version: 66.07.10.p01
glider: 573
mission: 12
dive: 194
start: 9 5 115 16 46 56
data:
$ID,573
$MISSION,12
$DIVE,194
$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,-21610.789
$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,38
$R_STBD_OVSHOOT,57
$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,193
$GPS1,050915,163834,-4505.112,624.311,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-72.4
$GPS2,050915,164635,-4505.162,624.323,20,0.9,20,-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,13.3,2194,-27.7,-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,-1.09,-49.9,0.0,0.0,0,51,0.00,0.00,-25.77,0.000,2,0.000,0.000,82,2086,1643,0,0,0,0,0,0
$GC,54,-1.12,-99.3,3.3,-2.9,4,105,11.35,2.25,-30.40,0.000,4,0.246,0.072,2804,3435,2355,0,0,0,0,0,0
$GC,187,-1.04,-99.3,16.2,-17.3,25,195,0.10,2.20,0.00,0.000,6,0.168,0.041,2840,2058,2357,0,0,0,0,0,0
$GC,246,-1.04,-99.3,25.9,-16.0,34,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2357,0,0,0,0,0,0
$GC,395,-1.04,-99.3,49.6,-15.4,59,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2357,0,0,0,0,0,0
$GC,745,-1.04,-99.3,105.2,-15.7,118,749,0.00,2.25,0.00,0.000,4,0.000,0.062,2830,3437,2357,0,0,0,0,0,0
$GC,791,-1.04,-99.3,112.2,-15.5,122,795,0.08,2.15,0.00,0.000,6,0.210,0.041,2846,2049,2358,0,0,0,0,0,0
$GC,1115,-1.04,-99.3,158.3,-14.0,152,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2049,2358,0,0,0,0,0,0
$GC,1435,-1.08,-99.3,198.4,-12.9,182,1439,0.00,2.25,0.00,0.000,4,0.000,0.057,2837,3447,2358,0,0,0,0,0,0
$GC,1500,-1.08,-99.3,207.7,-13.6,187,1506,0.00,2.17,0.00,0.000,6,0.000,0.041,2837,2066,2358,0,0,0,0,0,0
$GC,1827,-1.08,-99.3,252.1,-14.3,218,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2066,2358,0,0,0,0,0,0
$GC,2145,-1.08,-99.3,297.5,-14.6,248,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2066,2358,0,0,0,0,0,0
$GC,2464,-1.08,-99.3,344.4,-15.2,278,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2066,2358,0,0,0,0,0,0
$GC,2783,-1.11,-99.3,392.5,-14.9,308,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2066,2358,0,0,0,0,0,0
$GC,3104,-1.14,-99.3,439.1,-14.3,326,3108,0.05,2.22,0.00,0.000,4,0.168,0.057,2797,3445,2358,0,0,0,0,0,0
$GC,3143,-1.09,-99.3,445.0,-15.4,328,3148,0.12,2.15,0.00,0.000,6,0.181,0.042,2829,2057,2358,0,0,0,0,0,0
$GC,3469,-1.09,-99.3,490.2,-14.1,344,3473,0.00,2.25,0.00,0.000,4,0.000,0.062,2820,3446,2359,0,0,0,0,0,0
$GC,3540,-1.09,-99.3,500.6,-14.1,347,3545,0.00,2.17,0.00,0.000,6,0.000,0.043,2821,2060,2358,0,0,0,0,0,0
$GC,3863,-1.09,-99.3,545.0,-13.8,363,3867,0.00,2.20,0.00,0.000,4,0.000,0.059,2812,3439,2358,0,0,0,0,0,0
$GC,3906,-1.09,-99.3,551.5,-13.7,365,3912,0.05,2.15,0.00,0.000,6,0.164,0.041,2827,2064,2358,0,0,0,0,0,0
$GC,4234,-1.09,-99.3,594.2,-12.9,381,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2063,2358,0,0,0,0,0,0
$GC,4543,-1.09,-99.3,633.7,-12.6,396,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2063,2358,0,0,0,0,0,0
$GC,4853,-1.12,-99.3,671.3,-12.0,411,4857,0.00,2.20,0.00,0.000,4,0.000,0.058,2819,3445,2358,0,0,0,0,0,0
