version: 66.07.10.p01
glider: 573
mission: 12
dive: 131
start: 8 23 115 12 53 19
data:
$ID,573
$MISSION,12
$DIVE,131
$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,-21414.648
$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,44
$R_STBD_OVSHOOT,61
$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,130
$GPS1,230815,124227,-4504.250,638.340,35,0.9,35,-24.5
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-73.1
$GPS2,230815,125259,-4504.250,638.442,13,0.8,14,-24.5
$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,302.8,3228,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-26.23,0.000,2,0.000,0.000,59,2091,1663,0,0,0,0,0,0
$GC,54,-1.12,-91.0,3.2,-3.8,4,100,11.55,2.20,-28.70,0.000,4,0.252,0.070,2807,3441,2322,0,0,0,0,0,0
$GC,133,-0.99,-91.0,6.2,-8.6,16,141,0.17,2.20,0.00,0.000,6,0.164,0.039,2859,2066,2324,0,0,0,0,0,0
$GC,192,-0.99,-91.0,14.2,-13.3,25,198,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2066,2325,0,0,0,0,0,0
$GC,249,-0.99,-91.0,21.9,-13.5,34,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2066,2325,0,0,0,0,0,0
$GC,401,-1.02,-91.0,43.5,-13.7,59,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2066,2325,0,0,0,0,0,0
$GC,747,-1.02,-91.0,90.8,-13.4,120,755,0.00,2.25,0.00,0.000,4,0.000,0.052,2859,659,2325,0,0,0,0,0,0
$GC,813,-1.02,-91.0,100.4,-15.2,131,819,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2036,2325,0,0,0,0,0,0
$GC,1138,-1.02,-91.0,145.6,-13.6,162,1142,0.00,2.30,0.00,0.000,4,0.000,0.061,2839,3470,2325,0,0,0,0,0,0
$GC,1180,-1.02,-91.0,151.5,-12.7,165,1187,0.00,2.22,0.00,0.000,6,0.000,0.041,2840,2053,2325,0,0,0,0,0,0
$GC,1506,-1.02,-91.0,192.8,-12.6,196,1510,0.05,2.20,0.00,0.000,4,0.239,0.054,2850,658,2326,0,0,0,0,0,0
$GC,1556,-1.02,-91.0,199.4,-13.3,200,1560,0.00,2.20,0.00,0.000,6,0.000,0.041,2841,2066,2326,0,0,0,0,0,0
$GC,1881,-1.02,-91.0,242.4,-13.2,230,1885,0.00,2.22,0.00,0.000,4,0.000,0.059,2830,3465,2326,0,0,0,0,0,0
$GC,1922,-1.02,-91.0,247.8,-14.1,233,1926,0.10,2.15,0.00,0.000,6,0.193,0.039,2853,2060,2326,0,0,0,0,0,0
$GC,2252,-1.06,-91.0,287.6,-11.2,264,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2060,2326,0,0,0,0,0,0
$GC,2571,-1.11,-91.0,323.2,-10.9,294,2575,0.08,2.25,0.00,0.000,4,0.126,0.058,2804,3463,2327,0,0,0,0,0,0
$GC,2612,-1.05,-91.0,328.1,-13.0,297,2617,0.15,2.15,0.00,0.000,6,0.180,0.040,2844,2054,2326,0,0,0,0,0,0
$GC,2942,-1.08,-91.0,365.2,-11.3,328,2946,0.00,2.25,0.00,0.000,4,0.000,0.060,2834,3463,2326,0,0,0,0,0,0
$GC,2996,-1.08,-91.0,371.5,-11.0,332,3004,0.00,2.17,0.00,0.000,6,0.000,0.040,2835,2067,2326,0,0,0,0,0,0
$GC,3330,-1.08,-91.0,410.0,-11.9,360,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2066,2326,0,0,0,0,0,0
$GC,3639,-1.08,-91.0,448.2,-12.8,375,3643,0.00,2.20,0.00,0.000,4,0.000,0.055,2826,3463,2326,0,0,0,0,0,0
$GC,3704,-1.08,-91.0,457.3,-13.3,378,3710,0.00,2.20,0.00,0.000,6,0.000,0.040,2826,2049,2326,0,0,0,0,0,0
$GC,4032,-1.08,-91.0,500.7,-13.2,394,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2049,2326,0,0,0,0,0,0
$GC,4341,-1.08,-91.0,541.8,-13.3,409,4345,0.00,2.25,0.00,0.000,4,0.000,0.055,2817,3471,2326,0,0,0,0,0,0
$GC,4390,-1.08,-91.0,548.8,-13.6,411,4395,0.03,2.20,0.00,0.000,6,0.189,0.041,2826,2057,2326,0,0,0,0,0,0
$GC,4712,-1.08,-91.0,589.2,-12.2,427,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2057,2325,0,0,0,0,0,0
