version: 66.07.10.p01
glider: 573
mission: 12
dive: 159
start: 8 29 115 18 43 13
data:
$ID,573
$MISSION,12
$DIVE,159
$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,-21499.115
$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,29
$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,158
$GPS1,290815,183557,-4505.295,624.532,35,1.1,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-69.9
$GPS2,290815,184253,-4505.326,624.553,14,0.8,15,-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,8.0,2560,-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,-13.98,0.000,2,0.000,0.000,91,2053,1416,0,0,0,0,0,0
$GC,42,-1.12,-92.1,3.1,-3.7,2,106,11.23,2.28,-43.78,0.000,4,0.247,0.068,2815,672,2326,0,0,0,0,0,0
$GC,377,-1.02,-92.1,48.8,-17.9,57,385,0.12,2.25,0.00,0.000,6,0.178,0.045,2845,2061,2327,0,0,0,0,0,0
$GC,724,-1.02,-92.1,103.6,-15.5,116,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2061,2327,0,0,0,0,0,0
$GC,1043,-1.02,-92.1,152.7,-15.3,146,1047,0.00,2.28,0.00,0.000,4,0.000,0.063,2834,3472,2327,0,0,0,0,0,0
$GC,1131,-1.02,-92.1,166.3,-14.7,153,1138,0.05,2.22,0.00,0.000,6,0.184,0.044,2849,2073,2328,0,0,0,0,0,0
$GC,1456,-1.02,-92.1,210.9,-12.8,184,1460,0.00,2.22,0.00,0.000,4,0.000,0.061,2840,3466,2327,0,0,0,0,0,0
$GC,1500,-1.02,-92.1,217.3,-13.5,187,1506,0.00,2.22,0.00,0.000,6,0.000,0.043,2840,2056,2328,0,0,0,0,0,0
$GC,1825,-1.02,-92.1,261.7,-13.9,218,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2056,2328,0,0,0,0,0,0
$GC,2144,-1.02,-92.1,305.0,-13.4,248,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2056,2328,0,0,0,0,0,0
$GC,2463,-1.02,-92.1,348.2,-13.9,278,2467,0.00,2.22,0.00,0.000,4,0.000,0.058,2840,645,2328,0,0,0,0,0,0
$GC,2482,-1.02,-92.1,350.7,-14.1,279,2487,0.10,2.20,0.00,0.000,6,0.203,0.043,2854,2066,2328,0,0,0,0,0,0
$GC,2809,-1.07,-92.1,393.4,-12.8,309,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2066,2328,0,0,0,0,0,0
$GC,3128,-1.12,-92.1,434.4,-12.6,327,3133,0.10,2.22,0.00,0.000,4,0.103,0.063,2793,3467,2328,0,0,0,0,0,0
$GC,3165,-1.06,-92.1,440.0,-14.9,328,3172,0.15,2.22,0.00,0.000,6,0.164,0.043,2839,2054,2328,0,0,0,0,0,0
$GC,3481,-1.06,-92.1,480.7,-12.4,344,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2054,2328,0,0,0,0,0,0
$GC,3791,-1.06,-92.1,518.8,-12.4,359,3795,0.00,2.28,0.00,0.000,4,0.000,0.062,2830,3463,2328,0,0,0,0,0,0
$GC,3822,-1.06,-92.1,523.1,-13.2,360,3828,0.00,2.22,0.00,0.000,6,0.000,0.044,2830,2054,2328,0,0,0,0,0,0
$GC,4138,-1.06,-92.1,562.0,-11.9,376,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2054,2328,0,0,0,0,0,0
$GC,4448,-1.06,-92.1,599.4,-12.2,391,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2054,2328,0,0,0,0,0,0
$GC,4757,-1.06,-92.1,638.1,-12.8,406,4761,0.00,2.25,0.00,0.000,4,0.000,0.061,2821,3468,2328,0,0,0,0,0,0
$GC,4797,-1.06,-92.1,643.4,-13.9,408,4801,0.08,2.17,0.00,0.000,6,0.208,0.044,2837,2057,2328,0,0,0,0,0,0
$GC,5124,-1.09,-92.1,684.2,-12.9,424,5128,0.00,2.25,0.00,0.000,4,0.000,0.062,2828,3462,2328,0,0,0,0,0,0
$GC,5150,-1.09,-92.1,688.1,-13.1,425,5155,0.00,2.20,0.00,0.000,6,0.000,0.044,2828,2064,2328,0,0,0,0,0,0
$GC,5472,-1.09,-92.1,730.0,-12.8,441,5476,0.00,2.22,0.00,0.000,4,0.000,0.060,2819,3466,2328,0,0,0,0,0,0
