version: 66.07.10.p01
glider: 573
mission: 12
dive: 199
start: 9 6 115 15 52 37
data:
$ID,573
$MISSION,12
$DIVE,199
$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,-21626.73
$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,41
$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,198
$GPS1,060915,154002,-4505.135,625.003,38,1.6,41,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-68.1
$GPS2,060915,155217,-4505.194,625.029,14,1.5,15,-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,353.1,2589,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-20.50,0.000,2,0.000,0.000,61,2065,1531,0,0,0,0,0,0
$GC,49,-1.12,-92.8,3.1,-3.6,3,101,11.32,2.28,-34.60,0.000,4,0.239,0.067,2818,663,2329,0,0,0,0,0,0
$GC,326,-1.03,-92.8,42.2,-17.0,48,334,0.10,2.25,0.00,0.000,6,0.177,0.041,2839,2054,2331,0,0,0,0,0,0
$GC,679,-1.03,-92.8,97.8,-15.9,109,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2054,2331,0,0,0,0,0,0
$GC,1012,-1.03,-92.8,150.0,-14.8,141,1016,0.00,2.25,0.00,0.000,4,0.000,0.060,2829,3466,2331,0,0,0,0,0,0
$GC,1044,-1.03,-92.8,155.8,-16.1,143,1051,0.05,2.20,0.00,0.000,6,0.181,0.041,2844,2071,2331,0,0,0,0,0,0
$GC,1370,-1.03,-92.8,200.8,-13.2,174,1374,0.00,2.25,0.00,0.000,4,0.000,0.053,2844,644,2331,0,0,0,0,0,0
$GC,1386,-1.03,-92.8,203.0,-13.1,175,1390,0.00,2.22,0.00,0.000,6,0.000,0.040,2836,2071,2332,0,0,0,0,0,0
$GC,1716,-1.03,-92.8,245.0,-13.0,206,1718,0.05,0.00,0.00,0.000,6,0.246,0.000,2846,2072,2332,0,0,0,0,0,0
$GC,2036,-1.03,-92.8,285.3,-12.5,236,2040,0.00,2.22,0.00,0.000,4,0.000,0.060,2835,3475,2332,0,0,0,0,0,0
$GC,2086,-1.03,-92.8,292.0,-12.7,240,2090,0.00,2.20,0.00,0.000,6,0.000,0.042,2836,2049,2332,0,0,0,0,0,0
$GC,2410,-1.03,-92.8,330.9,-12.0,270,2412,0.05,0.00,0.00,0.000,6,0.238,0.000,2845,2049,2332,0,0,0,0,0,0
$GC,2729,-1.07,-92.8,367.9,-12.0,300,2734,0.00,2.30,0.00,0.000,4,0.000,0.061,2836,3469,2332,0,0,0,0,0,0
$GC,2758,-1.07,-92.8,371.5,-12.5,302,2762,0.00,2.20,0.00,0.000,6,0.000,0.043,2836,2051,2332,0,0,0,0,0,0
$GC,3085,-1.07,-92.8,414.8,-13.9,328,3089,0.00,2.28,0.00,0.000,4,0.000,0.062,2827,3469,2332,0,0,0,0,0,0
$GC,3128,-1.07,-92.8,421.2,-14.0,330,3133,0.00,2.22,0.00,0.000,6,0.000,0.044,2827,2053,2332,0,0,0,0,0,0
$GC,3456,-1.07,-92.8,466.8,-14.1,346,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2053,2332,0,0,0,0,0,0
$GC,3766,-1.07,-92.8,510.8,-14.2,361,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2053,2332,0,0,0,0,0,0
$GC,4075,-1.07,-92.8,552.6,-13.6,376,4079,0.00,2.28,0.00,0.000,4,0.000,0.063,2818,3468,2332,0,0,0,0,0,0
$GC,4124,-1.07,-92.8,559.8,-14.0,378,4130,0.05,2.20,0.00,0.000,6,0.168,0.044,2834,2068,2332,0,0,0,0,0,0
$GC,4446,-1.07,-92.8,601.7,-12.9,394,4450,0.00,2.22,0.00,0.000,4,0.000,0.056,2834,652,2332,0,0,0,0,0,0
$GC,4472,-1.07,-92.8,605.4,-13.2,395,4477,0.00,2.22,0.00,0.000,6,0.000,0.044,2825,2052,2331,0,0,0,0,0,0
$GC,4794,-1.07,-92.8,646.1,-12.7,411,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2332,0,0,0,0,0,0
$GC,5103,-1.07,-92.8,684.7,-12.2,426,5107,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3465,2331,0,0,0,0,0,0
