version: 66.07.10.p01
glider: 573
mission: 12
dive: 121
start: 8 21 115 4 55 49
data:
$ID,573
$MISSION,12
$DIVE,121
$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,-21385.008
$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,38
$R_STBD_OVSHOOT,41
$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,120
$GPS1,210815,044735,-4457.075,625.868,45,1.0,45,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-72.9
$GPS2,210815,045529,-4457.110,625.925,14,1.3,14,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,333.6,3255,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-20.48,0.000,2,0.000,0.000,81,2068,1552,0,0,0,0,0,0
$GC,48,-1.12,-87.6,3.1,-4.2,3,100,11.25,2.25,-35.17,0.000,4,0.247,0.064,2821,662,2307,0,0,0,0,0,0
$GC,273,-1.03,-87.6,26.9,-15.9,39,281,0.12,2.22,0.00,0.000,6,0.174,0.041,2850,2048,2309,0,0,0,0,0,0
$GC,426,-1.03,-87.6,48.8,-14.7,64,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2048,2310,0,0,0,0,0,0
$GC,775,-1.03,-87.6,97.6,-14.6,125,780,0.00,2.25,0.00,0.000,4,0.000,0.059,2840,3475,2310,0,0,0,0,0,0
$GC,813,-1.03,-87.6,103.7,-15.0,130,819,0.00,2.22,0.00,0.000,6,0.000,0.041,2840,2058,2310,0,0,0,0,0,0
$GC,1140,-1.03,-87.6,146.4,-13.0,161,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2310,0,0,0,0,0,0
$GC,1457,-1.03,-87.6,188.7,-12.9,191,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2310,0,0,0,0,0,0
$GC,1778,-1.03,-87.6,229.3,-12.7,221,1782,0.00,2.28,0.00,0.000,4,0.000,0.060,2831,3475,2311,0,0,0,0,0,0
$GC,1844,-1.03,-87.6,238.9,-13.4,226,1851,0.05,2.20,0.00,0.000,6,0.176,0.041,2846,2069,2311,0,0,0,0,0,0
$GC,2172,-1.03,-87.6,274.4,-13.4,257,2176,0.00,2.22,0.00,0.000,4,0.000,0.051,2847,651,2312,0,0,0,0,0,0
$GC,2224,-1.03,-87.6,281.9,-14.1,261,2229,0.05,2.20,0.00,0.000,6,0.246,0.042,2847,2066,2311,0,0,0,0,0,0
$GC,2554,-1.06,-87.6,326.9,-13.3,292,2558,0.00,2.22,0.00,0.000,4,0.000,0.052,2847,646,2311,0,0,0,0,0,0
$GC,2608,-1.06,-87.6,334.6,-13.4,296,2616,0.00,2.22,0.00,0.000,6,0.000,0.039,2838,2062,2311,0,0,0,0,0,0
$GC,2933,-1.06,-87.6,378.6,-13.3,327,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2062,2311,0,0,0,0,0,0
$GC,3248,-1.06,-87.6,419.8,-13.0,350,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2062,2311,0,0,0,0,0,0
$GC,3557,-1.06,-87.6,458.2,-12.0,365,3561,0.00,2.22,0.00,0.000,4,0.000,0.053,2838,647,2311,0,0,0,0,0,0
$GC,3618,-1.06,-87.6,465.8,-12.7,368,3622,0.00,2.20,0.00,0.000,6,0.000,0.042,2829,2060,2311,0,0,0,0,0,0
$GC,3945,-1.06,-87.6,506.7,-12.6,384,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2060,2311,0,0,0,0,0,0
$GC,4254,-1.06,-87.6,545.6,-12.5,399,4258,0.00,2.20,0.00,0.000,4,0.000,0.052,2829,652,2310,0,0,0,0,0,0
$GC,4285,-1.06,-87.6,549.9,-13.3,400,4292,0.05,2.22,0.00,0.000,6,0.188,0.043,2836,2061,2310,0,0,0,0,0,0
$GC,4602,-1.09,-87.6,587.1,-11.6,416,4606,0.00,2.22,0.00,0.000,4,0.000,0.052,2836,651,2310,0,0,0,0,0,0
$GC,4712,-1.09,-87.6,601.1,-12.4,421,4717,0.00,2.22,0.00,0.000,6,0.000,0.043,2827,2060,2310,0,0,0,0,0,0
$GC,5040,-1.09,-87.6,640.8,-12.1,437,5044,0.00,2.22,0.00,0.000,4,0.000,0.052,2827,651,2310,0,0,0,0,0,0
$GC,5105,-1.09,-87.6,649.6,-12.8,440,5110,0.00,2.22,0.00,0.000,6,0.000,0.042,2818,2061,2309,0,0,0,0,0,0
$GC,5433,-1.09,-87.6,689.9,-12.1,456,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2061,2309,0,0,0,0,0,0
