version: 66.07.10.p01
glider: 573
mission: 12
dive: 187
start: 9 4 115 9 39 14
data:
$ID,573
$MISSION,12
$DIVE,187
$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,-21588.498
$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,35
$R_STBD_OVSHOOT,34
$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,186
$GPS1,040915,093133,-4505.417,624.639,31,1.2,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.7
$GPS2,040915,093853,-4505.482,624.658,14,0.8,16,-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,7.0,2877,-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,-20.52,0.000,2,0.000,0.000,61,2067,1540,0,0,0,0,0,0
$GC,48,-1.12,-86.3,3.2,-4.4,3,106,11.23,2.30,-36.67,0.000,4,0.239,0.064,2825,658,2304,0,0,0,0,0,0
$GC,140,-1.01,-86.3,6.4,-9.4,17,147,0.12,2.25,0.00,0.000,6,0.174,0.042,2853,2050,2305,0,0,0,0,0,0
$GC,198,-1.01,-86.3,14.7,-14.1,26,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2049,2306,0,0,0,0,0,0
$GC,256,-1.01,-86.3,22.7,-14.5,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2050,2306,0,0,0,0,0,0
$GC,406,-1.01,-86.3,45.1,-14.6,60,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2049,2306,0,0,0,0,0,0
$GC,759,-1.01,-86.3,96.8,-15.1,121,764,0.00,2.28,0.00,0.000,4,0.000,0.057,2842,3481,2306,0,0,0,0,0,0
$GC,850,-1.01,-86.3,111.5,-15.7,131,854,0.05,2.22,0.00,0.000,6,0.228,0.041,2852,2055,2306,0,0,0,0,0,0
$GC,1176,-1.01,-86.3,160.2,-15.2,161,1180,0.00,2.30,0.00,0.000,4,0.000,0.060,2843,3474,2307,0,0,0,0,0,0
$GC,1230,-1.01,-86.3,168.5,-16.5,165,1235,0.05,2.17,0.00,0.000,6,0.229,0.042,2854,2061,2307,0,0,0,0,0,0
$GC,1555,-1.05,-86.3,215.2,-13.7,195,1559,0.00,2.22,0.00,0.000,4,0.000,0.054,2854,648,2307,0,0,0,0,0,0
$GC,1610,-1.05,-86.3,223.0,-13.0,199,1616,0.00,2.25,0.00,0.000,6,0.000,0.042,2844,2066,2307,0,0,0,0,0,0
$GC,1935,-1.05,-86.3,262.6,-12.5,230,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2066,2307,0,0,0,0,0,0
$GC,2255,-1.08,-86.3,303.0,-12.6,260,2259,0.00,2.22,0.00,0.000,4,0.000,0.060,2834,3464,2307,0,0,0,0,0,0
$GC,2288,-1.08,-86.3,307.3,-12.8,262,2293,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,2053,2307,0,0,0,0,0,0
$GC,2615,-1.08,-86.3,348.6,-12.2,293,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2053,2307,0,0,0,0,0,0
$GC,2931,-1.08,-86.3,387.8,-12.7,323,2935,0.00,2.28,0.00,0.000,4,0.000,0.060,2825,3465,2307,0,0,0,0,0,0
$GC,2975,-1.08,-86.3,394.0,-13.8,326,2981,0.00,2.20,0.00,0.000,6,0.000,0.041,2825,2058,2307,0,0,0,0,0,0
$GC,3293,-1.08,-86.3,436.1,-13.2,344,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2307,0,0,0,0,0,0
$GC,3602,-1.08,-86.3,476.9,-13.4,359,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2059,2307,0,0,0,0,0,0
$GC,3911,-1.08,-86.3,517.4,-13.0,374,3915,0.00,2.25,0.00,0.000,4,0.000,0.062,2816,3465,2307,0,0,0,0,0,0
$GC,3938,-1.08,-86.3,521.3,-13.4,375,3943,0.03,2.20,0.00,0.000,6,0.195,0.041,2825,2056,2307,0,0,0,0,0,0
$GC,4259,-1.08,-86.3,560.6,-11.9,391,4263,0.00,2.25,0.00,0.000,4,0.000,0.061,2816,3464,2307,0,0,0,0,0,0
$GC,4286,-1.08,-86.3,564.1,-12.6,392,4291,0.03,2.20,0.00,0.000,6,0.194,0.042,2825,2063,2307,0,0,0,0,0,0
$GC,4607,-1.08,-86.3,604.7,-12.5,408,4611,0.00,2.25,0.00,0.000,4,0.000,0.060,2816,3471,2307,0,0,0,0,0,0
$GC,4691,-1.08,-86.3,615.8,-13.3,412,4696,0.08,2.20,0.00,0.000,6,0.203,0.044,2832,2048,2307,0,0,0,0,0,0
