version: 66.07.10.p01
glider: 573
mission: 12
dive: 164
start: 8 30 115 17 52 43
data:
$ID,573
$MISSION,12
$DIVE,164
$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,-21514.492
$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,34
$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,163
$GPS1,300815,174532,-4505.452,624.789,40,1.1,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-70.0
$GPS2,300815,175222,-4505.520,624.861,14,1.5,14,-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,2.6,3031,-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,-19.77,0.000,2,0.000,0.000,68,2060,1535,0,0,0,0,0,0
$GC,47,-1.12,-93.2,3.3,-3.6,3,98,11.12,0.00,-34.28,0.000,6,0.239,0.000,2819,2059,2331,0,0,0,0,0,0
$GC,149,-1.05,-93.2,11.5,-17.6,19,157,0.10,2.30,0.00,0.000,4,0.207,0.056,2842,664,2332,0,0,0,0,0,0
$GC,227,-1.01,-93.2,24.7,-16.6,31,235,0.03,2.25,0.00,0.000,6,0.211,0.043,2841,2056,2333,0,0,0,0,0,0
$GC,378,-1.01,-93.2,49.8,-16.3,56,383,0.05,0.00,0.00,0.000,6,0.265,0.000,2851,2057,2333,0,0,0,0,0,0
$GC,723,-1.01,-93.2,103.7,-15.6,115,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2057,2333,0,0,0,0,0,0
$GC,1044,-1.01,-93.2,150.1,-13.8,145,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2057,2334,0,0,0,0,0,0
$GC,1361,-1.04,-93.2,193.1,-12.7,175,1365,0.00,2.25,0.00,0.000,4,0.000,0.063,2840,3475,2334,0,0,0,0,0,0
$GC,1415,-1.04,-93.2,200.8,-13.6,179,1421,0.00,2.22,0.00,0.000,6,0.000,0.044,2841,2069,2334,0,0,0,0,0,0
$GC,1741,-1.04,-93.2,244.9,-13.9,210,1745,0.00,2.22,0.00,0.000,4,0.000,0.055,2841,654,2334,0,0,0,0,0,0
$GC,1781,-1.04,-93.2,250.5,-14.4,213,1786,0.05,2.22,0.00,0.000,6,0.243,0.043,2842,2075,2335,0,0,0,0,0,0
$GC,2111,-1.04,-93.2,295.5,-13.5,244,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2074,2335,0,0,0,0,0,0
$GC,2430,-1.04,-93.2,339.0,-13.6,274,2434,0.00,2.17,0.00,0.000,4,0.000,0.059,2832,3463,2335,0,0,0,0,0,0
$GC,2458,-1.04,-93.2,343.0,-14.3,276,2462,0.00,2.17,0.00,0.000,6,0.000,0.042,2832,2055,2335,0,0,0,0,0,0
$GC,2783,-1.04,-93.2,387.8,-13.3,306,2785,0.05,0.00,0.00,0.000,6,0.235,0.000,2841,2055,2334,0,0,0,0,0,0
$GC,3106,-1.08,-93.2,429.2,-12.7,326,3110,0.00,2.20,0.00,0.000,4,0.000,0.056,2842,658,2335,0,0,0,0,0,0
$GC,3145,-1.08,-93.2,434.4,-13.2,328,3149,0.00,2.17,0.00,0.000,6,0.000,0.043,2833,2064,2335,0,0,0,0,0,0
$GC,3471,-1.08,-93.2,475.2,-12.6,344,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2064,2335,0,0,0,0,0,0
$GC,3780,-1.08,-93.2,515.3,-13.0,359,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2064,2335,0,0,0,0,0,0
$GC,4090,-1.08,-93.2,555.3,-12.7,374,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2064,2335,0,0,0,0,0,0
$GC,4399,-1.08,-93.2,595.0,-12.2,389,4403,0.00,2.22,0.00,0.000,4,0.000,0.064,2822,3466,2335,0,0,0,0,0,0
$GC,4430,-1.08,-93.2,599.2,-13.0,390,4437,0.00,2.20,0.00,0.000,6,0.000,0.042,2822,2062,2334,0,0,0,0,0,0
$GC,4747,-1.08,-93.2,639.1,-12.8,406,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2062,2334,0,0,0,0,0,0
$GC,5056,-1.08,-93.2,677.8,-12.2,421,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2062,2334,0,0,0,0,0,0
$GC,5366,-1.08,-93.2,717.9,-13.2,436,5370,0.00,2.20,0.00,0.000,4,0.000,0.055,2822,655,2334,0,0,0,0,0,0
