version: 66.07.10.p01
glider: 573
mission: 12
dive: 181
start: 9 3 115 6 18 38
data:
$ID,573
$MISSION,12
$DIVE,181
$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,-21568.967
$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,36
$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,180
$GPS1,030915,060627,-4505.692,625.091,38,0.9,38,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-62.8
$GPS2,030915,061817,-4505.900,625.192,18,1.8,18,-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,0.5,3849,-25.0,-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,-1.00,-61.2,0.0,0.0,0,52,0.00,0.00,-26.73,0.000,2,0.000,0.000,63,2058,1665,0,0,0,0,0,0
$GC,54,-1.03,-113.0,3.4,-3.7,4,100,11.27,2.28,-26.55,0.000,4,0.236,0.061,2852,661,2410,0,0,0,0,0,0
$GC,249,-0.94,-113.0,32.5,-19.2,35,256,0.10,2.25,0.00,0.000,6,0.164,0.044,2873,2048,2412,0,0,0,0,0,0
$GC,397,-0.94,-113.0,54.2,-13.7,60,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2048,2413,0,0,0,0,0,0
$GC,744,-0.94,-113.0,106.4,-13.9,117,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2048,2413,0,0,0,0,0,0
$GC,1061,-0.94,-113.0,157.2,-16.1,147,1065,0.00,2.25,0.00,0.000,4,0.000,0.059,2862,3471,2413,0,0,0,0,0,0
$GC,1100,-0.94,-113.0,163.6,-16.7,150,1105,0.05,2.17,0.00,0.000,6,0.222,0.042,2874,2055,2413,0,0,0,0,0,0
$GC,1425,-0.94,-113.0,212.7,-14.8,180,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2055,2413,0,0,0,0,0,0
$GC,1744,-0.94,-113.0,260.0,-14.2,210,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2055,2414,0,0,0,0,0,0
$GC,2062,-0.94,-113.0,303.5,-13.5,240,2066,0.00,2.20,0.00,0.000,4,0.000,0.053,2874,648,2414,0,0,0,0,0,0
$GC,2081,-0.94,-113.0,306.0,-12.9,241,2085,0.00,2.20,0.00,0.000,6,0.000,0.042,2866,2073,2414,0,0,0,0,0,0
$GC,2406,-0.94,-113.0,351.8,-13.9,271,2410,0.00,2.17,0.00,0.000,4,0.000,0.057,2855,3464,2414,0,0,0,0,0,0
$GC,2436,-0.94,-113.0,355.9,-14.6,273,2440,0.10,2.17,0.00,0.000,6,0.190,0.040,2878,2049,2414,0,0,0,0,0,0
$GC,2771,-0.98,-113.0,403.3,-14.8,303,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2049,2414,0,0,0,0,0,0
$GC,3080,-1.01,-113.0,448.4,-14.3,318,3082,0.08,0.00,0.00,0.000,6,0.125,0.000,2838,2049,2414,0,0,0,0,0,0
$GC,3389,-0.98,-113.0,496.7,-15.3,333,3391,0.10,0.00,0.00,0.000,6,0.192,0.000,2862,2048,2414,0,0,0,0,0,0
$GC,3698,-0.98,-113.0,540.0,-14.1,348,3702,0.00,2.17,0.00,0.000,4,0.000,0.053,2863,653,2414,0,0,0,0,0,0
$GC,3730,-0.98,-113.0,545.0,-15.1,349,3736,0.00,2.20,0.00,0.000,6,0.000,0.041,2854,2054,2414,0,0,0,0,0,0
$GC,4046,-0.98,-113.0,588.8,-13.7,365,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2053,2414,0,0,0,0,0,0
$GC,4356,-0.98,-113.0,629.9,-13.3,380,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2054,2414,0,0,0,0,0,0
$GC,4665,-0.98,-113.0,669.6,-12.6,395,4669,0.00,2.22,0.00,0.000,4,0.000,0.057,2843,3465,2413,0,0,0,0,0,0
$GC,4696,-0.98,-113.0,673.7,-12.9,396,4703,0.05,2.20,0.00,0.000,6,0.173,0.041,2860,2052,2413,0,0,0,0,0,0
$GC,5013,-0.98,-113.0,711.5,-11.6,412,5017,0.00,2.28,0.00,0.000,4,0.000,0.062,2851,3465,2413,0,0,0,0,0,0
$GC,5038,-0.98,-113.0,714.6,-11.3,413,5044,0.03,2.20,0.00,0.000,6,0.192,0.042,2860,2058,2413,0,0,0,0,0,0
