version: 66.07.10.p01
glider: 573
mission: 12
dive: 158
start: 8 29 115 14 21 12
data:
$ID,573
$MISSION,12
$DIVE,158
$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,-21496.025
$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,37
$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,157
$GPS1,290815,141303,-4505.344,624.951,39,0.9,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-70.4
$GPS2,290815,142052,-4505.402,624.983,17,1.1,17,-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,358.0,2897,-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,23,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-14.00,0.000,2,0.000,0.000,61,2079,1416,0,0,0,0,0,0
$GC,42,-1.12,-100.7,3.1,-2.7,2,106,11.55,2.30,-44.67,0.000,4,0.252,0.070,2813,664,2359,0,0,0,0,0,0
$GC,224,-1.01,-100.7,22.4,-18.5,31,232,0.15,2.22,0.00,0.000,6,0.182,0.042,2848,2039,2360,0,0,0,0,0,0
$GC,376,-1.01,-100.7,47.7,-16.1,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2039,2361,0,0,0,0,0,0
$GC,726,-1.01,-100.7,105.9,-17.1,115,730,0.00,2.30,0.00,0.000,4,0.000,0.063,2837,3474,2361,0,0,0,0,0,0
$GC,768,-1.01,-100.7,113.5,-17.3,118,775,0.03,2.25,0.00,0.000,6,0.213,0.044,2847,2061,2360,0,0,0,0,0,0
$GC,1096,-1.01,-100.7,168.6,-16.6,149,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2061,2361,0,0,0,0,0,0
$GC,1413,-1.01,-100.7,222.2,-16.7,179,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2061,2361,0,0,0,0,0,0
$GC,1734,-1.01,-100.7,274.6,-16.7,209,1738,0.00,2.25,0.00,0.000,4,0.000,0.060,2837,3471,2361,0,0,0,0,0,0
$GC,1762,-1.01,-100.7,279.8,-17.4,211,1767,0.08,2.22,0.00,0.000,6,0.214,0.044,2853,2045,2361,0,0,0,0,0,0
$GC,2089,-1.05,-100.7,333.7,-16.0,241,2093,0.00,2.30,0.00,0.000,4,0.000,0.057,2843,3481,2362,0,0,0,0,0,0
$GC,2120,-1.05,-100.7,339.6,-16.3,243,2127,0.00,2.22,0.00,0.000,6,0.000,0.041,2843,2064,2362,0,0,0,0,0,0
$GC,2446,-1.05,-100.7,390.3,-15.2,274,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2063,2362,0,0,0,0,0,0
$GC,2768,-1.08,-100.7,436.0,-13.7,293,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2063,2362,0,0,0,0,0,0
$GC,3078,-1.12,-100.7,475.7,-12.7,308,3079,0.05,0.00,0.00,0.000,6,0.171,0.000,2810,2064,2362,0,0,0,0,0,0
$GC,3386,-1.12,-100.7,518.3,-13.6,323,3390,0.00,2.22,0.00,0.000,4,0.000,0.057,2810,647,2362,0,0,0,0,0,0
$GC,3407,-1.07,-100.7,521.5,-14.4,324,3413,0.10,2.22,0.00,0.000,6,0.182,0.041,2831,2061,2361,0,0,0,0,0,0
$GC,3735,-1.07,-100.7,563.4,-13.0,340,3739,0.00,2.25,0.00,0.000,4,0.000,0.063,2821,3469,2362,0,0,0,0,0,0
$GC,3843,-1.07,-100.7,578.2,-13.9,345,3848,0.05,2.17,0.00,0.000,6,0.233,0.044,2831,2056,2361,0,0,0,0,0,0
$GC,4169,-1.07,-100.7,623.0,-13.8,361,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2362,0,0,0,0,0,0
$GC,4478,-1.07,-100.7,666.7,-14.0,376,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2362,0,0,0,0,0,0
$GC,4788,-1.07,-100.7,711.1,-14.3,391,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2361,0,0,0,0,0,0
