version: 66.07.10.p01
glider: 573
mission: 12
dive: 163
start: 8 30 115 13 27 38
data:
$ID,573
$MISSION,12
$DIVE,163
$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,-21511.393
$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,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,162
$GPS1,300815,131927,-4505.492,625.090,35,0.7,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-71.3
$GPS2,300815,132717,-4505.558,625.128,19,0.9,19,-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,357.3,3241,-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,-19.80,0.000,2,0.000,0.000,60,2070,1527,0,0,0,0,0,0
$GC,47,-1.13,-105.4,3.2,-2.2,3,105,11.52,2.33,-37.22,0.000,4,0.251,0.069,2813,664,2376,0,0,0,0,0,0
$GC,254,-1.02,-105.4,29.3,-18.8,36,261,0.12,2.25,0.00,0.000,6,0.176,0.040,2842,2063,2378,0,0,0,0,0,0
$GC,406,-1.02,-105.4,54.9,-16.8,61,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2063,2379,0,0,0,0,0,0
$GC,753,-1.02,-105.4,113.1,-17.0,116,757,0.00,2.28,0.00,0.000,4,0.000,0.063,2831,3469,2379,0,0,0,0,0,0
$GC,827,-1.02,-105.4,125.8,-17.3,122,832,0.08,2.20,0.00,0.000,6,0.208,0.044,2847,2061,2379,0,0,0,0,0,0
$GC,1159,-1.02,-105.4,176.5,-14.9,153,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2061,2379,0,0,0,0,0,0
$GC,1476,-1.06,-105.4,224.7,-15.0,183,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2061,2380,0,0,0,0,0,0
$GC,1797,-1.09,-105.4,272.2,-14.1,213,1801,0.00,2.25,0.00,0.000,4,0.000,0.060,2837,3468,2380,0,0,0,0,0,0
$GC,1825,-1.09,-105.4,276.7,-15.3,215,1829,0.00,2.17,0.00,0.000,6,0.000,0.043,2838,2058,2380,0,0,0,0,0,0
$GC,2151,-1.09,-105.4,324.3,-14.5,245,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2058,2380,0,0,0,0,0,0
$GC,2468,-1.09,-105.4,369.6,-14.6,275,2472,0.00,2.25,0.00,0.000,4,0.000,0.061,2828,3474,2380,0,0,0,0,0,0
$GC,2489,-1.09,-105.4,373.1,-14.7,276,2497,0.00,2.22,0.00,0.000,6,0.000,0.044,2829,2063,2380,0,0,0,0,0,0
$GC,2822,-1.09,-105.4,421.2,-14.2,301,2826,0.00,2.22,0.00,0.000,4,0.000,0.059,2820,3466,2380,0,0,0,0,0,0
$GC,2842,-1.09,-105.4,424.7,-15.0,302,2847,0.00,2.20,0.00,0.000,6,0.000,0.042,2819,2058,2380,0,0,0,0,0,0
$GC,3170,-1.09,-105.4,471.7,-14.4,318,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2058,2380,0,0,0,0,0,0
$GC,3479,-1.09,-105.4,517.0,-14.9,333,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2058,2380,0,0,0,0,0,0
$GC,3789,-1.09,-105.4,562.2,-14.7,348,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2058,2380,0,0,0,0,0,0
$GC,4098,-1.09,-105.4,607.1,-14.7,363,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2058,2380,0,0,0,0,0,0
$GC,4407,-1.09,-105.4,651.0,-13.9,378,4411,0.00,2.25,0.00,0.000,4,0.000,0.061,2810,3469,2380,0,0,0,0,0,0
$GC,4447,-1.09,-105.4,656.5,-13.3,380,4451,0.10,2.17,0.00,0.000,6,0.191,0.044,2834,2053,2379,0,0,0,0,0,0
$GC,4774,-1.13,-105.4,697.2,-12.5,396,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2053,2379,0,0,0,0,0,0
