version: 66.07.10.p01
glider: 573
mission: 12
dive: 248
start: 9 18 115 7 58 36
data:
$ID,573
$MISSION,12
$DIVE,248
$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,-21790.24
$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,37
$R_STBD_OVSHOOT,39
$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,247
$GPS1,180915,075053,-4505.061,636.822,41,0.9,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-66.5
$GPS2,180915,075816,-4505.099,636.860,22,1.4,23,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,355.5,2326,-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,-49.9,0.0,0.0,0,35,0.00,0.00,-8.48,0.000,2,0.000,0.000,62,2077,1301,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.1,-0.0,1,113,11.20,2.33,-54.80,0.000,4,0.237,0.068,2817,666,2427,0,0,0,0,0,0
$GC,232,-1.06,-116.8,24.9,-22.3,32,240,0.10,2.22,0.00,0.000,6,0.172,0.041,2838,2040,2429,0,0,0,0,0,0
$GC,384,-1.06,-116.8,50.3,-16.0,57,392,0.00,2.30,0.00,0.000,4,0.000,0.055,2838,655,2429,0,0,0,0,0,0
$GC,429,-1.03,-116.8,58.2,-18.5,64,434,0.10,2.28,0.00,0.000,6,0.200,0.047,2852,2067,2429,0,0,0,0,0,0
$GC,762,-1.07,-116.8,114.4,-16.5,96,766,0.00,2.28,0.00,0.000,4,0.000,0.063,2841,3472,2430,0,0,0,0,0,0
$GC,782,-1.07,-116.8,118.3,-17.2,97,787,0.00,2.22,0.00,0.000,6,0.000,0.043,2842,2069,2430,0,0,0,0,0,0
$GC,1114,-1.07,-116.8,172.0,-16.4,113,1118,0.00,2.25,0.00,0.000,4,0.000,0.054,2841,644,2430,0,0,0,0,0,0
$GC,1140,-1.07,-116.8,177.4,-17.1,114,1145,0.00,2.25,0.00,0.000,6,0.000,0.040,2833,2052,2430,0,0,0,0,0,0
$GC,1461,-1.07,-116.8,227.6,-15.6,130,1465,0.00,2.28,0.00,0.000,4,0.000,0.060,2821,3469,2430,0,0,0,0,0,0
$GC,1511,-1.07,-116.8,235.3,-15.5,132,1516,0.03,2.22,0.00,0.000,6,0.196,0.041,2830,2056,2430,0,0,0,0,0,0
$GC,1832,-1.07,-116.8,281.1,-14.1,148,1836,0.00,2.22,0.00,0.000,4,0.000,0.054,2831,658,2430,0,0,0,0,0,0
$GC,1902,-1.07,-116.8,290.9,-15.0,151,1906,0.08,2.22,0.00,0.000,6,0.210,0.044,2838,2060,2430,0,0,0,0,0,0
$GC,2229,-1.11,-116.8,333.9,-13.1,167,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2060,2431,0,0,0,0,0,0
$GC,2536,-1.15,-116.8,375.4,-13.7,182,2538,0.08,0.00,0.00,0.000,6,0.122,0.000,2796,2061,2431,0,0,0,0,0,0
$GC,2847,-1.12,-116.8,421.3,-14.8,197,2851,0.10,2.30,0.00,0.000,4,0.202,0.066,2809,3473,2431,0,0,0,0,0,0
$GC,2872,-1.12,-116.8,425.6,-15.8,198,2878,0.03,2.22,0.00,0.000,6,0.184,0.044,2817,2067,2431,0,0,0,0,0,0
$GC,3198,-1.12,-116.8,472.1,-14.3,214,3202,0.00,2.25,0.00,0.000,4,0.000,0.054,2818,643,2431,0,0,0,0,0,0
$GC,3225,-1.12,-116.8,476.1,-15.1,215,3230,0.03,2.25,0.00,0.000,6,0.203,0.040,2817,2064,2431,0,0,0,0,0,0
$GC,3552,-1.12,-116.8,524.4,-14.9,231,3556,0.00,2.25,0.00,0.000,4,0.000,0.067,2806,3465,2431,0,0,0,0,0,0
$GC,3573,-1.12,-116.8,528.0,-15.5,232,3578,0.03,2.22,0.00,0.000,6,0.183,0.041,2815,2051,2431,0,0,0,0,0,0
$GC,3899,-1.12,-116.8,576.9,-15.0,248,3903,0.00,2.22,0.00,0.000,4,0.000,0.057,2816,645,2430,0,0,0,0,0,0
$GC,3942,-1.12,-116.8,583.8,-16.2,250,3948,0.03,2.28,0.00,0.000,6,0.206,0.045,2815,2065,2430,0,0,0,0,0,0
