version: 66.07.10.p01
glider: 573
mission: 12
dive: 96
start: 8 15 115 19 48 18
data:
$ID,573
$MISSION,12
$DIVE,96
$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,-21311.705
$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,35
$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,95
$GPS1,150815,193935,-4503.928,625.414,30,1.2,30,-24.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-66.4
$GPS2,150815,194758,-4503.881,625.446,23,1.1,23,-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,287.8,1904,-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,-26.65,0.000,2,0.000,0.000,64,2056,1675,0,0,0,0,0,0
$GC,54,-1.12,-90.8,3.2,-3.9,4,100,11.48,2.33,-25.73,0.000,4,0.255,0.072,2808,3463,2321,0,0,0,0,0,0
$GC,272,-1.02,-90.8,32.2,-21.2,39,280,0.15,2.22,0.00,0.000,6,0.177,0.040,2852,2060,2323,0,0,0,0,0,0
$GC,422,-1.02,-90.8,57.1,-15.3,64,428,0.00,2.25,0.00,0.000,4,0.000,0.055,2853,645,2324,0,0,0,0,0,0
$GC,476,-1.02,-90.8,64.9,-14.7,73,481,0.00,2.22,0.00,0.000,6,0.000,0.041,2844,2058,2324,0,0,0,0,0,0
$GC,817,-1.02,-90.8,113.5,-14.3,125,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2058,2324,0,0,0,0,0,0
$GC,1134,-1.02,-90.8,157.2,-13.8,155,1138,0.00,2.25,0.00,0.000,4,0.000,0.053,2844,654,2325,0,0,0,0,0,0
$GC,1200,-1.02,-90.8,167.0,-14.5,160,1209,0.05,2.22,0.00,0.000,6,0.197,0.042,2850,2054,2325,0,0,0,0,0,0
$GC,1526,-1.02,-90.8,211.2,-13.5,191,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2054,2325,0,0,0,0,0,0
$GC,1847,-1.02,-90.8,251.9,-12.3,221,1851,0.00,2.22,0.00,0.000,4,0.000,0.059,2839,3465,2325,0,0,0,0,0,0
$GC,1908,-1.02,-90.8,260.2,-12.7,226,1913,0.05,2.17,0.00,0.000,6,0.239,0.041,2849,2053,2325,0,0,0,0,0,0
$GC,2233,-1.05,-90.8,302.7,-13.0,256,2237,0.00,2.25,0.00,0.000,4,0.000,0.060,2840,3464,2326,0,0,0,0,0,0
$GC,2328,-1.05,-90.8,315.7,-13.5,264,2332,0.00,2.17,0.00,0.000,6,0.000,0.041,2840,2051,2325,0,0,0,0,0,0
$GC,2652,-1.05,-90.8,357.9,-12.8,294,2656,0.00,2.25,0.00,0.000,4,0.000,0.058,2830,3465,2325,0,0,0,0,0,0
$GC,2684,-1.05,-90.8,362.4,-13.5,296,2692,0.00,2.20,0.00,0.000,6,0.000,0.041,2831,2054,2326,0,0,0,0,0,0
$GC,3019,-1.05,-90.8,405.6,-12.9,326,3023,0.00,2.25,0.00,0.000,4,0.000,0.059,2821,3463,2326,0,0,0,0,0,0
$GC,3087,-1.05,-90.8,414.8,-13.8,329,3091,0.08,2.15,0.00,0.000,6,0.200,0.041,2838,2052,2326,0,0,0,0,0,0
$GC,3412,-1.05,-90.8,456.3,-12.3,345,3416,0.00,2.25,0.00,0.000,4,0.000,0.059,2829,3463,2326,0,0,0,0,0,0
$GC,3461,-1.05,-90.8,462.7,-13.0,347,3467,0.03,2.17,0.00,0.000,6,0.200,0.041,2837,2067,2325,0,0,0,0,0,0
$GC,3782,-1.05,-90.8,502.4,-12.4,363,3786,0.00,2.22,0.00,0.000,4,0.000,0.057,2827,3468,2326,0,0,0,0,0,0
$GC,3876,-1.05,-90.8,514.8,-13.1,367,3881,0.03,2.20,0.00,0.000,6,0.196,0.042,2835,2057,2326,0,0,0,0,0,0
$GC,4198,-1.05,-90.8,554.9,-12.8,383,4202,0.00,2.22,0.00,0.000,4,0.000,0.057,2836,648,2325,0,0,0,0,0,0
$GC,4237,-1.05,-90.8,560.0,-13.3,385,4241,0.05,2.20,0.00,0.000,6,0.246,0.044,2837,2060,2326,0,0,0,0,0,0
$GC,4562,-1.05,-90.8,601.1,-12.3,401,4566,0.00,2.22,0.00,0.000,4,0.000,0.063,2827,3463,2325,0,0,0,0,0,0
$GC,4662,-1.05,-90.8,613.9,-12.6,405,4669,0.03,2.20,0.00,0.000,6,0.189,0.042,2836,2056,2325,0,0,0,0,0,0
$GC,4978,-1.05,-90.8,651.4,-11.3,421,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2325,0,0,0,0,0,0
