version: 66.07.10.p01
glider: 573
mission: 12
dive: 185
start: 9 4 115 0 39 8
data:
$ID,573
$MISSION,12
$DIVE,185
$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,-21582.135
$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,48
$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,184
$GPS1,040915,003127,-4505.655,625.066,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-72.7
$GPS2,040915,003847,-4505.737,625.167,15,1.0,16,-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,359.0,3560,-26.9,-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,23,-1.07,-52.6,0.0,0.0,0,45,0.00,0.00,-19.75,0.000,2,0.000,0.000,81,2075,1522,0,0,0,0,0,0
$GC,47,-1.10,-110.4,3.0,-2.2,3,105,11.30,2.33,-38.78,0.000,4,0.245,0.069,2824,639,2402,0,0,0,0,0,0
$GC,223,-1.00,-110.4,24.4,-18.4,31,232,0.12,2.28,0.00,0.000,6,0.174,0.042,2853,2042,2405,0,0,0,0,0,0
$GC,374,-1.00,-110.4,50.2,-16.2,56,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2042,2405,0,0,0,0,0,0
$GC,720,-1.00,-110.4,105.3,-15.8,114,724,0.00,2.30,0.00,0.000,4,0.000,0.061,2842,3474,2405,0,0,0,0,0,0
$GC,735,-1.00,-110.4,108.1,-15.8,115,742,0.03,2.22,0.00,0.000,6,0.206,0.041,2851,2068,2405,0,0,0,0,0,0
$GC,1060,-1.00,-110.4,161.1,-17.0,146,1064,0.00,2.25,0.00,0.000,4,0.000,0.055,2851,645,2406,0,0,0,0,0,0
$GC,1137,-1.00,-110.4,174.6,-17.1,152,1147,0.03,2.25,0.00,0.000,6,0.205,0.038,2851,2066,2406,0,0,0,0,0,0
$GC,1463,-1.00,-110.4,223.0,-14.8,183,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2066,2406,0,0,0,0,0,0
$GC,1785,-1.00,-110.4,266.3,-13.0,213,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2066,2406,0,0,0,0,0,0
$GC,2100,-1.00,-110.4,308.0,-13.0,243,2104,0.00,2.22,0.00,0.000,4,0.000,0.062,2841,3471,2406,0,0,0,0,0,0
$GC,2178,-1.00,-110.4,318.8,-12.8,249,2185,0.05,2.22,0.00,0.000,6,0.172,0.042,2856,2059,2406,0,0,0,0,0,0
$GC,2504,-1.04,-110.4,359.6,-12.7,280,2508,0.00,2.30,0.00,0.000,4,0.000,0.063,2847,3478,2406,0,0,0,0,0,0
$GC,2525,-1.07,-110.4,362.5,-13.1,281,2531,0.00,2.22,0.00,0.000,6,0.000,0.042,2848,2058,2406,0,0,0,0,0,0
$GC,2859,-1.07,-110.4,406.5,-13.3,311,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2058,2406,0,0,0,0,0,0
$GC,3169,-1.11,-110.4,447.4,-13.1,326,3171,0.05,0.00,0.00,0.000,6,0.170,0.000,2813,2058,2406,0,0,0,0,0,0
$GC,3479,-1.07,-110.4,491.7,-14.3,341,3483,0.10,2.22,0.00,0.000,4,0.198,0.057,2837,648,2406,0,0,0,0,0,0
$GC,3521,-1.07,-110.4,498.2,-13.7,343,3526,0.00,2.25,0.00,0.000,6,0.000,0.043,2829,2066,2406,0,0,0,0,0,0
$GC,3849,-1.07,-110.4,544.1,-14.1,359,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2066,2406,0,0,0,0,0,0
$GC,4158,-1.07,-110.4,587.5,-13.7,374,4162,0.00,2.22,0.00,0.000,4,0.000,0.061,2817,3477,2406,0,0,0,0,0,0
$GC,4234,-1.07,-110.4,599.2,-14.7,377,4241,0.05,2.22,0.00,0.000,6,0.171,0.042,2834,2058,2406,0,0,0,0,0,0
$GC,4551,-1.07,-110.4,642.4,-13.4,393,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2058,2406,0,0,0,0,0,0
$GC,4860,-1.07,-110.4,683.6,-13.3,408,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2406,0,0,0,0,0,0
$GC,5169,-1.07,-110.4,724.8,-12.9,423,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2405,0,0,0,0,0,0
