version: 66.07.10.p01
glider: 573
mission: 12
dive: 210
start: 9 9 115 7 45 48
data:
$ID,573
$MISSION,12
$DIVE,210
$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,-21662.928
$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,40
$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,209
$GPS1,090915,072936,-4456.683,624.868,73,0.9,73,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-64.3
$GPS2,090915,074528,-4456.566,624.943,20,1.1,20,-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,334.7,1621,-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,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-25.48,0.000,2,0.000,0.000,80,2044,1643,0,0,0,0,0,0
$GC,55,-1.12,-90.7,3.3,-3.9,4,106,11.60,2.30,-29.00,0.000,4,0.251,0.065,2817,654,2323,0,0,0,0,0,0
$GC,376,-1.03,-90.7,52.7,-15.9,57,384,0.12,2.28,0.00,0.000,6,0.174,0.047,2845,2044,2324,0,0,0,0,0,0
$GC,723,-1.03,-90.7,107.3,-16.4,114,727,0.00,2.22,0.00,0.000,4,0.000,0.054,2846,663,2324,0,0,0,0,0,0
$GC,774,-1.03,-90.7,116.0,-18.5,118,778,0.00,2.20,0.00,0.000,6,0.000,0.042,2837,2067,2324,0,0,0,0,0,0
$GC,1098,-1.03,-90.7,166.3,-13.6,148,1103,0.00,2.28,0.00,0.000,4,0.000,0.054,2837,660,2325,0,0,0,0,0,0
$GC,1138,-1.00,-90.7,172.1,-14.7,151,1143,0.12,2.22,0.00,0.000,6,0.200,0.043,2858,2063,2325,0,0,0,0,0,0
$GC,1466,-1.04,-90.7,218.7,-15.0,181,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2063,2325,0,0,0,0,0,0
$GC,1782,-1.09,-90.7,264.5,-14.4,211,1787,0.08,2.25,0.00,0.000,4,0.124,0.065,2804,3465,2325,0,0,0,0,0,0
$GC,1913,-1.04,-90.7,286.5,-17.2,222,1918,0.15,2.17,0.00,0.000,6,0.174,0.041,2843,2061,2325,0,0,0,0,0,0
$GC,2245,-1.04,-90.7,336.5,-14.6,253,2249,0.00,2.28,0.00,0.000,4,0.000,0.061,2834,3465,2325,0,0,0,0,0,0
$GC,2276,-1.04,-90.7,341.9,-15.0,255,2282,0.00,2.20,0.00,0.000,6,0.000,0.042,2834,2065,2325,0,0,0,0,0,0
$GC,2602,-1.04,-90.7,389.5,-14.0,286,2606,0.00,2.28,0.00,0.000,4,0.000,0.058,2825,3478,2325,0,0,0,0,0,0
$GC,2630,-1.04,-90.7,393.5,-14.4,288,2634,0.10,2.22,0.00,0.000,6,0.191,0.043,2848,2047,2325,0,0,0,0,0,0
$GC,2947,-1.08,-90.7,435.1,-12.9,305,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2047,2325,0,0,0,0,0,0
$GC,3256,-1.13,-90.7,473.5,-12.3,320,3258,0.08,0.00,0.00,0.000,6,0.125,0.000,2809,2047,2326,0,0,0,0,0,0
$GC,3565,-1.13,-90.7,515.1,-13.5,335,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2047,2325,0,0,0,0,0,0
$GC,3874,-1.13,-90.7,557.0,-13.6,350,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2047,2325,0,0,0,0,0,0
$GC,4184,-1.13,-90.7,600.3,-14.1,365,4188,0.00,2.22,0.00,0.000,4,0.000,0.055,2810,647,2325,0,0,0,0,0,0
$GC,4295,-1.08,-90.7,616.8,-14.8,370,4300,0.10,2.25,0.00,0.000,6,0.176,0.043,2830,2060,2325,0,0,0,0,0,0
$GC,4623,-1.08,-90.7,658.1,-12.6,386,4627,0.00,2.25,0.00,0.000,4,0.000,0.064,2820,3472,2325,0,0,0,0,0,0
$GC,4663,-1.08,-90.7,663.3,-12.9,388,4667,0.05,2.20,0.00,0.000,6,0.225,0.044,2832,2058,2325,0,0,0,0,0,0
$GC,4990,-1.11,-90.7,705.0,-13.3,404,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2058,2324,0,0,0,0,0,0
$GC,5298,-1.15,-90.7,744.5,-12.5,419,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2058,2324,0,0,0,0,0,0