$GC,5083,-1.17,-105.4,737.4,-13.1,411,5084,0.08,0.00,0.00,0.000,6,0.123,0.000,2795,2052,2379,0,0,0,0,0,0
$GC,5391,-1.17,-105.4,782.7,-14.6,426,5395,0.00,2.25,0.00,0.000,4,0.000,0.061,2786,3465,2379,0,0,0,0,0,0
$GC,5418,-1.12,-105.4,786.8,-15.2,427,5423,0.10,2.20,0.00,0.000,6,0.179,0.044,2816,2069,2379,0,0,0,0,0,0
$GC,5739,-1.12,-105.4,830.7,-13.4,443,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2069,2379,0,0,0,0,0,0
$GC,6048,-1.12,-105.4,871.4,-12.9,458,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2069,2379,0,0,0,0,0,0
$GC,6358,-1.12,-105.4,912.0,-12.8,473,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2068,2379,0,0,0,0,0,0
$GC,6667,-1.12,-105.4,950.8,-12.2,488,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2068,2379,0,0,0,0,0,0
$GC,6976,-1.12,-105.4,985.7,-10.9,503,6980,0.00,2.25,0.00,0.000,4,0.000,0.058,2816,642,2378,0,0,0,0,0,0
$GC,7016,-1.12,-105.4,990.1,-11.5,505,7020,0.00,2.20,0.00,0.000,6,0.000,0.042,2807,2071,2378,0,0,0,0,0,0
$STATE,7113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7113,begin apogee
$GC,7118,-0.19,0.0,1001.0,10.9,510,7218,1.05,0.00,96.38,1.288,6,0.171,0.000,3116,1578,1949,0,0,0,0,0,0
$STATE,7219,end apogee,CONTROL_FINISHED_OK
$STATE,7219,begin climb
$GC,7221,1.13,105.4,1003.1,0.0,515,7326,1.30,0.00,101.80,1.247,6,0.090,0.000,3541,1578,1520,0,0,0,0,0,0
$GC,7625,1.16,105.4,950.0,14.7,535,7629,0.00,2.30,0.00,0.000,4,0.000,0.054,3551,195,1511,0,0,0,0,0,0
$GC,7753,1.16,105.4,929.3,15.9,540,7759,0.00,2.30,0.00,0.000,6,0.000,0.037,3551,1605,1510,0,0,0,0,0,0
$GC,8069,1.16,105.4,882.2,14.6,556,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1605,1509,0,0,0,0,0,0
$GC,8378,1.16,105.4,840.3,12.5,571,8383,0.00,2.30,0.00,0.000,4,0.000,0.054,3561,189,1509,0,0,0,0,0,0
$GC,8433,1.16,105.4,832.8,14.1,573,8439,0.00,2.25,0.00,0.000,6,0.000,0.035,3560,1602,1508,0,0,0,0,0,0
$GC,8750,1.16,105.4,793.1,12.6,589,8754,0.00,2.22,0.00,0.000,4,0.000,0.055,3561,3003,1508,0,0,0,0,0,0
$GC,8821,1.13,105.4,783.8,13.3,592,8826,0.05,2.20,0.00,0.000,6,0.183,0.037,3554,1604,1508,0,0,0,0,0,0
$GC,9144,1.13,105.4,745.8,11.7,608,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1508,0,0,0,0,0,0
$GC,9454,1.13,105.4,709.6,11.9,623,9458,0.00,2.25,0.00,0.000,4,0.000,0.054,3564,189,1507,0,0,0,0,0,0
$GC,9508,1.13,105.4,702.2,13.3,625,9515,0.03,2.22,0.00,0.000,6,0.203,0.037,3556,1598,1507,0,0,0,0,0,0
$GC,9824,1.13,105.4,663.3,12.4,641,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1598,1507,0,0,0,0,0,0
$GC,10134,1.13,105.4,622.9,13.3,656,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1598,1507,0,0,0,0,0,0
$GC,10443,1.13,105.4,581.7,13.3,671,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1598,1506,0,0,0,0,0,0
$GC,10752,1.13,105.4,540.6,13.4,686,10756,0.00,2.20,0.00,0.000,4,0.000,0.056,3556,2996,1506,0,0,0,0,0,0
$GC,10829,1.13,105.4,529.7,14.0,689,10836,0.03,2.17,0.00,0.000,6,0.207,0.036,3556,1598,1506,0,0,0,0,0,0
