version: 66.07.10.p01
glider: 573
mission: 12
dive: 128
start: 8 22 115 19 34 19
data:
$ID,573
$MISSION,12
$DIVE,128
$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,-21405.744
$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,44
$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,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,127
$GPS1,220815,192553,-4456.922,637.179,52,0.8,52,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.2
$GPS2,220815,193359,-4456.918,637.251,20,1.6,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,340.4,2363,-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,-26.60,0.000,2,0.000,0.000,81,2072,1681,0,0,0,0,0,0
$GC,54,-1.12,-99.0,3.2,-2.9,4,99,11.60,0.00,-26.33,0.000,6,0.259,0.000,2816,2072,2353,0,0,0,0,0,0
$GC,150,-1.07,-99.0,11.5,-15.1,19,157,0.08,0.00,0.00,0.000,6,0.231,0.000,2831,2072,2355,0,0,0,0,0,0
$GC,209,-1.03,-99.0,21.3,-16.3,28,216,0.08,2.30,0.00,0.000,4,0.217,0.054,2852,668,2356,0,0,0,0,0,0
$GC,255,-1.03,-99.0,28.8,-15.3,35,262,0.00,2.22,0.00,0.000,6,0.000,0.041,2843,2049,2356,0,0,0,0,0,0
$GC,404,-1.03,-99.0,50.3,-15.9,60,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2049,2356,0,0,0,0,0,0
$GC,751,-1.03,-99.0,101.9,-14.8,120,755,0.00,2.28,0.00,0.000,4,0.000,0.057,2832,3478,2357,0,0,0,0,0,0
$GC,794,-1.03,-99.0,108.3,-14.2,123,801,0.03,2.20,0.00,0.000,6,0.205,0.040,2841,2076,2357,0,0,0,0,0,0
$GC,1120,-1.03,-99.0,158.4,-14.9,154,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2076,2357,0,0,0,0,0,0
$GC,1439,-1.03,-99.0,205.2,-14.1,184,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2076,2357,0,0,0,0,0,0
$GC,1758,-1.06,-99.0,247.4,-12.0,214,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2076,2357,0,0,0,0,0,0
$GC,2076,-1.06,-99.0,287.7,-13.3,244,2080,0.00,2.25,0.00,0.000,4,0.000,0.054,2842,649,2358,0,0,0,0,0,0
$GC,2104,-1.06,-99.0,291.7,-13.4,246,2108,0.00,2.20,0.00,0.000,6,0.000,0.041,2833,2066,2357,0,0,0,0,0,0
$GC,2436,-1.06,-99.0,336.9,-13.9,277,2440,0.00,2.20,0.00,0.000,4,0.000,0.060,2823,3465,2357,0,0,0,0,0,0
$GC,2468,-1.06,-99.0,342.1,-14.8,279,2475,0.03,2.20,0.00,0.000,6,0.189,0.040,2831,2053,2357,0,0,0,0,0,0
$GC,2793,-1.06,-99.0,387.8,-14.5,310,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2357,0,0,0,0,0,0
$GC,3105,-1.06,-99.0,432.3,-13.8,329,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2357,0,0,0,0,0,0
$GC,3414,-1.06,-99.0,472.9,-12.7,344,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2357,0,0,0,0,0,0
$GC,3724,-1.06,-99.0,511.8,-12.7,359,3728,0.00,2.28,0.00,0.000,4,0.000,0.060,2823,3472,2357,0,0,0,0,0,0
$GC,3755,-1.06,-99.0,516.3,-13.5,360,3763,0.05,2.20,0.00,0.000,6,0.174,0.041,2839,2063,2358,0,0,0,0,0,0
$GC,4072,-1.09,-99.0,555.1,-12.2,376,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2357,0,0,0,0,0,0
$GC,4382,-1.14,-99.0,592.8,-12.0,391,4386,0.05,2.22,0.00,0.000,4,0.169,0.058,2797,3466,2356,0,0,0,0,0,0
$GC,4447,-1.09,-99.0,601.7,-13.2,394,4452,0.10,2.20,0.00,0.000,6,0.165,0.041,2829,2055,2356,0,0,0,0,0,0
$GC,4774,-1.09,-99.0,642.9,-12.4,410,4778,0.00,2.25,0.00,0.000,4,0.000,0.060,2820,3461,2357,0,0,0,0,0,0
