version: 66.07.10.p01
glider: 573
mission: 12
dive: 157
start: 8 29 115 9 51 55
data:
$ID,573
$MISSION,12
$DIVE,157
$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,-21493.043
$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,43
$R_STBD_OVSHOOT,35
$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,156
$GPS1,290815,094352,-4505.424,625.070,54,0.8,54,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-72.1
$GPS2,290815,095134,-4505.491,625.136,15,1.7,15,-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,356.1,3136,-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,-49.9,0.0,0.0,0,45,0.00,0.00,-19.88,0.000,2,0.000,0.000,60,2062,1536,0,0,0,0,0,0
$GC,47,-1.13,-105.8,3.2,-2.1,3,105,11.65,2.30,-37.75,0.000,4,0.255,0.067,2815,662,2382,0,0,0,0,0,0
$GC,302,-1.02,-105.8,37.8,-18.9,44,311,0.12,2.25,0.00,0.000,6,0.177,0.041,2844,2057,2384,0,0,0,0,0,0
$GC,450,-1.02,-105.8,63.4,-17.3,69,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2056,2385,0,0,0,0,0,0
$GC,789,-1.02,-105.8,120.3,-16.2,119,793,0.00,2.28,0.00,0.000,4,0.000,0.061,2833,3466,2385,0,0,0,0,0,0
$GC,839,-1.02,-105.8,128.8,-16.4,123,844,0.08,2.20,0.00,0.000,6,0.210,0.042,2849,2060,2385,0,0,0,0,0,0
$GC,1166,-1.02,-105.8,178.3,-15.1,153,1170,0.00,2.22,0.00,0.000,4,0.000,0.055,2849,657,2385,0,0,0,0,0,0
$GC,1218,-1.02,-105.8,186.4,-15.9,157,1222,0.00,2.22,0.00,0.000,6,0.000,0.044,2840,2068,2385,0,0,0,0,0,0
$GC,1548,-1.02,-105.8,240.9,-17.0,188,1552,0.05,2.22,0.00,0.000,4,0.243,0.060,2840,3465,2385,0,0,0,0,0,0
$GC,1587,-1.02,-105.8,247.5,-16.7,191,1592,0.05,2.20,0.00,0.000,6,0.237,0.041,2849,2051,2385,0,0,0,0,0,0
$GC,1914,-1.05,-105.8,299.8,-15.7,221,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2051,2385,0,0,0,0,0,0
$GC,2231,-1.09,-105.8,347.4,-14.6,251,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2051,2386,0,0,0,0,0,0
$GC,2552,-1.13,-105.8,391.4,-13.8,281,2557,0.10,0.00,0.00,0.000,6,0.103,0.000,2803,2051,2386,0,0,0,0,0,0
$GC,2880,-1.09,-105.8,441.5,-15.1,300,2884,0.10,2.28,0.00,0.000,4,0.194,0.060,2817,3475,2386,0,0,0,0,0,0
$GC,2900,-1.09,-105.8,444.7,-13.8,301,2905,0.03,2.22,0.00,0.000,6,0.194,0.043,2825,2059,2386,0,0,0,0,0,0
$GC,3228,-1.09,-105.8,491.2,-14.7,317,3232,0.00,2.22,0.00,0.000,4,0.000,0.061,2816,3465,2386,0,0,0,0,0,0
$GC,3281,-1.09,-105.8,499.6,-15.1,319,3288,0.03,2.20,0.00,0.000,6,0.187,0.043,2825,2060,2386,0,0,0,0,0,0
$GC,3598,-1.09,-105.8,545.5,-14.6,335,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2386,0,0,0,0,0,0
$GC,3907,-1.09,-105.8,589.1,-14.6,350,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2386,0,0,0,0,0,0
$GC,4217,-1.09,-105.8,633.4,-14.0,365,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2386,0,0,0,0,0,0
$GC,4526,-1.09,-105.8,675.9,-13.6,380,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2385,0,0,0,0,0,0
$GC,4835,-1.09,-105.8,717.7,-13.7,395,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2385,0,0,0,0,0,0
