version: 66.07.10.p01
glider: 573
mission: 12
dive: 25
start: 8 2 115 2 15 48
data:
$ID,573
$MISSION,12
$DIVE,25
$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,-21073.547
$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,41
$R_STBD_OVSHOOT,52
$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,24
$GPS1,020815,020903,-4500.009,630.994,23,1.0,24,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.8
$GPS2,020815,021528,-4500.016,631.014,20,1.0,20,-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,295.6,1328,-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,-32.85,0.000,2,0.000,0.000,81,2068,1739,0,0,0,0,0,0
$GC,60,-1.41,-123.8,3.1,-3.4,5,106,10.90,2.30,-24.50,0.000,4,0.256,0.067,2725,649,2407,0,0,0,0,0,0
$GC,193,-1.24,-123.8,22.7,-22.5,26,201,0.22,2.20,0.00,0.000,6,0.201,0.042,2778,2017,2409,0,0,0,0,0,0
$GC,344,-1.16,-123.8,54.1,-20.6,51,351,0.12,0.00,0.00,0.000,6,0.229,0.000,2807,2017,2410,0,0,0,0,0,0
$GC,691,-1.12,-123.8,118.3,-18.4,104,696,0.05,2.33,0.00,0.000,4,0.259,0.065,2807,3448,2410,0,0,0,0,0,0
$GC,776,-1.09,-123.8,134.0,-18.5,111,780,0.10,2.17,0.00,0.000,6,0.196,0.041,2831,2046,2410,0,0,0,0,0,0
$GC,1102,-1.09,-123.8,187.7,-15.8,141,1106,0.00,2.28,0.00,0.000,4,0.000,0.063,2821,3454,2410,0,0,0,0,0,0
$GC,1157,-1.09,-123.8,197.2,-16.7,145,1162,0.00,2.17,0.00,0.000,6,0.000,0.041,2822,2038,2411,0,0,0,0,0,0
$GC,1481,-1.09,-123.8,250.0,-16.7,176,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2411,0,0,0,0,0,0
$GC,1800,-1.09,-123.8,299.8,-15.0,206,1804,0.00,2.17,0.00,0.000,4,0.000,0.051,2822,634,2411,0,0,0,0,0,0
$GC,1821,-1.09,-123.8,303.5,-16.6,207,1828,0.05,2.22,0.00,0.000,6,0.195,0.042,2828,2039,2412,0,0,0,0,0,0
$GC,2146,-1.09,-123.8,353.2,-15.7,238,2150,0.00,2.25,0.00,0.000,4,0.000,0.063,2816,3450,2412,0,0,0,0,0,0
$GC,2168,-1.09,-123.8,356.7,-15.6,239,2174,0.05,2.15,0.00,0.000,6,0.220,0.041,2827,2040,2412,0,0,0,0,0,0
$GC,2502,-1.09,-123.8,408.0,-15.7,269,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2040,2412,0,0,0,0,0,0
$GC,2811,-1.09,-123.8,454.9,-14.9,284,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2040,2412,0,0,0,0,0,0
$GC,3120,-1.09,-123.8,500.6,-15.2,299,3124,0.00,2.20,0.00,0.000,4,0.000,0.051,2828,627,2412,0,0,0,0,0,0
$GC,3146,-1.09,-123.8,505.0,-15.6,300,3151,0.00,2.22,0.00,0.000,6,0.000,0.041,2818,2043,2412,0,0,0,0,0,0
$GC,3468,-1.09,-123.8,552.0,-14.8,316,3472,0.00,2.22,0.00,0.000,4,0.000,0.064,2808,3444,2412,0,0,0,0,0,0
$GC,3511,-1.09,-123.8,558.7,-14.9,318,3517,0.05,2.17,0.00,0.000,6,0.174,0.040,2825,2039,2412,0,0,0,0,0,0
$GC,3839,-1.09,-123.8,604.4,-14.0,334,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2039,2411,0,0,0,0,0,0
$GC,4148,-1.09,-123.8,648.4,-14.1,349,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2039,2411,0,0,0,0,0,0