$GC,11146,1.13,105.4,487.4,13.0,705,11150,0.00,2.22,0.00,0.000,4,0.000,0.054,3566,190,1506,0,0,0,0,0,0
$GC,11234,1.13,105.4,475.2,13.7,709,11239,0.05,2.20,0.00,0.000,6,0.180,0.035,3551,1600,1506,0,0,0,0,0,0
$GC,11562,1.17,105.4,435.1,12.2,725,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1600,1506,0,0,0,0,0,0
$GC,11871,1.21,105.4,398.4,11.7,740,11873,0.08,0.00,0.00,0.000,6,0.123,0.000,3593,1600,1506,0,0,0,0,0,0
$GC,12189,1.18,105.4,358.7,11.7,770,12194,0.10,2.22,0.00,0.000,4,0.194,0.052,3579,195,1506,0,0,0,0,0,0
$GC,12240,1.14,105.4,352.5,12.3,774,12245,0.10,2.15,0.00,0.000,6,0.195,0.037,3555,1602,1505,0,0,0,0,0,0
$GC,12565,1.17,105.4,318.7,10.4,804,12569,0.00,2.22,0.00,0.000,4,0.000,0.051,3563,196,1505,0,0,0,0,0,0
$GC,12638,1.17,105.4,310.3,11.8,810,12642,0.00,2.15,0.00,0.000,6,0.000,0.037,3564,1603,1505,0,0,0,0,0,0
$GC,12963,1.17,105.4,274.8,11.1,840,12967,0.00,2.17,0.00,0.000,4,0.000,0.054,3564,2999,1505,0,0,0,0,0,0
$GC,13128,1.17,105.4,255.9,11.0,854,13132,0.00,2.12,0.00,0.000,6,0.000,0.036,3572,1599,1505,0,0,0,0,0,0
$GC,13460,1.17,105.4,218.8,11.0,885,13464,0.00,2.22,0.00,0.000,4,0.000,0.054,3583,196,1505,0,0,0,0,0,0
$GC,13635,1.13,105.4,196.6,12.9,900,13639,0.12,2.17,0.00,0.000,6,0.187,0.035,3552,1614,1505,0,0,0,0,0,0
$GC,13959,1.18,105.4,160.2,11.0,930,13963,0.00,2.15,0.00,0.000,4,0.000,0.054,3552,2993,1505,0,0,0,0,0,0
$GC,14021,1.18,105.4,153.2,10.5,935,14025,0.00,2.10,0.00,0.000,6,0.000,0.035,3559,1597,1505,0,0,0,0,0,0
$GC,14348,1.22,105.4,116.4,11.3,965,14352,0.00,2.22,0.00,0.000,4,0.000,0.052,3571,189,1505,0,0,0,0,0,0
$GC,14537,1.22,105.4,93.3,12.3,985,14542,0.00,2.15,0.00,0.000,6,0.000,0.035,3571,1610,1505,0,0,0,0,0,0
$GC,14883,1.22,105.4,52.8,11.4,1046,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1609,1506,0,0,0,0,0,0
$GC,15247,1.22,105.4,11.2,11.8,1107,15254,0.00,2.28,0.00,0.000,4,0.000,0.050,3580,195,1506,0,0,0,0,0,0
$STATE,15310,end climb,SURFACE_DEPTH_REACHED
$STATE,15310,begin surface coast
$FINISH,1.8,1.022935
$STATE,15336,end surface coast,CONTROL_FINISHED_OK
$STATE,15336,begin surface
$SM_CCo,15355,44.25,0.056,0,0,1133,200.16
$SM_GC,3.49,0.00,0.00,44.25,0.000,0.000,0.056,68,2060,1133,-9.74,0.00,200.16
$IRIDIUM_FIX,-4447.43,545.37,250608,222235
$TT8_MAMPS,0.026964
$HUMID,63.19
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,23.3,22.686
$10V_AH,10.1,22.945
$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,24.000,94.600,198.175,44.250,0.000,27.628,41.272,279.542,0.000,0.000,22.178,2752.243,9697.857,354.324,2913.595,151.056,0.000,1338.364,0.000,2400.512,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,68.850,1288.260,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.619,2072.877,847.752,465.952,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,76976,1121
$CAP_FILE_SIZE,134081,0
$CFSIZE,2097086464,2070740992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300815,174532,-4505.452,624.789,40,1.1,40,-24.4