104,1810,1882,0,0,0,0,0,0
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6148,begin climb
$GC,6149,1.41,121.1,1004.1,0.0,430,6271,1.62,2.40,112.55,1.261,4,0.097,0.048,3639,421,1387,0,0,0,0,0,0
$GC,6354,1.30,121.1,976.1,19.0,439,6361,0.10,2.35,0.00,0.000,6,0.184,0.040,3610,1819,1381,0,0,0,0,0,0
$GC,6671,1.24,121.1,922.8,16.7,455,6676,0.10,2.28,0.00,0.000,4,0.216,0.047,3598,413,1379,0,0,0,0,0,0
$GC,6827,1.19,121.1,897.3,16.2,462,6832,0.10,2.30,0.00,0.000,6,0.205,0.041,3572,1836,1378,0,0,0,0,0,0
$GC,7148,1.19,121.1,850.7,14.7,478,7152,0.00,2.30,0.00,0.000,4,0.000,0.047,3580,413,1377,0,0,0,0,0,0
$GC,7345,1.15,121.1,820.9,15.2,487,7349,0.10,2.22,0.00,0.000,6,0.204,0.041,3558,1827,1376,0,0,0,0,0,0
$GC,7672,1.15,121.1,774.6,14.1,503,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1827,1377,0,0,0,0,0,0
$GC,7981,1.15,121.1,730.7,14.3,518,7985,0.00,2.22,0.00,0.000,4,0.000,0.048,3567,423,1377,0,0,0,0,0,0
$GC,8236,1.15,121.1,693.2,14.5,529,8243,0.00,2.22,0.00,0.000,6,0.000,0.040,3567,1818,1376,0,0,0,0,0,0
$GC,8553,1.15,121.1,648.2,14.7,545,8557,0.00,2.20,0.00,0.000,4,0.000,0.047,3576,423,1376,0,0,0,0,0,0
$GC,8683,1.13,121.1,628.5,15.6,551,8687,0.10,2.20,0.00,0.000,6,0.203,0.041,3551,1836,1376,0,0,0,0,0,0
$GC,9009,1.16,121.1,583.7,13.6,567,9013,0.00,2.25,0.00,0.000,4,0.000,0.047,3560,418,1376,0,0,0,0,0,0
$GC,9153,1.16,121.1,563.2,14.6,573,9160,0.00,2.22,0.00,0.000,6,0.000,0.040,3560,1817,1376,0,0,0,0,0,0
$GC,9469,1.16,121.1,520.9,13.3,589,9473,0.00,2.20,0.00,0.000,4,0.000,0.047,3569,414,1376,0,0,0,0,0,0
$GC,9523,1.16,121.1,513.0,14.3,591,9530,0.00,2.25,0.00,0.000,6,0.000,0.040,3568,1829,1376,0,0,0,0,0,0
$GC,9840,1.16,121.1,470.0,13.7,607,9844,0.00,2.22,0.00,0.000,4,0.000,0.047,3576,412,1376,0,0,0,0,0,0
$GC,10006,1.16,121.1,446.1,14.2,614,10013,0.05,2.22,0.00,0.000,6,0.183,0.038,3561,1828,1376,0,0,0,0,0,0
$GC,10323,1.16,121.1,405.4,13.0,630,10327,0.00,2.20,0.00,0.000,4,0.000,0.048,3570,421,1376,0,0,0,0,0,0
$GC,10477,1.16,121.1,385.5,12.9,641,10481,0.00,2.17,0.00,0.000,6,0.000,0.038,3568,1823,1376,0,0,0,0,0,0
$GC,10801,1.16,121.1,343.2,12.8,671,10805,0.00,2.20,0.00,0.000,4,0.000,0.046,3576,412,1375,0,0,0,0,0,0
$GC,10888,1.16,121.1,331.3,12.9,678,10896,0.05,2.22,0.00,0.000,6,0.184,0.040,3562,1820,1375,0,0,0,0,0,0
$GC,11216,1.16,121.1,292.2,12.0,709,11220,0.00,2.20,0.00,0.000,4,0.000,0.047,3570,422,1376,0,0,0,0,0,0
$GC,11406,1.16,121.1,267.8,13.3,725,11410,0.00,2.20,0.00,0.000,6,0.000,0.041,3570,1829,1375,0,0,0,0,0,0
$GC,11730,1.16,121.1,223.1,14.5,755,11734,0.00,2.22,0.00,0.000,4,0.000,0.048,3579,419,1375,0,0,0,0,0,0
$GC,11837,1.16,121.1,206.9,16.2,764,11841,0.08,2.17,0.00,0.000,6,0.209,0.039,3562,1832,1376,0,0,0,0,0,0
$GC,12166,1.18,121.1,161.5,13.5,795,12170,0.00,2.22,0.00,0.000,4,0.000,0.048,3571,416,1376,0,0,0,0,0,0
$GC,12220,1.18,121.1,153.7,14.0,799,12227,0.00,2.20,0.00,0.000,6,0.000,0.037,3571,1816,1375,0,0,0,0,0,0
$GC,12546,1.18,121.1,114.5,11.9,830,12550,0.00,2.20,0.00,0.000,4,0.000,0.047,3579,416,1376,0,0,0,0,0,0
$GC,12743,1.18,121.1,89.4,12.9,854,12749,0.05,2.20,0.00,0.000,6,0.237,0.041,3569,1835,1376,0,0,0,0,0,0
$GC,13091,1.18,121.1,48.1,12.7,915,13098,0.00,2.25,0.00,0.000,4,0.000,0.047,3578,419,1375,0,0,0,0,0,0
$GC,13248,1.18,121.1,27.5,13.3,941,13256,0.03,2.20,0.00,0.000,6,0.201,0.040,3570,1820,1376,0,0,0,0,0,0
$GC,13404,1.18,121.1,8.2,11.3,966,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1819,1376,0,0,0,0,0,0
$STATE,13447,end climb,SURFACE_DEPTH_REACHED
$STATE,13448,begin surface coast
$FINISH,1.2,1.012389
$STATE,13473,end surface coast,CONTROL_FINISHED_OK
$STATE,13474,begin surface
$SM_CCo,13489,61.05,0.057,0,0,859,250.20
$SM_GC,1.88,0.00,0.00,61.05,0.000,0.000,0.057,82,2093,859,-9.70,0.85,250.20
$IRIDIUM_FIX,-4441.36,618.39,250508,161657
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,6.910
$10V_AH,10.2,3.996
$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,24.150,103.650,224.000,61.050,0.000,26.941,20.630,238.524,0.000,0.000,17.785,2450.561,8273.346,383.028,2738.091,97.368,0.000,1375.154,0.000,2298.252,0.000,0.540,0.000
$DEVICE_MAMPS,281.520,69.615,1305.855,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.338,1797.912,728.376,404.511,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353816
$DATA_FILE_SIZE,67089,977
$CAP_FILE_SIZE,130070,0
$CFSIZE,2097086464,2091122688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,111027,-4458.639,630.256,38,1.0,39,-24.4