version: 66.07.10.p01
glider: 573
mission: 12
dive: 90
start: 8 14 115 14 0 18
data:
$ID,573
$MISSION,12
$DIVE,90
$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,-21292.871
$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,40
$R_STBD_OVSHOOT,36
$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,89
$GPS1,140815,135304,-4503.526,626.028,28,1.6,28,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-69.4
$GPS2,140815,135958,-4503.563,626.118,15,1.0,15,-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,278.1,2886,-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,-26.73,0.000,2,0.000,0.000,71,2071,1657,0,0,0,0,0,0
$GC,54,-1.11,-80.5,3.1,-5.0,4,106,11.23,2.33,-29.75,0.000,4,0.251,0.080,2807,3453,2281,0,0,0,0,0,0
$GC,379,-1.04,-80.5,43.1,-15.9,57,386,0.10,2.20,0.00,0.000,6,0.180,0.042,2838,2072,2283,0,0,0,0,0,0
$GC,730,-1.04,-80.5,93.1,-13.9,118,735,0.00,2.22,0.00,0.000,4,0.000,0.059,2829,3466,2283,0,0,0,0,0,0
$GC,800,-1.01,-80.5,103.3,-14.8,129,805,0.12,2.17,0.00,0.000,6,0.199,0.041,2859,2051,2283,0,0,0,0,0,0
$GC,1125,-1.01,-80.5,145.7,-12.8,159,1129,0.00,2.28,0.00,0.000,4,0.000,0.059,2849,3463,2283,0,0,0,0,0,0
$GC,1254,-1.01,-80.5,162.7,-13.3,170,1259,0.00,2.17,0.00,0.000,6,0.000,0.040,2850,2052,2283,0,0,0,0,0,0
$GC,1579,-1.01,-80.5,204.3,-12.7,200,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2051,2283,0,0,0,0,0,0
$GC,1898,-1.01,-80.5,245.1,-12.7,230,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2052,2283,0,0,0,0,0,0
$GC,2216,-1.01,-80.5,286.8,-13.0,260,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2052,2284,0,0,0,0,0,0
$GC,2535,-1.01,-80.5,327.4,-12.1,290,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2051,2284,0,0,0,0,0,0
$GC,2854,-1.04,-80.5,365.9,-11.3,320,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2052,2284,0,0,0,0,0,0
$GC,3172,-1.08,-80.5,402.8,-12.0,349,3176,0.00,2.22,0.00,0.000,4,0.000,0.057,2840,3461,2284,0,0,0,0,0,0
$GC,3204,-1.08,-80.5,407.1,-12.6,350,3209,0.00,2.17,0.00,0.000,6,0.000,0.040,2840,2057,2284,0,0,0,0,0,0
$GC,3527,-1.08,-80.5,446.0,-12.4,366,3531,0.00,2.20,0.00,0.000,4,0.000,0.055,2841,650,2285,0,0,0,0,0,0
$GC,3570,-1.08,-80.5,451.9,-13.0,368,3575,0.00,2.22,0.00,0.000,6,0.000,0.042,2831,2058,2284,0,0,0,0,0,0
$GC,3897,-1.08,-80.5,493.9,-12.7,384,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2058,2284,0,0,0,0,0,0
$GC,4207,-1.08,-80.5,534.5,-12.9,399,4211,0.00,2.22,0.00,0.000,4,0.000,0.062,2820,3463,2284,0,0,0,0,0,0
$GC,4255,-1.08,-80.5,541.5,-14.0,401,4261,0.03,2.17,0.00,0.000,6,0.191,0.041,2829,2062,2284,0,0,0,0,0,0
$GC,4577,-1.08,-80.5,583.8,-13.0,417,4581,0.00,2.22,0.00,0.000,4,0.000,0.054,2830,647,2284,0,0,0,0,0,0
$GC,4626,-1.04,-80.5,590.4,-13.5,419,4631,0.05,2.22,0.00,0.000,6,0.191,0.041,2837,2069,2284,0,0,0,0,0,0
$GC,4947,-1.04,-80.5,626.7,-11.1,435,4951,0.00,2.25,0.00,0.000,4,0.000,0.053,2838,652,2283,0,0,0,0,0,0
$GC,4986,-1.04,-80.5,631.1,-11.6,437,4991,0.08,2.20,0.00,0.000,6,0.230,0.041,2845,2070,2283,0,0,0,0,0,0
$GC,5313,-1.08,-80.5,664.4,-10.3,453,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2070,2283,0,0,0,0,0,0
$GC,5622,-1.12,-80.5,694.8,-9.9,468,5624,0.08,0.00,0.00,0.000,6,0.126,0.000,2805,2071,2283,0,0,0,0,0,0
$GC,5931,-1.08,-80.5,730.9,-12.4,483,5936,0.10,2.22,0.00,0.000,4,0.206,0.060,2817,3475,2282,0,0,0,0,0,0
