version: 66.07.10.p01
glider: 573
mission: 12
dive: 239
start: 9 16 115 9 58 4
data:
$ID,573
$MISSION,12
$DIVE,239
$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,-21760.23
$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,32
$R_STBD_OVSHOOT,33
$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,238
$GPS1,160915,094722,-4457.106,636.355,37,0.9,37,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-71.7
$GPS2,160915,095743,-4457.188,636.400,16,0.8,18,-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,11.0,2263,-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,-20.17,0.000,2,0.000,0.000,60,2074,1533,0,0,0,0,0,0
$GC,48,-1.13,-105.8,3.2,-2.1,3,106,11.55,2.35,-38.58,0.000,4,0.246,0.068,2813,632,2380,0,0,0,0,0,0
$GC,316,-1.03,-105.8,38.6,-17.4,46,324,0.12,2.33,0.00,0.000,6,0.175,0.047,2840,2048,2381,0,0,0,0,0,0
$GC,462,-1.03,-105.8,62.2,-15.7,71,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2048,2382,0,0,0,0,0,0
$GC,789,-1.03,-105.8,112.5,-15.3,102,793,0.00,2.33,0.00,0.000,4,0.000,0.062,2830,3481,2382,0,0,0,0,0,0
$GC,934,-1.03,-105.8,135.5,-14.6,108,943,0.05,2.25,0.00,0.000,6,0.174,0.042,2846,2066,2382,0,0,0,0,0,0
$GC,1251,-1.03,-105.8,178.5,-13.4,124,1255,0.00,2.28,0.00,0.000,4,0.000,0.060,2836,3479,2382,0,0,0,0,0,0
$GC,1328,-1.03,-105.8,189.3,-13.9,127,1335,0.00,2.25,0.00,0.000,6,0.000,0.041,2839,2058,2382,0,0,0,0,0,0
$GC,1647,-1.03,-105.8,232.2,-13.3,143,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2058,2383,0,0,0,0,0,0
$GC,1954,-1.03,-105.8,274.5,-13.7,158,1958,0.00,2.33,0.00,0.000,4,0.000,0.063,2829,3487,2383,0,0,0,0,0,0
$GC,2014,-1.03,-105.8,283.0,-14.1,160,2023,0.05,2.25,0.00,0.000,6,0.176,0.041,2845,2054,2383,0,0,0,0,0,0
$GC,2329,-1.07,-105.8,325.2,-13.2,176,2333,0.00,2.33,0.00,0.000,4,0.000,0.061,2836,3481,2383,0,0,0,0,0,0
$GC,2378,-1.07,-105.8,332.2,-13.6,178,2383,0.00,2.25,0.00,0.000,6,0.000,0.041,2836,2055,2383,0,0,0,0,0,0
$GC,2699,-1.07,-105.8,375.8,-13.7,194,2703,0.00,2.30,0.00,0.000,4,0.000,0.062,2827,3475,2383,0,0,0,0,0,0
$GC,2747,-1.07,-105.8,382.8,-14.1,196,2752,0.00,2.22,0.00,0.000,6,0.000,0.043,2827,2063,2383,0,0,0,0,0,0
$GC,3074,-1.07,-105.8,426.8,-13.0,212,3078,0.00,2.28,0.00,0.000,4,0.000,0.061,2818,3475,2383,0,0,0,0,0,0
$GC,3191,-1.07,-105.8,443.4,-14.3,217,3196,0.05,2.22,0.00,0.000,6,0.171,0.044,2834,2062,2383,0,0,0,0,0,0
$GC,3518,-1.07,-105.8,486.1,-13.2,233,3522,0.00,2.30,0.00,0.000,4,0.000,0.061,2824,3481,2383,0,0,0,0,0,0
$GC,3557,-1.07,-105.8,491.4,-13.8,235,3561,0.00,2.22,0.00,0.000,6,0.000,0.042,2824,2050,2383,0,0,0,0,0,0
$GC,3883,-1.07,-105.8,535.2,-13.3,251,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2050,2383,0,0,0,0,0,0
$GC,4190,-1.07,-105.8,578.0,-13.8,266,4194,0.00,2.30,0.00,0.000,4,0.000,0.060,2815,3477,2383,0,0,0,0,0,0
$GC,4262,-1.07,-105.8,588.2,-14.0,269,4268,0.05,2.22,0.00,0.000,6,0.173,0.044,2831,2063,2383,0,0,0,0,0,0
$GC,4590,-1.10,-105.8,632.0,-13.4,285,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2063,2382,0,0,0,0,0,0
$GC,4898,-1.14,-105.8,673.2,-13.2,300,4902,0.00,2.30,0.00,0.000,4,0.000,0.061,2822,3482,2383,0,0,0,0,0,0