$GC,5144,-1.09,-105.8,760.2,-13.9,410,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2385,0,0,0,0,0,0
$GC,5454,-1.09,-105.8,803.3,-14.0,425,5458,0.00,2.22,0.00,0.000,4,0.000,0.059,2825,646,2384,0,0,0,0,0,0
$GC,5479,-1.09,-105.8,807.3,-14.7,426,5485,0.03,2.22,0.00,0.000,6,0.210,0.042,2824,2053,2384,0,0,0,0,0,0
$GC,5801,-1.09,-105.8,850.0,-13.2,442,5805,0.00,2.22,0.00,0.000,4,0.000,0.060,2813,3475,2383,0,0,0,0,0,0
$GC,5832,-1.09,-105.8,854.5,-14.2,443,5839,0.03,2.22,0.00,0.000,6,0.196,0.044,2823,2057,2383,0,0,0,0,0,0
$GC,6149,-1.13,-105.8,895.6,-13.0,459,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2057,2383,0,0,0,0,0,0
$GC,6458,-1.16,-105.8,935.6,-13.1,474,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2057,2383,0,0,0,0,0,0
$GC,6768,-1.20,-105.8,976.4,-13.3,489,6769,0.08,0.00,0.00,0.000,6,0.126,0.000,2788,2057,2382,0,0,0,0,0,0
$STATE,6951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6951,begin apogee
$GC,6956,-0.19,0.0,1002.7,14.3,498,7057,1.12,0.00,96.60,1.293,6,0.178,0.000,3113,1586,1950,0,0,0,0,0,0
$STATE,7057,end apogee,CONTROL_FINISHED_OK
$STATE,7058,begin climb
$GC,7059,1.13,105.8,1006.7,0.0,503,7170,1.27,2.50,100.80,1.255,4,0.093,0.054,3545,193,1518,0,0,0,0,0,0
$GC,7227,1.13,105.8,991.2,13.8,511,7231,0.00,2.35,0.00,0.000,6,0.000,0.037,3546,1614,1513,0,0,0,0,0,0
$GC,7552,1.13,105.8,946.3,14.1,527,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1614,1509,0,0,0,0,0,0
$GC,7862,1.13,105.8,902.7,14.4,542,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1614,1508,0,0,0,0,0,0
$GC,8171,1.13,105.8,858.2,14.2,557,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1614,1507,0,0,0,0,0,0
$GC,8481,1.13,105.8,815.7,13.5,572,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1614,1507,0,0,0,0,0,0
$GC,8790,1.13,105.8,773.7,13.6,587,8794,0.00,2.20,0.00,0.000,4,0.000,0.056,3546,3005,1507,0,0,0,0,0,0
$GC,8911,1.13,105.8,757.0,14.0,592,8917,0.00,2.20,0.00,0.000,6,0.000,0.037,3555,1601,1507,0,0,0,0,0,0
$GC,9227,1.13,105.8,716.4,12.6,608,9231,0.00,2.22,0.00,0.000,4,0.000,0.054,3565,193,1506,0,0,0,0,0,0
$GC,9338,1.10,105.8,701.1,14.0,613,9343,0.08,2.22,0.00,0.000,6,0.169,0.036,3542,1608,1505,0,0,0,0,0,0
$GC,9666,1.13,105.8,660.8,12.5,629,9670,0.00,2.28,0.00,0.000,4,0.000,0.052,3551,185,1506,0,0,0,0,0,0
$GC,9752,1.13,105.8,649.5,14.3,633,9756,0.00,2.20,0.00,0.000,6,0.000,0.035,3551,1603,1505,0,0,0,0,0,0
$GC,10079,1.13,105.8,607.8,12.5,649,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1604,1505,0,0,0,0,0,0
$GC,10388,1.13,105.8,568.5,13.0,664,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1604,1505,0,0,0,0,0,0
$GC,10697,1.13,105.8,529.4,12.5,679,10701,0.00,2.25,0.00,0.000,4,0.000,0.051,3561,187,1505,0,0,0,0,0,0
$GC,10751,1.13,105.8,522.0,14.0,681,10758,0.00,2.20,0.00,0.000,6,0.000,0.034,3561,1596,1504,0,0,0,0,0,0
$GC,11068,1.13,105.8,483.7,11.8,697,11072,0.00,2.20,0.00,0.000,4,0.000,0.055,3561,3000,1505,0,0,0,0,0,0