$GC,4817,-1.09,-99.0,648.9,-12.9,412,4822,0.00,2.20,0.00,0.000,6,0.000,0.041,2820,2053,2356,0,0,0,0,0,0
$GC,5145,-1.09,-99.0,692.1,-13.2,428,5149,0.00,2.25,0.00,0.000,4,0.000,0.060,2811,3461,2356,0,0,0,0,0,0
$GC,5176,-1.09,-99.0,696.6,-13.1,429,5183,0.05,2.20,0.00,0.000,6,0.171,0.042,2827,2053,2356,0,0,0,0,0,0
$GC,5493,-1.09,-99.0,734.8,-12.1,445,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2053,2356,0,0,0,0,0,0
$GC,5802,-1.09,-99.0,774.3,-13.1,460,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2053,2355,0,0,0,0,0,0
$GC,6112,-1.09,-99.0,814.3,-12.5,475,6116,0.00,2.25,0.00,0.000,4,0.000,0.060,2818,3472,2355,0,0,0,0,0,0
$GC,6222,-1.09,-99.0,828.8,-13.0,480,6227,0.00,2.20,0.00,0.000,6,0.000,0.044,2818,2065,2355,0,0,0,0,0,0
$GC,6550,-1.09,-99.0,869.1,-12.4,496,6554,0.00,2.22,0.00,0.000,4,0.000,0.055,2818,652,2354,0,0,0,0,0,0
$GC,6587,-1.09,-99.0,874.3,-13.7,497,6594,0.03,2.20,0.00,0.000,6,0.210,0.042,2817,2053,2354,0,0,0,0,0,0
$GC,6904,-1.09,-99.0,913.1,-12.0,513,6908,0.00,2.20,0.00,0.000,4,0.000,0.058,2807,3465,2354,0,0,0,0,0,0
$GC,6965,-1.09,-99.0,920.7,-12.3,516,6970,0.10,2.15,0.00,0.000,6,0.188,0.042,2831,2053,2354,0,0,0,0,0,0
$GC,7294,-1.14,-99.0,956.3,-10.8,532,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2354,0,0,0,0,0,0
$GC,7601,-1.19,-99.0,988.8,-10.5,547,7606,0.10,2.22,0.00,0.000,4,0.102,0.056,2786,649,2353,0,0,0,0,0,0
$GC,7627,-1.14,-99.0,992.3,-12.9,548,7633,0.12,2.22,0.00,0.000,6,0.190,0.044,2813,2054,2353,0,0,0,0,0,0
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7700,begin apogee
$GC,7704,-0.19,0.0,1000.4,11.3,552,7801,1.02,0.00,90.28,1.291,6,0.168,0.000,3119,1591,1952,0,0,0,0,0,0
$STATE,7802,end apogee,CONTROL_FINISHED_OK
$STATE,7802,begin climb
$GC,7803,1.12,99.0,1002.7,0.0,557,7903,1.30,0.00,95.57,1.254,6,0.090,0.000,3546,1591,1546,0,0,0,0,0,0
$GC,8212,1.16,99.0,952.5,13.4,577,8216,0.00,2.28,0.00,0.000,4,0.000,0.051,3557,198,1537,0,0,0,0,0,0
$GC,8328,1.16,99.0,935.5,13.7,582,8333,0.00,2.30,0.00,0.000,6,0.000,0.036,3557,1620,1536,0,0,0,0,0,0
$GC,8650,1.16,99.0,892.2,13.2,598,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1620,1535,0,0,0,0,0,0
$GC,8959,1.16,99.0,850.7,13.5,613,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1620,1534,0,0,0,0,0,0
$GC,9268,1.16,99.0,809.3,13.5,628,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1620,1534,0,0,0,0,0,0
$GC,9578,1.16,99.0,767.5,13.7,643,9582,0.00,2.20,0.00,0.000,4,0.000,0.054,3557,3002,1534,0,0,0,0,0,0
$GC,9626,1.16,99.0,760.4,14.6,645,9631,0.00,2.17,0.00,0.000,6,0.000,0.034,3565,1603,1533,0,0,0,0,0,0
$GC,9948,1.16,99.0,716.3,13.6,661,9952,0.00,2.22,0.00,0.000,4,0.000,0.052,3576,196,1533,0,0,0,0,0,0
$GC,10060,1.11,99.0,700.0,15.0,666,10065,0.12,2.22,0.00,0.000,6,0.182,0.036,3545,1610,1532,0,0,0,0,0,0
$GC,10388,1.16,99.0,657.3,12.6,682,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1610,1532,0,0,0,0,0,0
$GC,10696,1.20,99.0,617.0,13.0,697,10698,0.08,0.00,0.00,0.000,6,0.126,0.000,3588,1610,1532,0,0,0,0,0,0
