version: 66.07.10.p01
glider: 573
mission: 12
dive: 255
start: 9 19 115 15 39 19
data:
$ID,573
$MISSION,12
$DIVE,255
$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,-21813.836
$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,39
$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,254
$GPS1,190915,153151,-4504.309,636.844,74,0.8,74,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-63.9
$GPS2,190915,153859,-4504.314,637.040,20,1.2,21,-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,317.6,1480,-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,-8.20,0.000,2,0.000,0.000,61,2054,1296,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.1,-0.0,1,106,11.02,2.30,-50.75,0.000,4,0.231,0.070,2804,3468,2426,0,0,0,0,0,0
$GC,147,-1.06,-116.8,12.0,-19.0,18,155,0.10,2.25,0.00,0.000,6,0.172,0.041,2834,2067,2428,0,0,0,0,0,0
$GC,206,-1.06,-116.8,23.9,-19.2,27,213,0.00,2.33,0.00,0.000,4,0.000,0.055,2834,657,2428,0,0,0,0,0,0
$GC,247,-1.01,-116.8,31.9,-19.7,33,255,0.08,2.25,0.00,0.000,6,0.184,0.042,2848,2043,2428,0,0,0,0,0,0
$GC,397,-1.01,-116.8,56.1,-12.3,58,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2044,2428,0,0,0,0,0,0
$GC,725,-1.01,-116.8,111.6,-16.2,92,730,0.00,2.28,0.00,0.000,4,0.000,0.054,2849,653,2429,0,0,0,0,0,0
$GC,769,-1.01,-116.8,119.3,-16.5,94,774,0.03,2.28,0.00,0.000,6,0.206,0.042,2848,2064,2429,0,0,0,0,0,0
$GC,1097,-1.05,-116.8,170.6,-15.4,110,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2065,2429,0,0,0,0,0,0
$GC,1408,-1.10,-116.8,216.5,-14.9,125,1412,0.00,2.28,0.00,0.000,4,0.000,0.062,2837,3468,2430,0,0,0,0,0,0
$GC,1458,-1.13,-116.8,224.7,-15.3,127,1463,0.03,2.22,0.00,0.000,6,0.102,0.041,2810,2060,2430,0,0,0,0,0,0
$GC,1781,-1.13,-116.8,277.4,-16.5,143,1785,0.00,2.25,0.00,0.000,4,0.000,0.054,2810,654,2429,0,0,0,0,0,0
$GC,1836,-1.09,-116.8,287.4,-17.0,145,1843,0.08,2.25,0.00,0.000,6,0.179,0.044,2824,2055,2430,0,0,0,0,0,0
$GC,2152,-1.09,-116.8,336.1,-15.9,161,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2055,2430,0,0,0,0,0,0
$GC,2460,-1.09,-116.8,384.3,-15.0,176,2464,0.00,2.28,0.00,0.000,4,0.000,0.054,2824,651,2430,0,0,0,0,0,0
$GC,2515,-1.09,-116.8,393.1,-16.0,178,2521,0.03,2.25,0.00,0.000,6,0.212,0.042,2823,2057,2430,0,0,0,0,0,0
$GC,2836,-1.09,-116.8,440.8,-15.2,194,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2057,2430,0,0,0,0,0,0
$GC,3147,-1.09,-116.8,486.4,-14.4,209,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2057,2430,0,0,0,0,0,0
$GC,3455,-1.09,-116.8,531.6,-14.5,224,3459,0.00,2.28,0.00,0.000,4,0.000,0.055,2823,653,2430,0,0,0,0,0,0
$GC,3487,-1.09,-116.8,536.5,-15.2,225,3492,0.03,2.25,0.00,0.000,6,0.213,0.043,2822,2061,2430,0,0,0,0,0,0
$GC,3808,-1.09,-116.8,583.0,-14.3,241,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2061,2430,0,0,0,0,0,0
$GC,4116,-1.09,-116.8,627.5,-14.2,256,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2061,2430,0,0,0,0,0,0
