version: 66.07.10.p01
glider: 573
mission: 12
dive: 148
start: 8 27 115 14 44 18
data:
$ID,573
$MISSION,12
$DIVE,148
$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,-21465.219
$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,38
$R_STBD_OVSHOOT,47
$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,147
$GPS1,270815,143603,-4504.895,624.692,24,1.0,24,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.9
$GPS2,270815,144358,-4504.897,624.788,18,1.2,18,-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,352.6,1955,-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,-26.27,0.000,2,0.000,0.000,70,2069,1650,0,0,0,0,0,0
$GC,55,-1.12,-92.8,3.1,-3.6,4,106,11.30,2.33,-31.83,0.000,4,0.246,0.067,2816,657,2326,0,0,0,0,0,0
$GC,188,-1.01,-92.8,15.2,-18.7,25,196,0.15,2.25,0.00,0.000,6,0.181,0.045,2850,2040,2328,0,0,0,0,0,0
$GC,247,-1.01,-92.8,24.7,-15.5,34,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2040,2328,0,0,0,0,0,0
$GC,397,-1.01,-92.8,47.4,-14.6,59,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2040,2329,0,0,0,0,0,0
$GC,743,-1.01,-92.8,97.2,-13.8,120,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2040,2328,0,0,0,0,0,0
$GC,1077,-1.01,-92.8,141.0,-12.4,153,1081,0.00,2.28,0.00,0.000,4,0.000,0.062,2840,3470,2328,0,0,0,0,0,0
$GC,1094,-1.01,-92.8,143.6,-12.4,154,1099,0.08,2.17,0.00,0.000,6,0.213,0.041,2855,2062,2329,0,0,0,0,0,0
$GC,1419,-1.05,-92.8,183.4,-11.6,184,1423,0.00,2.22,0.00,0.000,4,0.000,0.054,2856,648,2329,0,0,0,0,0,0
$GC,1437,-1.05,-92.8,185.5,-11.8,185,1441,0.00,2.22,0.00,0.000,6,0.000,0.041,2846,2070,2329,0,0,0,0,0,0
$GC,1761,-1.05,-92.8,225.7,-12.9,215,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2070,2328,0,0,0,0,0,0
$GC,2083,-1.05,-92.8,268.4,-14.0,245,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2070,2329,0,0,0,0,0,0
$GC,2399,-1.05,-92.8,313.8,-15.1,275,2403,0.00,2.20,0.00,0.000,4,0.000,0.059,2836,3465,2329,0,0,0,0,0,0
$GC,2453,-1.05,-92.8,322.4,-15.3,279,2459,0.00,2.20,0.00,0.000,6,0.000,0.040,2836,2056,2329,0,0,0,0,0,0
$GC,2778,-1.05,-92.8,370.2,-14.3,310,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2055,2330,0,0,0,0,0,0
$GC,3094,-1.05,-92.8,414.1,-13.6,335,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2329,0,0,0,0,0,0
$GC,3403,-1.05,-92.8,454.9,-12.8,350,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2329,0,0,0,0,0,0
$GC,3713,-1.05,-92.8,494.4,-12.6,365,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2329,0,0,0,0,0,0
$GC,4022,-1.05,-92.8,532.3,-12.3,380,4026,0.00,2.20,0.00,0.000,4,0.000,0.054,2836,649,2329,0,0,0,0,0,0
$GC,4048,-1.05,-92.8,535.9,-13.4,381,4053,0.03,2.22,0.00,0.000,6,0.203,0.043,2836,2055,2329,0,0,0,0,0,0
$GC,4369,-1.05,-92.8,573.4,-11.5,397,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2056,2329,0,0,0,0,0,0
$GC,4678,-1.05,-92.8,608.2,-10.9,412,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2055,2329,0,0,0,0,0,0
$GC,4988,-1.05,-92.8,641.2,-10.6,427,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2055,2329,0,0,0,0,0,0
$GC,5297,-1.05,-92.8,674.4,-10.7,442,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2055,2328,0,0,0,0,0,0
