version: 66.07.10.p01
glider: 573
mission: 12
dive: 250
start: 9 18 115 16 53 24
data:
$ID,573
$MISSION,12
$DIVE,250
$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,-21797.055
$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,25
$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,249
$GPS1,180915,164503,-4504.185,636.621,38,0.9,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-70.0
$GPS2,180915,165304,-4504.256,636.704,27,1.2,28,-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,321.6,1036,-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,-49.9,0.0,0.0,0,53,0.00,0.00,-26.45,0.000,2,0.000,0.000,74,2055,1660,0,0,0,0,0,0
$GC,56,-1.13,-112.2,3.3,-1.4,4,101,11.20,2.33,-27.95,0.000,4,0.239,0.074,2803,3470,2409,0,0,0,0,0,0
$GC,214,-1.06,-112.2,27.2,-23.5,29,222,0.10,2.25,0.00,0.000,6,0.174,0.042,2833,2069,2412,0,0,0,0,0,0
$GC,364,-1.06,-112.2,55.4,-15.2,54,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2069,2412,0,0,0,0,0,0
$GC,694,-1.06,-112.2,111.5,-16.4,88,698,0.00,2.30,0.00,0.000,4,0.000,0.053,2834,641,2412,0,0,0,0,0,0
$GC,742,-1.03,-112.2,120.2,-16.8,90,747,0.08,2.28,0.00,0.000,6,0.170,0.039,2848,2064,2412,0,0,0,0,0,0
$GC,1065,-1.07,-112.2,170.7,-14.9,106,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2064,2412,0,0,0,0,0,0
$GC,1376,-1.12,-112.2,215.8,-14.8,121,1380,0.08,2.28,0.00,0.000,4,0.125,0.063,2794,3463,2413,0,0,0,0,0,0
$GC,1392,-1.12,-112.2,218.8,-15.0,122,1397,0.12,2.20,0.00,0.000,6,0.182,0.039,2825,2049,2413,0,0,0,0,0,0
$GC,1719,-1.12,-112.2,270.6,-16.0,138,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2049,2413,0,0,0,0,0,0
$GC,2028,-1.12,-112.2,319.6,-15.9,153,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2049,2413,0,0,0,0,0,0
$GC,2336,-1.12,-112.2,368.2,-15.4,168,2340,0.00,2.22,0.00,0.000,4,0.000,0.054,2825,650,2413,0,0,0,0,0,0
$GC,2380,-1.12,-112.2,375.3,-16.0,170,2384,0.00,2.25,0.00,0.000,6,0.000,0.043,2816,2058,2413,0,0,0,0,0,0
$GC,2711,-1.12,-112.2,427.6,-16.0,186,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2058,2414,0,0,0,0,0,0
$GC,3022,-1.12,-112.2,477.9,-16.0,201,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2058,2413,0,0,0,0,0,0
$GC,3330,-1.12,-112.2,526.3,-15.3,216,3334,0.00,2.28,0.00,0.000,4,0.000,0.054,2816,649,2413,0,0,0,0,0,0
$GC,3379,-1.12,-112.2,534.0,-15.7,218,3385,0.03,2.25,0.00,0.000,6,0.203,0.044,2816,2056,2413,0,0,0,0,0,0
$GC,3706,-1.12,-112.2,580.4,-14.1,234,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2056,2413,0,0,0,0,0,0
$GC,4016,-1.12,-112.2,625.1,-14.5,249,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2056,2413,0,0,0,0,0,0
$GC,4324,-1.12,-112.2,668.5,-13.9,264,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2057,2413,0,0,0,0,0,0
$GC,4635,-1.12,-112.2,709.7,-13.2,279,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2057,2413,0,0,0,0,0,0
$GC,4943,-1.12,-112.2,751.7,-13.4,294,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2057,2412,0,0,0,0,0,0
$GC,5254,-1.12,-112.2,791.7,-12.7,309,5258,0.00,2.28,0.00,0.000,4,0.000,0.055,2815,651,2412,0,0,0,0,0,0
