version: 66.07.10.p01
glider: 573
mission: 12
dive: 251
start: 9 18 115 21 12 26
data:
$ID,573
$MISSION,12
$DIVE,251
$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,-21800.496
$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,42
$R_STBD_OVSHOOT,47
$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,250
$GPS1,180915,210433,-4504.408,634.583,59,0.8,59,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-63.2
$GPS2,180915,211206,-4504.451,634.701,14,0.9,16,-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,88.2,1894,-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,-49.9,0.0,0.0,0,40,0.00,0.00,-13.98,0.000,2,0.000,0.000,60,2072,1408,0,0,0,0,0,0
$GC,43,-1.12,-95.8,3.1,-3.3,2,112,10.88,2.33,-50.12,0.000,4,0.224,0.063,2819,655,2340,0,0,0,0,0,0
$GC,387,-1.05,-95.8,43.0,-16.9,58,393,0.12,2.22,0.00,0.000,6,0.194,0.045,2841,2040,2340,0,0,0,0,0,0
$GC,726,-1.05,-95.8,96.4,-14.8,104,730,0.00,2.22,0.00,0.000,4,0.000,0.054,2841,666,2341,0,0,0,0,0,0
$GC,775,-1.05,-95.8,103.7,-14.6,106,779,0.00,2.25,0.00,0.000,6,0.000,0.041,2832,2070,2340,0,0,0,0,0,0
$GC,1097,-1.05,-95.8,151.8,-14.8,122,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2070,2341,0,0,0,0,0,0
$GC,1408,-1.05,-95.8,197.2,-15.0,137,1412,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3466,2341,0,0,0,0,0,0
$GC,1457,-1.05,-95.8,206.1,-16.2,139,1462,0.05,2.20,0.00,0.000,6,0.170,0.041,2838,2066,2341,0,0,0,0,0,0
$GC,1781,-1.08,-95.8,253.1,-14.4,155,1785,0.00,2.22,0.00,0.000,4,0.000,0.053,2837,653,2342,0,0,0,0,0,0
$GC,1824,-1.08,-95.8,260.3,-15.1,157,1829,0.00,2.25,0.00,0.000,6,0.000,0.042,2829,2060,2342,0,0,0,0,0,0
$GC,2152,-1.08,-95.8,308.3,-14.9,173,2156,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,648,2342,0,0,0,0,0,0
$GC,2200,-1.08,-95.8,316.3,-15.6,175,2205,0.00,2.25,0.00,0.000,6,0.000,0.044,2820,2055,2342,0,0,0,0,0,0
$GC,2522,-1.08,-95.8,362.4,-14.2,191,2524,0.05,0.00,0.00,0.000,6,0.249,0.000,2830,2056,2342,0,0,0,0,0,0
$GC,2830,-1.08,-95.8,403.5,-13.0,206,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2055,2342,0,0,0,0,0,0
$GC,3141,-1.08,-95.8,443.3,-12.7,221,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2055,2342,0,0,0,0,0,0
$GC,3449,-1.08,-95.8,483.0,-12.8,236,3453,0.00,2.22,0.00,0.000,4,0.000,0.054,2830,659,2342,0,0,0,0,0,0
$GC,3521,-1.08,-95.8,492.9,-14.2,239,3526,0.00,2.22,0.00,0.000,6,0.000,0.043,2822,2055,2342,0,0,0,0,0,0
$GC,3849,-1.08,-95.8,535.3,-12.8,255,3850,0.05,0.00,0.00,0.000,6,0.250,0.000,2831,2056,2342,0,0,0,0,0,0
$GC,4157,-1.11,-95.8,576.9,-13.6,270,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2055,2341,0,0,0,0,0,0
$GC,4468,-1.15,-95.8,617.8,-13.0,285,4472,0.00,2.28,0.00,0.000,4,0.000,0.055,2831,651,2342,0,0,0,0,0,0
$GC,4544,-1.15,-95.8,628.2,-13.0,288,4550,0.00,2.25,0.00,0.000,6,0.000,0.044,2823,2060,2341,0,0,0,0,0,0
$GC,4859,-1.15,-95.8,668.0,-12.3,304,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2060,2342,0,0,0,0,0,0
$GC,5170,-1.15,-95.8,707.3,-12.5,319,5174,0.00,2.28,0.00,0.000,4,0.000,0.057,2822,651,2341,0,0,0,0,0,0