$GC,4929,-1.12,-99.3,680.8,-11.6,414,4936,0.00,2.17,0.00,0.000,6,0.000,0.043,2819,2056,2358,0,0,0,0,0,0
$GC,5246,-1.12,-99.3,716.1,-11.1,430,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2056,2358,0,0,0,0,0,0
$GC,5555,-1.12,-99.3,751.3,-11.6,445,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2056,2358,0,0,0,0,0,0
$GC,5864,-1.12,-99.3,786.9,-11.5,460,5869,0.00,2.22,0.00,0.000,4,0.000,0.061,2809,3438,2358,0,0,0,0,0,0
$GC,5919,-1.12,-99.3,793.8,-13.0,462,5925,0.00,2.15,0.00,0.000,6,0.000,0.042,2811,2060,2357,0,0,0,0,0,0
$GC,6235,-1.12,-99.3,831.8,-12.1,478,6239,0.00,2.22,0.00,0.000,4,0.000,0.056,2810,647,2357,0,0,0,0,0,0
$GC,6278,-1.12,-99.3,837.5,-12.9,480,6284,0.05,2.20,0.00,0.000,6,0.197,0.042,2817,2039,2357,0,0,0,0,0,0
$GC,6605,-1.12,-99.3,876.6,-12.1,496,6609,0.00,2.30,0.00,0.000,4,0.000,0.063,2807,3475,2357,0,0,0,0,0,0
$GC,6645,-1.12,-99.3,881.5,-12.3,498,6650,0.08,2.17,0.00,0.000,6,0.199,0.044,2823,2056,2357,0,0,0,0,0,0
$GC,6972,-1.16,-99.3,922.1,-12.8,514,6976,0.00,2.28,0.00,0.000,4,0.000,0.063,2814,3468,2357,0,0,0,0,0,0
$GC,7033,-1.16,-99.3,930.4,-13.5,517,7037,0.00,2.17,0.00,0.000,6,0.000,0.044,2813,2050,2356,0,0,0,0,0,0
$GC,7361,-1.16,-99.3,973.2,-13.1,533,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2050,2356,0,0,0,0,0,0
$STATE,7565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7565,begin apogee
$GC,7570,-0.19,0.0,1001.3,14.2,543,7666,1.02,0.00,91.68,1.296,6,0.167,0.000,3115,1593,1949,0,0,0,0,0,0
$STATE,7667,end apogee,CONTROL_FINISHED_OK
$STATE,7667,begin climb
$GC,7668,1.12,99.3,1006.3,0.0,548,7770,1.27,0.00,95.03,1.261,6,0.092,0.000,3537,1593,1544,0,0,0,0,0,0
$GC,8080,1.17,99.3,963.5,12.2,568,8084,0.08,2.33,0.00,0.000,4,0.119,0.053,3591,196,1536,0,0,0,0,0,0
$GC,8280,1.08,99.3,933.0,15.3,577,8285,0.20,2.30,0.00,0.000,6,0.164,0.036,3533,1623,1535,0,0,0,0,0,0
$GC,8607,1.13,99.3,893.1,12.4,593,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1623,1534,0,0,0,0,0,0
$GC,8917,1.18,99.3,854.1,12.7,608,8918,0.10,0.00,0.00,0.000,6,0.103,0.000,3584,1623,1533,0,0,0,0,0,0
$GC,9226,1.14,99.3,809.1,15.2,623,9231,0.12,2.33,0.00,0.000,4,0.184,0.052,3563,187,1532,0,0,0,0,0,0
$GC,9297,1.11,99.3,798.7,14.0,626,9302,0.05,2.22,0.00,0.000,6,0.184,0.036,3548,1599,1532,0,0,0,0,0,0
$GC,9618,1.11,99.3,756.9,12.9,642,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1532,0,0,0,0,0,0
$GC,9928,1.14,99.3,719.3,12.0,657,9932,0.00,2.28,0.00,0.000,4,0.000,0.051,3557,190,1531,0,0,0,0,0,0
$GC,10034,1.14,99.3,705.6,13.2,662,10038,0.00,2.20,0.00,0.000,6,0.000,0.036,3557,1607,1531,0,0,0,0,0,0
$GC,10361,1.14,99.3,666.9,11.7,678,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1607,1531,0,0,0,0,0,0
$GC,10670,1.14,99.3,631.6,11.1,693,10674,0.00,2.20,0.00,0.000,4,0.000,0.053,3557,3000,1531,0,0,0,0,0,0
$GC,10710,1.14,99.3,626.8,12.4,695,10714,0.05,2.12,0.00,0.000,6,0.252,0.035,3556,1595,1530,0,0,0,0,0,0
$GC,11036,1.14,99.3,588.8,11.5,711,11040,0.00,2.22,0.00,0.000,4,0.000,0.053,3566,200,1530,0,0,0,0,0,0
$GC,11220,1.11,99.3,565.2,13.1,719,11225,0.08,2.17,0.00,0.000,6,0.177,0.037,3543,1597,1530,0,0,0,0,0,0
