version: 66.07.10.p01
glider: 573
mission: 12
dive: 154
start: 8 28 115 19 56 20
data:
$ID,573
$MISSION,12
$DIVE,154
$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,-21483.93
$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,39
$R_STBD_OVSHOOT,38
$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,153
$GPS1,280815,194457,-4505.765,625.493,58,1.0,58,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-69.1
$GPS2,280815,195600,-4505.791,625.590,15,2.0,15,-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,352.3,3915,-24.5,-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,-0.98,-63.3,0.0,0.0,0,46,0.00,0.00,-20.60,0.000,2,0.000,0.000,74,2066,1546,0,0,0,0,0,0
$GC,48,-1.01,-116.8,3.0,-1.9,3,106,11.43,2.33,-35.60,0.000,4,0.243,0.068,2849,665,2429,0,0,0,0,0,0
$GC,261,-0.90,-116.8,32.3,-16.8,37,269,0.15,2.22,0.00,0.000,6,0.179,0.041,2884,2045,2430,0,0,0,0,0,0
$GC,410,-0.87,-116.8,52.1,-13.1,62,416,0.08,2.33,0.00,0.000,4,0.237,0.063,2889,3475,2431,0,0,0,0,0,0
$GC,434,-0.87,-116.8,55.6,-13.8,66,441,0.00,2.25,0.00,0.000,6,0.000,0.043,2890,2068,2431,0,0,0,0,0,0
$GC,791,-0.87,-116.8,105.0,-14.3,125,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2068,2431,0,0,0,0,0,0
$GC,1116,-0.87,-116.8,154.2,-14.3,156,1120,0.00,2.28,0.00,0.000,4,0.000,0.060,2880,3471,2431,0,0,0,0,0,0
$GC,1134,-0.87,-116.8,156.5,-13.3,157,1139,0.10,2.20,0.00,0.000,6,0.185,0.042,2904,2047,2431,0,0,0,0,0,0
$GC,1459,-0.92,-116.8,196.0,-12.3,187,1463,0.00,2.22,0.00,0.000,4,0.000,0.054,2905,647,2432,0,0,0,0,0,0
$GC,1544,-0.95,-116.8,207.1,-13.1,194,1549,0.00,2.20,0.00,0.000,6,0.000,0.039,2896,2071,2431,0,0,0,0,0,0
$GC,1869,-0.98,-116.8,249.7,-13.1,224,1871,0.10,0.00,0.00,0.000,6,0.105,0.000,2846,2071,2432,0,0,0,0,0,0
$GC,2188,-0.92,-116.8,299.3,-16.0,254,2190,0.15,0.00,0.00,0.000,6,0.194,0.000,2883,2072,2432,0,0,0,0,0,0
$GC,2507,-0.92,-116.8,344.0,-13.9,284,2511,0.00,2.22,0.00,0.000,4,0.000,0.060,2873,3468,2432,0,0,0,0,0,0
$GC,2525,-0.92,-116.8,346.3,-13.3,285,2529,0.00,2.17,0.00,0.000,6,0.000,0.042,2873,2051,2432,0,0,0,0,0,0
$GC,2849,-0.92,-116.8,392.1,-13.9,315,2853,0.00,2.28,0.00,0.000,4,0.000,0.060,2864,3463,2432,0,0,0,0,0,0
$GC,2870,-0.92,-116.8,395.2,-14.1,316,2879,0.03,2.20,0.00,0.000,6,0.216,0.042,2873,2061,2432,0,0,0,0,0,0
$GC,3198,-0.92,-116.8,439.9,-13.4,334,3202,0.00,2.22,0.00,0.000,4,0.000,0.057,2873,647,2432,0,0,0,0,0,0
$GC,3218,-0.92,-116.8,443.0,-13.2,335,3224,0.05,2.22,0.00,0.000,6,0.189,0.042,2879,2057,2432,0,0,0,0,0,0
$GC,3546,-0.92,-116.8,485.9,-13.3,351,3550,0.00,2.22,0.00,0.000,4,0.000,0.063,2869,3465,2432,0,0,0,0,0,0
$GC,3566,-0.92,-116.8,489.1,-13.7,352,3571,0.03,2.20,0.00,0.000,6,0.194,0.043,2878,2058,2432,0,0,0,0,0,0
$GC,3894,-0.92,-116.8,531.7,-12.7,368,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2058,2432,0,0,0,0,0,0
$GC,4203,-0.92,-116.8,571.4,-13.0,383,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2058,2432,0,0,0,0,0,0
$GC,4513,-0.92,-116.8,611.7,-13.3,398,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2058,2432,0,0,0,0,0,0
$GC,4822,-0.95,-116.8,651.3,-12.7,413,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2058,2431,0,0,0,0,0,0
