version: 66.07.10.p01
glider: 573
mission: 12
dive: 18
start: 7 31 115 22 44 42
data:
$ID,573
$MISSION,12
$DIVE,18
$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,205
$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,-21056.217
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,41
$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,1900
$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,17
$GPS1,310715,223803,-4500.700,630.820,25,1.2,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-67.6
$GPS2,310715,224422,-4500.693,630.865,15,1.1,15,-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,343.0,1712,-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,23,-1.34,-62.6,0.0,0.0,0,58,0.00,0.00,-32.78,0.000,2,0.000,0.000,79,2047,1756,0,0,0,0,0,0
$GC,60,-1.41,-117.4,3.1,-4.1,5,99,10.90,2.28,-22.00,0.000,4,0.256,0.067,2728,631,2380,0,0,0,0,0,0
$GC,199,-1.26,-117.4,24.9,-22.2,27,207,0.17,2.28,0.00,0.000,6,0.200,0.047,2767,2032,2382,0,0,0,0,0,0
$GC,351,-1.17,-117.4,58.2,-21.3,52,356,0.15,0.00,0.00,0.000,6,0.226,0.000,2802,2032,2382,0,0,0,0,0,0
$GC,692,-1.13,-117.4,124.5,-18.7,101,696,0.08,2.28,0.00,0.000,4,0.239,0.065,2807,3447,2383,0,0,0,0,0,0
$GC,869,-1.13,-117.4,155.5,-16.3,116,878,0.00,2.22,0.00,0.000,6,0.000,0.044,2807,2039,2384,0,0,0,0,0,0
$GC,1195,-1.13,-117.4,207.0,-16.0,147,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2040,2384,0,0,0,0,0,0
$GC,1517,-1.13,-117.4,259.4,-16.8,177,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2040,2384,0,0,0,0,0,0
$GC,1833,-1.13,-117.4,312.5,-16.6,207,1837,0.00,2.20,0.00,0.000,4,0.000,0.051,2807,633,2384,0,0,0,0,0,0
$GC,1849,-1.11,-117.4,315.3,-16.7,208,1854,0.10,2.22,0.00,0.000,6,0.220,0.043,2821,2057,2384,0,0,0,0,0,0
$GC,2173,-1.11,-117.4,367.4,-16.0,238,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2057,2384,0,0,0,0,0,0
$GC,2489,-1.11,-117.4,417.3,-15.5,263,2493,0.00,2.20,0.00,0.000,4,0.000,0.064,2811,3450,2385,0,0,0,0,0,0
$GC,2550,-1.11,-117.4,427.4,-17.0,266,2555,0.05,2.15,0.00,0.000,6,0.225,0.044,2821,2041,2385,0,0,0,0,0,0
$GC,2876,-1.11,-117.4,478.0,-15.8,282,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2041,2384,0,0,0,0,0,0
$GC,3185,-1.11,-117.4,526.3,-15.6,297,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2041,2384,0,0,0,0,0,0
$GC,3495,-1.11,-117.4,575.5,-15.7,312,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2041,2384,0,0,0,0,0,0
$GC,3804,-1.11,-117.4,623.2,-15.2,327,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2041,2384,0,0,0,0,0,0
$GC,4113,-1.11,-117.4,666.9,-13.9,342,4117,0.00,2.25,0.00,0.000,4,0.000,0.062,2812,3445,2383,0,0,0,0,0,0
$GC,4156,-1.11,-117.4,673.4,-14.3,344,4162,0.03,2.17,0.00,0.000,6,0.198,0.042,2820,2047,2383,0,0,0,0,0,0
