version: 66.07.10.p01
glider: 573
mission: 12
dive: 152
start: 8 28 115 9 40 31
data:
$ID,573
$MISSION,12
$DIVE,152
$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,-21477.652
$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,45
$R_STBD_OVSHOOT,36
$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,151
$GPS1,280815,093228,-4504.303,625.221,43,0.9,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-62.6
$GPS2,280815,094011,-4504.281,625.272,22,1.9,22,-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,311.8,1744,-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,23,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-26.10,0.000,2,0.000,0.000,68,2050,1658,0,0,0,0,0,0
$GC,54,-1.12,-85.3,3.4,-4.5,4,94,11.35,2.25,-22.85,0.000,4,0.247,0.069,2818,670,2299,0,0,0,0,0,0
$GC,200,-1.01,-85.3,23.3,-17.4,27,208,0.15,2.25,0.00,0.000,6,0.181,0.045,2853,2053,2300,0,0,0,0,0,0
$GC,354,-1.01,-85.3,46.4,-12.6,52,359,0.00,2.28,0.00,0.000,4,0.000,0.056,2853,646,2301,0,0,0,0,0,0
$GC,395,-0.97,-85.3,52.3,-14.5,59,401,0.10,2.25,0.00,0.000,6,0.210,0.041,2866,2066,2301,0,0,0,0,0,0
$GC,742,-0.97,-85.3,100.8,-13.7,120,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2066,2301,0,0,0,0,0,0
$GC,1062,-1.00,-85.3,142.3,-12.3,150,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2066,2301,0,0,0,0,0,0
$GC,1381,-1.06,-85.3,178.6,-11.0,180,1386,0.08,2.25,0.00,0.000,4,0.127,0.062,2814,3463,2302,0,0,0,0,0,0
$GC,1413,-1.01,-85.3,183.1,-13.3,182,1419,0.12,2.20,0.00,0.000,6,0.164,0.041,2853,2067,2301,0,0,0,0,0,0
$GC,1740,-1.01,-85.3,225.0,-13.4,213,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2067,2302,0,0,0,0,0,0
$GC,2058,-1.04,-85.3,266.6,-12.9,243,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2067,2302,0,0,0,0,0,0
$GC,2379,-1.08,-85.3,309.0,-13.5,273,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2067,2302,0,0,0,0,0,0
$GC,2704,-1.12,-85.3,353.1,-13.4,304,2706,0.08,0.00,0.00,0.000,6,0.127,0.000,2810,2066,2302,0,0,0,0,0,0
$GC,3022,-1.07,-85.3,400.6,-15.3,334,3027,0.10,2.25,0.00,0.000,4,0.193,0.059,2823,3464,2302,0,0,0,0,0,0
$GC,3043,-1.07,-85.3,403.9,-14.5,335,3047,0.00,2.20,0.00,0.000,6,0.000,0.041,2824,2054,2302,0,0,0,0,0,0
$GC,3370,-1.07,-85.3,448.1,-13.6,351,3374,0.00,2.28,0.00,0.000,4,0.000,0.060,2814,3468,2302,0,0,0,0,0,0
$GC,3409,-1.04,-85.3,453.3,-13.5,353,3414,0.12,2.20,0.00,0.000,6,0.187,0.044,2846,2049,2302,0,0,0,0,0,0
$GC,3738,-1.07,-85.3,493.5,-12.2,369,3742,0.00,2.28,0.00,0.000,4,0.000,0.060,2837,3463,2302,0,0,0,0,0,0
$GC,3791,-1.07,-85.3,500.9,-12.4,371,3798,0.00,2.20,0.00,0.000,6,0.000,0.041,2837,2058,2302,0,0,0,0,0,0
$GC,4108,-1.07,-85.3,539.2,-12.1,387,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2058,2302,0,0,0,0,0,0
$GC,4417,-1.07,-85.3,577.5,-12.3,402,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2058,2302,0,0,0,0,0,0
$GC,4727,-1.07,-85.3,612.7,-10.9,417,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2058,2302,0,0,0,0,0,0
$GC,5036,-1.07,-85.3,645.3,-10.1,432,5040,0.00,2.22,0.00,0.000,4,0.000,0.057,2838,656,2302,0,0,0,0,0,0
$GC,5067,-1.07,-85.3,648.9,-11.1,433,5074,0.00,2.22,0.00,0.000,6,0.000,0.044,2829,2060,2301,0,0,0,0,0,0
$GC,5383,-1.07,-85.3,683.8,-11.3,449,5387,0.00,2.22,0.00,0.000,4,0.000,0.064,2818,3474,2301,0,0,0,0,0,0
$GC,5471,-1.07,-85.3,694.3,-11.1,453,5477,0.05,2.22,0.00,0.000,6,0.174,0.044,2834,2054,2301,0,0,0,0,0,0
