version: 66.07.10.p01
glider: 573
mission: 12
dive: 132
start: 8 23 115 17 45 9
data:
$ID,573
$MISSION,12
$DIVE,132
$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,-21417.568
$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,39
$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,131
$GPS1,230815,173702,-4505.267,636.880,40,1.4,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-72.8
$GPS2,230815,174449,-4505.307,636.848,19,1.7,19,-24.4
$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,359.8,2663,-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,-26.45,0.000,2,0.000,0.000,81,2070,1667,0,0,0,0,0,0
$GC,55,-1.12,-88.7,3.2,-4.1,4,100,11.40,2.28,-27.48,0.000,4,0.252,0.066,2821,662,2313,0,0,0,0,0,0
$GC,309,-1.04,-88.7,34.2,-15.6,45,317,0.10,2.22,0.00,0.000,6,0.178,0.042,2842,2042,2316,0,0,0,0,0,0
$GC,459,-1.04,-88.7,55.2,-13.8,70,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2042,2316,0,0,0,0,0,0
$GC,805,-1.04,-88.7,103.7,-14.2,129,809,0.00,2.28,0.00,0.000,4,0.000,0.060,2832,3471,2317,0,0,0,0,0,0
$GC,834,-1.04,-88.7,108.0,-14.3,131,838,0.05,2.17,0.00,0.000,6,0.232,0.042,2843,2065,2317,0,0,0,0,0,0
$GC,1160,-1.04,-88.7,152.8,-12.3,161,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2065,2317,0,0,0,0,0,0
$GC,1477,-1.04,-88.7,192.3,-12.6,191,1481,0.00,2.25,0.00,0.000,4,0.000,0.058,2833,3469,2317,0,0,0,0,0,0
$GC,1508,-1.04,-88.7,196.7,-12.6,193,1515,0.00,2.20,0.00,0.000,6,0.000,0.041,2833,2062,2317,0,0,0,0,0,0
$GC,1834,-1.04,-88.7,239.1,-13.1,224,1839,0.05,2.25,0.00,0.000,4,0.239,0.058,2834,3475,2317,0,0,0,0,0,0
$GC,1867,-1.04,-88.7,243.6,-13.6,226,1872,0.00,2.20,0.00,0.000,6,0.000,0.041,2834,2047,2318,0,0,0,0,0,0
$GC,2193,-1.04,-88.7,285.4,-12.7,257,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2047,2318,0,0,0,0,0,0
$GC,2510,-1.04,-88.7,326.7,-12.8,287,2514,0.00,2.25,0.00,0.000,4,0.000,0.055,2825,3477,2318,0,0,0,0,0,0
$GC,2561,-1.04,-88.7,333.6,-13.3,291,2566,0.10,2.17,0.00,0.000,6,0.195,0.041,2848,2050,2318,0,0,0,0,0,0
$GC,2888,-1.08,-88.7,374.1,-12.3,321,2892,0.00,2.28,0.00,0.000,4,0.000,0.058,2839,3474,2318,0,0,0,0,0,0
$GC,2949,-1.08,-88.7,382.0,-12.3,326,2953,0.00,2.17,0.00,0.000,6,0.000,0.041,2839,2051,2318,0,0,0,0,0,0
$GC,3269,-1.08,-88.7,420.6,-12.2,348,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2051,2318,0,0,0,0,0,0
$GC,3578,-1.08,-88.7,458.3,-12.3,363,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2051,2317,0,0,0,0,0,0
$GC,3888,-1.08,-88.7,496.3,-12.2,378,3892,0.00,2.25,0.00,0.000,4,0.000,0.059,2830,3468,2318,0,0,0,0,0,0
$GC,3919,-1.08,-88.7,500.6,-12.6,379,3926,0.00,2.20,0.00,0.000,6,0.000,0.041,2830,2056,2318,0,0,0,0,0,0
$GC,4236,-1.08,-88.7,538.5,-12.1,395,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2056,2318,0,0,0,0,0,0
$GC,4545,-1.08,-88.7,575.7,-12.1,410,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2056,2318,0,0,0,0,0,0
$GC,4854,-1.08,-88.7,612.7,-11.7,425,4858,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3477,2317,0,0,0,0,0,0
$GC,4886,-1.08,-88.7,616.8,-12.0,426,4893,0.00,2.20,0.00,0.000,6,0.000,0.042,2822,2068,2317,0,0,0,0,0,0
