version: 66.07.10.p01
glider: 573
mission: 12
dive: 173
start: 9 1 115 12 18 8
data:
$ID,573
$MISSION,12
$DIVE,173
$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,-21542.758
$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,172
$GPS1,010915,120933,-4505.690,625.493,52,0.8,52,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-64.4
$GPS2,010915,121747,-4505.783,625.590,15,0.8,16,-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,352.2,3902,-24.6,-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,-62.9,0.0,0.0,0,34,0.00,0.00,-8.85,0.000,2,0.000,0.000,79,2058,1308,0,0,0,0,0,0
$GC,36,-1.02,-116.8,3.0,-0.0,1,105,11.30,0.00,-49.58,0.000,6,0.242,0.000,2846,2065,2426,0,0,0,0,0,0
$GC,157,-0.93,-116.8,12.9,-16.9,20,165,0.15,2.35,0.00,0.000,4,0.191,0.068,2874,3457,2428,0,0,0,0,0,0
$GC,216,-0.87,-116.8,24.4,-20.2,29,224,0.08,2.22,0.00,0.000,6,0.168,0.044,2897,2073,2428,0,0,0,0,0,0
$GC,368,-0.87,-116.8,45.8,-12.5,54,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2072,2428,0,0,0,0,0,0
$GC,718,-0.87,-116.8,96.1,-14.8,115,723,0.00,2.28,0.00,0.000,4,0.000,0.054,2897,644,2429,0,0,0,0,0,0
$GC,786,-0.87,-116.8,107.6,-16.3,123,790,0.05,2.22,0.00,0.000,6,0.251,0.041,2897,2068,2429,0,0,0,0,0,0
$GC,1112,-0.87,-116.8,155.0,-14.2,153,1116,0.00,2.25,0.00,0.000,4,0.000,0.063,2887,3475,2429,0,0,0,0,0,0
$GC,1152,-0.87,-116.8,160.7,-13.3,156,1157,0.05,2.20,0.00,0.000,6,0.216,0.042,2898,2051,2429,0,0,0,0,0,0
$GC,1477,-0.91,-116.8,201.4,-12.6,186,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2051,2429,0,0,0,0,0,0
$GC,1796,-0.96,-116.8,242.4,-13.0,216,1798,0.08,0.00,0.00,0.000,6,0.131,0.000,2855,2052,2429,0,0,0,0,0,0
$GC,2114,-0.93,-116.8,289.7,-14.8,246,2116,0.10,0.00,0.00,0.000,6,0.204,0.000,2878,2051,2429,0,0,0,0,0,0
$GC,2433,-0.93,-116.8,333.1,-13.1,276,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2051,2429,0,0,0,0,0,0
$GC,2751,-0.93,-116.8,373.1,-12.3,306,2755,0.00,2.28,0.00,0.000,4,0.000,0.065,2869,3463,2429,0,0,0,0,0,0
$GC,2793,-0.93,-116.8,378.0,-12.5,309,2798,0.05,2.17,0.00,0.000,6,0.234,0.043,2878,2052,2429,0,0,0,0,0,0
$GC,3129,-0.93,-116.8,418.2,-11.8,334,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2051,2429,0,0,0,0,0,0
$GC,3438,-0.93,-116.8,455.5,-12.3,349,3442,0.00,2.22,0.00,0.000,4,0.000,0.056,2880,650,2429,0,0,0,0,0,0
$GC,3464,-0.93,-116.8,458.9,-12.5,350,3468,0.00,2.25,0.00,0.000,6,0.000,0.044,2871,2061,2429,0,0,0,0,0,0
$GC,3786,-0.93,-116.8,497.9,-12.0,366,3790,0.00,2.25,0.00,0.000,4,0.000,0.067,2860,3471,2429,0,0,0,0,0,0
$GC,3817,-0.93,-116.8,502.2,-12.8,367,3824,0.05,2.20,0.00,0.000,6,0.179,0.044,2876,2072,2429,0,0,0,0,0,0
$GC,4134,-0.93,-116.8,540.1,-11.9,383,4138,0.00,2.25,0.00,0.000,4,0.000,0.064,2867,3473,2429,0,0,0,0,0,0
$GC,4165,-0.93,-116.8,544.4,-12.5,384,4172,0.03,2.22,0.00,0.000,6,0.199,0.044,2875,2056,2429,0,0,0,0,0,0
$GC,4481,-0.93,-116.8,582.2,-11.9,400,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2056,2429,0,0,0,0,0,0
$GC,4791,-0.96,-116.8,619.7,-12.0,415,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2056,2429,0,0,0,0,0,0
$GC,5101,-0.99,-116.8,656.8,-11.8,430,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2056,2429,0,0,0,0,0,0
$GC,5410,-1.03,-116.8,693.6,-12.0,445,5412,0.08,0.00,0.00,0.000,6,0.129,0.000,2835,2056,2428,0,0,0,0,0,0