$GC,5288,-1.09,-90.8,686.1,-11.2,436,5292,0.00,2.25,0.00,0.000,4,0.000,0.061,2826,3466,2324,0,0,0,0,0,0
$GC,5375,-1.09,-90.8,696.8,-11.6,440,5380,0.00,2.20,0.00,0.000,6,0.000,0.043,2826,2056,2324,0,0,0,0,0,0
$GC,5703,-1.09,-90.8,734.7,-11.6,456,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2056,2324,0,0,0,0,0,0
$GC,6012,-1.09,-90.8,770.4,-11.5,471,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2056,2324,0,0,0,0,0,0
$GC,6321,-1.09,-90.8,806.7,-11.6,486,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2056,2324,0,0,0,0,0,0
$GC,6631,-1.09,-90.8,844.4,-12.3,501,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2056,2324,0,0,0,0,0,0
$GC,6940,-1.09,-90.8,881.9,-12.1,516,6944,0.00,2.22,0.00,0.000,4,0.000,0.057,2826,646,2323,0,0,0,0,0,0
$GC,6994,-1.09,-90.8,888.8,-12.9,518,7001,0.03,2.22,0.00,0.000,6,0.214,0.044,2825,2058,2323,0,0,0,0,0,0
$GC,7310,-1.09,-90.8,925.3,-11.6,534,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2323,0,0,0,0,0,0
$GC,7620,-1.09,-90.8,960.7,-11.3,549,7624,0.00,2.25,0.00,0.000,4,0.000,0.062,2815,3476,2323,0,0,0,0,0,0
$GC,7668,-1.09,-90.8,966.8,-11.5,551,7674,0.03,2.22,0.00,0.000,6,0.188,0.044,2824,2051,2322,0,0,0,0,0,0
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7973,-0.19,0.0,1000.1,10.6,566,8060,0.98,0.00,83.00,1.290,6,0.174,0.000,3114,1591,1950,0,0,0,0,0,0
$STATE,8060,end apogee,CONTROL_FINISHED_OK
$STATE,8060,begin climb
$GC,8062,1.12,90.8,1002.6,0.0,570,8157,1.27,2.47,86.60,1.257,4,0.095,0.050,3535,3000,1579,0,0,0,0,0,0
$GC,8178,1.12,90.8,992.9,11.6,575,8185,0.00,2.33,0.00,0.000,6,0.000,0.033,3544,1597,1575,0,0,0,0,0,0
$GC,8495,1.12,90.8,952.2,12.9,591,8499,0.00,2.30,0.00,0.000,4,0.000,0.052,3555,196,1570,0,0,0,0,0,0
$GC,8556,1.12,90.8,944.0,14.1,594,8560,0.00,2.28,0.00,0.000,6,0.000,0.034,3555,1621,1570,0,0,0,0,0,0
$GC,8882,1.12,90.8,900.9,13.3,610,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1621,1569,0,0,0,0,0,0
$GC,9191,1.12,90.8,859.8,13.5,625,9195,0.00,2.33,0.00,0.000,4,0.000,0.050,3564,190,1568,0,0,0,0,0,0
$GC,9256,1.08,90.8,850.3,14.9,628,9262,0.10,2.22,0.00,0.000,6,0.172,0.034,3534,1598,1567,0,0,0,0,0,0
$GC,9584,1.12,90.8,809.5,12.5,644,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1598,1567,0,0,0,0,0,0
$GC,9893,1.16,90.8,770.5,12.8,659,9894,0.08,0.00,0.00,0.000,6,0.131,0.000,3571,1598,1566,0,0,0,0,0,0
$GC,10201,1.16,90.8,729.9,13.0,674,10205,0.00,2.25,0.00,0.000,4,0.000,0.050,3580,195,1566,0,0,0,0,0,0
$GC,10264,1.09,90.8,721.6,13.1,677,10268,0.17,2.17,0.00,0.000,6,0.180,0.035,3535,1604,1566,0,0,0,0,0,0
$GC,10591,1.13,90.8,685.5,10.7,693,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1604,1566,0,0,0,0,0,0
$GC,10899,1.17,90.8,652.6,10.6,708,10904,0.08,2.20,0.00,0.000,4,0.130,0.054,3571,2993,1566,0,0,0,0,0,0
$GC,10942,1.12,90.8,647.2,12.5,710,10948,0.10,2.15,0.00,0.000,6,0.175,0.034,3550,1594,1565,0,0,0,0,0,0
$GC,11270,1.12,90.8,610.1,11.4,726,11274,0.00,2.20,0.00,0.000,4,0.000,0.052,3561,202,1565,0,0,0,0,0,0
$GC,11331,1.12,90.8,602.2,13.0,729,11336,0.05,2.15,0.00,0.000,6,0.241,0.034,3550,1601,1565,0,0,0,0,0,0
$GC,11657,1.12,90.8,563.0,11.8,745,11661,0.00,2.17,0.00,0.000,4,0.000,0.052,3550,2990,1565,0,0,0,0,0,0
$GC,11696,1.12,90.8,558.2,13.0,747,11700,0.00,2.12,0.00,0.000,6,0.000,0.034,3559,1596,1565,0,0,0,0,0,0
