version: 66.07.10.p01
glider: 573
mission: 12
dive: 212
start: 9 9 115 16 55 38
data:
$ID,573
$MISSION,12
$DIVE,212
$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,-21669.576
$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,55
$R_STBD_OVSHOOT,47
$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,211
$GPS1,090915,164633,-4457.594,625.349,85,0.9,85,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-67.3
$GPS2,090915,165517,-4457.598,625.309,21,0.9,22,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,354.3,3421,-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,-49.9,0.0,0.0,0,34,0.00,0.00,-8.55,0.000,2,0.000,0.000,81,2033,1307,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.3,-0.0,1,106,11.32,2.22,-50.80,0.000,4,0.245,0.067,2814,657,2426,0,0,0,0,0,0
$GC,377,-1.05,-116.8,55.2,-20.8,57,385,0.10,2.25,0.00,0.000,6,0.181,0.046,2836,2039,2428,0,0,0,0,0,0
$GC,728,-1.05,-116.8,120.6,-18.8,109,732,0.00,2.33,0.00,0.000,4,0.000,0.065,2826,3477,2428,0,0,0,0,0,0
$GC,744,-1.05,-116.8,124.2,-18.1,110,749,0.08,2.17,0.00,0.000,6,0.210,0.042,2841,2080,2428,0,0,0,0,0,0
$GC,1069,-1.05,-116.8,178.1,-16.0,140,1073,0.00,2.28,0.00,0.000,4,0.000,0.064,2832,3468,2428,0,0,0,0,0,0
$GC,1191,-1.05,-116.8,199.3,-16.8,150,1197,0.00,2.22,0.00,0.000,6,0.000,0.043,2832,2066,2428,0,0,0,0,0,0
$GC,1519,-1.05,-116.8,256.3,-17.4,181,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2066,2429,0,0,0,0,0,0
$GC,1836,-1.05,-116.8,311.1,-17.0,211,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2066,2429,0,0,0,0,0,0
$GC,2157,-1.05,-116.8,363.7,-16.2,241,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2066,2429,0,0,0,0,0,0
$GC,2480,-1.05,-116.8,417.9,-16.5,267,2484,0.00,2.25,0.00,0.000,4,0.000,0.059,2823,3478,2429,0,0,0,0,0,0
$GC,2551,-1.05,-116.8,429.7,-15.5,270,2556,0.05,2.22,0.00,0.000,6,0.172,0.043,2838,2060,2429,0,0,0,0,0,0
$GC,2873,-1.09,-116.8,477.1,-14.2,286,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2060,2429,0,0,0,0,0,0
$GC,3182,-1.12,-116.8,519.9,-14.3,301,3186,0.00,2.28,0.00,0.000,4,0.000,0.063,2830,3470,2429,0,0,0,0,0,0
$GC,3253,-1.12,-116.8,530.1,-13.7,304,3258,0.00,2.22,0.00,0.000,6,0.000,0.044,2830,2061,2429,0,0,0,0,0,0
$GC,3575,-1.12,-116.8,576.2,-14.8,320,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2060,2429,0,0,0,0,0,0
$GC,3885,-1.15,-116.8,622.7,-14.6,335,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2061,2429,0,0,0,0,0,0
$GC,4194,-1.19,-116.8,667.5,-14.4,350,4196,0.08,0.00,0.00,0.000,6,0.125,0.000,2791,2061,2429,0,0,0,0,0,0
$GC,4503,-1.15,-116.8,716.5,-15.3,365,4508,0.08,2.28,0.00,0.000,4,0.219,0.063,2797,3475,2429,0,0,0,0,0,0
$GC,4557,-1.15,-116.8,725.2,-16.3,367,4564,0.00,2.22,0.00,0.000,6,0.000,0.045,2796,2068,2429,0,0,0,0,0,0