$GC,5021,-1.08,-91.0,626.6,-12.0,442,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2058,2325,0,0,0,0,0,0
$GC,5331,-1.08,-91.0,664.9,-12.4,457,5335,0.00,2.25,0.00,0.000,4,0.000,0.061,2817,3462,2325,0,0,0,0,0,0
$GC,5419,-1.08,-91.0,676.6,-13.0,461,5424,0.03,2.17,0.00,0.000,6,0.191,0.041,2826,2066,2324,0,0,0,0,0,0
$GC,5746,-1.08,-91.0,715.4,-12.4,477,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2066,2324,0,0,0,0,0,0
$GC,6055,-1.08,-91.0,752.7,-11.7,492,6059,0.00,2.22,0.00,0.000,4,0.000,0.056,2817,3469,2323,0,0,0,0,0,0
$GC,6087,-1.08,-91.0,756.9,-13.0,493,6094,0.03,2.20,0.00,0.000,6,0.196,0.042,2826,2059,2324,0,0,0,0,0,0
$GC,6404,-1.08,-91.0,792.3,-10.7,509,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2059,2324,0,0,0,0,0,0
$GC,6713,-1.08,-91.0,823.9,-9.9,524,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2059,2323,0,0,0,0,0,0
$GC,7022,-1.08,-91.0,853.8,-9.8,539,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2059,2322,0,0,0,0,0,0
$GC,7332,-1.11,-91.0,884.4,-9.5,554,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2059,2322,0,0,0,0,0,0
$GC,7641,-1.11,-91.0,914.0,-9.5,569,7645,0.00,2.25,0.00,0.000,4,0.000,0.061,2817,3469,2322,0,0,0,0,0,0
$GC,7689,-1.11,-91.0,919.1,-9.8,571,7694,0.00,2.20,0.00,0.000,6,0.000,0.042,2818,2056,2322,0,0,0,0,0,0
$GC,8011,-1.11,-91.0,951.0,-10.2,587,8015,0.00,2.20,0.00,0.000,4,0.000,0.056,2818,648,2322,0,0,0,0,0,0
$GC,8051,-1.11,-91.0,955.4,-11.8,589,8055,0.05,2.20,0.00,0.000,6,0.250,0.044,2820,2057,2322,0,0,0,0,0,0
$GC,8377,-1.11,-91.0,988.6,-10.4,605,8381,0.00,2.25,0.00,0.000,4,0.000,0.062,2809,3473,2322,0,0,0,0,0,0
$GC,8416,-1.11,-91.0,992.8,-11.6,607,8419,0.00,2.17,0.00,0.000,6,0.000,0.044,2810,2060,2322,0,0,0,0,0,0
$STATE,8493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8493,begin apogee
$GC,8498,-0.19,0.0,1001.6,10.8,611,8585,1.02,0.00,83.50,1.289,6,0.171,0.000,3115,1597,1950,0,0,0,0,0,0
$STATE,8586,end apogee,CONTROL_FINISHED_OK
$STATE,8586,begin climb
$GC,8587,1.12,91.0,1004.3,0.0,615,8679,1.30,0.00,87.62,1.255,6,0.093,0.000,3540,1597,1577,0,0,0,0,0,0
$GC,8985,1.16,91.0,957.6,13.5,635,8989,0.00,2.30,0.00,0.000,4,0.000,0.051,3550,199,1568,0,0,0,0,0,0
$GC,9050,1.16,91.0,948.1,14.7,638,9055,0.00,2.28,0.00,0.000,6,0.000,0.036,3550,1604,1567,0,0,0,0,0,0
$GC,9377,1.16,91.0,905.4,12.5,654,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1566,0,0,0,0,0,0
$GC,9687,1.16,91.0,866.1,13.2,669,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1566,0,0,0,0,0,0
$GC,9996,1.16,91.0,825.5,13.2,684,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1565,0,0,0,0,0,0
$GC,10305,1.16,91.0,786.0,12.6,699,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1605,1565,0,0,0,0,0,0
$GC,10615,1.16,91.0,746.9,12.9,714,10619,0.00,2.17,0.00,0.000,4,0.000,0.053,3550,2996,1564,0,0,0,0,0,0
$GC,10654,1.16,91.0,741.9,13.3,716,10658,0.00,2.15,0.00,0.000,6,0.000,0.036,3559,1600,1564,0,0,0,0,0,0
$GC,10980,1.16,91.0,699.6,13.2,732,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1600,1564,0,0,0,0,0,0
$GC,11289,1.16,91.0,660.3,12.4,747,11293,0.00,2.22,0.00,0.000,4,0.000,0.053,3570,198,1564,0,0,0,0,0,0
$GC,11442,1.12,91.0,639.7,13.4,754,11447,0.10,2.20,0.00,0.000,6,0.193,0.037,3546,1614,1563,0,0,0,0,0,0
