version: 66.07.10.p01
glider: 573
mission: 12
dive: 209
start: 9 9 115 3 5 7
data:
$ID,573
$MISSION,12
$DIVE,209
$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,-21659.713
$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,50
$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,208
$GPS1,090915,025622,-4457.659,624.996,51,0.9,51,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-62.8
$GPS2,090915,030447,-4457.643,625.069,17,1.0,17,-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,359.7,3350,-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,-26.08,0.000,2,0.000,0.000,76,2075,1413,0,0,0,0,0,0
$GC,55,-1.13,-107.8,3.1,-1.9,4,118,11.35,2.30,-44.80,0.000,4,0.245,0.066,2817,651,2391,0,0,0,0,0,0
$GC,387,-1.04,-107.8,53.3,-17.3,59,393,0.15,2.22,0.00,0.000,6,0.202,0.044,2845,2036,2392,0,0,0,0,0,0
$GC,730,-1.04,-107.8,110.6,-16.7,114,734,0.00,2.22,0.00,0.000,4,0.000,0.054,2846,662,2393,0,0,0,0,0,0
$GC,781,-1.04,-107.8,119.2,-16.6,118,785,0.00,2.20,0.00,0.000,6,0.000,0.041,2837,2068,2392,0,0,0,0,0,0
$GC,1105,-1.04,-107.8,174.2,-17.3,148,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2068,2393,0,0,0,0,0,0
$GC,1424,-1.04,-107.8,222.9,-15.3,178,1428,0.00,2.22,0.00,0.000,4,0.000,0.061,2827,3466,2393,0,0,0,0,0,0
$GC,1466,-1.04,-107.8,229.2,-15.6,181,1470,0.08,2.17,0.00,0.000,6,0.205,0.041,2842,2052,2393,0,0,0,0,0,0
$GC,1796,-1.08,-107.8,278.6,-14.8,212,1800,0.00,2.20,0.00,0.000,4,0.000,0.054,2842,646,2393,0,0,0,0,0,0
$GC,1824,-1.08,-107.8,283.0,-15.4,214,1828,0.00,2.22,0.00,0.000,6,0.000,0.041,2833,2066,2393,0,0,0,0,0,0
$GC,2156,-1.08,-107.8,333.6,-15.0,245,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2066,2393,0,0,0,0,0,0
$GC,2473,-1.08,-107.8,384.8,-15.9,275,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2066,2393,0,0,0,0,0,0
$GC,2794,-1.08,-107.8,436.6,-15.6,295,2798,0.00,2.25,0.00,0.000,4,0.000,0.063,2822,3469,2393,0,0,0,0,0,0
$GC,2849,-1.08,-107.8,445.7,-16.1,297,2855,0.00,2.20,0.00,0.000,6,0.000,0.041,2823,2063,2393,0,0,0,0,0,0
$GC,3165,-1.08,-107.8,496.0,-16.1,313,3169,0.00,2.25,0.00,0.000,4,0.000,0.060,2813,3474,2393,0,0,0,0,0,0
$GC,3185,-1.08,-107.8,499.6,-16.2,314,3191,0.05,2.22,0.00,0.000,6,0.165,0.041,2830,2052,2393,0,0,0,0,0,0
$GC,3513,-1.08,-107.8,547.3,-13.9,330,3517,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3464,2393,0,0,0,0,0,0
$GC,3544,-1.08,-107.8,552.3,-15.9,331,3551,0.00,2.20,0.00,0.000,6,0.000,0.041,2820,2053,2393,0,0,0,0,0,0
$GC,3861,-1.08,-107.8,597.1,-14.2,347,3863,0.05,0.00,0.00,0.000,6,0.237,0.000,2830,2053,2393,0,0,0,0,0,0
$GC,4170,-1.08,-107.8,639.0,-13.3,362,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2053,2393,0,0,0,0,0,0
$GC,4480,-1.11,-107.8,678.8,-13.1,377,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2053,2393,0,0,0,0,0,0
$GC,4789,-1.15,-107.8,718.5,-12.7,392,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2053,2392,0,0,0,0,0,0
$GC,5099,-1.19,-107.8,759.3,-13.4,407,5104,0.10,2.22,0.00,0.000,4,0.101,0.056,2786,653,2392,0,0,0,0,0,0
$GC,5138,-1.12,-107.8,765.3,-15.4,409,5143,0.17,2.22,0.00,0.000,6,0.201,0.044,2821,2070,2392,0,0,0,0,0,0
