version: 66.07.10.p01
glider: 573
mission: 12
dive: 87
start: 8 14 115 0 11 55
data:
$ID,573
$MISSION,12
$DIVE,87
$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,-21284.508
$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,39
$R_STBD_OVSHOOT,51
$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,86
$GPS1,140815,000403,-4504.846,624.867,33,0.9,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-69.9
$GPS2,140815,001135,-4504.860,624.984,13,1.0,13,-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,345.5,2047,-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,-49.9,0.0,0.0,0,51,0.00,0.00,-25.33,0.000,2,0.000,0.000,81,2076,1643,0,0,0,0,0,0
$GC,53,-1.12,-92.3,3.0,-3.7,4,98,11.25,0.00,-28.92,0.000,6,0.252,0.000,2817,2076,2327,0,0,0,0,0,0
$GC,149,-1.05,-92.3,9.4,-12.2,19,156,0.10,0.00,0.00,0.000,6,0.210,0.000,2840,2076,2329,0,0,0,0,0,0
$GC,207,-1.02,-92.3,17.5,-13.6,28,214,0.05,0.00,0.00,0.000,6,0.256,0.000,2849,2076,2330,0,0,0,0,0,0
$GC,265,-1.02,-92.3,27.9,-18.4,37,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2075,2330,0,0,0,0,0,0
$GC,412,-1.02,-92.3,55.2,-17.2,62,417,0.00,2.22,0.00,0.000,4,0.000,0.062,2839,3443,2330,0,0,0,0,0,0
$GC,459,-1.02,-92.3,62.4,-15.8,70,465,0.05,2.15,0.00,0.000,6,0.238,0.041,2848,2063,2331,0,0,0,0,0,0
$GC,801,-1.02,-92.3,114.9,-15.4,122,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2063,2330,0,0,0,0,0,0
$GC,1120,-1.02,-92.3,156.9,-11.7,152,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2063,2330,0,0,0,0,0,0
$GC,1438,-1.02,-92.3,197.1,-12.9,182,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2063,2331,0,0,0,0,0,0
$GC,1757,-1.05,-92.3,236.5,-12.2,212,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2063,2331,0,0,0,0,0,0
$GC,2076,-1.05,-92.3,275.7,-12.5,242,2080,0.00,2.20,0.00,0.000,4,0.000,0.054,2849,657,2331,0,0,0,0,0,0
$GC,2096,-1.05,-92.3,278.7,-13.5,243,2103,0.00,2.17,0.00,0.000,6,0.000,0.041,2841,2039,2331,0,0,0,0,0,0
$GC,2422,-1.05,-92.3,321.3,-13.2,274,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2038,2332,0,0,0,0,0,0
$GC,2741,-1.05,-92.3,362.9,-13.0,304,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2039,2332,0,0,0,0,0,0
$GC,3059,-1.05,-92.3,403.5,-12.7,333,3063,0.00,2.28,0.00,0.000,4,0.000,0.063,2830,3468,2332,0,0,0,0,0,0
$GC,3096,-1.05,-92.3,408.8,-13.6,334,3102,0.00,2.20,0.00,0.000,6,0.000,0.041,2830,2057,2332,0,0,0,0,0,0
$GC,3412,-1.05,-92.3,448.4,-12.3,350,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2057,2332,0,0,0,0,0,0
$GC,3722,-1.05,-92.3,485.8,-12.2,365,3726,0.00,2.20,0.00,0.000,4,0.000,0.054,2830,658,2332,0,0,0,0,0,0
$GC,3748,-1.05,-92.3,489.5,-13.1,366,3753,0.05,2.20,0.00,0.000,6,0.194,0.042,2836,2051,2331,0,0,0,0,0,0
$GC,4071,-1.05,-92.3,529.4,-12.4,382,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2051,2332,0,0,0,0,0,0
$GC,4380,-1.05,-92.3,567.9,-12.2,397,4385,0.00,2.25,0.00,0.000,4,0.000,0.059,2826,3475,2331,0,0,0,0,0,0
$GC,4406,-1.05,-92.3,571.7,-12.4,398,4412,0.03,2.20,0.00,0.000,6,0.187,0.042,2834,2064,2331,0,0,0,0,0,0
$GC,4730,-1.05,-92.3,611.6,-12.6,414,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2064,2331,0,0,0,0,0,0
$GC,5039,-1.05,-92.3,649.6,-12.2,429,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2064,2331,0,0,0,0,0,0