$GC,4961,-1.14,-105.8,681.3,-13.3,303,4965,0.00,2.20,0.00,0.000,6,0.000,0.042,2822,2053,2383,0,0,0,0,0,0
$GC,5287,-1.14,-105.8,726.0,-13.6,319,5292,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3479,2383,0,0,0,0,0,0
$GC,5327,-1.14,-105.8,731.6,-13.8,321,5331,0.00,2.20,0.00,0.000,6,0.000,0.044,2813,2053,2383,0,0,0,0,0,0
$GC,5653,-1.14,-105.8,775.9,-13.1,337,5657,0.00,2.33,0.00,0.000,4,0.000,0.063,2804,3482,2382,0,0,0,0,0,0
$GC,5707,-1.14,-105.8,783.5,-13.0,339,5712,0.00,2.22,0.00,0.000,6,0.000,0.043,2804,2065,2382,0,0,0,0,0,0
$GC,6023,-1.14,-105.8,824.5,-13.1,355,6027,0.00,2.28,0.00,0.000,4,0.000,0.060,2796,3475,2382,0,0,0,0,0,0
$GC,6153,-1.14,-105.8,842.1,-13.3,361,6157,0.08,2.20,0.00,0.000,6,0.213,0.046,2811,2056,2382,0,0,0,0,0,0
$GC,6479,-1.14,-105.8,882.3,-11.8,377,6483,0.00,2.30,0.00,0.000,4,0.000,0.065,2802,3474,2381,0,0,0,0,0,0
$GC,6518,-1.14,-105.8,886.9,-12.1,379,6522,0.00,2.22,0.00,0.000,6,0.000,0.045,2803,2051,2381,0,0,0,0,0,0
$GC,6844,-1.14,-105.8,925.0,-11.5,395,6848,0.00,2.33,0.00,0.000,4,0.000,0.064,2793,3480,2380,0,0,0,0,0,0
$GC,6937,-1.14,-105.8,936.5,-12.7,399,6943,0.05,2.25,0.00,0.000,6,0.179,0.045,2809,2057,2380,0,0,0,0,0,0
$GC,7259,-1.14,-105.8,972.0,-11.2,415,7263,0.00,2.33,0.00,0.000,4,0.000,0.064,2800,3486,2380,0,0,0,0,0,0
$GC,7314,-1.14,-105.8,978.4,-12.0,417,7319,0.00,2.25,0.00,0.000,6,0.000,0.044,2800,2057,2380,0,0,0,0,0,0
$STATE,7524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7529,-0.19,0.0,1001.5,10.8,428,7630,1.08,0.00,97.40,1.283,6,0.168,0.000,3113,1591,1949,0,0,0,0,0,0
$STATE,7631,end apogee,CONTROL_FINISHED_OK
$STATE,7631,begin climb
$GC,7633,1.13,105.8,1003.6,0.0,433,7744,1.30,2.50,102.22,1.244,4,0.092,0.056,3551,195,1517,0,0,0,0,0,0
$GC,7845,1.13,105.8,978.0,16.7,443,7850,0.00,2.38,0.00,0.000,6,0.000,0.037,3551,1619,1511,0,0,0,0,0,0
$GC,8172,1.13,105.8,930.0,14.2,459,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1619,1508,0,0,0,0,0,0
$GC,8480,1.13,105.8,886.4,13.7,474,8484,0.00,2.35,0.00,0.000,4,0.000,0.053,3560,188,1507,0,0,0,0,0,0
$GC,8540,1.13,105.8,877.3,15.7,476,8547,0.03,2.28,0.00,0.000,6,0.196,0.037,3553,1601,1506,0,0,0,0,0,0
$GC,8855,1.13,105.8,835.9,12.8,492,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1506,0,0,0,0,0,0
$GC,9166,1.13,105.8,796.4,12.8,507,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1505,0,0,0,0,0,0
$GC,9474,1.13,105.8,756.6,13.2,522,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1505,0,0,0,0,0,0
$GC,9785,1.13,105.8,715.5,13.5,537,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1505,0,0,0,0,0,0
$GC,10093,1.16,105.8,674.6,13.1,552,10097,0.00,2.30,0.00,0.000,4,0.000,0.054,3561,186,1504,0,0,0,0,0,0
$GC,10155,1.16,105.8,665.8,14.8,555,10159,0.00,2.20,0.00,0.000,6,0.000,0.037,3562,1608,1504,0,0,0,0,0,0
$GC,10482,1.16,105.8,622.4,13.1,571,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1608,1504,0,0,0,0,0,0
$GC,10790,1.16,105.8,581.8,13.1,586,10794,0.00,2.33,0.00,0.000,4,0.000,0.054,3571,191,1504,0,0,0,0,0,0
$GC,10850,1.16,105.8,573.2,14.9,588,10856,0.00,2.20,0.00,0.000,6,0.000,0.036,3571,1594,1503,0,0,0,0,0,0
