version: 66.07.10.p01
glider: 573
mission: 12
dive: 94
start: 8 15 115 10 28 54
data:
$ID,573
$MISSION,12
$DIVE,94
$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,-21305.586
$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,40
$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,93
$GPS1,150815,102057,-4503.305,625.431,40,0.9,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-65.5
$GPS2,150815,102834,-4503.317,625.540,15,1.6,15,-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,262.3,2378,-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,-26.55,0.000,2,0.000,0.000,78,2071,1678,0,0,0,0,0,0
$GC,54,-1.13,-107.6,3.1,-1.9,4,99,11.30,2.25,-27.17,0.000,4,0.250,0.073,2806,3456,2389,0,0,0,0,0,0
$GC,218,-1.04,-107.6,23.4,-19.1,30,226,0.12,2.20,0.00,0.000,6,0.172,0.038,2843,2065,2390,0,0,0,0,0,0
$GC,369,-1.04,-107.6,48.3,-13.4,55,374,0.00,2.25,0.00,0.000,4,0.000,0.056,2834,3462,2391,0,0,0,0,0,0
$GC,415,-1.04,-107.6,55.3,-14.4,63,422,0.03,2.20,0.00,0.000,6,0.208,0.038,2841,2061,2391,0,0,0,0,0,0
$GC,765,-1.04,-107.6,112.9,-15.9,118,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2061,2391,0,0,0,0,0,0
$GC,1084,-1.04,-107.6,163.7,-15.2,148,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2061,2391,0,0,0,0,0,0
$GC,1403,-1.04,-107.6,210.7,-14.6,178,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2061,2392,0,0,0,0,0,0
$GC,1721,-1.04,-107.6,258.5,-14.8,208,1725,0.00,2.22,0.00,0.000,4,0.000,0.056,2833,3460,2392,0,0,0,0,0,0
$GC,1787,-1.04,-107.6,268.8,-14.7,213,1794,0.03,2.17,0.00,0.000,6,0.200,0.037,2841,2056,2392,0,0,0,0,0,0
$GC,2113,-1.04,-107.6,312.6,-13.3,244,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2055,2393,0,0,0,0,0,0
$GC,2432,-1.04,-107.6,355.5,-13.0,274,2436,0.00,2.22,0.00,0.000,4,0.000,0.057,2832,3457,2393,0,0,0,0,0,0
$GC,2486,-1.04,-107.6,363.5,-14.3,278,2493,0.03,2.17,0.00,0.000,6,0.200,0.037,2840,2053,2393,0,0,0,0,0,0
$GC,2820,-1.04,-107.6,408.5,-13.2,307,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2053,2393,0,0,0,0,0,0
$GC,3130,-1.07,-107.6,450.0,-13.4,322,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2053,2393,0,0,0,0,0,0
$GC,3439,-1.11,-107.6,490.2,-13.1,337,3443,0.00,2.25,0.00,0.000,4,0.000,0.058,2831,3465,2393,0,0,0,0,0,0
$GC,3545,-1.11,-107.6,504.7,-13.9,342,3549,0.00,2.15,0.00,0.000,6,0.000,0.040,2831,2056,2393,0,0,0,0,0,0
$GC,3872,-1.11,-107.6,548.4,-13.6,358,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2393,0,0,0,0,0,0
$GC,4181,-1.11,-107.6,589.1,-13.3,373,4185,0.00,2.22,0.00,0.000,4,0.000,0.059,2822,3461,2392,0,0,0,0,0,0
$GC,4229,-1.11,-107.6,596.0,-13.5,375,4234,0.00,2.17,0.00,0.000,6,0.000,0.039,2822,2056,2393,0,0,0,0,0,0
$GC,4551,-1.11,-107.6,640.5,-13.7,391,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2055,2392,0,0,0,0,0,0
$GC,4860,-1.11,-107.6,683.6,-14.0,406,4864,0.00,2.22,0.00,0.000,4,0.000,0.059,2813,3457,2392,0,0,0,0,0,0
$GC,4922,-1.11,-107.6,692.8,-14.8,409,4926,0.00,2.12,0.00,0.000,6,0.000,0.039,2813,2059,2391,0,0,0,0,0,0