$GC,5017,-1.08,-86.3,656.6,-12.0,428,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2048,2307,0,0,0,0,0,0
$GC,5326,-1.08,-86.3,694.4,-12.2,443,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2048,2306,0,0,0,0,0,0
$GC,5636,-1.12,-86.3,731.8,-11.8,458,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2048,2306,0,0,0,0,0,0
$GC,5945,-1.15,-86.3,768.9,-12.0,473,5947,0.05,0.00,0.00,0.000,6,0.166,0.000,2801,2048,2306,0,0,0,0,0,0
$GC,6254,-1.15,-86.3,806.9,-12.3,488,6258,0.00,2.25,0.00,0.000,4,0.000,0.060,2791,3465,2306,0,0,0,0,0,0
$GC,6297,-1.10,-86.3,812.2,-12.5,490,6302,0.10,2.20,0.00,0.000,6,0.168,0.042,2823,2054,2306,0,0,0,0,0,0
$GC,6624,-1.10,-86.3,848.2,-11.0,506,6628,0.00,2.28,0.00,0.000,4,0.000,0.062,2813,3468,2306,0,0,0,0,0,0
$GC,6650,-1.10,-86.3,851.2,-11.3,507,6655,0.00,2.20,0.00,0.000,6,0.000,0.043,2813,2063,2306,0,0,0,0,0,0
$GC,6971,-1.10,-86.3,885.6,-10.6,523,6975,0.00,2.25,0.00,0.000,4,0.000,0.056,2813,644,2305,0,0,0,0,0,0
$GC,6988,-1.10,-86.3,887.6,-10.7,524,6993,0.10,2.17,0.00,0.000,6,0.203,0.038,2828,2067,2305,0,0,0,0,0,0
$GC,7316,-1.14,-86.3,918.4,-9.2,540,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2067,2305,0,0,0,0,0,0
$GC,7624,-1.18,-86.3,946.8,-9.3,555,7629,0.08,2.20,0.00,0.000,4,0.122,0.060,2777,3467,2305,0,0,0,0,0,0
$GC,7664,-1.11,-86.3,950.9,-10.9,557,7668,0.17,2.17,0.00,0.000,6,0.184,0.044,2823,2056,2305,0,0,0,0,0,0
$GC,7990,-1.11,-86.3,983.3,-9.9,573,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2056,2305,0,0,0,0,0,0
$STATE,8153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8153,begin apogee
$GC,8158,-0.19,0.0,1000.3,10.2,581,8242,0.98,0.00,80.15,1.294,6,0.163,0.000,3113,1595,1950,0,0,0,0,0,0
$STATE,8243,end apogee,CONTROL_FINISHED_OK
$STATE,8243,begin climb
$GC,8244,1.12,86.3,1002.7,0.0,585,8335,1.27,2.42,82.68,1.260,4,0.090,0.052,3548,193,1597,0,0,0,0,0,0
$GC,8373,1.12,86.3,991.7,13.8,591,8378,0.00,2.35,0.00,0.000,6,0.000,0.034,3548,1599,1592,0,0,0,0,0,0
$GC,8701,1.12,86.3,950.8,12.4,607,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1588,0,0,0,0,0,0
$GC,9011,1.12,86.3,911.9,12.4,622,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1599,1586,0,0,0,0,0,0
$GC,9320,1.12,86.3,873.6,12.0,637,9324,0.00,2.30,0.00,0.000,4,0.000,0.052,3558,189,1586,0,0,0,0,0,0
$GC,9391,1.08,86.3,864.6,12.5,640,9396,0.08,2.25,0.00,0.000,6,0.171,0.036,3535,1605,1585,0,0,0,0,0,0
$GC,9714,1.11,86.3,828.7,11.3,656,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1605,1584,0,0,0,0,0,0
$GC,10022,1.15,86.3,793.0,11.9,671,10026,0.00,2.28,0.00,0.000,4,0.000,0.051,3544,198,1584,0,0,0,0,0,0
$GC,10121,1.15,86.3,780.2,13.1,675,10127,0.00,2.20,0.00,0.000,6,0.000,0.037,3544,1598,1584,0,0,0,0,0,0
$GC,10437,1.15,86.3,742.5,11.9,691,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1598,1584,0,0,0,0,0,0
$GC,10746,1.15,86.3,705.1,12.1,706,10750,0.00,2.25,0.00,0.000,4,0.000,0.051,3553,198,1584,0,0,0,0,0,0
$GC,10853,1.15,86.3,691.2,13.3,711,10857,0.00,2.20,0.00,0.000,6,0.000,0.037,3553,1613,1583,0,0,0,0,0,0
$GC,11180,1.15,86.3,653.0,11.1,727,11184,0.00,2.28,0.00,0.000,4,0.000,0.050,3562,196,1583,0,0,0,0,0,0
$GC,11287,1.11,86.3,640.2,12.3,732,11291,0.10,2.17,0.00,0.000,6,0.195,0.037,3539,1612,1583,0,0,0,0,0,0
$GC,11614,1.14,86.3,604.8,10.4,748,11618,0.00,2.17,0.00,0.000,4,0.000,0.055,3539,2990,1583,0,0,0,0,0,0
