version: 66.07.10.p01
glider: 573
mission: 12
dive: 107
start: 8 17 115 22 57 12
data:
$ID,573
$MISSION,12
$DIVE,107
$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,390
$T_MISSION,420
$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,120
$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,200
$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,-21344.09
$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,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,106
$GPS1,170815,224903,-4504.577,624.981,58,1.0,58,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.0
$GPS2,170815,225652,-4504.538,624.998,19,1.1,19,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$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,331.7,1642,-27.7,-8.547
$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,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-26.45,0.000,2,0.000,0.000,78,2057,1670,0,0,0,0,0,0
$GC,54,-1.13,-115.6,3.0,-1.0,4,99,11.43,2.28,-25.42,0.000,4,0.256,0.064,2813,665,2423,0,0,0,0,0,0
$GC,357,-1.04,-115.6,54.9,-21.5,54,365,0.12,2.22,0.00,0.000,6,0.169,0.039,2843,2054,2425,0,0,0,0,0,0
$GC,700,-1.04,-115.6,117.3,-20.6,107,704,0.00,2.25,0.00,0.000,4,0.000,0.057,2833,3475,2426,0,0,0,0,0,0
$GC,852,-1.04,-115.6,144.1,-15.3,120,857,0.05,2.20,0.00,0.000,6,0.228,0.042,2843,2060,2425,0,0,0,0,0,0
$GC,1182,-1.07,-115.6,192.5,-14.3,151,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2061,2426,0,0,0,0,0,0
$GC,1504,-1.10,-115.6,238.5,-13.9,181,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2061,2426,0,0,0,0,0,0
$GC,1819,-1.14,-115.6,282.9,-13.8,211,1821,0.08,0.00,0.00,0.000,6,0.122,0.000,2806,2061,2427,0,0,0,0,0,0
$GC,2140,-1.11,-115.6,331.5,-15.0,241,2142,0.10,0.00,0.00,0.000,6,0.197,0.000,2829,2060,2427,0,0,0,0,0,0
$GC,2456,-1.11,-115.6,377.3,-14.1,271,2460,0.00,2.30,0.00,0.000,4,0.000,0.061,2819,3478,2427,0,0,0,0,0,0
$GC,2521,-1.11,-115.6,387.0,-14.7,276,2530,0.00,2.20,0.00,0.000,6,0.000,0.041,2819,2069,2427,0,0,0,0,0,0
$GC,2850,-1.11,-115.6,434.8,-14.6,297,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2069,2427,0,0,0,0,0,0
$GC,3160,-1.11,-115.6,482.0,-15.6,312,3164,0.00,2.22,0.00,0.000,4,0.000,0.054,2819,653,2427,0,0,0,0,0,0
$GC,3186,-1.11,-115.6,486.5,-15.7,313,3191,0.03,2.22,0.00,0.000,6,0.210,0.042,2818,2062,2427,0,0,0,0,0,0
$GC,3507,-1.11,-115.6,533.8,-14.5,329,3511,0.00,2.25,0.00,0.000,4,0.000,0.063,2808,3475,2427,0,0,0,0,0,0
$GC,3549,-1.11,-115.6,540.6,-15.2,331,3555,0.03,2.20,0.00,0.000,6,0.187,0.041,2817,2066,2427,0,0,0,0,0,0
$GC,3877,-1.11,-115.6,587.6,-14.5,347,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2066,2427,0,0,0,0,0,0
$GC,4186,-1.11,-115.6,631.1,-14.0,362,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2066,2427,0,0,0,0,0,0
$GC,4496,-1.11,-115.6,674.6,-14.1,377,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2066,2426,0,0,0,0,0,0
$GC,4805,-1.11,-115.6,719.4,-14.7,392,4809,0.00,2.22,0.00,0.000,4,0.000,0.059,2809,3477,2426,0,0,0,0,0,0
$GC,4844,-1.11,-115.6,725.2,-14.8,394,4848,0.08,2.20,0.00,0.000,6,0.202,0.042,2825,2047,2426,0,0,0,0,0,0