$GC,5241,-1.15,-95.8,717.2,-13.5,322,5245,0.00,2.25,0.00,0.000,6,0.000,0.045,2813,2054,2341,0,0,0,0,0,0
$GC,5561,-1.15,-95.8,757.7,-12.2,338,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2054,2341,0,0,0,0,0,0
$GC,5872,-1.15,-95.8,794.5,-12.0,353,5876,0.00,2.22,0.00,0.000,4,0.000,0.054,2813,657,2340,0,0,0,0,0,0
$GC,5920,-1.15,-95.8,800.7,-12.0,355,5925,0.00,2.25,0.00,0.000,6,0.000,0.042,2805,2070,2340,0,0,0,0,0,0
$GC,6242,-1.15,-95.8,838.9,-12.8,371,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2070,2340,0,0,0,0,0,0
$GC,6550,-1.15,-95.8,880.3,-13.5,386,6554,0.00,2.25,0.00,0.000,4,0.000,0.063,2794,3465,2340,0,0,0,0,0,0
$GC,6650,-1.15,-95.8,894.4,-13.7,390,6656,0.03,2.20,0.00,0.000,6,0.192,0.043,2802,2069,2340,0,0,0,0,0,0
$GC,6971,-1.15,-95.8,936.4,-12.6,406,6975,0.00,2.28,0.00,0.000,4,0.000,0.056,2803,647,2340,0,0,0,0,0,0
$GC,7093,-1.15,-95.8,952.6,-13.0,411,7098,0.03,2.25,0.00,0.000,6,0.207,0.041,2802,2061,2340,0,0,0,0,0,0
$GC,7415,-1.15,-95.8,992.2,-12.5,427,7419,0.00,2.28,0.00,0.000,4,0.000,0.057,2802,647,2340,0,0,0,0,0,0
$STATE,7475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7475,begin apogee
$GC,7480,-0.19,0.0,1000.4,13.0,430,7572,1.10,0.00,87.78,1.286,6,0.171,0.000,3113,1613,1950,0,0,0,0,0,0
$STATE,7573,end apogee,CONTROL_FINISHED_OK
$STATE,7573,begin climb
$GC,7574,1.12,95.8,1003.7,0.0,434,7672,1.30,0.00,92.53,1.251,6,0.094,0.000,3540,1613,1559,0,0,0,0,0,0
$GC,7969,1.12,95.8,959.7,13.0,454,7973,0.00,2.40,0.00,0.000,4,0.000,0.051,3550,193,1551,0,0,0,0,0,0
$GC,8024,1.12,95.8,952.2,13.9,456,8029,0.00,2.33,0.00,0.000,6,0.000,0.037,3550,1607,1550,0,0,0,0,0,0
$GC,8344,1.12,95.8,909.8,13.4,472,8348,0.00,2.35,0.00,0.000,4,0.000,0.051,3560,190,1550,0,0,0,0,0,0
$GC,8394,1.12,95.8,903.2,13.7,474,8399,0.03,2.28,0.00,0.000,6,0.186,0.035,3552,1600,1549,0,0,0,0,0,0
$GC,8719,1.12,95.8,862.6,12.2,490,8723,0.00,2.28,0.00,0.000,4,0.000,0.057,3552,3000,1548,0,0,0,0,0,0
$GC,8825,1.12,95.8,848.6,13.0,494,8832,0.03,2.22,0.00,0.000,6,0.205,0.036,3551,1596,1548,0,0,0,0,0,0
$GC,9140,1.12,95.8,808.9,12.7,510,9144,0.00,2.28,0.00,0.000,4,0.000,0.054,3562,196,1547,0,0,0,0,0,0
$GC,9262,1.12,95.8,792.4,14.8,515,9268,0.03,2.25,0.00,0.000,6,0.204,0.037,3553,1610,1547,0,0,0,0,0,0
$GC,9584,1.12,95.8,750.5,13.3,531,9588,0.00,2.30,0.00,0.000,4,0.000,0.051,3562,194,1546,0,0,0,0,0,0
$GC,9616,1.09,95.8,745.8,14.8,532,9622,0.08,2.22,0.00,0.000,6,0.180,0.036,3538,1604,1546,0,0,0,0,0,0
$GC,9931,1.14,95.8,704.8,12.7,548,9935,0.00,2.30,0.00,0.000,4,0.000,0.052,3547,190,1546,0,0,0,0,0,0
$GC,9993,1.14,95.8,696.6,14.2,551,9997,0.00,2.22,0.00,0.000,6,0.000,0.037,3547,1612,1546,0,0,0,0,0,0
$GC,10319,1.17,95.8,655.7,12.4,567,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1611,1545,0,0,0,0,0,0
$GC,10627,1.21,95.8,614.9,13.4,582,10629,0.08,0.00,0.00,0.000,6,0.125,0.000,3587,1612,1546,0,0,0,0,0,0
$GC,10938,1.17,95.8,571.8,13.7,597,10942,0.10,2.30,0.00,0.000,4,0.189,0.051,3573,191,1546,0,0,0,0,0,0
$GC,11044,1.14,95.8,557.1,13.2,602,11049,0.10,2.17,0.00,0.000,6,0.191,0.037,3550,1601,1545,0,0,0,0,0,0
$GC,11370,1.18,95.8,518.8,11.5,618,11374,0.00,2.20,0.00,0.000,4,0.000,0.057,3550,2991,1545,0,0,0,0,0,0