$GC,6024,-1.08,-80.5,742.4,-12.0,487,6030,0.03,2.20,0.00,0.000,6,0.192,0.042,2826,2062,2282,0,0,0,0,0,0
$GC,6346,-1.08,-80.5,779.4,-11.7,503,6350,0.00,2.22,0.00,0.000,4,0.000,0.060,2817,3463,2282,0,0,0,0,0,0
$GC,6371,-1.08,-80.5,782.7,-11.4,504,6377,0.03,2.17,0.00,0.000,6,0.193,0.041,2826,2060,2282,0,0,0,0,0,0
$GC,6693,-1.08,-80.5,819.7,-11.7,520,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2060,2281,0,0,0,0,0,0
$GC,7002,-1.08,-80.5,854.7,-11.2,535,7006,0.00,2.22,0.00,0.000,4,0.000,0.055,2827,644,2281,0,0,0,0,0,0
$GC,7086,-1.08,-80.5,864.5,-11.3,539,7091,0.05,2.20,0.00,0.000,6,0.255,0.041,2828,2066,2281,0,0,0,0,0,0
$GC,7412,-1.08,-80.5,899.5,-10.7,555,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2066,2281,0,0,0,0,0,0
$GC,7722,-1.08,-80.5,931.1,-9.8,570,7726,0.00,2.20,0.00,0.000,4,0.000,0.060,2818,3459,2281,0,0,0,0,0,0
$GC,7809,-1.08,-80.5,941.0,-10.8,574,7815,0.03,2.17,0.00,0.000,6,0.191,0.041,2827,2059,2280,0,0,0,0,0,0
$GC,8137,-1.08,-80.5,975.6,-10.8,590,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2059,2280,0,0,0,0,0,0
$STATE,8383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8383,begin apogee
$GC,8387,-0.19,0.0,1001.3,10.6,602,8465,0.98,0.00,74.18,1.296,6,0.174,0.000,3117,1597,1950,0,0,0,0,0,0
$STATE,8466,end apogee,CONTROL_FINISHED_OK
$STATE,8466,begin climb
$GC,8467,1.11,80.5,1004.2,0.0,606,8549,1.27,0.00,77.80,1.258,6,0.093,0.000,3536,1596,1620,0,0,0,0,0,0
$GC,8854,1.11,80.5,964.1,11.2,625,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1596,1612,0,0,0,0,0,0
$GC,9163,1.11,80.5,928.0,11.9,640,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1596,1610,0,0,0,0,0,0
$GC,9472,1.11,80.5,891.4,12.0,655,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1596,1610,0,0,0,0,0,0
$GC,9781,1.11,80.5,855.5,11.3,670,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1596,1609,0,0,0,0,0,0
$GC,10091,1.11,80.5,821.3,10.9,685,10095,0.00,2.25,0.00,0.000,4,0.000,0.051,3547,188,1608,0,0,0,0,0,0
$GC,10201,1.11,80.5,808.1,12.0,690,10206,0.00,2.22,0.00,0.000,6,0.000,0.033,3547,1610,1608,0,0,0,0,0,0
$GC,10528,1.11,80.5,771.3,11.2,706,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1610,1608,0,0,0,0,0,0
$GC,10838,1.11,80.5,736.5,11.6,721,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1610,1607,0,0,0,0,0,0
$GC,11147,1.11,80.5,701.5,11.3,736,11151,0.00,2.17,0.00,0.000,4,0.000,0.053,3547,3005,1607,0,0,0,0,0,0
$GC,11178,1.11,80.5,697.6,12.5,737,11185,0.03,2.17,0.00,0.000,6,0.216,0.034,3548,1596,1607,0,0,0,0,0,0
$GC,11494,1.11,80.5,662.3,10.9,753,11499,0.00,2.22,0.00,0.000,4,0.000,0.051,3559,192,1607,0,0,0,0,0,0
$GC,11594,1.07,80.5,650.6,11.0,757,11601,0.08,2.20,0.00,0.000,6,0.184,0.034,3535,1605,1606,0,0,0,0,0,0
$GC,11911,1.11,80.5,616.3,10.8,773,11915,0.00,2.25,0.00,0.000,4,0.000,0.050,3544,190,1606,0,0,0,0,0,0
$GC,11959,1.11,80.5,610.3,11.9,775,11964,0.00,2.20,0.00,0.000,6,0.000,0.034,3544,1604,1606,0,0,0,0,0,0
$GC,12281,1.11,80.5,577.3,10.4,791,12285,0.00,2.17,0.00,0.000,4,0.000,0.051,3544,2993,1606,0,0,0,0,0,0
$GC,12335,1.11,80.5,571.4,10.0,793,12341,0.00,2.15,0.00,0.000,6,0.000,0.034,3553,1603,1606,0,0,0,0,0,0
$GC,12651,1.11,80.5,535.8,11.7,809,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1602,1606,0,0,0,0,0,0
