version: 66.07.10.p01
glider: 573
mission: 12
dive: 133
start: 8 23 115 22 29 53
data:
$ID,573
$MISSION,12
$DIVE,133
$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,-21420.57
$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,42
$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,132
$GPS1,230815,222204,-4504.606,637.219,25,0.9,25,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-70.9
$GPS2,230815,222933,-4504.739,637.293,24,1.2,24,-24.4
$SPEED_LIMITS,0.148,0.223
$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,333.4,2175,-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,-26.20,0.000,2,0.000,0.000,63,2053,1660,0,0,0,0,0,0
$GC,54,-1.12,-88.3,3.3,-4.1,4,99,11.25,0.00,-26.85,0.000,6,0.245,0.000,2819,2051,2311,0,0,0,0,0,0
$GC,150,-1.08,-88.3,10.4,-14.7,19,158,0.05,2.35,0.00,0.000,4,0.251,0.062,2819,3462,2314,0,0,0,0,0,0
$GC,185,-1.03,-88.3,15.8,-15.2,24,193,0.08,2.22,0.00,0.000,6,0.182,0.041,2842,2064,2314,0,0,0,0,0,0
$GC,243,-1.03,-88.3,24.6,-13.9,33,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2064,2314,0,0,0,0,0,0
$GC,396,-1.03,-88.3,46.8,-15.1,58,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2064,2315,0,0,0,0,0,0
$GC,743,-1.03,-88.3,97.2,-14.1,119,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2064,2315,0,0,0,0,0,0
$GC,1074,-1.03,-88.3,141.4,-12.9,152,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2064,2315,0,0,0,0,0,0
$GC,1392,-1.03,-88.3,182.6,-12.2,182,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2064,2316,0,0,0,0,0,0
$GC,1711,-1.03,-88.3,225.7,-13.8,212,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2064,2316,0,0,0,0,0,0
$GC,2030,-1.03,-88.3,271.5,-14.8,242,2034,0.00,2.22,0.00,0.000,4,0.000,0.057,2833,3473,2317,0,0,0,0,0,0
$GC,2095,-1.03,-88.3,281.7,-14.7,247,2102,0.03,2.20,0.00,0.000,6,0.201,0.041,2842,2065,2316,0,0,0,0,0,0
$GC,2421,-1.03,-88.3,327.6,-13.9,278,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2065,2317,0,0,0,0,0,0
$GC,2740,-1.03,-88.3,368.2,-12.0,308,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2065,2317,0,0,0,0,0,0
$GC,3068,-1.03,-88.3,404.8,-11.4,337,3072,0.00,2.25,0.00,0.000,4,0.000,0.057,2832,3477,2317,0,0,0,0,0,0
$GC,3114,-1.03,-88.3,410.2,-12.2,339,3119,0.08,2.20,0.00,0.000,6,0.210,0.041,2848,2049,2317,0,0,0,0,0,0
$GC,3441,-1.07,-88.3,447.6,-11.7,355,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2048,2317,0,0,0,0,0,0
$GC,3750,-1.12,-88.3,484.7,-12.2,370,3751,0.08,0.00,0.00,0.000,6,0.125,0.000,2811,2049,2317,0,0,0,0,0,0
$GC,4058,-1.12,-88.3,526.1,-13.3,385,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2048,2317,0,0,0,0,0,0
$GC,4368,-1.08,-88.3,567.1,-13.5,400,4370,0.10,0.00,0.00,0.000,6,0.194,0.000,2835,2048,2317,0,0,0,0,0,0
$GC,4677,-1.08,-88.3,605.5,-12.3,415,4681,0.00,2.22,0.00,0.000,4,0.000,0.057,2826,3469,2316,0,0,0,0,0,0
$GC,4716,-1.08,-88.3,610.3,-13.3,417,4720,0.00,2.17,0.00,0.000,6,0.000,0.042,2826,2055,2316,0,0,0,0,0,0
$GC,5042,-1.08,-88.3,648.9,-11.3,433,5046,0.00,2.28,0.00,0.000,4,0.000,0.060,2816,3474,2316,0,0,0,0,0,0
$GC,5129,-1.08,-88.3,659.6,-12.1,437,5135,0.03,2.20,0.00,0.000,6,0.194,0.043,2825,2068,2315,0,0,0,0,0,0