$GC,5719,-0.99,-116.8,736.3,-14.3,460,5724,0.10,2.22,0.00,0.000,4,0.192,0.058,2859,649,2429,0,0,0,0,0,0
$GC,5736,-0.96,-116.8,738.8,-14.3,461,5741,0.10,2.22,0.00,0.000,6,0.200,0.047,2874,2060,2429,0,0,0,0,0,0
$GC,6062,-1.00,-116.8,782.3,-13.3,477,6066,0.00,2.25,0.00,0.000,4,0.000,0.067,2864,3469,2429,0,0,0,0,0,0
$GC,6094,-1.00,-116.8,786.9,-13.7,478,6101,0.00,2.22,0.00,0.000,6,0.000,0.045,2864,2057,2428,0,0,0,0,0,0
$GC,6411,-1.00,-116.8,829.4,-13.5,494,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2057,2428,0,0,0,0,0,0
$GC,6720,-1.00,-116.8,869.8,-12.6,509,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2057,2428,0,0,0,0,0,0
$GC,7029,-1.00,-116.8,907.3,-12.0,524,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2057,2428,0,0,0,0,0,0
$GC,7339,-1.03,-116.8,942.6,-11.0,539,7343,0.00,2.22,0.00,0.000,4,0.000,0.058,2864,657,2428,0,0,0,0,0,0
$GC,7410,-1.03,-116.8,951.0,-11.2,542,7415,0.00,2.22,0.00,0.000,6,0.000,0.046,2854,2054,2428,0,0,0,0,0,0
$GC,7732,-1.03,-116.8,987.8,-11.6,558,7736,0.00,2.22,0.00,0.000,4,0.000,0.063,2843,3469,2428,0,0,0,0,0,0
$GC,7758,-1.03,-116.8,991.2,-11.8,559,7763,0.00,2.20,0.00,0.000,6,0.000,0.044,2844,2063,2428,0,0,0,0,0,0
$STATE,7852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7852,begin apogee
$GC,7857,-0.19,0.0,1002.2,11.8,564,7967,0.93,0.00,106.72,1.292,6,0.165,0.000,3118,1588,1950,0,0,0,0,0,0
$STATE,7968,end apogee,CONTROL_FINISHED_OK
$STATE,7968,begin climb
$GC,7969,1.02,116.8,1005.5,0.0,569,8092,1.17,2.50,111.18,1.248,4,0.090,0.053,3519,203,1473,0,0,0,0,0,0
$GC,8153,0.98,116.8,988.7,12.6,577,8159,0.05,2.40,0.00,0.000,6,0.160,0.037,3503,1615,1469,0,0,0,0,0,0
$GC,8469,0.98,116.8,950.5,12.1,593,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1615,1466,0,0,0,0,0,0
$GC,8778,0.98,116.8,913.4,11.8,608,8782,0.00,2.33,0.00,0.000,4,0.000,0.051,3513,192,1465,0,0,0,0,0,0
$GC,8849,0.94,116.8,904.3,12.2,611,8854,0.10,2.25,0.00,0.000,6,0.185,0.037,3489,1610,1464,0,0,0,0,0,0
$GC,9171,0.99,116.8,869.1,11.0,627,9175,0.00,2.30,0.00,0.000,4,0.000,0.052,3499,190,1463,0,0,0,0,0,0
$GC,9247,0.99,116.8,859.9,12.3,630,9254,0.00,2.25,0.00,0.000,6,0.000,0.036,3498,1601,1463,0,0,0,0,0,0
$GC,9564,0.99,116.8,823.8,11.7,646,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1601,1463,0,0,0,0,0,0
$GC,9873,0.99,116.8,787.2,12.2,661,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1601,1463,0,0,0,0,0,0
$GC,10182,0.99,116.8,750.0,12.0,676,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1601,1463,0,0,0,0,0,0
$GC,10492,0.99,116.8,713.6,11.6,691,10496,0.00,2.28,0.00,0.000,4,0.000,0.052,3508,193,1463,0,0,0,0,0,0
$GC,10591,0.99,116.8,701.1,12.4,695,10597,0.00,2.20,0.00,0.000,6,0.000,0.036,3508,1594,1462,0,0,0,0,0,0
$GC,10907,0.99,116.8,664.2,11.6,711,10911,0.00,2.22,0.00,0.000,4,0.000,0.057,3508,2991,1462,0,0,0,0,0,0
$GC,11006,0.99,116.8,651.9,12.6,715,11013,0.03,2.17,0.00,0.000,6,0.200,0.035,3508,1597,1462,0,0,0,0,0,0
$GC,11322,0.99,116.8,615.3,11.6,731,11326,0.00,2.22,0.00,0.000,4,0.000,0.054,3518,192,1462,0,0,0,0,0,0
$GC,11416,0.99,116.8,603.5,13.5,735,11421,0.03,2.20,0.00,0.000,6,0.198,0.036,3509,1599,1461,0,0,0,0,0,0
$GC,11738,0.99,116.8,566.3,11.5,751,11742,0.00,2.25,0.00,0.000,4,0.000,0.052,3518,198,1461,0,0,0,0,0,0
$GC,11781,0.99,116.8,561.0,11.8,753,11786,0.03,2.20,0.00,0.000,6,0.205,0.037,3508,1598,1461,0,0,0,0,0,0