$GC,11189,1.13,105.8,468.4,12.8,702,11196,0.05,2.17,0.00,0.000,6,0.187,0.036,3554,1595,1504,0,0,0,0,0,0
$GC,11506,1.13,105.8,434.0,10.6,718,11510,0.00,2.22,0.00,0.000,4,0.000,0.054,3564,196,1504,0,0,0,0,0,0
$GC,11622,1.13,105.8,420.3,11.0,723,11628,0.03,2.20,0.00,0.000,6,0.206,0.037,3556,1602,1504,0,0,0,0,0,0
$GC,11951,1.13,105.8,385.0,10.7,745,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1602,1504,0,0,0,0,0,0
$GC,12267,1.13,105.8,352.0,10.0,775,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1602,1504,0,0,0,0,0,0
$GC,12587,1.13,105.8,317.6,10.9,805,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1602,1504,0,0,0,0,0,0
$GC,12903,1.13,105.8,282.9,11.0,835,12907,0.00,2.22,0.00,0.000,4,0.000,0.051,3565,196,1504,0,0,0,0,0,0
$GC,12988,1.13,105.8,272.9,12.1,842,12993,0.05,2.17,0.00,0.000,6,0.238,0.037,3554,1606,1504,0,0,0,0,0,0
$GC,13313,1.17,105.8,235.1,11.8,872,13317,0.00,2.17,0.00,0.000,4,0.000,0.051,3554,2993,1504,0,0,0,0,0,0
$GC,13515,1.17,105.8,211.1,11.1,889,13521,0.00,2.15,0.00,0.000,6,0.000,0.036,3562,1604,1504,0,0,0,0,0,0
$GC,13841,1.17,105.8,175.6,10.9,920,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1605,1504,0,0,0,0,0,0
$GC,14160,1.17,105.8,143.1,9.7,950,14164,0.00,2.20,0.00,0.000,4,0.000,0.052,3573,196,1504,0,0,0,0,0,0
$GC,14259,1.17,105.8,132.3,10.3,958,14266,0.00,2.20,0.00,0.000,6,0.000,0.035,3573,1608,1504,0,0,0,0,0,0
$GC,14587,1.17,105.8,99.1,10.5,989,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1607,1504,0,0,0,0,0,0
$GC,14934,1.17,105.8,63.5,10.2,1050,14941,0.00,2.28,0.00,0.000,4,0.000,0.050,3582,195,1504,0,0,0,0,0,0
$GC,15048,1.13,105.8,50.9,11.6,1069,15054,0.12,2.17,0.00,0.000,6,0.186,0.035,3551,1617,1503,0,0,0,0,0,0
$GC,15417,1.19,105.8,12.1,10.8,1130,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1617,1504,0,0,0,0,0,0
$GC,15475,1.23,105.8,6.0,10.2,1139,15482,0.10,0.00,0.00,0.000,6,0.103,0.000,3602,1617,1504,0,0,0,0,0,0
$STATE,15501,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,1.8,1.008944
$STATE,15533,end surface coast,CONTROL_FINISHED_OK
$STATE,15534,begin surface
$SM_CCo,15549,44.40,0.057,0,0,1132,200.16
$SM_GC,2.94,0.00,0.00,44.40,0.000,0.000,0.057,62,2079,1132,-9.76,0.54,200.16
$IRIDIUM_FIX,-4447.43,621.76,240608,181822
$TT8_MAMPS,0.027713
$HUMID,62.48
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,23.3,22.153
$10V_AH,10.1,22.238
$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,24.200,86.100,197.400,44.400,0.000,26.691,55.190,261.982,0.000,0.000,18.436,2805.785,9765.012,337.377,2998.450,148.920,0.000,1368.209,0.000,2489.990,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,66.555,1292.850,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.596,2131.287,887.267,498.367,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353312
$DATA_FILE_SIZE,80381,1148
$CAP_FILE_SIZE,136753,0
$CFSIZE,2097086464,2071527424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290815,141303,-4505.344,624.951,39,0.9,39,-24.4