$GC,5497,-1.09,-92.1,733.5,-13.5,442,5502,0.00,2.20,0.00,0.000,6,0.000,0.044,2819,2066,2328,0,0,0,0,0,0
$GC,5819,-1.09,-92.1,773.8,-12.5,458,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2066,2328,0,0,0,0,0,0
$GC,6129,-1.09,-92.1,812.3,-12.6,473,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2066,2328,0,0,0,0,0,0
$GC,6438,-1.09,-92.1,849.2,-11.7,488,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2066,2327,0,0,0,0,0,0
$GC,6747,-1.09,-92.1,885.3,-11.6,503,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2066,2327,0,0,0,0,0,0
$GC,7057,-1.09,-92.1,920.7,-11.6,518,7061,0.00,2.25,0.00,0.000,4,0.000,0.059,2810,3471,2326,0,0,0,0,0,0
$GC,7122,-1.09,-92.1,928.9,-12.2,521,7127,0.05,2.22,0.00,0.000,6,0.177,0.045,2826,2060,2327,0,0,0,0,0,0
$GC,7449,-1.13,-92.1,965.1,-11.1,537,7453,0.00,2.25,0.00,0.000,4,0.000,0.063,2817,3463,2327,0,0,0,0,0,0
$GC,7481,-1.13,-92.1,969.1,-12.5,538,7488,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,2063,2326,0,0,0,0,0,0
$STATE,7755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7755,begin apogee
$GC,7760,-0.19,0.0,1001.6,12.0,552,7848,1.02,0.00,84.40,1.294,6,0.173,0.000,3117,1591,1950,0,0,0,0,0,0
$STATE,7849,end apogee,CONTROL_FINISHED_OK
$STATE,7849,begin climb
$GC,7850,1.12,92.1,1004.8,0.0,556,7947,1.27,2.45,87.93,1.257,4,0.090,0.054,3549,194,1573,0,0,0,0,0,0
$GC,8029,1.12,92.1,988.7,12.4,563,8036,0.00,2.35,0.00,0.000,6,0.000,0.036,3549,1605,1569,0,0,0,0,0,0
$GC,8346,1.12,92.1,950.4,12.3,579,8350,0.00,2.25,0.00,0.000,4,0.000,0.054,3549,2997,1565,0,0,0,0,0,0
$GC,8407,1.12,92.1,942.5,13.8,582,8411,0.00,2.20,0.00,0.000,6,0.000,0.036,3558,1597,1565,0,0,0,0,0,0
$GC,8733,1.12,92.1,901.2,12.9,598,8737,0.00,2.25,0.00,0.000,4,0.000,0.054,3569,198,1564,0,0,0,0,0,0
$GC,8787,1.07,92.1,893.6,13.5,600,8794,0.12,2.25,0.00,0.000,6,0.167,0.037,3531,1609,1563,0,0,0,0,0,0
$GC,9103,1.10,92.1,855.5,11.9,616,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1609,1563,0,0,0,0,0,0
$GC,9413,1.14,92.1,818.4,11.8,631,9415,0.05,0.00,0.00,0.000,6,0.169,0.000,3561,1609,1563,0,0,0,0,0,0
$GC,9722,1.14,92.1,778.3,13.4,646,9726,0.00,2.30,0.00,0.000,4,0.000,0.053,3571,191,1563,0,0,0,0,0,0
$GC,9852,1.08,92.1,760.3,14.3,652,9857,0.15,2.17,0.00,0.000,6,0.181,0.035,3533,1604,1562,0,0,0,0,0,0
$GC,10180,1.13,92.1,722.0,11.4,668,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1605,1562,0,0,0,0,0,0
$GC,10488,1.17,92.1,689.6,10.1,683,10492,0.08,2.17,0.00,0.000,4,0.126,0.053,3570,2995,1562,0,0,0,0,0,0
$GC,10559,1.11,92.1,681.2,11.7,686,10564,0.10,2.17,0.00,0.000,6,0.171,0.037,3548,1596,1561,0,0,0,0,0,0
$GC,10880,1.11,92.1,647.7,10.4,702,10884,0.00,2.20,0.00,0.000,4,0.000,0.053,3558,199,1562,0,0,0,0,0,0
$GC,10967,1.11,92.1,637.8,11.2,706,10973,0.03,2.20,0.00,0.000,6,0.208,0.037,3550,1601,1561,0,0,0,0,0,0
$GC,11295,1.11,92.1,603.5,10.3,722,11296,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1601,1561,0,0,0,0,0,0
$GC,11604,1.11,92.1,571.0,10.5,737,11608,0.00,2.20,0.00,0.000,4,0.000,0.054,3550,2991,1561,0,0,0,0,0,0
$GC,11665,1.11,92.1,564.2,10.6,740,11670,0.08,2.12,0.00,0.000,6,0.230,0.036,3543,1591,1561,0,0,0,0,0,0
$GC,11993,1.11,92.1,528.9,10.8,756,11997,0.00,2.22,0.00,0.000,4,0.000,0.053,3553,192,1561,0,0,0,0,0,0
