version: 66.07.10.p01
glider: 573
mission: 12
dive: 147
start: 8 27 115 10 27 18
data:
$ID,573
$MISSION,12
$DIVE,147
$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,-21462.266
$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,39
$R_STBD_OVSHOOT,44
$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,146
$GPS1,270815,101934,-4505.257,625.325,40,0.9,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-68.2
$GPS2,270815,102658,-4505.305,625.406,14,1.5,14,-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,347.1,3037,-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,-26.20,0.000,2,0.000,0.000,70,2080,1645,0,0,0,0,0,0
$GC,55,-1.12,-100.2,3.0,-2.8,4,106,11.05,2.33,-30.48,0.000,4,0.238,0.069,2817,669,2360,0,0,0,0,0,0
$GC,121,-1.01,-116.8,5.5,-5.7,14,130,0.12,2.22,-1.77,0.000,6,0.172,0.041,2846,2049,2427,0,0,0,0,0,0
$GC,180,-1.01,-116.8,15.2,-16.8,23,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2049,2428,0,0,0,0,0,0
$GC,238,-1.01,-116.8,24.7,-16.7,32,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2049,2428,0,0,0,0,0,0
$GC,388,-1.01,-116.8,50.1,-16.6,57,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2049,2429,0,0,0,0,0,0
$GC,733,-1.01,-116.8,105.8,-15.6,115,737,0.00,2.28,0.00,0.000,4,0.000,0.058,2836,3474,2429,0,0,0,0,0,0
$GC,773,-1.01,-116.8,112.0,-16.2,118,778,0.08,2.17,0.00,0.000,6,0.210,0.041,2852,2065,2428,0,0,0,0,0,0
$GC,1098,-1.05,-116.8,160.2,-14.3,148,1102,0.00,2.22,0.00,0.000,4,0.000,0.052,2851,654,2429,0,0,0,0,0,0
$GC,1148,-1.05,-116.8,167.8,-15.6,152,1153,0.00,2.20,0.00,0.000,6,0.000,0.041,2842,2070,2429,0,0,0,0,0,0
$GC,1473,-1.05,-116.8,215.5,-15.3,182,1477,0.00,2.22,0.00,0.000,4,0.000,0.058,2832,3468,2429,0,0,0,0,0,0
$GC,1523,-1.05,-116.8,223.3,-15.9,186,1527,0.00,2.20,0.00,0.000,6,0.000,0.041,2832,2048,2429,0,0,0,0,0,0
$GC,1847,-1.05,-116.8,271.2,-14.5,216,1849,0.03,0.00,0.00,0.000,6,0.279,0.000,2840,2048,2430,0,0,0,0,0,0
$GC,2166,-1.05,-116.8,318.5,-15.0,246,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2048,2430,0,0,0,0,0,0
$GC,2485,-1.05,-116.8,364.9,-14.4,276,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2048,2430,0,0,0,0,0,0
$GC,2811,-1.05,-116.8,412.5,-14.3,303,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2049,2430,0,0,0,0,0,0
$GC,3121,-1.05,-116.8,455.9,-14.2,318,3125,0.00,2.17,0.00,0.000,4,0.000,0.053,2840,654,2430,0,0,0,0,0,0
$GC,3137,-1.05,-116.8,458.2,-14.5,319,3142,0.05,2.20,0.00,0.000,6,0.234,0.041,2841,2066,2430,0,0,0,0,0,0
$GC,3464,-1.08,-116.8,503.5,-13.9,335,3468,0.00,2.20,0.00,0.000,4,0.000,0.062,2830,3466,2430,0,0,0,0,0,0
$GC,3525,-1.08,-116.8,512.3,-13.9,338,3529,0.00,2.15,0.00,0.000,6,0.000,0.041,2831,2056,2430,0,0,0,0,0,0
$GC,3853,-1.08,-116.8,558.7,-14.6,354,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2430,0,0,0,0,0,0
$GC,4162,-1.08,-116.8,602.6,-14.0,369,4166,0.00,2.22,0.00,0.000,4,0.000,0.055,2831,650,2430,0,0,0,0,0,0
