version: 66.07.10.p01
glider: 573
mission: 12
dive: 240
start: 9 16 115 14 26 42
data:
$ID,573
$MISSION,12
$DIVE,240
$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,-21763.521
$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,36
$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,239
$GPS1,160915,141803,-4456.849,637.182,30,0.9,30,-24.4
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-71.3
$GPS2,160915,142622,-4456.900,637.245,20,0.9,21,-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,340.0,2332,-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,-19.85,0.000,2,0.000,0.000,60,2068,1527,0,0,0,0,0,0
$GC,48,-1.13,-111.9,3.1,-1.4,3,106,11.48,2.33,-38.25,0.000,4,0.244,0.066,2812,661,2406,0,0,0,0,0,0
$GC,182,-1.03,-111.9,15.6,-17.2,24,190,0.15,2.25,0.00,0.000,6,0.177,0.042,2848,2048,2408,0,0,0,0,0,0
$GC,241,-1.03,-111.9,25.2,-15.5,33,248,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2048,2409,0,0,0,0,0,0
$GC,393,-1.03,-111.9,49.9,-16.3,58,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2048,2409,0,0,0,0,0,0
$GC,740,-1.03,-111.9,107.8,-16.6,98,744,0.00,2.30,0.00,0.000,4,0.000,0.062,2837,3469,2409,0,0,0,0,0,0
$GC,788,-1.03,-111.9,116.1,-16.4,100,793,0.00,2.25,0.00,0.000,6,0.000,0.042,2837,2057,2409,0,0,0,0,0,0
$GC,1116,-1.03,-111.9,170.2,-15.7,116,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2057,2409,0,0,0,0,0,0
$GC,1427,-1.03,-111.9,216.2,-14.5,131,1431,0.00,2.22,0.00,0.000,4,0.000,0.055,2837,654,2410,0,0,0,0,0,0
$GC,1476,-1.03,-111.9,224.5,-15.7,133,1481,0.05,2.25,0.00,0.000,6,0.184,0.044,2843,2060,2410,0,0,0,0,0,0
$GC,1800,-1.03,-111.9,271.2,-14.8,149,1804,0.00,2.25,0.00,0.000,4,0.000,0.064,2833,3468,2410,0,0,0,0,0,0
$GC,1917,-1.03,-111.9,289.2,-15.2,154,1922,0.05,2.22,0.00,0.000,6,0.178,0.041,2849,2056,2410,0,0,0,0,0,0
$GC,2238,-1.07,-111.9,331.5,-13.1,170,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2056,2410,0,0,0,0,0,0
$GC,2549,-1.12,-111.9,371.7,-13.1,185,2554,0.08,2.25,0.00,0.000,4,0.127,0.055,2813,652,2410,0,0,0,0,0,0
$GC,2577,-1.09,-111.9,375.8,-14.7,186,2582,0.10,2.20,0.00,0.000,6,0.205,0.044,2827,2061,2410,0,0,0,0,0,0
$GC,2892,-1.09,-111.9,421.9,-14.8,201,2896,0.00,2.25,0.00,0.000,4,0.000,0.065,2816,3466,2410,0,0,0,0,0,0
$GC,2941,-1.09,-111.9,429.7,-15.0,203,2946,0.03,2.22,0.00,0.000,6,0.185,0.042,2825,2055,2411,0,0,0,0,0,0
$GC,3268,-1.09,-111.9,477.4,-14.5,219,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2054,2410,0,0,0,0,0,0
$GC,3576,-1.09,-111.9,521.3,-14.1,234,3580,0.00,2.28,0.00,0.000,4,0.000,0.063,2816,3465,2410,0,0,0,0,0,0
$GC,3710,-1.09,-111.9,541.2,-14.4,240,3715,0.05,2.17,0.00,0.000,6,0.223,0.042,2826,2051,2410,0,0,0,0,0,0
$GC,4041,-1.09,-111.9,584.7,-12.7,256,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2051,2410,0,0,0,0,0,0
$GC,4352,-1.09,-111.9,624.9,-13.3,271,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2051,2409,0,0,0,0,0,0
$GC,4660,-1.12,-111.9,665.8,-13.0,286,4664,0.00,2.30,0.00,0.000,4,0.000,0.062,2817,3475,2409,0,0,0,0,0,0
