version: 66.07.10.p01
glider: 573
mission: 12
dive: 150
start: 8 28 115 0 34 31
data:
$ID,573
$MISSION,12
$DIVE,150
$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,-21471.777
$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,34
$R_STBD_OVSHOOT,30
$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,149
$GPS1,280815,002603,-4504.658,624.714,42,1.0,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-67.7
$GPS2,280815,003411,-4504.692,624.784,21,1.4,21,-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,345.7,1641,-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,-49.9,0.0,0.0,0,58,0.00,0.00,-32.20,0.000,2,0.000,0.000,60,2054,1778,0,0,0,0,0,0
$GC,61,-1.12,-96.9,3.4,-3.2,5,106,11.52,2.30,-23.35,0.000,4,0.251,0.069,2814,661,2347,0,0,0,0,0,0
$GC,333,-1.02,-96.9,44.0,-18.9,49,338,0.17,2.22,0.00,0.000,6,0.197,0.044,2850,2063,2349,0,0,0,0,0,0
$GC,680,-1.02,-96.9,96.5,-14.3,110,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2062,2349,0,0,0,0,0,0
$GC,1006,-1.02,-96.9,144.1,-15.2,143,1010,0.00,2.25,0.00,0.000,4,0.000,0.064,2839,3466,2350,0,0,0,0,0,0
$GC,1045,-1.02,-96.9,149.7,-14.9,146,1049,0.00,2.17,0.00,0.000,6,0.000,0.043,2839,2063,2350,0,0,0,0,0,0
$GC,1377,-1.02,-96.9,195.6,-13.9,177,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2350,0,0,0,0,0,0
$GC,1693,-1.02,-96.9,242.2,-14.6,207,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2350,0,0,0,0,0,0
$GC,2014,-1.02,-96.9,287.3,-14.3,237,2018,0.00,2.25,0.00,0.000,4,0.000,0.059,2830,3465,2350,0,0,0,0,0,0
$GC,2042,-1.02,-96.9,291.6,-14.0,239,2047,0.10,2.17,0.00,0.000,6,0.190,0.041,2854,2057,2351,0,0,0,0,0,0
$GC,2369,-1.06,-96.9,333.8,-12.7,269,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2058,2351,0,0,0,0,0,0
$GC,2685,-1.11,-96.9,372.9,-12.1,299,2690,0.08,2.28,0.00,0.000,4,0.124,0.061,2802,3465,2350,0,0,0,0,0,0
$GC,2715,-1.08,-96.9,376.9,-13.8,301,2720,0.12,2.15,0.00,0.000,6,0.184,0.041,2833,2060,2351,0,0,0,0,0,0
$GC,3046,-1.08,-96.9,419.7,-12.8,325,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2060,2351,0,0,0,0,0,0
$GC,3355,-1.08,-96.9,459.9,-13.0,340,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2060,2351,0,0,0,0,0,0
$GC,3665,-1.08,-96.9,500.7,-13.3,355,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2060,2350,0,0,0,0,0,0
$GC,3974,-1.08,-96.9,540.4,-12.7,370,3978,0.00,2.25,0.00,0.000,4,0.000,0.060,2824,3472,2351,0,0,0,0,0,0
$GC,4013,-1.08,-96.9,545.6,-13.4,372,4017,0.00,2.17,0.00,0.000,6,0.000,0.043,2825,2053,2350,0,0,0,0,0,0
$GC,4339,-1.08,-96.9,588.4,-13.2,388,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2053,2350,0,0,0,0,0,0
$GC,4648,-1.08,-96.9,629.2,-12.8,403,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2053,2351,0,0,0,0,0,0
$GC,4957,-1.08,-96.9,669.9,-13.3,418,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2053,2350,0,0,0,0,0,0
$GC,5267,-1.08,-96.9,711.5,-13.7,433,5271,0.00,2.22,0.00,0.000,4,0.000,0.057,2825,647,2350,0,0,0,0,0,0
$GC,5306,-1.08,-96.9,717.0,-14.0,435,5311,0.08,2.20,0.00,0.000,6,0.224,0.044,2831,2067,2350,0,0,0,0,0,0
