version: 66.07.10.p01
glider: 573
mission: 12
dive: 14
start: 7 31 115 7 1 24
data:
$ID,573
$MISSION,12
$DIVE,14
$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,220
$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,-21046.902
$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,2040
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,30
$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,13
$GPS1,310715,065327,-4500.446,629.432,72,1.0,73,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-63.5
$GPS2,310715,070104,-4500.410,629.532,41,0.9,41,-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,63.3,976,-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,-62.6,0.0,0.0,0,64,0.00,0.00,-38.35,0.000,2,0.000,0.000,70,2039,1800,0,0,0,0,0,0
$GC,66,-1.41,-120.4,3.1,-3.8,6,100,10.85,2.25,-16.95,0.000,4,0.252,0.066,2723,633,2373,0,0,0,0,0,0
$GC,364,-1.24,-120.4,75.6,-28.4,56,370,0.25,2.28,0.00,0.000,6,0.212,0.048,2776,2032,2376,0,0,0,0,0,0
$GC,704,-1.19,-120.4,143.0,-19.0,97,709,0.10,2.30,0.00,0.000,4,0.240,0.069,2786,3457,2376,0,0,0,0,0,0
$GC,905,-1.15,-120.4,180.6,-17.9,114,912,0.05,2.22,0.00,0.000,6,0.195,0.043,2805,2051,2376,0,0,0,0,0,0
$GC,1234,-1.15,-120.4,233.8,-16.4,145,1238,0.00,2.22,0.00,0.000,4,0.000,0.054,2805,631,2377,0,0,0,0,0,0
$GC,1273,-1.11,-120.4,240.9,-17.6,148,1278,0.12,2.25,0.00,0.000,6,0.207,0.046,2827,2051,2377,0,0,0,0,0,0
$GC,1597,-1.11,-120.4,292.4,-15.9,178,1601,0.00,2.25,0.00,0.000,4,0.000,0.065,2817,3456,2377,0,0,0,0,0,0
$GC,1658,-1.11,-120.4,302.4,-16.1,183,1662,0.00,2.20,0.00,0.000,6,0.000,0.043,2817,2037,2377,0,0,0,0,0,0
$GC,1984,-1.11,-120.4,354.4,-16.0,213,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2037,2377,0,0,0,0,0,0
$GC,2301,-1.11,-120.4,404.2,-15.4,242,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2037,2378,0,0,0,0,0,0
$GC,2610,-1.11,-120.4,453.0,-16.1,257,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2037,2377,0,0,0,0,0,0
$GC,2919,-1.11,-120.4,503.8,-16.1,272,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2037,2378,0,0,0,0,0,0
$GC,3228,-1.11,-120.4,554.8,-16.5,287,3232,0.00,2.30,0.00,0.000,4,0.000,0.067,2807,3456,2377,0,0,0,0,0,0
$GC,3250,-1.11,-120.4,558.6,-17.0,288,3255,0.08,2.20,0.00,0.000,6,0.208,0.044,2824,2034,2378,0,0,0,0,0,0
$GC,3571,-1.13,-120.4,610.1,-15.8,304,3575,0.00,2.28,0.00,0.000,4,0.000,0.065,2815,3449,2377,0,0,0,0,0,0
$GC,3642,-1.13,-120.4,622.2,-16.2,307,3647,0.00,2.20,0.00,0.000,6,0.000,0.044,2814,2044,2377,0,0,0,0,0,0
$GC,3964,-1.13,-120.4,674.5,-16.2,323,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2044,2377,0,0,0,0,0,0
$GC,4274,-1.13,-120.4,722.7,-15.3,338,4278,0.00,2.28,0.00,0.000,4,0.000,0.064,2806,3460,2376,0,0,0,0,0,0
$GC,4322,-1.13,-120.4,730.6,-14.9,340,4327,0.00,2.22,0.00,0.000,6,0.000,0.043,2806,2029,2377,0,0,0,0,0,0
