version: 66.07.10.p01
glider: 573
mission: 12
dive: 134
start: 8 24 115 3 18 48
data:
$ID,573
$MISSION,12
$DIVE,134
$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,-21423.459
$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,37
$R_STBD_OVSHOOT,31
$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,133
$GPS1,240815,031103,-4504.619,636.473,34,0.9,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.5
$GPS2,240815,031828,-4504.636,636.589,13,1.6,13,-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,351.2,1408,-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,-26.30,0.000,2,0.000,0.000,62,2063,1670,0,0,0,0,0,0
$GC,55,-1.12,-90.5,3.3,-3.9,4,99,11.40,0.00,-28.25,0.000,6,0.249,0.000,2817,2060,2320,0,0,0,0,0,0
$GC,150,-1.06,-90.5,9.3,-13.0,19,157,0.10,0.00,0.00,0.000,6,0.211,0.000,2840,2061,2322,0,0,0,0,0,0
$GC,208,-1.06,-90.5,18.2,-15.8,28,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2060,2322,0,0,0,0,0,0
$GC,265,-1.06,-90.5,26.8,-14.6,37,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2060,2323,0,0,0,0,0,0
$GC,414,-1.06,-90.5,49.4,-15.1,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2060,2323,0,0,0,0,0,0
$GC,760,-1.06,-90.5,102.0,-15.1,122,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2060,2323,0,0,0,0,0,0
$GC,1080,-1.06,-90.5,148.8,-14.8,152,1084,0.00,2.25,0.00,0.000,4,0.000,0.057,2830,3477,2323,0,0,0,0,0,0
$GC,1175,-1.06,-90.5,163.6,-15.2,160,1179,0.00,2.17,0.00,0.000,6,0.000,0.041,2830,2063,2323,0,0,0,0,0,0
$GC,1500,-1.06,-90.5,208.5,-13.7,190,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2064,2323,0,0,0,0,0,0
$GC,1819,-1.06,-90.5,250.9,-13.1,220,1823,0.00,2.22,0.00,0.000,4,0.000,0.054,2830,652,2324,0,0,0,0,0,0
$GC,1884,-1.01,-90.5,259.6,-13.9,225,1889,0.12,2.17,0.00,0.000,6,0.196,0.041,2852,2064,2324,0,0,0,0,0,0
$GC,2209,-1.05,-90.5,300.6,-12.7,255,2213,0.00,2.22,0.00,0.000,4,0.000,0.061,2842,3474,2324,0,0,0,0,0,0
$GC,2248,-1.05,-90.5,305.8,-12.9,258,2252,0.00,2.20,0.00,0.000,6,0.000,0.041,2841,2048,2324,0,0,0,0,0,0
$GC,2572,-1.05,-90.5,346.3,-12.4,288,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2047,2325,0,0,0,0,0,0
$GC,2892,-1.05,-90.5,385.1,-11.3,318,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2047,2324,0,0,0,0,0,0
$GC,3215,-1.05,-90.5,421.8,-11.1,340,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2047,2325,0,0,0,0,0,0
$GC,3525,-1.08,-90.5,455.6,-11.2,355,3529,0.00,2.28,0.00,0.000,4,0.000,0.057,2832,3475,2324,0,0,0,0,0,0
$GC,3596,-1.08,-90.5,464.2,-11.9,358,3601,0.00,2.20,0.00,0.000,6,0.000,0.041,2833,2059,2324,0,0,0,0,0,0
$GC,3917,-1.08,-90.5,502.3,-12.4,374,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2060,2325,0,0,0,0,0,0
$GC,4227,-1.08,-90.5,542.4,-12.9,389,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2060,2325,0,0,0,0,0,0
$GC,4536,-1.08,-90.5,582.8,-12.9,404,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2060,2324,0,0,0,0,0,0
$GC,4845,-1.08,-90.5,621.8,-12.4,419,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2060,2324,0,0,0,0,0,0
$GC,5155,-1.08,-90.5,659.8,-12.1,434,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2060,2323,0,0,0,0,0,0
$GC,5464,-1.08,-90.5,697.6,-12.2,449,5468,0.00,2.22,0.00,0.000,4,0.000,0.062,2823,3462,2323,0,0,0,0,0,0
