version: 66.07.10.p01
glider: 573
mission: 12
dive: 81
start: 8 12 115 19 44 48
data:
$ID,573
$MISSION,12
$DIVE,81
$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,-21268.006
$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,43
$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,80
$GPS1,120815,193702,-4504.621,625.380,51,1.3,53,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-66.0
$GPS2,120815,194428,-4504.563,625.413,17,1.7,17,-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,323.8,2122,-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,-49.9,0.0,0.0,0,57,0.00,0.00,-30.85,0.000,2,0.000,0.000,70,2067,1754,0,0,0,0,0,0
$GC,59,-1.12,-96.6,3.3,-3.2,5,98,11.32,2.28,-20.05,0.000,4,0.254,0.060,2816,654,2341,0,0,0,0,0,0
$GC,229,-0.99,-96.6,28.3,-20.8,32,236,0.17,2.25,0.00,0.000,6,0.181,0.041,2859,2049,2344,0,0,0,0,0,0
$GC,380,-0.99,-96.6,49.8,-14.8,57,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2049,2344,0,0,0,0,0,0
$GC,728,-0.99,-96.6,97.6,-11.8,118,733,0.00,2.25,0.00,0.000,4,0.000,0.057,2848,3469,2344,0,0,0,0,0,0
$GC,789,-0.99,-96.6,105.8,-12.7,125,796,0.03,2.22,0.00,0.000,6,0.213,0.039,2857,2056,2344,0,0,0,0,0,0
$GC,1114,-1.03,-96.6,150.1,-13.7,156,1118,0.00,2.22,0.00,0.000,4,0.000,0.054,2857,646,2344,0,0,0,0,0,0
$GC,1199,-1.03,-96.6,162.4,-13.7,163,1203,0.00,2.22,0.00,0.000,6,0.000,0.041,2848,2066,2345,0,0,0,0,0,0
$GC,1526,-1.03,-96.6,204.6,-12.6,193,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2066,2345,0,0,0,0,0,0
$GC,1851,-1.03,-96.6,246.0,-12.8,224,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2066,2345,0,0,0,0,0,0
$GC,2170,-1.03,-96.6,286.6,-12.9,254,2174,0.00,2.22,0.00,0.000,4,0.000,0.059,2837,3471,2345,0,0,0,0,0,0
$GC,2256,-1.03,-96.6,297.8,-13.7,261,2261,0.05,2.17,0.00,0.000,6,0.234,0.040,2847,2057,2345,0,0,0,0,0,0
$GC,2580,-1.06,-96.6,339.5,-12.7,291,2584,0.00,2.25,0.00,0.000,4,0.000,0.060,2838,3469,2346,0,0,0,0,0,0
$GC,2656,-1.06,-96.6,349.0,-13.0,297,2660,0.00,2.17,0.00,0.000,6,0.000,0.041,2838,2054,2346,0,0,0,0,0,0
$GC,2980,-1.06,-96.6,389.6,-12.5,327,2984,0.00,2.25,0.00,0.000,4,0.000,0.059,2828,3465,2345,0,0,0,0,0,0
$GC,3019,-1.06,-96.6,394.4,-12.8,330,3023,0.00,2.15,0.00,0.000,6,0.000,0.040,2829,2059,2345,0,0,0,0,0,0
$GC,3340,-1.06,-96.6,434.1,-12.1,348,3344,0.00,2.22,0.00,0.000,4,0.000,0.059,2820,3466,2346,0,0,0,0,0,0
$GC,3380,-1.06,-96.6,438.9,-13.3,350,3384,0.10,2.15,0.00,0.000,6,0.196,0.040,2843,2059,2345,0,0,0,0,0,0
$GC,3706,-1.09,-96.6,477.1,-11.9,366,3710,0.00,2.25,0.00,0.000,4,0.000,0.059,2834,3469,2345,0,0,0,0,0,0
$GC,3732,-1.09,-96.6,480.5,-12.0,367,3738,0.00,2.17,0.00,0.000,6,0.000,0.040,2834,2068,2345,0,0,0,0,0,0
$GC,4054,-1.09,-96.6,518.2,-11.5,383,4058,0.00,2.17,0.00,0.000,4,0.000,0.057,2825,3464,2346,0,0,0,0,0,0
$GC,4093,-1.09,-96.6,522.8,-12.2,385,4097,0.00,2.17,0.00,0.000,6,0.000,0.040,2825,2043,2345,0,0,0,0,0,0
$GC,4419,-1.09,-96.6,562.1,-12.2,401,4423,0.00,2.25,0.00,0.000,4,0.000,0.056,2816,3465,2345,0,0,0,0,0,0
$GC,4450,-1.09,-96.6,566.2,-12.6,402,4457,0.03,2.17,0.00,0.000,6,0.197,0.039,2825,2061,2345,0,0,0,0,0,0
$GC,4767,-1.09,-96.6,604.5,-12.3,418,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2346,0,0,0,0,0,0
