version: 66.07.10.p01
glider: 573
mission: 12
dive: 65
start: 8 9 115 9 43 13
data:
$ID,573
$MISSION,12
$DIVE,65
$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,335
$T_MISSION,350
$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,130
$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,-21221.293
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,37
$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,64
$GPS1,090815,093604,-4454.876,636.241,48,0.9,48,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-71.0
$GPS2,090815,094253,-4454.871,636.254,18,0.9,18,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,213.5,2117,-27.8,-9.950
$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,-1.11,-62.6,0.0,0.0,0,52,0.00,0.00,-26.65,0.000,2,0.000,0.000,70,2074,1685,0,0,0,0,0,0
$GC,54,-1.14,-113.4,3.3,-4.5,4,99,11.40,0.00,-28.60,0.000,6,0.259,0.000,2809,2071,2414,0,0,0,0,0,0
$GC,150,-1.14,-113.4,11.1,-16.6,19,156,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2071,2416,0,0,0,0,0,0
$GC,207,-1.09,-113.4,21.8,-18.7,28,215,0.10,2.30,0.00,0.000,4,0.216,0.062,2822,3465,2417,0,0,0,0,0,0
$GC,302,-1.09,-113.4,39.3,-17.9,43,309,0.00,2.20,0.00,0.000,6,0.000,0.040,2822,2068,2417,0,0,0,0,0,0
$GC,447,-1.06,-113.4,64.0,-17.7,68,452,0.08,0.00,0.00,0.000,6,0.220,0.000,2837,2068,2417,0,0,0,0,0,0
$GC,791,-1.06,-113.4,122.4,-16.7,118,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2068,2418,0,0,0,0,0,0
$GC,1110,-1.06,-113.4,171.5,-14.3,148,1114,0.00,2.22,0.00,0.000,4,0.000,0.055,2828,3461,2418,0,0,0,0,0,0
$GC,1160,-1.06,-113.4,179.0,-15.2,152,1164,0.00,2.17,0.00,0.000,6,0.000,0.038,2828,2045,2418,0,0,0,0,0,0
$GC,1484,-1.06,-113.4,226.9,-14.8,182,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2045,2419,0,0,0,0,0,0
$GC,1803,-1.06,-113.4,275.7,-15.8,212,1807,0.00,2.25,0.00,0.000,4,0.000,0.054,2819,3464,2419,0,0,0,0,0,0
$GC,1843,-1.06,-113.4,281.8,-15.8,215,1847,0.08,2.15,0.00,0.000,6,0.205,0.037,2834,2054,2419,0,0,0,0,0,0
$GC,2169,-1.06,-113.4,330.9,-15.1,245,2173,0.00,2.15,0.00,0.000,4,0.000,0.051,2835,663,2419,0,0,0,0,0,0
$GC,2200,-1.06,-113.4,336.3,-15.4,247,2207,0.03,2.17,0.00,0.000,6,0.213,0.038,2833,2053,2419,0,0,0,0,0,0
$GC,2526,-1.06,-113.4,386.1,-15.5,278,2530,0.00,2.22,0.00,0.000,4,0.000,0.057,2823,3466,2419,0,0,0,0,0,0
$GC,2569,-1.06,-113.4,393.3,-15.7,281,2576,0.05,2.17,0.00,0.000,6,0.180,0.039,2839,2063,2419,0,0,0,0,0,0
$GC,2887,-1.08,-113.4,440.7,-15.2,299,2891,0.00,2.22,0.00,0.000,4,0.000,0.058,2829,3468,2419,0,0,0,0,0,0
$GC,2980,-1.08,-113.4,455.6,-15.6,303,2985,0.00,2.17,0.00,0.000,6,0.000,0.040,2830,2063,2419,0,0,0,0,0,0
$GC,3308,-1.08,-113.4,504.2,-14.6,319,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2064,2419,0,0,0,0,0,0
$GC,3617,-1.08,-113.4,546.9,-13.7,334,3621,0.00,2.22,0.00,0.000,4,0.000,0.057,2820,3464,2419,0,0,0,0,0,0
$GC,3755,-1.08,-113.4,566.7,-14.6,340,3760,0.00,2.17,0.00,0.000,6,0.000,0.040,2821,2059,2419,0,0,0,0,0,0
$GC,4077,-1.08,-113.4,612.0,-13.9,356,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2059,2419,0,0,0,0,0,0
$GC,4386,-1.08,-113.4,654.0,-13.9,371,4390,0.00,2.25,0.00,0.000,4,0.000,0.060,2811,3466,2418,0,0,0,0,0,0