$GC,5097,-1.11,-100.7,757.0,-14.6,406,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2361,0,0,0,0,0,0
$GC,5407,-1.14,-100.7,800.5,-13.8,421,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2360,0,0,0,0,0,0
$GC,5716,-1.18,-100.7,841.6,-13.2,436,5721,0.08,2.25,0.00,0.000,4,0.128,0.063,2787,3463,2360,0,0,0,0,0,0
$GC,5815,-1.13,-100.7,856.6,-15.1,440,5822,0.08,2.20,0.00,0.000,6,0.178,0.045,2814,2067,2360,0,0,0,0,0,0
$GC,6131,-1.13,-100.7,898.0,-12.9,456,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2066,2359,0,0,0,0,0,0
$GC,6441,-1.13,-100.7,936.0,-12.1,471,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2067,2359,0,0,0,0,0,0
$GC,6750,-1.13,-100.7,974.0,-12.2,486,6754,0.00,2.25,0.00,0.000,4,0.000,0.058,2805,3474,2359,0,0,0,0,0,0
$GC,6789,-1.13,-100.7,978.6,-13.1,488,6793,0.00,2.20,0.00,0.000,6,0.000,0.045,2808,2048,2359,0,0,0,0,0,0
$STATE,6969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6969,begin apogee
$GC,6974,-0.19,0.0,1000.5,11.9,497,7070,1.05,0.00,91.62,1.290,6,0.174,0.000,3115,1590,1950,0,0,0,0,0,0
$STATE,7071,end apogee,CONTROL_FINISHED_OK
$STATE,7071,begin climb
$GC,7073,1.12,100.7,1003.2,0.0,502,7179,1.27,2.47,96.10,1.252,4,0.093,0.052,3548,198,1537,0,0,0,0,0,0
$GC,7267,1.12,100.7,981.6,15.0,511,7272,0.00,2.35,0.00,0.000,6,0.000,0.037,3548,1604,1533,0,0,0,0,0,0
$GC,7595,1.12,100.7,935.6,14.0,527,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1604,1530,0,0,0,0,0,0
$GC,7905,1.12,100.7,892.9,13.7,542,7909,0.00,2.33,0.00,0.000,4,0.000,0.050,3557,189,1529,0,0,0,0,0,0
$GC,7981,1.12,100.7,881.9,13.5,545,7987,0.00,2.25,0.00,0.000,6,0.000,0.034,3557,1599,1528,0,0,0,0,0,0
$GC,8298,1.12,100.7,839.7,13.3,561,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1599,1527,0,0,0,0,0,0
$GC,8607,1.12,100.7,799.6,12.7,576,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1599,1527,0,0,0,0,0,0
$GC,8916,1.12,100.7,761.8,11.7,591,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1599,1527,0,0,0,0,0,0
$GC,9226,1.12,100.7,724.6,11.9,606,9230,0.00,2.22,0.00,0.000,4,0.000,0.055,3557,2996,1526,0,0,0,0,0,0
$GC,9325,1.12,100.7,712.0,13.1,610,9332,0.05,2.17,0.00,0.000,6,0.185,0.035,3551,1595,1526,0,0,0,0,0,0
$GC,9641,1.12,100.7,674.9,11.5,626,9645,0.00,2.20,0.00,0.000,4,0.000,0.054,3561,202,1526,0,0,0,0,0,0
$GC,9771,1.12,100.7,658.9,12.5,632,9775,0.05,2.17,0.00,0.000,6,0.236,0.037,3551,1606,1526,0,0,0,0,0,0
$GC,10098,1.24,119.6,626.6,6.4,648,10122,0.10,2.28,16.55,1.014,4,0.103,0.051,3594,3002,1461,0,0,0,0,0,0
$GC,10239,1.15,119.6,609.0,14.3,654,10244,0.15,2.20,0.00,0.000,6,0.179,0.035,3560,1600,1460,0,0,0,0,0,0
$GC,10560,1.15,119.6,576.3,12.3,670,10564,0.00,2.22,0.00,0.000,4,0.000,0.051,3561,2991,1458,0,0,0,0,0,0
$GC,10782,1.15,119.6,546.3,14.0,680,10787,0.03,2.17,0.00,0.000,6,0.218,0.037,3562,1601,1459,0,0,0,0,0,0
$GC,11110,1.15,119.6,503.2,13.1,696,11114,0.00,2.25,0.00,0.000,4,0.000,0.053,3573,194,1458,0,0,0,0,0,0