$GC,5202,-1.08,-88.7,653.4,-11.5,442,5204,0.05,0.00,0.00,0.000,6,0.238,0.000,2832,2068,2317,0,0,0,0,0,0
$GC,5512,-1.08,-88.7,687.5,-10.8,457,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2068,2316,0,0,0,0,0,0
$GC,5821,-1.08,-88.7,720.9,-10.7,472,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2068,2316,0,0,0,0,0,0
$GC,6130,-1.08,-88.7,754.2,-10.8,487,6134,0.00,2.22,0.00,0.000,4,0.000,0.055,2832,639,2316,0,0,0,0,0,0
$GC,6201,-1.08,-88.7,762.8,-12.3,490,6207,0.00,2.22,0.00,0.000,6,0.000,0.040,2823,2063,2315,0,0,0,0,0,0
$GC,6524,-1.08,-88.7,797.7,-11.1,506,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2062,2315,0,0,0,0,0,0
$GC,6833,-1.08,-88.7,831.8,-11.3,521,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2063,2315,0,0,0,0,0,0
$GC,7142,-1.08,-88.7,868.2,-12.1,536,7146,0.00,2.22,0.00,0.000,4,0.000,0.064,2812,3472,2314,0,0,0,0,0,0
$GC,7213,-1.08,-88.7,877.5,-12.5,539,7219,0.05,2.22,0.00,0.000,6,0.170,0.044,2830,2049,2314,0,0,0,0,0,0
$GC,7535,-1.12,-88.7,914.8,-11.6,555,7539,0.00,2.17,0.00,0.000,4,0.000,0.054,2830,648,2314,0,0,0,0,0,0
$GC,7584,-1.12,-88.7,920.8,-11.6,557,7589,0.00,2.22,0.00,0.000,6,0.000,0.044,2821,2057,2314,0,0,0,0,0,0
$GC,7906,-1.12,-88.7,956.5,-10.7,573,7910,0.00,2.22,0.00,0.000,4,0.000,0.062,2810,3474,2314,0,0,0,0,0,0
$GC,7971,-1.12,-88.7,963.9,-11.4,576,7976,0.00,2.22,0.00,0.000,6,0.000,0.043,2810,2052,2313,0,0,0,0,0,0
$GC,8298,-1.12,-88.7,998.6,-10.6,592,8300,0.05,0.00,0.00,0.000,6,0.231,0.000,2820,2052,2313,0,0,0,0,0,0
$STATE,8317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8317,begin apogee
$GC,8322,-0.19,0.0,1000.7,10.3,593,8407,1.00,0.00,81.75,1.291,6,0.166,0.000,3120,1604,1950,0,0,0,0,0,0
$STATE,8408,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8410,1.12,88.7,1002.7,0.0,597,8499,1.27,0.00,85.47,1.255,6,0.089,0.000,3540,1604,1588,0,0,0,0,0,0
$GC,8809,1.15,88.7,954.9,13.5,617,8813,0.00,2.33,0.00,0.000,4,0.000,0.051,3550,192,1578,0,0,0,0,0,0
$GC,8885,1.15,88.7,943.7,14.5,620,8892,0.00,2.30,0.00,0.000,6,0.000,0.036,3551,1610,1577,0,0,0,0,0,0
$GC,9202,1.15,88.7,901.2,13.3,636,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1610,1576,0,0,0,0,0,0
$GC,9511,1.15,88.7,860.7,13.2,651,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1609,1575,0,0,0,0,0,0
$GC,9820,1.15,88.7,821.1,12.8,666,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1610,1574,0,0,0,0,0,0
$GC,10130,1.15,88.7,782.6,12.5,681,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1609,1574,0,0,0,0,0,0
$GC,10439,1.15,88.7,745.1,11.8,696,10443,0.00,2.28,0.00,0.000,4,0.000,0.051,3560,196,1574,0,0,0,0,0,0
$GC,10532,1.15,88.7,733.2,12.7,700,10537,0.00,2.20,0.00,0.000,6,0.000,0.036,3560,1597,1573,0,0,0,0,0,0
$GC,10856,1.15,88.7,696.4,11.4,716,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1598,1573,0,0,0,0,0,0
$GC,11165,1.15,88.7,661.3,11.1,731,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1598,1573,0,0,0,0,0,0
$GC,11474,1.15,88.7,626.2,11.5,746,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1573,0,0,0,0,0,0
$GC,11784,1.15,88.7,589.9,12.2,761,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1598,1573,0,0,0,0,0,0
$GC,12093,1.15,88.7,550.4,12.8,776,12097,0.00,2.22,0.00,0.000,4,0.000,0.050,3569,192,1573,0,0,0,0,0,0