$GC,12021,1.12,90.8,518.9,12.1,763,12025,0.00,2.20,0.00,0.000,4,0.000,0.051,3569,195,1565,0,0,0,0,0,0
$GC,12112,1.08,90.8,507.4,12.6,767,12116,0.12,2.17,0.00,0.000,6,0.197,0.034,3538,1615,1565,0,0,0,0,0,0
$GC,12439,1.13,90.8,470.7,11.2,783,12443,0.00,2.25,0.00,0.000,4,0.000,0.049,3547,199,1565,0,0,0,0,0,0
$GC,12478,1.13,90.8,466.0,11.6,785,12482,0.00,2.15,0.00,0.000,6,0.000,0.035,3547,1597,1565,0,0,0,0,0,0
$GC,12804,1.17,90.8,429.1,11.1,801,12808,0.00,2.17,0.00,0.000,4,0.000,0.054,3547,2999,1565,0,0,0,0,0,0
$GC,12852,1.17,90.8,423.0,12.3,803,12857,0.00,2.15,0.00,0.000,6,0.000,0.033,3555,1602,1565,0,0,0,0,0,0
$GC,13181,1.17,90.8,384.9,12.1,825,13185,0.00,2.22,0.00,0.000,4,0.000,0.051,3566,189,1565,0,0,0,0,0,0
$GC,13242,1.17,90.8,376.7,12.9,830,13246,0.00,2.17,0.00,0.000,6,0.000,0.034,3566,1611,1565,0,0,0,0,0,0
$GC,13566,1.17,90.8,337.8,12.0,860,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1611,1565,0,0,0,0,0,0
$GC,13886,1.17,90.8,300.1,11.4,890,13890,0.00,2.25,0.00,0.000,4,0.000,0.048,3575,190,1564,0,0,0,0,0,0
$GC,13993,1.12,90.8,286.9,12.2,899,13998,0.10,2.15,0.00,0.000,6,0.200,0.034,3550,1604,1565,0,0,0,0,0,0
$GC,14320,1.12,90.8,251.8,10.8,929,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1564,0,0,0,0,0,0
$GC,14637,1.12,90.8,218.6,10.1,959,14638,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1564,0,0,0,0,0,0
$GC,14958,1.16,90.8,185.2,11.2,989,14959,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1565,0,0,0,0,0,0
$GC,15274,1.20,90.8,150.5,9.6,1019,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1564,0,0,0,0,0,0
$GC,15595,1.23,94.1,123.3,8.2,1049,15600,0.10,2.17,0.00,0.000,4,0.105,0.052,3599,2988,1565,0,0,0,0,0,0
$GC,15693,1.15,94.1,113.0,10.9,1057,15698,0.20,2.10,0.00,0.000,6,0.194,0.034,3557,1594,1564,0,0,0,0,0,0
$GC,16034,1.15,94.1,76.9,10.7,1105,16039,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1593,1564,0,0,0,0,0,0
$GC,16383,1.15,94.1,38.4,12.1,1166,16391,0.00,2.22,0.00,0.000,4,0.000,0.050,3566,193,1564,0,0,0,0,0,0
$GC,16496,1.15,94.1,24.3,12.4,1184,16504,0.00,2.15,0.00,0.000,6,0.000,0.033,3566,1594,1564,0,0,0,0,0,0
$GC,16653,1.09,94.1,4.7,12.8,1209,16661,0.12,2.25,0.00,0.000,4,0.199,0.052,3545,197,1565,0,0,0,0,0,0
$STATE,16668,end climb,SURFACE_DEPTH_REACHED
$STATE,16668,begin surface coast
$FINISH,1.6,1.014519
$STATE,16694,end surface coast,CONTROL_FINISHED_OK
$STATE,16694,begin surface
$SM_CCo,16712,49.97,0.056,0,0,1133,200.16
$SM_GC,3.00,0.00,0.00,49.97,0.000,0.000,0.056,63,2055,1133,-9.76,-0.14,200.16
$IRIDIUM_FIX,-4450.47,622.10,110608,040413
$TT8_MAMPS,0.026964
$HUMID,62.08
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,23.5,16.067
$10V_AH,10.1,14.048
$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,24.475,130.025,169.600,49.975,0.000,30.956,51.417,282.533,0.000,0.000,26.915,3026.985,10547.845,335.615,3215.999,133.518,0.000,1462.946,0.000,2649.521,0.000,0.541,0.000
$DEVICE_MAMPS,254.745,71.910,1289.790,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.744,2220.121,880.050,459.189,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,83834,1215
$CAP_FILE_SIZE,157036,0
$CFSIZE,2097086464,2079555584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160815,002857,-4504.482,624.416,39,1.0,43,-24.4