version: 66.07.10.p01
glider: 573
mission: 12
dive: 180
start: 9 3 115 1 17 31
data:
$ID,573
$MISSION,12
$DIVE,180
$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,-21565.895
$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,40
$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,179
$GPS1,030915,010833,-4505.788,625.438,38,1.1,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-66.0
$GPS2,030915,011711,-4505.873,625.499,17,1.0,17,-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,354.9,3984,-24.1,-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,-0.97,-65.6,0.0,0.0,0,46,0.00,0.00,-20.15,0.000,2,0.000,0.000,76,2064,1530,0,0,0,0,0,0
$GC,48,-1.00,-116.8,3.1,-2.1,3,106,11.27,2.33,-35.78,0.000,4,0.237,0.069,2858,661,2428,0,0,0,0,0,0
$GC,315,-0.89,-116.8,37.0,-15.5,46,323,0.12,2.25,0.00,0.000,6,0.162,0.044,2888,2053,2430,0,0,0,0,0,0
$GC,462,-0.89,-116.8,59.0,-13.7,71,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2053,2429,0,0,0,0,0,0
$GC,805,-0.89,-116.8,108.0,-15.0,127,809,0.00,2.25,0.00,0.000,4,0.000,0.060,2877,3471,2430,0,0,0,0,0,0
$GC,892,-0.89,-116.8,121.7,-14.2,134,900,0.03,2.20,0.00,0.000,6,0.186,0.041,2887,2073,2430,0,0,0,0,0,0
$GC,1220,-0.89,-116.8,164.7,-13.9,165,1224,0.00,2.25,0.00,0.000,4,0.000,0.053,2887,652,2430,0,0,0,0,0,0
$GC,1241,-0.89,-116.8,168.3,-14.5,166,1248,0.03,2.25,0.00,0.000,6,0.207,0.043,2887,2067,2430,0,0,0,0,0,0
$GC,1569,-0.89,-116.8,210.1,-12.2,197,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2067,2430,0,0,0,0,0,0
$GC,1885,-0.89,-116.8,249.1,-13.0,227,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2067,2431,0,0,0,0,0,0
$GC,2206,-0.89,-116.8,290.2,-13.4,257,2210,0.00,2.20,0.00,0.000,4,0.000,0.061,2877,3463,2431,0,0,0,0,0,0
$GC,2246,-0.89,-116.8,295.8,-13.8,260,2251,0.08,2.15,0.00,0.000,6,0.199,0.040,2893,2051,2431,0,0,0,0,0,0
$GC,2571,-0.93,-116.8,337.0,-12.4,290,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2051,2431,0,0,0,0,0,0
$GC,2890,-0.97,-116.8,376.2,-11.9,320,2892,0.08,0.00,0.00,0.000,6,0.129,0.000,2849,2051,2431,0,0,0,0,0,0
$GC,3215,-0.93,-116.8,421.0,-14.0,344,3217,0.12,0.00,0.00,0.000,6,0.186,0.000,2881,2051,2430,0,0,0,0,0,0
$GC,3523,-0.93,-116.8,460.2,-12.5,359,3527,0.00,2.28,0.00,0.000,4,0.000,0.063,2871,3462,2431,0,0,0,0,0,0
$GC,3554,-0.93,-116.8,464.4,-12.8,360,3561,0.03,2.17,0.00,0.000,6,0.203,0.041,2879,2069,2431,0,0,0,0,0,0
$GC,3871,-0.93,-116.8,503.2,-12.3,376,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2068,2431,0,0,0,0,0,0