$GC,12163,1.15,88.7,540.3,13.3,779,12169,0.03,2.20,0.00,0.000,6,0.205,0.036,3561,1598,1572,0,0,0,0,0,0
$GC,12486,1.15,88.7,497.4,13.5,795,12491,0.00,2.22,0.00,0.000,4,0.000,0.050,3569,191,1572,0,0,0,0,0,0
$GC,12572,1.15,88.7,485.0,14.8,799,12577,0.05,2.17,0.00,0.000,6,0.234,0.037,3559,1613,1572,0,0,0,0,0,0
$GC,12898,1.15,88.7,440.5,13.3,815,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1613,1572,0,0,0,0,0,0
$GC,13208,1.15,88.7,400.2,13.0,830,13212,0.00,2.25,0.00,0.000,4,0.000,0.050,3568,188,1572,0,0,0,0,0,0
$GC,13304,1.15,88.7,387.0,13.0,838,13308,0.03,2.17,0.00,0.000,6,0.278,0.036,3559,1601,1572,0,0,0,0,0,0
$GC,13628,1.15,88.7,346.6,12.3,868,13632,0.00,2.17,0.00,0.000,4,0.000,0.054,3559,2998,1572,0,0,0,0,0,0
$GC,13727,1.15,88.7,333.7,13.0,876,13736,0.00,2.17,0.00,0.000,6,0.000,0.034,3566,1592,1572,0,0,0,0,0,0
$GC,14053,1.15,88.7,294.0,11.9,907,14057,0.00,2.20,0.00,0.000,4,0.000,0.052,3577,186,1572,0,0,0,0,0,0
$GC,14164,1.11,88.7,279.7,13.6,916,14173,0.10,2.20,0.00,0.000,6,0.164,0.036,3546,1600,1571,0,0,0,0,0,0
$GC,14490,1.16,88.7,241.9,11.9,947,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1600,1571,0,0,0,0,0,0
$GC,14811,1.20,88.7,202.8,12.6,977,14816,0.08,2.20,0.00,0.000,4,0.125,0.054,3589,2999,1571,0,0,0,0,0,0
$GC,14888,1.14,88.7,191.4,14.2,983,14895,0.15,2.15,0.00,0.000,6,0.176,0.034,3553,1599,1571,0,0,0,0,0,0
$GC,15214,1.17,88.7,148.2,12.7,1014,15218,0.00,2.20,0.00,0.000,4,0.000,0.051,3562,197,1571,0,0,0,0,0,0
$GC,15332,1.17,88.7,131.5,14.4,1024,15336,0.00,2.15,0.00,0.000,6,0.000,0.035,3562,1608,1571,0,0,0,0,0,0
$GC,15665,1.17,88.7,93.1,10.7,1060,15670,0.00,2.22,0.00,0.000,4,0.000,0.049,3572,193,1571,0,0,0,0,0,0
$GC,15888,1.17,88.7,66.9,11.4,1099,15893,0.00,2.15,0.00,0.000,6,0.000,0.034,3572,1602,1571,0,0,0,0,0,0
$GC,16244,1.17,88.7,28.2,11.0,1160,16251,0.00,2.17,0.00,0.000,4,0.000,0.050,3572,2985,1571,0,0,0,0,0,0
$GC,16320,1.17,88.7,19.0,12.3,1172,16328,0.05,2.12,0.00,0.000,6,0.187,0.035,3565,1597,1571,0,0,0,0,0,0
$GC,16378,1.17,88.7,12.3,11.0,1181,16386,0.00,2.22,0.00,0.000,4,0.000,0.051,3575,198,1571,0,0,0,0,0,0
$STATE,16454,end climb,SURFACE_DEPTH_REACHED
$STATE,16454,begin surface coast
$FINISH,1.8,1.023372
$STATE,16485,end surface coast,CONTROL_FINISHED_OK
$STATE,16486,begin surface
$SM_CCo,16505,50.90,0.057,0,0,1133,200.16
$SM_GC,3.26,0.00,0.00,50.90,0.000,0.000,0.057,64,2052,1133,-9.76,-0.20,200.16
$IRIDIUM_FIX,-4444.39,624.79,190608,020241
$TT8_MAMPS,0.026964
$HUMID,62.28
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.6,19.661
$10V_AH,10.1,18.821
$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,23.725,107.650,167.225,50.900,0.000,24.603,47.837,270.007,0.000,0.000,21.681,2942.979,10525.689,347.667,3057.878,143.282,0.000,1396.871,0.000,2538.790,0.000,0.540,0.000
$DEVICE_MAMPS,277.695,65.790,1290.555,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.443,2200.290,894.090,498.152,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,84033,1198
$CAP_FILE_SIZE,143171,0
$CFSIZE,2097086464,2074836992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230815,222204,-4504.606,637.219,25,0.9,25,-24.4