version: 66.07.10.p01
glider: 573
mission: 12
dive: 247
start: 9 18 115 3 11 49
data:
$ID,573
$MISSION,12
$DIVE,247
$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,-21786.906
$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,35
$R_STBD_OVSHOOT,34
$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,246
$GPS1,180915,030256,-4505.559,637.675,40,1.3,43,-24.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-68.6
$GPS2,180915,031128,-4505.583,637.792,16,1.5,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,345.8,3755,-25.6,-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,-1.02,-58.3,0.0,0.0,0,34,0.00,0.00,-8.43,0.000,2,0.000,0.000,66,2065,1296,0,0,0,0,0,0
$GC,37,-1.05,-116.8,3.0,-0.0,1,112,11.43,2.33,-54.05,0.000,4,0.240,0.069,2838,663,2428,0,0,0,0,0,0
$GC,250,-0.95,-116.8,26.1,-18.0,35,258,0.15,2.25,0.00,0.000,6,0.175,0.041,2873,2051,2430,0,0,0,0,0,0
$GC,401,-0.95,-116.8,48.6,-14.3,60,408,0.00,2.30,0.00,0.000,4,0.000,0.053,2873,660,2430,0,0,0,0,0,0
$GC,427,-0.95,-116.8,52.4,-14.9,64,433,0.00,2.25,0.00,0.000,6,0.000,0.042,2865,2070,2430,0,0,0,0,0,0
$GC,760,-0.95,-116.8,102.3,-14.9,104,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2070,2430,0,0,0,0,0,0
$GC,1071,-0.95,-116.8,146.9,-13.9,119,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2070,2431,0,0,0,0,0,0
$GC,1378,-0.95,-116.8,191.1,-14.3,134,1382,0.00,2.25,0.00,0.000,4,0.000,0.061,2854,3475,2431,0,0,0,0,0,0
$GC,1445,-0.95,-116.8,201.2,-14.8,137,1450,0.05,2.25,0.00,0.000,6,0.174,0.042,2870,2058,2431,0,0,0,0,0,0
$GC,1773,-0.95,-116.8,246.5,-14.1,153,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2057,2432,0,0,0,0,0,0
$GC,2081,-0.95,-116.8,288.4,-13.2,168,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2057,2431,0,0,0,0,0,0
$GC,2391,-0.98,-116.8,330.1,-13.2,183,2395,0.00,2.30,0.00,0.000,4,0.000,0.064,2861,3470,2431,0,0,0,0,0,0
$GC,2430,-0.98,-116.8,335.5,-13.3,185,2434,0.00,2.20,0.00,0.000,6,0.000,0.043,2861,2046,2432,0,0,0,0,0,0
$GC,2756,-0.98,-116.8,379.3,-13.3,201,2760,0.00,2.30,0.00,0.000,4,0.000,0.060,2852,3468,2432,0,0,0,0,0,0
$GC,2787,-0.98,-116.8,383.8,-13.7,202,2794,0.00,2.22,0.00,0.000,6,0.000,0.041,2852,2049,2431,0,0,0,0,0,0
$GC,3103,-0.98,-116.8,426.8,-13.2,218,3105,0.05,0.00,0.00,0.000,6,0.233,0.000,2862,2049,2431,0,0,0,0,0,0
$GC,3413,-0.98,-116.8,467.4,-13.1,233,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2050,2432,0,0,0,0,0,0
$GC,3723,-0.98,-116.8,510.0,-13.8,248,3727,0.00,2.28,0.00,0.000,4,0.000,0.062,2853,3465,2431,0,0,0,0,0,0
$GC,3749,-0.98,-116.8,513.9,-13.7,249,3754,0.00,2.20,0.00,0.000,6,0.000,0.041,2853,2063,2431,0,0,0,0,0,0
$GC,4071,-1.02,-116.8,557.5,-13.0,265,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2063,2430,0,0,0,0,0,0
$GC,4379,0.23,-116.8,561.4,-3.5,280,4387,1.65,2.28,0.00,0.000,4,0.250,0.049,3235,3477,2429,0,0,0,0,0,0
$GC,4640,-0.66,-116.8,573.8,-6.6,291,4646,0.77,2.20,0.00,0.000,6,0.085,0.038,2965,2040,2431,0,0,0,0,0,0
$GC,4957,-0.95,-116.8,598.5,-8.4,307,4959,0.25,0.00,0.00,0.000,6,0.058,0.000,2850,2040,2430,0,0,0,0,0,0