$GC,4180,-0.93,-116.8,541.2,-12.1,391,4184,0.00,2.22,0.00,0.000,4,0.000,0.054,2879,658,2430,0,0,0,0,0,0
$GC,4241,-0.93,-116.8,549.1,-13.3,394,4246,0.00,2.17,0.00,0.000,6,0.000,0.042,2871,2068,2430,0,0,0,0,0,0
$GC,4568,-0.93,-116.8,589.4,-12.2,410,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2068,2430,0,0,0,0,0,0
$GC,4877,-0.93,-116.8,627.5,-12.5,425,4881,0.00,2.20,0.00,0.000,4,0.000,0.062,2860,3465,2429,0,0,0,0,0,0
$GC,4925,-0.93,-116.8,634.0,-13.0,427,4931,0.05,2.17,0.00,0.000,6,0.167,0.041,2877,2066,2430,0,0,0,0,0,0
$GC,5249,-0.96,-116.8,673.1,-12.1,443,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2066,2430,0,0,0,0,0,0
$GC,5557,-0.99,-116.8,710.1,-11.9,458,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2066,2429,0,0,0,0,0,0
$GC,5867,-1.03,-116.8,745.3,-11.5,473,5868,0.08,0.00,0.00,0.000,6,0.125,0.000,2836,2066,2429,0,0,0,0,0,0
$GC,6176,-0.98,-116.8,786.3,-13.5,488,6178,0.10,0.00,0.00,0.000,6,0.188,0.000,2860,2066,2429,0,0,0,0,0,0
$GC,6485,-0.98,-116.8,824.9,-12.4,503,6489,0.00,2.25,0.00,0.000,4,0.000,0.060,2851,3474,2429,0,0,0,0,0,0
$GC,6527,-0.98,-116.8,830.6,-12.9,505,6533,0.03,2.22,0.00,0.000,6,0.193,0.044,2859,2050,2429,0,0,0,0,0,0
$GC,6855,-0.98,-116.8,868.8,-11.5,521,6859,0.00,2.17,0.00,0.000,4,0.000,0.056,2860,656,2428,0,0,0,0,0,0
$GC,6894,-0.98,-116.8,873.5,-13.2,523,6899,0.05,2.20,0.00,0.000,6,0.239,0.043,2861,2069,2429,0,0,0,0,0,0
$GC,7220,-0.98,-116.8,911.8,-11.5,539,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2069,2429,0,0,0,0,0,0
$GC,7529,-0.98,-116.8,947.1,-11.4,554,7533,0.00,2.20,0.00,0.000,4,0.000,0.061,2851,3471,2428,0,0,0,0,0,0
$GC,7572,-0.98,-116.8,952.2,-12.0,556,7577,0.00,2.20,0.00,0.000,6,0.000,0.043,2851,2058,2429,0,0,0,0,0,0
$GC,7900,-0.98,-116.8,988.6,-10.9,572,7902,0.05,0.00,0.00,0.000,6,0.230,0.000,2862,2057,2428,0,0,0,0,0,0
$STATE,8022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8022,begin apogee
$GC,8027,-0.19,0.0,1001.3,10.4,578,8138,0.85,0.00,106.55,1.292,6,0.155,0.000,3119,1594,1950,0,0,0,0,0,0
$STATE,8138,end apogee,CONTROL_FINISHED_OK
$STATE,8138,begin climb
$GC,8140,1.00,116.8,1004.3,0.0,583,8262,1.15,2.50,111.12,1.255,4,0.088,0.051,3512,200,1473,0,0,0,0,0,0
$GC,8353,1.00,116.8,983.7,12.8,593,8357,0.00,2.35,0.00,0.000,6,0.000,0.036,3512,1614,1467,0,0,0,0,0,0
$GC,8679,1.00,116.8,943.4,12.0,609,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1614,1465,0,0,0,0,0,0
$GC,8988,1.00,116.8,907.4,11.3,624,8992,0.00,2.30,0.00,0.000,4,0.000,0.050,3522,201,1464,0,0,0,0,0,0