$GC,11166,1.16,105.8,531.1,13.0,604,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1594,1503,0,0,0,0,0,0
$GC,11475,1.16,105.8,492.2,12.2,619,11479,0.00,2.25,0.00,0.000,4,0.000,0.053,3581,189,1503,0,0,0,0,0,0
$GC,11519,1.12,105.8,486.3,13.0,621,11524,0.10,2.22,0.00,0.000,6,0.160,0.037,3549,1600,1503,0,0,0,0,0,0
$GC,11847,1.17,105.8,448.1,11.9,637,11851,0.00,2.20,0.00,0.000,4,0.000,0.057,3549,2993,1503,0,0,0,0,0,0
$GC,11889,1.17,105.8,442.3,12.5,639,11894,0.00,2.17,0.00,0.000,6,0.000,0.037,3557,1599,1503,0,0,0,0,0,0
$GC,12218,1.21,105.8,399.5,13.2,655,12222,0.00,2.25,0.00,0.000,4,0.000,0.055,3568,197,1503,0,0,0,0,0,0
$GC,12278,1.21,105.8,391.0,14.1,658,12283,0.00,2.20,0.00,0.000,6,0.000,0.037,3568,1594,1503,0,0,0,0,0,0
$GC,12610,1.21,105.8,345.7,13.8,674,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1594,1503,0,0,0,0,0,0
$GC,12920,1.21,105.8,304.2,13.0,689,12924,0.00,2.28,0.00,0.000,4,0.000,0.053,3577,188,1503,0,0,0,0,0,0
$GC,13014,1.21,105.8,290.7,13.8,693,13019,0.00,2.22,0.00,0.000,6,0.000,0.037,3577,1604,1503,0,0,0,0,0,0
$GC,13339,1.21,105.8,250.1,12.0,709,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1604,1503,0,0,0,0,0,0
$GC,13646,1.21,105.8,213.7,11.7,724,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1603,1503,0,0,0,0,0,0
$GC,13957,1.21,105.8,180.8,10.9,739,13961,0.00,2.22,0.00,0.000,4,0.000,0.054,3577,3003,1503,0,0,0,0,0,0
$GC,14051,1.21,105.8,169.5,10.3,743,14057,0.03,2.17,0.00,0.000,6,0.203,0.035,3578,1599,1503,0,0,0,0,0,0
$GC,14375,1.21,105.8,133.7,11.9,759,14379,0.00,2.25,0.00,0.000,4,0.000,0.054,3589,192,1502,0,0,0,0,0,0
$GC,14529,1.18,105.8,113.3,13.7,766,14534,0.10,2.17,0.00,0.000,6,0.194,0.035,3565,1618,1502,0,0,0,0,0,0
$GC,14850,1.22,105.8,74.7,11.8,786,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1618,1502,0,0,0,0,0,0
$GC,15206,1.26,105.8,33.2,11.8,847,15213,0.08,0.00,0.00,0.000,6,0.125,0.000,3604,1619,1502,0,0,0,0,0,0
$GC,15362,1.23,105.8,13.4,12.9,872,15370,0.10,2.30,0.00,0.000,4,0.196,0.050,3591,196,1502,0,0,0,0,0,0
$STATE,15444,end climb,SURFACE_DEPTH_REACHED
$STATE,15444,begin surface coast
$FINISH,1.9,1.012251
$STATE,15471,end surface coast,CONTROL_FINISHED_OK
$STATE,15471,begin surface
$SM_CCo,15490,43.70,0.055,0,0,1133,200.16
$SM_GC,3.72,0.00,0.00,43.70,0.000,0.000,0.055,61,2068,1133,-9.76,0.20,200.16
$IRIDIUM_FIX,-4438.33,642.23,120708,181812
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.9,30.824
$10V_AH,9.8,32.631
$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,23.975,123.825,199.625,43.700,0.000,68.187,122.194,248.269,0.000,0.000,20.377,1953.058,10995.416,350.274,2702.545,156.131,0.000,1313.288,0.000,2158.227,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,68.085,1282.905,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.797,1286.565,712.745,415.244,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,64025,889
$CAP_FILE_SIZE,133789,0
$CFSIZE,2097086464,2060779520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,160915,141803,-4456.849,637.182,30,0.9,30,-24.4