$GC,5265,-0.98,-116.8,638.6,-13.4,322,5266,0.05,0.00,0.00,0.000,6,0.227,0.000,2861,2040,2429,0,0,0,0,0,0
$GC,5575,-1.04,-116.8,677.1,-12.1,337,5579,0.00,2.33,0.00,0.000,4,0.000,0.066,2851,3472,2429,0,0,0,0,0,0
$GC,5618,-1.08,-116.8,682.8,-12.5,339,5622,0.00,2.22,0.00,0.000,6,0.000,0.046,2852,2067,2429,0,0,0,0,0,0
$GC,5946,-1.12,-116.8,722.4,-11.9,355,5948,0.08,0.00,0.00,0.000,6,0.122,0.000,2809,2067,2429,0,0,0,0,0,0
$GC,6254,-1.08,-116.8,765.1,-13.9,370,6256,0.10,0.00,0.00,0.000,6,0.194,0.000,2832,2067,2429,0,0,0,0,0,0
$GC,6564,-1.08,-116.8,804.0,-12.7,385,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2067,2428,0,0,0,0,0,0
$GC,6872,-1.08,-116.8,843.0,-12.8,400,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2067,2428,0,0,0,0,0,0
$GC,7183,-1.08,-116.8,881.9,-12.9,415,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2067,2428,0,0,0,0,0,0
$GC,7491,-1.08,-116.8,919.7,-12.1,430,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2067,2428,0,0,0,0,0,0
$GC,7801,-1.08,-116.8,956.7,-12.1,445,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2067,2428,0,0,0,0,0,0
$GC,8109,-1.08,-116.8,995.5,-12.6,460,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2067,2428,0,0,0,0,0,0
$STATE,8149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8149,begin apogee
$GC,8154,-0.19,0.0,1000.8,12.6,462,8266,0.98,0.00,108.18,1.283,6,0.160,0.000,3119,1594,1949,0,0,0,0,0,0
$STATE,8267,end apogee,CONTROL_FINISHED_OK
$STATE,8267,begin climb
$GC,8269,1.05,116.8,1004.7,0.0,467,8392,1.20,2.50,113.12,1.248,4,0.090,0.054,3526,202,1473,0,0,0,0,0,0
$GC,8441,1.05,116.8,989.5,13.2,475,8446,0.00,2.42,0.00,0.000,6,0.000,0.038,3527,1605,1469,0,0,0,0,0,0
$GC,8769,1.05,116.8,945.2,14.0,491,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1605,1465,0,0,0,0,0,0
$GC,9077,1.05,116.8,901.2,14.0,506,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1606,1463,0,0,0,0,0,0
$GC,9387,1.05,116.8,856.3,14.4,521,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1606,1463,0,0,0,0,0,0
$GC,9695,1.05,116.8,812.9,13.9,536,9699,0.00,2.30,0.00,0.000,4,0.000,0.053,3536,194,1462,0,0,0,0,0,0
$GC,9750,1.05,116.8,804.9,15.1,538,9755,0.00,2.25,0.00,0.000,6,0.000,0.037,3536,1601,1461,0,0,0,0,0,0
$GC,10071,1.05,116.8,759.7,14.5,554,10075,0.00,2.28,0.00,0.000,4,0.000,0.053,3545,195,1461,0,0,0,0,0,0
$GC,10161,1.02,116.8,746.3,15.4,558,10165,0.12,2.22,0.00,0.000,6,0.177,0.037,3513,1604,1461,0,0,0,0,0,0
$GC,10487,1.07,116.8,704.8,12.3,574,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,1604,1461,0,0,0,0,0,0
$GC,10797,1.12,116.8,667.3,12.3,589,10802,0.10,2.22,0.00,0.000,4,0.105,0.058,3564,2995,1461,0,0,0,0,0,0
$GC,10857,1.05,116.8,658.5,14.3,591,10862,0.15,2.20,0.00,0.000,6,0.160,0.037,3528,1591,1461,0,0,0,0,0,0
$GC,11173,1.05,116.8,620.9,11.6,607,11177,0.00,2.22,0.00,0.000,4,0.000,0.055,3538,198,1460,0,0,0,0,0,0
$GC,11244,1.05,116.8,612.0,13.0,610,11249,0.03,2.22,0.00,0.000,6,0.198,0.039,3530,1596,1460,0,0,0,0,0,0
$GC,11564,1.05,116.8,575.3,11.4,626,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1597,1460,0,0,0,0,0,0