$GC,9043,0.94,116.8,900.1,14.3,626,9050,0.08,2.25,0.00,0.000,6,0.160,0.037,3496,1605,1462,0,0,0,0,0,0
$GC,9359,0.94,116.8,863.9,11.5,642,9363,0.00,2.28,0.00,0.000,4,0.000,0.051,3506,192,1462,0,0,0,0,0,0
$GC,9425,0.94,116.8,855.8,11.9,645,9430,0.03,2.22,0.00,0.000,6,0.195,0.035,3496,1606,1462,0,0,0,0,0,0
$GC,9752,0.94,116.8,819.1,11.2,661,9757,0.00,2.28,0.00,0.000,4,0.000,0.051,3506,198,1461,0,0,0,0,0,0
$GC,9801,0.94,116.8,813.0,12.3,663,9807,0.03,2.20,0.00,0.000,6,0.190,0.035,3496,1601,1461,0,0,0,0,0,0
$GC,10123,0.94,116.8,777.1,11.1,679,10127,0.00,2.20,0.00,0.000,4,0.000,0.055,3496,2994,1461,0,0,0,0,0,0
$GC,10171,0.94,116.8,771.3,11.5,681,10177,0.03,2.17,0.00,0.000,6,0.192,0.035,3496,1598,1461,0,0,0,0,0,0
$GC,10493,0.94,116.8,735.8,10.9,697,10497,0.00,2.25,0.00,0.000,4,0.000,0.054,3507,192,1461,0,0,0,0,0,0
$GC,10603,0.94,116.8,723.1,11.7,702,10608,0.05,2.20,0.00,0.000,6,0.170,0.035,3490,1599,1461,0,0,0,0,0,0
$GC,10930,0.99,116.8,689.4,10.6,718,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1599,1460,0,0,0,0,0,0
$GC,11240,1.03,116.8,657.4,10.6,733,11244,0.08,2.20,0.00,0.000,4,0.125,0.055,3531,2990,1460,0,0,0,0,0,0
$GC,11283,0.97,116.8,651.9,12.8,735,11288,0.12,2.15,0.00,0.000,6,0.169,0.034,3501,1597,1460,0,0,0,0,0,0
$GC,11610,0.97,116.8,614.5,11.6,751,11614,0.00,2.20,0.00,0.000,4,0.000,0.054,3512,199,1460,0,0,0,0,0,0
$GC,11695,0.97,116.8,604.1,11.8,755,11700,0.05,2.15,0.00,0.000,6,0.226,0.037,3500,1611,1460,0,0,0,0,0,0
$GC,12021,0.97,116.8,567.6,10.5,771,12025,0.00,2.15,0.00,0.000,4,0.000,0.054,3500,2992,1460,0,0,0,0,0,0
$GC,12064,0.97,116.8,562.6,11.3,773,12070,0.03,2.15,0.00,0.000,6,0.194,0.035,3500,1596,1460,0,0,0,0,0,0
$GC,12392,0.97,116.8,527.2,11.0,789,12395,0.00,2.20,0.00,0.000,4,0.000,0.054,3511,195,1460,0,0,0,0,0,0
$GC,12451,0.97,116.8,519.9,11.8,791,12458,0.03,2.17,0.00,0.000,6,0.186,0.035,3501,1598,1459,0,0,0,0,0,0
$GC,12768,0.97,116.8,484.3,11.2,807,12772,0.00,2.22,0.00,0.000,4,0.000,0.051,3511,200,1459,0,0,0,0,0,0
$GC,12833,0.97,116.8,476.3,12.7,810,12839,0.03,2.17,0.00,0.000,6,0.191,0.037,3502,1599,1460,0,0,0,0,0,0
$GC,13161,1.00,116.8,439.5,10.9,826,13165,0.00,2.20,0.00,0.000,4,0.000,0.055,3501,2996,1459,0,0,0,0,0,0
$GC,13232,1.00,116.8,431.2,11.7,829,13237,0.00,2.15,0.00,0.000,6,0.000,0.034,3510,1602,1459,0,0,0,0,0,0
$GC,13554,1.00,116.8,396.3,11.3,846,13558,0.00,2.20,0.00,0.000,4,0.000,0.054,3522,198,1459,0,0,0,0,0,0
$GC,13707,1.00,116.8,378.0,11.9,859,13712,0.05,2.12,0.00,0.000,6,0.223,0.036,3510,1603,1459,0,0,0,0,0,0
