version: 66.07.10.p01
glider: 573
mission: 12
dive: 29
start: 8 2 115 18 14 54
data:
$ID,573
$MISSION,12
$DIVE,29
$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,-21083.088
$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,39
$R_STBD_OVSHOOT,42
$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,28
$GPS1,020815,180802,-4459.984,629.446,37,1.3,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-72.3
$GPS2,020815,181434,-4500.026,629.445,15,1.1,15,-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,110.6,728,-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,-62.6,0.0,0.0,0,58,0.00,0.00,-32.30,0.000,2,0.000,0.000,80,2060,1736,0,0,0,0,0,0
$GC,60,-1.40,-113.2,3.3,-4.6,5,105,11.05,2.25,-25.65,0.000,4,0.261,0.070,2720,3434,2363,0,0,0,0,0,0
$GC,126,-1.23,-113.5,6.4,-9.9,15,134,0.22,2.22,0.00,0.000,6,0.202,0.042,2781,2037,2365,0,0,0,0,0,0
$GC,185,-1.15,-113.5,16.5,-16.5,24,193,0.12,2.28,0.00,0.000,4,0.213,0.054,2811,633,2365,0,0,0,0,0,0
$GC,232,-1.09,-113.5,24.9,-18.3,31,240,0.10,2.25,0.00,0.000,6,0.190,0.043,2832,2029,2366,0,0,0,0,0,0
$GC,383,-1.09,-113.5,50.6,-16.8,56,388,0.00,2.28,0.00,0.000,4,0.000,0.062,2821,3455,2366,0,0,0,0,0,0
$GC,416,-1.09,-113.5,56.4,-16.6,62,422,0.00,2.22,0.00,0.000,6,0.000,0.041,2821,2026,2366,0,0,0,0,0,0
$GC,757,-1.09,-113.5,113.0,-16.7,116,761,0.00,2.20,0.00,0.000,4,0.000,0.054,2822,638,2367,0,0,0,0,0,0
$GC,800,-1.05,-113.5,120.9,-18.1,119,807,0.08,2.25,0.00,0.000,6,0.196,0.042,2836,2047,2366,0,0,0,0,0,0
$GC,1125,-1.05,-113.5,174.7,-14.9,150,1129,0.00,2.22,0.00,0.000,4,0.000,0.061,2825,3452,2367,0,0,0,0,0,0
$GC,1212,-1.05,-113.5,187.5,-15.7,157,1217,0.08,2.20,0.00,0.000,6,0.213,0.042,2841,2034,2367,0,0,0,0,0,0
$GC,1537,-1.07,-113.5,234.9,-15.0,187,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2034,2367,0,0,0,0,0,0
$GC,1858,-1.09,-113.5,279.8,-13.8,217,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2034,2367,0,0,0,0,0,0
$GC,2174,-1.11,-113.5,322.7,-13.4,247,2178,0.00,2.28,0.00,0.000,4,0.000,0.063,2831,3449,2368,0,0,0,0,0,0
$GC,2216,-1.11,-113.5,329.0,-13.7,250,2223,0.00,2.20,0.00,0.000,6,0.000,0.041,2831,2037,2368,0,0,0,0,0,0
$GC,2544,-1.11,-113.5,375.8,-14.0,281,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2037,2368,0,0,0,0,0,0
$GC,2867,-1.11,-113.5,421.6,-14.1,305,2871,0.00,2.28,0.00,0.000,4,0.000,0.062,2822,3461,2368,0,0,0,0,0,0
$GC,2928,-1.11,-113.5,430.1,-13.9,308,2932,0.00,2.20,0.00,0.000,6,0.000,0.042,2822,2031,2368,0,0,0,0,0,0
$GC,3253,-1.11,-113.5,476.0,-14.0,324,3257,0.00,2.28,0.00,0.000,4,0.000,0.062,2813,3450,2368,0,0,0,0,0,0
$GC,3324,-1.11,-113.5,486.8,-14.6,327,3330,0.00,2.20,0.00,0.000,6,0.000,0.042,2813,2038,2368,0,0,0,0,0,0
$GC,3646,-1.11,-113.5,534.2,-14.3,343,3650,0.00,2.28,0.00,0.000,4,0.000,0.062,2805,3462,2368,0,0,0,0,0,0
$GC,3712,-1.11,-113.5,544.5,-15.8,346,3717,0.05,2.20,0.00,0.000,6,0.183,0.042,2820,2046,2368,0,0,0,0,0,0
$GC,4039,-1.11,-113.5,592.3,-14.4,362,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2046,2368,0,0,0,0,0,0
$GC,4349,-1.11,-113.5,636.4,-14.0,377,4353,0.00,2.25,0.00,0.000,4,0.000,0.061,2811,3457,2368,0,0,0,0,0,0
