version: 66.07.10.p01
glider: 573
mission: 12
dive: 174
start: 9 1 115 17 15 26
data:
$ID,573
$MISSION,12
$DIVE,174
$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,-21546.432
$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,38
$R_STBD_OVSHOOT,38
$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,173
$GPS1,010915,170658,-4505.546,625.408,56,1.0,56,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-66.4
$GPS2,010915,171505,-4505.659,625.457,15,0.9,16,-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,352.6,3616,-26.5,-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,23,-1.05,-54.1,0.0,0.0,0,39,0.00,0.00,-13.85,0.000,2,0.000,0.000,80,2073,1411,0,0,0,0,0,0
$GC,41,-1.08,-94.9,3.0,-4.2,2,99,11.20,2.35,-37.42,0.000,4,0.240,0.072,2839,665,2338,0,0,0,0,0,0
$GC,368,-0.99,-94.9,52.6,-16.7,56,375,0.08,2.22,0.00,0.000,6,0.179,0.041,2863,2046,2341,0,0,0,0,0,0
$GC,721,-0.99,-94.9,103.4,-14.6,116,725,0.00,2.30,0.00,0.000,4,0.000,0.062,2853,3469,2341,0,0,0,0,0,0
$GC,978,-0.99,-94.9,143.7,-15.6,138,985,0.00,2.22,0.00,0.000,6,0.000,0.044,2853,2070,2342,0,0,0,0,0,0
$GC,1306,-0.99,-94.9,193.4,-14.1,169,1311,0.00,2.25,0.00,0.000,4,0.000,0.059,2843,3468,2342,0,0,0,0,0,0
$GC,1383,-0.99,-94.9,205.3,-14.1,175,1390,0.05,2.22,0.00,0.000,6,0.173,0.042,2860,2051,2342,0,0,0,0,0,0
$GC,1709,-0.99,-94.9,250.0,-14.1,206,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2052,2341,0,0,0,0,0,0
$GC,2028,-0.99,-94.9,294.1,-13.0,236,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2052,2342,0,0,0,0,0,0
$GC,2347,-0.99,-94.9,335.6,-12.6,266,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2051,2342,0,0,0,0,0,0
$GC,2666,-0.99,-94.9,377.9,-13.6,296,2670,0.00,2.30,0.00,0.000,4,0.000,0.063,2850,3472,2342,0,0,0,0,0,0
$GC,2716,-0.99,-94.9,384.9,-13.5,300,2721,0.05,2.17,0.00,0.000,6,0.232,0.044,2861,2055,2342,0,0,0,0,0,0
$GC,3035,-1.02,-94.9,426.6,-12.7,320,3039,0.00,2.20,0.00,0.000,4,0.000,0.057,2861,648,2342,0,0,0,0,0,0
$GC,3067,-1.02,-94.9,431.2,-13.4,321,3073,0.00,2.25,0.00,0.000,6,0.000,0.045,2852,2061,2342,0,0,0,0,0,0
$GC,3383,-1.02,-94.9,472.6,-13.2,337,3387,0.00,2.28,0.00,0.000,4,0.000,0.066,2841,3476,2342,0,0,0,0,0,0
$GC,3432,-1.02,-94.9,479.5,-13.8,339,3437,0.00,2.22,0.00,0.000,6,0.000,0.044,2841,2062,2342,0,0,0,0,0,0
$GC,3756,-1.02,-94.9,522.8,-13.6,355,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2062,2342,0,0,0,0,0,0
$GC,4065,-1.02,-94.9,564.7,-13.5,370,4069,0.00,2.25,0.00,0.000,4,0.000,0.062,2832,3468,2342,0,0,0,0,0,0
$GC,4104,-1.02,-94.9,570.2,-14.1,372,4109,0.10,2.17,0.00,0.000,6,0.190,0.044,2856,2052,2342,0,0,0,0,0,0
$GC,4431,-1.05,-94.9,613.1,-13.5,388,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2052,2342,0,0,0,0,0,0
$GC,4740,-1.09,-94.9,652.3,-12.8,403,4742,0.08,0.00,0.00,0.000,6,0.125,0.000,2818,2052,2342,0,0,0,0,0,0
$GC,5049,-1.06,-94.9,695.3,-13.8,418,5054,0.10,2.30,0.00,0.000,4,0.197,0.065,2833,3477,2341,0,0,0,0,0,0
$GC,5111,-1.06,-94.9,703.6,-13.0,421,5115,0.00,2.17,0.00,0.000,6,0.000,0.045,2833,2061,2341,0,0,0,0,0,0
$GC,5437,-1.06,-94.9,745.2,-13.1,437,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2061,2341,0,0,0,0,0,0
