version: 66.07.10.p01
glider: 573
mission: 12
dive: 238
start: 9 16 115 5 27 8
data:
$ID,573
$MISSION,12
$DIVE,238
$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,-21756.834
$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,34
$R_STBD_OVSHOOT,44
$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,237
$GPS1,160915,051856,-4457.403,637.106,50,1.6,53,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-69.1
$GPS2,160915,052648,-4457.436,637.113,14,1.2,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,355.7,3033,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,41,0.00,0.00,-14.38,0.000,2,0.000,0.000,65,2074,1423,0,0,0,0,0,0
$GC,43,-1.13,-102.7,3.1,-2.5,2,113,11.45,2.38,-48.22,0.000,4,0.245,0.075,2814,661,2370,0,0,0,0,0,0
$GC,373,-1.03,-102.7,49.7,-19.2,56,379,0.17,2.22,0.00,0.000,6,0.195,0.044,2849,2048,2372,0,0,0,0,0,0
$GC,722,-1.03,-102.7,107.3,-16.2,96,726,0.00,2.30,0.00,0.000,4,0.000,0.060,2839,3469,2373,0,0,0,0,0,0
$GC,816,-1.03,-102.7,123.2,-16.2,100,821,0.00,2.22,0.00,0.000,6,0.000,0.043,2839,2072,2372,0,0,0,0,0,0
$GC,1138,-1.03,-102.7,173.5,-15.6,116,1142,0.00,2.28,0.00,0.000,4,0.000,0.054,2839,652,2373,0,0,0,0,0,0
$GC,1187,-1.03,-102.7,181.4,-16.0,118,1193,0.05,2.25,0.00,0.000,6,0.177,0.043,2846,2057,2373,0,0,0,0,0,0
$GC,1515,-1.07,-102.7,227.2,-13.1,134,1519,0.00,2.28,0.00,0.000,4,0.000,0.063,2835,3468,2373,0,0,0,0,0,0
$GC,1564,-1.07,-102.7,233.9,-13.5,136,1569,0.00,2.22,0.00,0.000,6,0.000,0.042,2835,2062,2373,0,0,0,0,0,0
$GC,1892,-1.07,-102.7,279.6,-14.3,152,1896,0.00,2.25,0.00,0.000,4,0.000,0.055,2835,642,2373,0,0,0,0,0,0
$GC,1957,-1.07,-102.7,288.9,-14.9,155,1961,0.00,2.20,0.00,0.000,6,0.000,0.039,2826,2065,2374,0,0,0,0,0,0
$GC,2283,-1.07,-102.7,335.7,-13.8,171,2287,0.00,2.25,0.00,0.000,4,0.000,0.062,2815,3463,2373,0,0,0,0,0,0
$GC,2400,-1.07,-102.7,352.2,-13.5,176,2405,0.10,2.20,0.00,0.000,6,0.189,0.041,2839,2049,2373,0,0,0,0,0,0
$GC,2716,-1.11,-102.7,392.3,-12.6,191,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2049,2373,0,0,0,0,0,0
$GC,3024,-1.15,-102.7,432.1,-12.8,206,3025,0.08,0.00,0.00,0.000,6,0.126,0.000,2802,2049,2373,0,0,0,0,0,0
$GC,3334,-1.15,-102.7,476.9,-14.7,221,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2049,2373,0,0,0,0,0,0
$GC,3642,-1.15,-102.7,521.4,-14.3,236,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2050,2373,0,0,0,0,0,0
$GC,3953,-1.15,-102.7,567.3,-15.0,251,3957,0.00,2.28,0.00,0.000,4,0.000,0.061,2793,3464,2373,0,0,0,0,0,0
$GC,3993,-1.11,-102.7,573.4,-15.3,253,3997,0.12,2.17,0.00,0.000,6,0.185,0.042,2824,2053,2373,0,0,0,0,0,0
$GC,4319,-1.11,-102.7,618.4,-13.6,269,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2052,2373,0,0,0,0,0,0
$GC,4629,-1.15,-102.7,660.1,-13.3,284,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2052,2373,0,0,0,0,0,0
$GC,4938,-1.18,-102.7,699.0,-11.9,299,4940,0.05,0.00,0.00,0.000,6,0.170,0.000,2795,2052,2373,0,0,0,0,0,0
$GC,5245,-1.18,-102.7,738.5,-12.6,314,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2052,2372,0,0,0,0,0,0