$GC,4459,-1.11,-113.5,653.1,-15.2,382,4464,0.00,2.20,0.00,0.000,6,0.000,0.041,2811,2037,2367,0,0,0,0,0,0
$GC,4786,-1.11,-113.5,700.0,-14.1,398,4790,0.00,2.25,0.00,0.000,4,0.000,0.060,2802,3449,2367,0,0,0,0,0,0
$GC,4862,-1.11,-113.5,711.6,-14.5,401,4869,0.05,2.20,0.00,0.000,6,0.186,0.042,2818,2036,2367,0,0,0,0,0,0
$GC,5179,-1.11,-113.5,755.6,-14.1,417,5183,0.00,2.28,0.00,0.000,4,0.000,0.063,2809,3454,2366,0,0,0,0,0,0
$GC,5244,-1.11,-113.5,765.5,-15.0,420,5249,0.00,2.20,0.00,0.000,6,0.000,0.041,2809,2041,2366,0,0,0,0,0,0
$GC,5572,-1.11,-113.5,810.8,-13.5,436,5573,0.05,0.00,0.00,0.000,6,0.242,0.000,2818,2041,2366,0,0,0,0,0,0
$GC,5881,-1.11,-113.5,851.9,-13.0,451,5885,0.00,2.17,0.00,0.000,4,0.000,0.054,2821,634,2366,0,0,0,0,0,0
$GC,5923,-1.11,-113.5,857.8,-13.4,453,5928,0.00,2.22,0.00,0.000,6,0.000,0.041,2813,2049,2366,0,0,0,0,0,0
$GC,6251,-1.11,-113.5,899.8,-12.7,469,6255,0.00,2.20,0.00,0.000,4,0.000,0.061,2802,3444,2365,0,0,0,0,0,0
$GC,6290,-1.11,-113.5,904.9,-13.5,471,6295,0.10,2.15,0.00,0.000,6,0.203,0.042,2825,2038,2365,0,0,0,0,0,0
$GC,6617,-1.14,-113.5,944.9,-12.2,487,6621,0.00,2.25,0.00,0.000,4,0.000,0.061,2815,3445,2365,0,0,0,0,0,0
$GC,6671,-1.14,-113.5,952.3,-13.3,489,6677,0.00,2.17,0.00,0.000,6,0.000,0.041,2816,2042,2365,0,0,0,0,0,0
$GC,6987,-1.14,-113.5,991.1,-12.1,505,6991,0.00,2.22,0.00,0.000,4,0.000,0.060,2807,3445,2365,0,0,0,0,0,0
$GC,7052,-1.14,-113.5,999.4,-12.7,508,7057,0.00,2.20,0.00,0.000,6,0.000,0.041,2807,2028,2365,0,0,0,0,0,0
$STATE,7061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7061,begin apogee
$GC,7065,-0.23,0.0,1000.8,12.6,508,7173,0.95,0.00,104.30,1.302,6,0.174,0.000,3095,1748,1899,0,0,0,0,0,0
$STATE,7174,end apogee,CONTROL_FINISHED_OK
$STATE,7174,begin climb
$GC,7175,1.40,113.5,1004.0,0.0,514,7293,1.67,2.40,107.55,1.255,4,0.100,0.047,3638,351,1437,0,0,0,0,0,0
$GC,7348,1.30,113.5,980.3,18.9,522,7353,0.10,2.35,0.00,0.000,6,0.178,0.034,3610,1759,1431,0,0,0,0,0,0
$GC,7669,1.25,113.5,924.0,17.3,538,7671,0.10,0.00,0.00,0.000,6,0.214,0.000,3588,1759,1428,0,0,0,0,0,0
$GC,7978,1.22,113.5,874.3,15.8,553,7982,0.00,2.30,0.00,0.000,4,0.000,0.046,3598,339,1426,0,0,0,0,0,0
$GC,8095,1.17,113.5,854.8,16.1,558,8100,0.10,2.25,0.00,0.000,6,0.176,0.033,3567,1753,1426,0,0,0,0,0,0
$GC,8416,1.17,113.5,808.0,14.3,574,8420,0.00,2.25,0.00,0.000,4,0.000,0.046,3575,337,1425,0,0,0,0,0,0
$GC,8547,1.15,113.5,788.6,16.2,580,8552,0.10,2.20,0.00,0.000,6,0.196,0.034,3553,1759,1425,0,0,0,0,0,0
$GC,8874,1.17,113.5,744.0,13.7,596,8878,0.00,2.25,0.00,0.000,4,0.000,0.045,3561,348,1424,0,0,0,0,0,0
$GC,8939,1.17,113.5,734.2,14.5,599,8944,0.00,2.20,0.00,0.000,6,0.000,0.032,3561,1748,1424,0,0,0,0,0,0
$GC,9266,1.17,113.5,688.5,14.0,615,9270,0.00,2.22,0.00,0.000,4,0.000,0.045,3569,337,1424,0,0,0,0,0,0
$GC,9359,1.17,113.5,674.6,14.8,619,9364,0.00,2.22,0.00,0.000,6,0.000,0.033,3570,1755,1424,0,0,0,0,0,0
$GC,9681,1.17,113.5,628.1,14.6,635,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1754,1424,0,0,0,0,0,0
$GC,9991,1.17,113.5,585.3,13.8,650,9995,0.00,2.20,0.00,0.000,4,0.000,0.045,3579,348,1423,0,0,0,0,0,0