$GC,5479,-1.07,-110.4,764.2,-12.5,438,5483,0.00,2.20,0.00,0.000,4,0.000,0.055,2834,652,2405,0,0,0,0,0,0
$GC,5510,-1.07,-110.4,768.7,-14.1,439,5516,0.00,2.22,0.00,0.000,6,0.000,0.044,2825,2057,2405,0,0,0,0,0,0
$GC,5826,-1.07,-110.4,807.7,-12.0,455,5830,0.00,2.25,0.00,0.000,4,0.000,0.061,2814,3471,2405,0,0,0,0,0,0
$GC,5870,-1.07,-110.4,813.6,-12.6,457,5875,0.05,2.20,0.00,0.000,6,0.169,0.043,2831,2064,2404,0,0,0,0,0,0
$GC,6197,-1.07,-110.4,853.7,-12.7,473,6201,0.00,2.20,0.00,0.000,4,0.000,0.054,2831,653,2404,0,0,0,0,0,0
$GC,6217,-1.07,-110.4,856.7,-13.6,474,6222,0.03,2.22,0.00,0.000,6,0.202,0.041,2831,2067,2404,0,0,0,0,0,0
$GC,6545,-1.07,-110.4,897.4,-12.2,490,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2067,2404,0,0,0,0,0,0
$GC,6854,-1.07,-110.4,936.6,-12.6,505,6858,0.00,2.20,0.00,0.000,4,0.000,0.060,2820,3465,2404,0,0,0,0,0,0
$GC,6902,-1.07,-110.4,943.5,-13.8,507,6908,0.03,2.20,0.00,0.000,6,0.184,0.044,2830,2060,2403,0,0,0,0,0,0
$GC,7225,-1.11,-110.4,983.9,-12.6,523,7229,0.00,2.22,0.00,0.000,4,0.000,0.060,2821,3468,2403,0,0,0,0,0,0
$GC,7290,-1.11,-110.4,992.8,-12.8,526,7295,0.00,2.20,0.00,0.000,6,0.000,0.044,2821,2057,2403,0,0,0,0,0,0
$STATE,7348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7348,begin apogee
$GC,7353,-0.19,0.0,1000.1,13.1,529,7458,1.00,0.00,101.75,1.291,6,0.165,0.000,3116,1595,1950,0,0,0,0,0,0
$STATE,7459,end apogee,CONTROL_FINISHED_OK
$STATE,7459,begin climb
$GC,7461,1.10,110.4,1003.7,0.0,534,7576,1.25,2.53,105.32,1.255,4,0.091,0.052,3540,196,1497,0,0,0,0,0,0
$GC,7629,1.10,110.4,988.5,13.1,542,7634,0.00,2.35,0.00,0.000,6,0.000,0.034,3540,1616,1493,0,0,0,0,0,0
$GC,7956,1.10,110.4,944.1,13.3,558,7960,0.00,2.28,0.00,0.000,4,0.000,0.054,3540,3001,1489,0,0,0,0,0,0
$GC,8010,1.10,110.4,936.1,14.9,560,8016,0.00,2.25,0.00,0.000,6,0.000,0.034,3549,1600,1489,0,0,0,0,0,0
$GC,8326,1.10,110.4,893.2,13.9,576,8330,0.00,2.28,0.00,0.000,4,0.000,0.053,3560,200,1488,0,0,0,0,0,0
$GC,8457,1.06,110.4,874.2,14.2,582,8462,0.12,2.22,0.00,0.000,6,0.182,0.037,3529,1610,1486,0,0,0,0,0,0
$GC,8784,1.10,110.4,831.9,13.1,598,8788,0.00,2.30,0.00,0.000,4,0.000,0.050,3538,195,1487,0,0,0,0,0,0
$GC,8868,1.10,110.4,820.3,13.5,602,8872,0.00,2.20,0.00,0.000,6,0.000,0.037,3538,1600,1486,0,0,0,0,0,0
$GC,9195,1.10,110.4,776.3,13.6,618,9199,0.00,2.22,0.00,0.000,4,0.000,0.055,3538,2993,1486,0,0,0,0,0,0
$GC,9257,1.10,110.4,767.6,13.7,621,9261,0.00,2.12,0.00,0.000,6,0.000,0.035,3547,1600,1486,0,0,0,0,0,0
$GC,9585,1.10,110.4,724.9,12.6,637,9589,0.00,2.25,0.00,0.000,4,0.000,0.054,3558,198,1485,0,0,0,0,0,0
$GC,9771,1.07,110.4,699.7,13.4,645,9776,0.12,2.17,0.00,0.000,6,0.186,0.036,3526,1602,1485,0,0,0,0,0,0
$GC,10086,1.12,110.4,661.4,12.2,660,10090,0.00,2.25,0.00,0.000,4,0.000,0.051,3536,192,1485,0,0,0,0,0,0
$GC,10148,1.12,110.4,653.2,13.1,663,10152,0.00,2.17,0.00,0.000,6,0.000,0.036,3536,1608,1485,0,0,0,0,0,0
$GC,10475,1.16,110.4,612.9,12.0,679,10480,0.05,2.15,0.00,0.000,4,0.168,0.054,3566,2990,1485,0,0,0,0,0,0
$GC,10537,1.12,110.4,604.2,13.9,682,10542,0.12,2.12,0.00,0.000,6,0.193,0.037,3545,1591,1485,0,0,0,0,0,0
$GC,10865,1.12,110.4,563.3,12.4,698,10869,0.00,2.22,0.00,0.000,4,0.000,0.053,3555,196,1485,0,0,0,0,0,0
