version: 66.07.10.p01
glider: 573
mission: 12
dive: 38
start: 8 4 115 7 8 0
data:
$ID,573
$MISSION,12
$DIVE,38
$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,-21105.133
$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,38
$R_STBD_OVSHOOT,39
$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,37
$GPS1,040815,070034,-4459.695,630.886,42,1.0,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-69.9
$GPS2,040815,070740,-4459.649,630.970,21,1.2,21,-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,267.3,1426,-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,23,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,71,0.00,0.00,-44.25,0.000,2,0.000,0.000,80,2056,1988,0,0,0,0,0,0
$GC,72,-1.42,-131.8,3.0,-2.6,7,105,10.98,2.28,-14.73,0.000,4,0.259,0.075,2709,3434,2438,0,0,0,0,0,0
$GC,205,-1.26,-131.8,26.8,-25.6,28,213,0.20,2.20,0.00,0.000,6,0.194,0.040,2765,2041,2441,0,0,0,0,0,0
$GC,355,-1.17,-131.8,57.2,-18.9,53,360,0.15,0.00,0.00,0.000,6,0.209,0.000,2801,2043,2441,0,0,0,0,0,0
$GC,704,-1.12,-131.8,121.0,-19.8,105,708,0.08,2.25,0.00,0.000,4,0.225,0.059,2807,3443,2442,0,0,0,0,0,0
$GC,746,-1.08,-131.8,130.4,-18.6,108,755,0.08,2.20,0.00,0.000,6,0.180,0.040,2830,2036,2442,0,0,0,0,0,0
$GC,1072,-1.08,-131.8,182.4,-15.6,139,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2036,2442,0,0,0,0,0,0
$GC,1393,-1.08,-131.8,231.2,-14.6,169,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2036,2443,0,0,0,0,0,0
$GC,1709,-1.08,-131.8,276.8,-14.6,199,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2036,2443,0,0,0,0,0,0
$GC,2030,-1.08,-131.8,322.5,-14.8,229,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2036,2443,0,0,0,0,0,0
$GC,2345,-1.08,-131.8,370.5,-14.7,259,2349,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3438,2443,0,0,0,0,0,0
$GC,2396,-1.08,-131.8,378.1,-14.9,263,2400,0.00,2.15,0.00,0.000,6,0.000,0.039,2821,2030,2444,0,0,0,0,0,0
$GC,2716,-1.08,-131.8,427.1,-15.2,285,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2030,2443,0,0,0,0,0,0
$GC,3025,-1.08,-131.8,475.1,-15.6,300,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2031,2443,0,0,0,0,0,0
$GC,3334,-1.08,-131.8,521.9,-14.9,315,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2030,2443,0,0,0,0,0,0
$GC,3643,-1.08,-131.8,568.6,-15.3,330,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2031,2443,0,0,0,0,0,0
$GC,3953,-1.08,-131.8,614.2,-14.4,345,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2030,2443,0,0,0,0,0,0
$GC,4262,-1.08,-131.8,659.6,-14.8,360,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2030,2443,0,0,0,0,0,0
$GC,4571,-1.08,-131.8,705.1,-14.4,375,4575,0.00,2.25,0.00,0.000,4,0.000,0.061,2811,3441,2442,0,0,0,0,0,0
