version: 66.07.10.p01
glider: 573
mission: 12
dive: 151
start: 8 28 115 5 10 41
data:
$ID,573
$MISSION,12
$DIVE,151
$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,-21474.625
$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,42
$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,150
$GPS1,280815,050219,-4504.653,624.044,39,26.3,58,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-69.8
$GPS2,280815,051021,-4504.656,624.092,16,8.7,35,-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,18.7,1221,-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,-26.12,0.000,2,0.000,0.000,80,2073,1653,0,0,0,0,0,0
$GC,54,-1.12,-100.8,3.1,-2.7,4,106,11.15,2.33,-29.60,0.000,4,0.243,0.069,2814,664,2365,0,0,0,0,0,0
$GC,376,-1.02,-100.8,52.9,-18.7,57,384,0.12,2.22,0.00,0.000,6,0.180,0.041,2843,2048,2367,0,0,0,0,0,0
$GC,724,-1.02,-100.8,108.7,-16.4,113,728,0.00,2.22,0.00,0.000,4,0.000,0.053,2844,659,2367,0,0,0,0,0,0
$GC,763,-0.98,-100.8,115.7,-17.6,116,768,0.12,2.20,0.00,0.000,6,0.198,0.042,2866,2063,2367,0,0,0,0,0,0
$GC,1088,-1.03,-100.8,166.5,-15.1,146,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2063,2368,0,0,0,0,0,0
$GC,1407,-1.08,-100.8,213.0,-14.6,176,1412,0.10,2.25,0.00,0.000,4,0.103,0.064,2800,3469,2368,0,0,0,0,0,0
$GC,1472,-1.02,-100.8,223.2,-17.9,181,1477,0.17,2.17,0.00,0.000,6,0.174,0.044,2848,2062,2368,0,0,0,0,0,0
$GC,1797,-1.06,-100.8,271.9,-14.4,211,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2062,2368,0,0,0,0,0,0
$GC,2119,-1.09,-100.8,315.2,-13.0,241,2123,0.00,2.22,0.00,0.000,4,0.000,0.054,2848,645,2368,0,0,0,0,0,0
$GC,2173,-1.09,-100.8,323.3,-13.8,245,2179,0.00,2.25,0.00,0.000,6,0.000,0.040,2839,2066,2368,0,0,0,0,0,0
$GC,2498,-1.09,-100.8,366.9,-13.3,276,2502,0.00,2.25,0.00,0.000,4,0.000,0.063,2828,3471,2368,0,0,0,0,0,0
$GC,2531,-1.09,-100.8,371.4,-13.4,278,2536,0.00,2.17,0.00,0.000,6,0.000,0.042,2828,2058,2368,0,0,0,0,0,0
$GC,2853,-1.09,-100.8,414.6,-13.5,304,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,3161,-1.09,-100.8,455.5,-13.1,319,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,3471,-1.09,-100.8,495.9,-13.3,334,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,3780,-1.09,-100.8,537.1,-12.8,349,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,4089,-1.09,-100.8,577.7,-13.1,364,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,4399,-1.09,-100.8,618.9,-13.0,379,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,4708,-1.09,-100.8,660.6,-13.9,394,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2058,2368,0,0,0,0,0,0
$GC,5017,-1.09,-100.8,704.0,-14.1,409,5022,0.00,2.28,0.00,0.000,4,0.000,0.063,2819,3463,2367,0,0,0,0,0,0
$GC,5049,-1.09,-100.8,708.8,-14.3,410,5056,0.00,2.20,0.00,0.000,6,0.000,0.043,2819,2060,2367,0,0,0,0,0,0
$GC,5366,-1.09,-100.8,753.3,-13.9,426,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2060,2367,0,0,0,0,0,0