$GC,5392,-1.08,-93.2,721.8,-13.5,437,5398,0.05,2.22,0.00,0.000,6,0.181,0.044,2829,2058,2334,0,0,0,0,0,0
$GC,5713,-1.08,-93.2,763.7,-13.0,453,5717,0.00,2.25,0.00,0.000,4,0.000,0.063,2818,3470,2334,0,0,0,0,0,0
$GC,5807,-1.08,-93.2,776.6,-14.0,457,5812,0.03,2.22,0.00,0.000,6,0.197,0.044,2827,2055,2334,0,0,0,0,0,0
$GC,6129,-1.08,-93.2,816.9,-12.5,473,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2056,2333,0,0,0,0,0,0
$GC,6439,-1.11,-93.2,853.5,-11.4,488,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2056,2334,0,0,0,0,0,0
$GC,6748,-1.15,-93.2,887.5,-10.7,503,6752,0.00,2.30,0.00,0.000,4,0.000,0.063,2818,3478,2333,0,0,0,0,0,0
$GC,6835,-1.15,-93.2,897.7,-11.1,507,6840,0.00,2.22,0.00,0.000,6,0.000,0.044,2818,2058,2333,0,0,0,0,0,0
$GC,7163,-1.15,-93.2,932.6,-10.7,523,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2058,2333,0,0,0,0,0,0
$GC,7473,-1.15,-93.2,965.4,-10.6,538,7477,0.00,2.20,0.00,0.000,4,0.000,0.057,2818,651,2333,0,0,0,0,0,0
$GC,7512,-1.15,-93.2,969.8,-11.5,540,7516,0.00,2.22,0.00,0.000,6,0.000,0.045,2809,2070,2333,0,0,0,0,0,0
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7800,-0.19,0.0,1002.4,11.4,554,7890,1.05,0.00,86.10,1.290,6,0.172,0.000,3117,1593,1950,0,0,0,0,0,0
$STATE,7891,end apogee,CONTROL_FINISHED_OK
$STATE,7891,begin climb
$GC,7892,1.12,93.2,1005.0,0.0,558,7990,1.27,2.42,89.45,1.255,4,0.090,0.051,3550,195,1568,0,0,0,0,0,0
$GC,8067,1.12,93.2,987.3,13.9,565,8072,0.00,2.35,0.00,0.000,6,0.000,0.035,3550,1605,1564,0,0,0,0,0,0
$GC,8389,1.12,93.2,945.4,13.1,581,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1605,1560,0,0,0,0,0,0
$GC,8699,1.12,93.2,904.8,13.3,596,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1605,1559,0,0,0,0,0,0
$GC,9008,1.12,93.2,864.2,12.9,611,9012,0.00,2.22,0.00,0.000,4,0.000,0.054,3550,3004,1558,0,0,0,0,0,0
$GC,9095,1.12,93.2,852.0,13.7,615,9100,0.00,2.20,0.00,0.000,6,0.000,0.035,3559,1605,1557,0,0,0,0,0,0
$GC,9423,1.12,93.2,809.2,13.1,631,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1605,1557,0,0,0,0,0,0
$GC,9733,1.12,93.2,769.7,13.0,646,9737,0.00,2.25,0.00,0.000,4,0.000,0.054,3569,188,1556,0,0,0,0,0,0
$GC,9804,1.08,93.2,759.7,13.7,649,9809,0.10,2.25,0.00,0.000,6,0.164,0.036,3538,1620,1556,0,0,0,0,0,0
$GC,10127,1.12,93.2,721.3,11.9,665,10131,0.00,2.17,0.00,0.000,4,0.000,0.056,3538,2995,1556,0,0,0,0,0,0
$GC,10213,1.12,93.2,710.3,12.5,669,10217,0.00,2.12,0.00,0.000,6,0.000,0.036,3546,1597,1555,0,0,0,0,0,0
$GC,10539,1.12,93.2,671.0,11.8,685,10543,0.00,2.22,0.00,0.000,4,0.000,0.052,3557,198,1555,0,0,0,0,0,0
$GC,10739,1.12,93.2,645.5,13.0,694,10744,0.03,2.20,0.00,0.000,6,0.200,0.036,3549,1601,1555,0,0,0,0,0,0
$GC,11067,1.12,93.2,608.8,11.1,710,11071,0.00,2.17,0.00,0.000,4,0.000,0.055,3549,2991,1555,0,0,0,0,0,0
$GC,11166,1.12,93.2,596.7,11.3,714,11173,0.03,2.15,0.00,0.000,6,0.218,0.036,3550,1602,1554,0,0,0,0,0,0
$GC,11482,1.12,93.2,559.7,11.8,730,11486,0.00,2.25,0.00,0.000,4,0.000,0.052,3560,186,1555,0,0,0,0,0,0
$GC,11671,1.12,93.2,535.8,12.0,738,11678,0.03,2.20,0.00,0.000,6,0.199,0.034,3551,1597,1555,0,0,0,0,0,0
$GC,11987,1.12,93.2,498.6,11.6,754,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1597,1555,0,0,0,0,0,0