$GC,5248,-1.11,-107.6,739.2,-14.2,425,5252,0.00,2.22,0.00,0.000,4,0.000,0.059,2805,3457,2391,0,0,0,0,0,0
$GC,5313,-1.11,-107.6,749.1,-14.7,428,5319,0.05,2.15,0.00,0.000,6,0.174,0.039,2820,2066,2391,0,0,0,0,0,0
$GC,5641,-1.11,-107.6,793.6,-13.4,444,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2066,2391,0,0,0,0,0,0
$GC,5950,-1.11,-107.6,833.9,-13.0,459,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2066,2390,0,0,0,0,0,0
$GC,6259,-1.11,-107.6,873.3,-12.7,474,6263,0.00,2.20,0.00,0.000,4,0.000,0.057,2811,3457,2390,0,0,0,0,0,0
$GC,6308,-1.11,-107.6,880.0,-13.5,476,6313,0.00,2.17,0.00,0.000,6,0.000,0.039,2811,2050,2390,0,0,0,0,0,0
$GC,6630,-1.11,-107.6,919.7,-12.6,492,6634,0.05,2.25,0.00,0.000,4,0.237,0.057,2813,3462,2389,0,0,0,0,0,0
$GC,6678,-1.11,-107.6,925.7,-12.3,494,6683,0.00,2.17,0.00,0.000,6,0.000,0.040,2813,2052,2389,0,0,0,0,0,0
$GC,7005,-1.11,-107.6,965.2,-12.2,510,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2051,2389,0,0,0,0,0,0
$STATE,7293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7293,begin apogee
$GC,7298,-0.19,0.0,1001.2,12.5,524,7400,1.02,0.00,98.40,1.295,6,0.172,0.000,3118,1598,1950,0,0,0,0,0,0
$STATE,7400,end apogee,CONTROL_FINISHED_OK
$STATE,7400,begin climb
$GC,7402,1.13,107.6,1004.4,0.0,529,7513,1.27,2.45,103.12,1.255,4,0.093,0.051,3547,198,1510,0,0,0,0,0,0
$GC,7587,1.13,107.6,985.0,15.3,538,7591,0.00,2.30,0.00,0.000,6,0.000,0.034,3548,1602,1504,0,0,0,0,0,0
$GC,7912,1.13,107.6,940.1,13.4,554,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1602,1501,0,0,0,0,0,0
$GC,8222,1.16,107.6,898.4,13.5,569,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1601,1499,0,0,0,0,0,0
$GC,8531,1.19,107.6,855.5,13.9,584,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1602,1498,0,0,0,0,0,0
$GC,8840,1.19,107.6,813.5,13.2,599,8844,0.00,2.28,0.00,0.000,4,0.000,0.050,3557,195,1498,0,0,0,0,0,0
$GC,8883,1.19,107.6,807.4,14.1,601,8888,0.00,2.22,0.00,0.000,6,0.000,0.034,3557,1608,1496,0,0,0,0,0,0
$GC,9211,1.19,107.6,763.1,13.8,617,9215,0.00,2.28,0.00,0.000,4,0.000,0.050,3566,195,1496,0,0,0,0,0,0
$GC,9299,1.19,107.6,750.0,15.1,621,9303,0.00,2.20,0.00,0.000,6,0.000,0.034,3566,1599,1496,0,0,0,0,0,0
$GC,9626,1.19,107.6,704.7,13.9,637,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1599,1496,0,0,0,0,0,0
$GC,9935,1.19,107.6,661.5,14.0,652,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1599,1496,0,0,0,0,0,0
$GC,10245,1.19,107.6,619.8,13.3,667,10249,0.00,2.25,0.00,0.000,4,0.000,0.050,3575,193,1496,0,0,0,0,0,0
$GC,10294,1.15,107.6,612.8,14.2,669,10299,0.05,2.20,0.00,0.000,6,0.179,0.034,3559,1602,1496,0,0,0,0,0,0
$GC,10615,1.15,107.6,572.9,12.0,685,10619,0.00,2.22,0.00,0.000,4,0.000,0.050,3568,200,1496,0,0,0,0,0,0
$GC,10654,1.15,107.6,567.9,12.5,687,10659,0.05,2.17,0.00,0.000,6,0.238,0.035,3558,1612,1495,0,0,0,0,0,0
$GC,10980,1.15,107.6,528.8,12.1,703,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1613,1495,0,0,0,0,0,0
$GC,11290,1.15,107.6,492.1,11.9,718,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1612,1495,0,0,0,0,0,0
