version: 66.07.10.p01
glider: 573
mission: 12
dive: 72
start: 8 10 115 18 55 48
data:
$ID,573
$MISSION,12
$DIVE,72
$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,335
$T_MISSION,350
$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,130
$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,-21241.629
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,43
$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,71
$GPS1,100815,184827,-4504.410,637.178,37,0.9,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-73.4
$GPS2,100815,185528,-4504.407,637.192,17,0.9,17,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,320.2,1732,-27.8,-9.950
$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,-1.11,-62.6,0.0,0.0,0,54,0.00,0.00,-28.10,0.000,2,0.000,0.000,75,2071,1707,0,0,0,0,0,0
$GC,56,-1.14,-116.9,3.3,-4.2,5,101,11.35,2.25,-27.92,0.000,4,0.257,0.075,2798,3456,2427,0,0,0,0,0,0
$GC,117,-1.11,-126.5,5.7,-6.6,14,125,0.08,2.22,-0.93,0.000,6,0.181,0.041,2821,2058,2463,0,0,0,0,0,0
$GC,176,-1.08,-126.5,15.2,-16.4,23,183,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2057,2464,0,0,0,0,0,0
$GC,234,-1.05,-126.5,25.8,-18.6,32,241,0.10,0.00,0.00,0.000,6,0.209,0.000,2844,2057,2464,0,0,0,0,0,0
$GC,383,-1.05,-126.5,50.8,-16.4,57,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2057,2464,0,0,0,0,0,0
$GC,733,-1.05,-126.5,107.6,-16.5,115,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2057,2465,0,0,0,0,0,0
$GC,1052,-1.05,-126.5,159.1,-15.5,145,1056,0.00,2.25,0.00,0.000,4,0.000,0.060,2835,3452,2465,0,0,0,0,0,0
$GC,1185,-1.05,-126.5,179.7,-14.9,156,1191,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,2061,2465,0,0,0,0,0,0
$GC,1510,-1.05,-126.5,228.4,-15.8,187,1514,0.00,2.22,0.00,0.000,4,0.000,0.057,2826,3454,2465,0,0,0,0,0,0
$GC,1537,-1.05,-126.5,232.7,-16.0,189,1542,0.08,2.15,0.00,0.000,6,0.207,0.040,2842,2054,2465,0,0,0,0,0,0
$GC,1861,-1.05,-126.5,280.6,-15.3,219,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2054,2466,0,0,0,0,0,0
$GC,2181,-1.07,-126.5,327.4,-14.9,249,2184,0.00,2.20,0.00,0.000,4,0.000,0.060,2833,3454,2466,0,0,0,0,0,0
$GC,2237,-1.07,-126.5,335.8,-15.1,254,2241,0.00,2.15,0.00,0.000,6,0.000,0.040,2833,2054,2466,0,0,0,0,0,0
$GC,2561,-1.07,-126.5,383.8,-15.2,284,2565,0.00,2.25,0.00,0.000,4,0.000,0.058,2824,3465,2466,0,0,0,0,0,0
$GC,2614,-1.07,-126.5,392.2,-14.8,288,2624,0.00,2.17,0.00,0.000,6,0.000,0.040,2824,2067,2466,0,0,0,0,0,0
$GC,2943,-1.07,-126.5,441.2,-14.8,307,2947,0.03,2.22,0.00,0.000,4,0.280,0.055,2823,3462,2466,0,0,0,0,0,0
$GC,2974,-1.07,-126.5,446.2,-15.1,308,2980,0.00,2.17,0.00,0.000,6,0.000,0.039,2825,2060,2466,0,0,0,0,0,0
$GC,3290,-1.07,-126.5,493.7,-15.1,324,3294,0.00,2.22,0.00,0.000,4,0.000,0.058,2816,3463,2466,0,0,0,0,0,0
$GC,3329,-1.07,-126.5,499.8,-15.8,326,3333,0.08,2.15,0.00,0.000,6,0.201,0.040,2833,2057,2466,0,0,0,0,0,0
$GC,3655,-1.09,-126.5,547.6,-14.6,342,3659,0.00,2.22,0.00,0.000,4,0.000,0.059,2823,3456,2466,0,0,0,0,0,0
$GC,3717,-1.09,-126.5,556.9,-14.7,345,3721,0.00,2.15,0.00,0.000,6,0.000,0.040,2825,2054,2466,0,0,0,0,0,0