$GC,5076,-1.09,-96.6,643.1,-12.3,433,5080,0.00,2.22,0.00,0.000,4,0.000,0.058,2815,3463,2344,0,0,0,0,0,0
$GC,5115,-1.09,-96.6,648.2,-13.4,435,5119,0.08,2.15,0.00,0.000,6,0.210,0.040,2832,2056,2345,0,0,0,0,0,0
$GC,5441,-1.09,-96.6,688.1,-12.2,451,5445,0.00,2.25,0.00,0.000,4,0.000,0.060,2822,3466,2344,0,0,0,0,0,0
$GC,5489,-1.09,-96.6,694.7,-12.7,453,5494,0.00,2.17,0.00,0.000,6,0.000,0.041,2824,2063,2344,0,0,0,0,0,0
$GC,5811,-1.09,-96.6,732.6,-11.2,469,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2063,2344,0,0,0,0,0,0
$GC,6120,-1.09,-96.6,766.4,-10.9,484,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2063,2344,0,0,0,0,0,0
$GC,6430,-1.09,-96.6,798.4,-10.1,499,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2063,2343,0,0,0,0,0,0
$GC,6739,-1.09,-96.6,829.7,-9.9,514,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2063,2343,0,0,0,0,0,0
$GC,7048,-1.09,-96.6,861.6,-10.7,529,7052,0.00,2.22,0.00,0.000,4,0.000,0.053,2824,641,2342,0,0,0,0,0,0
$GC,7097,-1.09,-96.6,867.3,-11.4,531,7103,0.03,2.22,0.00,0.000,6,0.224,0.040,2823,2063,2342,0,0,0,0,0,0
$GC,7418,-1.09,-96.6,900.2,-10.4,547,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2062,2342,0,0,0,0,0,0
$GC,7728,-1.09,-96.6,931.4,-10.3,562,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2063,2342,0,0,0,0,0,0
$GC,8037,-1.09,-96.6,963.0,-10.3,577,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2063,2341,0,0,0,0,0,0
$GC,8346,-1.09,-96.6,994.8,-10.7,592,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2062,2341,0,0,0,0,0,0
$STATE,8407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8407,begin apogee
$GC,8412,-0.19,0.0,1000.9,10.1,595,8503,0.98,0.00,88.10,1.293,6,0.173,0.000,3114,1584,1949,0,0,0,0,0,0
$STATE,8504,end apogee,CONTROL_FINISHED_OK
$STATE,8504,begin climb
$GC,8506,1.12,96.6,1003.3,0.0,599,8602,1.27,0.00,92.80,1.255,6,0.094,0.000,3536,1585,1556,0,0,0,0,0,0
$GC,8901,1.16,96.6,955.9,13.2,619,8906,0.08,2.25,0.00,0.000,4,0.123,0.050,3587,197,1546,0,0,0,0,0,0
$GC,8967,1.08,96.6,945.8,14.7,622,8972,0.17,2.28,0.00,0.000,6,0.163,0.035,3536,1605,1545,0,0,0,0,0,0
$GC,9294,1.12,96.6,904.1,12.8,638,9298,0.00,2.30,0.00,0.000,4,0.000,0.049,3545,193,1544,0,0,0,0,0,0
$GC,9393,1.12,96.6,890.5,13.4,642,9399,0.00,2.22,0.00,0.000,6,0.000,0.034,3544,1590,1543,0,0,0,0,0,0
$GC,9709,1.12,96.6,849.7,12.8,658,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1591,1543,0,0,0,0,0,0
$GC,10019,1.12,96.6,809.6,12.8,673,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1591,1542,0,0,0,0,0,0
$GC,10329,1.15,96.6,769.8,13.2,688,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1590,1542,0,0,0,0,0,0
$GC,10638,1.18,96.6,729.6,12.7,703,10640,0.05,0.00,0.00,0.000,6,0.174,0.000,3575,1591,1541,0,0,0,0,0,0
$GC,10947,1.18,96.6,686.9,13.6,718,10951,0.00,2.22,0.00,0.000,4,0.000,0.048,3585,195,1541,0,0,0,0,0,0
$GC,11013,1.12,96.6,677.0,14.3,721,11018,0.12,2.20,0.00,0.000,6,0.167,0.034,3547,1606,1541,0,0,0,0,0,0
$GC,11340,1.12,96.6,636.1,12.4,737,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1606,1540,0,0,0,0,0,0
$GC,11649,1.12,96.6,598.5,12.0,752,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1605,1540,0,0,0,0,0,0