$GC,4202,-1.08,-116.8,608.6,-15.0,371,4206,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,2055,2430,0,0,0,0,0,0
$GC,4528,-1.08,-116.8,655.3,-14.2,387,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2056,2429,0,0,0,0,0,0
$GC,4837,-1.08,-116.8,698.7,-13.8,402,4841,0.00,2.22,0.00,0.000,4,0.000,0.061,2811,3468,2429,0,0,0,0,0,0
$GC,4879,-1.08,-116.8,704.9,-13.9,404,4885,0.05,2.20,0.00,0.000,6,0.169,0.042,2828,2060,2429,0,0,0,0,0,0
$GC,5208,-1.11,-116.8,746.5,-12.5,420,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2060,2429,0,0,0,0,0,0
$GC,5516,-1.11,-116.8,785.9,-13.4,435,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2060,2430,0,0,0,0,0,0
$GC,5826,-1.14,-116.8,827.0,-13.4,450,5830,0.00,2.20,0.00,0.000,4,0.000,0.056,2828,656,2429,0,0,0,0,0,0
$GC,5846,-1.14,-116.8,830.0,-13.4,451,5851,0.00,2.22,0.00,0.000,6,0.000,0.045,2819,2056,2428,0,0,0,0,0,0
$GC,6174,-1.14,-116.8,875.0,-14.1,467,6178,0.00,2.22,0.00,0.000,4,0.000,0.062,2809,3474,2428,0,0,0,0,0,0
$GC,6205,-1.14,-116.8,879.9,-15.6,468,6211,0.00,2.22,0.00,0.000,6,0.000,0.044,2809,2056,2428,0,0,0,0,0,0
$GC,6522,-1.14,-116.8,924.6,-14.1,484,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2056,2428,0,0,0,0,0,0
$GC,6831,-1.14,-116.8,967.4,-13.5,499,6835,0.00,2.20,0.00,0.000,4,0.000,0.056,2809,653,2427,0,0,0,0,0,0
$GC,6852,-1.14,-116.8,970.5,-13.9,500,6857,0.03,2.25,0.00,0.000,6,0.216,0.044,2807,2070,2427,0,0,0,0,0,0
$STATE,7095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7095,begin apogee
$GC,7100,-0.19,0.0,1002.2,12.9,512,7210,1.05,0.00,106.60,1.289,6,0.171,0.000,3118,1592,1949,0,0,0,0,0,0
$STATE,7211,end apogee,CONTROL_FINISHED_OK
$STATE,7211,begin climb
$GC,7213,1.13,116.8,1005.8,0.0,517,7329,1.27,0.00,111.85,1.251,6,0.090,0.000,3539,1592,1473,0,0,0,0,0,0
$GC,7628,1.19,116.8,955.6,13.6,538,7633,0.08,2.30,0.00,0.000,4,0.115,0.052,3593,199,1465,0,0,0,0,0,0
$GC,7745,1.11,116.8,936.3,16.5,543,7750,0.17,2.25,0.00,0.000,6,0.174,0.037,3549,1611,1464,0,0,0,0,0,0
$GC,8061,1.15,116.8,891.6,14.2,558,8065,0.00,2.25,0.00,0.000,4,0.000,0.054,3548,2999,1463,0,0,0,0,0,0
$GC,8115,1.15,116.8,883.1,14.5,560,8121,0.00,2.22,0.00,0.000,6,0.000,0.034,3557,1599,1463,0,0,0,0,0,0
$GC,8431,1.15,116.8,836.1,14.7,576,8435,0.00,2.25,0.00,0.000,4,0.000,0.053,3567,195,1462,0,0,0,0,0,0
$GC,8525,1.15,116.8,820.9,16.5,580,8530,0.03,2.22,0.00,0.000,6,0.199,0.036,3560,1597,1461,0,0,0,0,0,0
$GC,8847,1.15,116.8,773.0,15.0,596,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1461,0,0,0,0,0,0
$GC,9156,1.15,116.8,727.6,14.5,611,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1597,1460,0,0,0,0,0,0
$GC,9466,1.15,116.8,683.6,14.1,626,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1460,0,0,0,0,0,0
$GC,9775,1.15,116.8,639.6,14.3,641,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1460,0,0,0,0,0,0
$GC,10085,1.18,116.8,599.0,12.4,656,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1459,0,0,0,0,0,0
$GC,10394,1.21,116.8,561.5,11.9,671,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1459,0,0,0,0,0,0