$GC,4484,-1.13,-117.4,718.1,-13.5,360,4488,0.00,2.22,0.00,0.000,4,0.000,0.061,2811,3451,2383,0,0,0,0,0,0
$GC,4532,-1.13,-117.4,725.1,-14.1,362,4537,0.00,2.20,0.00,0.000,6,0.000,0.041,2811,2035,2383,0,0,0,0,0,0
$GC,4854,-1.13,-117.4,768.8,-13.4,378,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2034,2383,0,0,0,0,0,0
$GC,5163,-1.13,-117.4,810.4,-13.3,393,5167,0.00,2.25,0.00,0.000,4,0.000,0.063,2802,3449,2383,0,0,0,0,0,0
$GC,5195,-1.13,-117.4,815.2,-14.9,394,5202,0.05,2.20,0.00,0.000,6,0.187,0.042,2817,2033,2382,0,0,0,0,0,0
$GC,5512,-1.15,-117.4,856.3,-12.8,410,5516,0.00,2.22,0.00,0.000,4,0.000,0.063,2809,3444,2382,0,0,0,0,0,0
$GC,5560,-1.15,-117.4,863.2,-13.7,412,5565,0.00,2.20,0.00,0.000,6,0.000,0.042,2808,2028,2382,0,0,0,0,0,0
$GC,5883,-1.15,-117.4,906.4,-13.4,428,5887,0.00,2.28,0.00,0.000,4,0.000,0.061,2799,3451,2382,0,0,0,0,0,0
$GC,6012,-1.15,-117.4,924.5,-14.1,434,6017,0.05,2.15,0.00,0.000,6,0.230,0.044,2809,2037,2382,0,0,0,0,0,0
$GC,6338,-1.15,-117.4,968.8,-13.5,450,6342,0.00,2.25,0.00,0.000,4,0.000,0.062,2800,3443,2382,0,0,0,0,0,0
$GC,6437,-1.15,-117.4,983.5,-14.5,454,6444,0.00,2.17,0.00,0.000,6,0.000,0.041,2800,2036,2382,0,0,0,0,0,0
$STATE,6567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6567,begin apogee
$GC,6571,-0.23,0.0,1002.1,14.4,461,6683,1.02,0.00,108.15,1.307,6,0.175,0.000,3105,1739,1900,0,0,0,0,0,0
$STATE,6684,end apogee,CONTROL_FINISHED_OK
$STATE,6684,begin climb
$GC,6685,1.41,117.4,1006.2,0.0,466,6807,1.62,2.42,110.62,1.259,4,0.096,0.045,3641,348,1420,0,0,0,0,0,0
$GC,6920,1.30,117.4,973.6,18.5,477,6925,0.15,2.28,0.00,0.000,6,0.190,0.034,3605,1758,1414,0,0,0,0,0,0
$GC,7247,1.25,117.4,918.2,16.9,493,7249,0.08,0.00,0.00,0.000,6,0.226,0.000,3591,1758,1412,0,0,0,0,0,0
$GC,7556,1.22,117.4,868.1,16.3,508,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1758,1410,0,0,0,0,0,0
$GC,7865,1.20,117.4,819.4,15.4,523,7870,0.08,2.25,0.00,0.000,4,0.220,0.046,3584,340,1410,0,0,0,0,0,0
$GC,7987,1.16,117.4,800.0,15.4,528,7994,0.08,2.22,0.00,0.000,6,0.181,0.035,3561,1744,1409,0,0,0,0,0,0
$GC,8303,1.16,117.4,755.7,14.2,544,8307,0.00,2.22,0.00,0.000,4,0.000,0.047,3570,341,1408,0,0,0,0,0,0
$GC,8413,1.16,117.4,739.2,14.9,549,8418,0.00,2.22,0.00,0.000,6,0.000,0.034,3570,1749,1408,0,0,0,0,0,0
$GC,8740,1.16,117.4,692.8,14.3,565,8744,0.00,2.22,0.00,0.000,4,0.000,0.046,3578,341,1408,0,0,0,0,0,0
$GC,8870,1.14,117.4,673.9,15.1,571,8875,0.10,2.20,0.00,0.000,6,0.198,0.034,3555,1759,1407,0,0,0,0,0,0
$GC,9196,1.14,117.4,630.7,13.3,587,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1759,1407,0,0,0,0,0,0
$GC,9506,1.16,117.4,589.0,13.8,602,9510,0.00,2.25,0.00,0.000,4,0.000,0.047,3563,342,1408,0,0,0,0,0,0
$GC,9672,1.16,117.4,564.0,15.7,609,9679,0.00,2.20,0.00,0.000,6,0.000,0.032,3564,1748,1408,0,0,0,0,0,0