$GC,4458,-1.11,-123.8,693.2,-14.5,364,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2039,2411,0,0,0,0,0,0
$GC,4767,-1.14,-123.8,738.5,-14.7,379,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2039,2411,0,0,0,0,0,0
$GC,5077,-1.17,-123.8,782.8,-14.1,394,5081,0.00,2.25,0.00,0.000,4,0.000,0.061,2815,3445,2410,0,0,0,0,0,0
$GC,5116,-1.17,-123.8,788.3,-14.3,396,5120,0.00,2.15,0.00,0.000,6,0.000,0.041,2815,2039,2411,0,0,0,0,0,0
$GC,5442,-1.17,-123.8,834.4,-14.4,412,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2040,2410,0,0,0,0,0,0
$GC,5751,-1.17,-123.8,877.4,-13.8,427,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2039,2410,0,0,0,0,0,0
$GC,6061,-1.19,-123.8,919.4,-13.5,442,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2039,2410,0,0,0,0,0,0
$GC,6370,-1.21,-123.8,961.0,-14.0,457,6372,0.08,0.00,0.00,0.000,6,0.129,0.000,2778,2039,2409,0,0,0,0,0,0
$STATE,6637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6637,begin apogee
$GC,6641,-0.23,0.0,1001.2,15.0,470,6759,1.10,0.00,113.65,1.304,6,0.179,0.000,3102,1744,1900,0,0,0,0,0,0
$STATE,6759,end apogee,CONTROL_FINISHED_OK
$STATE,6760,begin climb
$GC,6761,1.41,123.8,1005.8,0.0,476,6883,1.67,0.00,117.88,1.259,6,0.097,0.000,3636,1744,1394,0,0,0,0,0,0
$GC,7188,1.34,123.8,935.9,19.0,497,7193,0.08,2.28,0.00,0.000,4,0.216,0.047,3631,349,1386,0,0,0,0,0,0
$GC,7372,1.26,123.8,900.5,19.2,505,7377,0.12,2.28,0.00,0.000,6,0.177,0.035,3595,1759,1384,0,0,0,0,0,0
$GC,7693,1.23,123.8,849.1,15.6,521,7697,0.00,2.28,0.00,0.000,4,0.000,0.046,3604,351,1384,0,0,0,0,0,0
$GC,7786,1.18,123.8,833.8,15.9,525,7792,0.10,2.22,0.00,0.000,6,0.181,0.034,3572,1753,1383,0,0,0,0,0,0
$GC,8109,1.18,123.8,789.1,14.1,541,8113,0.00,2.25,0.00,0.000,4,0.000,0.046,3581,349,1383,0,0,0,0,0,0
$GC,8175,1.16,123.8,779.4,14.9,544,8180,0.08,2.22,0.00,0.000,6,0.177,0.034,3559,1757,1382,0,0,0,0,0,0
$GC,8502,1.18,123.8,735.9,13.6,560,8506,0.00,2.25,0.00,0.000,4,0.000,0.046,3568,349,1382,0,0,0,0,0,0
$GC,8550,1.18,123.8,728.5,14.7,562,8555,0.00,2.20,0.00,0.000,6,0.000,0.034,3567,1744,1381,0,0,0,0,0,0
$GC,8872,1.18,123.8,681.4,14.5,578,8876,0.00,2.22,0.00,0.000,4,0.000,0.046,3576,348,1382,0,0,0,0,0,0
$GC,8925,1.18,123.8,673.1,14.8,580,8932,0.00,2.20,0.00,0.000,6,0.000,0.033,3576,1749,1382,0,0,0,0,0,0
$GC,9242,1.18,123.8,625.1,15.3,596,9246,0.00,2.22,0.00,0.000,4,0.000,0.045,3585,349,1382,0,0,0,0,0,0
$GC,9335,1.15,123.8,609.4,16.4,600,9341,0.08,2.20,0.00,0.000,6,0.174,0.034,3562,1756,1382,0,0,0,0,0,0
$GC,9657,1.17,123.8,562.5,14.2,616,9661,0.00,2.22,0.00,0.000,4,0.000,0.045,3571,350,1382,0,0,0,0,0,0
$GC,9700,1.17,123.8,555.7,15.8,618,9705,0.00,2.17,0.00,0.000,6,0.000,0.034,3571,1743,1382,0,0,0,0,0,0
