version: 66.07.10.p01
glider: 573
mission: 12
dive: 172
start: 9 1 115 7 55 53
data:
$ID,573
$MISSION,12
$DIVE,172
$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,-21539.572
$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,41
$R_STBD_OVSHOOT,45
$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,171
$GPS1,010915,074703,-4505.656,625.070,41,0.9,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-66.6
$GPS2,010915,075533,-4505.730,625.135,33,1.1,33,-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,359.5,3531,-27.2,-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,-1.08,-51.7,0.0,0.0,0,46,0.00,0.00,-19.92,0.000,2,0.000,0.000,66,2067,1536,0,0,0,0,0,0
$GC,48,-1.11,-100.5,3.2,-3.2,3,100,11.43,2.28,-32.92,0.000,4,0.247,0.075,2811,3452,2360,0,0,0,0,0,0
$GC,109,-1.01,-116.8,6.0,-6.1,12,118,0.15,2.22,-1.75,0.000,6,0.171,0.044,2856,2073,2426,0,0,0,0,0,0
$GC,168,-1.01,-116.8,16.6,-19.6,21,175,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2073,2428,0,0,0,0,0,0
$GC,226,-1.01,-116.8,28.3,-20.1,30,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2073,2428,0,0,0,0,0,0
$GC,375,-1.01,-116.8,54.9,-18.3,55,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2073,2428,0,0,0,0,0,0
$GC,716,-1.01,-116.8,110.8,-15.9,110,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2073,2428,0,0,0,0,0,0
$GC,1035,-1.01,-116.8,162.8,-16.6,140,1039,0.00,2.22,0.00,0.000,4,0.000,0.063,2846,3451,2429,0,0,0,0,0,0
$GC,1119,-1.01,-116.8,177.6,-16.9,147,1123,0.00,2.17,0.00,0.000,6,0.000,0.044,2846,2043,2429,0,0,0,0,0,0
$GC,1446,-1.01,-116.8,230.3,-15.5,177,1450,0.00,2.25,0.00,0.000,4,0.000,0.058,2836,3453,2429,0,0,0,0,0,0
$GC,1507,-1.01,-116.8,240.5,-16.1,182,1512,0.08,2.15,0.00,0.000,6,0.206,0.043,2853,2053,2429,0,0,0,0,0,0
$GC,1832,-1.06,-116.8,289.2,-15.0,212,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2053,2429,0,0,0,0,0,0
$GC,2152,-1.10,-116.8,337.9,-16.1,242,2153,0.08,0.00,0.00,0.000,6,0.125,0.000,2814,2053,2428,0,0,0,0,0,0
$GC,2470,-1.07,-116.8,391.7,-16.7,272,2472,0.10,0.00,0.00,0.000,6,0.190,0.000,2838,2053,2429,0,0,0,0,0,0
$GC,2790,-1.07,-116.8,441.4,-15.5,290,2794,0.00,2.28,0.00,0.000,4,0.000,0.063,2829,3457,2429,0,0,0,0,0,0
$GC,2862,-1.07,-116.8,452.9,-15.6,293,2867,0.00,2.17,0.00,0.000,6,0.000,0.042,2829,2063,2429,0,0,0,0,0,0
$GC,3184,-1.07,-116.8,501.5,-14.9,309,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2063,2428,0,0,0,0,0,0
$GC,3493,-1.07,-116.8,549.0,-15.6,324,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2063,2428,0,0,0,0,0,0
$GC,3802,-1.07,-116.8,595.2,-14.7,339,3806,0.00,2.25,0.00,0.000,4,0.000,0.061,2820,3461,2428,0,0,0,0,0,0
$GC,3845,-1.07,-116.8,602.1,-14.7,341,3851,0.05,2.20,0.00,0.000,6,0.171,0.042,2835,2056,2428,0,0,0,0,0,0
$GC,4174,-1.10,-116.8,648.4,-13.9,357,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2429,0,0,0,0,0,0
$GC,4483,-1.14,-116.8,691.5,-13.9,372,4485,0.03,0.00,0.00,0.000,6,0.244,0.000,2809,2056,2429,0,0,0,0,0,0
$GC,4792,-1.14,-116.8,736.9,-14.7,387,4796,0.00,2.22,0.00,0.000,4,0.000,0.063,2799,3450,2429,0,0,0,0,0,0