$GC,12108,0.99,116.8,525.3,10.7,769,12112,0.00,2.22,0.00,0.000,4,0.000,0.057,3509,3001,1461,0,0,0,0,0,0
$GC,12162,0.99,116.8,518.8,12.2,771,12168,0.03,2.17,0.00,0.000,6,0.198,0.035,3508,1598,1461,0,0,0,0,0,0
$GC,12484,0.99,116.8,484.8,10.5,787,12488,0.00,2.22,0.00,0.000,4,0.000,0.054,3519,199,1461,0,0,0,0,0,0
$GC,12594,0.99,116.8,472.4,11.7,792,12600,0.03,2.20,0.00,0.000,6,0.195,0.037,3509,1604,1461,0,0,0,0,0,0
$GC,12922,0.99,116.8,439.3,10.2,808,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1605,1460,0,0,0,0,0,0
$GC,13231,0.99,116.8,407.5,10.7,823,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1605,1461,0,0,0,0,0,0
$GC,13551,0.99,116.8,373.5,10.7,849,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1604,1461,0,0,0,0,0,0
$GC,13876,0.99,116.8,337.3,11.2,880,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1605,1461,0,0,0,0,0,0
$GC,14194,0.99,116.8,302.4,10.5,910,14198,0.00,2.17,0.00,0.000,4,0.000,0.054,3509,3000,1461,0,0,0,0,0,0
$GC,14245,0.99,116.8,296.6,11.0,914,14250,0.05,2.12,0.00,0.000,6,0.239,0.035,3507,1594,1461,0,0,0,0,0,0
$GC,14569,0.99,116.8,262.0,10.3,944,14573,0.00,2.20,0.00,0.000,4,0.000,0.054,3518,195,1461,0,0,0,0,0,0
$GC,14646,0.99,116.8,253.3,10.5,950,14654,0.03,2.17,0.00,0.000,6,0.179,0.036,3508,1594,1460,0,0,0,0,0,0
$GC,14975,1.02,116.8,220.9,9.9,981,14979,0.00,2.20,0.00,0.000,4,0.000,0.054,3508,2991,1461,0,0,0,0,0,0
$GC,15036,1.02,116.8,214.1,10.9,986,15040,0.00,2.10,0.00,0.000,6,0.000,0.034,3516,1596,1460,0,0,0,0,0,0
$GC,15361,1.02,116.8,180.5,10.9,1016,15362,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,1596,1461,0,0,0,0,0,0
$GC,15680,1.02,116.8,148.8,8.8,1046,15684,0.00,2.20,0.00,0.000,4,0.000,0.053,3527,193,1460,0,0,0,0,0,0
$GC,15791,1.02,116.8,138.1,9.8,1055,15798,0.03,2.17,0.00,0.000,6,0.174,0.034,3518,1600,1460,0,0,0,0,0,0
$GC,16117,1.02,116.8,110.2,8.6,1086,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1600,1460,0,0,0,0,0,0
$GC,16454,1.02,116.8,77.5,11.0,1135,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1600,1460,0,0,0,0,0,0
$GC,16801,1.02,116.8,40.7,10.3,1196,16806,0.00,2.25,0.00,0.000,4,0.000,0.051,3528,203,1460,0,0,0,0,0,0
$GC,16955,1.02,116.8,23.7,10.5,1221,16963,0.03,2.15,0.00,0.000,6,0.194,0.035,3519,1596,1460,0,0,0,0,0,0
$GC,17112,1.02,116.8,6.9,9.5,1246,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1597,1460,0,0,0,0,0,0
$STATE,17150,end climb,SURFACE_DEPTH_REACHED
$STATE,17150,begin surface coast
$FINISH,1.7,1.023369
$STATE,17182,end surface coast,CONTROL_FINISHED_OK
$STATE,17182,begin surface
$SM_CCo,17199,39.95,0.055,0,0,1132,200.16
$SM_GC,2.62,0.00,0.00,39.95,0.000,0.000,0.055,80,2073,1132,-9.70,0.37,200.16
$IRIDIUM_FIX,-4447.43,622.10,270608,212108
$TT8_MAMPS,0.026215
$HUMID,63.38
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.1,23.729
$10V_AH,10.1,24.173
$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,23.725,112.950,217.900,39.950,0.000,39.217,28.764,301.410,0.000,0.000,19.515,3082.488,10849.082,374.375,3259.051,166.403,0.000,1514.033,0.000,2710.132,0.000,0.541,0.000
$DEVICE_MAMPS,250.920,68.085,1292.085,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.007,2317.521,937.717,500.069,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,87027,1257
$CAP_FILE_SIZE,155169,0
$CFSIZE,2097086464,2069430272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010915,170658,-4505.546,625.408,56,1.0,56,-24.4