$GC,5632,-1.08,-96.9,760.3,-13.1,451,5636,0.00,2.20,0.00,0.000,4,0.000,0.063,2821,3465,2349,0,0,0,0,0,0
$GC,5708,-1.08,-96.9,770.9,-13.0,454,5715,0.03,2.20,0.00,0.000,6,0.194,0.043,2829,2058,2349,0,0,0,0,0,0
$GC,6025,-1.08,-96.9,809.1,-11.8,470,6029,0.00,2.22,0.00,0.000,4,0.000,0.057,2830,655,2349,0,0,0,0,0,0
$GC,6058,-1.08,-96.9,813.3,-12.4,471,6064,0.05,2.20,0.00,0.000,6,0.245,0.045,2831,2062,2349,0,0,0,0,0,0
$GC,6373,-1.08,-96.9,849.3,-11.1,487,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2063,2348,0,0,0,0,0,0
$GC,6683,-1.11,-96.9,882.5,-10.6,502,6687,0.00,2.22,0.00,0.000,4,0.000,0.064,2820,3474,2348,0,0,0,0,0,0
$GC,6754,-1.11,-96.9,890.7,-11.2,505,6759,0.00,2.22,0.00,0.000,6,0.000,0.044,2820,2060,2348,0,0,0,0,0,0
$GC,7076,-1.11,-96.9,925.7,-10.9,521,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2059,2348,0,0,0,0,0,0
$GC,7385,-1.11,-96.9,958.6,-10.6,536,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2060,2348,0,0,0,0,0,0
$GC,7694,-1.11,-96.9,990.2,-10.0,551,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2060,2347,0,0,0,0,0,0
$STATE,7796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7796,begin apogee
$GC,7801,-0.19,0.0,1000.4,9.9,556,7893,1.00,0.00,88.32,1.289,6,0.170,0.000,3114,1596,1950,0,0,0,0,0,0
$STATE,7894,end apogee,CONTROL_FINISHED_OK
$STATE,7894,begin climb
$GC,7895,1.12,96.9,1002.3,0.0,560,7992,1.27,0.00,92.90,1.252,6,0.090,0.000,3538,1596,1555,0,0,0,0,0,0
$GC,8291,1.16,96.9,952.3,13.8,580,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1596,1546,0,0,0,0,0,0
$GC,8600,1.20,96.9,910.8,13.1,595,8605,0.10,2.30,0.00,0.000,4,0.096,0.054,3603,189,1543,0,0,0,0,0,0
$GC,8655,1.09,96.9,902.1,15.9,597,8661,0.20,2.28,0.00,0.000,6,0.164,0.035,3544,1611,1543,0,0,0,0,0,0
$GC,8971,1.13,96.9,860.9,12.6,613,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1612,1542,0,0,0,0,0,0
$GC,9281,1.17,96.9,821.8,12.7,628,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1612,1541,0,0,0,0,0,0
$GC,9590,1.20,96.9,782.9,12.3,643,9595,0.08,2.30,0.00,0.000,4,0.125,0.052,3596,186,1541,0,0,0,0,0,0
$GC,9720,1.11,96.9,764.2,15.5,649,9725,0.20,2.20,0.00,0.000,6,0.177,0.036,3543,1607,1540,0,0,0,0,0,0
$GC,10047,1.15,96.9,723.6,12.4,665,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1608,1540,0,0,0,0,0,0
$GC,10356,1.19,96.9,683.1,13.5,680,10360,0.08,2.25,0.00,0.000,4,0.127,0.053,3595,193,1540,0,0,0,0,0,0
$GC,10433,1.11,96.9,671.2,16.0,683,10439,0.15,2.20,0.00,0.000,6,0.164,0.035,3549,1602,1539,0,0,0,0,0,0
$GC,10749,1.15,96.9,629.1,13.4,699,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1602,1539,0,0,0,0,0,0
$GC,11058,1.15,96.9,589.1,12.7,714,11062,0.00,2.25,0.00,0.000,4,0.000,0.053,3559,186,1540,0,0,0,0,0,0
$GC,11106,1.15,96.9,582.5,13.3,716,11111,0.00,2.22,0.00,0.000,6,0.000,0.037,3558,1598,1539,0,0,0,0,0,0
$GC,11428,1.15,96.9,540.6,13.5,732,11432,0.00,2.20,0.00,0.000,4,0.000,0.057,3558,2999,1540,0,0,0,0,0,0