$GC,5360,-0.98,-113.0,750.4,-11.1,429,5364,0.00,2.25,0.00,0.000,4,0.000,0.063,2851,3464,2413,0,0,0,0,0,0
$GC,5385,-0.98,-113.0,753.4,-11.1,430,5391,0.03,2.17,0.00,0.000,6,0.196,0.042,2860,2068,2413,0,0,0,0,0,0
$GC,5707,-0.98,-113.0,787.5,-10.4,446,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2068,2413,0,0,0,0,0,0
$GC,6016,-0.98,-113.0,821.9,-11.5,461,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2068,2413,0,0,0,0,0,0
$GC,6326,-1.01,-113.0,856.5,-11.1,476,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2068,2412,0,0,0,0,0,0
$GC,6635,-1.04,-113.0,893.1,-11.9,491,6639,0.00,2.25,0.00,0.000,4,0.000,0.060,2851,3472,2411,0,0,0,0,0,0
$GC,6667,-1.04,-113.0,897.2,-12.8,492,6673,0.00,2.20,0.00,0.000,6,0.000,0.044,2851,2061,2411,0,0,0,0,0,0
$GC,6984,-1.04,-113.0,935.0,-12.2,508,6988,0.00,2.22,0.00,0.000,4,0.000,0.061,2842,3472,2412,0,0,0,0,0,0
$GC,7038,-1.04,-113.0,942.1,-13.0,510,7044,0.00,2.20,0.00,0.000,6,0.000,0.044,2842,2065,2412,0,0,0,0,0,0
$GC,7354,-1.04,-113.0,980.8,-12.0,526,7358,0.00,2.22,0.00,0.000,4,0.000,0.055,2842,655,2411,0,0,0,0,0,0
$GC,7388,-1.01,-113.0,985.1,-13.0,527,7394,0.10,2.17,0.00,0.000,6,0.193,0.043,2857,2057,2411,0,0,0,0,0,0
$STATE,7516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7521,-0.19,0.0,1000.1,11.5,534,7628,0.88,0.00,103.03,1.291,6,0.160,0.000,3119,1593,1950,0,0,0,0,0,0
$STATE,7628,end apogee,CONTROL_FINISHED_OK
$STATE,7629,begin climb
$GC,7630,1.03,113.0,1003.8,0.0,539,7742,1.20,0.00,108.40,1.253,6,0.088,0.000,3512,1594,1488,0,0,0,0,0,0
$GC,8048,1.03,113.0,959.3,12.2,560,8052,0.00,2.33,0.00,0.000,4,0.000,0.052,3523,198,1481,0,0,0,0,0,0
$GC,8205,1.00,113.0,938.5,12.8,567,8210,0.08,2.25,0.00,0.000,6,0.193,0.036,3506,1618,1480,0,0,0,0,0,0
$GC,8526,1.00,113.0,899.5,12.0,583,8530,0.00,2.20,0.00,0.000,4,0.000,0.055,3506,2994,1479,0,0,0,0,0,0
$GC,8574,1.00,113.0,893.2,12.1,585,8579,0.00,2.20,0.00,0.000,6,0.000,0.034,3515,1603,1479,0,0,0,0,0,0
$GC,8897,1.00,113.0,854.8,11.8,601,8901,0.00,2.25,0.00,0.000,4,0.000,0.053,3526,195,1478,0,0,0,0,0,0
$GC,8963,0.96,113.0,845.9,13.3,604,8968,0.10,2.22,0.00,0.000,6,0.161,0.036,3494,1605,1478,0,0,0,0,0,0
$GC,9291,1.01,113.0,811.3,10.3,620,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,1605,1477,0,0,0,0,0,0
$GC,9601,1.06,113.0,777.6,11.3,635,9605,0.10,2.28,0.00,0.000,4,0.104,0.051,3555,192,1477,0,0,0,0,0,0
$GC,9663,0.97,113.0,769.0,14.5,638,9667,0.20,2.17,0.00,0.000,6,0.172,0.036,3501,1609,1476,0,0,0,0,0,0
$GC,9990,1.01,113.0,727.6,13.0,654,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,1609,1477,0,0,0,0,0,0
$GC,10299,1.06,113.0,686.7,13.5,669,10300,0.08,0.00,0.00,0.000,6,0.124,0.000,3540,1610,1476,0,0,0,0,0,0
$GC,10608,1.02,113.0,641.8,14.3,684,10613,0.10,2.25,0.00,0.000,4,0.192,0.052,3527,191,1476,0,0,0,0,0,0
$GC,10673,1.02,113.0,632.2,14.2,687,10679,0.03,2.20,0.00,0.000,6,0.197,0.034,3518,1601,1476,0,0,0,0,0,0
$GC,11001,1.02,113.0,592.5,11.3,703,11005,0.00,2.25,0.00,0.000,4,0.000,0.052,3528,195,1476,0,0,0,0,0,0
$GC,11107,1.02,113.0,579.7,12.0,708,11112,0.03,2.15,0.00,0.000,6,0.271,0.036,3519,1608,1475,0,0,0,0,0,0
$GC,11433,1.02,113.0,545.7,10.1,724,11437,0.00,2.15,0.00,0.000,4,0.000,0.054,3519,2990,1476,0,0,0,0,0,0