$GC,5280,-1.12,-112.2,795.4,-13.3,310,5285,0.03,2.25,0.00,0.000,6,0.203,0.044,2815,2058,2412,0,0,0,0,0,0
$GC,5600,-1.15,-112.2,835.8,-12.4,326,5604,0.00,2.25,0.00,0.000,4,0.000,0.055,2815,657,2411,0,0,0,0,0,0
$GC,5663,-1.15,-112.2,843.6,-12.5,329,5667,0.00,2.22,0.00,0.000,6,0.000,0.044,2807,2066,2411,0,0,0,0,0,0
$GC,5989,-1.15,-112.2,883.9,-12.4,345,5993,0.00,2.30,0.00,0.000,4,0.000,0.054,2807,645,2411,0,0,0,0,0,0
$GC,6015,-1.15,-112.2,887.7,-12.9,346,6020,0.03,2.28,0.00,0.000,6,0.203,0.043,2806,2066,2411,0,0,0,0,0,0
$GC,6335,-1.15,-112.2,925.6,-11.8,362,6339,0.00,2.28,0.00,0.000,4,0.000,0.065,2796,3468,2411,0,0,0,0,0,0
$GC,6397,-1.15,-112.2,933.4,-13.2,364,6403,0.08,2.17,0.00,0.000,6,0.205,0.042,2812,2060,2411,0,0,0,0,0,0
$GC,6711,-1.18,-112.2,970.6,-11.3,380,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2060,2411,0,0,0,0,0,0
$STATE,6979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6984,-0.19,0.0,1002.1,12.1,393,7091,1.05,0.00,103.65,1.285,6,0.164,0.000,3117,1588,1950,0,0,0,0,0,0
$STATE,7092,end apogee,CONTROL_FINISHED_OK
$STATE,7092,begin climb
$GC,7094,1.13,112.2,1005.6,0.0,398,7211,1.27,2.53,108.68,1.246,4,0.091,0.054,3537,3001,1492,0,0,0,0,0,0
$GC,7250,1.16,112.2,991.1,14.0,404,7256,0.00,2.38,0.00,0.000,6,0.000,0.035,3546,1607,1489,0,0,0,0,0,0
$GC,7565,1.20,112.2,947.6,13.5,420,7570,0.08,2.38,0.00,0.000,4,0.119,0.054,3593,185,1485,0,0,0,0,0,0
$GC,7627,1.13,112.2,938.2,16.8,423,7632,0.17,2.33,0.00,0.000,6,0.174,0.038,3550,1615,1483,0,0,0,0,0,0
$GC,7953,1.13,112.2,894.7,13.6,439,7957,0.00,2.25,0.00,0.000,4,0.000,0.057,3550,2999,1483,0,0,0,0,0,0
$GC,8052,1.13,112.2,879.8,14.7,443,8057,0.00,2.25,0.00,0.000,6,0.000,0.036,3558,1594,1482,0,0,0,0,0,0
$GC,8368,1.13,112.2,833.0,14.9,459,8372,0.00,2.28,0.00,0.000,4,0.000,0.054,3569,186,1482,0,0,0,0,0,0
$GC,8509,1.13,112.2,811.6,15.0,465,8514,0.08,2.25,0.00,0.000,6,0.203,0.037,3551,1610,1481,0,0,0,0,0,0
$GC,8823,1.16,112.2,765.8,14.4,480,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1610,1481,0,0,0,0,0,0
$GC,9134,1.19,112.2,722.0,13.8,495,9138,0.00,2.33,0.00,0.000,4,0.000,0.053,3561,186,1480,0,0,0,0,0,0
$GC,9182,1.19,112.2,714.7,15.0,497,9187,0.00,2.22,0.00,0.000,6,0.000,0.036,3561,1595,1480,0,0,0,0,0,0
$GC,9505,1.19,112.2,671.9,13.3,513,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1595,1480,0,0,0,0,0,0
$GC,9812,1.19,112.2,631.3,13.0,528,9816,0.00,2.25,0.00,0.000,4,0.000,0.057,3561,2996,1479,0,0,0,0,0,0
$GC,9857,1.19,112.2,625.4,13.0,530,9861,0.00,2.20,0.00,0.000,6,0.000,0.036,3569,1597,1479,0,0,0,0,0,0
$GC,10188,1.19,112.2,584.3,12.3,546,10192,0.00,2.28,0.00,0.000,4,0.000,0.054,3579,187,1479,0,0,0,0,0,0
$GC,10243,1.16,112.2,577.2,12.9,548,10249,0.05,2.22,0.00,0.000,6,0.177,0.036,3563,1596,1479,0,0,0,0,0,0
$GC,10564,1.16,112.2,540.8,11.2,564,10568,0.00,2.25,0.00,0.000,4,0.000,0.056,3563,2999,1479,0,0,0,0,0,0
$GC,10635,1.16,112.2,531.9,12.3,567,10641,0.03,2.20,0.00,0.000,6,0.203,0.036,3563,1594,1479,0,0,0,0,0,0
$GC,10963,1.16,112.2,494.8,11.3,583,10967,0.00,2.25,0.00,0.000,4,0.000,0.054,3573,198,1479,0,0,0,0,0,0