$GC,5132,-0.98,-116.8,689.5,-11.9,428,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2058,2430,0,0,0,0,0,0
$GC,5441,-1.02,-116.8,727.6,-12.0,443,5443,0.08,0.00,0.00,0.000,6,0.128,0.000,2835,2058,2430,0,0,0,0,0,0
$GC,5750,-0.98,-116.8,769.9,-13.7,458,5755,0.12,2.22,0.00,0.000,4,0.190,0.058,2871,650,2429,0,0,0,0,0,0
$GC,5771,-0.98,-116.8,772.9,-13.2,459,5776,0.00,2.25,0.00,0.000,6,0.000,0.045,2862,2066,2429,0,0,0,0,0,0
$GC,6099,-0.98,-116.8,813.7,-12.2,475,6103,0.00,2.25,0.00,0.000,4,0.000,0.065,2852,3469,2429,0,0,0,0,0,0
$GC,6160,-0.98,-116.8,821.7,-13.3,478,6165,0.05,2.17,0.00,0.000,6,0.238,0.044,2862,2052,2429,0,0,0,0,0,0
$GC,6488,-0.98,-116.8,860.4,-12.0,494,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2052,2429,0,0,0,0,0,0
$GC,6797,-0.98,-116.8,897.9,-12.1,509,6801,0.00,2.20,0.00,0.000,4,0.000,0.058,2865,654,2428,0,0,0,0,0,0
$GC,6817,-0.98,-116.8,900.8,-12.3,510,6822,0.00,2.22,0.00,0.000,6,0.000,0.045,2857,2054,2428,0,0,0,0,0,0
$GC,7145,-0.98,-116.8,939.4,-11.6,526,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2054,2428,0,0,0,0,0,0
$GC,7454,-0.98,-116.8,973.3,-10.6,541,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2054,2428,0,0,0,0,0,0
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7700,begin apogee
$GC,7705,-0.19,0.0,1000.3,11.2,553,7815,0.88,0.00,106.32,1.288,6,0.162,0.000,3118,1595,1950,0,0,0,0,0,0
$STATE,7816,end apogee,CONTROL_FINISHED_OK
$STATE,7816,begin climb
$GC,7817,1.01,116.8,1003.3,0.0,558,7940,1.17,2.50,111.05,1.250,4,0.090,0.053,3518,202,1473,0,0,0,0,0,0
$GC,8034,1.01,116.8,982.0,13.4,568,8039,0.00,2.38,0.00,0.000,6,0.000,0.036,3517,1616,1468,0,0,0,0,0,0
$GC,8361,1.01,116.8,941.0,12.5,584,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1616,1466,0,0,0,0,0,0
$GC,8671,1.01,116.8,901.7,12.7,599,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1616,1465,0,0,0,0,0,0
$GC,8980,1.01,116.8,862.1,12.8,614,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1616,1464,0,0,0,0,0,0
$GC,9289,1.01,116.8,822.1,13.2,629,9294,0.00,2.30,0.00,0.000,4,0.000,0.051,3528,189,1463,0,0,0,0,0,0
$GC,9352,0.98,116.8,813.5,14.5,632,9357,0.10,2.22,0.00,0.000,6,0.193,0.037,3504,1609,1462,0,0,0,0,0,0
$GC,9678,0.98,116.8,771.3,12.6,648,9682,0.00,2.17,0.00,0.000,4,0.000,0.054,3503,2990,1462,0,0,0,0,0,0
$GC,9777,0.98,116.8,757.8,13.3,652,9783,0.00,2.17,0.00,0.000,6,0.000,0.036,3512,1601,1462,0,0,0,0,0,0
$GC,10093,0.98,116.8,716.8,13.0,668,10097,0.00,2.22,0.00,0.000,4,0.000,0.053,3523,193,1461,0,0,0,0,0,0
$GC,10158,0.95,116.8,707.6,13.8,671,10164,0.10,2.22,0.00,0.000,6,0.164,0.035,3491,1608,1462,0,0,0,0,0,0
$GC,10486,1.00,116.8,669.0,11.9,687,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1609,1461,0,0,0,0,0,0
$GC,10795,1.05,116.8,632.5,11.7,702,10800,0.10,2.28,0.00,0.000,4,0.103,0.052,3550,189,1461,0,0,0,0,0,0
$GC,10912,0.97,116.8,615.8,13.7,707,10917,0.20,2.17,0.00,0.000,6,0.172,0.034,3495,1608,1461,0,0,0,0,0,0
$GC,11234,1.02,116.8,577.9,12.0,723,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1608,1461,0,0,0,0,0,0
$GC,11542,1.07,116.8,541.2,11.7,738,11544,0.10,0.00,0.00,0.000,6,0.103,0.000,3544,1608,1461,0,0,0,0,0,0