$GC,10028,1.17,123.8,506.5,15.1,634,10032,0.00,2.22,0.00,0.000,4,0.000,0.046,3580,339,1382,0,0,0,0,0,0
$GC,10104,1.17,123.8,494.0,16.1,637,10111,0.03,2.22,0.00,0.000,6,0.210,0.034,3571,1762,1381,0,0,0,0,0,0
$GC,10421,1.17,123.8,447.7,14.4,653,10425,0.00,2.25,0.00,0.000,4,0.000,0.047,3580,339,1381,0,0,0,0,0,0
$GC,10508,1.17,123.8,434.5,14.6,657,10514,0.05,2.20,0.00,0.000,6,0.184,0.032,3565,1758,1381,0,0,0,0,0,0
$GC,10827,1.19,123.8,391.2,13.7,675,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1758,1381,0,0,0,0,0,0
$GC,11148,1.22,123.8,348.6,13.5,705,11152,0.00,2.22,0.00,0.000,4,0.000,0.046,3574,346,1381,0,0,0,0,0,0
$GC,11282,1.22,123.8,329.2,14.4,716,11290,0.00,2.17,0.00,0.000,6,0.000,0.032,3574,1749,1381,0,0,0,0,0,0
$GC,11607,1.22,123.8,285.3,14.0,747,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1749,1381,0,0,0,0,0,0
$GC,11928,1.22,123.8,241.9,13.5,777,11932,0.00,2.20,0.00,0.000,4,0.000,0.045,3582,348,1381,0,0,0,0,0,0
$GC,11990,1.22,123.8,232.6,14.7,782,11994,0.00,2.15,0.00,0.000,6,0.000,0.034,3582,1752,1381,0,0,0,0,0,0
$GC,12314,1.22,123.8,186.3,13.9,812,12318,0.00,2.22,0.00,0.000,4,0.000,0.045,3592,338,1381,0,0,0,0,0,0
$GC,12391,1.20,123.8,174.8,13.7,818,12398,0.05,2.20,0.00,0.000,6,0.189,0.034,3575,1757,1381,0,0,0,0,0,0
$GC,12719,1.20,123.8,131.6,11.9,849,12723,0.00,2.20,0.00,0.000,4,0.000,0.045,3584,342,1381,0,0,0,0,0,0
$GC,12977,1.20,123.8,98.2,13.1,872,12983,0.05,2.15,0.00,0.000,6,0.240,0.032,3574,1764,1381,0,0,0,0,0,0
$GC,13325,1.22,123.8,53.7,12.8,933,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1764,1381,0,0,0,0,0,0
$GC,13691,1.22,123.8,4.5,13.4,994,13698,0.00,2.25,0.00,0.000,4,0.000,0.047,3583,346,1381,0,0,0,0,0,0
$STATE,13705,end climb,SURFACE_DEPTH_REACHED
$STATE,13705,begin surface coast
$FINISH,1.3,1.021837
$STATE,13731,end surface coast,CONTROL_FINISHED_OK
$STATE,13731,begin surface
$SM_CCo,13749,37.40,0.058,0,0,1062,205.07
$SM_GC,2.30,0.00,0.00,37.40,0.000,0.000,0.058,85,2054,1062,-9.69,0.45,205.07
$IRIDIUM_FIX,-4444.39,630.84,280508,111112
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,1
$24V_AH,23.4,8.685
$10V_AH,10.2,5.731
$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,24.100,98.425,231.525,37.400,0.000,24.263,24.272,230.623,0.250,0.000,22.710,2483.797,8570.157,386.052,2639.047,94.581,0.000,1317.534,0.000,2201.944,0.000,0.540,0.000
$DEVICE_MAMPS,258.570,67.320,1304.325,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.620,1836.086,744.854,410.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353744
$DATA_FILE_SIZE,70406,1000
$CAP_FILE_SIZE,128084,0
$CFSIZE,2097086464,2088894464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020815,060633,-4459.903,629.177,24,1.2,25,-24.4