$GC,4456,-1.08,-113.4,664.2,-13.9,374,4462,0.05,2.17,0.00,0.000,6,0.173,0.040,2827,2065,2418,0,0,0,0,0,0
$GC,4778,-1.08,-113.4,707.3,-13.5,390,4782,0.00,2.22,0.00,0.000,4,0.000,0.058,2819,3468,2418,0,0,0,0,0,0
$GC,4929,-1.08,-113.4,727.9,-13.5,397,4934,0.05,2.17,0.00,0.000,6,0.228,0.041,2828,2048,2417,0,0,0,0,0,0
$GC,5256,-1.11,-113.4,769.9,-12.9,413,5260,0.00,2.25,0.00,0.000,4,0.000,0.057,2819,3469,2417,0,0,0,0,0,0
$GC,5299,-1.11,-113.4,776.0,-12.8,415,5304,0.00,2.17,0.00,0.000,6,0.000,0.041,2819,2064,2417,0,0,0,0,0,0
$GC,5627,-1.11,-113.4,817.2,-12.0,431,5631,0.00,2.22,0.00,0.000,4,0.000,0.057,2810,3469,2417,0,0,0,0,0,0
$GC,5681,-1.11,-113.4,824.4,-13.4,433,5688,0.03,2.17,0.00,0.000,6,0.187,0.041,2819,2062,2417,0,0,0,0,0,0
$GC,5997,-1.11,-113.4,861.7,-11.9,449,6001,0.00,2.22,0.00,0.000,4,0.000,0.057,2810,3464,2416,0,0,0,0,0,0
$GC,6052,-1.11,-113.4,869.0,-13.1,451,6059,0.03,2.17,0.00,0.000,6,0.187,0.040,2818,2056,2416,0,0,0,0,0,0
$GC,6368,-1.13,-113.4,908.5,-12.8,467,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2055,2416,0,0,0,0,0,0
$GC,6677,-1.13,-113.4,948.1,-12.7,482,6681,0.00,2.25,0.00,0.000,4,0.000,0.060,2810,3465,2415,0,0,0,0,0,0
$GC,6754,-1.13,-113.4,958.4,-13.2,485,6761,0.00,2.17,0.00,0.000,6,0.000,0.041,2810,2061,2415,0,0,0,0,0,0
$GC,7070,-1.13,-113.4,999.0,-12.8,501,7074,0.00,2.25,0.00,0.000,4,0.000,0.059,2801,3474,2415,0,0,0,0,0,0
$STATE,7079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7079,begin apogee
$GC,7085,-0.19,0.0,1000.4,13.0,501,7192,1.02,0.00,103.72,1.296,6,0.177,0.000,3109,1726,1950,0,0,0,0,0,0
$STATE,7193,end apogee,CONTROL_FINISHED_OK
$STATE,7193,begin climb
$GC,7195,1.14,113.4,1004.3,0.0,507,7311,1.33,2.45,107.38,1.256,4,0.094,0.047,3553,325,1486,0,0,0,0,0,0
$GC,7376,1.14,113.4,985.4,14.6,515,7383,0.00,2.35,0.00,0.000,6,0.000,0.033,3554,1736,1480,0,0,0,0,0,0
$GC,7693,1.14,113.4,942.1,13.7,531,7697,0.00,2.33,0.00,0.000,4,0.000,0.045,3563,316,1477,0,0,0,0,0,0
$GC,7713,1.14,113.4,939.1,13.2,532,7718,0.00,2.28,0.00,0.000,6,0.000,0.031,3562,1730,1476,0,0,0,0,0,0
$GC,8040,1.14,113.4,894.0,14.1,548,8044,0.00,2.30,0.00,0.000,4,0.000,0.045,3572,310,1476,0,0,0,0,0,0
$GC,8102,1.14,113.4,884.9,15.4,551,8107,0.08,2.25,0.00,0.000,6,0.204,0.034,3556,1738,1475,0,0,0,0,0,0
$GC,8428,1.14,113.4,838.9,14.3,567,8432,0.00,2.28,0.00,0.000,4,0.000,0.046,3565,320,1475,0,0,0,0,0,0
$GC,8616,1.14,113.4,810.3,15.1,575,8624,0.03,2.22,0.00,0.000,6,0.201,0.031,3557,1737,1474,0,0,0,0,0,0
$GC,8933,1.14,113.4,765.9,14.2,591,8937,0.00,2.28,0.00,0.000,4,0.000,0.045,3566,312,1474,0,0,0,0,0,0
$GC,9043,1.14,113.4,749.1,15.7,596,9048,0.03,2.22,0.00,0.000,6,0.208,0.033,3558,1730,1473,0,0,0,0,0,0
$GC,9370,1.14,113.4,703.0,14.0,612,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1730,1473,0,0,0,0,0,0
$GC,9679,1.16,113.4,659.0,14.1,627,9683,0.00,2.22,0.00,0.000,4,0.000,0.045,3566,319,1473,0,0,0,0,0,0
$GC,9728,1.16,113.4,651.8,14.6,629,9733,0.00,2.20,0.00,0.000,6,0.000,0.032,3566,1728,1473,0,0,0,0,0,0
$GC,10050,1.16,113.4,606.7,14.4,645,10054,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,319,1473,0,0,0,0,0,0
$GC,10160,1.16,113.4,589.5,16.1,650,10165,0.05,2.20,0.00,0.000,6,0.177,0.031,3560,1737,1472,0,0,0,0,0,0
