version: 66.07.10.p01
glider: 573
mission: 12
dive: 186
start: 9 4 115 5 8 55
data:
$ID,573
$MISSION,12
$DIVE,186
$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,-21585.318
$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,37
$R_STBD_OVSHOOT,43
$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,185
$GPS1,040915,050104,-4505.529,625.445,44,1.0,44,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-69.4
$GPS2,040915,050834,-4505.590,625.491,14,1.7,14,-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,350.9,3533,-27.2,-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,-1.08,-51.8,0.0,0.0,0,52,0.00,0.00,-26.75,0.000,2,0.000,0.000,75,2075,1667,0,0,0,0,0,0
$GC,55,-1.10,-100.9,3.4,-3.1,4,99,11.43,0.00,-27.12,0.000,6,0.249,0.000,2822,2074,2362,0,0,0,0,0,0
$GC,150,-1.03,-100.9,12.6,-17.7,19,158,0.10,2.33,0.00,0.000,4,0.203,0.057,2846,665,2365,0,0,0,0,0,0
$GC,204,-1.00,-100.9,21.9,-17.0,27,212,0.05,2.22,0.00,0.000,6,0.181,0.041,2853,2045,2364,0,0,0,0,0,0
$GC,360,-1.00,-100.9,46.4,-15.6,52,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2045,2365,0,0,0,0,0,0
$GC,708,-1.00,-100.9,99.9,-15.4,113,713,0.00,2.28,0.00,0.000,4,0.000,0.060,2843,3469,2365,0,0,0,0,0,0
$GC,730,-1.00,-100.9,103.6,-15.3,116,735,0.08,2.20,0.00,0.000,6,0.207,0.042,2858,2058,2365,0,0,0,0,0,0
$GC,1054,-1.00,-100.9,151.1,-15.0,146,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2057,2365,0,0,0,0,0,0
$GC,1374,-1.04,-100.9,196.9,-14.4,176,1378,0.00,2.30,0.00,0.000,4,0.000,0.063,2849,3470,2366,0,0,0,0,0,0
$GC,1407,-1.04,-100.9,202.0,-15.1,178,1412,0.00,2.20,0.00,0.000,6,0.000,0.042,2849,2050,2366,0,0,0,0,0,0
$GC,1734,-1.04,-100.9,249.5,-14.5,209,1738,0.00,2.28,0.00,0.000,4,0.000,0.060,2839,3477,2366,0,0,0,0,0,0
$GC,1776,-1.04,-100.9,256.4,-14.5,212,1784,0.00,2.22,0.00,0.000,6,0.000,0.041,2840,2056,2366,0,0,0,0,0,0
$GC,2102,-1.04,-100.9,304.2,-14.7,243,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2056,2366,0,0,0,0,0,0
$GC,2423,-1.04,-100.9,351.6,-14.9,273,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2056,2367,0,0,0,0,0,0
$GC,2739,-1.04,-100.9,398.4,-13.9,303,2743,0.00,2.25,0.00,0.000,4,0.000,0.060,2830,3469,2366,0,0,0,0,0,0
$GC,2779,-1.04,-100.9,404.3,-15.2,305,2783,0.08,2.15,0.00,0.000,6,0.198,0.042,2847,2058,2366,0,0,0,0,0,0
$GC,3107,-1.07,-100.9,448.8,-13.2,321,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2058,2366,0,0,0,0,0,0
$GC,3415,-1.10,-100.9,489.9,-13.2,336,3419,0.00,2.25,0.00,0.000,4,0.000,0.062,2838,3469,2366,0,0,0,0,0,0
$GC,3469,-1.10,-100.9,497.5,-13.3,338,3475,0.00,2.20,0.00,0.000,6,0.000,0.042,2837,2063,2366,0,0,0,0,0,0
$GC,3785,-1.10,-100.9,538.4,-12.5,354,3789,0.00,2.22,0.00,0.000,4,0.000,0.057,2829,3469,2366,0,0,0,0,0,0
$GC,3847,-1.10,-100.9,547.1,-14.0,357,3851,0.00,2.15,0.00,0.000,6,0.000,0.043,2829,2056,2366,0,0,0,0,0,0
$GC,4173,-1.10,-100.9,592.0,-13.6,373,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2056,2366,0,0,0,0,0,0
$GC,4482,-1.10,-100.9,634.5,-13.8,388,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2056,2366,0,0,0,0,0,0
