version: 66.07.10.p01
glider: 573
mission: 12
dive: 169
start: 8 31 115 17 10 30
data:
$ID,573
$MISSION,12
$DIVE,169
$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,-21529.947
$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,30
$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,168
$GPS1,310815,170203,-4505.792,625.455,24,1.0,24,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-69.8
$GPS2,310815,171010,-4505.852,625.476,24,1.1,24,-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,355.0,3935,-24.4,-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,24,-0.98,-64.0,0.0,0.0,0,34,0.00,0.00,-8.40,0.000,2,0.000,0.000,77,2055,1301,0,0,0,0,0,0
$GC,36,-1.01,-116.8,3.0,-0.0,1,105,11.30,0.00,-53.35,0.000,6,0.242,0.000,2849,2051,2427,0,0,0,0,0,0
$GC,157,-0.94,-116.8,10.1,-13.2,20,165,0.12,2.30,0.00,0.000,4,0.200,0.056,2881,664,2430,0,0,0,0,0,0
$GC,222,-0.87,-116.8,20.0,-15.3,30,230,0.08,2.25,0.00,0.000,6,0.187,0.043,2894,2058,2430,0,0,0,0,0,0
$GC,378,-0.87,-116.8,44.4,-16.8,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2059,2430,0,0,0,0,0,0
$GC,724,-0.87,-116.8,96.8,-14.7,116,730,0.00,2.28,0.00,0.000,4,0.000,0.064,2884,3476,2431,0,0,0,0,0,0
$GC,760,-0.87,-116.8,102.0,-15.3,121,765,0.08,2.20,0.00,0.000,6,0.204,0.043,2899,2058,2430,0,0,0,0,0,0
$GC,1085,-0.87,-116.8,149.1,-14.4,151,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2058,2431,0,0,0,0,0,0
$GC,1407,-0.92,-116.8,193.3,-13.5,181,1411,0.00,2.30,0.00,0.000,4,0.000,0.064,2890,3471,2431,0,0,0,0,0,0
$GC,1472,-0.96,-116.8,203.4,-14.5,186,1478,0.00,2.22,0.00,0.000,6,0.000,0.043,2891,2058,2431,0,0,0,0,0,0
$GC,1800,-0.99,-116.8,249.1,-13.8,217,1802,0.08,0.00,0.00,0.000,6,0.126,0.000,2846,2058,2431,0,0,0,0,0,0
$GC,2117,-0.94,-116.8,299.3,-15.9,247,2119,0.12,0.00,0.00,0.000,6,0.190,0.000,2877,2058,2431,0,0,0,0,0,0
$GC,2437,-0.94,-116.8,345.3,-13.9,277,2441,0.00,2.28,0.00,0.000,4,0.000,0.063,2868,3475,2431,0,0,0,0,0,0
$GC,2465,-0.94,-116.8,349.6,-14.9,279,2469,0.00,2.20,0.00,0.000,6,0.000,0.044,2868,2055,2431,0,0,0,0,0,0
$GC,2792,-0.94,-116.8,396.3,-14.2,309,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2056,2431,0,0,0,0,0,0
$GC,3110,-0.94,-116.8,441.0,-13.4,326,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2056,2431,0,0,0,0,0,0
$GC,3419,-0.94,-116.8,481.6,-12.8,341,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2056,2431,0,0,0,0,0,0
$GC,3728,-0.94,-116.8,521.6,-12.6,356,3732,0.00,2.22,0.00,0.000,4,0.000,0.057,2868,654,2431,0,0,0,0,0,0
$GC,3800,-0.94,-116.8,531.3,-13.7,359,3805,0.05,2.22,0.00,0.000,6,0.178,0.046,2875,2055,2431,0,0,0,0,0,0
$GC,4121,-0.94,-116.8,571.3,-12.6,375,4125,0.00,2.25,0.00,0.000,4,0.000,0.064,2864,3472,2431,0,0,0,0,0,0
$GC,4175,-0.94,-116.8,578.7,-13.5,377,4182,0.03,2.22,0.00,0.000,6,0.198,0.044,2873,2056,2431,0,0,0,0,0,0
$GC,4491,-0.94,-116.8,619.2,-12.6,393,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2055,2431,0,0,0,0,0,0
$GC,4801,-0.94,-116.8,658.1,-12.5,408,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2055,2431,0,0,0,0,0,0
$GC,5110,-0.94,-116.8,696.8,-12.6,423,5114,0.00,2.28,0.00,0.000,4,0.000,0.065,2863,3476,2430,0,0,0,0,0,0
$GC,5158,-0.94,-116.8,703.3,-13.1,425,5163,0.03,2.22,0.00,0.000,6,0.198,0.044,2872,2059,2430,0,0,0,0,0,0