$GC,5606,-1.05,-92.8,707.1,-10.7,457,5610,0.00,2.25,0.00,0.000,4,0.000,0.062,2825,3470,2328,0,0,0,0,0,0
$GC,5706,-1.05,-92.8,718.9,-12.4,461,5713,0.05,2.20,0.00,0.000,6,0.174,0.043,2841,2065,2328,0,0,0,0,0,0
$GC,6022,-1.09,-92.8,754.3,-11.3,477,6027,0.00,2.22,0.00,0.000,4,0.000,0.059,2832,3470,2328,0,0,0,0,0,0
$GC,6049,-1.09,-92.8,757.6,-12.0,478,6053,0.00,2.20,0.00,0.000,6,0.000,0.042,2832,2060,2328,0,0,0,0,0,0
$GC,6371,-1.12,-92.8,793.9,-11.1,494,6375,0.00,2.22,0.00,0.000,4,0.000,0.055,2832,650,2328,0,0,0,0,0,0
$GC,6436,-1.12,-92.8,801.7,-12.1,497,6441,0.00,2.22,0.00,0.000,6,0.000,0.044,2823,2060,2328,0,0,0,0,0,0
$GC,6764,-1.12,-92.8,839.9,-11.6,513,6768,0.00,2.20,0.00,0.000,4,0.000,0.063,2812,3462,2327,0,0,0,0,0,0
$GC,6790,-1.12,-92.8,843.1,-11.6,514,6795,0.00,2.20,0.00,0.000,6,0.000,0.042,2812,2055,2327,0,0,0,0,0,0
$GC,7112,-1.12,-92.8,880.3,-11.5,530,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2055,2327,0,0,0,0,0,0
$GC,7421,-1.12,-92.8,914.8,-10.9,545,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2055,2327,0,0,0,0,0,0
$GC,7731,-1.12,-92.8,948.2,-10.5,560,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2055,2326,0,0,0,0,0,0
$GC,8040,-1.12,-92.8,980.3,-10.1,575,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2055,2326,0,0,0,0,0,0
$STATE,8245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8245,begin apogee
$GC,8250,-0.19,0.0,1001.2,10.2,585,8338,1.02,0.00,84.50,1.293,6,0.172,0.000,3114,1592,1950,0,0,0,0,0,0
$STATE,8339,end apogee,CONTROL_FINISHED_OK
$STATE,8339,begin climb
$GC,8340,1.12,92.8,1003.1,0.0,589,8437,1.27,2.42,88.40,1.255,4,0.092,0.050,3547,198,1570,0,0,0,0,0,0
$GC,8492,1.12,92.8,987.0,14.3,595,8497,0.00,2.35,0.00,0.000,6,0.000,0.037,3548,1601,1565,0,0,0,0,0,0
$GC,8814,1.12,92.8,942.7,13.7,611,8818,0.00,2.28,0.00,0.000,4,0.000,0.055,3548,2999,1562,0,0,0,0,0,0
$GC,8924,1.12,92.8,926.8,14.7,616,8929,0.00,2.22,0.00,0.000,6,0.000,0.034,3556,1605,1561,0,0,0,0,0,0
$GC,9251,1.12,92.8,883.5,13.3,632,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1605,1560,0,0,0,0,0,0
$GC,9560,1.12,92.8,843.4,13.0,647,9564,0.00,2.25,0.00,0.000,4,0.000,0.053,3567,194,1560,0,0,0,0,0,0
$GC,9637,1.08,92.8,832.6,14.2,650,9643,0.10,2.25,0.00,0.000,6,0.164,0.037,3537,1612,1559,0,0,0,0,0,0
$GC,9953,1.13,92.8,793.6,12.3,666,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1612,1559,0,0,0,0,0,0
$GC,10262,1.17,92.8,756.9,11.9,681,10264,0.08,0.00,0.00,0.000,6,0.124,0.000,3580,1612,1558,0,0,0,0,0,0
$GC,10572,1.13,92.8,714.6,14.2,696,10573,0.12,0.00,0.00,0.000,6,0.185,0.000,3549,1618,1558,0,0,0,0,0,0
$GC,10880,1.13,92.8,674.1,12.8,711,10884,0.00,2.17,0.00,0.000,4,0.000,0.053,3549,2998,1558,0,0,0,0,0,0
$GC,10952,1.13,92.8,664.1,13.7,714,10957,0.00,2.17,0.00,0.000,6,0.000,0.035,3558,1598,1558,0,0,0,0,0,0
$GC,11273,1.13,92.8,621.4,13.3,730,11277,0.00,2.22,0.00,0.000,4,0.000,0.054,3568,198,1557,0,0,0,0,0,0
$GC,11383,1.10,92.8,605.6,14.3,735,11389,0.08,2.20,0.00,0.000,6,0.173,0.037,3544,1597,1557,0,0,0,0,0,0
$GC,11712,1.13,92.8,563.4,12.9,751,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1598,1557,0,0,0,0,0,0
