version: 66.07.10.p01
glider: 573
mission: 12
dive: 166
start: 8 31 115 3 8 38
data:
$ID,573
$MISSION,12
$DIVE,166
$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,-21520.516
$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,37
$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,165
$GPS1,310815,030033,-4505.437,625.249,51,0.8,51,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-67.9
$GPS2,310815,030817,-4505.505,625.273,17,1.7,17,-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,353.5,3248,-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,21,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,-19.85,0.000,2,0.000,0.000,81,2074,1534,0,0,0,0,0,0
$GC,47,-1.12,-97.5,3.3,-3.1,3,105,11.12,2.33,-37.00,0.000,4,0.241,0.070,2816,669,2349,0,0,0,0,0,0
$GC,223,-1.03,-97.5,22.0,-18.5,31,231,0.12,2.25,0.00,0.000,6,0.179,0.044,2844,2051,2351,0,0,0,0,0,0
$GC,376,-1.03,-97.5,45.6,-15.1,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2051,2351,0,0,0,0,0,0
$GC,722,-1.03,-97.5,99.7,-16.1,117,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2051,2352,0,0,0,0,0,0
$GC,1047,-1.03,-97.5,149.2,-15.4,148,1051,0.00,2.25,0.00,0.000,4,0.000,0.060,2833,3470,2352,0,0,0,0,0,0
$GC,1078,-1.03,-97.5,154.3,-15.8,150,1086,0.03,2.22,0.00,0.000,6,0.204,0.042,2841,2065,2352,0,0,0,0,0,0
$GC,1406,-1.03,-97.5,201.0,-14.9,181,1410,0.00,2.25,0.00,0.000,4,0.000,0.059,2832,3471,2352,0,0,0,0,0,0
$GC,1438,-1.03,-97.5,206.2,-14.9,183,1445,0.05,2.22,0.00,0.000,6,0.179,0.043,2848,2059,2353,0,0,0,0,0,0
$GC,1764,-1.06,-97.5,251.4,-13.5,214,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2060,2352,0,0,0,0,0,0
$GC,2084,-1.10,-97.5,293.7,-13.3,244,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2060,2353,0,0,0,0,0,0
$GC,2402,-1.13,-97.5,336.0,-13.1,274,2404,0.08,0.00,0.00,0.000,6,0.125,0.000,2805,2059,2353,0,0,0,0,0,0
$GC,2720,-1.09,-97.5,384.2,-15.0,304,2722,0.10,0.00,0.00,0.000,6,0.200,0.000,2828,2060,2353,0,0,0,0,0,0
$GC,3043,-1.09,-97.5,430.6,-14.3,325,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2059,2353,0,0,0,0,0,0
$GC,3352,-1.09,-97.5,474.3,-13.9,340,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2060,2353,0,0,0,0,0,0
$GC,3662,-1.09,-97.5,515.8,-13.5,355,3666,0.00,2.30,0.00,0.000,4,0.000,0.064,2819,3477,2353,0,0,0,0,0,0
$GC,3688,-1.09,-97.5,519.7,-14.5,356,3693,0.03,2.22,0.00,0.000,6,0.200,0.044,2827,2063,2353,0,0,0,0,0,0
$GC,4009,-1.09,-97.5,560.9,-12.5,372,4013,0.00,2.25,0.00,0.000,4,0.000,0.062,2817,3470,2353,0,0,0,0,0,0