$GC,11463,1.18,95.8,507.4,12.3,622,11468,0.00,2.17,0.00,0.000,6,0.000,0.036,3558,1600,1545,0,0,0,0,0,0
$GC,11784,1.18,95.8,467.7,12.7,638,11788,0.00,2.25,0.00,0.000,4,0.000,0.054,3569,196,1545,0,0,0,0,0,0
$GC,11897,1.18,95.8,452.2,13.6,643,11901,0.00,2.20,0.00,0.000,6,0.000,0.037,3569,1611,1545,0,0,0,0,0,0
$GC,12223,1.18,95.8,410.3,12.6,659,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1611,1545,0,0,0,0,0,0
$GC,12532,1.18,95.8,372.5,11.8,674,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1611,1545,0,0,0,0,0,0
$GC,12842,1.18,95.8,337.0,11.3,689,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1611,1545,0,0,0,0,0,0
$GC,13149,1.18,95.8,302.2,11.2,704,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1611,1545,0,0,0,0,0,0
$GC,13462,1.18,95.8,268.3,10.9,719,13466,0.00,2.20,0.00,0.000,4,0.000,0.054,3569,2993,1545,0,0,0,0,0,0
$GC,13539,1.18,95.8,259.0,11.2,722,13548,0.03,2.17,0.00,0.000,6,0.203,0.035,3569,1598,1545,0,0,0,0,0,0
$GC,13856,1.18,95.8,224.2,11.1,738,13860,0.00,2.25,0.00,0.000,4,0.000,0.054,3579,192,1545,0,0,0,0,0,0
$GC,13956,1.14,95.8,211.7,11.9,742,13961,0.08,2.20,0.00,0.000,6,0.168,0.034,3556,1602,1544,0,0,0,0,0,0
$GC,14278,1.19,95.8,174.3,12.0,758,14281,0.00,2.22,0.00,0.000,4,0.000,0.054,3556,3002,1544,0,0,0,0,0,0
$GC,14414,1.19,95.8,158.3,11.0,764,14418,0.00,2.17,0.00,0.000,6,0.000,0.036,3564,1586,1544,0,0,0,0,0,0
$GC,14740,1.19,95.8,122.7,10.3,780,14744,0.00,2.22,0.00,0.000,4,0.000,0.054,3575,196,1544,0,0,0,0,0,0
$GC,14809,1.19,95.8,115.3,11.0,783,14813,0.00,2.17,0.00,0.000,6,0.000,0.037,3575,1601,1544,0,0,0,0,0,0
$GC,15138,1.19,95.8,79.1,11.5,799,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1601,1544,0,0,0,0,0,0
$GC,15487,1.19,95.8,41.1,8.8,860,15492,0.00,2.20,0.00,0.000,4,0.000,0.053,3575,2993,1544,0,0,0,0,0,0
$GC,15615,1.19,95.8,26.3,12.8,881,15623,0.05,2.17,0.00,0.000,6,0.183,0.035,3569,1589,1544,0,0,0,0,0,0
$GC,15772,1.19,95.8,13.0,8.9,906,15780,0.00,2.25,0.00,0.000,4,0.000,0.053,3578,199,1544,0,0,0,0,0,0
$STATE,15896,end climb,SURFACE_DEPTH_REACHED
$STATE,15896,begin surface coast
$FINISH,1.9,1.023332
$STATE,15953,end surface coast,CONTROL_FINISHED_OK
$STATE,15953,begin surface
$SM_CCo,15973,55.78,0.066,1,0,1133,200.16
$SM_GC,3.52,0.00,0.00,55.78,0.000,0.000,0.066,64,2062,1133,-9.75,0.06,200.16
$IRIDIUM_FIX,-4447.43,637.25,150708,060616
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.0,32.002
$10V_AH,9.9,33.870
$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,23.375,121.175,180.300,55.775,0.000,24.930,26.775,280.536,0.000,0.000,18.404,2051.345,11204.643,352.459,2720.262,159.604,0.000,1326.986,0.000,2275.366,0.000,0.539,0.000
$DEVICE_MAMPS,250.155,63.495,1285.965,65.790,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.581,1401.145,812.096,524.545,0.000,0.000,0.000,0.000,0.000,0.000
$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,67390,935
$CAP_FILE_SIZE,135023,1
$CFSIZE,2097086464,2059173888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,190915,014051,-4505.389,637.698,36,1.0,36,-24.4