$GC,11874,1.05,116.8,539.8,11.6,641,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1596,1460,0,0,0,0,0,0
$GC,12182,1.05,116.8,502.9,12.3,656,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1597,1460,0,0,0,0,0,0
$GC,12493,1.05,116.8,465.4,12.0,671,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1596,1460,0,0,0,0,0,0
$GC,12801,1.08,116.8,428.2,12.0,686,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1596,1460,0,0,0,0,0,0
$GC,13112,1.12,116.8,391.5,11.9,701,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1596,1460,0,0,0,0,0,0
$GC,13420,1.15,116.8,356.2,11.1,716,13425,0.08,2.25,0.00,0.000,4,0.127,0.058,3572,3002,1460,0,0,0,0,0,0
$GC,13463,1.08,116.8,350.7,12.0,718,13468,0.15,2.17,0.00,0.000,6,0.162,0.036,3536,1598,1460,0,0,0,0,0,0
$GC,13789,1.08,116.8,314.9,11.0,734,13793,0.00,2.22,0.00,0.000,4,0.000,0.055,3547,199,1460,0,0,0,0,0,0
$GC,13878,1.08,116.8,304.0,12.8,738,13883,0.05,2.20,0.00,0.000,6,0.229,0.038,3536,1610,1459,0,0,0,0,0,0
$GC,14210,1.08,116.8,265.6,11.5,754,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1611,1459,0,0,0,0,0,0
$GC,14521,1.08,116.8,230.0,11.3,769,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1611,1459,0,0,0,0,0,0
$GC,14829,1.12,116.8,195.2,11.5,784,14830,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1611,1459,0,0,0,0,0,0
$GC,15140,1.16,116.8,164.2,9.6,799,15145,0.05,2.25,0.00,0.000,4,0.171,0.052,3579,195,1459,0,0,0,0,0,0
$GC,15212,1.09,116.8,155.8,11.5,802,15217,0.10,2.22,0.00,0.000,6,0.161,0.037,3533,1611,1459,0,0,0,0,0,0
$GC,15534,1.14,116.8,124.3,9.8,818,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1611,1459,0,0,0,0,0,0
$GC,15845,1.19,116.8,92.7,10.2,833,15846,0.10,0.00,0.00,0.000,6,0.106,0.000,3583,1611,1459,0,0,0,0,0,0
$GC,16172,1.14,116.8,52.3,11.0,875,16177,0.12,0.00,0.00,0.000,6,0.183,0.000,3551,1614,1459,0,0,0,0,0,0
$GC,16538,1.14,116.8,9.9,11.3,936,16545,0.00,2.30,0.00,0.000,4,0.000,0.054,3561,198,1459,0,0,0,0,0,0
$STATE,16583,end climb,SURFACE_DEPTH_REACHED
$STATE,16583,begin surface coast
$FINISH,1.9,1.023021
$STATE,16609,end surface coast,CONTROL_FINISHED_OK
$STATE,16609,begin surface
$SM_CCo,16628,38.78,0.055,0,0,1133,200.16
$SM_GC,3.38,0.00,0.00,38.78,0.000,0.000,0.055,62,2077,1133,-9.76,0.48,200.16
$IRIDIUM_FIX,-4447.43,637.25,140708,111139
$TT8_MAMPS,0.026964
$HUMID,63.11
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.7,31.622
$10V_AH,9.9,33.491
$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,26.775,78.300,221.300,38.775,0.000,27.795,60.355,296.186,0.000,0.000,19.111,2015.134,12095.600,340.200,2566.042,161.210,0.000,1235.967,0.000,2079.347,0.000,0.539,0.000
$DEVICE_MAMPS,250.155,68.850,1282.905,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.650,1359.574,746.008,433.970,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,70447,947
$CAP_FILE_SIZE,128901,0
$CFSIZE,2097086464,2059730944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,180915,075053,-4505.061,636.822,41,0.9,41,-24.4