version: 66.07.10.p01
glider: 573
mission: 12
dive: 197
start: 9 6 115 6 31 17
data:
$ID,573
$MISSION,12
$DIVE,197
$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,-21620.354
$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,42
$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,196
$GPS1,060915,062333,-4504.477,625.555,26,0.8,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.5
$GPS2,060915,063056,-4504.514,625.568,20,1.8,20,-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,319.3,2262,-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,-25.88,0.000,2,0.000,0.000,60,2068,1643,0,0,0,0,0,0
$GC,54,-1.12,-93.4,3.2,-3.6,4,105,11.50,2.33,-32.33,0.000,4,0.249,0.068,2821,654,2331,0,0,0,0,0,0
$GC,151,-1.02,-93.4,8.5,-12.3,19,159,0.12,2.28,0.00,0.000,6,0.182,0.047,2849,2045,2333,0,0,0,0,0,0
$GC,210,-1.02,-93.4,19.2,-18.4,28,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2045,2333,0,0,0,0,0,0
$GC,267,-1.02,-93.4,28.6,-15.7,37,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2045,2334,0,0,0,0,0,0
$GC,415,-1.02,-93.4,51.2,-15.1,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2045,2334,0,0,0,0,0,0
$GC,766,-1.02,-93.4,103.3,-14.9,122,770,0.00,2.30,0.00,0.000,4,0.000,0.060,2838,3473,2334,0,0,0,0,0,0
$GC,831,-1.02,-93.4,113.3,-15.1,127,837,0.00,2.22,0.00,0.000,6,0.000,0.044,2838,2070,2334,0,0,0,0,0,0
$GC,1157,-1.02,-93.4,160.7,-14.3,158,1159,0.08,0.00,0.00,0.000,6,0.216,0.000,2854,2070,2334,0,0,0,0,0,0
$GC,1476,-1.06,-93.4,205.1,-13.6,188,1480,0.00,2.28,0.00,0.000,4,0.000,0.057,2845,3481,2335,0,0,0,0,0,0
$GC,1496,-1.10,-93.4,208.3,-14.3,189,1502,0.00,2.25,0.00,0.000,6,0.000,0.041,2845,2053,2335,0,0,0,0,0,0
$GC,1822,-1.10,-93.4,251.8,-12.6,220,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2053,2335,0,0,0,0,0,0
$GC,2142,-1.13,-93.4,291.2,-12.3,250,2146,0.08,2.30,0.00,0.000,4,0.126,0.061,2795,3471,2335,0,0,0,0,0,0
$GC,2183,-1.07,-93.4,296.6,-14.2,253,2188,0.15,2.20,0.00,0.000,6,0.179,0.044,2834,2058,2335,0,0,0,0,0,0
$GC,2513,-1.07,-93.4,338.8,-12.8,284,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2058,2335,0,0,0,0,0,0
$GC,2832,-1.07,-93.4,378.8,-12.8,314,2836,0.00,2.30,0.00,0.000,4,0.000,0.063,2825,3475,2335,0,0,0,0,0,0
$GC,2873,-1.07,-93.4,383.9,-13.1,317,2877,0.00,2.20,0.00,0.000,6,0.000,0.044,2825,2059,2336,0,0,0,0,0,0
$GC,3207,-1.07,-93.4,427.0,-12.7,339,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2335,0,0,0,0,0,0
$GC,3517,-1.07,-93.4,467.2,-13.3,354,3521,0.00,2.25,0.00,0.000,4,0.000,0.062,2816,3471,2335,0,0,0,0,0,0
$GC,3582,-1.07,-93.4,476.6,-14.0,357,3587,0.05,2.22,0.00,0.000,6,0.171,0.044,2833,2059,2335,0,0,0,0,0,0
$GC,3909,-1.07,-93.4,518.1,-12.7,373,3913,0.00,2.25,0.00,0.000,4,0.000,0.057,2833,648,2335,0,0,0,0,0,0
$GC,3949,-1.07,-93.4,523.6,-13.7,375,3954,0.05,2.25,0.00,0.000,6,0.243,0.045,2833,2077,2335,0,0,0,0,0,0
$GC,4276,-1.10,-93.4,567.4,-13.6,391,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2077,2335,0,0,0,0,0,0
$GC,4584,-1.10,-93.4,608.5,-13.1,406,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2077,2335,0,0,0,0,0,0
$GC,4894,-1.13,-93.4,647.8,-12.5,421,4898,0.00,2.22,0.00,0.000,4,0.000,0.061,2823,3472,2335,0,0,0,0,0,0