$GC,5675,-1.09,-100.8,795.5,-13.7,441,5679,0.00,2.25,0.00,0.000,4,0.000,0.062,2810,3462,2367,0,0,0,0,0,0
$GC,5783,-1.09,-100.8,810.4,-13.5,446,5787,0.08,2.17,0.00,0.000,6,0.200,0.043,2827,2057,2366,0,0,0,0,0,0
$GC,6109,-1.12,-100.8,853.3,-12.9,462,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2366,0,0,0,0,0,0
$GC,6418,-1.15,-100.8,891.1,-12.3,477,6422,0.00,2.20,0.00,0.000,4,0.000,0.057,2827,655,2366,0,0,0,0,0,0
$GC,6450,-1.15,-100.8,895.6,-13.2,478,6456,0.00,2.22,0.00,0.000,6,0.000,0.044,2818,2058,2365,0,0,0,0,0,0
$GC,6766,-1.15,-100.8,934.6,-12.4,494,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2058,2366,0,0,0,0,0,0
$GC,7076,-1.15,-100.8,973.2,-12.4,509,7080,0.00,2.25,0.00,0.000,4,0.000,0.064,2807,3470,2365,0,0,0,0,0,0
$GC,7186,-1.15,-100.8,988.1,-12.7,514,7191,0.00,2.22,0.00,0.000,6,0.000,0.044,2807,2054,2365,0,0,0,0,0,0
$STATE,7286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7286,begin apogee
$GC,7291,-0.19,0.0,1000.3,12.4,519,7387,1.05,0.00,92.68,1.291,6,0.168,0.000,3118,1591,1949,0,0,0,0,0,0
$STATE,7388,end apogee,CONTROL_FINISHED_OK
$STATE,7388,begin climb
$GC,7390,1.12,100.8,1003.5,0.0,524,7496,1.27,2.47,96.15,1.254,4,0.090,0.052,3550,199,1536,0,0,0,0,0,0
$GC,7562,1.12,100.8,985.9,15.2,532,7567,0.00,2.35,0.00,0.000,6,0.000,0.037,3550,1601,1532,0,0,0,0,0,0
$GC,7889,1.12,100.8,940.4,13.9,548,7894,0.00,2.28,0.00,0.000,4,0.000,0.055,3550,2999,1528,0,0,0,0,0,0
$GC,7938,1.12,100.8,933.2,14.0,550,7944,0.03,2.25,0.00,0.000,6,0.200,0.035,3551,1597,1528,0,0,0,0,0,0
$GC,8260,1.12,100.8,889.1,13.7,566,8264,0.00,2.28,0.00,0.000,4,0.000,0.053,3562,198,1526,0,0,0,0,0,0
$GC,8337,1.09,100.8,878.0,14.1,569,8343,0.05,2.25,0.00,0.000,6,0.178,0.037,3536,1606,1526,0,0,0,0,0,0
$GC,8653,1.14,100.8,838.1,12.5,585,8657,0.00,2.30,0.00,0.000,4,0.000,0.051,3545,188,1525,0,0,0,0,0,0
$GC,8719,1.14,100.8,829.2,13.9,588,8724,0.00,2.25,0.00,0.000,6,0.000,0.037,3545,1604,1526,0,0,0,0,0,0
$GC,9046,1.14,100.8,787.7,12.4,604,9050,0.00,2.20,0.00,0.000,4,0.000,0.054,3545,2997,1526,0,0,0,0,0,0
$GC,9100,1.14,100.8,780.2,13.9,606,9106,0.00,2.20,0.00,0.000,6,0.000,0.035,3554,1596,1525,0,0,0,0,0,0
$GC,9416,1.14,100.8,737.9,13.6,622,9420,0.00,2.25,0.00,0.000,4,0.000,0.053,3565,190,1524,0,0,0,0,0,0
$GC,9501,1.11,100.8,726.0,14.3,626,9506,0.10,2.17,0.00,0.000,6,0.197,0.037,3542,1607,1523,0,0,0,0,0,0
$GC,9830,1.14,100.8,684.3,13.1,642,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1607,1524,0,0,0,0,0,0
$GC,10137,1.18,100.8,644.9,12.7,657,10139,0.05,0.00,0.00,0.000,6,0.168,0.000,3575,1608,1523,0,0,0,0,0,0
$GC,10446,1.18,100.8,603.5,13.5,672,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1607,1524,0,0,0,0,0,0
$GC,10755,1.18,100.8,562.7,13.1,687,10759,0.00,2.28,0.00,0.000,4,0.000,0.052,3586,188,1523,0,0,0,0,0,0
$GC,10878,1.11,100.8,545.3,14.4,692,10884,0.15,2.17,0.00,0.000,6,0.180,0.036,3547,1602,1522,0,0,0,0,0,0
$GC,11194,1.15,100.8,507.1,12.0,708,11198,0.00,2.25,0.00,0.000,4,0.000,0.051,3556,195,1523,0,0,0,0,0,0