$GC,11510,1.02,113.0,537.3,10.6,727,11516,0.00,2.15,0.00,0.000,6,0.000,0.036,3527,1599,1475,0,0,0,0,0,0
$GC,11827,1.02,113.0,505.0,10.3,743,11831,0.00,2.22,0.00,0.000,4,0.000,0.054,3538,195,1476,0,0,0,0,0,0
$GC,12001,0.98,113.0,485.5,11.3,751,12006,0.15,2.15,0.00,0.000,6,0.177,0.036,3498,1615,1475,0,0,0,0,0,0
$GC,12328,1.04,113.0,453.6,9.9,767,12330,0.05,0.00,0.00,0.000,6,0.166,0.000,3531,1615,1475,0,0,0,0,0,0
$GC,12637,1.04,113.0,418.8,11.2,782,12641,0.00,2.28,0.00,0.000,4,0.000,0.052,3541,192,1475,0,0,0,0,0,0
$GC,12767,1.00,113.0,403.1,12.2,788,12772,0.12,2.15,0.00,0.000,6,0.181,0.037,3509,1606,1475,0,0,0,0,0,0
$GC,13094,1.05,113.0,367.8,11.3,817,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1607,1475,0,0,0,0,0,0
$GC,13410,1.10,113.0,332.1,11.4,847,13415,0.08,2.25,0.00,0.000,4,0.128,0.051,3556,192,1475,0,0,0,0,0,0
$GC,13465,1.03,113.0,324.6,13.6,851,13471,0.10,2.17,0.00,0.000,6,0.161,0.034,3522,1597,1475,0,0,0,0,0,0
$GC,13790,1.03,113.0,288.2,10.9,882,13794,0.00,2.22,0.00,0.000,4,0.000,0.051,3532,188,1475,0,0,0,0,0,0
$GC,13855,1.03,113.0,280.5,11.5,887,13862,0.03,2.20,0.00,0.000,6,0.194,0.035,3522,1609,1475,0,0,0,0,0,0
$GC,14181,1.03,113.0,245.9,10.3,918,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1609,1475,0,0,0,0,0,0
$GC,14500,1.03,113.0,211.3,10.9,948,14504,0.00,2.22,0.00,0.000,4,0.000,0.051,3531,195,1475,0,0,0,0,0,0
$GC,14565,1.03,113.0,203.6,12.1,953,14570,0.05,2.12,0.00,0.000,6,0.230,0.035,3520,1605,1475,0,0,0,0,0,0
$GC,14890,1.06,113.0,167.1,9.4,983,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,1604,1475,0,0,0,0,0,0
$GC,15211,1.11,113.0,136.8,9.9,1013,15216,0.05,0.00,0.00,0.000,6,0.171,0.000,3550,1605,1475,0,0,0,0,0,0
$GC,15536,1.11,113.0,101.5,9.7,1044,15540,0.00,2.25,0.00,0.000,4,0.000,0.050,3559,192,1475,0,0,0,0,0,0
$GC,15670,1.05,113.0,86.8,12.3,1065,15677,0.10,2.17,0.00,0.000,6,0.160,0.034,3526,1604,1475,0,0,0,0,0,0
$GC,16021,1.05,113.0,47.6,11.0,1126,16026,0.00,2.25,0.00,0.000,4,0.000,0.050,3536,184,1475,0,0,0,0,0,0
$GC,16127,1.05,113.0,37.1,9.2,1144,16135,0.03,2.17,0.00,0.000,6,0.190,0.034,3527,1598,1475,0,0,0,0,0,0
$GC,16284,1.10,113.0,21.1,9.8,1169,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1599,1475,0,0,0,0,0,0
$STATE,16437,end climb,SURFACE_DEPTH_REACHED
$STATE,16437,begin surface coast
$FINISH,1.8,1.023332
$STATE,16464,end surface coast,CONTROL_FINISHED_OK
$STATE,16464,begin surface
$SM_CCo,16480,40.62,0.056,0,0,1133,200.16
$SM_GC,2.74,0.00,0.00,40.62,0.000,0.000,0.056,77,2069,1133,-9.71,0.25,200.16
$IRIDIUM_FIX,-4447.43,622.10,290608,191938
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.1,24.561
$10V_AH,9.9,25.229
$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,24.425,111.975,211.425,40.625,0.000,57.784,68.900,373.050,0.000,0.000,21.237,2961.701,10456.860,379.733,3265.245,162.390,0.000,1450.428,0.000,2569.761,0.000,0.540,0.000
$DEVICE_MAMPS,270.810,63.495,1290.555,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.907,2192.133,880.131,478.665,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353348
$DATA_FILE_SIZE,83905,1198
$CAP_FILE_SIZE,152823,0
$CFSIZE,2097086464,2068381696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030915,105528,-4505.884,624.959,54,0.9,54,-24.4