$GC,5556,-1.18,-102.7,778.8,-13.2,329,5560,0.00,2.30,0.00,0.000,4,0.000,0.063,2785,3463,2372,0,0,0,0,0,0
$GC,5640,-1.15,-102.7,790.6,-14.0,333,5645,0.10,2.17,0.00,0.000,6,0.197,0.044,2808,2052,2372,0,0,0,0,0,0
$GC,5966,-1.15,-102.7,829.7,-12.1,349,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2052,2372,0,0,0,0,0,0
$GC,6274,-1.15,-102.7,866.7,-11.7,364,6279,0.00,2.28,0.00,0.000,4,0.000,0.059,2809,648,2372,0,0,0,0,0,0
$GC,6312,-1.15,-102.7,871.4,-12.6,365,6318,0.00,2.25,0.00,0.000,6,0.000,0.045,2801,2057,2371,0,0,0,0,0,0
$GC,6629,-1.15,-102.7,909.4,-12.1,381,6633,0.00,2.28,0.00,0.000,4,0.000,0.064,2790,3465,2371,0,0,0,0,0,0
$GC,6677,-1.15,-102.7,915.6,-12.6,383,6682,0.05,2.22,0.00,0.000,6,0.185,0.044,2805,2058,2371,0,0,0,0,0,0
$GC,6999,-1.15,-102.7,955.2,-12.6,399,7003,0.00,2.30,0.00,0.000,4,0.000,0.063,2796,3469,2371,0,0,0,0,0,0
$GC,7030,-1.15,-102.7,959.4,-12.4,400,7037,0.05,2.22,0.00,0.000,6,0.181,0.044,2812,2057,2371,0,0,0,0,0,0
$GC,7346,-1.15,-102.7,996.6,-11.7,416,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2058,2371,0,0,0,0,0,0
$STATE,7385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7385,begin apogee
$GC,7390,-0.19,0.0,1001.3,11.6,418,7489,1.05,0.00,95.28,1.284,6,0.165,0.000,3119,1588,1949,0,0,0,0,0,0
$STATE,7490,end apogee,CONTROL_FINISHED_OK
$STATE,7490,begin climb
$GC,7492,1.13,102.7,1003.7,0.0,423,7596,1.30,0.00,100.03,1.247,6,0.090,0.000,3542,1589,1530,0,0,0,0,0,0
$GC,7899,1.16,102.7,953.1,14.0,443,7903,0.00,2.33,0.00,0.000,4,0.000,0.056,3553,195,1522,0,0,0,0,0,0
$GC,7953,1.16,102.7,945.0,15.2,445,7958,0.00,2.33,0.00,0.000,6,0.000,0.037,3553,1609,1521,0,0,0,0,0,0
$GC,8269,1.16,102.7,899.1,14.7,461,8273,0.00,2.28,0.00,0.000,4,0.000,0.057,3553,2999,1520,0,0,0,0,0,0
$GC,8380,1.16,102.7,881.6,15.1,466,8384,0.00,2.22,0.00,0.000,6,0.000,0.035,3561,1600,1520,0,0,0,0,0,0
$GC,8706,1.16,102.7,833.2,14.6,482,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1600,1519,0,0,0,0,0,0
$GC,9017,1.16,102.7,790.9,13.7,497,9021,0.00,2.28,0.00,0.000,4,0.000,0.055,3572,194,1519,0,0,0,0,0,0
$GC,9133,1.12,102.7,774.6,13.9,502,9138,0.08,2.25,0.00,0.000,6,0.166,0.037,3549,1608,1518,0,0,0,0,0,0
$GC,9453,1.12,102.7,735.2,11.9,518,9457,0.00,2.20,0.00,0.000,4,0.000,0.054,3550,2995,1518,0,0,0,0,0,0
$GC,9507,1.12,102.7,728.2,12.6,520,9512,0.00,2.20,0.00,0.000,6,0.000,0.036,3557,1597,1518,0,0,0,0,0,0
$GC,9828,1.12,102.7,688.6,12.6,536,9832,0.00,2.28,0.00,0.000,4,0.000,0.055,3568,189,1517,0,0,0,0,0,0
$GC,9928,1.12,102.7,675.3,13.2,540,9934,0.05,2.22,0.00,0.000,6,0.177,0.037,3553,1601,1517,0,0,0,0,0,0
$GC,10249,1.12,102.7,635.4,12.6,556,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1517,0,0,0,0,0,0
$GC,10559,1.12,102.7,594.5,13.6,571,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1517,0,0,0,0,0,0
$GC,10868,1.15,102.7,552.5,13.6,586,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1601,1517,0,0,0,0,0,0
$GC,11179,1.18,102.7,511.9,13.0,601,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1516,0,0,0,0,0,0