$GC,5457,-1.08,-88.3,695.8,-11.1,453,5461,0.00,2.25,0.00,0.000,4,0.000,0.057,2816,3479,2315,0,0,0,0,0,0
$GC,5563,-1.08,-88.3,708.2,-11.8,458,5568,0.08,2.20,0.00,0.000,6,0.209,0.042,2832,2053,2315,0,0,0,0,0,0
$GC,5889,-1.08,-88.3,744.7,-11.1,474,5893,0.00,2.28,0.00,0.000,4,0.000,0.060,2823,3472,2315,0,0,0,0,0,0
$GC,6072,-1.08,-88.3,766.1,-12.1,482,6077,0.00,2.20,0.00,0.000,6,0.000,0.044,2823,2065,2315,0,0,0,0,0,0
$GC,6394,-1.08,-88.3,802.8,-11.4,498,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2065,2314,0,0,0,0,0,0
$GC,6703,-1.08,-88.3,836.9,-11.0,513,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2065,2314,0,0,0,0,0,0
$GC,7013,-1.08,-88.3,869.0,-10.1,528,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2065,2314,0,0,0,0,0,0
$GC,7322,-1.08,-88.3,900.4,-10.3,543,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2065,2313,0,0,0,0,0,0
$GC,7631,-1.08,-88.3,933.9,-11.0,558,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2065,2313,0,0,0,0,0,0
$GC,7941,-1.08,-88.3,967.9,-11.0,573,7945,0.00,2.22,0.00,0.000,4,0.000,0.054,2823,651,2313,0,0,0,0,0,0
$GC,7980,-1.08,-88.3,972.4,-11.9,575,7985,0.08,2.20,0.00,0.000,6,0.220,0.042,2829,2070,2312,0,0,0,0,0,0
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8248,-0.19,0.0,1000.4,10.9,588,8333,0.95,0.00,81.70,1.290,6,0.164,0.000,3115,1591,1950,0,0,0,0,0,0
$STATE,8334,end apogee,CONTROL_FINISHED_OK
$STATE,8334,begin climb
$GC,8335,1.12,88.3,1003.3,0.0,592,8428,1.27,2.40,84.35,1.255,4,0.090,0.050,3551,193,1588,0,0,0,0,0,0
$GC,8528,1.12,88.3,983.6,13.7,601,8533,0.00,2.33,0.00,0.000,6,0.000,0.036,3551,1596,1581,0,0,0,0,0,0
$GC,8855,1.12,88.3,939.6,13.6,617,8859,0.00,2.28,0.00,0.000,4,0.000,0.050,3560,199,1578,0,0,0,0,0,0
$GC,8916,1.08,88.3,931.0,14.0,620,8921,0.10,2.25,0.00,0.000,6,0.194,0.037,3537,1612,1579,0,0,0,0,0,0
$GC,9244,1.12,88.3,888.1,13.1,636,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1612,1576,0,0,0,0,0,0
$GC,9552,1.16,88.3,846.7,13.2,651,9557,0.05,2.28,0.00,0.000,4,0.171,0.050,3581,190,1576,0,0,0,0,0,0
$GC,9687,1.09,88.3,826.5,14.5,657,9692,0.15,2.22,0.00,0.000,6,0.180,0.036,3542,1611,1575,0,0,0,0,0,0
$GC,10009,1.13,88.3,786.8,11.7,673,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1611,1574,0,0,0,0,0,0
$GC,10317,1.13,88.3,749.8,12.3,688,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1611,1574,0,0,0,0,0,0
$GC,10627,1.17,88.3,710.6,13.0,703,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1611,1574,0,0,0,0,0,0
$GC,10936,1.21,88.3,671.8,12.2,718,10938,0.10,0.00,0.00,0.000,6,0.102,0.000,3592,1611,1574,0,0,0,0,0,0
$GC,11246,1.15,88.3,629.8,13.3,733,11250,0.15,2.22,0.00,0.000,4,0.181,0.050,3563,196,1574,0,0,0,0,0,0
$GC,11288,1.15,88.3,624.1,12.7,735,11293,0.00,2.20,0.00,0.000,6,0.000,0.035,3563,1601,1574,0,0,0,0,0,0
$GC,11616,1.15,88.3,585.9,11.4,751,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1600,1574,0,0,0,0,0,0
$GC,11926,1.15,88.3,549.5,11.7,766,11930,0.00,2.22,0.00,0.000,4,0.000,0.049,3573,190,1574,0,0,0,0,0,0
$GC,12014,1.11,88.3,538.3,13.1,770,12019,0.08,2.20,0.00,0.000,6,0.170,0.036,3549,1599,1574,0,0,0,0,0,0