$GC,11599,1.15,107.6,454.3,12.1,733,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1612,1495,0,0,0,0,0,0
$GC,11908,1.15,107.6,417.2,12.2,748,11913,0.00,2.25,0.00,0.000,4,0.000,0.050,3567,197,1495,0,0,0,0,0,0
$GC,11994,1.15,107.6,406.0,12.9,752,11999,0.03,2.15,0.00,0.000,6,0.278,0.034,3559,1602,1495,0,0,0,0,0,0
$GC,12318,1.18,107.6,365.3,12.7,780,12322,0.00,2.22,0.00,0.000,4,0.000,0.050,3568,199,1495,0,0,0,0,0,0
$GC,12382,1.18,107.6,357.1,13.0,785,12387,0.00,2.15,0.00,0.000,6,0.000,0.035,3567,1598,1494,0,0,0,0,0,0
$GC,12707,1.18,107.6,313.2,13.5,815,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1598,1495,0,0,0,0,0,0
$GC,13028,1.18,107.6,271.7,13.2,845,13032,0.00,2.22,0.00,0.000,4,0.000,0.049,3577,194,1495,0,0,0,0,0,0
$GC,13126,1.15,107.6,258.5,12.9,853,13130,0.08,2.15,0.00,0.000,6,0.206,0.034,3560,1604,1495,0,0,0,0,0,0
$GC,13450,1.15,107.6,218.8,12.0,883,13454,0.00,2.17,0.00,0.000,4,0.000,0.053,3560,2994,1495,0,0,0,0,0,0
$GC,13511,1.15,107.6,211.0,12.5,888,13515,0.00,2.12,0.00,0.000,6,0.000,0.034,3568,1593,1494,0,0,0,0,0,0
$GC,13835,1.15,107.6,170.0,12.9,918,13839,0.00,2.20,0.00,0.000,4,0.000,0.051,3578,193,1495,0,0,0,0,0,0
$GC,13924,1.15,107.6,157.1,14.3,925,13931,0.08,2.17,0.00,0.000,6,0.171,0.034,3555,1604,1494,0,0,0,0,0,0
$GC,14250,1.20,107.6,116.8,11.1,956,14254,0.00,2.17,0.00,0.000,4,0.000,0.052,3555,2996,1494,0,0,0,0,0,0
$GC,14292,1.20,107.6,111.3,12.3,959,14299,0.00,2.15,0.00,0.000,6,0.000,0.033,3564,1594,1494,0,0,0,0,0,0
$GC,14638,1.20,107.6,70.0,13.8,1012,14643,0.00,2.20,0.00,0.000,4,0.000,0.049,3574,202,1494,0,0,0,0,0,0
$GC,14666,1.20,107.6,66.4,11.9,1017,14673,0.00,2.15,0.00,0.000,6,0.000,0.034,3574,1598,1494,0,0,0,0,0,0
$GC,15027,1.20,107.6,17.0,16.7,1078,15035,0.00,2.25,0.00,0.000,4,0.000,0.051,3583,197,1494,0,0,0,0,0,0
$GC,15049,1.20,107.6,14.1,13.4,1081,15056,0.00,2.15,0.00,0.000,6,0.000,0.033,3583,1599,1494,0,0,0,0,0,0
$GC,15107,1.20,107.6,7.2,11.1,1090,15114,0.00,2.25,0.00,0.000,4,0.000,0.052,3593,202,1495,0,0,0,0,0,0
$STATE,15140,end climb,SURFACE_DEPTH_REACHED
$STATE,15140,begin surface coast
$FINISH,1.6,1.021119
$STATE,15166,end surface coast,CONTROL_FINISHED_OK
$STATE,15166,begin surface
$SM_CCo,15185,42.50,0.057,0,0,1133,200.16
$SM_GC,2.45,0.00,0.00,42.50,0.000,0.000,0.057,85,2060,1133,-9.68,0.00,200.16
$IRIDIUM_FIX,-4444.39,624.79,100608,181824
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.4,15.903
$10V_AH,10.2,13.801
$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,23.300,107.350,201.525,42.500,0.000,24.080,19.786,291.940,0.000,0.000,18.424,2711.730,9645.723,338.839,2858.589,121.991,0.000,1345.082,0.000,2357.810,0.000,0.539,0.000
$DEVICE_MAMPS,278.460,72.675,1295.145,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.267,2008.116,794.456,430.397,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,77053,1099
$CAP_FILE_SIZE,137392,0
$CFSIZE,2097086464,2079817728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150815,144421,-4505.082,624.828,66,0.8,66,-24.4