$GC,4846,-1.11,-116.8,745.5,-15.4,389,4853,0.08,2.17,0.00,0.000,6,0.166,0.045,2823,2066,2429,0,0,0,0,0,0
$GC,5162,-1.11,-116.8,791.3,-14.3,405,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2066,2429,0,0,0,0,0,0
$GC,5471,-1.11,-116.8,834.5,-14.0,420,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2066,2428,0,0,0,0,0,0
$GC,5781,-1.14,-116.8,876.1,-13.0,435,5785,0.00,2.22,0.00,0.000,4,0.000,0.060,2814,3459,2428,0,0,0,0,0,0
$GC,5892,-1.14,-116.8,891.1,-13.0,440,5897,0.00,2.17,0.00,0.000,6,0.000,0.044,2814,2062,2428,0,0,0,0,0,0
$GC,6219,-1.14,-116.8,932.5,-12.6,456,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2061,2428,0,0,0,0,0,0
$GC,6529,-1.14,-116.8,972.9,-12.9,471,6533,0.00,2.22,0.00,0.000,4,0.000,0.061,2805,3457,2428,0,0,0,0,0,0
$GC,6555,-1.14,-116.8,976.6,-13.5,472,6560,0.03,2.20,0.00,0.000,6,0.202,0.043,2813,2055,2428,0,0,0,0,0,0
$STATE,6752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6752,begin apogee
$GC,6757,-0.19,0.0,1002.0,12.9,482,6867,1.02,0.00,106.55,1.288,6,0.168,0.000,3117,1598,1950,0,0,0,0,0,0
$STATE,6868,end apogee,CONTROL_FINISHED_OK
$STATE,6868,begin climb
$GC,6869,1.11,116.8,1005.1,0.0,487,6991,1.25,2.50,111.47,1.249,4,0.089,0.052,3543,205,1473,0,0,0,0,0,0
$GC,7052,1.11,116.8,986.1,15.0,495,7059,0.00,2.35,0.00,0.000,6,0.000,0.035,3543,1595,1469,0,0,0,0,0,0
$GC,7369,1.11,116.8,941.9,13.7,511,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1595,1466,0,0,0,0,0,0
$GC,7678,1.11,116.8,898.5,14.4,526,7682,0.00,2.30,0.00,0.000,4,0.000,0.052,3552,199,1465,0,0,0,0,0,0
$GC,7777,1.11,116.8,883.5,15.0,530,7783,0.00,2.25,0.00,0.000,6,0.000,0.037,3552,1601,1464,0,0,0,0,0,0
$GC,8093,1.11,116.8,839.7,13.6,546,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1464,0,0,0,0,0,0
$GC,8402,1.11,116.8,796.2,14.2,561,8406,0.00,2.25,0.00,0.000,4,0.000,0.056,3552,3000,1464,0,0,0,0,0,0
$GC,8442,1.11,116.8,790.6,15.4,563,8447,0.08,2.15,0.00,0.000,6,0.211,0.036,3545,1594,1463,0,0,0,0,0,0
$GC,8768,1.11,116.8,746.5,13.6,579,8772,0.00,2.25,0.00,0.000,4,0.000,0.054,3556,193,1463,0,0,0,0,0,0
$GC,8901,1.08,116.8,726.9,14.5,585,8906,0.03,2.22,0.00,0.000,6,0.154,0.037,3536,1604,1463,0,0,0,0,0,0
$GC,9228,1.12,116.8,684.4,13.0,601,9232,0.00,2.20,0.00,0.000,4,0.000,0.054,3536,2991,1463,0,0,0,0,0,0
$GC,9259,1.12,116.8,680.0,12.9,602,9266,0.00,2.17,0.00,0.000,6,0.000,0.035,3544,1596,1463,0,0,0,0,0,0
$GC,9576,1.12,116.8,639.3,13.1,618,9580,0.00,2.22,0.00,0.000,4,0.000,0.053,3555,199,1463,0,0,0,0,0,0
$GC,9739,1.12,116.8,616.3,14.2,625,9743,0.00,2.20,0.00,0.000,6,0.000,0.037,3555,1611,1462,0,0,0,0,0,0
$GC,10054,1.12,116.8,573.2,13.7,640,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1611,1462,0,0,0,0,0,0
$GC,10363,1.12,116.8,531.5,13.2,655,10367,0.00,2.25,0.00,0.000,4,0.000,0.051,3564,195,1462,0,0,0,0,0,0
$GC,10457,1.08,116.8,517.9,14.9,659,10462,0.08,2.20,0.00,0.000,6,0.167,0.037,3540,1603,1461,0,0,0,0,0,0
$GC,10779,1.12,116.8,477.5,12.6,675,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1604,1461,0,0,0,0,0,0