$GC,5512,-1.08,-90.5,703.6,-12.0,451,5517,0.00,2.17,0.00,0.000,6,0.000,0.041,2824,2061,2323,0,0,0,0,0,0
$GC,5834,-1.08,-90.5,739.7,-11.1,467,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2061,2322,0,0,0,0,0,0
$GC,6143,-1.08,-90.5,773.3,-10.4,482,6147,0.00,2.22,0.00,0.000,4,0.000,0.059,2814,3464,2322,0,0,0,0,0,0
$GC,6175,-1.08,-90.5,776.9,-11.6,483,6182,0.05,2.17,0.00,0.000,6,0.181,0.041,2831,2067,2322,0,0,0,0,0,0
$GC,6491,-1.08,-90.5,810.7,-10.6,499,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2067,2322,0,0,0,0,0,0
$GC,6801,-1.08,-90.5,842.5,-10.2,514,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2067,2321,0,0,0,0,0,0
$GC,7110,-1.12,-90.5,874.9,-10.6,529,7114,0.00,2.20,0.00,0.000,4,0.000,0.054,2831,655,2321,0,0,0,0,0,0
$GC,7153,-1.12,-90.5,880.1,-11.6,531,7158,0.00,2.20,0.00,0.000,6,0.000,0.041,2822,2057,2321,0,0,0,0,0,0
$GC,7481,-1.12,-90.5,916.1,-11.0,547,7485,0.00,2.22,0.00,0.000,4,0.000,0.061,2811,3474,2321,0,0,0,0,0,0
$GC,7524,-1.12,-90.5,921.2,-11.3,549,7529,0.00,2.20,0.00,0.000,6,0.000,0.042,2811,2061,2321,0,0,0,0,0,0
$GC,7852,-1.12,-90.5,957.8,-11.3,565,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2321,0,0,0,0,0,0
$GC,8161,-1.12,-90.5,990.0,-10.0,580,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2321,0,0,0,0,0,0
$STATE,8263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8263,begin apogee
$GC,8268,-0.19,0.0,1000.5,10.1,585,8354,1.02,0.00,82.47,1.289,6,0.167,0.000,3117,1597,1951,0,0,0,0,0,0
$STATE,8355,end apogee,CONTROL_FINISHED_OK
$STATE,8355,begin climb
$GC,8356,1.12,90.5,1002.5,0.0,589,8452,1.25,2.45,86.35,1.249,4,0.090,0.051,3544,205,1580,0,0,0,0,0,0
$GC,8513,1.12,90.5,986.1,14.1,596,8518,0.00,2.33,0.00,0.000,6,0.000,0.034,3543,1608,1576,0,0,0,0,0,0
$GC,8835,1.12,90.5,943.5,13.1,612,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1608,1571,0,0,0,0,0,0
$GC,9144,1.15,90.5,905.2,12.3,627,9148,0.00,2.25,0.00,0.000,4,0.000,0.053,3543,3004,1569,0,0,0,0,0,0
$GC,9216,1.15,90.5,896.1,12.7,630,9221,0.00,2.22,0.00,0.000,6,0.000,0.035,3553,1599,1569,0,0,0,0,0,0
$GC,9538,1.15,90.5,857.7,11.8,646,9542,0.00,2.25,0.00,0.000,4,0.000,0.052,3563,198,1568,0,0,0,0,0,0
$GC,9648,1.12,90.5,843.5,13.0,651,9653,0.05,2.22,0.00,0.000,6,0.179,0.036,3547,1602,1567,0,0,0,0,0,0
$GC,9976,1.12,90.5,806.2,11.3,667,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1602,1567,0,0,0,0,0,0
$GC,10285,1.12,90.5,772.0,11.4,682,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1602,1567,0,0,0,0,0,0
$GC,10595,1.12,90.5,735.7,12.0,697,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1602,1566,0,0,0,0,0,0
$GC,10904,1.15,90.5,697.3,12.6,712,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1602,1566,0,0,0,0,0,0
$GC,11214,1.18,90.5,658.7,12.3,727,11218,0.00,2.25,0.00,0.000,4,0.000,0.051,3557,188,1566,0,0,0,0,0,0
$GC,11313,1.18,90.5,645.2,13.4,731,11320,0.00,2.22,0.00,0.000,6,0.000,0.035,3557,1605,1566,0,0,0,0,0,0
$GC,11629,1.18,90.5,607.0,11.9,747,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1605,1565,0,0,0,0,0,0
$GC,11939,1.18,90.5,569.9,12.0,762,11943,0.00,2.20,0.00,0.000,4,0.000,0.053,3557,3003,1566,0,0,0,0,0,0