$GC,5170,-1.14,-115.6,772.4,-14.3,410,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2047,2426,0,0,0,0,0,0
$GC,5479,-1.17,-115.6,814.0,-13.1,425,5483,0.00,2.25,0.00,0.000,4,0.000,0.057,2816,3475,2425,0,0,0,0,0,0
$GC,5500,-1.17,-115.6,817.1,-13.2,426,5505,0.00,2.20,0.00,0.000,6,0.000,0.041,2816,2057,2426,0,0,0,0,0,0
$GC,5827,-1.17,-115.6,859.6,-13.1,442,5832,0.00,2.28,0.00,0.000,4,0.000,0.061,2807,3477,2425,0,0,0,0,0,0
$GC,5848,-1.17,-115.6,862.5,-12.9,443,5853,0.00,2.20,0.00,0.000,6,0.000,0.042,2807,2063,2425,0,0,0,0,0,0
$GC,6176,-1.17,-115.6,907.7,-13.8,459,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2063,2425,0,0,0,0,0,0
$GC,6485,-1.17,-115.6,949.9,-13.7,474,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2063,2425,0,0,0,0,0,0
$GC,6794,-1.17,-115.6,991.4,-13.2,489,6798,0.00,2.22,0.00,0.000,4,0.000,0.059,2798,3480,2424,0,0,0,0,0,0
$GC,6837,-1.17,-115.6,997.5,-13.8,491,6842,0.00,2.22,0.00,0.000,6,0.000,0.042,2798,2055,2424,0,0,0,0,0,0
$STATE,6875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6875,begin apogee
$GC,6880,-0.19,0.0,1002.5,13.7,493,6989,1.08,0.00,105.82,1.294,6,0.168,0.000,3121,1593,1950,0,0,0,0,0,0
$STATE,6990,end apogee,CONTROL_FINISHED_OK
$STATE,6990,begin climb
$GC,6991,1.13,115.6,1005.5,0.0,498,7113,1.27,2.50,110.10,1.252,4,0.090,0.050,3552,193,1476,0,0,0,0,0,0
$GC,7162,1.13,115.6,987.5,15.6,506,7168,0.00,2.38,0.00,0.000,6,0.000,0.033,3552,1617,1472,0,0,0,0,0,0
$GC,7490,1.13,115.6,941.0,13.9,522,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1617,1469,0,0,0,0,0,0
$GC,7799,1.13,115.6,898.4,13.4,537,7803,0.00,2.30,0.00,0.000,4,0.000,0.049,3561,197,1468,0,0,0,0,0,0
$GC,7860,1.13,115.6,889.5,14.1,540,7864,0.00,2.22,0.00,0.000,6,0.000,0.034,3561,1605,1467,0,0,0,0,0,0
$GC,8186,1.13,115.6,844.7,13.7,556,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1606,1467,0,0,0,0,0,0
$GC,8495,1.13,115.6,802.7,13.7,571,8499,0.00,2.25,0.00,0.000,4,0.000,0.050,3571,196,1466,0,0,0,0,0,0
$GC,8550,1.10,115.6,794.6,14.5,573,8557,0.10,2.22,0.00,0.000,6,0.163,0.034,3540,1615,1466,0,0,0,0,0,0
$GC,8866,1.16,115.6,753.7,12.9,589,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1615,1466,0,0,0,0,0,0
$GC,9176,1.22,115.6,714.9,12.4,604,9180,0.10,2.25,0.00,0.000,4,0.103,0.050,3602,192,1466,0,0,0,0,0,0
$GC,9260,1.13,115.6,702.4,16.0,608,9265,0.20,2.17,0.00,0.000,6,0.175,0.034,3548,1602,1464,0,0,0,0,0,0
$GC,9588,1.18,115.6,660.2,12.6,624,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1602,1465,0,0,0,0,0,0
$GC,9896,1.22,115.6,620.1,12.8,639,9900,0.10,2.25,0.00,0.000,4,0.101,0.050,3607,189,1464,0,0,0,0,0,0
$GC,10025,1.13,115.6,599.6,16.1,645,10030,0.20,2.17,0.00,0.000,6,0.181,0.034,3553,1603,1464,0,0,0,0,0,0
$GC,10352,1.17,115.6,556.3,13.2,661,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1604,1464,0,0,0,0,0,0
$GC,10661,1.21,118.3,524.8,8.2,676,10663,0.05,0.00,0.00,0.000,6,0.168,0.000,3587,1604,1464,0,0,0,0,0,0
$GC,10970,1.21,118.3,494.7,10.4,691,10974,0.00,2.25,0.00,0.000,4,0.000,0.049,3597,185,1464,0,0,0,0,0,0