$GC,9989,1.16,117.4,516.9,15.0,625,9993,0.00,2.20,0.00,0.000,4,0.000,0.046,3573,345,1407,0,0,0,0,0,0
$GC,10111,1.16,117.4,497.5,15.7,630,10117,0.03,2.20,0.00,0.000,6,0.207,0.034,3564,1751,1407,0,0,0,0,0,0
$GC,10427,1.16,117.4,450.8,14.5,646,10431,0.00,2.20,0.00,0.000,4,0.000,0.046,3573,344,1407,0,0,0,0,0,0
$GC,10579,1.16,117.4,427.7,15.0,653,10583,0.00,2.17,0.00,0.000,6,0.000,0.034,3571,1754,1407,0,0,0,0,0,0
$GC,10898,1.16,117.4,382.6,13.7,674,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1755,1407,0,0,0,0,0,0
$GC,11216,1.16,117.4,340.8,13.0,704,11220,0.00,2.20,0.00,0.000,4,0.000,0.045,3579,344,1407,0,0,0,0,0,0
$GC,11371,1.16,117.4,319.7,13.9,717,11376,0.08,2.15,0.00,0.000,6,0.210,0.033,3563,1760,1407,0,0,0,0,0,0
$GC,11695,1.16,117.4,279.1,12.2,747,11699,0.00,2.20,0.00,0.000,4,0.000,0.047,3572,350,1407,0,0,0,0,0,0
$GC,11840,1.16,117.4,260.0,12.9,759,11847,0.03,2.17,0.00,0.000,6,0.203,0.033,3564,1757,1407,0,0,0,0,0,0
$GC,12166,1.16,117.4,218.3,13.1,790,12170,0.00,2.20,0.00,0.000,4,0.000,0.046,3573,343,1407,0,0,0,0,0,0
$GC,12216,1.16,117.4,211.4,13.3,794,12221,0.05,2.12,0.00,0.000,6,0.235,0.032,3563,1752,1407,0,0,0,0,0,0
$GC,12541,1.18,117.4,170.9,11.8,824,12545,0.00,2.20,0.00,0.000,4,0.000,0.046,3571,339,1407,0,0,0,0,0,0
$GC,12649,1.18,117.4,157.2,13.4,833,12653,0.00,2.15,0.00,0.000,6,0.000,0.034,3571,1755,1407,0,0,0,0,0,0
$GC,12973,1.18,117.4,117.8,11.8,863,12977,0.00,2.17,0.00,0.000,4,0.000,0.055,3571,3147,1407,0,0,0,0,0,0
$GC,13094,1.18,117.4,102.5,13.9,873,13098,0.05,2.08,0.00,0.000,6,0.256,0.031,3570,1745,1407,0,0,0,0,0,0
$GC,13441,1.18,117.4,59.3,12.8,931,13446,0.00,2.15,0.00,0.000,4,0.000,0.047,3580,346,1407,0,0,0,0,0,0
$GC,13579,1.18,117.4,41.7,12.7,955,13584,0.05,2.12,0.00,0.000,6,0.238,0.034,3570,1753,1407,0,0,0,0,0,0
$STATE,13876,end climb,SURFACE_DEPTH_REACHED
$STATE,13876,begin surface coast
$FINISH,1.3,1.014026
$STATE,13902,end surface coast,CONTROL_FINISHED_OK
$STATE,13902,begin surface
$SM_CCo,13918,40.45,0.057,0,0,1062,205.07
$SM_GC,2.56,0.00,0.00,40.45,0.000,0.000,0.057,79,2056,1062,-9.71,0.48,205.07
$IRIDIUM_FIX,-4444.39,630.84,270508,080849
$TT8_MAMPS,0.027713
$HUMID,62.08
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,7.964
$10V_AH,10.2,5.027
$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,24.100,102.425,218.775,40.450,0.000,24.639,21.896,230.409,0.000,0.000,18.050,2528.677,8568.638,350.473,2787.557,104.444,0.000,1351.799,0.000,2350.906,0.000,0.540,0.000
$DEVICE_MAMPS,256.275,67.320,1306.620,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.580,1855.333,751.460,410.384,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353740
$DATA_FILE_SIZE,70561,1008
$CAP_FILE_SIZE,133084,0
$CFSIZE,2097086464,2089779200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010815,023833,-4459.274,630.142,38,1.6,38,-24.4