$GC,4987,-1.13,-93.4,660.2,-12.6,425,4992,0.00,2.22,0.00,0.000,6,0.000,0.044,2823,2060,2335,0,0,0,0,0,0
$GC,5311,-1.13,-93.4,701.3,-13.1,441,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2059,2334,0,0,0,0,0,0
$GC,5620,-1.13,-93.4,740.6,-12.6,456,5624,0.00,2.30,0.00,0.000,4,0.000,0.062,2814,3476,2334,0,0,0,0,0,0
$GC,5659,-1.13,-93.4,745.6,-12.8,458,5663,0.00,2.20,0.00,0.000,6,0.000,0.044,2814,2057,2333,0,0,0,0,0,0
$GC,5985,-1.13,-93.4,786.6,-12.3,474,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2057,2334,0,0,0,0,0,0
$GC,6294,-1.13,-93.4,823.4,-11.6,489,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2057,2334,0,0,0,0,0,0
$GC,6603,-1.13,-93.4,859.2,-11.8,504,6607,0.00,2.28,0.00,0.000,4,0.000,0.063,2805,3465,2334,0,0,0,0,0,0
$GC,6647,-1.13,-93.4,864.9,-12.1,506,6651,0.00,2.20,0.00,0.000,6,0.000,0.042,2805,2060,2333,0,0,0,0,0,0
$GC,6975,-1.13,-93.4,905.2,-12.2,522,6979,0.00,2.25,0.00,0.000,4,0.000,0.057,2805,647,2333,0,0,0,0,0,0
$GC,7015,-1.09,-93.4,910.3,-13.5,524,7019,0.12,2.22,0.00,0.000,6,0.205,0.044,2826,2066,2333,0,0,0,0,0,0
$GC,7342,-1.13,-93.4,948.5,-11.8,540,7346,0.00,2.20,0.00,0.000,4,0.000,0.063,2816,3462,2333,0,0,0,0,0,0
$GC,7419,-1.13,-93.4,958.4,-11.9,543,7425,0.00,2.20,0.00,0.000,6,0.000,0.043,2816,2059,2333,0,0,0,0,0,0
$GC,7735,-1.13,-93.4,996.0,-11.5,559,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2059,2333,0,0,0,0,0,0
$STATE,7775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7775,begin apogee
$GC,7780,-0.19,0.0,1000.7,11.6,561,7870,1.02,0.00,86.47,1.291,6,0.164,0.000,3120,1588,1951,0,0,0,0,0,0
$STATE,7871,end apogee,CONTROL_FINISHED_OK
$STATE,7871,begin climb
$GC,7872,1.12,93.4,1004.1,0.0,565,7967,1.25,0.00,89.97,1.257,6,0.089,0.000,3537,1588,1568,0,0,0,0,0,0
$GC,8263,1.16,93.4,961.5,12.8,584,8267,0.00,2.33,0.00,0.000,4,0.000,0.054,3547,191,1560,0,0,0,0,0,0
$GC,8339,1.16,93.4,950.9,14.3,587,8344,0.00,2.30,0.00,0.000,6,0.000,0.036,3548,1604,1559,0,0,0,0,0,0
$GC,8661,1.16,93.4,908.0,13.7,603,8665,0.00,2.33,0.00,0.000,4,0.000,0.051,3557,186,1558,0,0,0,0,0,0
$GC,8708,1.16,93.4,901.7,14.3,605,8712,0.00,2.25,0.00,0.000,6,0.000,0.035,3557,1608,1557,0,0,0,0,0,0
$GC,9034,1.16,93.4,857.5,13.6,621,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1608,1557,0,0,0,0,0,0
$GC,9343,1.16,93.4,815.8,13.2,636,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1608,1556,0,0,0,0,0,0
$GC,9653,1.16,93.4,775.7,12.8,651,9657,0.00,2.30,0.00,0.000,4,0.000,0.052,3566,193,1556,0,0,0,0,0,0
$GC,9707,1.11,93.4,768.3,13.6,653,9714,0.08,2.22,0.00,0.000,6,0.168,0.034,3542,1606,1555,0,0,0,0,0,0
$GC,10023,1.11,93.4,732.2,11.2,669,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1606,1555,0,0,0,0,0,0
$GC,10333,1.14,93.4,698.2,11.3,684,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1607,1554,0,0,0,0,0,0
$GC,10642,1.18,93.4,661.7,11.9,699,10647,0.05,2.25,0.00,0.000,4,0.168,0.052,3590,191,1554,0,0,0,0,0,0
$GC,10781,1.09,93.4,642.1,14.1,705,10786,0.15,2.20,0.00,0.000,6,0.164,0.034,3543,1600,1554,0,0,0,0,0,0
$GC,11105,1.13,93.4,601.6,12.5,721,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1599,1554,0,0,0,0,0,0