$GC,5799,-1.07,-85.3,729.6,-10.9,469,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2054,2301,0,0,0,0,0,0
$GC,6108,-1.07,-85.3,764.7,-11.5,484,6112,0.00,2.28,0.00,0.000,4,0.000,0.063,2825,3466,2300,0,0,0,0,0,0
$GC,6173,-1.07,-85.3,772.7,-11.9,487,6178,0.00,2.20,0.00,0.000,6,0.000,0.043,2825,2058,2300,0,0,0,0,0,0
$GC,6501,-1.07,-85.3,810.8,-12.1,503,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2300,0,0,0,0,0,0
$GC,6810,-1.07,-85.3,847.8,-12.0,518,6814,0.00,2.22,0.00,0.000,4,0.000,0.057,2824,652,2300,0,0,0,0,0,0
$GC,6859,-1.07,-85.3,854.2,-13.0,520,6865,0.05,2.22,0.00,0.000,6,0.190,0.044,2831,2056,2299,0,0,0,0,0,0
$GC,7181,-1.07,-85.3,893.2,-12.1,536,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2299,0,0,0,0,0,0
$GC,7491,-1.11,-85.3,929.2,-11.4,551,7495,0.00,2.25,0.00,0.000,4,0.000,0.063,2821,3475,2299,0,0,0,0,0,0
$GC,7539,-1.11,-85.3,935.1,-11.3,553,7544,0.00,2.22,0.00,0.000,6,0.000,0.044,2821,2058,2299,0,0,0,0,0,0
$GC,7861,-1.11,-85.3,970.3,-10.7,569,7865,0.00,2.28,0.00,0.000,4,0.000,0.063,2812,3470,2299,0,0,0,0,0,0
$GC,7903,-1.11,-85.3,975.2,-11.4,571,7909,0.03,2.20,0.00,0.000,6,0.184,0.044,2820,2068,2299,0,0,0,0,0,0
$STATE,8167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8167,begin apogee
$GC,8172,-0.19,0.0,1002.0,9.9,584,8252,1.00,0.00,76.25,1.294,6,0.172,0.000,3113,1589,1950,0,0,0,0,0,0
$STATE,8253,end apogee,CONTROL_FINISHED_OK
$STATE,8253,begin climb
$GC,8254,1.12,85.3,1003.7,0.0,588,8340,1.30,0.00,81.97,1.256,6,0.091,0.000,3540,1589,1602,0,0,0,0,0,0
$GC,8639,1.12,85.3,957.6,13.3,607,8643,0.00,2.30,0.00,0.000,4,0.000,0.053,3550,190,1595,0,0,0,0,0,0
$GC,8709,1.12,85.3,947.4,14.2,610,8714,0.00,2.30,0.00,0.000,6,0.000,0.037,3550,1611,1593,0,0,0,0,0,0
$GC,9031,1.12,85.3,905.7,12.8,626,9035,0.00,2.25,0.00,0.000,4,0.000,0.056,3550,3002,1592,0,0,0,0,0,0
$GC,9080,1.07,85.3,899.0,13.3,628,9086,0.08,2.22,0.00,0.000,6,0.178,0.035,3537,1590,1592,0,0,0,0,0,0
$GC,9401,1.07,85.3,861.3,11.3,644,9405,0.00,2.25,0.00,0.000,4,0.000,0.053,3547,195,1591,0,0,0,0,0,0
$GC,9467,1.07,85.3,853.2,11.7,647,9473,0.05,2.25,0.00,0.000,6,0.186,0.037,3532,1610,1592,0,0,0,0,0,0
$GC,9795,1.07,85.3,816.3,11.4,663,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,1610,1591,0,0,0,0,0,0
$GC,10104,1.11,85.3,780.4,11.8,678,10109,0.00,2.28,0.00,0.000,4,0.000,0.051,3541,198,1591,0,0,0,0,0,0
$GC,10176,1.11,85.3,771.4,12.7,681,10181,0.00,2.20,0.00,0.000,6,0.000,0.036,3541,1593,1590,0,0,0,0,0,0
$GC,10497,1.11,85.3,734.2,11.4,697,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1593,1590,0,0,0,0,0,0
$GC,10807,1.11,85.3,700.0,10.9,712,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1593,1590,0,0,0,0,0,0
$GC,11116,1.11,85.3,666.5,11.0,727,11120,0.00,2.22,0.00,0.000,4,0.000,0.055,3541,2998,1589,0,0,0,0,0,0
$GC,11192,1.11,85.3,657.3,11.7,730,11199,0.00,2.15,0.00,0.000,6,0.000,0.035,3549,1608,1589,0,0,0,0,0,0
$GC,11509,1.11,85.3,622.3,11.0,746,11513,0.00,2.25,0.00,0.000,4,0.000,0.053,3560,192,1589,0,0,0,0,0,0
$GC,11597,1.07,85.3,611.8,11.6,750,11602,0.10,2.20,0.00,0.000,6,0.172,0.037,3522,1599,1588,0,0,0,0,0,0
$GC,11924,1.13,85.3,578.6,10.2,766,11926,0.08,0.00,0.00,0.000,6,0.132,0.000,3558,1600,1588,0,0,0,0,0,0
$GC,12233,1.13,85.3,546.5,10.0,781,12237,0.00,2.22,0.00,0.000,4,0.000,0.051,3568,195,1588,0,0,0,0,0,0