$GC,11959,1.15,96.6,562.2,11.7,767,11963,0.00,2.25,0.00,0.000,4,0.000,0.049,3557,189,1540,0,0,0,0,0,0
$GC,12044,1.15,96.6,551.9,12.6,771,12048,0.00,2.17,0.00,0.000,6,0.000,0.034,3557,1601,1540,0,0,0,0,0,0
$GC,12371,1.15,96.6,513.0,11.8,787,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1602,1540,0,0,0,0,0,0
$GC,12680,1.15,96.6,477.4,11.1,802,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1602,1539,0,0,0,0,0,0
$GC,12989,1.15,96.6,442.8,11.3,817,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1602,1540,0,0,0,0,0,0
$GC,13298,1.15,96.6,408.1,11.4,832,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1602,1540,0,0,0,0,0,0
$GC,13615,1.15,96.6,372.6,11.6,858,13619,0.00,2.22,0.00,0.000,4,0.000,0.047,3566,195,1540,0,0,0,0,0,0
$GC,13680,1.15,96.6,364.2,12.5,863,13687,0.00,2.17,0.00,0.000,6,0.000,0.033,3566,1599,1539,0,0,0,0,0,0
$GC,14006,1.15,96.6,327.2,11.4,894,14010,0.00,2.20,0.00,0.000,4,0.000,0.054,3566,3000,1539,0,0,0,0,0,0
$GC,14060,1.15,96.6,320.6,11.6,898,14067,0.05,2.15,0.00,0.000,6,0.186,0.032,3559,1597,1539,0,0,0,0,0,0
$GC,14387,1.15,96.6,284.5,11.5,929,14391,0.00,2.20,0.00,0.000,4,0.000,0.050,3569,195,1539,0,0,0,0,0,0
$GC,14544,1.15,96.6,264.9,12.3,942,14551,0.03,2.17,0.00,0.000,6,0.210,0.032,3561,1603,1539,0,0,0,0,0,0
$GC,14871,1.15,96.6,226.0,11.8,973,14875,0.00,2.17,0.00,0.000,4,0.000,0.051,3561,2997,1539,0,0,0,0,0,0
$GC,14944,1.15,96.6,216.6,12.3,979,14949,0.05,2.12,0.00,0.000,6,0.258,0.033,3559,1590,1539,0,0,0,0,0,0
$GC,15271,1.15,96.6,179.1,11.2,1009,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1590,1539,0,0,0,0,0,0
$GC,15588,1.19,96.6,141.9,12.1,1039,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1590,1539,0,0,0,0,0,0
$GC,15908,1.19,96.6,109.9,10.2,1069,15912,0.00,2.17,0.00,0.000,4,0.000,0.050,3570,201,1539,0,0,0,0,0,0
$GC,16039,1.15,96.6,95.6,11.7,1083,16046,0.03,2.15,0.00,0.000,6,0.209,0.033,3560,1601,1540,0,0,0,0,0,0
$GC,16392,1.15,96.6,53.3,13.6,1144,16397,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1601,1540,0,0,0,0,0,0
$GC,16759,1.09,96.6,3.9,10.8,1205,16767,0.10,2.25,0.00,0.000,4,0.194,0.050,3545,198,1539,0,0,0,0,0,0
$STATE,16774,end climb,SURFACE_DEPTH_REACHED
$STATE,16775,begin surface coast
$FINISH,1.3,1.023563
$STATE,16807,end surface coast,CONTROL_FINISHED_OK
$STATE,16807,begin surface
$SM_CCo,16825,47.30,0.059,0,0,1133,200.16
$SM_GC,1.75,0.00,0.00,47.30,0.000,0.000,0.059,63,2071,1133,-9.76,0.31,200.16
$IRIDIUM_FIX,-4447.43,625.13,080608,040405
$TT8_MAMPS,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.5,14.760
$10V_AH,10.2,12.241
$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,23.925,103.025,180.900,47.300,0.000,24.740,20.747,286.758,0.000,0.000,19.795,2980.399,10804.069,355.307,3046.433,129.256,0.000,1404.203,0.000,2539.316,0.000,0.540,0.000
$DEVICE_MAMPS,257.805,60.435,1292.850,58.905,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.411,2208.399,867.830,455.770,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353292
$DATA_FILE_SIZE,83820,1212
$CAP_FILE_SIZE,145876,0
$CFSIZE,2097086464,2081521664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130815,002803,-4503.769,625.009,88,0.9,88,-24.4