$GC,11062,1.16,112.2,482.3,12.6,587,11068,0.05,2.22,0.00,0.000,6,0.171,0.037,3557,1607,1479,0,0,0,0,0,0
$GC,11379,1.19,112.2,443.1,13.0,603,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1606,1479,0,0,0,0,0,0
$GC,11686,1.19,112.2,404.0,13.1,618,11690,0.00,2.28,0.00,0.000,4,0.000,0.052,3566,191,1479,0,0,0,0,0,0
$GC,11758,1.19,112.2,394.1,13.3,621,11763,0.00,2.22,0.00,0.000,6,0.000,0.034,3566,1604,1478,0,0,0,0,0,0
$GC,12086,1.19,112.2,352.1,13.2,637,12090,0.00,2.25,0.00,0.000,4,0.000,0.051,3575,198,1478,0,0,0,0,0,0
$GC,12162,1.19,112.2,341.6,13.8,640,12168,0.00,2.20,0.00,0.000,6,0.000,0.036,3575,1598,1478,0,0,0,0,0,0
$GC,12477,1.19,112.2,297.7,14.4,656,12481,0.00,2.22,0.00,0.000,4,0.000,0.057,3575,2991,1478,0,0,0,0,0,0
$GC,12516,1.19,112.2,292.0,14.4,657,12522,0.03,2.17,0.00,0.000,6,0.202,0.036,3575,1595,1478,0,0,0,0,0,0
$GC,12834,1.19,112.2,250.3,12.9,673,12838,0.00,2.22,0.00,0.000,4,0.000,0.054,3585,196,1478,0,0,0,0,0,0
$GC,12934,1.16,112.2,236.7,12.6,677,12941,0.08,2.20,0.00,0.000,6,0.170,0.037,3562,1596,1478,0,0,0,0,0,0
$GC,13253,1.20,112.2,202.5,10.6,693,13257,0.00,2.22,0.00,0.000,4,0.000,0.055,3562,2990,1478,0,0,0,0,0,0
$GC,13296,1.20,112.2,197.0,11.0,695,13301,0.00,2.17,0.00,0.000,6,0.000,0.036,3570,1599,1478,0,0,0,0,0,0
$GC,13626,1.20,112.2,160.7,11.6,711,13630,0.00,2.25,0.00,0.000,4,0.000,0.054,3581,195,1478,0,0,0,0,0,0
$GC,13737,1.20,112.2,146.5,12.5,716,13742,0.00,2.20,0.00,0.000,6,0.000,0.035,3581,1599,1478,0,0,0,0,0,0
$GC,14064,1.20,112.2,109.5,11.9,732,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1599,1478,0,0,0,0,0,0
$GC,14383,1.20,112.2,69.4,11.2,759,14390,0.00,2.30,0.00,0.000,4,0.000,0.051,3590,190,1478,0,0,0,0,0,0
$GC,14630,1.16,112.2,35.6,14.7,801,14638,0.10,2.22,0.00,0.000,6,0.173,0.035,3560,1614,1478,0,0,0,0,0,0
$GC,14787,1.20,112.2,15.3,12.6,826,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1614,1478,0,0,0,0,0,0
$GC,14845,1.20,112.2,7.7,13.8,835,14852,0.00,2.22,0.00,0.000,4,0.000,0.055,3560,2995,1478,0,0,0,0,0,0
$GC,14867,1.20,112.2,5.0,12.7,838,14874,0.00,2.17,0.00,0.000,6,0.000,0.034,3568,1587,1478,0,0,0,0,0,0
$STATE,14883,end climb,SURFACE_DEPTH_REACHED
$STATE,14883,begin surface coast
$FINISH,1.9,1.021159
$STATE,14915,end surface coast,CONTROL_FINISHED_OK
$STATE,14915,begin surface
$SM_CCo,14932,42.22,0.054,0,0,1132,200.16
$SM_GC,2.78,0.00,0.00,42.22,0.000,0.000,0.054,61,2073,1132,-9.76,0.37,200.16
$IRIDIUM_FIX,-4444.39,634.22,150708,010155
$TT8_MAMPS,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.7,31.916
$10V_AH,9.9,33.767
$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,23.750,118.700,212.325,42.225,0.000,26.903,30.891,288.857,0.000,0.000,30.633,1853.376,10661.949,354.821,2435.212,150.027,0.000,1254.357,0.000,1976.675,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,74.205,1285.200,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.553,1201.745,653.578,373.035,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,60436,845
$CAP_FILE_SIZE,130090,0
$CFSIZE,2097086464,2059370496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,180915,210433,-4504.408,634.583,59,0.8,59,-24.4