$GC,5179,-1.07,-92.8,694.8,-13.1,429,5186,0.05,2.20,0.00,0.000,6,0.170,0.043,2831,2059,2331,0,0,0,0,0,0
$GC,5496,-1.10,-92.8,732.5,-11.6,445,5500,0.00,2.22,0.00,0.000,4,0.000,0.057,2831,654,2330,0,0,0,0,0,0
$GC,5536,-1.10,-92.8,737.4,-12.4,447,5540,0.00,2.20,0.00,0.000,6,0.000,0.047,2822,2062,2330,0,0,0,0,0,0
$GC,5862,-1.10,-92.8,774.1,-10.9,463,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2063,2330,0,0,0,0,0,0
$GC,6172,-1.10,-92.8,808.0,-10.8,478,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2063,2330,0,0,0,0,0,0
$GC,6481,-1.10,-92.8,841.7,-10.8,493,6485,0.00,2.25,0.00,0.000,4,0.000,0.067,2811,3469,2329,0,0,0,0,0,0
$GC,6602,-1.10,-92.8,856.2,-11.9,498,6608,0.00,2.20,0.00,0.000,6,0.000,0.045,2811,2068,2329,0,0,0,0,0,0
$GC,6919,-1.10,-92.8,892.4,-11.5,514,6923,0.05,2.25,0.00,0.000,4,0.234,0.063,2813,3465,2329,0,0,0,0,0,0
$GC,6989,-1.10,-92.8,900.9,-11.5,517,6994,0.00,2.20,0.00,0.000,6,0.000,0.044,2813,2065,2329,0,0,0,0,0,0
$GC,7311,-1.10,-92.8,935.3,-10.8,533,7313,0.05,0.00,0.00,0.000,6,0.236,0.000,2823,2064,2329,0,0,0,0,0,0
$GC,7621,-1.15,-92.8,967.6,-11.0,548,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2065,2329,0,0,0,0,0,0
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7929,begin apogee
$GC,7934,-0.19,0.0,1001.1,10.9,563,8022,1.00,0.00,84.62,1.291,6,0.162,0.000,3120,1587,1950,0,0,0,0,0,0
$STATE,8023,end apogee,CONTROL_FINISHED_OK
$STATE,8023,begin climb
$GC,8025,1.12,92.8,1003.9,0.0,567,8119,1.25,0.00,90.20,1.257,6,0.087,0.000,3537,1588,1570,0,0,0,0,0,0
$GC,8421,1.15,92.8,959.6,13.1,587,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1588,1563,0,0,0,0,0,0
$GC,8730,1.19,92.8,919.3,12.8,602,8734,0.08,2.28,0.00,0.000,4,0.120,0.054,3591,198,1561,0,0,0,0,0,0
$GC,8913,1.09,92.8,891.8,15.3,610,8918,0.17,2.28,0.00,0.000,6,0.163,0.037,3526,1614,1560,0,0,0,0,0,0
$GC,9235,1.14,92.8,853.9,11.9,626,9240,0.08,2.22,0.00,0.000,4,0.128,0.057,3564,2993,1560,0,0,0,0,0,0
$GC,9387,1.10,92.8,832.5,14.4,633,9392,0.12,2.17,0.00,0.000,6,0.196,0.035,3543,1589,1560,0,0,0,0,0,0
$GC,9719,1.10,92.8,789.7,13.0,649,9723,0.00,2.25,0.00,0.000,4,0.000,0.054,3554,195,1560,0,0,0,0,0,0
$GC,9916,1.10,92.8,763.3,13.8,658,9920,0.05,2.20,0.00,0.000,6,0.235,0.037,3543,1616,1559,0,0,0,0,0,0
$GC,10243,1.10,92.8,721.4,12.6,674,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1616,1559,0,0,0,0,0,0
$GC,10552,1.13,92.8,681.2,13.2,689,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1616,1558,0,0,0,0,0,0
$GC,10861,1.16,92.8,640.5,12.9,704,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1616,1558,0,0,0,0,0,0
$GC,11170,1.20,92.8,600.3,12.8,719,11175,0.08,2.25,0.00,0.000,4,0.129,0.051,3593,200,1558,0,0,0,0,0,0
$GC,11278,1.10,92.8,584.8,14.8,724,11283,0.20,2.17,0.00,0.000,6,0.184,0.037,3542,1604,1558,0,0,0,0,0,0
$GC,11605,1.14,92.8,543.3,12.3,740,11609,0.00,2.22,0.00,0.000,4,0.000,0.051,3551,202,1558,0,0,0,0,0,0
$GC,11648,1.14,92.8,537.4,13.7,742,11653,0.00,2.20,0.00,0.000,6,0.000,0.037,3551,1596,1558,0,0,0,0,0,0
$GC,11976,1.14,92.8,496.3,12.5,758,11980,0.00,2.20,0.00,0.000,4,0.000,0.055,3551,2996,1558,0,0,0,0,0,0
