version: 66.07.10.p01
glider: 573
mission: 12
dive: 183
start: 9 3 115 15 49 55
data:
$ID,573
$MISSION,12
$DIVE,183
$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,-21575.248
$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,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,182
$GPS1,030915,154133,-4505.588,625.563,49,0.9,49,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-68.3
$GPS2,030915,154934,-4505.660,625.576,17,1.4,17,-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,350.6,3702,-25.9,-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,-1.03,-56.7,0.0,0.0,0,46,0.00,0.00,-20.40,0.000,2,0.000,0.000,63,2058,1536,0,0,0,0,0,0
$GC,48,-1.07,-116.8,3.0,-2.1,3,112,11.18,2.30,-42.35,0.000,4,0.236,0.067,2839,667,2426,0,0,0,0,0,0
$GC,122,-0.93,-116.8,3.7,-1.8,14,130,0.17,2.22,0.00,0.000,6,0.193,0.040,2878,2052,2427,0,0,0,0,0,0
$GC,181,-0.93,-116.8,14.3,-19.5,23,189,0.00,2.33,0.00,0.000,4,0.000,0.060,2868,3465,2428,0,0,0,0,0,0
$GC,197,-0.93,-116.8,17.4,-19.5,25,204,0.00,2.22,0.00,0.000,6,0.000,0.041,2868,2067,2428,0,0,0,0,0,0
$GC,255,-0.93,-116.8,28.0,-17.2,34,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,2428,0,0,0,0,0,0
$GC,404,-0.93,-116.8,48.5,-15.1,59,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,2428,0,0,0,0,0,0
$GC,754,-0.93,-116.8,103.3,-15.9,119,758,0.00,2.25,0.00,0.000,4,0.000,0.053,2869,654,2428,0,0,0,0,0,0
$GC,784,-0.93,-116.8,107.9,-16.3,121,789,0.10,2.20,0.00,0.000,6,0.200,0.042,2882,2061,2428,0,0,0,0,0,0
$GC,1109,-0.99,-116.8,156.3,-14.1,151,1113,0.00,2.25,0.00,0.000,4,0.000,0.063,2872,3469,2428,0,0,0,0,0,0
$GC,1153,-1.03,-116.8,163.1,-14.9,154,1159,0.03,2.22,0.00,0.000,6,0.101,0.041,2838,2058,2428,0,0,0,0,0,0
$GC,1480,-1.03,-116.8,214.5,-16.1,185,1485,0.00,2.28,0.00,0.000,4,0.000,0.061,2829,3475,2428,0,0,0,0,0,0
$GC,1524,-0.98,-116.8,222.5,-16.7,188,1532,0.10,2.22,0.00,0.000,6,0.160,0.041,2861,2057,2429,0,0,0,0,0,0
$GC,1849,-0.98,-116.8,270.7,-14.0,219,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2058,2429,0,0,0,0,0,0
$GC,2171,-0.98,-116.8,313.8,-13.3,249,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2057,2428,0,0,0,0,0,0
$GC,2487,-1.01,-116.8,355.2,-12.4,279,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2057,2428,0,0,0,0,0,0
$GC,2808,-1.04,-116.8,395.4,-12.5,309,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2057,2429,0,0,0,0,0,0
$GC,3135,-1.08,-116.8,437.7,-13.0,327,3137,0.08,0.00,0.00,0.000,6,0.123,0.000,2819,2057,2428,0,0,0,0,0,0
$GC,3444,-1.03,-116.8,481.7,-14.6,342,3446,0.12,0.00,0.00,0.000,6,0.185,0.000,2852,2058,2429,0,0,0,0,0,0
$GC,3753,-1.03,-116.8,521.3,-12.7,357,3757,0.00,2.25,0.00,0.000,4,0.000,0.063,2842,3470,2429,0,0,0,0,0,0
$GC,3815,-1.03,-116.8,529.2,-13.0,360,3819,0.00,2.17,0.00,0.000,6,0.000,0.043,2842,2058,2428,0,0,0,0,0,0
$GC,4141,-1.03,-116.8,571.7,-12.7,376,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2058,2429,0,0,0,0,0,0
$GC,4450,-1.03,-116.8,611.4,-12.6,391,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2058,2428,0,0,0,0,0,0
$GC,4760,-1.03,-116.8,650.7,-12.7,406,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2058,2429,0,0,0,0,0,0