$GC,4687,-1.12,-111.9,669.7,-14.2,287,4691,0.00,2.22,0.00,0.000,6,0.000,0.044,2817,2066,2409,0,0,0,0,0,0
$GC,5009,-1.12,-111.9,712.6,-13.4,303,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2066,2409,0,0,0,0,0,0
$GC,5317,-1.12,-111.9,755.3,-13.8,318,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2066,2408,0,0,0,0,0,0
$GC,5627,-1.12,-111.9,797.2,-13.5,333,5631,0.00,2.28,0.00,0.000,4,0.000,0.059,2808,3477,2408,0,0,0,0,0,0
$GC,5676,-1.12,-111.9,804.3,-14.0,335,5681,0.00,2.22,0.00,0.000,6,0.000,0.043,2808,2063,2408,0,0,0,0,0,0
$GC,5998,-1.12,-111.9,849.4,-14.0,351,6002,0.00,2.28,0.00,0.000,4,0.000,0.061,2799,3469,2408,0,0,0,0,0,0
$GC,6086,-1.12,-111.9,862.5,-14.9,355,6092,0.05,2.25,0.00,0.000,6,0.178,0.044,2815,2050,2408,0,0,0,0,0,0
$GC,6414,-1.12,-111.9,907.8,-14.1,371,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2050,2408,0,0,0,0,0,0
$GC,6721,-1.12,-111.9,950.2,-13.6,386,6725,0.00,2.28,0.00,0.000,4,0.000,0.062,2806,3466,2407,0,0,0,0,0,0
$GC,6799,-1.12,-111.9,961.3,-14.0,389,6804,0.03,2.22,0.00,0.000,6,0.200,0.044,2814,2055,2407,0,0,0,0,0,0
$STATE,7097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7097,begin apogee
$GC,7102,-0.19,0.0,1001.5,13.2,404,7209,1.02,0.00,103.12,1.284,6,0.167,0.000,3113,1587,1950,0,0,0,0,0,0
$STATE,7210,end apogee,CONTROL_FINISHED_OK
$STATE,7210,begin climb
$GC,7212,1.13,111.9,1005.7,0.0,409,7328,1.30,2.47,107.93,1.248,4,0.091,0.055,3552,199,1493,0,0,0,0,0,0
$GC,7400,1.13,111.9,987.0,14.1,417,7405,0.00,2.40,0.00,0.000,6,0.000,0.037,3552,1607,1488,0,0,0,0,0,0
$GC,7728,1.13,111.9,941.7,13.9,433,7732,0.00,2.30,0.00,0.000,4,0.000,0.055,3552,2997,1485,0,0,0,0,0,0
$GC,7793,1.13,111.9,932.0,14.6,436,7798,0.00,2.25,0.00,0.000,6,0.000,0.036,3560,1601,1484,0,0,0,0,0,0
$GC,8119,1.13,111.9,885.7,14.7,452,8123,0.00,2.30,0.00,0.000,4,0.000,0.055,3571,185,1483,0,0,0,0,0,0
$GC,8202,1.13,111.9,873.0,14.9,455,8208,0.05,2.28,0.00,0.000,6,0.173,0.035,3555,1607,1483,0,0,0,0,0,0
$GC,8519,1.13,111.9,829.0,13.6,471,8523,0.00,2.25,0.00,0.000,4,0.000,0.054,3555,3004,1483,0,0,0,0,0,0
$GC,8561,1.13,111.9,822.7,14.8,473,8567,0.03,2.22,0.00,0.000,6,0.200,0.036,3555,1596,1483,0,0,0,0,0,0
$GC,8889,1.13,111.9,776.7,14.1,489,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1596,1482,0,0,0,0,0,0
$GC,9196,1.13,111.9,733.9,13.8,504,9200,0.00,2.25,0.00,0.000,4,0.000,0.054,3565,193,1482,0,0,0,0,0,0
$GC,9259,1.13,111.9,724.9,15.5,506,9265,0.08,2.20,0.00,0.000,6,0.202,0.037,3549,1602,1481,0,0,0,0,0,0
$GC,9573,1.18,111.9,682.0,13.6,522,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1602,1481,0,0,0,0,0,0
$GC,9884,1.23,111.9,641.9,12.7,537,9885,0.08,0.00,0.00,0.000,6,0.123,0.000,3591,1602,1480,0,0,0,0,0,0
$GC,10192,1.19,111.9,597.4,14.7,552,10194,0.08,0.00,0.00,0.000,6,0.202,0.000,3574,1605,1481,0,0,0,0,0,0
$GC,10502,1.19,111.9,555.7,13.4,567,10506,0.00,2.28,0.00,0.000,4,0.000,0.054,3583,186,1480,0,0,0,0,0,0
$GC,10556,1.15,111.9,548.0,14.2,569,10561,0.08,2.22,0.00,0.000,6,0.171,0.037,3560,1602,1480,0,0,0,0,0,0