$GC,5481,-0.97,-116.8,743.8,-12.5,441,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2059,2430,0,0,0,0,0,0
$GC,5790,-1.00,-116.8,781.9,-12.5,456,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2059,2429,0,0,0,0,0,0
$GC,6099,-1.04,-116.8,818.2,-11.7,471,6101,0.08,0.00,0.00,0.000,6,0.128,0.000,2832,2059,2429,0,0,0,0,0,0
$GC,6409,-1.00,-116.8,860.6,-13.7,486,6413,0.10,2.30,0.00,0.000,4,0.192,0.067,2846,3469,2429,0,0,0,0,0,0
$GC,6474,-1.00,-116.8,869.8,-13.7,489,6478,0.00,2.22,0.00,0.000,6,0.000,0.045,2846,2052,2429,0,0,0,0,0,0
$GC,6801,-1.00,-116.8,914.7,-13.9,505,6803,0.05,0.00,0.00,0.000,6,0.233,0.000,2857,2052,2429,0,0,0,0,0,0
$GC,7111,-1.00,-116.8,955.8,-13.4,520,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2052,2428,0,0,0,0,0,0
$GC,7420,-1.00,-116.8,996.6,-12.8,535,7424,0.00,2.28,0.00,0.000,4,0.000,0.066,2847,3471,2428,0,0,0,0,0,0
$STATE,7444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7444,begin apogee
$GC,7452,-0.19,0.0,1000.3,13.5,536,7562,0.88,0.00,106.30,1.287,6,0.165,0.000,3112,1593,1950,0,0,0,0,0,0
$STATE,7563,end apogee,CONTROL_FINISHED_OK
$STATE,7563,begin climb
$GC,7565,1.01,116.8,1005.2,0.0,542,7687,1.17,2.53,110.15,1.246,4,0.092,0.053,3510,196,1473,0,0,0,0,0,0
$GC,7764,1.01,116.8,989.2,11.5,551,7769,0.00,2.40,0.00,0.000,6,0.000,0.035,3510,1616,1468,0,0,0,0,0,0
$GC,8086,1.01,116.8,953.5,11.0,567,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1616,1465,0,0,0,0,0,0
$GC,8396,1.01,116.8,919.5,10.9,582,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1616,1464,0,0,0,0,0,0
$GC,8705,1.01,116.8,884.9,11.5,597,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1617,1463,0,0,0,0,0,0
$GC,9014,1.01,116.8,849.0,11.8,612,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1616,1463,0,0,0,0,0,0
$GC,9324,1.01,116.8,811.6,12.4,627,9328,0.00,2.30,0.00,0.000,4,0.000,0.053,3520,187,1463,0,0,0,0,0,0
$GC,9378,0.96,116.8,804.2,13.0,629,9385,0.08,2.25,0.00,0.000,6,0.167,0.036,3495,1614,1462,0,0,0,0,0,0
$GC,9695,0.96,116.8,766.2,11.8,645,9699,0.00,2.28,0.00,0.000,4,0.000,0.052,3505,190,1462,0,0,0,0,0,0
$GC,9766,0.96,116.8,757.0,12.8,648,9770,0.00,2.22,0.00,0.000,6,0.000,0.037,3505,1602,1461,0,0,0,0,0,0
$GC,10089,0.96,116.8,719.0,11.5,664,10093,0.00,2.20,0.00,0.000,4,0.000,0.055,3505,2990,1462,0,0,0,0,0,0
$GC,10196,0.96,116.8,705.9,12.5,669,10201,0.08,2.12,0.00,0.000,6,0.209,0.037,3497,1591,1461,0,0,0,0,0,0
$GC,10522,0.96,116.8,668.6,11.6,685,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1591,1461,0,0,0,0,0,0
$GC,10831,0.96,116.8,633.3,11.3,700,10835,0.00,2.22,0.00,0.000,4,0.000,0.055,3508,199,1461,0,0,0,0,0,0
$GC,10989,0.96,116.8,614.9,12.0,707,10994,0.03,2.15,0.00,0.000,6,0.270,0.038,3498,1602,1461,0,0,0,0,0,0
$GC,11309,0.96,116.8,580.0,10.7,723,11313,0.00,2.25,0.00,0.000,4,0.000,0.052,3509,199,1460,0,0,0,0,0,0
$GC,11381,0.96,116.8,571.7,11.6,726,11386,0.03,2.20,0.00,0.000,6,0.191,0.037,3499,1607,1460,0,0,0,0,0,0
$GC,11702,0.96,116.8,537.7,10.6,742,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1607,1460,0,0,0,0,0,0
$GC,12012,0.96,116.8,506.4,9.9,757,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1606,1461,0,0,0,0,0,0
$GC,12321,0.99,116.8,476.2,9.4,772,12326,0.00,2.28,0.00,0.000,4,0.000,0.053,3509,189,1460,0,0,0,0,0,0