$GC,5069,-1.03,-116.8,690.1,-12.8,421,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2058,2428,0,0,0,0,0,0
$GC,5378,-1.03,-116.8,729.4,-13.0,436,5382,0.00,2.25,0.00,0.000,4,0.000,0.063,2833,3465,2428,0,0,0,0,0,0
$GC,5433,-1.03,-116.8,737.1,-14.0,438,5440,0.03,2.20,0.00,0.000,6,0.190,0.042,2841,2054,2428,0,0,0,0,0,0
$GC,5749,-1.03,-116.8,778.7,-13.3,454,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2053,2428,0,0,0,0,0,0
$GC,6059,-1.03,-116.8,819.3,-13.1,469,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2054,2428,0,0,0,0,0,0
$GC,6368,-1.03,-116.8,858.2,-12.6,484,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2054,2427,0,0,0,0,0,0
$GC,6677,-1.03,-116.8,897.7,-12.8,499,6681,0.00,2.25,0.00,0.000,4,0.000,0.062,2832,3465,2427,0,0,0,0,0,0
$GC,6743,-1.03,-116.8,906.4,-12.8,502,6748,0.03,2.20,0.00,0.000,6,0.191,0.043,2842,2054,2427,0,0,0,0,0,0
$GC,7072,-1.07,-116.8,944.0,-11.4,518,7076,0.00,2.17,0.00,0.000,4,0.000,0.057,2842,661,2427,0,0,0,0,0,0
$GC,7111,-1.07,-116.8,948.7,-12.0,520,7115,0.00,2.20,0.00,0.000,6,0.000,0.044,2833,2070,2426,0,0,0,0,0,0
$GC,7437,-1.07,-116.8,986.2,-11.5,536,7441,0.00,2.20,0.00,0.000,4,0.000,0.061,2822,3468,2427,0,0,0,0,0,0
$GC,7525,-1.07,-116.8,997.3,-11.5,540,7530,0.03,2.20,0.00,0.000,6,0.190,0.044,2831,2064,2426,0,0,0,0,0,0
$STATE,7562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7562,begin apogee
$GC,7567,-0.19,0.0,1001.6,11.7,542,7677,0.95,0.00,106.72,1.289,6,0.161,0.000,3114,1585,1950,0,0,0,0,0,0
$STATE,7678,end apogee,CONTROL_FINISHED_OK
$STATE,7678,begin climb
$GC,7679,1.07,116.8,1004.8,0.0,547,7802,1.23,2.50,111.35,1.254,4,0.090,0.053,3530,202,1473,0,0,0,0,0,0
$GC,7870,1.07,116.8,985.2,14.3,556,7874,0.00,2.35,0.00,0.000,6,0.000,0.037,3530,1617,1468,0,0,0,0,0,0
$GC,8196,1.07,116.8,941.0,13.1,572,8200,0.00,2.25,0.00,0.000,4,0.000,0.056,3530,2993,1465,0,0,0,0,0,0
$GC,8235,1.07,116.8,935.6,13.9,574,8239,0.00,2.22,0.00,0.000,6,0.000,0.035,3539,1596,1466,0,0,0,0,0,0
$GC,8561,1.07,116.8,891.9,13.6,590,8565,0.00,2.30,0.00,0.000,4,0.000,0.054,3550,187,1464,0,0,0,0,0,0
$GC,8714,1.02,116.8,869.9,14.9,597,8719,0.15,2.25,0.00,0.000,6,0.177,0.036,3511,1619,1463,0,0,0,0,0,0
$GC,9041,1.07,116.8,829.1,12.4,613,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1618,1462,0,0,0,0,0,0
$GC,9350,1.11,116.8,790.6,12.5,628,9351,0.10,0.00,0.00,0.000,6,0.104,0.000,3560,1619,1462,0,0,0,0,0,0
$GC,9659,1.07,116.8,745.3,15.0,643,9664,0.12,2.28,0.00,0.000,4,0.185,0.052,3540,192,1461,0,0,0,0,0,0
$GC,9752,1.07,116.8,731.6,14.2,647,9757,0.00,2.22,0.00,0.000,6,0.000,0.037,3540,1603,1461,0,0,0,0,0,0
$GC,10076,1.07,116.8,688.2,13.1,663,10080,0.00,2.20,0.00,0.000,4,0.000,0.053,3539,2993,1461,0,0,0,0,0,0
$GC,10162,1.07,116.8,676.5,13.8,667,10166,0.08,2.15,0.00,0.000,6,0.220,0.036,3533,1593,1461,0,0,0,0,0,0
$GC,10488,1.07,116.8,636.3,12.1,683,10492,0.00,2.20,0.00,0.000,4,0.000,0.054,3543,201,1461,0,0,0,0,0,0
$GC,10572,1.07,116.8,625.4,13.3,687,10576,0.00,2.15,0.00,0.000,6,0.000,0.037,3541,1603,1460,0,0,0,0,0,0