$GC,5742,-1.09,-87.6,726.7,-11.8,471,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2061,2309,0,0,0,0,0,0
$GC,6051,-1.09,-87.6,761.6,-11.3,486,6055,0.00,2.25,0.00,0.000,4,0.000,0.052,2818,644,2309,0,0,0,0,0,0
$GC,6117,-1.05,-87.6,769.4,-11.4,489,6123,0.10,2.22,0.00,0.000,6,0.172,0.042,2840,2058,2309,0,0,0,0,0,0
$GC,6445,-1.11,-87.6,803.2,-10.2,505,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2059,2309,0,0,0,0,0,0
$GC,6754,-1.16,-87.6,834.2,-10.1,520,6759,0.10,2.22,0.00,0.000,4,0.103,0.052,2792,644,2309,0,0,0,0,0,0
$GC,6893,-1.09,-87.6,851.7,-13.3,526,6898,0.17,2.22,0.00,0.000,6,0.194,0.042,2828,2071,2308,0,0,0,0,0,0
$GC,7214,-1.13,-87.6,885.3,-10.2,542,7218,0.00,2.25,0.00,0.000,4,0.000,0.051,2829,648,2308,0,0,0,0,0,0
$GC,7359,-1.13,-87.6,902.1,-11.3,548,7365,0.00,2.22,0.00,0.000,6,0.000,0.041,2819,2063,2308,0,0,0,0,0,0
$GC,7675,-1.13,-87.6,935.7,-10.4,564,7679,0.00,2.25,0.00,0.000,4,0.000,0.052,2820,645,2307,0,0,0,0,0,0
$GC,7804,-1.13,-87.6,950.1,-11.6,570,7808,0.00,2.20,0.00,0.000,6,0.000,0.041,2811,2064,2307,0,0,0,0,0,0
$GC,8129,-1.13,-87.6,987.3,-11.7,586,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2064,2307,0,0,0,0,0,0
$STATE,8252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8252,begin apogee
$GC,8257,-0.19,0.0,1002.0,11.9,592,8341,1.02,0.00,80.43,1.295,6,0.171,0.000,3114,1583,1950,0,0,0,0,0,0
$STATE,8341,end apogee,CONTROL_FINISHED_OK
$STATE,8342,begin climb
$GC,8343,1.12,87.6,1005.5,0.0,596,8433,1.30,0.00,83.75,1.261,6,0.091,0.000,3540,1582,1592,0,0,0,0,0,0
$GC,8743,1.12,87.6,966.1,10.9,616,8747,0.00,2.35,0.00,0.000,4,0.000,0.054,3540,3006,1582,0,0,0,0,0,0
$GC,8858,1.12,87.6,952.3,12.8,621,8863,0.00,2.22,0.00,0.000,6,0.000,0.033,3549,1606,1581,0,0,0,0,0,0
$GC,9180,1.12,87.6,914.3,12.1,637,9184,0.00,2.28,0.00,0.000,4,0.000,0.051,3560,185,1580,0,0,0,0,0,0
$GC,9242,1.07,87.6,906.4,13.7,640,9247,0.12,2.25,0.00,0.000,6,0.187,0.036,3529,1612,1580,0,0,0,0,0,0
$GC,9569,1.11,87.6,869.7,11.1,656,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1612,1580,0,0,0,0,0,0
$GC,9878,1.16,87.6,835.9,10.9,671,9883,0.08,2.20,0.00,0.000,4,0.125,0.054,3571,2993,1579,0,0,0,0,0,0
$GC,9971,1.10,87.6,823.8,12.2,675,9977,0.12,2.17,0.00,0.000,6,0.167,0.034,3543,1597,1579,0,0,0,0,0,0
$GC,10293,1.10,87.6,785.2,12.0,691,10297,0.00,2.22,0.00,0.000,4,0.000,0.050,3543,2998,1578,0,0,0,0,0,0
$GC,10369,1.10,87.6,775.7,12.5,694,10376,0.03,2.17,0.00,0.000,6,0.217,0.034,3544,1599,1578,0,0,0,0,0,0
$GC,10686,1.10,87.6,739.1,11.6,710,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1599,1578,0,0,0,0,0,0
$GC,10995,1.10,87.6,703.3,11.9,725,10999,0.00,2.22,0.00,0.000,4,0.000,0.050,3544,3001,1578,0,0,0,0,0,0
$GC,11082,1.10,87.6,692.2,12.4,729,11088,0.03,2.17,0.00,0.000,6,0.220,0.034,3544,1596,1578,0,0,0,0,0,0
$GC,11409,1.10,87.6,653.2,12.2,745,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1596,1577,0,0,0,0,0,0
$GC,11719,1.10,87.6,616.1,12.1,760,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1597,1577,0,0,0,0,0,0
$GC,12028,1.10,87.6,580.3,11.3,775,12032,0.00,2.22,0.00,0.000,4,0.000,0.051,3554,190,1577,0,0,0,0,0,0
$GC,12082,1.10,87.6,573.7,11.6,777,12089,0.05,2.20,0.00,0.000,6,0.189,0.034,3538,1602,1577,0,0,0,0,0,0
$GC,12399,1.13,87.6,540.3,10.7,793,12403,0.00,2.20,0.00,0.000,4,0.000,0.053,3539,3002,1577,0,0,0,0,0,0