$GC,11542,1.15,99.3,527.8,11.6,735,11546,0.00,2.25,0.00,0.000,4,0.000,0.051,3552,195,1531,0,0,0,0,0,0
$GC,11585,1.15,99.3,522.1,12.9,737,11590,0.00,2.20,0.00,0.000,6,0.000,0.037,3552,1595,1531,0,0,0,0,0,0
$GC,11913,1.19,99.3,483.8,11.7,753,11917,0.00,2.20,0.00,0.000,4,0.000,0.055,3552,2999,1530,0,0,0,0,0,0
$GC,11956,1.19,99.3,478.0,13.1,755,11960,0.00,2.15,0.00,0.000,6,0.000,0.035,3561,1607,1531,0,0,0,0,0,0
$GC,12283,1.19,99.3,435.4,13.3,771,12287,0.00,2.25,0.00,0.000,4,0.000,0.052,3572,191,1531,0,0,0,0,0,0
$GC,12429,1.15,99.3,415.7,12.6,777,12435,0.08,2.17,0.00,0.000,6,0.210,0.037,3556,1605,1530,0,0,0,0,0,0
$GC,12750,1.15,99.3,376.0,12.4,802,12754,0.00,2.25,0.00,0.000,4,0.000,0.050,3565,198,1530,0,0,0,0,0,0
$GC,12837,1.15,99.3,364.9,13.1,809,12841,0.00,2.15,0.00,0.000,6,0.000,0.037,3565,1604,1530,0,0,0,0,0,0
$GC,13162,1.15,99.3,326.5,11.3,839,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1605,1530,0,0,0,0,0,0
$GC,13483,1.15,99.3,290.0,11.0,869,13487,0.00,2.25,0.00,0.000,4,0.000,0.050,3574,198,1530,0,0,0,0,0,0
$GC,13738,1.12,99.3,258.4,12.1,891,13743,0.12,2.15,0.00,0.000,6,0.188,0.036,3543,1611,1530,0,0,0,0,0,0
$GC,14066,1.18,99.3,222.1,11.3,921,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1611,1530,0,0,0,0,0,0
$GC,14392,1.24,99.3,182.1,11.5,952,14394,0.12,0.00,0.00,0.000,6,0.089,0.000,3601,1611,1530,0,0,0,0,0,0
$GC,14710,1.20,99.3,141.9,11.4,982,14712,0.12,0.00,0.00,0.000,6,0.197,0.000,3572,1616,1530,0,0,0,0,0,0
$GC,15028,1.20,99.3,109.6,10.4,1012,15032,0.00,2.25,0.00,0.000,4,0.000,0.051,3581,198,1530,0,0,0,0,0,0
$GC,15218,1.17,99.3,89.0,10.9,1036,15224,0.08,2.15,0.00,0.000,6,0.216,0.035,3565,1608,1530,0,0,0,0,0,0
$GC,15569,1.20,99.3,53.3,9.7,1097,15574,0.00,2.25,0.00,0.000,4,0.000,0.050,3574,195,1530,0,0,0,0,0,0
$GC,15625,1.20,99.3,47.4,10.5,1107,15632,0.00,2.17,0.00,0.000,6,0.000,0.035,3574,1599,1529,0,0,0,0,0,0
$GC,15995,1.20,99.3,6.4,12.4,1168,16002,0.00,2.25,0.00,0.000,4,0.000,0.049,3582,200,1530,0,0,0,0,0,0
$STATE,16028,end climb,SURFACE_DEPTH_REACHED
$STATE,16028,begin surface coast
$FINISH,1.8,1.023384
$STATE,16054,end surface coast,CONTROL_FINISHED_OK
$STATE,16054,begin surface
$SM_CCo,16073,47.88,0.055,0,0,1133,200.16
$SM_GC,3.21,0.00,0.00,47.88,0.000,0.000,0.055,60,2058,1133,-9.76,-0.06,200.16
$IRIDIUM_FIX,-4447.43,625.13,020708,010157
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.3,25.785
$10V_AH,10.0,26.736
$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,24.475,107.625,186.700,47.875,0.000,24.545,40.432,285.440,0.000,0.000,23.240,2917.349,10019.861,336.710,3161.081,162.291,0.000,1436.689,0.000,2634.229,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,71.910,1295.910,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.622,2172.363,894.006,500.082,0.000,0.000,0.000,0.000,0.000,0.000
$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,80369,1177
$CAP_FILE_SIZE,147117,0
$CFSIZE,2097086464,2066677760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050915,211657,-4504.627,624.572,45,0.9,45,-24.4