$GC,11769,1.15,91.0,601.3,11.7,770,11770,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1614,1563,0,0,0,0,0,0
$GC,12078,1.19,91.0,564.5,11.9,785,12079,0.05,0.00,0.00,0.000,6,0.168,0.000,3582,1614,1562,0,0,0,0,0,0
$GC,12387,1.19,91.0,524.3,12.9,800,12391,0.05,2.25,0.00,0.000,4,0.235,0.050,3581,196,1563,0,0,0,0,0,0
$GC,12471,1.14,91.0,512.9,13.3,804,12476,0.12,2.17,0.00,0.000,6,0.190,0.037,3550,1602,1563,0,0,0,0,0,0
$GC,12798,1.14,91.0,475.0,11.3,820,12802,0.00,2.17,0.00,0.000,4,0.000,0.053,3550,3000,1563,0,0,0,0,0,0
$GC,12860,1.14,91.0,467.7,11.3,823,12864,0.00,2.15,0.00,0.000,6,0.000,0.035,3558,1593,1562,0,0,0,0,0,0
$GC,13186,1.14,91.0,432.1,10.9,839,13190,0.00,2.20,0.00,0.000,4,0.000,0.051,3569,197,1562,0,0,0,0,0,0
$GC,13314,1.11,91.0,416.7,11.9,844,13320,0.10,2.17,0.00,0.000,6,0.196,0.037,3545,1595,1562,0,0,0,0,0,0
$GC,13635,1.16,91.0,380.7,11.8,867,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1597,1562,0,0,0,0,0,0
$GC,13956,1.20,91.0,341.8,12.2,897,13957,0.08,0.00,0.00,0.000,6,0.126,0.000,3586,1596,1562,0,0,0,0,0,0
$GC,14272,1.17,91.0,298.7,13.5,927,14277,0.10,2.22,0.00,0.000,4,0.195,0.050,3573,190,1562,0,0,0,0,0,0
$GC,14333,1.17,91.0,290.3,12.8,932,14337,0.00,2.17,0.00,0.000,6,0.000,0.036,3573,1604,1562,0,0,0,0,0,0
$GC,14658,1.17,91.0,249.9,12.8,962,14662,0.00,2.25,0.00,0.000,4,0.000,0.050,3582,189,1561,0,0,0,0,0,0
$GC,14758,1.13,91.0,236.4,13.1,970,14764,0.10,2.20,0.00,0.000,6,0.169,0.034,3550,1605,1562,0,0,0,0,0,0
$GC,15086,1.17,91.0,198.4,12.2,1001,15090,0.00,2.25,0.00,0.000,4,0.000,0.050,3560,192,1562,0,0,0,0,0,0
$GC,15219,1.17,91.0,181.3,12.9,1012,15227,0.00,2.17,0.00,0.000,6,0.000,0.034,3560,1595,1561,0,0,0,0,0,0
$GC,15544,1.17,91.0,143.1,11.2,1043,15548,0.00,2.20,0.00,0.000,4,0.000,0.053,3560,2998,1562,0,0,0,0,0,0
$GC,15651,1.17,91.0,131.0,9.3,1052,15655,0.00,2.12,0.00,0.000,6,0.000,0.034,3569,1597,1562,0,0,0,0,0,0
$GC,15979,1.17,91.0,94.6,11.2,1086,15986,0.00,2.22,0.00,0.000,4,0.000,0.052,3580,199,1562,0,0,0,0,0,0
$GC,16066,1.14,91.0,84.4,11.7,1101,16074,0.08,2.17,0.00,0.000,6,0.176,0.036,3556,1601,1562,0,0,0,0,0,0
$GC,16417,1.18,91.0,49.3,10.2,1162,16422,0.00,2.22,0.00,0.000,4,0.000,0.049,3565,192,1561,0,0,0,0,0,0
$GC,16487,1.18,91.0,41.5,10.6,1174,16493,0.00,2.17,0.00,0.000,6,0.000,0.035,3565,1619,1562,0,0,0,0,0,0
$STATE,16846,end climb,SURFACE_DEPTH_REACHED
$STATE,16846,begin surface coast
$FINISH,1.7,1.019840
$STATE,16879,end surface coast,CONTROL_FINISHED_OK
$STATE,16879,begin surface
$SM_CCo,16895,49.70,0.056,0,0,1133,200.16
$SM_GC,3.39,0.00,0.00,49.70,0.000,0.000,0.056,82,2069,1133,-9.70,0.28,200.16
$IRIDIUM_FIX,-4441.36,636.54,180608,191921
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.6,19.579
$10V_AH,10.1,18.701
$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,24.350,116.100,171.125,49.700,0.000,26.859,20.633,445.993,0.000,0.000,17.411,3055.848,10650.784,351.474,3348.590,155.828,0.000,1458.700,0.000,2672.302,0.000,0.541,0.000
$DEVICE_MAMPS,251.685,70.380,1289.025,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.347,2283.325,943.528,541.039,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,87063,1238
$CAP_FILE_SIZE,157905,0
$CFSIZE,2097086464,2074968064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230815,173702,-4505.267,636.880,40,1.4,43,-24.4