$GC,12960,1.11,80.5,501.5,10.8,824,12964,0.00,2.22,0.00,0.000,4,0.000,0.051,3564,192,1606,0,0,0,0,0,0
$GC,13161,1.06,80.5,478.5,10.9,833,13166,0.10,2.17,0.00,0.000,6,0.174,0.033,3533,1601,1605,0,0,0,0,0,0
$GC,13489,1.11,80.5,445.4,10.2,849,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1601,1605,0,0,0,0,0,0
$GC,13798,1.16,80.5,414.4,9.8,864,13800,0.08,0.00,0.00,0.000,6,0.132,0.000,3568,1601,1606,0,0,0,0,0,0
$GC,14111,1.16,80.5,381.0,10.4,887,14115,0.00,2.22,0.00,0.000,4,0.000,0.049,3577,197,1605,0,0,0,0,0,0
$GC,14174,1.10,80.5,373.9,11.7,892,14178,0.15,2.15,0.00,0.000,6,0.183,0.035,3539,1601,1606,0,0,0,0,0,0
$GC,14498,1.13,80.5,340.1,10.3,922,14502,0.00,2.22,0.00,0.000,4,0.000,0.049,3548,195,1606,0,0,0,0,0,0
$GC,14587,1.13,80.5,330.1,11.4,929,14593,0.00,2.17,0.00,0.000,6,0.000,0.034,3547,1596,1606,0,0,0,0,0,0
$GC,14912,1.13,80.5,296.9,9.9,960,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1596,1605,0,0,0,0,0,0
$GC,15231,1.13,80.5,265.2,9.7,990,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1597,1606,0,0,0,0,0,0
$GC,15550,1.13,80.5,235.3,8.7,1020,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1596,1606,0,0,0,0,0,0
$GC,15869,1.16,80.5,205.5,9.3,1050,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1597,1605,0,0,0,0,0,0
$GC,16188,1.20,80.5,175.1,10.4,1080,16190,0.08,0.00,0.00,0.000,6,0.131,0.000,3589,1596,1606,0,0,0,0,0,0
$GC,16506,1.15,80.5,139.1,10.5,1110,16511,0.12,2.20,0.00,0.000,4,0.186,0.047,3568,195,1606,0,0,0,0,0,0
$GC,16594,1.11,80.5,129.3,10.6,1117,16601,0.08,2.17,0.00,0.000,6,0.176,0.034,3545,1600,1605,0,0,0,0,0,0
$GC,16920,1.16,80.5,101.1,8.8,1148,16921,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1600,1605,0,0,0,0,0,0
$GC,17259,1.20,82.9,73.1,8.3,1206,17267,0.08,2.25,0.00,0.000,4,0.134,0.048,3591,195,1605,0,0,0,0,0,0
$GC,17321,1.11,82.9,67.0,11.1,1216,17327,0.17,2.12,0.00,0.000,6,0.180,0.034,3545,1605,1605,0,0,0,0,0,0
$GC,17673,1.16,82.9,35.7,9.0,1277,17680,0.00,2.25,0.00,0.000,4,0.000,0.048,3555,192,1605,0,0,0,0,0,0
$GC,17768,1.16,85.3,26.8,8.3,1292,17775,0.00,2.15,0.00,0.000,6,0.000,0.033,3554,1594,1606,0,0,0,0,0,0
$GC,17925,1.16,85.3,11.0,11.9,1317,17932,0.00,2.22,0.00,0.000,4,0.000,0.047,3563,192,1605,0,0,0,0,0,0
$STATE,17988,end climb,SURFACE_DEPTH_REACHED
$STATE,17988,begin surface coast
$FINISH,1.4,1.007573
$STATE,18014,end surface coast,CONTROL_FINISHED_OK
$STATE,18014,begin surface
$SM_CCo,18032,55.17,0.056,0,0,1133,200.16
$SM_GC,2.71,0.00,0.00,55.17,0.000,0.000,0.056,62,2042,1133,-9.76,-0.51,200.16
$IRIDIUM_FIX,-4447.43,622.10,090608,222228
$TT8_MAMPS,0.026964
$HUMID,61.06
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.6,15.570
$10V_AH,10.1,13.310
$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,24.050,107.300,151.975,55.175,0.000,24.604,19.201,259.169,0.000,0.000,17.896,3271.156,11419.771,339.210,3330.347,139.208,0.000,1486.673,0.000,2839.645,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,80.325,1295.910,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.834,2447.692,1005.600,545.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353312
$DATA_FILE_SIZE,93776,1331
$CAP_FILE_SIZE,157873,0
$CFSIZE,2097086464,2080342016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140815,190321,-4504.894,624.935,61,0.9,61,-24.4