version: 66.07.10.p01
glider: 573
mission: 12
dive: 149
start: 8 27 115 19 31 28
data:
$ID,573
$MISSION,12
$DIVE,149
$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,-21468.305
$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,40
$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,148
$GPS1,270815,192351,-4504.798,624.552,69,0.8,69,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-64.6
$GPS2,270815,193107,-4504.816,624.613,15,0.8,16,-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,356.5,1711,-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,23,-1.09,-49.9,0.0,0.0,0,57,0.00,0.00,-31.95,0.000,2,0.000,0.000,64,2073,1766,0,0,0,0,0,0
$GC,59,-1.11,-82.7,3.6,-4.8,5,99,11.32,2.33,-19.20,0.000,4,0.246,0.069,2820,661,2290,0,0,0,0,0,0
$GC,372,-1.01,-82.7,44.6,-15.1,56,378,0.17,2.20,0.00,0.000,6,0.190,0.042,2856,2055,2294,0,0,0,0,0,0
$GC,720,-1.01,-82.7,93.7,-13.5,117,727,0.00,2.28,0.00,0.000,4,0.000,0.054,2856,659,2294,0,0,0,0,0,0
$GC,793,-1.01,-82.7,104.4,-14.2,127,800,0.00,2.25,0.00,0.000,6,0.000,0.041,2847,2070,2294,0,0,0,0,0,0
$GC,1120,-1.01,-82.7,147.8,-12.5,158,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2070,2294,0,0,0,0,0,0
$GC,1438,-1.01,-82.7,188.3,-12.3,188,1442,0.00,2.20,0.00,0.000,4,0.000,0.059,2836,3465,2294,0,0,0,0,0,0
$GC,1477,-1.01,-82.7,193.6,-13.6,191,1482,0.10,2.15,0.00,0.000,6,0.197,0.041,2859,2066,2294,0,0,0,0,0,0
$GC,1804,-1.05,-82.7,232.9,-11.9,221,1808,0.00,2.22,0.00,0.000,4,0.000,0.053,2859,656,2294,0,0,0,0,0,0
$GC,1820,-1.05,-82.7,235.1,-11.5,222,1824,0.00,2.17,0.00,0.000,6,0.000,0.040,2850,2066,2295,0,0,0,0,0,0
$GC,2145,-1.05,-82.7,276.3,-12.7,252,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2066,2295,0,0,0,0,0,0
$GC,2464,-1.05,-82.7,316.9,-12.7,282,2468,0.00,2.25,0.00,0.000,4,0.000,0.054,2851,653,2295,0,0,0,0,0,0
$GC,2529,-1.05,-82.7,326.3,-13.1,287,2536,0.00,2.22,0.00,0.000,6,0.000,0.042,2841,2060,2295,0,0,0,0,0,0
$GC,2855,-1.05,-82.7,366.2,-12.2,318,2859,0.00,2.25,0.00,0.000,4,0.000,0.063,2830,3467,2295,0,0,0,0,0,0
$GC,2965,-1.05,-82.7,380.0,-12.3,327,2973,0.03,2.22,0.00,0.000,6,0.195,0.042,2839,2051,2295,0,0,0,0,0,0
$GC,3287,-1.05,-82.7,417.6,-11.5,351,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2051,2295,0,0,0,0,0,0
$GC,3596,-1.05,-82.7,453.3,-11.9,366,3600,0.00,2.28,0.00,0.000,4,0.000,0.061,2829,3469,2294,0,0,0,0,0,0
$GC,3635,-1.05,-82.7,458.1,-12.9,368,3640,0.05,2.15,0.00,0.000,6,0.229,0.042,2840,2057,2294,0,0,0,0,0,0
$GC,3961,-1.05,-82.7,497.8,-12.1,384,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2057,2295,0,0,0,0,0,0
$GC,4270,-1.05,-82.7,534.7,-11.9,399,4274,0.00,2.20,0.00,0.000,4,0.000,0.056,2840,654,2295,0,0,0,0,0,0
$GC,4310,-1.05,-82.7,539.5,-12.2,401,4314,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2058,2295,0,0,0,0,0,0
$GC,4635,-1.05,-82.7,578.4,-11.5,417,4639,0.00,2.25,0.00,0.000,4,0.000,0.054,2831,648,2294,0,0,0,0,0,0
$GC,4668,-1.01,-82.7,582.5,-12.9,418,4674,0.10,2.22,0.00,0.000,6,0.171,0.044,2853,2054,2295,0,0,0,0,0,0
$GC,4984,-1.06,-82.7,614.5,-9.9,434,4988,0.00,2.25,0.00,0.000,4,0.000,0.061,2842,3467,2294,0,0,0,0,0,0
$GC,5072,-1.09,-82.7,624.0,-10.9,438,5077,0.00,2.20,0.00,0.000,6,0.000,0.042,2842,2063,2293,0,0,0,0,0,0