$GC,4874,-1.15,-116.8,772.1,-14.7,383,4879,0.05,2.25,0.00,0.000,4,0.235,0.058,2806,650,2428,0,0,0,0,0,0
$GC,4890,-1.15,-116.8,774.7,-15.3,384,4895,0.00,2.20,0.00,0.000,6,0.000,0.044,2798,2069,2428,0,0,0,0,0,0
$GC,5217,-1.15,-116.8,822.7,-14.6,400,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2069,2429,0,0,0,0,0,0
$GC,5527,-1.15,-116.8,867.4,-14.3,415,5531,0.00,2.25,0.00,0.000,4,0.000,0.063,2787,3475,2428,0,0,0,0,0,0
$GC,5626,-1.15,-116.8,882.5,-14.9,419,5633,0.05,2.25,0.00,0.000,6,0.184,0.045,2802,2054,2428,0,0,0,0,0,0
$GC,5942,-1.15,-116.8,925.1,-13.2,435,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2054,2428,0,0,0,0,0,0
$GC,6252,-1.15,-116.8,965.3,-12.9,450,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2054,2428,0,0,0,0,0,0
$STATE,6518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6519,begin apogee
$GC,6524,-0.19,0.0,1000.1,13.1,463,6634,1.08,0.00,106.78,1.288,6,0.168,0.000,3118,1587,1949,0,0,0,0,0,0
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6635,begin climb
$GC,6637,1.13,116.8,1003.5,0.0,468,6759,1.27,2.53,111.25,1.250,4,0.090,0.054,3550,201,1473,0,0,0,0,0,0
$GC,6827,1.13,116.8,983.5,14.8,477,6832,0.00,2.35,0.00,0.000,6,0.000,0.037,3550,1606,1468,0,0,0,0,0,0
$GC,7154,1.13,116.8,936.9,14.1,493,7158,0.00,2.30,0.00,0.000,4,0.000,0.054,3550,3000,1465,0,0,0,0,0,0
$GC,7230,1.13,116.8,925.5,14.5,496,7236,0.00,2.28,0.00,0.000,6,0.000,0.035,3559,1596,1464,0,0,0,0,0,0
$GC,7547,1.13,116.8,881.7,13.6,512,7551,0.00,2.30,0.00,0.000,4,0.000,0.054,3570,193,1464,0,0,0,0,0,0
$GC,7677,1.09,116.8,863.1,14.3,518,7682,0.12,2.25,0.00,0.000,6,0.183,0.037,3539,1611,1463,0,0,0,0,0,0
$GC,8004,1.13,116.8,823.3,11.9,534,8008,0.00,2.22,0.00,0.000,4,0.000,0.055,3539,3002,1463,0,0,0,0,0,0
$GC,8064,1.13,116.8,815.3,13.1,536,8071,0.00,2.22,0.00,0.000,6,0.000,0.035,3548,1595,1462,0,0,0,0,0,0
$GC,8381,1.13,116.8,775.6,12.6,552,8385,0.00,2.25,0.00,0.000,4,0.000,0.055,3559,192,1462,0,0,0,0,0,0
$GC,8468,1.13,116.8,763.6,13.4,556,8473,0.00,2.22,0.00,0.000,6,0.000,0.037,3558,1598,1461,0,0,0,0,0,0
$GC,8796,1.13,116.8,721.8,12.7,572,8800,0.00,2.28,0.00,0.000,4,0.000,0.053,3567,195,1461,0,0,0,0,0,0
$GC,8880,1.09,116.8,710.2,13.6,576,8885,0.12,2.17,0.00,0.000,6,0.185,0.037,3537,1602,1461,0,0,0,0,0,0
$GC,9209,1.15,116.8,669.2,12.6,592,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1602,1461,0,0,0,0,0,0
$GC,9516,1.21,116.8,632.2,11.6,607,9518,0.10,0.00,0.00,0.000,6,0.105,0.000,3588,1603,1461,0,0,0,0,0,0
$GC,9826,1.17,116.8,590.5,13.4,622,9830,0.10,2.28,0.00,0.000,4,0.192,0.052,3574,192,1461,0,0,0,0,0,0
$GC,10011,1.13,116.8,565.7,13.7,630,10016,0.10,2.17,0.00,0.000,6,0.192,0.035,3550,1611,1460,0,0,0,0,0,0
$GC,10327,1.17,116.8,529.6,11.3,645,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1611,1460,0,0,0,0,0,0