$GC,10898,1.07,116.8,585.7,11.8,703,10902,0.00,2.22,0.00,0.000,4,0.000,0.052,3550,199,1460,0,0,0,0,0,0
$GC,10960,1.04,116.8,578.0,12.1,706,10964,0.10,2.15,0.00,0.000,6,0.196,0.037,3524,1603,1459,0,0,0,0,0,0
$GC,11287,1.08,116.8,540.5,11.4,722,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,1603,1460,0,0,0,0,0,0
$GC,11595,1.12,116.8,504.3,12.0,737,11600,0.05,2.15,0.00,0.000,4,0.172,0.054,3553,2990,1460,0,0,0,0,0,0
$GC,11644,1.08,116.8,497.9,12.8,739,11649,0.08,2.15,0.00,0.000,6,0.178,0.036,3538,1597,1460,0,0,0,0,0,0
$GC,11965,1.08,116.8,457.9,12.6,755,11969,0.00,2.22,0.00,0.000,4,0.000,0.054,3548,198,1460,0,0,0,0,0,0
$GC,12147,1.08,116.8,433.9,12.9,763,12153,0.03,2.17,0.00,0.000,6,0.210,0.035,3537,1596,1459,0,0,0,0,0,0
$GC,12472,1.08,116.8,393.2,13.2,781,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1596,1459,0,0,0,0,0,0
$GC,12789,1.08,116.8,352.6,12.1,811,12793,0.00,2.22,0.00,0.000,4,0.000,0.052,3546,199,1459,0,0,0,0,0,0
$GC,12865,1.08,116.8,342.8,12.6,817,12870,0.05,2.15,0.00,0.000,6,0.238,0.037,3535,1609,1459,0,0,0,0,0,0
$GC,13190,1.11,116.8,302.0,12.0,847,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1609,1459,0,0,0,0,0,0
$GC,13511,1.14,116.8,262.7,12.5,877,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1610,1459,0,0,0,0,0,0
$GC,13837,1.18,116.8,222.3,12.4,908,13842,0.08,2.15,0.00,0.000,4,0.130,0.053,3577,2996,1459,0,0,0,0,0,0
$GC,13880,1.11,116.8,215.9,14.6,911,13887,0.12,2.15,0.00,0.000,6,0.170,0.034,3548,1595,1459,0,0,0,0,0,0
$GC,14206,1.11,116.8,174.6,12.5,942,14210,0.00,2.22,0.00,0.000,4,0.000,0.053,3559,191,1459,0,0,0,0,0,0
$GC,14404,1.11,116.8,148.0,13.7,959,14408,0.08,2.15,0.00,0.000,6,0.209,0.034,3542,1601,1459,0,0,0,0,0,0
$GC,14732,1.14,116.8,109.7,11.7,989,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1602,1459,0,0,0,0,0,0
$GC,15075,1.17,116.8,69.5,10.8,1043,15081,0.05,2.15,0.00,0.000,4,0.172,0.051,3574,2997,1459,0,0,0,0,0,0
$GC,15123,1.11,116.8,63.6,12.7,1051,15129,0.15,2.12,0.00,0.000,6,0.189,0.034,3546,1594,1459,0,0,0,0,0,0
$GC,15483,1.11,116.8,24.2,9.6,1112,15491,0.00,2.22,0.00,0.000,4,0.000,0.053,3556,200,1459,0,0,0,0,0,0
$STATE,15668,end climb,SURFACE_DEPTH_REACHED
$STATE,15668,begin surface coast
$FINISH,1.8,1.023416
$STATE,15682,end surface coast,CONTROL_FINISHED_OK
$STATE,15682,begin surface
$SM_CCo,15701,38.83,0.055,0,0,1133,200.16
$SM_GC,2.84,0.00,0.00,38.83,0.000,0.000,0.055,64,2058,1133,-9.75,-0.06,200.16
$IRIDIUM_FIX,-4447.43,625.13,300608,000030
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,23.0,24.761
$10V_AH,10.0,25.467
$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,24.175,107.950,218.075,38.825,0.000,26.765,42.794,287.557,0.000,0.000,19.866,2832.384,9811.458,361.821,3050.633,162.226,0.000,1439.936,0.000,2524.718,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,66.555,1289.025,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.018,2103.088,857.376,483.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,80449,1144
$CAP_FILE_SIZE,147103,0
$CFSIZE,2097086464,2068119552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030915,201327,-4505.483,624.719,37,0.9,37,-24.4