$GC,10703,1.25,116.8,524.3,12.1,686,10708,0.08,2.22,0.00,0.000,4,0.122,0.051,3608,193,1460,0,0,0,0,0,0
$GC,10765,1.16,116.8,515.7,15.0,689,10769,0.17,2.17,0.00,0.000,6,0.187,0.037,3562,1607,1459,0,0,0,0,0,0
$GC,11097,1.19,116.8,476.5,11.6,705,11101,0.00,2.20,0.00,0.000,4,0.000,0.054,3562,2996,1458,0,0,0,0,0,0
$GC,11158,1.19,116.8,468.9,12.0,708,11162,0.00,2.12,0.00,0.000,6,0.000,0.036,3570,1598,1458,0,0,0,0,0,0
$GC,11490,1.19,116.8,427.3,12.6,724,11494,0.00,2.20,0.00,0.000,4,0.000,0.053,3581,195,1458,0,0,0,0,0,0
$GC,11621,1.16,116.8,409.7,13.3,730,11625,0.10,2.15,0.00,0.000,6,0.197,0.037,3558,1602,1459,0,0,0,0,0,0
$GC,11946,1.21,116.8,369.3,12.3,757,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1603,1459,0,0,0,0,0,0
$GC,12262,1.26,116.8,329.1,12.2,787,12267,0.10,2.25,0.00,0.000,4,0.101,0.051,3615,191,1458,0,0,0,0,0,0
$GC,12328,1.17,116.8,318.7,15.0,792,12337,0.17,2.20,0.00,0.000,6,0.175,0.036,3562,1605,1459,0,0,0,0,0,0
$GC,12654,1.21,116.8,275.9,12.5,823,12658,0.00,2.20,0.00,0.000,4,0.000,0.054,3562,2997,1459,0,0,0,0,0,0
$GC,12749,1.21,116.8,262.8,14.3,831,12753,0.00,2.12,0.00,0.000,6,0.000,0.035,3570,1590,1458,0,0,0,0,0,0
$GC,13077,1.21,116.8,220.5,12.5,861,13081,0.00,2.17,0.00,0.000,4,0.000,0.052,3580,196,1459,0,0,0,0,0,0
$GC,13161,1.21,116.8,208.9,13.5,868,13165,0.00,2.17,0.00,0.000,6,0.000,0.037,3580,1603,1458,0,0,0,0,0,0
$GC,13486,1.21,116.8,167.0,12.4,898,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1603,1458,0,0,0,0,0,0
$GC,13805,1.21,116.8,127.6,12.8,928,13809,0.00,2.25,0.00,0.000,4,0.000,0.050,3590,192,1458,0,0,0,0,0,0
$GC,13935,1.21,116.8,110.2,14.2,939,13939,0.05,2.15,0.00,0.000,6,0.239,0.034,3579,1610,1458,0,0,0,0,0,0
$GC,14276,1.21,116.8,66.9,11.7,992,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1610,1458,0,0,0,0,0,0
$GC,14633,1.21,116.8,22.3,11.0,1053,14641,0.00,2.28,0.00,0.000,4,0.000,0.051,3588,198,1459,0,0,0,0,0,0
$STATE,14788,end climb,SURFACE_DEPTH_REACHED
$STATE,14789,begin surface coast
$FINISH,1.7,1.011350
$STATE,14809,end surface coast,CONTROL_FINISHED_OK
$STATE,14809,begin surface
$SM_CCo,14828,38.05,0.056,0,0,1132,200.16
$SM_GC,2.72,0.00,0.00,38.05,0.000,0.000,0.056,70,2069,1132,-9.73,0.25,200.16
$IRIDIUM_FIX,-4447.43,625.13,220608,191900
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,23.2,21.276
$10V_AH,10.1,21.023
$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,23.875,98.775,218.450,38.050,0.000,27.611,40.012,259.243,0.000,0.000,16.947,2676.973,9310.493,363.870,2816.002,141.835,0.000,1345.570,0.000,2335.983,0.000,0.540,0.000
$DEVICE_MAMPS,279.225,68.850,1289.025,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.912,1994.286,814.713,454.176,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,77147,1081
$CAP_FILE_SIZE,135475,0
$CFSIZE,2097086464,2072838144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270815,143603,-4504.895,624.692,24,1.0,24,-24.4