$GC,5348,-1.05,-92.3,685.6,-11.2,444,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2064,2330,0,0,0,0,0,0
$GC,5658,-1.09,-92.3,720.1,-10.8,459,5662,0.00,2.22,0.00,0.000,4,0.000,0.060,2825,3477,2330,0,0,0,0,0,0
$GC,5683,-1.09,-92.3,723.4,-11.2,460,5688,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,2061,2330,0,0,0,0,0,0
$GC,6007,-1.09,-92.3,758.7,-11.0,476,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2061,2330,0,0,0,0,0,0
$GC,6316,-1.09,-92.3,793.9,-11.4,491,6320,0.00,2.20,0.00,0.000,4,0.000,0.054,2826,657,2330,0,0,0,0,0,0
$GC,6347,-1.09,-92.3,798.3,-13.0,492,6354,0.03,2.22,0.00,0.000,6,0.215,0.042,2824,2066,2329,0,0,0,0,0,0
$GC,6664,-1.09,-92.3,834.9,-11.9,508,6668,0.00,2.20,0.00,0.000,4,0.000,0.061,2814,3469,2329,0,0,0,0,0,0
$GC,6749,-1.09,-92.3,845.2,-12.7,512,6754,0.08,2.15,0.00,0.000,6,0.207,0.042,2830,2056,2328,0,0,0,0,0,0
$GC,7076,-1.12,-92.3,883.6,-11.8,528,7080,0.00,2.25,0.00,0.000,4,0.000,0.062,2821,3473,2328,0,0,0,0,0,0
$GC,7101,-1.12,-92.3,887.1,-11.7,529,7107,0.00,2.20,0.00,0.000,6,0.000,0.041,2821,2059,2329,0,0,0,0,0,0
$GC,7424,-1.12,-92.3,924.8,-11.7,545,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2059,2328,0,0,0,0,0,0
$GC,7733,-1.12,-92.3,960.8,-11.4,560,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2059,2329,0,0,0,0,0,0
$GC,8042,-1.12,-92.3,995.9,-11.1,575,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2059,2327,0,0,0,0,0,0
$STATE,8082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8082,begin apogee
$GC,8087,-0.19,0.0,1000.4,11.1,577,8175,1.00,0.00,84.85,1.297,6,0.171,0.000,3120,1593,1950,0,0,0,0,0,0
$STATE,8176,end apogee,CONTROL_FINISHED_OK
$STATE,8176,begin climb
$GC,8177,1.12,92.3,1002.9,0.0,581,8270,1.25,0.00,88.68,1.258,6,0.090,0.000,3537,1593,1573,0,0,0,0,0,0
$GC,8574,1.15,92.3,957.3,13.2,601,8578,0.00,2.30,0.00,0.000,4,0.000,0.050,3548,197,1564,0,0,0,0,0,0
$GC,8682,1.15,92.3,942.5,14.4,606,8686,0.00,2.22,0.00,0.000,6,0.000,0.033,3548,1613,1563,0,0,0,0,0,0
$GC,9007,1.15,92.3,899.2,13.3,622,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1613,1562,0,0,0,0,0,0
$GC,9317,1.15,92.3,857.5,13.4,637,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1613,1561,0,0,0,0,0,0
$GC,9626,1.15,92.3,817.5,12.7,652,9630,0.00,2.17,0.00,0.000,4,0.000,0.053,3548,2992,1561,0,0,0,0,0,0
$GC,9697,1.15,92.3,807.7,14.0,655,9701,0.00,2.17,0.00,0.000,6,0.000,0.033,3557,1600,1560,0,0,0,0,0,0
$GC,10018,1.15,92.3,766.6,12.5,671,10022,0.00,2.22,0.00,0.000,4,0.000,0.050,3567,196,1560,0,0,0,0,0,0
$GC,10084,1.12,92.3,757.7,14.8,674,10090,0.08,2.20,0.00,0.000,6,0.174,0.034,3544,1602,1559,0,0,0,0,0,0
$GC,10412,1.12,92.3,717.8,12.1,690,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1559,0,0,0,0,0,0
$GC,10721,1.12,92.3,680.6,11.9,705,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1558,0,0,0,0,0,0
$GC,11031,1.12,92.3,643.8,11.6,720,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1558,0,0,0,0,0,0
$GC,11340,1.15,92.3,608.1,11.4,735,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1558,0,0,0,0,0,0
$GC,11650,1.18,92.3,574.0,10.9,750,11654,0.05,2.22,0.00,0.000,4,0.174,0.048,3588,191,1558,0,0,0,0,0,0
$GC,11749,1.11,92.3,561.0,13.8,754,11755,0.12,2.20,0.00,0.000,6,0.164,0.034,3549,1602,1558,0,0,0,0,0,0
$GC,12065,1.11,92.3,525.1,11.4,770,12069,0.00,2.20,0.00,0.000,4,0.000,0.048,3558,197,1558,0,0,0,0,0,0