$GC,5608,-1.19,-90.7,782.7,-12.2,434,5613,0.10,2.30,0.00,0.000,4,0.101,0.065,2778,3469,2324,0,0,0,0,0,0
$GC,5670,-1.12,-90.7,791.2,-14.2,437,5675,0.15,2.20,0.00,0.000,6,0.187,0.044,2817,2055,2324,0,0,0,0,0,0
$GC,5996,-1.12,-90.7,831.9,-12.4,453,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2055,2323,0,0,0,0,0,0
$GC,6305,-1.12,-90.7,869.2,-12.1,468,6309,0.00,2.30,0.00,0.000,4,0.000,0.063,2807,3473,2323,0,0,0,0,0,0
$GC,6381,-1.12,-90.7,879.2,-13.0,471,6388,0.00,2.22,0.00,0.000,6,0.000,0.045,2808,2058,2323,0,0,0,0,0,0
$GC,6698,-1.12,-90.7,919.5,-12.8,487,6702,0.00,2.28,0.00,0.000,4,0.000,0.063,2799,3472,2323,0,0,0,0,0,0
$GC,6746,-1.12,-90.7,926.4,-13.2,489,6752,0.05,2.22,0.00,0.000,6,0.177,0.045,2815,2065,2323,0,0,0,0,0,0
$GC,7068,-1.12,-90.7,967.0,-12.3,505,7072,0.00,2.25,0.00,0.000,4,0.000,0.057,2816,651,2323,0,0,0,0,0,0
$GC,7094,-1.12,-90.7,971.0,-13.6,506,7099,0.00,2.22,0.00,0.000,6,0.000,0.043,2807,2060,2323,0,0,0,0,0,0
$STATE,7332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7332,begin apogee
$GC,7337,-0.19,0.0,1000.2,12.3,518,7425,1.08,0.00,83.93,1.288,6,0.171,0.000,3120,1587,1950,0,0,0,0,0,0
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7426,begin climb
$GC,7427,1.12,90.7,1003.1,0.0,522,7523,1.25,2.47,86.25,1.255,4,0.090,0.053,3546,195,1579,0,0,0,0,0,0
$GC,7597,1.12,90.7,987.3,13.3,530,7601,0.00,2.35,0.00,0.000,6,0.000,0.037,3546,1610,1574,0,0,0,0,0,0
$GC,7923,1.12,90.7,945.7,12.5,546,7927,0.00,2.35,0.00,0.000,4,0.000,0.050,3555,196,1572,0,0,0,0,0,0
$GC,7994,1.07,90.7,936.4,13.4,549,7999,0.08,2.28,0.00,0.000,6,0.173,0.036,3533,1600,1571,0,0,0,0,0,0
$GC,8315,1.07,90.7,896.1,13.0,565,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1600,1570,0,0,0,0,0,0
$GC,8624,1.07,90.7,854.2,13.5,580,8628,0.00,2.25,0.00,0.000,4,0.000,0.055,3533,2998,1569,0,0,0,0,0,0
$GC,8718,1.07,90.7,841.2,13.2,584,8723,0.00,2.20,0.00,0.000,6,0.000,0.034,3541,1598,1569,0,0,0,0,0,0
$GC,9042,1.07,90.7,798.6,13.1,600,9046,0.00,2.25,0.00,0.000,4,0.000,0.054,3552,189,1568,0,0,0,0,0,0
$GC,9208,1.07,90.7,775.5,13.6,607,9215,0.05,2.25,0.00,0.000,6,0.192,0.035,3536,1611,1568,0,0,0,0,0,0
$GC,9526,1.10,90.7,738.5,11.2,623,9530,0.00,2.20,0.00,0.000,4,0.000,0.054,3536,2993,1568,0,0,0,0,0,0
$GC,9580,1.10,90.7,732.0,11.0,625,9586,0.00,2.17,0.00,0.000,6,0.000,0.035,3545,1603,1568,0,0,0,0,0,0
$GC,9897,1.10,90.7,698.9,10.0,641,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1603,1568,0,0,0,0,0,0
$GC,10206,1.10,90.7,668.5,10.2,656,10210,0.00,2.25,0.00,0.000,4,0.000,0.054,3555,195,1567,0,0,0,0,0,0
$GC,10272,1.07,90.7,660.8,11.8,659,10277,0.08,2.20,0.00,0.000,6,0.175,0.035,3532,1599,1568,0,0,0,0,0,0
$GC,10600,1.11,90.7,626.2,11.0,675,10604,0.00,2.28,0.00,0.000,4,0.000,0.051,3542,188,1568,0,0,0,0,0,0
$GC,10774,1.11,90.7,606.0,11.9,683,10778,0.00,2.20,0.00,0.000,6,0.000,0.036,3541,1605,1568,0,0,0,0,0,0
$GC,11100,1.11,90.7,569.3,11.0,699,11104,0.00,2.20,0.00,0.000,4,0.000,0.053,3541,2997,1568,0,0,0,0,0,0
$GC,11155,1.11,90.7,562.8,11.7,701,11161,0.00,2.17,0.00,0.000,6,0.000,0.035,3550,1597,1567,0,0,0,0,0,0