$GC,4646,-1.13,-120.4,779.2,-14.7,356,4647,0.05,0.00,0.00,0.000,6,0.239,0.000,2814,2029,2377,0,0,0,0,0,0
$GC,4954,-1.15,-120.4,824.0,-14.2,371,4958,0.00,2.28,0.00,0.000,4,0.000,0.065,2806,3450,2376,0,0,0,0,0,0
$GC,4987,-1.15,-120.4,828.9,-14.2,372,4992,0.00,2.17,0.00,0.000,6,0.000,0.044,2806,2036,2376,0,0,0,0,0,0
$GC,5302,-1.15,-120.4,875.0,-14.8,388,5306,0.00,2.28,0.00,0.000,4,0.000,0.066,2797,3446,2376,0,0,0,0,0,0
$GC,5345,-1.15,-120.4,881.8,-15.1,390,5351,0.03,2.20,0.00,0.000,6,0.194,0.044,2806,2034,2376,0,0,0,0,0,0
$GC,5673,-1.15,-120.4,930.9,-14.9,406,5677,0.00,2.28,0.00,0.000,4,0.000,0.064,2797,3447,2376,0,0,0,0,0,0
$GC,5734,-1.15,-120.4,940.4,-15.2,409,5739,0.05,2.17,0.00,0.000,6,0.224,0.044,2807,2038,2375,0,0,0,0,0,0
$GC,6060,-1.15,-120.4,987.2,-14.1,425,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2037,2375,0,0,0,0,0,0
$STATE,6162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6162,begin apogee
$GC,6166,-0.23,0.0,1001.7,13.9,430,6283,1.00,0.00,110.05,1.305,6,0.177,0.000,3104,1776,1882,0,0,0,0,0,0
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6284,begin climb
$GC,6285,1.41,120.4,1005.7,0.0,436,6408,1.65,2.42,113.07,1.260,4,0.097,0.046,3642,391,1391,0,0,0,0,0,0
$GC,6485,1.30,120.4,979.1,17.5,445,6492,0.12,2.35,0.00,0.000,6,0.180,0.034,3607,1801,1386,0,0,0,0,0,0
$GC,6802,1.26,120.4,927.1,16.5,461,6807,0.08,2.30,0.00,0.000,4,0.235,0.047,3602,390,1384,0,0,0,0,0,0
$GC,6941,1.19,120.4,903.6,16.9,467,6945,0.10,2.25,0.00,0.000,6,0.177,0.036,3572,1784,1382,0,0,0,0,0,0
$GC,7262,1.19,120.4,856.1,14.8,483,7266,0.00,2.25,0.00,0.000,4,0.000,0.047,3580,383,1381,0,0,0,0,0,0
$GC,7333,1.16,120.4,844.9,16.0,486,7338,0.08,2.25,0.00,0.000,6,0.179,0.034,3558,1798,1381,0,0,0,0,0,0
$GC,7659,1.16,120.4,799.2,13.8,502,7663,0.00,2.25,0.00,0.000,4,0.000,0.047,3567,386,1381,0,0,0,0,0,0
$GC,7726,1.16,120.4,789.5,15.0,505,7731,0.00,2.20,0.00,0.000,6,0.000,0.035,3567,1787,1380,0,0,0,0,0,0
$GC,8053,1.16,120.4,743.4,14.3,521,8057,0.00,2.22,0.00,0.000,4,0.000,0.047,3576,382,1380,0,0,0,0,0,0
$GC,8101,1.13,120.4,736.1,15.0,523,8107,0.08,2.22,0.00,0.000,6,0.181,0.034,3553,1798,1380,0,0,0,0,0,0
$GC,8424,1.16,120.4,692.2,13.7,539,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1798,1380,0,0,0,0,0,0
$GC,8733,1.16,120.4,649.5,13.4,554,8737,0.00,2.25,0.00,0.000,4,0.000,0.047,3562,384,1380,0,0,0,0,0,0
$GC,8855,1.16,120.4,631.4,14.3,559,8862,0.00,2.20,0.00,0.000,6,0.000,0.034,3562,1782,1379,0,0,0,0,0,0
$GC,9171,1.16,120.4,586.1,14.4,575,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1782,1379,0,0,0,0,0,0
$GC,9481,1.16,120.4,543.7,13.9,590,9485,0.00,2.20,0.00,0.000,4,0.000,0.047,3570,384,1379,0,0,0,0,0,0
$GC,9613,1.16,120.4,523.5,14.7,596,9618,0.00,2.20,0.00,0.000,6,0.000,0.034,3570,1791,1379,0,0,0,0,0,0