$GC,4269,-1.12,-116.8,632.3,-14.8,266,4273,0.00,2.28,0.00,0.000,4,0.000,0.056,2815,646,2430,0,0,0,0,0,0
$GC,4296,-1.12,-116.8,636.6,-15.6,267,4301,0.03,2.28,0.00,0.000,6,0.207,0.045,2815,2063,2430,0,0,0,0,0,0
$GC,4623,-1.12,-116.8,682.8,-13.9,283,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2063,2430,0,0,0,0,0,0
$GC,4931,-1.12,-116.8,725.4,-13.6,298,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2063,2430,0,0,0,0,0,0
$GC,5241,-1.12,-116.8,768.4,-13.9,313,5245,0.00,2.30,0.00,0.000,4,0.000,0.067,2805,3475,2430,0,0,0,0,0,0
$GC,5275,-1.12,-116.8,773.3,-14.7,314,5281,0.08,2.20,0.00,0.000,6,0.200,0.044,2821,2060,2430,0,0,0,0,0,0
$GC,5589,-1.16,-116.8,815.5,-13.2,330,5593,0.00,2.25,0.00,0.000,4,0.000,0.057,2822,649,2430,0,0,0,0,0,0
$GC,5644,-1.16,-116.8,822.9,-13.2,332,5648,0.00,2.25,0.00,0.000,6,0.000,0.046,2813,2054,2430,0,0,0,0,0,0
$GC,5966,-1.19,-116.8,863.2,-12.1,348,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2054,2429,0,0,0,0,0,0
$GC,6275,-1.19,-116.8,900.4,-11.5,363,6279,0.00,2.25,0.00,0.000,4,0.000,0.055,2813,648,2429,0,0,0,0,0,0
$GC,6318,-1.19,-116.8,905.9,-12.9,365,6322,0.00,2.25,0.00,0.000,6,0.000,0.044,2804,2060,2429,0,0,0,0,0,0
$GC,6645,-1.19,-116.8,946.2,-12.2,381,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2060,2428,0,0,0,0,0,0
$GC,6954,-1.19,-116.8,984.6,-12.9,396,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2060,2428,0,0,0,0,0,0
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7081,-0.19,0.0,1000.4,13.0,402,7193,1.08,0.00,108.18,1.284,6,0.170,0.000,3113,1588,1950,0,0,0,0,0,0
$STATE,7194,end apogee,CONTROL_FINISHED_OK
$STATE,7194,begin climb
$GC,7195,1.13,116.8,1003.7,0.0,407,7314,1.30,0.00,114.32,1.246,6,0.092,0.000,3540,1588,1474,0,0,0,0,0,0
$GC,7611,1.19,116.8,951.7,14.0,428,7616,0.08,2.33,0.00,0.000,4,0.119,0.054,3594,193,1465,0,0,0,0,0,0
$GC,7677,1.12,116.8,940.4,17.2,431,7682,0.15,2.33,0.00,0.000,6,0.158,0.038,3550,1600,1464,0,0,0,0,0,0
$GC,8004,1.15,116.8,893.1,14.5,447,8008,0.00,2.33,0.00,0.000,4,0.000,0.053,3560,189,1463,0,0,0,0,0,0
$GC,8086,1.15,116.8,880.1,16.3,450,8092,0.00,2.30,0.00,0.000,6,0.000,0.038,3560,1608,1462,0,0,0,0,0,0
$GC,8401,1.15,116.8,832.5,15.0,466,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1608,1462,0,0,0,0,0,0
$GC,8711,1.15,116.8,786.1,15.0,481,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1608,1461,0,0,0,0,0,0
$GC,9019,1.15,116.8,740.3,15.1,496,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1608,1461,0,0,0,0,0,0
$GC,9330,1.15,116.8,694.4,14.8,511,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1608,1460,0,0,0,0,0,0
$GC,9638,1.15,116.8,651.0,13.7,526,9642,0.00,2.28,0.00,0.000,4,0.000,0.053,3569,195,1461,0,0,0,0,0,0
$GC,9710,1.15,116.8,640.5,14.7,529,9716,0.03,2.22,0.00,0.000,6,0.194,0.037,3560,1598,1460,0,0,0,0,0,0
$GC,10037,1.15,116.8,597.0,13.4,545,10041,0.00,2.28,0.00,0.000,4,0.000,0.052,3569,193,1460,0,0,0,0,0,0
$GC,10104,1.15,116.8,587.5,14.3,548,10108,0.05,2.22,0.00,0.000,6,0.230,0.038,3559,1611,1460,0,0,0,0,0,0
$GC,10435,1.19,116.8,544.0,13.1,564,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1611,1460,0,0,0,0,0,0