$GC,4044,-1.09,-126.5,603.7,-14.2,361,4048,0.00,2.22,0.00,0.000,4,0.000,0.058,2815,3454,2466,0,0,0,0,0,0
$GC,4092,-1.09,-126.5,611.2,-14.6,363,4098,0.03,2.17,0.00,0.000,6,0.188,0.040,2824,2054,2466,0,0,0,0,0,0
$GC,4414,-1.09,-126.5,655.7,-14.0,379,4418,0.00,2.22,0.00,0.000,4,0.000,0.059,2815,3463,2466,0,0,0,0,0,0
$GC,4484,-1.09,-126.5,666.1,-15.1,382,4490,0.03,2.17,0.00,0.000,6,0.190,0.040,2824,2058,2466,0,0,0,0,0,0
$GC,4806,-1.09,-126.5,709.8,-13.6,398,4810,0.00,2.22,0.00,0.000,4,0.000,0.060,2816,3456,2466,0,0,0,0,0,0
$GC,4845,-1.09,-126.5,715.1,-14.0,400,4849,0.05,2.15,0.00,0.000,6,0.226,0.040,2826,2051,2466,0,0,0,0,0,0
$GC,5171,-1.12,-126.5,759.6,-13.9,416,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2052,2465,0,0,0,0,0,0
$GC,5480,-1.14,-126.5,800.8,-13.2,431,5484,0.00,2.22,0.00,0.000,4,0.000,0.059,2817,3453,2465,0,0,0,0,0,0
$GC,5579,-1.14,-126.5,814.3,-13.5,435,5585,0.00,2.15,0.00,0.000,6,0.000,0.041,2818,2069,2465,0,0,0,0,0,0
$GC,5895,-1.14,-126.5,854.1,-12.4,451,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2069,2465,0,0,0,0,0,0
$GC,6204,-1.14,-126.5,891.8,-11.8,466,6208,0.00,2.17,0.00,0.000,4,0.000,0.056,2810,3463,2465,0,0,0,0,0,0
$GC,6303,-1.14,-126.5,904.2,-12.6,470,6310,0.00,2.17,0.00,0.000,6,0.000,0.040,2810,2054,2464,0,0,0,0,0,0
$GC,6620,-1.14,-126.5,942.4,-12.3,486,6624,0.00,2.22,0.00,0.000,4,0.000,0.059,2802,3454,2464,0,0,0,0,0,0
$GC,6668,-1.14,-126.5,948.6,-13.1,488,6673,0.00,2.15,0.00,0.000,6,0.000,0.041,2802,2063,2464,0,0,0,0,0,0
$GC,6990,-1.14,-126.5,990.0,-13.1,504,6994,0.00,2.20,0.00,0.000,4,0.000,0.057,2793,3454,2463,0,0,0,0,0,0
$STATE,7065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7065,begin apogee
$GC,7071,-0.19,0.0,1000.8,13.9,507,7189,1.05,0.00,114.22,1.295,6,0.176,0.000,3110,1726,1950,0,0,0,0,0,0
$STATE,7190,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7191,1.15,126.5,1004.3,0.0,513,7322,1.33,2.50,119.68,1.251,4,0.093,0.047,3556,314,1432,0,0,0,0,0,0
$GC,7404,1.15,126.5,978.3,16.8,523,7409,0.00,2.35,0.00,0.000,6,0.000,0.033,3556,1726,1426,0,0,0,0,0,0
$GC,7732,1.15,126.5,926.3,16.3,539,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1727,1423,0,0,0,0,0,0
$GC,8041,1.15,126.5,877.5,15.5,554,8046,0.00,2.28,0.00,0.000,4,0.000,0.045,3565,312,1422,0,0,0,0,0,0
$GC,8186,1.15,126.5,854.0,16.3,560,8192,0.00,2.28,0.00,0.000,6,0.000,0.034,3565,1734,1422,0,0,0,0,0,0
$GC,8502,1.15,126.5,805.2,15.4,576,8506,0.00,2.25,0.00,0.000,4,0.000,0.045,3574,317,1421,0,0,0,0,0,0
$GC,8640,1.15,126.5,782.6,16.0,582,8646,0.05,2.22,0.00,0.000,6,0.178,0.033,3559,1734,1421,0,0,0,0,0,0
$GC,8962,1.15,126.5,734.4,14.9,598,8966,0.00,2.25,0.00,0.000,4,0.000,0.045,3567,311,1420,0,0,0,0,0,0
$GC,9113,1.15,126.5,711.0,15.5,605,9118,0.05,2.20,0.00,0.000,6,0.237,0.034,3558,1730,1419,0,0,0,0,0,0
$GC,9439,1.15,126.5,662.5,14.4,621,9443,0.00,2.25,0.00,0.000,4,0.000,0.044,3566,314,1419,0,0,0,0,0,0
$GC,9500,1.15,126.5,653.1,15.5,624,9504,0.00,2.20,0.00,0.000,6,0.000,0.034,3566,1730,1419,0,0,0,0,0,0
$GC,9826,1.15,126.5,605.8,14.4,640,9830,0.00,2.25,0.00,0.000,4,0.000,0.045,3575,312,1419,0,0,0,0,0,0
