version: 66.07.10.p01
glider: 573
mission: 12
dive: 165
start: 8 30 115 22 40 12
data:
$ID,573
$MISSION,12
$DIVE,165
$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,-21517.539
$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,40
$R_STBD_OVSHOOT,39
$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,164
$GPS1,300815,223233,-4505.541,625.013,31,1.2,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-69.5
$GPS2,300815,223952,-4505.577,625.106,13,1.9,13,-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,358.0,3259,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-19.90,0.000,2,0.000,0.000,64,2075,1531,0,0,0,0,0,0
$GC,48,-1.13,-104.4,3.1,-2.3,3,106,11.35,2.35,-37.47,0.000,4,0.246,0.071,2812,661,2377,0,0,0,0,0,0
$GC,133,-0.99,-104.4,7.4,-11.1,16,142,0.17,2.28,0.00,0.000,6,0.176,0.047,2855,2052,2379,0,0,0,0,0,0
$GC,193,-1.02,-104.4,17.0,-15.2,25,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2052,2379,0,0,0,0,0,0
$GC,250,-1.02,-104.4,25.5,-15.4,34,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2052,2379,0,0,0,0,0,0
$GC,399,-1.02,-104.4,49.5,-16.1,59,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2052,2379,0,0,0,0,0,0
$GC,745,-1.02,-104.4,102.1,-15.5,119,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2052,2379,0,0,0,0,0,0
$GC,1067,-1.02,-104.4,148.2,-13.7,149,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2052,2379,0,0,0,0,0,0
$GC,1393,-1.06,-104.4,189.0,-12.7,180,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2052,2380,0,0,0,0,0,0
$GC,1712,-1.10,-104.4,229.8,-13.2,210,1716,0.08,2.25,0.00,0.000,4,0.123,0.058,2800,3476,2380,0,0,0,0,0,0
$GC,1766,-1.05,-104.4,238.4,-15.2,214,1773,0.12,2.22,0.00,0.000,6,0.162,0.042,2839,2063,2380,0,0,0,0,0,0
$GC,2093,-1.05,-104.4,284.2,-14.3,245,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2062,2380,0,0,0,0,0,0
$GC,2411,-1.05,-104.4,330.5,-14.5,275,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2380,0,0,0,0,0,0
$GC,2731,-1.05,-104.4,379.0,-15.3,305,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2062,2380,0,0,0,0,0,0
$GC,3052,-1.08,-104.4,428.6,-15.3,327,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2062,2380,0,0,0,0,0,0
$GC,3362,-1.12,-104.4,474.3,-14.4,342,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2062,2380,0,0,0,0,0,0
$GC,3671,-1.16,-104.4,516.9,-13.5,357,3673,0.08,0.00,0.00,0.000,6,0.127,0.000,2797,2062,2381,0,0,0,0,0,0
$GC,3981,-1.11,-104.4,560.8,-13.8,372,3982,0.10,0.00,0.00,0.000,6,0.204,0.000,2820,2062,2380,0,0,0,0,0,0
$GC,4289,-1.11,-104.4,600.5,-12.6,387,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2062,2380,0,0,0,0,0,0
$GC,4599,-1.11,-104.4,639.8,-12.4,402,4603,0.00,2.25,0.00,0.000,4,0.000,0.062,2810,3469,2380,0,0,0,0,0,0
$GC,4641,-1.11,-104.4,645.7,-12.7,404,4646,0.00,2.22,0.00,0.000,6,0.000,0.044,2810,2054,2379,0,0,0,0,0,0
$GC,4969,-1.11,-104.4,686.9,-12.4,420,4971,0.05,0.00,0.00,0.000,6,0.236,0.000,2820,2054,2380,0,0,0,0,0,0