$GC,4619,-1.08,-131.8,712.5,-14.8,377,4625,0.05,2.15,0.00,0.000,6,0.185,0.040,2827,2046,2443,0,0,0,0,0,0
$GC,4941,-1.11,-131.8,757.9,-14.2,393,4945,0.00,2.22,0.00,0.000,4,0.000,0.060,2818,3442,2442,0,0,0,0,0,0
$GC,5011,-1.11,-131.8,768.4,-14.6,396,5017,0.00,2.17,0.00,0.000,6,0.000,0.041,2818,2032,2442,0,0,0,0,0,0
$GC,5333,-1.11,-131.8,814.3,-14.5,412,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2032,2441,0,0,0,0,0,0
$GC,5643,-1.11,-131.8,857.4,-13.9,427,5647,0.00,2.25,0.00,0.000,4,0.000,0.061,2809,3438,2441,0,0,0,0,0,0
$GC,5719,-1.11,-131.8,868.4,-13.9,430,5726,0.03,2.17,0.00,0.000,6,0.202,0.041,2817,2031,2440,0,0,0,0,0,0
$GC,6036,-1.11,-131.8,910.4,-13.4,446,6040,0.00,2.25,0.00,0.000,4,0.000,0.061,2808,3439,2440,0,0,0,0,0,0
$GC,6090,-1.11,-131.8,918.0,-14.1,448,6097,0.05,2.15,0.00,0.000,6,0.183,0.041,2824,2049,2440,0,0,0,0,0,0
$GC,6406,-1.14,-131.8,958.5,-12.8,464,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2049,2439,0,0,0,0,0,0
$GC,6716,-1.17,-131.8,998.8,-13.1,479,6720,0.00,2.22,0.00,0.000,4,0.000,0.060,2815,3445,2439,0,0,0,0,0,0
$STATE,6724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6724,begin apogee
$GC,6730,-0.23,0.0,1000.2,12.7,479,6855,0.95,0.00,120.32,1.298,6,0.174,0.000,3101,1745,1900,0,0,0,0,0,0
$STATE,6856,end apogee,CONTROL_FINISHED_OK
$STATE,6856,begin climb
$GC,6857,1.42,131.8,1004.2,0.0,486,6993,1.65,2.38,124.80,1.252,4,0.097,0.046,3644,336,1361,0,0,0,0,0,0
$GC,7089,1.33,131.8,968.2,21.7,497,7094,0.12,2.33,0.00,0.000,6,0.193,0.033,3615,1753,1354,0,0,0,0,0,0
$GC,7416,1.28,131.8,906.0,18.8,513,7421,0.08,2.30,0.00,0.000,4,0.223,0.044,3610,339,1352,0,0,0,0,0,0
$GC,7532,1.23,131.8,883.2,19.9,518,7537,0.08,2.28,0.00,0.000,6,0.194,0.033,3586,1755,1350,0,0,0,0,0,0
$GC,7853,1.23,131.8,826.3,17.6,534,7857,0.00,2.25,0.00,0.000,4,0.000,0.045,3595,339,1349,0,0,0,0,0,0
$GC,7902,1.20,131.8,817.1,18.8,536,7907,0.08,2.25,0.00,0.000,6,0.186,0.033,3572,1755,1349,0,0,0,0,0,0
$GC,8228,1.20,131.8,762.1,17.1,552,8233,0.00,2.28,0.00,0.000,4,0.000,0.044,3581,333,1349,0,0,0,0,0,0
$GC,8367,1.20,131.8,737.5,17.6,558,8372,0.00,2.22,0.00,0.000,6,0.000,0.032,3581,1741,1348,0,0,0,0,0,0
$GC,8689,1.20,131.8,682.4,17.3,574,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1742,1348,0,0,0,0,0,0
$GC,8998,1.20,131.8,628.6,17.1,589,9002,0.00,2.22,0.00,0.000,4,0.000,0.044,3590,341,1348,0,0,0,0,0,0
$GC,9098,1.17,131.8,610.3,19.1,593,9105,0.08,2.20,0.00,0.000,6,0.187,0.031,3567,1756,1348,0,0,0,0,0,0
$GC,9414,1.17,131.8,559.1,16.0,609,9418,0.00,2.25,0.00,0.000,4,0.000,0.045,3575,336,1348,0,0,0,0,0,0
$GC,9445,1.17,131.8,553.7,15.8,610,9452,0.03,2.20,0.00,0.000,6,0.203,0.031,3567,1753,1348,0,0,0,0,0,0