$GC,11852,1.02,116.8,499.5,13.5,753,11854,0.12,0.00,0.00,0.000,6,0.184,0.000,3512,1613,1461,0,0,0,0,0,0
$GC,12161,1.02,116.8,462.9,11.5,768,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1613,1461,0,0,0,0,0,0
$GC,12470,1.02,116.8,427.7,11.2,783,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1613,1461,0,0,0,0,0,0
$GC,12780,1.02,116.8,394.1,10.8,800,12784,0.00,2.28,0.00,0.000,4,0.000,0.052,3522,183,1461,0,0,0,0,0,0
$GC,12854,1.02,116.8,385.8,11.1,806,12858,0.00,2.15,0.00,0.000,6,0.000,0.034,3522,1595,1460,0,0,0,0,0,0
$GC,13178,1.02,116.8,349.6,10.7,836,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1595,1460,0,0,0,0,0,0
$GC,13498,1.02,116.8,314.2,10.7,866,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1596,1460,0,0,0,0,0,0
$GC,13816,1.02,116.8,280.1,10.7,896,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1596,1460,0,0,0,0,0,0
$GC,14135,1.02,116.8,244.8,11.7,926,14139,0.00,2.22,0.00,0.000,4,0.000,0.051,3531,189,1460,0,0,0,0,0,0
$GC,14176,0.99,116.8,239.9,11.9,929,14181,0.10,2.17,0.00,0.000,6,0.184,0.037,3506,1604,1460,0,0,0,0,0,0
$GC,14506,1.04,116.8,202.8,11.5,960,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1604,1459,0,0,0,0,0,0
$GC,14825,1.08,116.8,167.4,10.9,990,14830,0.08,2.15,0.00,0.000,4,0.126,0.054,3545,2987,1460,0,0,0,0,0,0
$GC,14933,1.02,116.8,154.6,11.6,999,14938,0.15,2.12,0.00,0.000,6,0.187,0.035,3515,1590,1460,0,0,0,0,0,0
$GC,15260,1.05,116.8,118.6,10.6,1029,15264,0.00,2.17,0.00,0.000,4,0.000,0.052,3526,199,1460,0,0,0,0,0,0
$GC,15371,1.05,116.8,105.9,11.3,1038,15377,0.00,2.17,0.00,0.000,6,0.000,0.036,3526,1594,1460,0,0,0,0,0,0
$GC,15716,1.05,116.8,73.3,9.6,1093,15720,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1594,1460,0,0,0,0,0,0
$GC,16062,1.05,116.8,40.0,11.7,1154,16070,0.00,2.22,0.00,0.000,4,0.000,0.053,3526,2992,1460,0,0,0,0,0,0
$GC,16151,1.05,116.8,30.3,10.0,1168,16159,0.03,2.15,0.00,0.000,6,0.204,0.035,3526,1591,1460,0,0,0,0,0,0
$GC,16307,1.05,116.8,14.2,9.0,1193,16315,0.00,2.22,0.00,0.000,4,0.000,0.051,3537,196,1460,0,0,0,0,0,0
$STATE,16425,end climb,SURFACE_DEPTH_REACHED
$STATE,16425,begin surface coast
$FINISH,1.7,1.023401
$STATE,16451,end surface coast,CONTROL_FINISHED_OK
$STATE,16451,begin surface
$SM_CCo,16470,39.92,0.056,0,0,1131,200.16
$SM_GC,2.49,0.00,0.00,39.92,0.000,0.000,0.056,68,2067,1131,-9.74,0.20,200.16
$IRIDIUM_FIX,-4447.43,625.13,240608,090902
$TT8_MAMPS,0.026964
$HUMID,62.79
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,23.2,21.883
$10V_AH,10.0,21.884
$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,24.475,99.475,217.375,39.925,0.000,52.524,124.148,299.677,0.000,0.000,17.588,2977.866,10456.160,351.734,3227.736,153.107,0.000,1422.197,0.000,2575.300,0.000,0.540,0.000
$DEVICE_MAMPS,243.270,68.085,1288.260,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,848.321,2230.333,927.157,516.223,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,83995,1216
$CAP_FILE_SIZE,147259,0
$CFSIZE,2097086464,2071920640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290815,003303,-4505.437,625.188,58,1.1,58,-24.4