$GC,5746,-1.06,-94.9,784.2,-12.2,452,5750,0.00,2.28,0.00,0.000,4,0.000,0.063,2823,3469,2341,0,0,0,0,0,0
$GC,5778,-1.06,-94.9,788.6,-13.2,453,5785,0.03,2.20,0.00,0.000,6,0.192,0.044,2832,2065,2340,0,0,0,0,0,0
$GC,6095,-1.06,-94.9,827.4,-12.3,469,6099,0.00,2.28,0.00,0.000,4,0.000,0.062,2823,3475,2340,0,0,0,0,0,0
$GC,6194,-1.06,-94.9,840.5,-12.8,473,6201,0.03,2.22,0.00,0.000,6,0.199,0.045,2833,2060,2340,0,0,0,0,0,0
$GC,6510,-1.06,-94.9,879.2,-12.1,489,6514,0.00,2.28,0.00,0.000,4,0.000,0.063,2824,3468,2340,0,0,0,0,0,0
$GC,6542,-1.06,-94.9,883.5,-13.1,490,6548,0.05,2.22,0.00,0.000,6,0.172,0.045,2840,2054,2340,0,0,0,0,0,0
$GC,6858,-1.09,-94.9,920.2,-11.4,506,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2054,2340,0,0,0,0,0,0
$GC,7168,-1.13,-94.9,955.5,-11.4,521,7172,0.00,2.30,0.00,0.000,4,0.000,0.065,2831,3470,2339,0,0,0,0,0,0
$GC,7300,-1.13,-94.9,970.9,-11.4,527,7305,0.00,2.22,0.00,0.000,6,0.000,0.045,2831,2056,2339,0,0,0,0,0,0
$STATE,7565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7565,begin apogee
$GC,7570,-0.19,0.0,1000.4,11.1,540,7661,0.98,0.00,87.53,1.288,6,0.168,0.000,3119,1597,1950,0,0,0,0,0,0
$STATE,7662,end apogee,CONTROL_FINISHED_OK
$STATE,7662,begin climb
$GC,7664,1.08,94.9,1003.2,0.0,544,7766,1.23,2.50,90.60,1.252,4,0.087,0.052,3539,198,1561,0,0,0,0,0,0
$GC,7861,1.03,94.9,984.0,12.7,553,7866,0.05,2.35,0.00,0.000,6,0.178,0.036,3524,1613,1556,0,0,0,0,0,0
$GC,8187,1.03,94.9,943.7,12.3,569,8191,0.00,2.28,0.00,0.000,4,0.000,0.055,3524,3001,1554,0,0,0,0,0,0
$GC,8294,1.03,94.9,930.0,12.3,574,8299,0.05,2.20,0.00,0.000,6,0.243,0.034,3522,1590,1553,0,0,0,0,0,0
$GC,8621,1.03,94.9,890.4,12.2,590,8625,0.00,2.25,0.00,0.000,4,0.000,0.053,3533,193,1552,0,0,0,0,0,0
$GC,8720,1.00,94.9,877.7,13.0,594,8727,0.10,2.25,0.00,0.000,6,0.167,0.037,3501,1601,1551,0,0,0,0,0,0
$GC,9037,1.06,94.9,843.2,11.0,610,9039,0.08,0.00,0.00,0.000,6,0.122,0.000,3540,1601,1550,0,0,0,0,0,0
$GC,9346,1.06,94.9,805.5,12.0,625,9348,0.05,0.00,0.00,0.000,6,0.234,0.000,3530,1602,1550,0,0,0,0,0,0
$GC,9655,1.06,94.9,768.9,11.6,640,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1602,1550,0,0,0,0,0,0
$GC,9964,1.06,94.9,733.2,11.3,655,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1602,1550,0,0,0,0,0,0
$GC,10274,1.06,94.9,699.4,10.7,670,10278,0.00,2.25,0.00,0.000,4,0.000,0.052,3540,192,1550,0,0,0,0,0,0
$GC,10407,1.02,94.9,683.8,12.4,676,10412,0.10,2.20,0.00,0.000,6,0.200,0.037,3516,1611,1549,0,0,0,0,0,0
$GC,10729,1.07,94.9,650.4,10.4,692,10733,0.00,2.25,0.00,0.000,4,0.000,0.052,3526,195,1549,0,0,0,0,0,0
$GC,10790,1.07,94.9,643.5,11.7,695,10794,0.00,2.17,0.00,0.000,6,0.000,0.037,3525,1599,1549,0,0,0,0,0,0
$GC,11116,1.07,94.9,609.7,10.3,711,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1600,1549,0,0,0,0,0,0
$GC,11426,1.10,94.9,578.5,10.0,726,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,1600,1549,0,0,0,0,0,0
$GC,11735,1.13,94.9,546.4,10.6,741,11737,0.08,0.00,0.00,0.000,6,0.127,0.000,3565,1600,1549,0,0,0,0,0,0
$GC,12044,1.09,94.9,511.2,11.3,756,12049,0.10,2.25,0.00,0.000,4,0.193,0.051,3550,193,1549,0,0,0,0,0,0
$GC,12178,1.04,94.9,495.2,11.8,762,12182,0.10,2.15,0.00,0.000,6,0.197,0.037,3525,1605,1549,0,0,0,0,0,0