$GC,5400,-1.13,-82.7,656.6,-9.9,454,5402,0.05,0.00,0.00,0.000,6,0.166,0.000,2807,2063,2293,0,0,0,0,0,0
$GC,5709,-1.10,-82.7,689.2,-10.3,469,5711,0.10,0.00,0.00,0.000,6,0.196,0.000,2830,2063,2293,0,0,0,0,0,0
$GC,6018,-1.10,-82.7,720.8,-10.5,484,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2063,2293,0,0,0,0,0,0
$GC,6327,-1.10,-82.7,751.4,-9.7,499,6331,0.00,2.20,0.00,0.000,4,0.000,0.055,2830,655,2292,0,0,0,0,0,0
$GC,6370,-1.10,-82.7,756.0,-10.2,501,6375,0.00,2.22,0.00,0.000,6,0.000,0.042,2821,2062,2292,0,0,0,0,0,0
$GC,6698,-1.10,-82.7,789.4,-10.2,517,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2062,2292,0,0,0,0,0,0
$GC,7007,-1.10,-82.7,820.3,-9.8,532,7012,0.00,2.25,0.00,0.000,4,0.000,0.066,2811,3465,2292,0,0,0,0,0,0
$GC,7034,-1.10,-82.7,823.1,-10.4,533,7039,0.05,2.20,0.00,0.000,6,0.175,0.044,2826,2062,2292,0,0,0,0,0,0
$GC,7355,-1.10,-82.7,854.6,-9.7,549,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,2292,0,0,0,0,0,0
$GC,7664,-1.10,-82.7,884.6,-9.6,564,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,2291,0,0,0,0,0,0
$GC,7974,-1.10,-82.7,915.3,-9.8,579,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,2291,0,0,0,0,0,0
$GC,8283,-1.10,-82.7,944.2,-9.4,594,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2063,2291,0,0,0,0,0,0
$GC,8592,-1.10,-82.7,972.4,-8.9,609,8596,0.00,2.22,0.00,0.000,4,0.000,0.055,2827,644,2291,0,0,0,0,0,0
$GC,8635,-1.10,-82.7,976.6,-8.9,611,8640,0.00,2.22,0.00,0.000,6,0.000,0.041,2818,2061,2291,0,0,0,0,0,0
$STATE,8900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8900,begin apogee
$GC,8905,-0.19,0.0,1001.1,9.0,624,8985,1.02,0.00,76.85,1.292,6,0.171,0.000,3119,1587,1950,0,0,0,0,0,0
$STATE,8986,end apogee,CONTROL_FINISHED_OK
$STATE,8986,begin climb
$GC,8987,1.11,82.7,1002.6,0.0,628,9075,1.25,2.40,79.40,1.250,4,0.089,0.052,3546,195,1610,0,0,0,0,0,0
$GC,9154,1.11,82.7,984.4,14.3,636,9159,0.00,2.30,0.00,0.000,6,0.000,0.037,3546,1605,1604,0,0,0,0,0,0
$GC,9482,1.11,82.7,939.7,13.6,652,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1605,1601,0,0,0,0,0,0
$GC,9791,1.11,82.7,898.4,13.5,667,9795,0.00,2.22,0.00,0.000,4,0.000,0.054,3546,2998,1599,0,0,0,0,0,0
$GC,9834,1.11,82.7,892.1,13.9,669,9839,0.00,2.22,0.00,0.000,6,0.000,0.036,3555,1595,1598,0,0,0,0,0,0
$GC,10162,1.11,82.7,848.6,13.2,685,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1595,1598,0,0,0,0,0,0
$GC,10471,1.11,82.7,807.0,13.6,700,10475,0.00,2.22,0.00,0.000,4,0.000,0.054,3566,197,1597,0,0,0,0,0,0
$GC,10602,1.07,82.7,788.7,14.5,706,10607,0.12,2.20,0.00,0.000,6,0.186,0.037,3534,1617,1597,0,0,0,0,0,0
$GC,10929,1.11,82.7,747.8,12.2,722,10933,0.00,2.17,0.00,0.000,4,0.000,0.056,3534,2990,1597,0,0,0,0,0,0
$GC,10975,1.11,82.7,742.0,13.0,724,10979,0.00,2.12,0.00,0.000,6,0.000,0.037,3542,1599,1596,0,0,0,0,0,0
$GC,11302,1.11,82.7,702.8,11.7,740,11306,0.00,2.25,0.00,0.000,4,0.000,0.053,3553,190,1596,0,0,0,0,0,0
$GC,11547,1.11,82.7,670.6,12.8,751,11552,0.00,2.20,0.00,0.000,6,0.000,0.035,3553,1593,1596,0,0,0,0,0,0
$GC,11875,1.11,82.7,630.3,12.6,767,11879,0.00,2.22,0.00,0.000,4,0.000,0.056,3554,2999,1596,0,0,0,0,0,0
$GC,11942,1.11,82.7,621.7,12.6,770,11947,0.08,2.15,0.00,0.000,6,0.220,0.036,3547,1595,1596,0,0,0,0,0,0