$GC,11221,1.11,119.6,487.4,15.3,701,11226,0.10,2.20,0.00,0.000,6,0.202,0.035,3545,1628,1457,0,0,0,0,0,0
$GC,11548,1.15,119.6,446.1,12.9,717,11552,0.00,2.28,0.00,0.000,4,0.000,0.050,3554,198,1457,0,0,0,0,0,0
$GC,11620,1.15,119.6,436.1,13.7,720,11624,0.00,2.20,0.00,0.000,6,0.000,0.036,3554,1599,1457,0,0,0,0,0,0
$GC,11943,1.15,119.6,394.4,12.6,738,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1599,1457,0,0,0,0,0,0
$GC,12262,1.15,119.6,353.8,12.6,768,12266,0.00,2.22,0.00,0.000,4,0.000,0.051,3563,199,1457,0,0,0,0,0,0
$GC,12316,1.15,119.6,346.3,13.4,772,12325,0.00,2.20,0.00,0.000,6,0.000,0.037,3563,1602,1457,0,0,0,0,0,0
$GC,12642,1.15,119.6,304.4,12.8,803,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1602,1457,0,0,0,0,0,0
$GC,12963,1.15,119.6,266.1,11.8,833,12967,0.00,2.22,0.00,0.000,4,0.000,0.050,3571,195,1457,0,0,0,0,0,0
$GC,13029,1.15,119.6,257.0,12.9,838,13036,0.03,2.20,0.00,0.000,6,0.200,0.036,3562,1608,1457,0,0,0,0,0,0
$GC,13357,1.15,119.6,218.9,11.7,869,13361,0.00,2.25,0.00,0.000,4,0.000,0.050,3571,199,1457,0,0,0,0,0,0
$GC,13430,1.15,119.6,209.6,12.5,875,13434,0.05,2.15,0.00,0.000,6,0.236,0.037,3560,1608,1457,0,0,0,0,0,0
$GC,13757,1.18,119.6,172.9,11.2,905,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1608,1457,0,0,0,0,0,0
$GC,14074,1.21,119.6,135.3,12.0,935,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1608,1457,0,0,0,0,0,0
$GC,14395,1.25,119.6,96.5,12.1,967,14400,0.08,0.00,0.00,0.000,6,0.129,0.000,3596,1608,1457,0,0,0,0,0,0
$GC,14742,1.25,119.6,50.1,13.6,1028,14747,0.00,2.22,0.00,0.000,4,0.000,0.050,3606,199,1457,0,0,0,0,0,0
$GC,14867,1.16,119.6,33.1,13.8,1049,14875,0.15,2.17,0.00,0.000,6,0.173,0.035,3560,1605,1457,0,0,0,0,0,0
$GC,15023,1.19,119.6,15.1,12.7,1074,15030,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1605,1457,0,0,0,0,0,0
$GC,15081,1.19,119.6,9.0,10.0,1083,15088,0.00,2.25,0.00,0.000,4,0.000,0.051,3570,202,1457,0,0,0,0,0,0
$STATE,15132,end climb,SURFACE_DEPTH_REACHED
$STATE,15132,begin surface coast
$FINISH,1.8,1.011907
$STATE,15158,end surface coast,CONTROL_FINISHED_OK
$STATE,15158,begin surface
$SM_CCo,15177,38.85,0.057,0,0,1133,200.16
$SM_GC,2.99,0.00,0.00,38.85,0.000,0.000,0.057,93,2051,1133,-9.66,-0.23,200.16
$IRIDIUM_FIX,-4447.43,622.10,240608,232303
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.4,22.246
$10V_AH,10.1,22.350
$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,24.525,95.350,204.275,38.850,0.000,24.991,41.468,281.982,0.000,0.000,19.564,2701.293,9548.173,340.063,2944.063,148.584,0.000,1367.161,0.000,2436.012,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,69.615,1289.790,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.380,2037.470,824.791,468.510,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353220
$DATA_FILE_SIZE,77115,1095
$CAP_FILE_SIZE,137332,0
$CFSIZE,2097086464,2071396352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290815,183557,-4505.295,624.532,35,1.1,35,-24.4