$GC,12296,1.12,93.2,463.5,11.3,769,12300,0.00,2.25,0.00,0.000,4,0.000,0.050,3560,190,1554,0,0,0,0,0,0
$GC,12345,1.12,93.2,457.5,11.3,771,12351,0.03,2.20,0.00,0.000,6,0.203,0.037,3551,1599,1554,0,0,0,0,0,0
$GC,12667,1.12,93.2,421.2,11.2,787,12668,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1599,1554,0,0,0,0,0,0
$GC,12979,1.15,93.2,386.4,11.1,807,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1599,1555,0,0,0,0,0,0
$GC,13301,1.15,93.2,351.8,10.4,837,13305,0.00,2.22,0.00,0.000,4,0.000,0.050,3560,189,1554,0,0,0,0,0,0
$GC,13366,1.15,93.2,343.9,10.7,842,13372,0.00,2.20,0.00,0.000,6,0.000,0.036,3560,1599,1554,0,0,0,0,0,0
$GC,13694,1.15,93.2,308.6,10.7,873,13695,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1599,1554,0,0,0,0,0,0
$GC,14011,1.15,93.2,274.6,10.4,903,14015,0.00,2.22,0.00,0.000,4,0.000,0.050,3569,190,1555,0,0,0,0,0,0
$GC,14073,1.15,93.2,267.7,10.8,908,14078,0.05,2.17,0.00,0.000,6,0.233,0.037,3559,1618,1554,0,0,0,0,0,0
$GC,14397,1.15,93.2,234.8,9.5,938,14401,0.00,2.15,0.00,0.000,4,0.000,0.054,3559,2995,1554,0,0,0,0,0,0
$GC,14441,1.15,93.2,230.1,10.2,941,14448,0.03,2.15,0.00,0.000,6,0.217,0.035,3560,1598,1554,0,0,0,0,0,0
$GC,14766,1.15,93.2,196.8,10.2,972,14770,0.00,2.20,0.00,0.000,4,0.000,0.051,3569,192,1554,0,0,0,0,0,0
$GC,14806,1.15,93.2,192.5,11.4,975,14811,0.05,2.12,0.00,0.000,6,0.236,0.034,3559,1601,1554,0,0,0,0,0,0
$GC,15134,1.15,93.2,158.3,9.7,1005,15138,0.00,2.20,0.00,0.000,4,0.000,0.050,3568,199,1554,0,0,0,0,0,0
$GC,15218,1.15,93.2,149.3,10.0,1012,15222,0.05,2.12,0.00,0.000,6,0.242,0.037,3558,1601,1554,0,0,0,0,0,0
$GC,15543,1.18,93.2,116.9,10.0,1042,15547,0.00,2.22,0.00,0.000,4,0.000,0.049,3566,199,1554,0,0,0,0,0,0
$GC,15740,1.18,93.2,95.3,11.0,1062,15747,0.00,2.17,0.00,0.000,6,0.000,0.036,3566,1600,1554,0,0,0,0,0,0
$GC,16090,1.18,93.2,57.2,9.9,1123,16095,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1600,1554,0,0,0,0,0,0
$GC,16452,1.18,93.2,20.9,10.6,1184,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1600,1554,0,0,0,0,0,0
$GC,16606,1.22,93.2,3.7,10.7,1209,16614,0.00,2.28,0.00,0.000,4,0.000,0.053,3576,194,1555,0,0,0,0,0,0
$STATE,16623,end climb,SURFACE_DEPTH_REACHED
$STATE,16623,begin surface coast
$FINISH,1.9,1.023423
$STATE,16655,end surface coast,CONTROL_FINISHED_OK
$STATE,16655,begin surface
$SM_CCo,16674,49.97,0.057,0,0,1133,200.16
$SM_GC,3.28,0.00,0.00,49.97,0.000,0.000,0.057,64,2075,1133,-9.75,0.45,200.16
$IRIDIUM_FIX,-4447.43,622.10,260608,020226
$TT8_MAMPS,0.026964
$HUMID,61.93
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,23.4,22.768
$10V_AH,10.0,23.067
$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,23.350,112.275,175.550,49.975,0.000,25.621,17.763,249.514,0.000,0.000,17.442,3008.181,10468.662,336.864,3159.893,159.416,0.000,1460.651,0.000,2695.191,0.000,0.539,0.000
$DEVICE_MAMPS,264.690,64.260,1289.790,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.058,2248.683,917.193,511.908,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,83841,1216
$CAP_FILE_SIZE,149829,0
$CFSIZE,2097086464,2070609920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300815,223233,-4505.541,625.013,31,1.2,31,-24.4