$GC,11690,1.14,86.3,596.1,11.0,751,11697,0.00,2.15,0.00,0.000,6,0.000,0.036,3547,1606,1583,0,0,0,0,0,0
$GC,12007,1.14,86.3,562.0,10.8,767,12011,0.00,2.25,0.00,0.000,4,0.000,0.053,3558,190,1582,0,0,0,0,0,0
$GC,12100,1.14,86.3,551.1,11.4,771,12105,0.00,2.20,0.00,0.000,6,0.000,0.036,3558,1601,1582,0,0,0,0,0,0
$GC,12424,1.14,86.3,517.4,10.2,787,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1582,0,0,0,0,0,0
$GC,12733,1.14,86.3,485.3,10.4,802,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1583,0,0,0,0,0,0
$GC,13041,1.14,86.3,452.1,10.9,817,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1601,1582,0,0,0,0,0,0
$GC,13350,1.14,86.3,417.6,11.3,832,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1582,0,0,0,0,0,0
$GC,13664,1.14,86.3,380.6,11.6,854,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1582,0,0,0,0,0,0
$GC,13983,1.14,86.3,342.6,11.6,884,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1582,0,0,0,0,0,0
$GC,14302,1.14,86.3,305.2,11.4,914,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1582,0,0,0,0,0,0
$GC,14620,1.14,86.3,270.1,11.0,944,14622,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1601,1582,0,0,0,0,0,0
$GC,14939,1.14,86.3,236.0,10.6,974,14943,0.00,2.25,0.00,0.000,4,0.000,0.050,3567,193,1582,0,0,0,0,0,0
$GC,15102,1.14,86.3,217.6,11.1,988,15107,0.05,2.17,0.00,0.000,6,0.234,0.035,3557,1615,1582,0,0,0,0,0,0
$GC,15427,1.14,86.3,184.8,9.7,1018,15431,0.00,2.28,0.00,0.000,4,0.000,0.050,3566,187,1582,0,0,0,0,0,0
$GC,15558,1.14,86.3,171.6,10.6,1029,15563,0.00,2.15,0.00,0.000,6,0.000,0.036,3565,1602,1582,0,0,0,0,0,0
$GC,15883,1.14,86.3,141.6,9.8,1059,15887,0.00,2.15,0.00,0.000,4,0.000,0.053,3565,2991,1582,0,0,0,0,0,0
$GC,15959,1.14,86.3,134.0,10.3,1065,15964,0.10,2.10,0.00,0.000,6,0.201,0.035,3552,1594,1582,0,0,0,0,0,0
$GC,16284,1.19,86.3,104.6,8.8,1095,16288,0.00,2.20,0.00,0.000,4,0.000,0.052,3561,200,1582,0,0,0,0,0,0
$GC,16461,1.19,86.3,87.7,9.8,1121,16466,0.00,2.15,0.00,0.000,6,0.000,0.037,3561,1602,1582,0,0,0,0,0,0
$GC,16807,1.19,86.3,57.3,9.1,1182,16814,0.00,2.20,0.00,0.000,4,0.000,0.052,3561,2993,1582,0,0,0,0,0,0
$GC,16860,1.19,86.3,52.3,9.3,1191,16867,0.00,2.15,0.00,0.000,6,0.000,0.035,3569,1596,1582,0,0,0,0,0,0
$GC,17226,1.19,86.3,18.1,9.1,1252,17233,0.00,2.22,0.00,0.000,4,0.000,0.053,3580,202,1582,0,0,0,0,0,0
$STATE,17374,end climb,SURFACE_DEPTH_REACHED
$STATE,17374,begin surface coast
$FINISH,1.8,1.002599
$STATE,17406,end surface coast,CONTROL_FINISHED_OK
$STATE,17406,begin surface
$SM_CCo,17426,53.12,0.056,0,0,1133,200.16
$SM_GC,3.40,0.00,0.00,53.12,0.000,0.000,0.056,64,2068,1133,-9.76,0.23,200.16
$IRIDIUM_FIX,-4447.43,625.13,300608,181806
$TT8_MAMPS,0.026964
$HUMID,62.79
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.5,25.126
$10V_AH,10.0,25.942
$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,23.825,117.075,162.825,53.125,0.000,26.171,29.092,263.006,0.000,0.000,17.802,3151.692,10975.248,332.355,3284.748,172.431,0.000,1484.421,0.000,2784.641,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,64.260,1294.380,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.508,2369.817,985.695,570.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,90365,1281
$CAP_FILE_SIZE,154733,0
$CFSIZE,2097086464,2067595264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040915,143133,-4505.430,625.024,25,1.1,25,-24.4