$GC,11089,1.16,116.8,441.0,11.5,690,11093,0.00,2.22,0.00,0.000,4,0.000,0.052,3549,199,1462,0,0,0,0,0,0
$GC,11143,1.16,116.8,434.1,12.3,692,11150,0.00,2.20,0.00,0.000,6,0.000,0.037,3549,1604,1461,0,0,0,0,0,0
$GC,11460,1.21,116.8,398.2,9.9,708,11465,0.08,2.15,0.00,0.000,4,0.122,0.054,3593,2992,1461,0,0,0,0,0,0
$GC,11571,1.10,116.8,385.1,13.5,717,11576,0.22,2.12,0.00,0.000,6,0.188,0.037,3543,1596,1461,0,0,0,0,0,0
$GC,11896,1.10,116.8,347.3,11.6,747,11900,0.00,2.22,0.00,0.000,4,0.000,0.054,3553,196,1461,0,0,0,0,0,0
$GC,11980,1.10,116.8,336.9,12.2,754,11985,0.05,2.15,0.00,0.000,6,0.232,0.036,3542,1606,1461,0,0,0,0,0,0
$GC,12305,1.13,116.8,299.3,11.7,784,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1606,1461,0,0,0,0,0,0
$GC,12625,1.17,116.8,264.2,11.1,814,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1606,1461,0,0,0,0,0,0
$GC,12943,1.21,116.8,228.9,11.0,844,12948,0.10,2.25,0.00,0.000,4,0.102,0.051,3604,195,1461,0,0,0,0,0,0
$GC,13107,1.11,116.8,206.5,13.8,858,13112,0.22,2.15,0.00,0.000,6,0.180,0.035,3544,1612,1461,0,0,0,0,0,0
$GC,13432,1.16,116.8,169.9,11.0,888,13436,0.00,2.15,0.00,0.000,4,0.000,0.051,3544,2997,1461,0,0,0,0,0,0
$GC,13471,1.16,116.8,165.5,11.4,891,13475,0.00,2.10,0.00,0.000,6,0.000,0.035,3552,1601,1461,0,0,0,0,0,0
$GC,13798,1.19,116.8,131.7,10.2,921,13802,0.00,2.20,0.00,0.000,4,0.000,0.053,3562,197,1461,0,0,0,0,0,0
$GC,13871,1.19,116.8,123.4,11.3,927,13875,0.00,2.12,0.00,0.000,6,0.000,0.036,3562,1596,1461,0,0,0,0,0,0
$GC,14202,1.19,116.8,91.1,8.9,965,14207,0.00,2.17,0.00,0.000,4,0.000,0.054,3562,2993,1461,0,0,0,0,0,0
$GC,14254,1.19,116.8,85.5,11.3,974,14259,0.00,2.12,0.00,0.000,6,0.000,0.035,3571,1590,1461,0,0,0,0,0,0
$GC,14602,1.19,116.8,52.8,9.2,1035,14609,0.00,2.22,0.00,0.000,4,0.000,0.053,3582,199,1460,0,0,0,0,0,0
$GC,14793,1.15,116.8,30.5,13.1,1067,14801,0.08,2.17,0.00,0.000,6,0.167,0.037,3558,1597,1461,0,0,0,0,0,0
$GC,14950,1.15,116.8,15.8,9.9,1092,14957,0.00,2.25,0.00,0.000,4,0.000,0.050,3568,198,1461,0,0,0,0,0,0
$STATE,15049,end climb,SURFACE_DEPTH_REACHED
$STATE,15049,begin surface coast
$FINISH,1.7,1.011341
$STATE,15076,end surface coast,CONTROL_FINISHED_OK
$STATE,15076,begin surface
$SM_CCo,15094,39.25,0.057,0,0,1133,200.16
$SM_GC,2.51,0.00,0.00,39.25,0.000,0.000,0.057,79,2058,1133,-9.71,-0.06,200.16
$IRIDIUM_FIX,-4447.43,625.13,270608,161601
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,23.1,23.628
$10V_AH,10.0,24.046
$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,24.250,107.600,218.025,39.250,0.000,24.840,42.887,296.446,0.000,0.000,35.929,2751.490,9357.396,367.621,3005.594,154.891,0.000,1399.359,0.000,2460.406,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,74.970,1288.260,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.097,2046.872,857.834,467.411,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353132
$DATA_FILE_SIZE,76976,1112
$CAP_FILE_SIZE,141635,0
$CFSIZE,2097086464,2069561344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010915,120933,-4505.690,625.493,52,0.8,52,-24.4