$GC,5464,-1.12,-107.8,810.1,-14.0,425,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2070,2392,0,0,0,0,0,0
$GC,5774,-1.12,-107.8,852.1,-13.4,440,5778,0.00,2.22,0.00,0.000,4,0.000,0.061,2810,3463,2391,0,0,0,0,0,0
$GC,5813,-1.12,-107.8,857.5,-13.7,442,5817,0.00,2.15,0.00,0.000,6,0.000,0.041,2810,2057,2391,0,0,0,0,0,0
$GC,6140,-1.12,-107.8,901.8,-13.8,458,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2057,2391,0,0,0,0,0,0
$GC,6449,-1.12,-107.8,944.0,-13.4,473,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2056,2390,0,0,0,0,0,0
$GC,6759,-1.12,-107.8,986.1,-13.7,488,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2056,2390,0,0,0,0,0,0
$STATE,6860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6860,begin apogee
$GC,6865,-0.19,0.0,1000.6,14.0,493,6968,1.05,0.00,98.93,1.288,6,0.169,0.000,3119,1597,1950,0,0,0,0,0,0
$STATE,6968,end apogee,CONTROL_FINISHED_OK
$STATE,6969,begin climb
$GC,6970,1.13,107.8,1005.2,0.0,498,7077,1.30,0.00,102.70,1.255,6,0.086,0.000,3546,1596,1509,0,0,0,0,0,0
$GC,7372,1.13,107.8,963.4,11.9,518,7377,0.00,2.35,0.00,0.000,4,0.000,0.051,3557,192,1501,0,0,0,0,0,0
$GC,7489,1.09,107.8,947.5,13.7,523,7494,0.05,2.30,0.00,0.000,6,0.175,0.034,3542,1609,1500,0,0,0,0,0,0
$GC,7810,1.09,107.8,906.9,12.5,539,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1608,1499,0,0,0,0,0,0
$GC,8119,1.09,107.8,868.6,12.5,554,8123,0.00,2.28,0.00,0.000,4,0.000,0.050,3551,198,1499,0,0,0,0,0,0
$GC,8174,1.09,107.8,861.3,13.7,556,8181,0.03,2.22,0.00,0.000,6,0.202,0.035,3543,1598,1498,0,0,0,0,0,0
$GC,8490,1.09,107.8,820.9,13.1,572,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1598,1498,0,0,0,0,0,0
$GC,8799,1.09,107.8,780.2,13.1,587,8804,0.00,2.22,0.00,0.000,4,0.000,0.055,3543,3002,1498,0,0,0,0,0,0
$GC,8854,1.09,107.8,772.6,13.5,589,8861,0.03,2.20,0.00,0.000,6,0.220,0.034,3544,1594,1498,0,0,0,0,0,0
$GC,9171,1.09,107.8,732.1,12.5,605,9175,0.00,2.25,0.00,0.000,4,0.000,0.053,3554,189,1497,0,0,0,0,0,0
$GC,9270,1.09,107.8,718.6,12.8,609,9277,0.03,2.22,0.00,0.000,6,0.212,0.036,3545,1601,1497,0,0,0,0,0,0
$GC,9586,1.09,107.8,678.7,12.5,625,9590,0.00,2.25,0.00,0.000,4,0.000,0.051,3554,192,1497,0,0,0,0,0,0
$GC,9652,1.09,107.8,669.4,14.0,628,9658,0.05,2.22,0.00,0.000,6,0.190,0.036,3539,1604,1496,0,0,0,0,0,0
$GC,9980,1.13,107.8,627.8,12.6,644,9984,0.00,2.25,0.00,0.000,4,0.000,0.050,3548,193,1497,0,0,0,0,0,0
$GC,10029,1.13,107.8,620.8,13.6,646,10034,0.00,2.22,0.00,0.000,6,0.000,0.034,3548,1611,1497,0,0,0,0,0,0
$GC,10353,1.13,107.8,580.2,12.1,662,10357,0.00,2.28,0.00,0.000,4,0.000,0.051,3556,198,1497,0,0,0,0,0,0
$GC,10492,1.13,107.8,562.1,12.6,668,10496,0.00,2.17,0.00,0.000,6,0.000,0.036,3557,1602,1496,0,0,0,0,0,0
$GC,10813,1.13,107.8,525.0,11.0,684,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1602,1496,0,0,0,0,0,0
$GC,11123,1.13,107.8,489.9,11.0,699,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1602,1496,0,0,0,0,0,0
$GC,11432,1.13,107.8,457.0,10.2,714,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1602,1496,0,0,0,0,0,0