$GC,12021,1.17,92.8,524.8,12.3,766,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1598,1557,0,0,0,0,0,0
$GC,12330,1.21,92.8,488.8,10.8,781,12335,0.10,2.22,0.00,0.000,4,0.103,0.050,3606,198,1557,0,0,0,0,0,0
$GC,12520,1.11,92.8,463.6,12.7,789,12526,0.17,2.20,0.00,0.000,6,0.171,0.037,3544,1602,1556,0,0,0,0,0,0
$GC,12836,1.15,92.8,429.8,10.5,805,12837,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1556,0,0,0,0,0,0
$GC,13148,1.19,92.8,396.6,10.5,821,13149,0.08,0.00,0.00,0.000,6,0.129,0.000,3586,1602,1556,0,0,0,0,0,0
$GC,13464,1.16,92.8,358.5,12.0,851,13466,0.10,0.00,0.00,0.000,6,0.194,0.000,3563,1607,1556,0,0,0,0,0,0
$GC,13784,1.16,92.8,323.3,10.7,881,13788,0.00,2.20,0.00,0.000,4,0.000,0.054,3562,2991,1556,0,0,0,0,0,0
$GC,13892,1.16,92.8,310.7,10.5,890,13896,0.00,2.10,0.00,0.000,6,0.000,0.036,3571,1596,1556,0,0,0,0,0,0
$GC,14216,1.16,92.8,272.9,11.4,920,14220,0.00,2.22,0.00,0.000,4,0.000,0.052,3581,189,1556,0,0,0,0,0,0
$GC,14440,1.12,92.8,244.1,13.6,939,14447,0.10,2.20,0.00,0.000,6,0.168,0.035,3550,1605,1556,0,0,0,0,0,0
$GC,14766,1.16,92.8,206.0,11.6,970,14767,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1605,1556,0,0,0,0,0,0
$GC,15085,1.21,92.8,168.1,12.3,1000,15090,0.05,2.20,0.00,0.000,4,0.171,0.050,3594,201,1556,0,0,0,0,0,0
$GC,15139,1.14,92.8,160.8,13.7,1004,15148,0.12,2.17,0.00,0.000,6,0.172,0.037,3556,1600,1556,0,0,0,0,0,0
$GC,15465,1.19,92.8,123.6,10.7,1035,15469,0.00,2.20,0.00,0.000,4,0.000,0.054,3556,2996,1556,0,0,0,0,0,0
$GC,15576,1.19,92.8,111.3,10.7,1044,15584,0.00,2.15,0.00,0.000,6,0.000,0.034,3564,1598,1556,0,0,0,0,0,0
$GC,15917,1.19,92.8,75.1,10.6,1095,15924,0.00,2.22,0.00,0.000,4,0.000,0.051,3575,200,1556,0,0,0,0,0,0
$GC,16050,1.19,92.8,60.0,11.3,1118,16055,0.00,2.15,0.00,0.000,6,0.000,0.037,3575,1604,1556,0,0,0,0,0,0
$GC,16411,1.19,92.8,22.8,8.9,1179,16419,0.00,2.25,0.00,0.000,4,0.000,0.050,3584,202,1556,0,0,0,0,0,0
$GC,16500,1.16,92.8,12.7,12.2,1193,16508,0.08,2.17,0.00,0.000,6,0.177,0.035,3561,1605,1556,0,0,0,0,0,0
$GC,16559,1.19,92.8,4.9,12.1,1202,16566,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1612,1556,0,0,0,0,0,0
$STATE,16579,end climb,SURFACE_DEPTH_REACHED
$STATE,16579,begin surface coast
$FINISH,1.6,1.023474
$STATE,16605,end surface coast,CONTROL_FINISHED_OK
$STATE,16605,begin surface
$SM_CCo,16621,49.03,0.055,0,0,1133,200.16
$SM_GC,3.13,0.00,0.00,49.03,0.000,0.000,0.055,64,2073,1133,-9.75,0.37,200.16
$IRIDIUM_FIX,-4450.47,606.93,220608,232346
$TT8_MAMPS,0.026215
$HUMID,62.40
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.5,21.360
$10V_AH,10.1,21.144
$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,24.075,94.600,172.900,49.025,0.000,22.774,57.926,274.877,0.000,0.000,20.911,2965.590,10553.457,328.816,3144.675,150.832,0.000,1421.235,0.000,2611.379,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,67.320,1292.850,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.200,2226.345,917.212,513.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,83719,1209
$CAP_FILE_SIZE,146511,0
$CFSIZE,2097086464,2072707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270815,192351,-4504.798,624.552,69,0.8,69,-24.4