$GC,10873,1.18,111.9,509.2,11.9,585,10877,0.00,2.25,0.00,0.000,4,0.000,0.053,3569,196,1480,0,0,0,0,0,0
$GC,10927,1.18,111.9,501.8,12.9,587,10932,0.00,2.22,0.00,0.000,6,0.000,0.037,3569,1604,1480,0,0,0,0,0,0
$GC,11244,1.18,111.9,462.8,12.4,603,11248,0.00,2.20,0.00,0.000,4,0.000,0.054,3569,3004,1480,0,0,0,0,0,0
$GC,11332,1.18,111.9,451.0,13.7,607,11336,0.00,2.20,0.00,0.000,6,0.000,0.036,3578,1595,1480,0,0,0,0,0,0
$GC,11659,1.18,111.9,408.0,13.1,623,11663,0.00,2.22,0.00,0.000,4,0.000,0.054,3589,194,1480,0,0,0,0,0,0
$GC,11811,1.14,111.9,386.5,14.8,630,11816,0.15,2.17,0.00,0.000,6,0.181,0.038,3550,1608,1480,0,0,0,0,0,0
$GC,12137,1.20,111.9,345.9,12.5,646,12139,0.05,0.00,0.00,0.000,6,0.170,0.000,3581,1609,1479,0,0,0,0,0,0
$GC,12446,1.20,111.9,304.1,13.5,661,12450,0.00,2.28,0.00,0.000,4,0.000,0.053,3592,191,1480,0,0,0,0,0,0
$GC,12563,1.16,111.9,287.3,13.4,666,12568,0.10,2.20,0.00,0.000,6,0.169,0.035,3546,1604,1480,0,0,0,0,0,0
$GC,12891,1.22,111.9,248.2,11.8,682,12893,0.10,0.00,0.00,0.000,6,0.106,0.000,3595,1604,1480,0,0,0,0,0,0
$GC,13201,1.22,111.9,206.4,13.4,697,13206,0.08,2.28,0.00,0.000,4,0.212,0.053,3589,190,1479,0,0,0,0,0,0
$GC,13310,1.19,111.9,192.2,12.6,702,13314,0.08,2.17,0.00,0.000,6,0.213,0.037,3572,1598,1479,0,0,0,0,0,0
$GC,13637,1.23,111.9,152.2,12.6,718,13641,0.00,2.25,0.00,0.000,4,0.000,0.052,3580,193,1479,0,0,0,0,0,0
$GC,13697,1.23,111.9,144.3,12.7,720,13705,0.00,2.20,0.00,0.000,6,0.000,0.037,3580,1597,1478,0,0,0,0,0,0
$GC,14013,1.23,111.9,106.3,11.9,736,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1596,1478,0,0,0,0,0,0
$GC,14334,1.23,111.9,67.8,12.4,763,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1596,1479,0,0,0,0,0,0
$GC,14693,1.23,111.9,23.8,11.8,824,14701,0.00,2.28,0.00,0.000,4,0.000,0.051,3590,196,1479,0,0,0,0,0,0
$GC,14758,1.19,111.9,16.6,11.4,834,14766,0.05,2.20,0.00,0.000,6,0.177,0.037,3573,1605,1479,0,0,0,0,0,0
$GC,14817,1.22,111.9,9.1,12.8,843,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1605,1479,0,0,0,0,0,0
$STATE,14874,end climb,SURFACE_DEPTH_REACHED
$STATE,14874,begin surface coast
$FINISH,1.9,1.018607
$STATE,14906,end surface coast,CONTROL_FINISHED_OK
$STATE,14906,begin surface
$SM_CCo,14923,42.38,0.054,0,0,1133,200.16
$SM_GC,3.55,0.00,0.00,42.38,0.000,0.000,0.054,63,2068,1133,-9.76,0.23,200.16
$IRIDIUM_FIX,-4438.33,633.52,120708,232323
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.8,30.923
$10V_AH,9.9,32.724
$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,24.475,109.450,211.050,42.375,0.000,27.497,25.942,319.934,0.000,0.000,22.737,1891.790,10520.691,357.345,2537.180,158.889,0.000,1268.359,0.000,2054.415,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,65.790,1283.670,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.930,1250.867,703.045,427.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353300
$DATA_FILE_SIZE,60737,857
$CAP_FILE_SIZE,131757,0
$CFSIZE,2097086464,2060648448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,160915,183724,-4456.744,636.117,41,1.4,41,-24.4