$GC,12015,1.14,92.8,491.2,13.1,760,12019,0.00,2.12,0.00,0.000,6,0.000,0.034,3560,1594,1558,0,0,0,0,0,0
$GC,12341,1.14,92.8,451.6,11.8,776,12345,0.00,2.22,0.00,0.000,4,0.000,0.054,3571,197,1557,0,0,0,0,0,0
$GC,12497,1.10,92.8,431.7,12.6,783,12502,0.12,2.17,0.00,0.000,6,0.189,0.037,3540,1611,1557,0,0,0,0,0,0
$GC,12814,1.15,92.8,397.7,10.2,799,12818,0.00,2.17,0.00,0.000,4,0.000,0.054,3540,2990,1558,0,0,0,0,0,0
$GC,12891,1.18,92.8,389.5,10.9,805,12895,0.00,2.10,0.00,0.000,6,0.000,0.036,3548,1601,1557,0,0,0,0,0,0
$GC,13215,1.22,92.8,354.4,10.2,835,13220,0.08,2.20,0.00,0.000,4,0.122,0.053,3600,199,1557,0,0,0,0,0,0
$GC,13293,1.13,92.8,344.8,12.4,841,13299,0.15,2.20,0.00,0.000,6,0.175,0.037,3554,1604,1557,0,0,0,0,0,0
$GC,13618,1.16,92.8,310.2,10.9,872,13623,0.00,2.25,0.00,0.000,4,0.000,0.051,3563,198,1557,0,0,0,0,0,0
$GC,13728,1.16,92.8,297.8,11.2,881,13732,0.00,2.15,0.00,0.000,6,0.000,0.037,3563,1602,1558,0,0,0,0,0,0
$GC,14052,1.16,92.8,261.0,11.1,911,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1602,1557,0,0,0,0,0,0
$GC,14374,1.16,92.8,225.2,11.1,941,14378,0.00,2.20,0.00,0.000,4,0.000,0.054,3563,2998,1557,0,0,0,0,0,0
$GC,14462,1.16,92.8,214.3,11.4,948,14471,0.03,2.15,0.00,0.000,6,0.217,0.034,3564,1601,1557,0,0,0,0,0,0
$GC,14787,1.16,92.8,178.1,11.4,979,14788,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1601,1557,0,0,0,0,0,0
$GC,15109,1.16,92.8,146.5,9.5,1009,15110,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1601,1557,0,0,0,0,0,0
$GC,15425,1.16,92.8,116.4,9.6,1039,15429,0.00,2.22,0.00,0.000,4,0.000,0.053,3574,197,1557,0,0,0,0,0,0
$GC,15685,1.16,92.8,90.1,9.9,1070,15690,0.08,2.15,0.00,0.000,6,0.214,0.035,3558,1604,1557,0,0,0,0,0,0
$GC,16034,1.19,92.8,58.4,9.0,1131,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1604,1557,0,0,0,0,0,0
$GC,16394,1.19,92.8,23.2,9.9,1192,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1604,1557,0,0,0,0,0,0
$GC,16549,1.24,99.5,8.2,7.8,1217,16558,0.08,2.22,1.70,0.076,4,0.126,0.050,3608,199,1544,0,0,0,0,0,0
$STATE,16595,end climb,SURFACE_DEPTH_REACHED
$STATE,16595,begin surface coast
$FINISH,1.7,1.002682
$STATE,16628,end surface coast,CONTROL_FINISHED_OK
$STATE,16628,begin surface
$SM_CCo,16648,48.97,0.057,0,0,1133,200.16
$SM_GC,3.00,0.00,0.00,48.97,0.000,0.000,0.057,61,2057,1133,-9.76,-0.08,200.16
$IRIDIUM_FIX,-4450.47,649.72,030708,050520
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,23.3,26.231
$10V_AH,10.0,27.340
$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,24.425,112.225,176.525,48.975,0.000,49.197,75.077,400.457,0.000,0.000,17.484,3053.003,10387.873,347.281,3460.027,179.629,0.000,1468.217,0.000,2743.408,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,67.320,1291.320,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.378,2267.278,940.118,516.639,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,87155,1229
$CAP_FILE_SIZE,155739,0
$CFSIZE,2097086464,2066022400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060915,203203,-4504.914,624.400,34,1.1,34,-24.4