$GC,10180,1.17,113.5,557.5,13.9,658,10187,0.05,2.17,0.00,0.000,6,0.179,0.032,3563,1749,1423,0,0,0,0,0,0
$GC,10496,1.17,113.5,513.7,14.4,674,10500,0.00,2.22,0.00,0.000,4,0.000,0.045,3572,336,1423,0,0,0,0,0,0
$GC,10634,1.17,113.5,492.5,16.1,680,10639,0.00,2.20,0.00,0.000,6,0.000,0.034,3572,1746,1423,0,0,0,0,0,0
$GC,10956,1.17,113.5,445.8,14.7,696,10960,0.00,2.20,0.00,0.000,4,0.000,0.044,3581,346,1423,0,0,0,0,0,0
$GC,10981,1.17,113.5,441.9,14.8,697,10987,0.05,2.20,0.00,0.000,6,0.184,0.033,3566,1762,1423,0,0,0,0,0,0
$GC,11303,1.17,113.5,397.6,13.8,713,11307,0.00,2.22,0.00,0.000,4,0.000,0.046,3575,341,1422,0,0,0,0,0,0
$GC,11458,1.17,113.5,375.3,14.6,726,11466,0.03,2.17,0.00,0.000,6,0.204,0.031,3567,1747,1423,0,0,0,0,0,0
$GC,11786,1.17,113.5,332.3,12.9,757,11790,0.00,2.20,0.00,0.000,4,0.000,0.045,3575,347,1422,0,0,0,0,0,0
$GC,11818,1.17,113.5,327.2,14.0,759,11825,0.03,2.17,0.00,0.000,6,0.206,0.032,3567,1753,1423,0,0,0,0,0,0
$GC,12144,1.17,113.5,283.8,13.5,790,12148,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,337,1423,0,0,0,0,0,0
$GC,12265,1.17,113.5,266.3,13.9,800,12274,0.03,2.17,0.00,0.000,6,0.203,0.033,3567,1745,1422,0,0,0,0,0,0
$GC,12591,1.17,113.5,224.1,13.3,831,12595,0.00,2.20,0.00,0.000,4,0.000,0.044,3575,344,1423,0,0,0,0,0,0
$GC,12701,1.17,113.5,208.9,13.6,840,12710,0.03,2.20,0.00,0.000,6,0.210,0.032,3567,1765,1422,0,0,0,0,0,0
$GC,13027,1.17,113.5,164.9,14.4,871,13031,0.00,2.22,0.00,0.000,4,0.000,0.045,3576,346,1423,0,0,0,0,0,0
$GC,13102,1.17,113.5,153.2,15.8,877,13107,0.05,2.15,0.00,0.000,6,0.233,0.032,3566,1756,1423,0,0,0,0,0,0
$GC,13426,1.17,113.5,112.7,12.8,907,13430,0.00,2.15,0.00,0.000,4,0.000,0.055,3565,3144,1422,0,0,0,0,0,0
$GC,13476,1.17,113.5,105.7,13.6,911,13480,0.00,2.10,0.00,0.000,6,0.000,0.031,3574,1739,1423,0,0,0,0,0,0
$GC,13821,1.17,113.5,58.0,13.2,967,13826,0.00,2.15,0.00,0.000,4,0.000,0.047,3584,355,1423,0,0,0,0,0,0
$GC,13966,1.17,113.5,37.2,15.3,992,13974,0.05,2.15,0.00,0.000,6,0.177,0.032,3568,1758,1423,0,0,0,0,0,0
$GC,14122,1.17,113.5,17.6,11.1,1017,14129,0.00,2.22,0.00,0.000,4,0.000,0.045,3576,354,1422,0,0,0,0,0,0
$STATE,14233,end climb,SURFACE_DEPTH_REACHED
$STATE,14234,begin surface coast
$FINISH,1.5,1.023386
$STATE,14242,end surface coast,CONTROL_FINISHED_OK
$STATE,14242,begin surface
$SM_CCo,14259,41.67,0.057,0,0,1063,205.07
$SM_GC,3.04,0.00,0.00,41.67,0.000,0.000,0.057,62,2060,1063,-9.76,0.57,205.07
$IRIDIUM_FIX,-4444.39,627.81,290508,030341
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,23.4,9.072
$10V_AH,10.2,6.149
$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,24.175,142.850,211.850,41.675,0.000,28.147,19.552,241.000,0.000,0.000,17.992,2620.396,8698.165,382.353,2883.484,109.498,0.000,1454.595,0.000,2431.766,0.000,0.540,0.000
$DEVICE_MAMPS,260.865,70.380,1302.030,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.260,1910.581,777.827,429.702,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353788
$DATA_FILE_SIZE,73932,1036
$CAP_FILE_SIZE,147132,0
$CFSIZE,2097086464,2088337408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020815,221426,-4500.726,632.730,37,1.2,37,-24.4