$GC,10636,1.21,116.8,494.3,11.5,660,10638,0.08,0.00,0.00,0.000,6,0.126,0.000,3592,1611,1461,0,0,0,0,0,0
$GC,10945,1.17,116.8,452.7,14.0,675,10950,0.12,2.25,0.00,0.000,4,0.187,0.053,3570,193,1460,0,0,0,0,0,0
$GC,11090,1.14,116.8,433.0,14.2,681,11096,0.05,2.20,0.00,0.000,6,0.177,0.036,3554,1595,1460,0,0,0,0,0,0
$GC,11408,1.17,116.8,394.8,12.1,699,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1595,1460,0,0,0,0,0,0
$GC,11729,1.21,116.8,356.1,11.8,729,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1595,1460,0,0,0,0,0,0
$GC,12055,1.25,116.8,317.6,11.6,760,12057,0.10,0.00,0.00,0.000,6,0.103,0.000,3602,1595,1460,0,0,0,0,0,0
$GC,12373,1.20,116.8,277.2,12.6,790,12377,0.12,2.22,0.00,0.000,4,0.194,0.052,3580,193,1460,0,0,0,0,0,0
$GC,12424,1.16,116.8,270.8,12.9,794,12428,0.08,2.17,0.00,0.000,6,0.216,0.037,3563,1615,1461,0,0,0,0,0,0
$GC,12748,1.16,116.8,234.3,11.5,824,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1615,1460,0,0,0,0,0,0
$GC,13067,1.16,116.8,196.9,11.5,854,13072,0.00,2.25,0.00,0.000,4,0.000,0.051,3572,194,1460,0,0,0,0,0,0
$GC,13130,1.16,116.8,188.8,13.8,859,13134,0.00,2.17,0.00,0.000,6,0.000,0.036,3571,1602,1460,0,0,0,0,0,0
$GC,13456,1.16,116.8,148.6,11.4,889,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1602,1460,0,0,0,0,0,0
$GC,13773,1.16,116.8,112.4,10.2,919,13777,0.00,2.28,0.00,0.000,4,0.000,0.051,3579,184,1460,0,0,0,0,0,0
$GC,14034,1.16,116.8,82.1,12.8,954,14042,0.05,2.20,0.00,0.000,6,0.181,0.034,3564,1601,1460,0,0,0,0,0,0
$GC,14384,1.16,116.8,41.3,11.1,1015,14389,0.00,2.22,0.00,0.000,4,0.000,0.050,3573,193,1460,0,0,0,0,0,0
$GC,14531,1.16,116.8,21.3,14.4,1039,14539,0.03,2.20,0.00,0.000,6,0.210,0.035,3564,1609,1460,0,0,0,0,0,0
$STATE,14662,end climb,SURFACE_DEPTH_REACHED
$STATE,14662,begin surface coast
$FINISH,1.9,1.023412
$STATE,14688,end surface coast,CONTROL_FINISHED_OK
$STATE,14688,begin surface
$SM_CCo,14705,39.50,0.058,0,0,1132,200.16
$SM_GC,2.69,0.00,0.00,39.50,0.000,0.000,0.058,81,2058,1132,-9.70,-0.06,200.16
$IRIDIUM_FIX,-4438.33,621.08,060708,010141
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.9,27.755
$10V_AH,10.0,29.150
$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,24.450,91.275,218.025,39.500,0.000,24.579,49.383,311.050,0.000,0.000,23.844,2632.032,9220.493,342.257,2911.670,159.975,0.000,1333.302,0.000,2358.887,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,66.555,1288.260,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.361,1962.814,787.939,430.210,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,73700,1064
$CAP_FILE_SIZE,133154,0
$CFSIZE,2097086464,2064318464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090915,210303,-4456.763,624.855,65,0.8,65,-24.4