$GC,12001,1.18,90.5,561.9,12.7,765,12005,0.00,2.12,0.00,0.000,6,0.000,0.035,3565,1597,1565,0,0,0,0,0,0
$GC,12327,1.18,90.5,520.5,12.9,781,12331,0.00,2.20,0.00,0.000,4,0.000,0.053,3576,195,1565,0,0,0,0,0,0
$GC,12404,1.14,90.5,509.6,14.0,784,12411,0.08,2.20,0.00,0.000,6,0.170,0.037,3553,1604,1565,0,0,0,0,0,0
$GC,12721,1.14,90.5,468.8,12.8,800,12725,0.00,2.17,0.00,0.000,4,0.000,0.054,3553,2995,1565,0,0,0,0,0,0
$GC,12786,1.14,90.5,459.5,13.8,803,12791,0.00,2.15,0.00,0.000,6,0.000,0.034,3561,1601,1565,0,0,0,0,0,0
$GC,13114,1.14,90.5,417.0,12.9,819,13118,0.00,2.22,0.00,0.000,4,0.000,0.053,3571,195,1565,0,0,0,0,0,0
$GC,13270,1.10,90.5,395.4,13.5,827,13276,0.12,2.15,0.00,0.000,6,0.184,0.036,3540,1604,1565,0,0,0,0,0,0
$GC,13595,1.16,90.5,357.4,11.3,858,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1604,1565,0,0,0,0,0,0
$GC,13914,1.22,90.5,323.9,10.1,888,13916,0.10,0.00,0.00,0.000,6,0.105,0.000,3592,1604,1565,0,0,0,0,0,0
$GC,14232,1.18,90.5,288.4,10.9,918,14237,0.10,2.15,0.00,0.000,4,0.194,0.051,3568,2991,1565,0,0,0,0,0,0
$GC,14286,1.18,90.5,282.0,11.0,922,14293,0.05,2.15,0.00,0.000,6,0.187,0.034,3561,1593,1565,0,0,0,0,0,0
$GC,14614,1.18,90.5,247.5,10.9,953,14618,0.00,2.17,0.00,0.000,4,0.000,0.050,3571,198,1564,0,0,0,0,0,0
$GC,14690,1.18,90.5,238.2,11.3,959,14697,0.00,2.17,0.00,0.000,6,0.000,0.036,3571,1593,1565,0,0,0,0,0,0
$GC,15016,1.18,90.5,203.3,10.8,990,15020,0.00,2.20,0.00,0.000,4,0.000,0.054,3571,2997,1565,0,0,0,0,0,0
$GC,15081,1.18,90.5,195.6,11.5,995,15088,0.03,2.15,0.00,0.000,6,0.220,0.034,3572,1596,1565,0,0,0,0,0,0
$GC,15407,1.18,90.5,159.8,11.3,1026,15411,0.00,2.20,0.00,0.000,4,0.000,0.050,3581,198,1564,0,0,0,0,0,0
$GC,15518,1.13,90.5,146.5,11.3,1035,15524,0.08,2.17,0.00,0.000,6,0.178,0.035,3558,1596,1564,0,0,0,0,0,0
$GC,15843,1.16,90.5,112.1,10.4,1066,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1596,1564,0,0,0,0,0,0
$GC,16177,1.20,90.5,75.3,11.1,1115,16181,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1596,1564,0,0,0,0,0,0
$GC,16528,1.23,90.5,36.5,11.2,1176,16536,0.05,0.00,0.00,0.000,6,0.170,0.000,3592,1596,1564,0,0,0,0,0,0
$GC,16685,1.19,90.5,19.0,12.8,1201,16693,0.10,2.22,0.00,0.000,4,0.194,0.049,3578,200,1564,0,0,0,0,0,0
$STATE,16816,end climb,SURFACE_DEPTH_REACHED
$STATE,16816,begin surface coast
$FINISH,1.7,1.013957
$STATE,16842,end surface coast,CONTROL_FINISHED_OK
$STATE,16842,begin surface
$SM_CCo,16861,50.17,0.057,0,0,1133,200.16
$SM_GC,3.36,0.00,0.00,50.17,0.000,0.000,0.057,62,2059,1133,-9.76,-0.03,200.16
$IRIDIUM_FIX,-4447.43,631.19,190608,111104
$TT8_MAMPS,0.026964
$HUMID,61.93
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.6,19.822
$10V_AH,10.1,19.067
$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,23.850,94.200,168.825,50.175,0.000,35.552,23.629,269.904,0.000,0.000,15.561,3010.606,10712.064,331.277,3148.854,148.643,0.000,1428.297,0.000,2649.099,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,61.965,1289.025,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.210,2267.905,913.576,500.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,83625,1226
$CAP_FILE_SIZE,147841,0
$CFSIZE,2097086464,2074574848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240815,080157,-4504.046,636.496,43,0.8,43,-24.4