$GC,4427,-1.09,-116.8,670.8,-13.8,271,4431,0.00,2.30,0.00,0.000,4,0.000,0.064,2812,3475,2429,0,0,0,0,0,0
$GC,4458,-1.09,-116.8,675.8,-15.0,272,4465,0.03,2.25,0.00,0.000,6,0.194,0.044,2821,2052,2429,0,0,0,0,0,0
$GC,4774,-1.13,-116.8,718.7,-13.7,288,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2052,2429,0,0,0,0,0,0
$GC,5085,-1.17,-116.8,761.6,-14.0,303,5089,0.00,2.25,0.00,0.000,4,0.000,0.057,2821,655,2429,0,0,0,0,0,0
$GC,5139,-1.17,-116.8,769.8,-14.7,305,5144,0.00,2.25,0.00,0.000,6,0.000,0.045,2813,2060,2429,0,0,0,0,0,0
$GC,5455,-1.17,-116.8,814.8,-14.2,321,5459,0.00,2.30,0.00,0.000,4,0.000,0.056,2812,652,2429,0,0,0,0,0,0
$GC,5515,-1.17,-116.8,823.8,-14.6,324,5520,0.00,2.25,0.00,0.000,6,0.000,0.045,2804,2054,2428,0,0,0,0,0,0
$GC,5846,-1.17,-116.8,872.7,-14.8,340,5851,0.00,2.30,0.00,0.000,4,0.000,0.060,2793,3465,2429,0,0,0,0,0,0
$GC,5907,-1.17,-116.8,881.9,-15.1,342,5913,0.00,2.20,0.00,0.000,6,0.000,0.042,2793,2068,2429,0,0,0,0,0,0
$GC,6222,-1.17,-116.8,928.3,-14.7,358,6224,0.05,0.00,0.00,0.000,6,0.244,0.000,2802,2068,2429,0,0,0,0,0,0
$GC,6532,-1.17,-116.8,971.2,-13.6,373,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2068,2428,0,0,0,0,0,0
$STATE,6756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6756,begin apogee
$GC,6761,-0.19,0.0,1001.1,13.0,384,6872,1.08,0.00,107.10,1.281,6,0.170,0.000,3113,1595,1950,0,0,0,0,0,0
$STATE,6873,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6875,1.13,116.8,1004.1,0.0,389,6998,1.30,2.53,113.53,1.246,4,0.093,0.050,3540,3005,1473,0,0,0,0,0,0
$GC,7020,1.16,116.8,990.1,14.6,396,7025,0.00,2.38,0.00,0.000,6,0.000,0.034,3549,1605,1471,0,0,0,0,0,0
$GC,7346,1.20,116.8,941.3,14.9,412,7351,0.05,2.35,0.00,0.000,4,0.158,0.053,3590,195,1466,0,0,0,0,0,0
$GC,7412,1.13,116.8,930.2,16.6,415,7417,0.12,2.33,0.00,0.000,6,0.161,0.037,3553,1617,1465,0,0,0,0,0,0
$GC,7738,1.13,116.8,883.2,14.1,431,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1617,1465,0,0,0,0,0,0
$GC,8046,1.13,116.8,840.2,14.0,446,8050,0.00,2.35,0.00,0.000,4,0.000,0.052,3562,192,1463,0,0,0,0,0,0
$GC,8084,1.13,116.8,834.6,15.4,447,8090,0.03,2.25,0.00,0.000,6,0.194,0.037,3554,1599,1463,0,0,0,0,0,0
$GC,8401,1.13,116.8,789.9,13.9,463,8405,0.00,2.30,0.00,0.000,4,0.000,0.052,3562,193,1463,0,0,0,0,0,0
$GC,8466,1.13,116.8,780.0,15.1,466,8471,0.03,2.25,0.00,0.000,6,0.198,0.037,3554,1601,1462,0,0,0,0,0,0
$GC,8792,1.13,116.8,732.7,14.6,482,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1602,1462,0,0,0,0,0,0
$GC,9103,1.16,116.8,686.6,14.9,497,9107,0.00,2.28,0.00,0.000,4,0.000,0.052,3562,193,1462,0,0,0,0,0,0
$GC,9196,1.16,116.8,671.8,16.0,501,9201,0.00,2.22,0.00,0.000,6,0.000,0.036,3562,1600,1462,0,0,0,0,0,0
$GC,9520,1.16,116.8,625.0,14.4,517,9524,0.00,2.22,0.00,0.000,4,0.000,0.054,3562,2991,1461,0,0,0,0,0,0
$GC,9608,1.16,116.8,610.8,16.3,521,9613,0.00,2.17,0.00,0.000,6,0.000,0.036,3571,1601,1461,0,0,0,0,0,0
$GC,9935,1.16,116.8,563.7,14.2,537,9939,0.00,2.25,0.00,0.000,4,0.000,0.054,3582,193,1461,0,0,0,0,0,0