$GC,11486,1.22,102.7,472.6,12.5,616,11491,0.08,2.28,0.00,0.000,4,0.123,0.053,3602,188,1517,0,0,0,0,0,0
$GC,11665,1.14,102.7,446.8,14.5,624,11670,0.15,2.22,0.00,0.000,6,0.163,0.037,3548,1605,1516,0,0,0,0,0,0
$GC,11992,1.19,102.7,407.4,11.6,640,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1605,1516,0,0,0,0,0,0
$GC,12302,1.24,102.7,371.9,11.3,655,12306,0.10,2.25,0.00,0.000,4,0.105,0.053,3606,193,1516,0,0,0,0,0,0
$GC,12373,1.15,102.7,362.4,13.3,658,12378,0.12,2.20,0.00,0.000,6,0.172,0.037,3555,1601,1516,0,0,0,0,0,0
$GC,12694,1.19,102.7,326.6,11.1,674,12698,0.00,2.20,0.00,0.000,4,0.000,0.056,3555,2990,1516,0,0,0,0,0,0
$GC,12742,1.19,102.7,320.9,11.2,676,12747,0.00,2.17,0.00,0.000,6,0.000,0.036,3563,1596,1516,0,0,0,0,0,0
$GC,13064,1.19,102.7,285.6,11.1,692,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1596,1516,0,0,0,0,0,0
$GC,13375,1.19,102.7,249.9,11.7,707,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1596,1516,0,0,0,0,0,0
$GC,13683,1.19,102.7,213.8,11.4,722,13687,0.00,2.25,0.00,0.000,4,0.000,0.054,3573,190,1516,0,0,0,0,0,0
$GC,13858,1.19,102.7,191.5,12.5,730,13863,0.00,2.15,0.00,0.000,6,0.000,0.036,3574,1598,1516,0,0,0,0,0,0
$GC,14185,1.19,102.7,153.2,11.5,746,14189,0.00,2.20,0.00,0.000,4,0.000,0.056,3574,2992,1516,0,0,0,0,0,0
$GC,14300,1.19,102.7,140.2,11.3,751,14304,0.08,2.15,0.00,0.000,6,0.220,0.036,3566,1589,1516,0,0,0,0,0,0
$GC,14629,1.22,102.7,103.2,11.6,767,14633,0.00,2.22,0.00,0.000,4,0.000,0.054,3577,198,1516,0,0,0,0,0,0
$GC,14785,1.22,102.7,83.6,12.2,774,14790,0.00,2.15,0.00,0.000,6,0.000,0.037,3576,1604,1516,0,0,0,0,0,0
$GC,15132,1.22,102.7,41.7,12.1,830,15137,0.00,2.17,0.00,0.000,4,0.000,0.054,3576,2995,1516,0,0,0,0,0,0
$GC,15188,1.22,102.7,34.8,13.0,839,15195,0.00,2.15,0.00,0.000,6,0.000,0.036,3585,1606,1516,0,0,0,0,0,0
$GC,15344,1.22,102.7,14.4,12.8,864,15351,0.00,2.28,0.00,0.000,4,0.000,0.054,3596,195,1516,0,0,0,0,0,0
$STATE,15443,end climb,SURFACE_DEPTH_REACHED
$STATE,15443,begin surface coast
$FINISH,2.0,1.007401
$STATE,15476,end surface coast,CONTROL_FINISHED_OK
$STATE,15476,begin surface
$SM_CCo,15495,45.45,0.055,0,0,1132,200.16
$SM_GC,3.47,0.00,0.00,45.45,0.000,0.000,0.055,61,2074,1132,-9.76,0.40,200.16
$IRIDIUM_FIX,-4441.36,633.52,120708,141428
$TT8_MAMPS,0.026964
$HUMID,63.34
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.0,30.728
$10V_AH,9.9,32.534
$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,24.450,108.850,195.300,45.450,0.000,26.299,56.008,268.442,0.000,0.000,18.464,1944.842,10995.745,356.715,2561.459,154.714,0.000,1267.449,0.000,2106.638,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,74.970,1283.670,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.398,1278.217,706.284,418.330,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,63806,885
$CAP_FILE_SIZE,130154,0
$CFSIZE,2097086464,2060943360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,160915,094722,-4457.106,636.355,37,0.9,37,-24.4