$GC,9762,1.19,131.8,503.3,16.1,626,9766,0.00,2.25,0.00,0.000,4,0.000,0.044,3576,330,1348,0,0,0,0,0,0
$GC,9872,1.19,131.8,484.0,17.4,631,9877,0.00,2.20,0.00,0.000,6,0.000,0.032,3576,1743,1347,0,0,0,0,0,0
$GC,10199,1.19,131.8,428.6,16.8,647,10203,0.00,2.22,0.00,0.000,4,0.000,0.044,3585,332,1347,0,0,0,0,0,0
$GC,10270,1.19,131.8,416.1,17.1,650,10276,0.05,2.22,0.00,0.000,6,0.184,0.032,3570,1765,1347,0,0,0,0,0,0
$GC,10598,1.21,131.8,365.6,15.2,676,10602,0.00,2.25,0.00,0.000,4,0.000,0.045,3578,339,1347,0,0,0,0,0,0
$GC,10707,1.21,131.8,349.1,15.1,685,10712,0.00,2.17,0.00,0.000,6,0.000,0.031,3578,1758,1347,0,0,0,0,0,0
$GC,11032,1.21,131.8,300.3,14.8,715,11036,0.00,2.25,0.00,0.000,4,0.000,0.044,3588,330,1347,0,0,0,0,0,0
$GC,11127,1.21,131.8,284.8,15.9,723,11132,0.03,2.17,0.00,0.000,6,0.277,0.031,3579,1756,1347,0,0,0,0,0,0
$GC,11455,1.21,131.8,235.6,15.1,753,11459,0.00,2.20,0.00,0.000,4,0.000,0.044,3588,339,1347,0,0,0,0,0,0
$GC,11508,1.21,131.8,227.1,17.0,757,11512,0.03,2.15,0.00,0.000,6,0.280,0.031,3579,1749,1347,0,0,0,0,0,0
$GC,11832,1.21,131.8,176.4,15.3,787,11836,0.00,2.22,0.00,0.000,4,0.000,0.044,3589,332,1347,0,0,0,0,0,0
$GC,11952,1.21,131.8,157.5,14.5,797,11957,0.03,2.17,0.00,0.000,6,0.279,0.031,3579,1758,1347,0,0,0,0,0,0
$GC,12277,1.21,131.8,112.4,13.2,827,12281,0.00,2.22,0.00,0.000,4,0.000,0.044,3589,338,1347,0,0,0,0,0,0
$GC,12536,1.21,131.8,75.3,14.7,864,12544,0.03,2.17,0.00,0.000,6,0.221,0.031,3580,1755,1347,0,0,0,0,0,0
$GC,12896,1.23,131.8,24.8,13.8,925,12903,0.00,2.25,0.00,0.000,4,0.000,0.044,3589,335,1347,0,0,0,0,0,0
$GC,13057,1.23,131.8,3.1,12.6,951,13065,0.00,2.17,0.00,0.000,6,0.000,0.035,3581,1735,1346,0,0,0,0,0,0
$STATE,13072,end climb,SURFACE_DEPTH_REACHED
$STATE,13072,begin surface coast
$FINISH,1.3,1.021859
$STATE,13098,end surface coast,CONTROL_FINISHED_OK
$STATE,13098,begin surface
$SM_CCo,13114,33.10,0.057,0,0,1062,205.07
$SM_GC,2.39,0.00,0.00,33.10,0.000,0.000,0.057,83,2072,1062,-9.69,0.90,205.07
$IRIDIUM_FIX,-4441.36,642.59,300508,161617
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.3,10.030
$10V_AH,10.2,7.089
$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,23.900,98.750,245.125,33.100,0.000,25.234,19.474,267.823,0.000,0.000,23.861,2385.172,8096.524,359.517,2629.738,102.130,0.000,1297.844,0.000,2164.302,0.000,0.540,0.000
$DEVICE_MAMPS,279.990,74.970,1298.205,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.546,1770.057,731.703,405.865,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,67050,957
$CAP_FILE_SIZE,126172,0
$CFSIZE,2097086464,2087190528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,104827,-4500.720,629.211,45,1.0,46,-24.4