$GC,5278,-1.11,-104.4,723.0,-12.1,435,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2380,0,0,0,0,0,0
$GC,5588,-1.11,-104.4,762.0,-12.9,450,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2380,0,0,0,0,0,0
$GC,5897,-1.11,-104.4,802.6,-13.2,465,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2379,0,0,0,0,0,0
$GC,6206,-1.11,-104.4,845.1,-13.7,480,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2379,0,0,0,0,0,0
$GC,6516,-1.14,-104.4,888.2,-13.9,495,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2379,0,0,0,0,0,0
$GC,6825,-1.17,-104.4,931.3,-13.5,510,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2378,0,0,0,0,0,0
$GC,7134,-1.17,-104.4,970.4,-12.4,525,7138,0.00,2.28,0.00,0.000,4,0.000,0.064,2811,3470,2378,0,0,0,0,0,0
$GC,7155,-1.17,-104.4,973.2,-12.6,526,7160,0.00,2.22,0.00,0.000,6,0.000,0.045,2811,2055,2377,0,0,0,0,0,0
$STATE,7378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7378,begin apogee
$GC,7383,-0.19,0.0,1000.9,12.5,537,7483,1.05,0.00,96.22,1.288,6,0.169,0.000,3120,1596,1949,0,0,0,0,0,0
$STATE,7484,end apogee,CONTROL_FINISHED_OK
$STATE,7484,begin climb
$GC,7485,1.13,104.4,1004.2,0.0,542,7595,1.27,2.45,100.12,1.250,4,0.089,0.049,3554,193,1522,0,0,0,0,0,0
$GC,7667,1.13,104.4,985.2,15.5,550,7674,0.00,2.38,0.00,0.000,6,0.000,0.034,3554,1615,1517,0,0,0,0,0,0
$GC,7984,1.13,104.4,939.2,14.8,566,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1616,1514,0,0,0,0,0,0
$GC,8293,1.13,104.4,895.2,14.3,581,8297,0.00,2.22,0.00,0.000,4,0.000,0.055,3554,2997,1512,0,0,0,0,0,0
$GC,8335,1.13,104.4,888.8,13.7,583,8340,0.00,2.22,0.00,0.000,6,0.000,0.034,3563,1599,1512,0,0,0,0,0,0
$GC,8663,1.13,104.4,842.9,14.2,599,8668,0.05,2.25,0.00,0.000,4,0.244,0.053,3562,196,1512,0,0,0,0,0,0
$GC,8837,1.13,104.4,816.6,15.1,607,8842,0.05,2.20,0.00,0.000,6,0.234,0.036,3552,1617,1511,0,0,0,0,0,0
$GC,9163,1.13,104.4,772.4,13.5,623,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1617,1510,0,0,0,0,0,0
$GC,9473,1.13,104.4,732.0,12.9,638,9477,0.00,2.28,0.00,0.000,4,0.000,0.050,3561,194,1510,0,0,0,0,0,0
$GC,9527,1.13,104.4,724.2,13.7,640,9534,0.03,2.22,0.00,0.000,6,0.206,0.036,3553,1605,1510,0,0,0,0,0,0
$GC,9843,1.13,104.4,683.6,13.0,656,9847,0.00,2.25,0.00,0.000,4,0.000,0.051,3562,195,1510,0,0,0,0,0,0
$GC,9937,1.13,104.4,670.5,14.0,660,9943,0.03,2.22,0.00,0.000,6,0.204,0.035,3553,1611,1510,0,0,0,0,0,0
$GC,10261,1.13,104.4,629.6,12.6,676,10265,0.00,2.20,0.00,0.000,4,0.000,0.054,3553,2999,1510,0,0,0,0,0,0
$GC,10371,1.13,104.4,614.9,13.5,681,10377,0.03,2.17,0.00,0.000,6,0.213,0.034,3554,1599,1510,0,0,0,0,0,0
$GC,10699,1.13,104.4,574.3,12.4,697,10703,0.00,2.22,0.00,0.000,4,0.000,0.054,3564,195,1509,0,0,0,0,0,0
$GC,10769,1.13,104.4,564.5,14.2,700,10775,0.05,2.20,0.00,0.000,6,0.182,0.036,3548,1602,1509,0,0,0,0,0,0
$GC,11097,1.17,104.4,523.5,12.7,716,11101,0.00,2.25,0.00,0.000,4,0.000,0.051,3558,192,1509,0,0,0,0,0,0
$GC,11164,1.17,104.4,514.3,14.2,719,11168,0.00,2.17,0.00,0.000,6,0.000,0.036,3558,1599,1509,0,0,0,0,0,0