$GC,9941,1.16,120.4,476.3,14.1,612,9945,0.00,2.20,0.00,0.000,4,0.000,0.046,3579,387,1379,0,0,0,0,0,0
$GC,9994,1.16,120.4,468.3,14.5,614,10002,0.05,2.20,0.00,0.000,6,0.181,0.034,3563,1799,1379,0,0,0,0,0,0
$GC,10311,1.16,120.4,426.9,12.9,630,10315,0.00,2.22,0.00,0.000,4,0.000,0.046,3572,388,1379,0,0,0,0,0,0
$GC,10426,1.16,120.4,410.5,14.7,635,10432,0.03,2.17,0.00,0.000,6,0.209,0.034,3563,1791,1380,0,0,0,0,0,0
$GC,10754,1.16,120.4,366.2,13.7,662,10758,0.00,2.22,0.00,0.000,4,0.000,0.046,3572,380,1379,0,0,0,0,0,0
$GC,10877,1.16,120.4,347.8,15.1,672,10886,0.03,2.20,0.00,0.000,6,0.209,0.035,3563,1791,1380,0,0,0,0,0,0
$GC,11202,1.16,120.4,304.6,13.1,703,11206,0.00,2.22,0.00,0.000,4,0.000,0.047,3572,381,1379,0,0,0,0,0,0
$GC,11332,1.16,120.4,286.9,13.7,714,11337,0.05,2.17,0.00,0.000,6,0.239,0.035,3562,1794,1379,0,0,0,0,0,0
$GC,11657,1.18,120.4,245.6,12.6,744,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1794,1379,0,0,0,0,0,0
$GC,11976,1.20,120.4,205.4,12.7,774,11980,0.00,2.22,0.00,0.000,4,0.000,0.046,3570,380,1379,0,0,0,0,0,0
$GC,12048,1.20,120.4,195.7,13.4,780,12053,0.00,2.17,0.00,0.000,6,0.000,0.035,3570,1793,1379,0,0,0,0,0,0
$GC,12373,1.20,120.4,153.1,12.1,810,12377,0.00,2.20,0.00,0.000,4,0.000,0.045,3579,380,1380,0,0,0,0,0,0
$GC,12434,1.20,120.4,144.9,13.9,815,12438,0.00,2.17,0.00,0.000,6,0.000,0.036,3579,1789,1379,0,0,0,0,0,0
$GC,12761,1.20,120.4,103.6,13.4,845,12765,0.00,2.17,0.00,0.000,4,0.000,0.060,3579,3185,1379,0,0,0,0,0,0
$GC,12926,1.17,120.4,78.1,17.6,871,12932,0.10,2.10,0.00,0.000,6,0.207,0.032,3565,1782,1379,0,0,0,0,0,0
$GC,13281,1.17,120.4,30.1,12.9,932,13288,0.00,2.17,0.00,0.000,4,0.000,0.049,3575,401,1379,0,0,0,0,0,0
$GC,13454,1.21,150.5,6.6,6.8,960,13475,0.00,2.15,14.43,0.599,6,0.000,0.033,3574,1788,1266,0,0,0,0,0,0
$STATE,13500,end climb,SURFACE_DEPTH_REACHED
$STATE,13500,begin surface coast
$FINISH,1.3,1.023379
$STATE,13544,end surface coast,CONTROL_FINISHED_OK
$STATE,13545,begin surface
$SM_CCo,13560,33.55,0.059,0,0,984,220.03
$SM_GC,1.77,0.00,0.00,33.55,0.000,0.000,0.059,76,2083,984,-9.71,1.24,220.03
$IRIDIUM_FIX,-4441.36,627.47,260508,161605
$TT8_MAMPS,0.026964
$HUMID,62.79
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.4,7.557
$10V_AH,10.2,4.616
$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,24.150,112.150,237.550,33.550,0.000,27.414,41.711,252.383,0.000,0.000,43.995,2445.203,8418.857,356.713,2730.731,100.151,0.000,1326.827,0.000,2227.121,0.000,0.539,0.000
$DEVICE_MAMPS,252.450,68.850,1305.090,58.905,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.593,1801.696,721.819,392.808,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353764
$DATA_FILE_SIZE,67026,974
$CAP_FILE_SIZE,130885,0
$CFSIZE,2097086464,2090336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310715,104956,-4459.966,632.105,82,1.2,85,-24.4