$GC,11006,1.17,99.0,574.0,13.8,712,11008,0.10,0.00,0.00,0.000,6,0.193,0.000,3565,1612,1532,0,0,0,0,0,0
$GC,11315,1.17,99.0,534.1,12.9,727,11319,0.00,2.28,0.00,0.000,4,0.000,0.051,3574,188,1532,0,0,0,0,0,0
$GC,11448,1.17,99.0,515.1,14.3,733,11452,0.00,2.20,0.00,0.000,6,0.000,0.035,3574,1600,1531,0,0,0,0,0,0
$GC,11775,1.17,99.0,470.3,13.8,749,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1600,1531,0,0,0,0,0,0
$GC,12085,1.17,99.0,428.2,13.5,764,12089,0.00,2.22,0.00,0.000,4,0.000,0.050,3583,192,1531,0,0,0,0,0,0
$GC,12219,1.13,99.0,409.1,13.6,770,12223,0.12,2.17,0.00,0.000,6,0.186,0.035,3552,1607,1531,0,0,0,0,0,0
$GC,12544,1.18,99.0,369.9,12.5,797,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1607,1530,0,0,0,0,0,0
$GC,12861,1.21,99.0,332.5,11.8,827,12863,0.08,0.00,0.00,0.000,6,0.124,0.000,3592,1607,1531,0,0,0,0,0,0
$GC,13181,1.18,99.0,290.2,13.3,857,13183,0.10,0.00,0.00,0.000,6,0.196,0.000,3569,1610,1531,0,0,0,0,0,0
$GC,13497,1.18,99.0,249.4,12.4,887,13501,0.00,2.22,0.00,0.000,4,0.000,0.051,3579,194,1530,0,0,0,0,0,0
$GC,13608,1.15,99.0,235.1,13.3,896,13616,0.05,2.17,0.00,0.000,6,0.182,0.034,3563,1594,1530,0,0,0,0,0,0
$GC,13933,1.19,99.0,197.5,11.3,927,13937,0.00,2.20,0.00,0.000,4,0.000,0.054,3563,2997,1530,0,0,0,0,0,0
$GC,13995,1.19,99.0,190.4,11.1,932,13999,0.00,2.12,0.00,0.000,6,0.000,0.034,3571,1597,1530,0,0,0,0,0,0
$GC,14320,1.19,99.0,153.7,10.9,962,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1596,1530,0,0,0,0,0,0
$GC,14639,1.19,99.0,119.8,10.7,992,14643,0.00,2.17,0.00,0.000,4,0.000,0.050,3581,196,1530,0,0,0,0,0,0
$GC,14723,1.15,99.0,109.9,11.5,999,14728,0.10,2.15,0.00,0.000,6,0.197,0.034,3558,1617,1530,0,0,0,0,0,0
$GC,15066,1.20,99.0,72.0,10.3,1051,15070,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1617,1530,0,0,0,0,0,0
$GC,15419,1.25,99.0,33.5,12.0,1112,15426,0.08,0.00,0.00,0.000,6,0.125,0.000,3598,1617,1530,0,0,0,0,0,0
$GC,15577,1.21,99.0,14.3,12.0,1137,15585,0.10,2.28,0.00,0.000,4,0.197,0.049,3584,192,1530,0,0,0,0,0,0
$GC,15636,1.14,99.0,6.7,12.9,1146,15644,0.10,2.17,0.00,0.000,6,0.171,0.035,3553,1593,1530,0,0,0,0,0,0
$STATE,15669,end climb,SURFACE_DEPTH_REACHED
$STATE,15669,begin surface coast
$FINISH,1.7,1.003467
$STATE,15701,end surface coast,CONTROL_FINISHED_OK
$STATE,15701,begin surface
$SM_CCo,15718,46.08,0.057,0,0,1133,200.16
$SM_GC,3.51,0.00,0.00,46.08,0.000,0.000,0.057,74,2081,1133,-9.72,0.59,200.16
$IRIDIUM_FIX,-4441.36,633.87,180608,030301
$TT8_MAMPS,0.026964
$HUMID,62.16
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.5,19.254
$10V_AH,10.1,18.260
$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,24.800,94.500,185.850,46.075,0.000,24.447,44.030,288.173,0.000,0.000,22.578,2856.349,9872.026,356.294,3011.473,144.395,0.000,1389.413,0.000,2486.776,0.000,0.539,0.000
$DEVICE_MAMPS,258.570,60.435,1290.555,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.992,2126.814,874.219,478.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,80633,1156
$CAP_FILE_SIZE,144347,0
$CFSIZE,2097086464,2075361280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220815,235821,-4456.323,635.998,44,1.0,44,-24.4