$GC,11050,1.12,110.4,539.0,12.8,706,11054,0.00,2.17,0.00,0.000,6,0.000,0.037,3555,1601,1484,0,0,0,0,0,0
$GC,11365,1.12,110.4,499.9,12.3,721,11369,0.00,2.17,0.00,0.000,4,0.000,0.054,3555,2992,1484,0,0,0,0,0,0
$GC,11404,1.12,110.4,494.9,13.2,723,11409,0.08,2.10,0.00,0.000,6,0.224,0.035,3548,1601,1484,0,0,0,0,0,0
$GC,11730,1.12,110.4,455.9,12.1,739,11734,0.00,2.22,0.00,0.000,4,0.000,0.054,3559,199,1484,0,0,0,0,0,0
$GC,11823,1.09,110.4,443.3,13.1,743,11829,0.05,2.17,0.00,0.000,6,0.188,0.037,3539,1595,1484,0,0,0,0,0,0
$GC,12147,1.13,110.4,405.7,11.4,759,12151,0.00,2.20,0.00,0.000,4,0.000,0.051,3548,199,1484,0,0,0,0,0,0
$GC,12211,1.13,110.4,397.5,12.2,762,12218,0.00,2.17,0.00,0.000,6,0.000,0.037,3547,1598,1484,0,0,0,0,0,0
$GC,12541,1.13,110.4,359.4,11.8,793,12545,0.00,2.17,0.00,0.000,4,0.000,0.054,3547,2993,1484,0,0,0,0,0,0
$GC,12593,1.13,110.4,352.9,12.8,797,12597,0.00,2.10,0.00,0.000,6,0.000,0.035,3556,1601,1484,0,0,0,0,0,0
$GC,12918,1.13,110.4,312.5,12.2,827,12922,0.00,2.22,0.00,0.000,4,0.000,0.053,3567,195,1484,0,0,0,0,0,0
$GC,13119,1.10,110.4,285.3,13.4,844,13128,0.10,2.17,0.00,0.000,6,0.170,0.034,3536,1601,1484,0,0,0,0,0,0
$GC,13445,1.15,110.4,247.5,11.4,875,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1601,1484,0,0,0,0,0,0
$GC,13766,1.21,110.4,210.4,11.5,905,13772,0.10,0.00,0.00,0.000,6,0.107,0.000,3585,1601,1484,0,0,0,0,0,0
$GC,14092,1.17,110.4,166.1,13.9,936,14096,0.10,2.22,0.00,0.000,4,0.199,0.051,3572,198,1484,0,0,0,0,0,0
$GC,14142,1.13,110.4,159.3,13.5,940,14147,0.08,2.15,0.00,0.000,6,0.209,0.037,3552,1612,1484,0,0,0,0,0,0
$GC,14467,1.17,110.4,123.5,10.7,970,14471,0.00,2.15,0.00,0.000,4,0.000,0.054,3552,2999,1484,0,0,0,0,0,0
$GC,14522,1.17,110.4,117.0,11.6,974,14528,0.00,2.15,0.00,0.000,6,0.000,0.034,3560,1600,1484,0,0,0,0,0,0
$GC,14859,1.17,110.4,81.3,11.0,1020,14867,0.00,2.25,0.00,0.000,4,0.000,0.053,3570,193,1484,0,0,0,0,0,0
$GC,15125,1.17,110.4,49.7,12.2,1066,15131,0.00,2.15,0.00,0.000,6,0.000,0.034,3570,1609,1484,0,0,0,0,0,0
$GC,15493,1.17,110.4,10.6,10.6,1127,15500,0.00,2.28,0.00,0.000,4,0.000,0.050,3580,195,1484,0,0,0,0,0,0
$STATE,15550,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
$FINISH,1.8,1.023392
$STATE,15576,end surface coast,CONTROL_FINISHED_OK
$STATE,15576,begin surface
$SM_CCo,15596,41.83,0.056,0,0,1132,200.16
$SM_GC,3.18,0.00,0.00,41.83,0.000,0.000,0.056,74,2075,1132,-9.72,0.42,200.16
$IRIDIUM_FIX,-4447.43,520.78,300608,090927
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,23.1,24.958
$10V_AH,10.0,25.697
$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,24.200,134.625,207.075,41.825,0.000,27.657,22.886,268.321,0.000,0.000,18.530,2852.262,9602.332,368.197,3092.555,161.374,0.000,1482.425,0.000,2606.648,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,68.850,1291.320,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.347,2112.943,870.694,489.337,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353316
$DATA_FILE_SIZE,80266,1140
$CAP_FILE_SIZE,151027,0
$CFSIZE,2097086464,2067857408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040915,050104,-4505.529,625.445,44,1.0,44,-24.4