$GC,14033,1.00,116.8,342.2,11.2,889,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1603,1459,0,0,0,0,0,0
$GC,14351,1.00,116.8,306.6,11.1,919,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1603,1459,0,0,0,0,0,0
$GC,14671,1.00,116.8,272.5,10.6,949,14675,0.00,2.15,0.00,0.000,4,0.000,0.053,3510,2990,1459,0,0,0,0,0,0
$GC,14726,1.00,116.8,266.5,11.3,953,14730,0.00,2.12,0.00,0.000,6,0.000,0.035,3519,1590,1459,0,0,0,0,0,0
$GC,15050,1.00,116.8,229.6,10.7,983,15054,0.00,2.20,0.00,0.000,4,0.000,0.053,3530,198,1459,0,0,0,0,0,0
$GC,15170,0.97,116.8,215.6,11.6,993,15175,0.12,2.15,0.00,0.000,6,0.177,0.037,3497,1604,1459,0,0,0,0,0,0
$GC,15495,1.02,116.8,182.6,9.9,1023,15499,0.00,2.22,0.00,0.000,4,0.000,0.051,3507,190,1459,0,0,0,0,0,0
$GC,15571,1.02,116.8,174.9,10.1,1029,15575,0.00,2.15,0.00,0.000,6,0.000,0.035,3507,1598,1459,0,0,0,0,0,0
$GC,15896,1.06,118.0,144.3,8.4,1059,15898,0.05,0.00,0.00,0.000,6,0.167,0.000,3542,1598,1459,0,0,0,0,0,0
$GC,16216,1.06,118.0,112.7,10.1,1089,16221,0.05,2.20,0.00,0.000,4,0.230,0.050,3541,193,1459,0,0,0,0,0,0
$GC,16289,1.03,118.0,104.8,9.9,1095,16293,0.10,2.12,0.00,0.000,6,0.187,0.036,3516,1600,1459,0,0,0,0,0,0
$GC,16635,1.03,118.0,69.5,11.5,1150,16640,0.00,2.17,0.00,0.000,4,0.000,0.054,3516,2988,1459,0,0,0,0,0,0
$GC,16675,1.03,118.0,64.1,12.7,1157,16680,0.00,2.08,0.00,0.000,6,0.000,0.034,3525,1603,1459,0,0,0,0,0,0
$GC,17031,1.03,118.0,24.5,14.3,1218,17038,0.00,2.22,0.00,0.000,4,0.000,0.051,3535,202,1459,0,0,0,0,0,0
$STATE,17185,end climb,SURFACE_DEPTH_REACHED
$STATE,17185,begin surface coast
$FINISH,1.9,1.023409
$STATE,17205,end surface coast,CONTROL_FINISHED_OK
$STATE,17205,begin surface
$SM_CCo,17224,38.97,0.055,0,0,1132,200.16
$SM_GC,2.90,0.00,0.00,38.97,0.000,0.000,0.055,63,2058,1132,-9.76,-0.06,200.16
$IRIDIUM_FIX,-4447.43,622.10,290608,090936
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,23.1,24.456
$10V_AH,10.0,25.107
$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,23.925,129.400,217.675,38.975,0.000,26.508,44.417,315.926,0.000,0.000,20.518,3098.199,10848.425,367.934,3291.355,166.721,0.000,1522.057,0.000,2722.265,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,68.850,1292.085,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.995,2270.848,896.609,465.375,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353312
$DATA_FILE_SIZE,87156,1246
$CAP_FILE_SIZE,160682,0
$CFSIZE,2097086464,2068512768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030915,060627,-4505.692,625.091,38,0.9,38,-24.4