$GC,4792,-1.10,-100.9,677.2,-13.7,403,4796,0.00,2.25,0.00,0.000,4,0.000,0.060,2820,3469,2366,0,0,0,0,0,0
$GC,4863,-1.10,-100.9,687.5,-13.7,406,4868,0.00,2.20,0.00,0.000,6,0.000,0.043,2820,2063,2366,0,0,0,0,0,0
$GC,5185,-1.10,-100.9,731.3,-13.2,422,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2063,2365,0,0,0,0,0,0
$GC,5494,-1.10,-100.9,772.5,-13.4,437,5498,0.00,2.22,0.00,0.000,4,0.000,0.057,2811,3471,2365,0,0,0,0,0,0
$GC,5601,-1.10,-100.9,786.9,-13.3,442,5606,0.08,2.17,0.00,0.000,6,0.200,0.044,2828,2049,2365,0,0,0,0,0,0
$GC,5927,-1.10,-100.9,827.0,-11.9,458,5931,0.00,2.28,0.00,0.000,4,0.000,0.062,2818,3476,2365,0,0,0,0,0,0
$GC,5967,-1.10,-100.9,831.9,-12.5,460,5971,0.00,2.20,0.00,0.000,6,0.000,0.044,2818,2052,2364,0,0,0,0,0,0
$GC,6293,-1.10,-100.9,872.0,-12.0,476,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2052,2364,0,0,0,0,0,0
$GC,6602,-1.10,-100.9,909.4,-12.3,491,6606,0.00,2.30,0.00,0.000,4,0.000,0.062,2809,3478,2364,0,0,0,0,0,0
$GC,6673,-1.10,-100.9,918.3,-12.4,494,6679,0.05,2.22,0.00,0.000,6,0.170,0.043,2826,2059,2364,0,0,0,0,0,0
$GC,6995,-1.10,-100.9,954.0,-11.0,510,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2364,0,0,0,0,0,0
$GC,7304,-1.10,-100.9,988.3,-11.2,525,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2363,0,0,0,0,0,0
$STATE,7427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7427,begin apogee
$GC,7432,-0.19,0.0,1001.7,10.6,531,7528,0.98,0.00,92.97,1.294,6,0.163,0.000,3116,1597,1949,0,0,0,0,0,0
$STATE,7529,end apogee,CONTROL_FINISHED_OK
$STATE,7529,begin climb
$GC,7531,1.10,100.9,1003.9,0.0,536,7636,1.25,2.47,96.78,1.255,4,0.090,0.053,3542,204,1536,0,0,0,0,0,0
$GC,7691,1.10,100.9,987.3,15.5,543,7697,0.00,2.35,0.00,0.000,6,0.000,0.034,3543,1605,1532,0,0,0,0,0,0
$GC,8007,1.10,100.9,944.2,13.6,559,8011,0.00,2.33,0.00,0.000,4,0.000,0.050,3551,199,1529,0,0,0,0,0,0
$GC,8050,1.07,100.9,937.6,15.6,561,8055,0.05,2.28,0.00,0.000,6,0.181,0.036,3536,1604,1528,0,0,0,0,0,0
$GC,8376,1.07,100.9,893.0,13.7,577,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1604,1526,0,0,0,0,0,0
$GC,8686,1.07,100.9,849.4,14.2,592,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1604,1526,0,0,0,0,0,0
$GC,8995,1.10,100.9,807.6,13.5,607,9000,0.00,2.28,0.00,0.000,4,0.000,0.050,3545,188,1526,0,0,0,0,0,0
$GC,9067,1.10,100.9,796.9,14.5,610,9071,0.00,2.22,0.00,0.000,6,0.000,0.034,3545,1601,1525,0,0,0,0,0,0
$GC,9389,1.10,100.9,753.6,13.1,626,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1601,1525,0,0,0,0,0,0
$GC,9698,1.10,100.9,713.3,13.2,641,9702,0.00,2.28,0.00,0.000,4,0.000,0.051,3554,192,1525,0,0,0,0,0,0
$GC,9740,1.10,100.9,707.1,14.3,643,9746,0.03,2.22,0.00,0.000,6,0.197,0.035,3547,1611,1525,0,0,0,0,0,0
$GC,10068,1.10,100.9,664.9,13.0,659,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1611,1524,0,0,0,0,0,0
$GC,10377,1.10,100.9,622.7,14.2,674,10381,0.00,2.25,0.00,0.000,4,0.000,0.051,3556,196,1525,0,0,0,0,0,0
$GC,10454,1.10,100.9,610.8,15.7,677,10461,0.05,2.17,0.00,0.000,6,0.184,0.036,3540,1596,1524,0,0,0,0,0,0
$GC,10771,1.14,100.9,567.4,13.8,693,10775,0.00,2.22,0.00,0.000,4,0.000,0.050,3549,195,1524,0,0,0,0,0,0