$GC,11471,1.11,90.7,528.4,10.7,717,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1597,1567,0,0,0,0,0,0
$GC,11780,1.11,90.7,495.6,10.9,732,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1597,1568,0,0,0,0,0,0
$GC,12090,1.11,90.7,462.3,10.8,747,12094,0.00,2.20,0.00,0.000,4,0.000,0.053,3560,197,1567,0,0,0,0,0,0
$GC,12257,1.08,90.7,443.3,10.8,754,12264,0.08,2.20,0.00,0.000,6,0.177,0.035,3537,1605,1567,0,0,0,0,0,0
$GC,12573,1.13,90.7,410.1,10.4,770,12577,0.00,2.25,0.00,0.000,4,0.000,0.050,3547,188,1567,0,0,0,0,0,0
$GC,12729,1.13,90.7,392.8,11.0,779,12736,0.00,2.20,0.00,0.000,6,0.000,0.034,3547,1598,1567,0,0,0,0,0,0
$GC,13055,1.13,90.7,359.9,9.7,810,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1598,1567,0,0,0,0,0,0
$GC,13375,1.13,90.8,330.8,8.5,840,13379,0.00,2.17,0.00,0.000,4,0.000,0.055,3547,2990,1567,0,0,0,0,0,0
$GC,13448,1.13,90.8,324.1,9.0,846,13452,0.00,2.12,0.00,0.000,6,0.000,0.035,3556,1589,1567,0,0,0,0,0,0
$GC,13772,1.13,90.8,295.6,9.0,876,13776,0.00,2.20,0.00,0.000,4,0.000,0.053,3566,192,1567,0,0,0,0,0,0
$GC,13903,1.13,90.8,282.7,11.4,887,13907,0.08,2.17,0.00,0.000,6,0.205,0.036,3551,1602,1567,0,0,0,0,0,0
$GC,14231,1.13,90.8,253.4,9.2,917,14235,0.00,2.20,0.00,0.000,4,0.000,0.054,3550,2994,1567,0,0,0,0,0,0
$GC,14375,1.13,90.8,238.7,10.7,929,14378,0.00,2.12,0.00,0.000,6,0.000,0.034,3559,1591,1567,0,0,0,0,0,0
$GC,14699,1.13,90.8,202.9,12.1,959,14703,0.00,2.20,0.00,0.000,4,0.000,0.053,3569,190,1567,0,0,0,0,0,0
$GC,14874,1.08,90.8,180.7,11.1,974,14879,0.12,2.17,0.00,0.000,6,0.188,0.035,3539,1609,1566,0,0,0,0,0,0
$GC,15206,1.15,96.2,153.0,7.9,1005,15210,0.00,2.17,0.00,0.000,4,0.000,0.050,3539,2996,1567,0,0,0,0,0,0
$GC,15250,1.16,113.4,149.5,6.6,1008,15277,0.00,2.15,19.12,0.749,6,0.000,0.034,3547,1601,1487,0,0,0,0,0,0
$GC,15599,1.21,113.4,119.1,9.0,1041,15600,0.08,0.00,0.00,0.000,6,0.124,0.000,3590,1601,1484,0,0,0,0,0,0
$GC,15927,1.21,113.4,82.6,10.3,1085,15932,0.08,0.00,0.00,0.000,6,0.208,0.000,3574,1598,1484,0,0,0,0,0,0
$GC,16273,1.21,113.4,45.6,10.6,1146,16279,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1598,1484,0,0,0,0,0,0
$STATE,16588,end climb,SURFACE_DEPTH_REACHED
$STATE,16588,begin surface coast
$FINISH,1.9,1.021333
$STATE,16614,end surface coast,CONTROL_FINISHED_OK
$STATE,16615,begin surface
$SM_CCo,16632,42.12,0.058,0,0,1132,200.16
$SM_GC,2.31,0.00,0.00,42.12,0.000,0.000,0.058,80,2086,1132,-9.70,0.74,200.16
$IRIDIUM_FIX,-4438.33,624.11,050708,212134
$TT8_MAMPS,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.3,27.552
$10V_AH,9.9,28.927
$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,24.775,121.900,189.300,42.125,0.000,81.377,147.747,447.046,0.000,0.000,22.868,3007.209,10490.169,334.777,3601.039,189.580,0.000,1489.304,0.000,2729.387,0.000,0.540,0.000
$DEVICE_MAMPS,250.920,65.025,1288.260,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.241,2197.203,867.496,446.042,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,83740,1202
$CAP_FILE_SIZE,159301,0
$CFSIZE,2097086464,2064580608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090915,122527,-4455.956,623.106,69,0.8,69,-24.4