$GC,12268,1.11,82.7,582.9,11.4,786,12272,0.00,2.20,0.00,0.000,4,0.000,0.053,3557,198,1596,0,0,0,0,0,0
$GC,12378,1.11,82.7,569.3,12.2,791,12384,0.03,2.20,0.00,0.000,6,0.200,0.037,3549,1599,1595,0,0,0,0,0,0
$GC,12706,1.11,82.7,532.7,11.3,807,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1595,0,0,0,0,0,0
$GC,13015,1.11,82.7,496.9,11.8,822,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1595,0,0,0,0,0,0
$GC,13324,1.11,82.7,461.4,11.5,837,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1595,0,0,0,0,0,0
$GC,13634,1.11,82.7,426.7,11.0,852,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1595,0,0,0,0,0,0
$GC,13945,1.14,82.7,392.7,10.9,870,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1595,0,0,0,0,0,0
$GC,14265,1.18,82.7,358.5,10.4,900,14269,0.00,2.22,0.00,0.000,4,0.000,0.050,3558,191,1595,0,0,0,0,0,0
$GC,14308,1.18,82.7,353.3,11.3,903,14314,0.00,2.20,0.00,0.000,6,0.000,0.037,3558,1598,1595,0,0,0,0,0,0
$GC,14633,1.18,82.7,319.4,10.0,934,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1598,1594,0,0,0,0,0,0
$GC,14953,1.18,82.7,286.7,10.4,964,14957,0.00,2.20,0.00,0.000,4,0.000,0.050,3567,200,1594,0,0,0,0,0,0
$GC,15062,1.18,82.7,274.7,11.5,973,15066,0.00,2.17,0.00,0.000,6,0.000,0.037,3566,1610,1594,0,0,0,0,0,0
$GC,15386,1.18,82.7,239.6,10.7,1003,15390,0.00,2.17,0.00,0.000,4,0.000,0.053,3566,2996,1594,0,0,0,0,0,0
$GC,15486,1.18,82.7,227.8,11.3,1011,15492,0.00,2.15,0.00,0.000,6,0.000,0.034,3575,1606,1594,0,0,0,0,0,0
$GC,15812,1.18,82.7,189.5,12.4,1042,15816,0.00,2.22,0.00,0.000,4,0.000,0.052,3586,184,1594,0,0,0,0,0,0
$GC,15965,1.13,82.7,169.6,13.1,1055,15970,0.15,2.17,0.00,0.000,6,0.181,0.035,3547,1604,1594,0,0,0,0,0,0
$GC,16292,1.18,82.7,135.0,9.7,1085,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1604,1594,0,0,0,0,0,0
$GC,16609,1.23,82.7,101.7,10.0,1115,16610,0.10,0.00,0.00,0.000,6,0.103,0.000,3598,1604,1594,0,0,0,0,0,0
$GC,16948,1.18,82.7,63.2,10.4,1173,16955,0.12,0.00,0.00,0.000,6,0.190,0.000,3567,1606,1594,0,0,0,0,0,0
$GC,17308,1.18,82.7,23.8,11.8,1234,17315,0.00,2.25,0.00,0.000,4,0.000,0.051,3576,201,1594,0,0,0,0,0,0
$STATE,17499,end climb,SURFACE_DEPTH_REACHED
$STATE,17499,begin surface coast
$FINISH,1.6,1.010473
$STATE,17524,end surface coast,CONTROL_FINISHED_OK
$STATE,17525,begin surface
$SM_CCo,17544,54.10,0.056,0,0,1133,200.16
$SM_GC,3.27,0.00,0.00,54.10,0.000,0.000,0.056,61,2054,1133,-9.76,-0.17,200.16
$IRIDIUM_FIX,-4447.43,505.59,230608,040413
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.6,21.437
$10V_AH,10.1,21.271
$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,24.000,112.350,156.250,54.100,0.000,27.635,21.711,266.611,0.000,0.000,19.364,3131.966,11157.328,319.051,3261.333,161.338,0.000,1459.734,0.000,2764.226,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,68.850,1292.085,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.200,2328.623,930.547,504.128,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353184
$DATA_FILE_SIZE,86989,1269
$CAP_FILE_SIZE,153056,0
$CFSIZE,2097086464,2072576000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280815,002603,-4504.658,624.714,42,1.0,42,-24.4