$GC,4058,-1.09,-97.5,567.4,-13.0,374,4063,0.00,2.22,0.00,0.000,6,0.000,0.044,2818,2055,2353,0,0,0,0,0,0
$GC,4380,-1.09,-97.5,609.5,-13.0,390,4382,0.05,0.00,0.00,0.000,6,0.239,0.000,2828,2055,2353,0,0,0,0,0,0
$GC,4690,-1.50,-116.8,641.6,-6.1,405,4692,0.32,0.00,0.00,0.000,6,0.050,0.000,2681,2053,2353,0,0,0,0,0,0
$GC,5000,-1.99,-116.8,649.3,-2.6,420,5004,0.35,2.25,0.00,0.000,4,0.050,0.067,2524,660,2352,0,0,0,0,0,0
$GC,5257,-2.17,-116.8,657.0,-3.4,431,5263,0.08,2.22,0.00,0.000,6,0.122,0.046,2474,2106,2352,0,0,0,0,0,0
$GC,5574,-2.34,-116.8,666.9,-3.3,447,5578,0.12,2.10,0.00,0.000,4,0.091,0.049,2404,3466,2352,0,0,0,0,0,0
$GC,5683,-2.47,-116.8,670.8,-4.0,452,5687,0.00,2.20,0.00,0.000,6,0.000,0.054,2404,2067,2352,0,0,0,0,0,0
$GC,6011,-2.54,-116.8,684.5,-4.1,468,6015,0.10,2.17,0.00,0.000,4,0.106,0.046,2347,3463,2352,0,0,0,0,0,0
$GC,6267,-2.48,-116.8,697.6,-5.1,479,6274,0.08,2.25,0.00,0.000,6,0.177,0.054,2380,2066,2351,0,0,0,0,0,0
$GC,6584,-2.44,-116.8,712.9,-4.9,495,6589,0.08,2.35,0.00,0.000,4,0.233,0.074,2399,638,2351,0,0,0,0,0,0
$GC,6594,-2.39,-116.8,713.6,-4.9,495,6601,0.10,2.20,0.00,0.000,6,0.212,0.049,2411,2057,2351,0,0,0,0,0,0
$GC,6911,-2.23,-116.8,727.6,-5.2,511,6916,0.20,2.35,0.00,0.000,4,0.207,0.084,2474,649,2350,0,0,0,0,0,0
$GC,7168,-1.88,-116.8,738.3,-4.0,522,7175,0.43,2.25,0.00,0.000,6,0.212,0.056,2574,2052,2350,0,0,0,0,0,0
$GC,7485,-1.88,-116.8,748.0,-2.8,538,7489,0.00,2.33,0.00,0.000,4,0.000,0.083,2585,649,2350,0,0,0,0,0,0
$GC,7742,-1.58,-116.8,754.8,-2.5,549,7748,0.30,2.25,0.00,0.000,6,0.196,0.049,2671,2073,2350,0,0,0,0,0,0
$GC,8059,-1.51,-116.8,764.6,-3.3,565,8064,0.10,2.12,0.00,0.000,4,0.185,0.042,2686,3489,2350,0,0,0,0,0,0
$GC,8316,-1.89,-116.8,766.0,0.0,576,8321,0.30,2.25,0.00,0.000,6,0.054,0.045,2558,2039,2351,0,0,0,0,0,0
$STATE,8429,end dive,NO_VERTICAL_VELOCITY
$STATE,8429,begin apogee
$GC,8434,-0.19,0.0,766.7,0.0,582,8530,1.83,0.00,88.00,1.146,6,0.157,0.000,3115,1594,1949,0,0,0,0,0,0
$STATE,8531,end apogee,CONTROL_FINISHED_OK
$STATE,8531,begin climb
$GC,8532,1.13,116.8,766.1,0.0,587,8649,1.27,2.33,107.80,1.106,4,0.093,0.035,3540,184,1473,0,0,0,0,0,0
$GC,8678,1.89,166.0,762.2,2.9,594,8733,0.77,2.47,47.88,1.080,6,0.102,0.064,3783,1582,1272,0,0,0,0,0,0
$GC,9050,1.98,204.6,747.4,4.1,612,9094,0.10,2.35,36.70,1.076,4,0.105,0.034,3836,181,1114,0,0,0,0,0,0
$GC,9113,2.12,242.6,744.3,4.2,615,9158,0.08,2.50,36.67,1.063,6,0.118,0.065,3874,1601,959,0,0,0,0,0,0
$GC,9485,2.30,280.5,727.2,4.2,633,9525,0.00,0.00,35.00,1.070,6,0.000,0.000,3874,1601,805,0,0,0,0,0,0