$GC,11355,1.15,100.8,486.2,13.2,715,11359,0.00,2.20,0.00,0.000,6,0.000,0.036,3556,1603,1522,0,0,0,0,0,0
$GC,11676,1.15,100.8,447.1,12.0,731,11680,0.00,2.17,0.00,0.000,4,0.000,0.054,3556,2996,1522,0,0,0,0,0,0
$GC,11719,1.15,100.8,441.4,11.7,733,11724,0.00,2.15,0.00,0.000,6,0.000,0.035,3564,1605,1522,0,0,0,0,0,0
$GC,12047,1.15,100.8,402.1,11.9,749,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1605,1522,0,0,0,0,0,0
$GC,12366,1.15,100.8,365.3,11.2,778,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1605,1522,0,0,0,0,0,0
$GC,12685,1.15,100.8,327.4,12.1,808,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1605,1522,0,0,0,0,0,0
$GC,13003,1.15,100.8,289.4,11.7,838,13007,0.00,2.22,0.00,0.000,4,0.000,0.053,3575,198,1522,0,0,0,0,0,0
$GC,13156,1.11,100.8,270.1,12.6,851,13161,0.12,2.15,0.00,0.000,6,0.187,0.037,3544,1607,1522,0,0,0,0,0,0
$GC,13483,1.16,100.8,234.6,10.6,881,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1607,1522,0,0,0,0,0,0
$GC,13800,1.21,100.8,201.0,10.5,911,13801,0.10,0.00,0.00,0.000,6,0.103,0.000,3595,1607,1522,0,0,0,0,0,0
$GC,14120,1.17,100.8,162.4,11.7,941,14125,0.12,2.25,0.00,0.000,4,0.191,0.051,3574,191,1522,0,0,0,0,0,0
$GC,14276,1.17,100.8,143.7,11.7,954,14282,0.03,2.17,0.00,0.000,6,0.198,0.034,3566,1593,1522,0,0,0,0,0,0
$GC,14603,1.17,100.8,108.7,11.1,985,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1593,1522,0,0,0,0,0,0
$GC,14937,1.17,100.8,70.8,11.2,1037,14942,0.00,2.22,0.00,0.000,4,0.000,0.050,3574,194,1522,0,0,0,0,0,0
$GC,14989,1.13,100.8,64.8,11.9,1046,14995,0.10,2.15,0.00,0.000,6,0.195,0.036,3551,1601,1521,0,0,0,0,0,0
$GC,15345,1.19,100.8,27.2,11.8,1107,15353,0.00,2.25,0.00,0.000,4,0.000,0.052,3559,203,1522,0,0,0,0,0,0
$GC,15464,1.19,100.8,12.2,13.6,1126,15472,0.00,2.17,0.00,0.000,6,0.000,0.037,3560,1588,1522,0,0,0,0,0,0
$GC,15523,1.19,100.8,6.3,9.6,1135,15530,0.00,2.22,0.00,0.000,4,0.000,0.050,3560,3009,1521,0,0,0,0,0,0
$STATE,15555,end climb,SURFACE_DEPTH_REACHED
$STATE,15555,begin surface coast
$FINISH,2.5,1.023392
$STATE,15563,end surface coast,CONTROL_FINISHED_OK
$STATE,15563,begin surface
$SM_CCo,15581,48.53,0.056,0,0,1133,200.16
$SM_GC,3.03,0.00,0.00,48.53,0.000,0.000,0.056,69,2049,1133,-9.74,-0.31,200.16
$IRIDIUM_FIX,-4444.39,621.76,230608,131306
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.4,21.614
$10V_AH,10.1,21.503
$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,24.225,102.575,188.825,48.525,0.000,27.993,39.646,274.976,0.000,0.000,39.170,2812.396,9776.414,337.987,3034.504,146.791,0.000,1384.712,0.000,2505.545,0.000,0.539,0.000
$DEVICE_MAMPS,243.270,68.850,1291.320,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.621,2104.568,857.770,459.040,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,80395,1141
$CAP_FILE_SIZE,140768,0
$CFSIZE,2097086464,2072313856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280815,093228,-4504.303,625.221,43,0.9,43,-24.4