$GC,11226,1.13,118.3,465.3,11.1,702,11233,0.15,2.20,0.00,0.000,6,0.165,0.034,3550,1604,1463,0,0,0,0,0,0
$GC,11543,1.18,118.3,434.2,10.1,718,11547,0.00,2.20,0.00,0.000,4,0.000,0.054,3551,2999,1464,0,0,0,0,0,0
$GC,11591,1.18,118.3,428.9,10.6,720,11596,0.00,2.15,0.00,0.000,6,0.000,0.033,3559,1595,1463,0,0,0,0,0,0
$GC,11916,1.18,118.3,396.3,10.6,737,11919,0.00,2.20,0.00,0.000,4,0.000,0.051,3559,2989,1463,0,0,0,0,0,0
$GC,12013,1.18,118.3,385.6,11.0,745,12017,0.00,2.10,0.00,0.000,6,0.000,0.034,3568,1589,1463,0,0,0,0,0,0
$GC,12338,1.18,118.3,350.0,11.2,775,12342,0.00,2.22,0.00,0.000,4,0.000,0.052,3567,2994,1464,0,0,0,0,0,0
$GC,12426,1.18,118.3,339.6,11.3,782,12432,0.00,2.12,0.00,0.000,6,0.000,0.033,3576,1608,1464,0,0,0,0,0,0
$GC,12754,1.18,118.3,303.2,11.4,813,12758,0.00,2.20,0.00,0.000,4,0.000,0.050,3576,2997,1463,0,0,0,0,0,0
$GC,12816,1.15,118.3,295.7,11.8,818,12821,0.12,2.10,0.00,0.000,6,0.197,0.033,3555,1592,1463,0,0,0,0,0,0
$GC,13141,1.19,118.3,261.1,10.5,848,13145,0.00,2.20,0.00,0.000,4,0.000,0.051,3555,2990,1463,0,0,0,0,0,0
$GC,13225,1.19,118.3,251.7,10.6,855,13229,0.00,2.08,0.00,0.000,6,0.000,0.034,3563,1605,1463,0,0,0,0,0,0
$GC,13552,1.19,118.3,217.0,10.3,885,13556,0.00,2.17,0.00,0.000,4,0.000,0.049,3563,2997,1463,0,0,0,0,0,0
$GC,13651,1.19,118.3,205.8,11.2,893,13658,0.00,2.12,0.00,0.000,6,0.000,0.032,3572,1608,1463,0,0,0,0,0,0
$GC,13977,1.19,118.3,172.1,9.9,924,13981,0.00,2.15,0.00,0.000,4,0.000,0.049,3572,2992,1463,0,0,0,0,0,0
$GC,14235,1.19,118.3,142.1,12.1,946,14242,0.03,2.15,0.00,0.000,6,0.219,0.034,3573,1593,1463,0,0,0,0,0,0
$GC,14563,1.19,118.3,103.3,11.6,977,14567,0.00,2.20,0.00,0.000,4,0.000,0.050,3583,192,1463,0,0,0,0,0,0
$GC,14823,1.15,118.3,69.0,14.0,1020,14831,0.10,2.17,0.00,0.000,6,0.167,0.033,3551,1606,1463,0,0,0,0,0,0
$GC,15181,1.21,118.5,32.7,8.5,1081,15189,0.05,0.00,0.00,0.000,6,0.169,0.000,3586,1607,1463,0,0,0,0,0,0
$GC,15338,1.21,118.5,12.3,14.0,1106,15346,0.00,2.25,0.00,0.000,4,0.000,0.050,3596,199,1463,0,0,0,0,0,0
$STATE,15413,end climb,SURFACE_DEPTH_REACHED
$STATE,15413,begin surface coast
$FINISH,1.6,1.011667
$STATE,15439,end surface coast,CONTROL_FINISHED_OK
$STATE,15439,begin surface
$SM_CCo,15458,40.55,0.056,0,0,1132,200.16
$SM_GC,2.41,0.00,0.00,40.55,0.000,0.000,0.056,74,2062,1132,-9.72,0.06,200.16
$IRIDIUM_FIX,-4447.43,625.13,130608,070726
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,17.078
$10V_AH,10.1,15.343
$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,24.575,107.725,215.925,40.550,0.000,26.526,19.486,305.913,0.000,0.000,22.095,2790.866,9666.010,353.749,3024.769,130.318,0.000,1410.589,0.000,2500.168,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,64.260,1293.615,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.635,2072.737,837.450,453.252,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353328
$DATA_FILE_SIZE,76994,1122
$CAP_FILE_SIZE,143456,0
$CFSIZE,2097086464,2078113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180815,031633,-4504.075,624.742,28,1.7,28,-24.4