$GC,12154,1.11,92.1,509.7,11.5,763,12159,0.03,2.20,0.00,0.000,6,0.210,0.037,3545,1598,1560,0,0,0,0,0,0
$GC,12476,1.11,92.1,473.8,11.3,779,12480,0.00,2.20,0.00,0.000,4,0.000,0.056,3545,3004,1560,0,0,0,0,0,0
$GC,12597,1.11,92.1,459.1,11.9,784,12604,0.00,2.17,0.00,0.000,6,0.000,0.035,3553,1601,1560,0,0,0,0,0,0
$GC,12914,1.11,92.1,422.0,11.6,800,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1561,0,0,0,0,0,0
$GC,13226,1.11,92.1,387.2,11.3,820,13230,0.00,2.22,0.00,0.000,4,0.000,0.053,3564,195,1561,0,0,0,0,0,0
$GC,13314,1.11,92.1,376.6,11.8,827,13321,0.05,2.20,0.00,0.000,6,0.190,0.035,3548,1608,1561,0,0,0,0,0,0
$GC,13640,1.14,92.1,341.3,10.7,858,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1608,1561,0,0,0,0,0,0
$GC,13959,1.14,92.1,309.7,9.4,888,13963,0.00,2.15,0.00,0.000,4,0.000,0.052,3548,2994,1561,0,0,0,0,0,0
$GC,14047,1.14,92.1,300.8,9.6,895,14053,0.00,2.15,0.00,0.000,6,0.000,0.035,3556,1604,1560,0,0,0,0,0,0
$GC,14373,1.14,92.1,270.3,9.7,926,14377,0.00,2.22,0.00,0.000,4,0.000,0.052,3566,195,1561,0,0,0,0,0,0
$GC,14491,1.14,92.1,258.0,10.7,936,14495,0.05,2.15,0.00,0.000,6,0.239,0.036,3557,1603,1560,0,0,0,0,0,0
$GC,14820,1.14,92.1,224.6,10.1,967,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1603,1561,0,0,0,0,0,0
$GC,15142,1.14,92.1,190.7,10.9,997,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1603,1561,0,0,0,0,0,0
$GC,15459,1.14,92.1,154.7,12.1,1027,15462,0.00,2.17,0.00,0.000,4,0.000,0.053,3557,2992,1561,0,0,0,0,0,0
$GC,15534,1.14,92.1,145.8,11.7,1033,15538,0.00,2.10,0.00,0.000,6,0.000,0.036,3565,1596,1561,0,0,0,0,0,0
$GC,15858,1.14,92.1,111.7,10.1,1063,15862,0.00,2.20,0.00,0.000,4,0.000,0.051,3576,199,1560,0,0,0,0,0,0
$GC,16120,1.11,92.1,83.1,10.7,1098,16128,0.10,2.17,0.00,0.000,6,0.170,0.035,3545,1599,1560,0,0,0,0,0,0
$GC,16472,1.16,92.1,51.2,9.4,1159,16477,0.00,2.22,0.00,0.000,4,0.000,0.050,3554,194,1560,0,0,0,0,0,0
$GC,16542,1.16,92.1,44.0,9.9,1171,16547,0.00,2.17,0.00,0.000,6,0.000,0.036,3554,1615,1560,0,0,0,0,0,0
$GC,16912,1.16,92.1,7.6,9.9,1232,16918,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1615,1560,0,0,0,0,0,0
$STATE,16956,end climb,SURFACE_DEPTH_REACHED
$STATE,16956,begin surface coast
$FINISH,1.8,1.014556
$STATE,16988,end surface coast,CONTROL_FINISHED_OK
$STATE,16988,begin surface
$SM_CCo,17004,50.67,0.056,0,0,1132,200.16
$SM_GC,3.44,0.00,0.00,50.67,0.000,0.000,0.056,60,2084,1132,-9.76,0.68,200.16
$IRIDIUM_FIX,-4447.43,622.10,250608,030300
$TT8_MAMPS,0.027713
$HUMID,62.52
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.5,22.328
$10V_AH,10.1,22.475
$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,24.150,116.700,172.325,50.675,0.000,24.592,17.750,255.169,0.000,0.000,18.090,3065.593,10690.506,338.277,3216.096,159.142,0.000,1473.723,0.000,2739.885,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,68.085,1293.615,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.884,2297.484,946.807,530.910,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,87049,1244
$CAP_FILE_SIZE,152315,0
$CFSIZE,2097086464,2071265280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290815,232833,-4505.406,625.237,30,1.3,30,-24.4