$GC,9926,1.15,126.5,590.7,16.5,644,9931,0.05,2.22,0.00,0.000,6,0.175,0.034,3559,1734,1419,0,0,0,0,0,0
$GC,10247,1.17,126.5,547.4,13.4,660,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1734,1419,0,0,0,0,0,0
$GC,10557,1.19,126.5,506.2,13.6,675,10561,0.00,2.22,0.00,0.000,4,0.000,0.045,3568,312,1418,0,0,0,0,0,0
$GC,10686,1.19,126.5,487.3,15.1,681,10690,0.00,2.20,0.00,0.000,6,0.000,0.034,3568,1738,1419,0,0,0,0,0,0
$GC,11011,1.19,126.5,441.5,14.2,697,11015,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,317,1418,0,0,0,0,0,0
$GC,11110,1.19,126.5,425.9,15.8,701,11117,0.00,2.20,0.00,0.000,6,0.000,0.031,3577,1732,1418,0,0,0,0,0,0
$GC,11431,1.19,126.5,378.9,14.9,723,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1733,1418,0,0,0,0,0,0
$GC,11753,1.19,126.5,331.5,14.4,753,11757,0.00,2.22,0.00,0.000,4,0.000,0.046,3586,311,1418,0,0,0,0,0,0
$GC,11973,1.19,126.5,296.9,15.6,772,11978,0.08,2.17,0.00,0.000,6,0.208,0.034,3570,1737,1418,0,0,0,0,0,0
$GC,12302,1.19,126.5,251.8,13.3,803,12306,0.00,2.25,0.00,0.000,4,0.000,0.046,3579,308,1418,0,0,0,0,0,0
$GC,12345,1.19,126.5,245.3,14.8,806,12352,0.00,2.20,0.00,0.000,6,0.000,0.033,3579,1724,1418,0,0,0,0,0,0
$GC,12673,1.19,126.5,198.8,14.6,837,12677,0.00,2.22,0.00,0.000,4,0.000,0.045,3588,312,1418,0,0,0,0,0,0
$GC,12712,1.17,126.5,192.6,15.9,840,12717,0.10,2.20,0.00,0.000,6,0.197,0.034,3565,1747,1418,0,0,0,0,0,0
$GC,13037,1.19,126.5,147.5,13.5,870,13041,0.00,2.15,0.00,0.000,4,0.000,0.054,3565,3120,1418,0,0,0,0,0,0
$GC,13136,1.19,126.5,133.7,14.1,878,13143,0.00,2.12,0.00,0.000,6,0.000,0.031,3573,1726,1417,0,0,0,0,0,0
$GC,13466,1.19,126.5,90.5,13.5,915,13473,0.00,2.20,0.00,0.000,4,0.000,0.047,3584,331,1418,0,0,0,0,0,0
$GC,13622,1.19,126.5,68.7,14.1,942,13629,0.03,2.15,0.00,0.000,6,0.198,0.034,3575,1724,1418,0,0,0,0,0,0
$GC,13983,1.22,126.5,20.1,14.4,1003,13990,0.00,2.20,0.00,0.000,4,0.000,0.045,3584,335,1418,0,0,0,0,0,0
$GC,14034,1.22,126.5,12.5,14.0,1011,14042,0.00,2.15,0.00,0.000,6,0.000,0.033,3584,1725,1418,0,0,0,0,0,0
$GC,14092,1.22,126.5,4.4,12.9,1020,14099,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1726,1418,0,0,0,0,0,0
$STATE,14108,end climb,SURFACE_DEPTH_REACHED
$STATE,14108,begin surface coast
$FINISH,1.7,1.003474
$STATE,14134,end surface coast,CONTROL_FINISHED_OK
$STATE,14134,begin surface
$SM_CCo,14150,33.30,0.057,0,0,1132,200.16
$SM_GC,2.75,0.00,0.00,33.30,0.000,0.000,0.057,73,2082,1132,-9.72,0.62,200.16
$IRIDIUM_FIX,-4447.43,637.25,060608,040428
$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.30
$XPDR_PINGS,1
$24V_AH,23.3,13.727
$10V_AH,10.2,11.038
$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,23.725,129.200,233.900,33.300,0.000,24.687,47.043,238.190,0.250,0.000,19.886,2582.814,8697.354,384.400,2823.755,115.718,0.000,1449.697,0.000,2344.616,0.000,0.540,0.000
$DEVICE_MAMPS,279.990,74.970,1295.145,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.198,1822.135,707.411,421.197,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,70362,1026
$CAP_FILE_SIZE,145547,0
$CFSIZE,2097086464,2082701312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100815,225321,-4503.762,636.581,36,0.8,36,-24.4