$GC,11412,1.16,93.4,563.7,12.2,736,11416,0.00,2.22,0.00,0.000,4,0.000,0.054,3543,2998,1554,0,0,0,0,0,0
$GC,11444,1.16,93.4,559.5,12.8,737,11451,0.00,2.17,0.00,0.000,6,0.000,0.035,3552,1596,1554,0,0,0,0,0,0
$GC,11761,1.16,93.4,521.6,11.7,753,11765,0.00,2.22,0.00,0.000,4,0.000,0.054,3563,189,1554,0,0,0,0,0,0
$GC,11972,1.16,93.4,494.4,12.6,762,11979,0.00,2.20,0.00,0.000,6,0.000,0.034,3562,1595,1554,0,0,0,0,0,0
$GC,12289,1.16,93.4,457.6,11.7,778,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1595,1553,0,0,0,0,0,0
$GC,12598,1.16,93.4,422.2,11.5,793,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1596,1553,0,0,0,0,0,0
$GC,12912,1.16,93.4,385.7,12.6,813,12916,0.00,2.22,0.00,0.000,4,0.000,0.051,3571,196,1553,0,0,0,0,0,0
$GC,13006,1.13,93.4,373.9,12.5,821,13011,0.10,2.17,0.00,0.000,6,0.190,0.037,3547,1606,1553,0,0,0,0,0,0
$GC,13331,1.17,93.4,335.2,11.6,851,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1607,1553,0,0,0,0,0,0
$GC,13653,1.21,93.4,297.6,12.1,881,13658,0.08,0.00,0.00,0.000,6,0.124,0.000,3590,1607,1553,0,0,0,0,0,0
$GC,13978,1.17,93.4,254.2,13.4,912,13982,0.10,2.22,0.00,0.000,4,0.194,0.051,3576,198,1553,0,0,0,0,0,0
$GC,14141,1.13,93.4,232.5,13.1,926,14146,0.10,2.15,0.00,0.000,6,0.197,0.035,3552,1601,1553,0,0,0,0,0,0
$GC,14473,1.16,93.4,194.9,10.7,957,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1601,1553,0,0,0,0,0,0
$GC,14790,1.21,93.4,160.2,9.9,987,14792,0.05,0.00,0.00,0.000,6,0.168,0.000,3586,1602,1553,0,0,0,0,0,0
$GC,15110,1.21,93.4,125.4,11.0,1017,15114,0.00,2.22,0.00,0.000,4,0.000,0.050,3596,196,1553,0,0,0,0,0,0
$GC,15263,1.14,93.4,108.4,10.8,1030,15268,0.17,2.15,0.00,0.000,6,0.182,0.035,3550,1604,1552,0,0,0,0,0,0
$GC,15604,1.19,93.4,77.5,9.2,1082,15610,0.00,2.17,0.00,0.000,4,0.000,0.054,3550,2990,1553,0,0,0,0,0,0
$GC,15669,1.19,93.4,71.5,9.6,1093,15674,0.00,2.12,0.00,0.000,6,0.000,0.034,3558,1593,1552,0,0,0,0,0,0
$GC,16020,1.23,93.4,38.5,9.1,1154,16028,0.05,2.22,0.00,0.000,4,0.166,0.053,3601,197,1553,0,0,0,0,0,0
$GC,16135,1.17,93.4,25.7,11.9,1172,16143,0.12,2.17,0.00,0.000,6,0.177,0.036,3563,1599,1553,0,0,0,0,0,0
$GC,16292,1.17,93.4,8.5,10.4,1197,16299,0.00,2.25,0.00,0.000,4,0.000,0.051,3571,202,1553,0,0,0,0,0,0
$STATE,16342,end climb,SURFACE_DEPTH_REACHED
$STATE,16343,begin surface coast
$FINISH,1.7,1.019717
$STATE,16375,end surface coast,CONTROL_FINISHED_OK
$STATE,16375,begin surface
$SM_CCo,16394,50.15,0.057,0,0,1133,200.16
$SM_GC,3.05,0.00,0.00,50.15,0.000,0.000,0.057,74,2073,1133,-9.72,0.37,200.16
$IRIDIUM_FIX,-4444.39,624.79,020708,151509
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,23.3,26.048
$10V_AH,10.0,27.094
$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,24.600,108.675,176.450,50.150,0.000,25.132,24.057,263.865,0.000,0.000,23.359,2994.454,10243.954,339.013,3128.196,178.117,0.000,1442.095,0.000,2641.239,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,68.085,1290.555,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.618,2221.022,920.221,506.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,83800,1210
$CAP_FILE_SIZE,150967,0
$CFSIZE,2097086464,2066284544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060915,110633,-4504.996,623.271,37,0.8,37,-24.3