$GC,12464,1.13,87.6,532.6,11.4,796,12469,0.00,2.17,0.00,0.000,6,0.000,0.034,3547,1594,1577,0,0,0,0,0,0
$GC,12792,1.13,87.6,498.2,10.3,812,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1594,1577,0,0,0,0,0,0
$GC,13101,1.13,87.6,466.5,10.3,827,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1594,1577,0,0,0,0,0,0
$GC,13411,1.16,87.6,434.3,10.3,842,13415,0.00,2.22,0.00,0.000,4,0.000,0.052,3546,2999,1577,0,0,0,0,0,0
$GC,13453,1.16,87.6,429.3,10.7,844,13458,0.00,2.15,0.00,0.000,6,0.000,0.034,3555,1601,1577,0,0,0,0,0,0
$GC,13774,1.16,87.6,395.3,10.8,861,13778,0.00,2.20,0.00,0.000,4,0.000,0.049,3556,2997,1577,0,0,0,0,0,0
$GC,13871,1.16,87.6,383.9,12.1,869,13875,0.00,2.10,0.00,0.000,6,0.000,0.034,3564,1600,1577,0,0,0,0,0,0
$GC,14196,1.16,87.6,347.1,11.3,899,14200,0.00,2.20,0.00,0.000,4,0.000,0.050,3575,198,1577,0,0,0,0,0,0
$GC,14247,1.10,87.6,341.2,11.8,903,14251,0.12,2.17,0.00,0.000,6,0.188,0.037,3544,1615,1576,0,0,0,0,0,0
$GC,14574,1.14,87.6,305.5,11.1,933,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1615,1576,0,0,0,0,0,0
$GC,14891,1.18,87.6,267.9,12.2,963,14894,0.00,2.15,0.00,0.000,4,0.000,0.053,3544,2990,1576,0,0,0,0,0,0
$GC,14979,1.18,87.6,256.2,13.3,970,14985,0.00,2.15,0.00,0.000,6,0.000,0.034,3552,1595,1576,0,0,0,0,0,0
$GC,15308,1.18,87.6,217.6,11.5,1001,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1595,1576,0,0,0,0,0,0
$GC,15633,1.18,87.6,181.9,10.5,1032,15637,0.00,2.20,0.00,0.000,4,0.000,0.050,3563,192,1576,0,0,0,0,0,0
$GC,15699,1.18,87.6,175.0,10.7,1037,15703,0.00,2.15,0.00,0.000,6,0.000,0.034,3563,1597,1576,0,0,0,0,0,0
$GC,16023,1.18,87.6,142.1,9.8,1067,16024,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1597,1576,0,0,0,0,0,0
$GC,16344,1.18,87.6,111.5,10.3,1097,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1597,1576,0,0,0,0,0,0
$GC,16674,1.18,87.6,76.3,11.0,1146,16681,0.00,2.20,0.00,0.000,4,0.000,0.054,3563,2989,1576,0,0,0,0,0,0
$GC,16802,1.18,87.6,62.0,11.3,1168,16808,0.00,2.12,0.00,0.000,6,0.000,0.034,3572,1599,1576,0,0,0,0,0,0
$GC,17160,1.18,87.6,24.7,10.8,1229,17167,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1599,1576,0,0,0,0,0,0
$GC,17315,1.18,87.6,7.6,10.6,1254,17322,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1599,1576,0,0,0,0,0,0
$STATE,17359,end climb,SURFACE_DEPTH_REACHED
$STATE,17359,begin surface coast
$FINISH,1.7,1.012058
$STATE,17391,end surface coast,CONTROL_FINISHED_OK
$STATE,17391,begin surface
$SM_CCo,17407,51.47,0.056,0,0,1133,200.16
$SM_GC,3.42,0.00,0.00,51.47,0.000,0.000,0.056,76,2079,1133,-9.72,0.54,200.16
$IRIDIUM_FIX,-4444.39,342.96,160608,131303
$TT8_MAMPS,0.026964
$HUMID,62.32
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.6,18.507
$10V_AH,10.1,17.296
$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,23.825,116.450,164.175,51.475,0.000,23.932,40.641,290.064,0.000,0.000,16.723,3134.906,10960.494,348.052,3338.171,144.806,0.000,1509.090,0.000,2800.125,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,64.260,1295.145,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.939,2337.093,946.389,530.016,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,87070,1266
$CAP_FILE_SIZE,157493,0
$CFSIZE,2097086464,2076278784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210815,094803,-4456.984,624.470,41,1.2,41,-24.4