$GC,12113,1.11,92.3,519.0,12.0,772,12119,0.03,2.17,0.00,0.000,6,0.208,0.034,3549,1596,1558,0,0,0,0,0,0
$GC,12436,1.14,92.3,482.1,11.4,788,12439,0.00,2.17,0.00,0.000,4,0.000,0.053,3550,2992,1558,0,0,0,0,0,0
$GC,12525,1.14,92.3,471.2,11.9,792,12529,0.00,2.10,0.00,0.000,6,0.000,0.033,3559,1592,1558,0,0,0,0,0,0
$GC,12852,1.14,92.3,433.3,11.6,808,12856,0.00,2.17,0.00,0.000,4,0.000,0.050,3569,196,1557,0,0,0,0,0,0
$GC,12939,1.14,92.3,421.9,12.9,812,12945,0.03,2.17,0.00,0.000,6,0.213,0.034,3560,1597,1557,0,0,0,0,0,0
$GC,13262,1.14,92.3,384.7,11.4,833,13266,0.00,2.20,0.00,0.000,4,0.000,0.053,3560,2998,1557,0,0,0,0,0,0
$GC,13323,1.14,92.3,377.2,11.6,838,13328,0.05,2.12,0.00,0.000,6,0.256,0.032,3558,1595,1557,0,0,0,0,0,0
$GC,13647,1.14,92.3,340.1,11.2,868,13651,0.00,2.20,0.00,0.000,4,0.000,0.050,3569,196,1557,0,0,0,0,0,0
$GC,13802,1.14,92.3,321.8,12.3,881,13807,0.05,2.15,0.00,0.000,6,0.244,0.033,3558,1618,1557,0,0,0,0,0,0
$GC,14126,1.14,92.3,285.8,10.7,911,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1619,1557,0,0,0,0,0,0
$GC,14448,1.14,92.3,250.8,11.0,941,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1618,1557,0,0,0,0,0,0
$GC,14764,1.14,92.3,214.5,11.7,971,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1619,1557,0,0,0,0,0,0
$GC,15085,1.14,92.3,177.3,11.2,1001,15089,0.00,2.25,0.00,0.000,4,0.000,0.047,3567,192,1557,0,0,0,0,0,0
$GC,15207,1.14,92.3,161.8,12.4,1011,15213,0.00,2.17,0.00,0.000,6,0.000,0.033,3566,1598,1557,0,0,0,0,0,0
$GC,15532,1.14,92.3,125.4,10.6,1042,15536,0.00,2.20,0.00,0.000,4,0.000,0.047,3575,199,1557,0,0,0,0,0,0
$GC,15666,1.11,92.3,109.8,11.9,1053,15672,0.10,2.17,0.00,0.000,6,0.172,0.034,3544,1606,1557,0,0,0,0,0,0
$GC,16008,1.17,92.3,72.1,11.7,1106,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1606,1557,0,0,0,0,0,0
$GC,16360,1.23,92.3,33.2,11.6,1167,16368,0.10,2.25,0.00,0.000,4,0.111,0.048,3605,194,1557,0,0,0,0,0,0
$GC,16474,1.16,92.3,19.0,12.5,1185,16482,0.15,2.17,0.00,0.000,6,0.176,0.031,3559,1617,1557,0,0,0,0,0,0
$GC,16534,1.20,92.3,13.2,9.2,1194,16540,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1617,1557,0,0,0,0,0,0
$GC,16591,1.24,92.3,7.6,9.9,1203,16598,0.05,0.00,0.00,0.000,6,0.173,0.000,3592,1617,1558,0,0,0,0,0,0
$STATE,16642,end climb,SURFACE_DEPTH_REACHED
$STATE,16642,begin surface coast
$FINISH,1.4,1.021896
$STATE,16674,end surface coast,CONTROL_FINISHED_OK
$STATE,16674,begin surface
$SM_CCo,16690,49.05,0.056,0,0,1133,200.16
$SM_GC,2.93,0.00,0.00,49.05,0.000,0.000,0.056,67,2083,1133,-9.74,0.65,200.16
$IRIDIUM_FIX,-4444.39,621.76,090608,080824
$TT8_MAMPS,0.026964
$HUMID,61.49
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.5,15.316
$10V_AH,10.2,12.954
$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,23.750,93.700,173.525,49.050,0.000,29.424,44.596,266.197,0.000,0.000,16.437,2999.262,10611.381,347.007,3099.081,131.226,0.000,1418.916,0.000,2583.987,0.000,0.539,0.000
$DEVICE_MAMPS,256.275,62.730,1296.675,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.915,2241.213,901.115,493.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,83902,1216
$CAP_FILE_SIZE,147871,0
$CFSIZE,2097086464,2080735232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140815,045203,-4503.909,624.953,35,0.9,35,-24.4