$GC,10745,1.23,116.8,502.6,13.5,579,10747,0.03,0.00,0.00,0.000,6,0.249,0.000,3587,1611,1460,0,0,0,0,0,0
$GC,11053,1.23,116.8,458.4,14.1,594,11057,0.00,2.30,0.00,0.000,4,0.000,0.052,3597,193,1460,0,0,0,0,0,0
$GC,11182,1.17,116.8,438.8,15.0,599,11187,0.12,2.20,0.00,0.000,6,0.186,0.037,3566,1604,1460,0,0,0,0,0,0
$GC,11497,1.17,116.8,395.9,13.5,615,11501,0.00,2.28,0.00,0.000,4,0.000,0.052,3575,193,1460,0,0,0,0,0,0
$GC,11546,1.17,116.8,388.7,14.1,617,11551,0.03,2.22,0.00,0.000,6,0.200,0.037,3567,1604,1460,0,0,0,0,0,0
$GC,11875,1.20,116.8,344.0,14.2,633,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1604,1460,0,0,0,0,0,0
$GC,12182,1.23,116.8,302.9,12.9,648,12186,0.00,2.25,0.00,0.000,4,0.000,0.051,3575,193,1460,0,0,0,0,0,0
$GC,12247,1.23,116.8,294.3,15.0,651,12251,0.00,2.17,0.00,0.000,6,0.000,0.037,3575,1604,1460,0,0,0,0,0,0
$GC,12575,1.23,116.8,250.3,13.6,667,12579,0.00,2.25,0.00,0.000,4,0.000,0.050,3585,195,1460,0,0,0,0,0,0
$GC,12618,1.23,116.8,243.6,14.0,669,12623,0.00,2.22,0.00,0.000,6,0.000,0.037,3584,1605,1460,0,0,0,0,0,0
$GC,12948,1.23,116.8,200.5,13.3,685,12952,0.00,2.22,0.00,0.000,4,0.000,0.056,3585,3001,1460,0,0,0,0,0,0
$GC,13013,1.23,116.8,191.2,14.7,688,13018,0.00,2.17,0.00,0.000,6,0.000,0.036,3593,1605,1460,0,0,0,0,0,0
$GC,13341,1.23,116.8,149.0,12.5,704,13345,0.00,2.25,0.00,0.000,4,0.000,0.054,3604,194,1460,0,0,0,0,0,0
$GC,13452,1.18,116.8,133.8,14.3,709,13457,0.10,2.20,0.00,0.000,6,0.177,0.037,3559,1598,1460,0,0,0,0,0,0
$GC,13782,1.24,116.8,97.2,11.3,725,13787,0.08,2.25,0.00,0.000,4,0.123,0.052,3605,193,1459,0,0,0,0,0,0
$GC,13859,1.18,116.8,85.8,15.1,728,13868,0.12,2.20,0.00,0.000,6,0.172,0.037,3569,1599,1459,0,0,0,0,0,0
$GC,14204,1.23,116.8,43.7,11.1,783,14211,0.00,2.28,0.00,0.000,4,0.000,0.052,3578,200,1460,0,0,0,0,0,0
$GC,14315,1.23,116.8,30.4,13.3,801,14322,0.00,2.20,0.00,0.000,6,0.000,0.037,3578,1602,1459,0,0,0,0,0,0
$GC,14471,1.23,116.8,8.5,16.2,826,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1602,1459,0,0,0,0,0,0
$STATE,14509,end climb,SURFACE_DEPTH_REACHED
$STATE,14509,begin surface coast
$FINISH,1.9,1.023393
$STATE,14529,end surface coast,CONTROL_FINISHED_OK
$STATE,14529,begin surface
$SM_CCo,14546,40.60,0.054,0,0,1133,200.16
$SM_GC,3.22,0.00,0.00,40.60,0.000,0.000,0.054,62,2086,1133,-9.76,0.74,200.16
$IRIDIUM_FIX,-4444.39,640.27,140708,161623
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.7,31.721
$10V_AH,9.9,33.579
$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,24.025,118.500,222.500,40.600,0.000,24.340,22.613,267.880,0.000,0.000,25.144,1834.183,10316.443,382.492,2338.874,158.639,0.000,1245.164,0.000,1917.927,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,68.085,1283.670,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.661,1195.152,659.891,388.266,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,60440,835
$CAP_FILE_SIZE,127214,0
$CFSIZE,2097086464,2059632640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,180915,120257,-4504.758,636.365,39,0.9,39,-24.4