$GC,10487,1.16,113.4,541.8,14.8,666,10491,0.00,2.25,0.00,0.000,4,0.000,0.045,3568,313,1472,0,0,0,0,0,0
$GC,10615,1.16,113.4,522.2,14.1,672,10619,0.00,2.17,0.00,0.000,6,0.000,0.032,3568,1728,1472,0,0,0,0,0,0
$GC,10941,1.16,113.4,475.4,14.2,688,10945,0.00,2.22,0.00,0.000,4,0.000,0.045,3578,318,1472,0,0,0,0,0,0
$GC,11035,1.16,113.4,461.3,14.5,692,11041,0.05,2.20,0.00,0.000,6,0.172,0.032,3562,1737,1472,0,0,0,0,0,0
$GC,11358,1.16,113.4,417.4,13.5,708,11362,0.00,2.25,0.00,0.000,4,0.000,0.045,3571,310,1472,0,0,0,0,0,0
$GC,11379,1.16,113.4,414.0,14.8,709,11385,0.03,2.20,0.00,0.000,6,0.204,0.031,3563,1734,1472,0,0,0,0,0,0
$GC,11702,1.16,113.4,372.2,12.6,734,11706,0.00,2.22,0.00,0.000,4,0.000,0.045,3572,319,1471,0,0,0,0,0,0
$GC,11833,1.16,113.4,355.0,12.7,745,11838,0.03,2.15,0.00,0.000,6,0.273,0.031,3563,1730,1472,0,0,0,0,0,0
$GC,12157,1.16,113.4,315.8,11.3,775,12161,0.00,2.22,0.00,0.000,4,0.000,0.045,3571,316,1472,0,0,0,0,0,0
$GC,12234,1.16,113.4,305.7,12.6,781,12241,0.03,2.17,0.00,0.000,6,0.201,0.032,3564,1728,1471,0,0,0,0,0,0
$GC,12560,1.18,113.4,267.0,12.4,812,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1728,1471,0,0,0,0,0,0
$GC,12879,1.20,113.4,227.7,12.9,842,12883,0.00,2.22,0.00,0.000,4,0.000,0.044,3572,312,1472,0,0,0,0,0,0
$GC,12896,1.20,113.4,225.5,12.3,843,12900,0.00,2.15,0.00,0.000,6,0.000,0.032,3572,1728,1471,0,0,0,0,0,0
$GC,13225,1.20,113.4,181.8,13.9,874,13229,0.00,2.22,0.00,0.000,4,0.000,0.044,3582,311,1471,0,0,0,0,0,0
$GC,13482,1.20,113.4,146.2,13.5,896,13491,0.00,2.20,0.00,0.000,6,0.000,0.032,3581,1731,1471,0,0,0,0,0,0
$GC,13808,1.20,113.4,103.2,13.5,927,13812,0.00,2.22,0.00,0.000,4,0.000,0.044,3591,313,1471,0,0,0,0,0,0
$GC,13956,1.18,113.4,82.6,14.2,950,13962,0.10,2.15,0.00,0.000,6,0.193,0.032,3567,1738,1471,0,0,0,0,0,0
$GC,14307,1.21,113.4,39.0,12.4,1011,14315,0.00,2.25,0.00,0.000,4,0.000,0.046,3575,320,1471,0,0,0,0,0,0
$GC,14426,1.21,113.4,23.2,13.4,1030,14433,0.00,2.15,0.00,0.000,6,0.000,0.031,3575,1722,1471,0,0,0,0,0,0
$GC,14583,1.21,113.4,3.8,13.1,1055,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1722,1471,0,0,0,0,0,0
$STATE,14596,end climb,SURFACE_DEPTH_REACHED
$STATE,14597,begin surface coast
$FINISH,1.8,1.017780
$STATE,14622,end surface coast,CONTROL_FINISHED_OK
$STATE,14623,begin surface
$SM_CCo,14639,39.30,0.057,0,0,1132,200.16
$SM_GC,3.07,0.00,0.00,39.30,0.000,0.000,0.057,71,2079,1132,-9.73,0.54,200.16
$IRIDIUM_FIX,-4438.33,636.19,040608,191949
$TT8_MAMPS,0.026964
$HUMID,62.64
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.4,12.958
$10V_AH,10.2,10.197
$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,23.725,134.200,211.100,39.300,0.000,27.150,42.798,232.731,0.000,0.000,21.339,2674.068,8965.282,370.913,2961.719,116.424,0.000,1459.950,0.000,2490.853,0.000,0.539,0.000
$DEVICE_MAMPS,273.105,61.965,1295.910,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.901,1955.812,797.807,442.277,0.000,0.000,0.000,0.000,0.000,0.000
$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,73780,1061
$CAP_FILE_SIZE,146752,0
$CFSIZE,2097086464,2083618816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090815,134903,-4457.204,636.423,38,0.8,38,-24.4