$GC,12356,1.08,85.3,533.2,11.0,786,12362,0.15,2.17,0.00,0.000,6,0.183,0.037,3529,1612,1588,0,0,0,0,0,0
$GC,12671,1.13,85.3,504.0,9.5,802,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1612,1588,0,0,0,0,0,0
$GC,12981,1.18,85.3,474.7,9.5,817,12985,0.10,2.17,0.00,0.000,4,0.107,0.054,3578,2993,1588,0,0,0,0,0,0
$GC,13029,1.11,85.3,469.2,11.2,819,13034,0.12,2.15,0.00,0.000,6,0.171,0.035,3549,1596,1588,0,0,0,0,0,0
$GC,13350,1.11,85.3,437.5,9.6,835,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1596,1588,0,0,0,0,0,0
$GC,13660,1.11,85.3,407.3,9.5,850,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1596,1588,0,0,0,0,0,0
$GC,13976,1.11,85.3,378.3,8.7,876,13980,0.00,2.20,0.00,0.000,4,0.000,0.052,3559,202,1588,0,0,0,0,0,0
$GC,14075,1.11,85.3,368.5,9.4,884,14085,0.03,2.17,0.00,0.000,6,0.210,0.036,3550,1595,1587,0,0,0,0,0,0
$GC,14401,1.11,85.3,338.5,9.6,915,14402,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1595,1587,0,0,0,0,0,0
$GC,14723,1.11,85.3,308.3,9.8,945,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1595,1587,0,0,0,0,0,0
$GC,15039,1.11,85.3,276.5,10.4,975,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1595,1588,0,0,0,0,0,0
$GC,15360,1.11,85.3,244.2,9.8,1005,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1595,1587,0,0,0,0,0,0
$GC,15676,1.11,85.3,213.6,9.6,1035,15680,0.00,2.22,0.00,0.000,4,0.000,0.050,3560,193,1587,0,0,0,0,0,0
$GC,15738,1.11,85.3,207.4,9.6,1040,15742,0.08,2.17,0.00,0.000,6,0.218,0.037,3544,1606,1587,0,0,0,0,0,0
$GC,16062,1.15,85.3,177.6,9.2,1070,16066,0.00,2.15,0.00,0.000,4,0.000,0.052,3544,2994,1587,0,0,0,0,0,0
$GC,16173,1.15,85.3,166.9,10.2,1079,16179,0.00,2.12,0.00,0.000,6,0.000,0.034,3552,1610,1587,0,0,0,0,0,0
$GC,16499,1.15,96.2,140.9,7.3,1110,16513,0.00,2.28,8.68,0.673,4,0.000,0.051,3563,190,1557,0,0,0,0,0,0
$GC,16714,1.16,101.5,122.4,7.9,1129,16725,0.00,2.17,6.25,0.597,6,0.000,0.036,3561,1602,1535,0,0,0,0,0,0
$GC,17048,1.16,101.5,93.0,8.7,1166,17052,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1601,1536,0,0,0,0,0,0
$GC,17395,1.16,101.5,57.2,10.9,1227,17402,0.00,2.25,0.00,0.000,4,0.000,0.048,3570,199,1535,0,0,0,0,0,0
$GC,17431,1.16,101.5,52.9,12.8,1233,17439,0.03,2.17,0.00,0.000,6,0.203,0.037,3562,1598,1535,0,0,0,0,0,0
$GC,17800,1.20,101.5,8.1,11.4,1294,17807,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1598,1535,0,0,0,0,0,0
$STATE,17844,end climb,SURFACE_DEPTH_REACHED
$STATE,17844,begin surface coast
$FINISH,1.8,1.023417
$STATE,17876,end surface coast,CONTROL_FINISHED_OK
$STATE,17876,begin surface
$SM_CCo,17893,48.90,0.055,0,0,1132,200.16
$SM_GC,3.13,0.00,0.00,48.90,0.000,0.000,0.055,94,2065,1132,-9.66,0.14,200.16
$IRIDIUM_FIX,-4444.39,618.73,230608,181835
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,23.6,21.695
$10V_AH,10.1,21.631
$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,24.525,112.575,173.150,48.900,0.000,26.626,20.117,288.782,0.000,0.000,25.421,3219.062,11366.030,353.562,3306.582,157.786,0.000,1499.678,0.000,2779.728,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,68.850,1294.380,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.489,2383.594,936.771,468.213,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353244
$DATA_FILE_SIZE,90392,1306
$CAP_FILE_SIZE,159170,0
$CFSIZE,2097086464,2072182784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280815,144128,-4505.440,623.312,80,0.9,80,-24.3