$GC,11527,1.15,96.9,526.6,14.1,736,11533,0.00,2.17,0.00,0.000,6,0.000,0.036,3566,1600,1540,0,0,0,0,0,0
$GC,11843,1.15,96.9,484.2,12.8,752,11847,0.00,2.22,0.00,0.000,4,0.000,0.054,3576,188,1539,0,0,0,0,0,0
$GC,11983,1.10,96.9,465.5,12.7,758,11988,0.12,2.17,0.00,0.000,6,0.187,0.035,3545,1616,1539,0,0,0,0,0,0
$GC,12299,1.15,96.9,429.9,10.9,773,12303,0.00,2.25,0.00,0.000,4,0.000,0.052,3554,195,1539,0,0,0,0,0,0
$GC,12477,1.15,96.9,409.2,11.3,781,12482,0.00,2.20,0.00,0.000,6,0.000,0.037,3554,1595,1539,0,0,0,0,0,0
$GC,12802,1.18,96.9,373.5,10.7,807,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1595,1539,0,0,0,0,0,0
$GC,13123,1.21,96.9,338.5,11.1,837,13128,0.05,0.00,0.00,0.000,6,0.170,0.000,3589,1595,1539,0,0,0,0,0,0
$GC,13448,1.18,96.9,296.1,13.5,868,13450,0.10,0.00,0.00,0.000,6,0.195,0.000,3566,1596,1539,0,0,0,0,0,0
$GC,13766,1.18,96.9,257.6,12.1,898,13770,0.00,2.22,0.00,0.000,4,0.000,0.051,3575,189,1539,0,0,0,0,0,0
$GC,13840,1.18,96.9,248.2,13.1,904,13844,0.00,2.20,0.00,0.000,6,0.000,0.037,3575,1613,1539,0,0,0,0,0,0
$GC,14164,1.18,96.9,207.3,12.8,934,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1614,1539,0,0,0,0,0,0
$GC,14483,1.18,96.9,165.7,13.4,964,14487,0.00,2.25,0.00,0.000,4,0.000,0.050,3584,188,1539,0,0,0,0,0,0
$GC,14561,1.14,96.9,154.0,14.4,970,14567,0.10,2.20,0.00,0.000,6,0.171,0.036,3553,1600,1538,0,0,0,0,0,0
$GC,14889,1.19,96.9,115.7,11.2,1001,14890,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1601,1539,0,0,0,0,0,0
$GC,15217,1.24,96.9,79.5,11.3,1047,15224,0.10,0.00,0.00,0.000,6,0.103,0.000,3600,1601,1539,0,0,0,0,0,0
$GC,15568,1.21,96.9,41.0,10.4,1108,15575,0.10,2.22,0.00,0.000,4,0.210,0.050,3588,189,1539,0,0,0,0,0,0
$GC,15644,1.15,96.9,33.0,11.2,1120,15651,0.08,2.20,0.00,0.000,6,0.185,0.036,3564,1603,1539,0,0,0,0,0,0
$GC,15800,1.19,96.9,12.9,14.6,1145,15808,0.00,2.20,0.00,0.000,4,0.000,0.050,3564,3002,1539,0,0,0,0,0,0
$GC,15865,1.19,96.9,3.7,13.2,1155,15872,0.00,2.17,0.00,0.000,6,0.000,0.041,3572,1604,1539,0,0,0,0,0,0
$STATE,15879,end climb,SURFACE_DEPTH_REACHED
$STATE,15879,begin surface coast
$FINISH,1.6,1.023213
$STATE,15905,end surface coast,CONTROL_FINISHED_OK
$STATE,15905,begin surface
$SM_CCo,15922,52.28,0.054,0,0,1133,200.16
$SM_GC,3.04,0.00,0.00,52.28,0.000,0.000,0.054,81,2073,1133,-9.70,0.37,200.16
$IRIDIUM_FIX,-4447.43,622.10,230608,080851
$TT8_MAMPS,0.026964
$HUMID,62.83
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,23.5,21.524
$10V_AH,10.1,21.386
$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,25.100,90.225,181.225,52.275,0.000,27.278,23.365,299.093,0.000,0.000,24.792,2852.749,10108.987,349.974,2992.794,152.871,0.000,1364.370,0.000,2467.072,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,68.850,1289.025,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.771,2129.485,854.621,463.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,80409,1161
$CAP_FILE_SIZE,141452,0
$CFSIZE,2097086464,2072444928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280815,050219,-4504.653,624.044,39,26.3,58,-24.4