$GC,9837,2.65,323.9,713.3,3.6,650,9881,0.00,2.33,39.78,1.075,4,0.000,0.034,3885,177,628,0,0,0,0,0,0
$GC,9993,3.16,351.1,705.8,5.4,657,10025,0.00,2.45,25.62,1.042,6,0.000,0.061,3884,1611,517,0,0,0,0,0,0
$GC,10335,3.19,393.0,691.5,3.7,674,10375,0.00,2.42,31.35,0.789,4,0.000,0.052,3885,199,409,0,0,0,0,0,0
$GC,10628,3.22,445.2,683.4,2.6,687,10633,0.00,2.33,0.32,0.050,6,0.000,0.044,3877,1614,409,0,0,0,0,0,0
$GC,10955,3.26,510.6,678.4,1.1,703,10959,0.00,2.28,0.00,0.000,4,0.000,0.064,3867,3005,408,0,0,0,0,0,0
$GC,11213,3.30,571.0,673.9,1.6,714,11218,0.00,2.22,0.00,0.000,6,0.000,0.048,3866,1612,407,0,0,0,0,0,0
$GC,11529,3.34,641.9,667.4,0.4,730,11533,0.00,2.25,0.00,0.000,4,0.000,0.055,3858,3011,407,0,0,0,0,0,0
$GC,11712,2.98,641.9,619.3,43.2,738,11717,0.00,2.22,0.00,0.000,6,0.000,0.039,3867,1590,407,0,0,0,0,0,0
$GC,12035,2.60,641.9,480.9,42.8,754,12039,0.00,2.20,0.00,0.000,4,0.000,0.054,3878,197,407,0,0,0,0,0,0
$GC,12245,2.19,641.9,388.7,41.9,764,12249,0.00,2.22,0.00,0.000,6,0.000,0.039,3877,1622,407,0,0,0,0,0,0
$GC,12569,1.80,641.9,248.0,43.4,794,12574,0.40,2.28,0.00,0.000,4,0.214,0.051,3782,193,407,0,0,0,0,0,0
$GC,12681,1.55,641.9,205.1,36.0,803,12687,0.35,2.20,0.00,0.000,6,0.200,0.038,3684,1612,407,0,0,0,0,0,0
$GC,13006,1.50,641.9,111.4,28.2,834,13011,0.05,2.25,0.00,0.000,4,0.254,0.054,3682,190,407,0,0,0,0,0,0
$GC,13080,1.44,641.9,90.2,28.5,842,13086,0.10,2.20,0.00,0.000,6,0.204,0.038,3653,1610,407,0,0,0,0,0,0
$STATE,13425,end climb,SURFACE_DEPTH_REACHED
$STATE,13425,begin surface coast
$FINISH,2.0,1.013648
$STATE,13440,end surface coast,CONTROL_FINISHED_OK
$STATE,13440,begin surface
$SM_CCo,13517,0.00,0.000,0,0,406,378.74
$SM_GC,2.82,9.23,0.00,0.00,0.031,0.000,0.000,61,2086,406,-9.60,0.74,378.74
$IRIDIUM_FIX,-4447.43,523.82,260608,121240
$TT8_MAMPS,0.026964
$HUMID,64.21
$INTERNAL_PRESSURE,9.19647
$TCM_TEMP,11.00
$XPDR_PINGS,1
$24V_AH,23.4,23.014
$10V_AH,10.1,23.282
$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,28.300,96.675,449.125,0.000,0.000,24.627,57.015,259.768,0.250,0.000,20.208,2310.596,8259.938,472.882,2791.383,142.776,0.000,1535.914,0.000,2293.741,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,84.150,1145.970,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.953,1625.617,593.657,349.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353236
$DATA_FILE_SIZE,63639,903
$CAP_FILE_SIZE,138793,0
$CFSIZE,2097086464,2070380544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310815,065502,-4505.701,625.260,26,1.8,34,-24.4