$GC,12341,1.14,88.3,500.4,12.0,786,12345,0.00,2.22,0.00,0.000,4,0.000,0.050,3558,190,1574,0,0,0,0,0,0
$GC,12426,1.14,88.3,489.8,13.0,790,12430,0.00,2.17,0.00,0.000,6,0.000,0.036,3558,1600,1573,0,0,0,0,0,0
$GC,12753,1.14,88.3,451.0,12.0,806,12757,0.00,2.20,0.00,0.000,4,0.000,0.053,3558,3000,1573,0,0,0,0,0,0
$GC,12860,1.14,88.3,437.5,12.2,811,12864,0.00,2.15,0.00,0.000,6,0.000,0.035,3567,1591,1573,0,0,0,0,0,0
$GC,13177,1.14,88.3,398.6,12.2,827,13181,0.00,2.17,0.00,0.000,4,0.000,0.051,3577,198,1573,0,0,0,0,0,0
$GC,13352,1.10,88.3,375.2,13.4,842,13357,0.15,2.17,0.00,0.000,6,0.182,0.036,3539,1611,1573,0,0,0,0,0,0
$GC,13677,1.16,88.3,335.3,12.6,872,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1611,1573,0,0,0,0,0,0
$GC,13996,1.21,88.3,295.8,12.2,902,14001,0.10,2.25,0.00,0.000,4,0.106,0.050,3601,192,1573,0,0,0,0,0,0
$GC,14062,1.12,88.3,286.3,15.7,907,14069,0.17,2.17,0.00,0.000,6,0.172,0.035,3548,1598,1573,0,0,0,0,0,0
$GC,14388,1.17,88.3,249.1,10.7,938,14389,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1598,1573,0,0,0,0,0,0
$GC,14707,1.21,88.3,213.9,11.1,968,14712,0.08,2.20,0.00,0.000,4,0.130,0.050,3597,190,1573,0,0,0,0,0,0
$GC,14826,1.13,88.3,198.7,13.0,978,14831,0.17,2.17,0.00,0.000,6,0.188,0.035,3552,1610,1573,0,0,0,0,0,0
$GC,15151,1.17,88.3,163.4,10.6,1008,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1610,1573,0,0,0,0,0,0
$GC,15471,1.20,88.3,129.3,11.2,1038,15475,0.00,2.22,0.00,0.000,4,0.000,0.050,3561,189,1573,0,0,0,0,0,0
$GC,15566,1.20,88.3,117.4,12.2,1046,15570,0.00,2.15,0.00,0.000,6,0.000,0.034,3561,1596,1572,0,0,0,0,0,0
$GC,15903,1.23,88.3,81.9,9.7,1091,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1596,1572,0,0,0,0,0,0
$GC,16251,1.23,88.3,47.0,9.9,1152,16258,0.00,2.25,0.00,0.000,4,0.000,0.049,3569,193,1573,0,0,0,0,0,0
$GC,16311,1.23,88.3,40.8,10.5,1162,16317,0.00,2.15,0.00,0.000,6,0.000,0.035,3569,1603,1573,0,0,0,0,0,0
$GC,16685,1.19,88.3,3.8,9.4,1223,16692,0.00,2.25,0.00,0.000,4,0.000,0.048,3579,200,1573,0,0,0,0,0,0
$STATE,16699,end climb,SURFACE_DEPTH_REACHED
$STATE,16699,begin surface coast
$FINISH,1.6,1.004674
$STATE,16731,end surface coast,CONTROL_FINISHED_OK
$STATE,16731,begin surface
$SM_CCo,16750,51.62,0.055,0,0,1132,200.16
$SM_GC,3.33,0.00,0.00,51.62,0.000,0.000,0.055,62,2063,1132,-9.76,0.08,200.16
$IRIDIUM_FIX,-4447.43,637.25,190608,070701
$TT8_MAMPS,0.026964
$HUMID,61.26
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.6,19.741
$10V_AH,10.1,18.945
$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,24.325,94.875,166.050,51.625,0.000,25.862,27.137,266.511,0.000,0.000,27.307,3044.397,10513.812,315.438,3221.428,152.113,0.000,1427.803,0.000,2711.948,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,61.965,1289.790,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.388,2276.713,949.861,544.846,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,83822,1230
$CAP_FILE_SIZE,150176,0
$CFSIZE,2097086464,2074705920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240815,031103,-4504.619,636.473,34,0.9,34,-24.4