$GC,12383,0.99,116.8,469.6,11.1,775,12387,0.00,2.15,0.00,0.000,6,0.000,0.037,3508,1601,1460,0,0,0,0,0,0
$GC,12710,0.99,116.8,437.7,9.6,791,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1601,1460,0,0,0,0,0,0
$GC,13019,0.99,116.8,408.4,9.3,806,13023,0.00,2.17,0.00,0.000,4,0.000,0.054,3508,2997,1460,0,0,0,0,0,0
$GC,13062,0.99,116.8,403.9,10.0,808,13068,0.03,2.15,0.00,0.000,6,0.197,0.036,3509,1601,1460,0,0,0,0,0,0
$GC,13387,0.99,116.8,372.1,10.3,836,13391,0.00,2.22,0.00,0.000,4,0.000,0.054,3519,196,1460,0,0,0,0,0,0
$GC,13618,0.99,116.8,346.1,11.4,856,13623,0.05,2.15,0.00,0.000,6,0.215,0.037,3508,1602,1460,0,0,0,0,0,0
$GC,13948,0.99,116.8,309.6,11.6,887,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1602,1460,0,0,0,0,0,0
$GC,14269,0.99,116.8,273.7,11.3,917,14270,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1602,1460,0,0,0,0,0,0
$GC,14585,0.99,116.8,238.5,10.8,947,14589,0.00,2.25,0.00,0.000,4,0.000,0.052,3518,193,1460,0,0,0,0,0,0
$GC,14705,0.99,116.8,225.1,11.1,957,14709,0.00,2.15,0.00,0.000,6,0.000,0.036,3517,1608,1460,0,0,0,0,0,0
$GC,15029,0.99,116.8,192.3,10.1,987,15033,0.00,2.22,0.00,0.000,4,0.000,0.052,3527,195,1460,0,0,0,0,0,0
$GC,15137,0.99,116.8,180.8,10.7,996,15141,0.08,2.15,0.00,0.000,6,0.191,0.036,3509,1601,1460,0,0,0,0,0,0
$GC,15461,1.03,116.8,148.7,9.5,1026,15465,0.00,2.20,0.00,0.000,4,0.000,0.054,3509,2998,1460,0,0,0,0,0,0
$GC,15512,1.03,116.8,143.5,10.0,1030,15516,0.00,2.12,0.00,0.000,6,0.000,0.034,3518,1587,1460,0,0,0,0,0,0
$GC,15837,1.03,116.8,112.7,8.8,1060,15838,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1587,1460,0,0,0,0,0,0
$GC,16167,1.03,116.8,82.9,8.9,1106,16172,0.00,2.20,0.00,0.000,4,0.000,0.053,3529,191,1460,0,0,0,0,0,0
$GC,16326,1.03,116.8,67.0,9.9,1134,16334,0.03,2.17,0.00,0.000,6,0.171,0.037,3519,1591,1460,0,0,0,0,0,0
$GC,16682,1.03,116.8,36.5,9.2,1195,16688,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1591,1460,0,0,0,0,0,0
$GC,16837,1.03,117.0,23.3,8.5,1220,16844,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1590,1460,0,0,0,0,0,0
$GC,16992,1.07,117.0,8.8,11.7,1245,16999,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1591,1460,0,0,0,0,0,0
$GC,17050,1.00,117.0,3.2,9.9,1254,17057,0.00,2.25,0.00,0.000,4,0.000,0.050,3529,193,1460,0,0,0,0,0,0
$STATE,17064,end climb,SURFACE_DEPTH_REACHED
$STATE,17064,begin surface coast
$FINISH,1.9,1.022217
$STATE,17102,end surface coast,CONTROL_FINISHED_OK
$STATE,17102,begin surface
$SM_CCo,17121,39.50,0.057,0,0,1132,200.16
$SM_GC,2.49,0.00,0.00,39.50,0.000,0.000,0.057,59,2064,1132,-9.76,0.11,200.16
$IRIDIUM_FIX,-4447.43,622.10,270608,010159
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.1,23.320
$10V_AH,10.1,23.676
$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,23.525,104.125,216.450,39.500,0.000,27.473,17.866,305.648,0.000,0.000,27.504,3091.795,10728.687,356.488,3297.370,165.112,0.000,1499.050,0.000,2756.091,0.000,0.540,0.000
$DEVICE_MAMPS,270.045,66.555,1287.495,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.932,2338.307,989.938,574.817,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353120
$DATA_FILE_SIZE,87205,1262
$CAP_FILE_SIZE,152329,0
$CFSIZE,2097086464,2069954560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310815,215803,-4505.837,625.053,58,0.7,58,-24.4