$GC,10833,1.14,100.9,558.4,15.0,696,10837,0.00,2.15,0.00,0.000,6,0.000,0.036,3549,1600,1524,0,0,0,0,0,0
$GC,11160,1.14,100.9,514.2,12.9,712,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1600,1524,0,0,0,0,0,0
$GC,11470,1.14,100.9,475.1,12.5,727,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1601,1524,0,0,0,0,0,0
$GC,11779,1.14,100.9,438.8,11.5,742,11783,0.00,2.22,0.00,0.000,4,0.000,0.051,3557,195,1523,0,0,0,0,0,0
$GC,11889,1.14,100.9,424.5,12.4,747,11894,0.00,2.20,0.00,0.000,6,0.000,0.036,3557,1600,1523,0,0,0,0,0,0
$GC,12210,1.14,100.9,385.5,12.2,768,12214,0.00,2.25,0.00,0.000,4,0.000,0.051,3565,196,1523,0,0,0,0,0,0
$GC,12261,1.10,100.9,378.8,13.2,772,12266,0.10,2.17,0.00,0.000,6,0.193,0.036,3542,1615,1523,0,0,0,0,0,0
$GC,12591,1.14,100.9,337.4,13.0,803,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1615,1523,0,0,0,0,0,0
$GC,12912,1.18,100.9,298.2,12.0,833,12917,0.08,2.25,0.00,0.000,4,0.128,0.052,3594,189,1523,0,0,0,0,0,0
$GC,13035,1.09,100.9,281.2,13.6,843,13041,0.22,2.17,0.00,0.000,6,0.178,0.035,3534,1611,1523,0,0,0,0,0,0
$GC,13360,1.15,100.9,245.9,10.9,874,13362,0.03,0.00,0.00,0.000,6,0.252,0.000,3555,1611,1522,0,0,0,0,0,0
$GC,13679,1.15,100.9,208.8,12.1,904,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1612,1523,0,0,0,0,0,0
$GC,13998,1.15,100.9,172.6,11.4,934,14002,0.00,2.25,0.00,0.000,4,0.000,0.052,3566,190,1523,0,0,0,0,0,0
$GC,14094,1.15,100.9,162.0,10.0,942,14098,0.00,2.15,0.00,0.000,6,0.000,0.034,3566,1595,1523,0,0,0,0,0,0
$GC,14418,1.15,100.9,128.2,10.2,972,14419,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1595,1523,0,0,0,0,0,0
$GC,14742,1.15,100.9,94.2,10.9,1006,14747,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1595,1523,0,0,0,0,0,0
$GC,15089,1.15,100.9,56.2,11.3,1067,15094,0.00,2.22,0.00,0.000,4,0.000,0.050,3575,187,1523,0,0,0,0,0,0
$GC,15205,1.12,100.9,42.7,11.9,1087,15211,0.12,2.15,0.00,0.000,6,0.182,0.034,3543,1608,1523,0,0,0,0,0,0
$GC,15579,1.19,100.9,4.0,11.2,1148,15587,0.08,2.28,0.00,0.000,4,0.131,0.053,3588,199,1523,0,0,0,0,0,0
$STATE,15594,end climb,SURFACE_DEPTH_REACHED
$STATE,15594,begin surface coast
$FINISH,1.8,1.002225
$STATE,15626,end surface coast,CONTROL_FINISHED_OK
$STATE,15626,begin surface
$SM_CCo,15646,46.12,0.056,0,0,1133,200.16
$SM_GC,3.35,0.00,0.00,46.12,0.000,0.000,0.056,61,2067,1133,-9.76,0.20,200.16
$IRIDIUM_FIX,-4447.43,618.73,300608,131332
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,23.3,25.047
$10V_AH,10.0,25.814
$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,24.050,104.300,189.750,46.125,0.000,25.796,42.681,260.573,0.000,0.000,16.714,2846.890,9799.867,350.556,2985.817,156.320,0.000,1379.767,0.000,2492.787,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,62.730,1294.380,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.149,2139.002,890.268,508.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,80406,1155
$CAP_FILE_SIZE,140749,0
$CFSIZE,2097086464,2067726336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040915,093133,-4505.417,624.639,31,1.2,31,-24.4