$GC,10019,1.12,116.8,551.5,13.8,541,10024,0.12,2.20,0.00,0.000,6,0.184,0.036,3549,1610,1461,0,0,0,0,0,0
$GC,10347,1.17,116.8,511.2,12.3,557,10351,0.00,2.30,0.00,0.000,4,0.000,0.053,3558,193,1461,0,0,0,0,0,0
$GC,10431,1.17,116.8,499.8,12.3,561,10435,0.00,2.17,0.00,0.000,6,0.000,0.035,3558,1596,1461,0,0,0,0,0,0
$GC,10758,1.20,116.8,460.3,11.7,577,10762,0.00,2.22,0.00,0.000,4,0.000,0.054,3558,2990,1461,0,0,0,0,0,0
$GC,10868,1.20,116.8,446.4,12.6,582,10873,0.00,2.17,0.00,0.000,6,0.000,0.036,3567,1602,1461,0,0,0,0,0,0
$GC,11194,1.20,116.8,404.9,13.0,598,11199,0.00,2.28,0.00,0.000,4,0.000,0.054,3578,188,1461,0,0,0,0,0,0
$GC,11250,1.20,116.8,397.5,13.2,600,11254,0.00,2.22,0.00,0.000,6,0.000,0.034,3578,1607,1461,0,0,0,0,0,0
$GC,11570,1.20,116.8,354.4,13.7,616,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1607,1461,0,0,0,0,0,0
$GC,11881,1.20,116.8,312.2,13.7,631,11885,0.00,2.20,0.00,0.000,4,0.000,0.054,3578,2993,1461,0,0,0,0,0,0
$GC,11946,1.20,116.8,302.7,14.0,634,11951,0.03,2.17,0.00,0.000,6,0.203,0.036,3579,1600,1460,0,0,0,0,0,0
$GC,12274,1.20,116.8,259.4,12.9,650,12278,0.00,2.22,0.00,0.000,4,0.000,0.054,3589,196,1461,0,0,0,0,0,0
$GC,12436,1.17,116.8,237.8,12.4,657,12441,0.08,2.20,0.00,0.000,6,0.168,0.036,3565,1601,1460,0,0,0,0,0,0
$GC,12760,1.17,116.8,202.3,10.4,673,12764,0.00,2.22,0.00,0.000,4,0.000,0.054,3565,2997,1461,0,0,0,0,0,0
$GC,12938,1.17,116.8,181.0,12.0,681,12942,0.00,2.15,0.00,0.000,6,0.000,0.035,3573,1598,1461,0,0,0,0,0,0
$GC,13267,1.17,116.8,142.5,10.6,697,13271,0.00,2.25,0.00,0.000,4,0.000,0.054,3585,198,1461,0,0,0,0,0,0
$GC,13526,1.17,116.8,110.7,11.8,708,13534,0.05,2.20,0.00,0.000,6,0.171,0.036,3568,1603,1461,0,0,0,0,0,0
$GC,13848,1.20,116.8,75.2,12.1,727,13853,0.00,2.28,0.00,0.000,4,0.000,0.051,3577,196,1461,0,0,0,0,0,0
$GC,14106,1.20,116.8,42.7,11.9,772,14112,0.00,2.17,0.00,0.000,6,0.000,0.035,3577,1604,1460,0,0,0,0,0,0
$STATE,14397,end climb,SURFACE_DEPTH_REACHED
$STATE,14397,begin surface coast
$FINISH,1.9,1.023378
$STATE,14423,end surface coast,CONTROL_FINISHED_OK
$STATE,14423,begin surface
$SM_CCo,14441,39.92,0.055,0,0,1131,200.16
$SM_GC,2.81,0.00,0.00,39.92,0.000,0.000,0.055,61,2080,1131,-9.76,0.57,200.16
$IRIDIUM_FIX,-4447.43,634.22,160708,000050
$TT8_MAMPS,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.6,32.398
$10V_AH,9.9,34.258
$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,23.600,118.750,220.625,39.925,0.000,25.005,20.274,255.637,0.000,0.000,22.734,1830.117,10148.137,357.659,2421.135,153.850,0.000,1268.433,0.000,2016.675,0.000,0.540,0.000
$DEVICE_MAMPS,244.035,70.380,1281.375,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.614,1182.786,650.252,362.544,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,60482,824
$CAP_FILE_SIZE,128838,0
$CFSIZE,2097086464,2058715136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,190915,194151,-4504.536,635.256,35,1.0,35,-24.4