$GC,11490,1.17,104.4,471.8,13.4,735,11494,0.00,2.20,0.00,0.000,4,0.000,0.054,3558,2992,1509,0,0,0,0,0,0
$GC,11577,1.17,104.4,459.5,13.9,739,11582,0.00,2.15,0.00,0.000,6,0.000,0.035,3566,1607,1509,0,0,0,0,0,0
$GC,11905,1.17,104.4,415.8,13.6,755,11909,0.00,2.25,0.00,0.000,4,0.000,0.053,3576,190,1509,0,0,0,0,0,0
$GC,11999,1.13,104.4,402.4,14.2,759,12004,0.08,2.20,0.00,0.000,6,0.168,0.036,3553,1602,1508,0,0,0,0,0,0
$GC,12332,1.17,104.4,360.2,12.8,789,12336,0.00,2.17,0.00,0.000,4,0.000,0.054,3553,2990,1509,0,0,0,0,0,0
$GC,12398,1.17,104.4,350.7,13.4,794,12404,0.00,2.15,0.00,0.000,6,0.000,0.035,3562,1602,1508,0,0,0,0,0,0
$GC,12726,1.17,104.4,309.8,12.4,825,12730,0.00,2.25,0.00,0.000,4,0.000,0.053,3572,183,1509,0,0,0,0,0,0
$GC,12848,1.17,104.4,293.5,12.0,835,12854,0.00,2.20,0.00,0.000,6,0.000,0.034,3572,1599,1509,0,0,0,0,0,0
$GC,13173,1.17,104.4,253.7,11.5,866,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1599,1508,0,0,0,0,0,0
$GC,13493,1.17,104.4,216.3,11.3,896,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1599,1509,0,0,0,0,0,0
$GC,13811,1.17,104.4,180.4,11.0,926,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1599,1509,0,0,0,0,0,0
$GC,14130,1.17,104.4,145.5,11.2,956,14134,0.00,2.17,0.00,0.000,4,0.000,0.053,3572,2996,1509,0,0,0,0,0,0
$GC,14158,1.17,104.4,142.1,12.4,958,14162,0.08,2.15,0.00,0.000,6,0.214,0.035,3565,1587,1509,0,0,0,0,0,0
$GC,14489,1.17,104.4,107.7,10.5,989,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1587,1509,0,0,0,0,0,0
$GC,14826,1.17,104.4,71.8,10.6,1042,14832,0.00,2.20,0.00,0.000,4,0.000,0.052,3574,189,1509,0,0,0,0,0,0
$GC,14897,1.17,104.4,63.9,11.3,1054,14903,0.05,2.17,0.00,0.000,6,0.231,0.036,3564,1615,1508,0,0,0,0,0,0
$GC,15255,1.17,104.4,23.6,11.1,1115,15262,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1615,1509,0,0,0,0,0,0
$GC,15410,1.17,104.4,6.2,11.6,1140,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1615,1509,0,0,0,0,0,0
$STATE,15442,end climb,SURFACE_DEPTH_REACHED
$STATE,15442,begin surface coast
$FINISH,1.8,1.023396
$STATE,15474,end surface coast,CONTROL_FINISHED_OK
$STATE,15474,begin surface
$SM_CCo,15490,44.72,0.057,0,0,1133,200.16
$SM_GC,3.48,0.00,0.00,44.72,0.000,0.000,0.057,81,2076,1133,-9.70,0.45,200.16
$IRIDIUM_FIX,-4447.43,622.10,260608,070730
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.3,22.858
$10V_AH,10.0,23.184
$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,23.925,81.625,196.350,44.725,0.000,26.800,23.988,268.907,0.000,0.000,16.037,2809.971,9697.541,334.696,2977.760,149.893,0.000,1368.291,0.000,2494.921,0.000,0.539,0.000
$DEVICE_MAMPS,246.330,71.145,1288.260,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.431,2129.910,890.504,498.595,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353180
$DATA_FILE_SIZE,80308,1150
$CAP_FILE_SIZE,136339,0
$CFSIZE,2097086464,2070478848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310815,030033,-4505.437,625.249,51,0.8,51,-24.4