$GC,12499,1.08,94.9,462.7,9.6,778,12503,0.00,2.17,0.00,0.000,4,0.000,0.054,3525,2992,1549,0,0,0,0,0,0
$GC,12581,1.08,94.9,453.9,10.9,781,12587,0.00,2.15,0.00,0.000,6,0.000,0.036,3534,1603,1548,0,0,0,0,0,0
$GC,12897,1.08,94.9,423.1,9.5,797,12901,0.00,2.22,0.00,0.000,4,0.000,0.053,3545,187,1548,0,0,0,0,0,0
$GC,12982,1.05,94.9,414.3,10.8,801,12987,0.10,2.15,0.00,0.000,6,0.199,0.036,3521,1601,1548,0,0,0,0,0,0
$GC,13303,1.10,94.9,385.1,9.6,824,13307,0.00,2.20,0.00,0.000,4,0.000,0.056,3520,2991,1548,0,0,0,0,0,0
$GC,13357,1.10,94.9,379.8,10.1,828,13366,0.00,2.15,0.00,0.000,6,0.000,0.035,3529,1598,1548,0,0,0,0,0,0
$GC,13683,1.13,94.9,349.7,9.5,859,13687,0.00,2.20,0.00,0.000,4,0.000,0.053,3540,196,1548,0,0,0,0,0,0
$GC,13772,1.13,94.9,340.6,10.0,866,13778,0.00,2.17,0.00,0.000,6,0.000,0.035,3540,1596,1548,0,0,0,0,0,0
$GC,14101,1.13,94.9,308.4,10.0,897,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1596,1548,0,0,0,0,0,0
$GC,14426,1.13,94.9,274.3,10.6,928,14430,0.00,2.25,0.00,0.000,4,0.000,0.050,3548,186,1547,0,0,0,0,0,0
$GC,14546,1.10,94.9,260.8,10.6,938,14550,0.00,2.17,0.00,0.000,6,0.000,0.036,3547,1617,1547,0,0,0,0,0,0
$GC,14870,1.10,94.9,225.8,11.0,968,14874,0.00,2.25,0.00,0.000,4,0.000,0.050,3556,194,1548,0,0,0,0,0,0
$GC,15070,1.05,94.9,202.0,13.7,985,15075,0.12,2.15,0.00,0.000,6,0.184,0.036,3525,1609,1548,0,0,0,0,0,0
$GC,15395,1.10,94.9,167.8,10.0,1015,15399,0.00,2.15,0.00,0.000,4,0.000,0.054,3525,2992,1548,0,0,0,0,0,0
$GC,15439,1.10,94.9,163.0,10.2,1018,15445,0.00,2.15,0.00,0.000,6,0.000,0.035,3534,1595,1548,0,0,0,0,0,0
$GC,15767,1.14,94.9,132.4,9.5,1049,15771,0.00,2.20,0.00,0.000,4,0.000,0.052,3544,200,1548,0,0,0,0,0,0
$GC,15912,1.14,94.9,117.4,9.8,1061,15918,0.00,2.17,0.00,0.000,6,0.000,0.036,3544,1598,1548,0,0,0,0,0,0
$GC,16249,1.14,94.9,84.6,10.1,1105,16253,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1598,1548,0,0,0,0,0,0
$GC,16596,1.14,104.6,52.3,7.5,1166,16609,0.00,2.22,7.60,0.604,4,0.000,0.047,3554,195,1522,0,0,0,0,0,0
$GC,16667,1.14,104.6,45.4,10.2,1178,16672,0.00,2.15,0.00,0.000,6,0.000,0.036,3554,1605,1522,0,0,0,0,0,0
$STATE,17022,end climb,SURFACE_DEPTH_REACHED
$STATE,17023,begin surface coast
$FINISH,1.8,1.023427
$STATE,17049,end surface coast,CONTROL_FINISHED_OK
$STATE,17049,begin surface
$SM_CCo,17066,46.28,0.055,0,0,1133,200.16
$SM_GC,3.12,0.00,0.00,46.28,0.000,0.000,0.055,75,2074,1133,-9.72,0.40,200.16
$IRIDIUM_FIX,-4447.43,624.79,280608,010149
$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.4,23.817
$10V_AH,10.0,24.298
$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,23.775,121.675,185.725,46.275,0.000,25.821,16.876,318.507,0.000,0.000,18.285,3083.645,10660.708,347.085,3331.014,171.652,0.000,1516.962,0.000,2790.219,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,71.910,1288.260,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.813,2253.008,897.702,471.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,86936,1241
$CAP_FILE_SIZE,158310,0
$CFSIZE,2097086464,2069299200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010915,220201,-4505.938,625.182,48,1.1,48,-24.4