$GC,11741,1.13,107.8,424.1,10.9,729,11745,0.00,2.17,0.00,0.000,4,0.000,0.054,3556,2994,1496,0,0,0,0,0,0
$GC,11805,1.13,107.8,417.0,11.1,732,11810,0.08,2.12,0.00,0.000,6,0.221,0.035,3550,1589,1496,0,0,0,0,0,0
$GC,12126,1.16,107.8,382.5,10.6,755,12130,0.00,2.20,0.00,0.000,4,0.000,0.053,3560,193,1496,0,0,0,0,0,0
$GC,12256,1.16,107.8,367.0,12.3,766,12260,0.00,2.17,0.00,0.000,6,0.000,0.036,3558,1610,1496,0,0,0,0,0,0
$GC,12588,1.16,107.8,330.2,11.1,797,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1611,1496,0,0,0,0,0,0
$GC,12905,1.16,107.8,294.7,11.3,827,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1611,1495,0,0,0,0,0,0
$GC,13226,1.16,107.8,259.5,11.0,857,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1611,1496,0,0,0,0,0,0
$GC,13551,1.16,107.8,224.5,10.8,888,13555,0.00,2.15,0.00,0.000,4,0.000,0.053,3558,2993,1496,0,0,0,0,0,0
$GC,13594,1.16,107.8,219.3,11.6,891,13601,0.00,2.15,0.00,0.000,6,0.000,0.034,3566,1603,1496,0,0,0,0,0,0
$GC,13920,1.16,107.8,185.8,10.8,922,13924,0.00,2.22,0.00,0.000,4,0.000,0.053,3577,196,1496,0,0,0,0,0,0
$GC,14178,1.16,107.8,156.9,10.0,944,14187,0.05,2.20,0.00,0.000,6,0.177,0.034,3561,1611,1495,0,0,0,0,0,0
$GC,14504,1.16,107.8,126.3,9.5,975,14508,0.00,2.28,0.00,0.000,4,0.000,0.051,3570,188,1495,0,0,0,0,0,0
$GC,14682,1.16,107.8,109.1,10.4,990,14689,0.00,2.20,0.00,0.000,6,0.000,0.034,3570,1605,1495,0,0,0,0,0,0
$GC,15025,1.16,107.8,73.1,11.0,1043,15030,0.00,2.15,0.00,0.000,4,0.000,0.051,3570,2993,1495,0,0,0,0,0,0
$GC,15076,1.16,107.8,67.1,11.5,1052,15083,0.08,2.12,0.00,0.000,6,0.222,0.034,3564,1587,1495,0,0,0,0,0,0
$GC,15434,1.16,107.8,26.8,9.3,1113,15442,0.00,2.22,0.00,0.000,4,0.000,0.054,3573,202,1495,0,0,0,0,0,0
$GC,15554,1.10,107.8,16.2,9.1,1132,15562,0.10,2.17,0.00,0.000,6,0.156,0.036,3542,1601,1495,0,0,0,0,0,0
$GC,15613,1.16,107.8,9.5,10.0,1141,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1601,1495,0,0,0,0,0,0
$GC,15671,1.23,107.8,3.7,9.9,1150,15679,0.10,2.17,0.00,0.000,4,0.102,0.047,3592,2992,1496,0,0,0,0,0,0
$STATE,15686,end climb,SURFACE_DEPTH_REACHED
$STATE,15686,begin surface coast
$FINISH,1.7,1.008263
$STATE,15700,end surface coast,CONTROL_FINISHED_OK
$STATE,15700,begin surface
$SM_CCo,15718,43.83,0.058,0,0,1134,200.16
$SM_GC,2.37,0.00,0.00,43.83,0.000,0.000,0.058,81,2049,1134,-9.70,-0.34,200.16
$IRIDIUM_FIX,-4441.36,627.47,050708,101025
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.1,27.448
$10V_AH,9.9,28.801
$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,24.000,106.325,201.625,43.825,0.000,26.470,23.186,313.390,0.000,0.000,21.083,2831.346,9829.055,375.267,3043.002,174.744,0.000,1418.268,0.000,2514.475,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,65.790,1288.260,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.763,2146.610,883.522,494.564,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353268
$DATA_FILE_SIZE,80432,1154
$CAP_FILE_SIZE,141695,0
$CFSIZE,2097086464,2064711680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090915,072936,-4456.683,624.868,73,0.9,73,-24.4