version: 66.07.10.p01
glider: 573
mission: 12
dive: 258
start: 9 20 115 5 17 19
data:
$ID,573
$MISSION,12
$DIVE,258
$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,-21823.951
$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,257
$GPS1,200915,051003,-4504.805,636.687,50,0.8,50,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-71.9
$GPS2,200915,051659,-4504.863,636.735,16,1.0,18,-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,353.4,1865,-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,-20.00,0.000,2,0.000,0.000,75,2068,1524,0,0,0,0,0,0
$GC,48,-1.13,-105.9,3.1,-2.1,3,106,11.35,2.30,-40.30,0.000,4,0.244,0.069,2814,661,2382,0,0,0,0,0,0
$GC,207,-1.03,-105.9,19.8,-18.3,28,215,0.12,2.28,0.00,0.000,6,0.174,0.044,2843,2058,2385,0,0,0,0,0,0
$GC,266,-1.03,-105.9,29.7,-16.6,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2058,2384,0,0,0,0,0,0
$GC,414,-1.03,-105.9,54.0,-16.9,62,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2058,2385,0,0,0,0,0,0
$GC,748,-1.03,-105.9,106.4,-15.9,99,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2058,2385,0,0,0,0,0,0
$GC,1053,-1.03,-105.9,154.6,-15.4,114,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2058,2385,0,0,0,0,0,0
$GC,1364,-1.03,-105.9,199.3,-14.9,129,1369,0.00,2.28,0.00,0.000,4,0.000,0.064,2833,3466,2386,0,0,0,0,0,0
$GC,1407,-1.03,-105.9,205.6,-15.2,131,1412,0.08,2.20,0.00,0.000,6,0.205,0.044,2848,2065,2386,0,0,0,0,0,0
$GC,1737,-1.08,-105.9,253.5,-14.8,147,1741,0.00,2.28,0.00,0.000,4,0.000,0.055,2849,653,2386,0,0,0,0,0,0
$GC,1808,-1.08,-105.9,265.2,-14.6,150,1812,0.00,2.28,0.00,0.000,6,0.000,0.044,2840,2070,2386,0,0,0,0,0,0
$GC,2130,-1.12,-105.9,312.4,-14.6,166,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2070,2386,0,0,0,0,0,0
$GC,2439,-1.16,-105.9,356.9,-14.1,181,2444,0.08,2.25,0.00,0.000,4,0.125,0.060,2784,3475,2386,0,0,0,0,0,0
$GC,2502,-1.08,-105.9,366.9,-16.7,184,2506,0.17,2.20,0.00,0.000,6,0.177,0.044,2830,2060,2386,0,0,0,0,0,0
$GC,2827,-1.08,-105.9,413.3,-13.5,200,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2060,2386,0,0,0,0,0,0
$GC,3138,-1.11,-105.9,454.2,-13.0,215,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2060,2386,0,0,0,0,0,0
$GC,3446,-1.15,-105.9,495.8,-13.4,230,3450,0.00,2.25,0.00,0.000,4,0.000,0.058,2831,649,2386,0,0,0,0,0,0
$GC,3466,-1.15,-105.9,498.9,-13.9,231,3471,0.00,2.25,0.00,0.000,6,0.000,0.044,2822,2052,2386,0,0,0,0,0,0
$GC,3794,-1.15,-105.9,544.5,-14.0,247,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2052,2386,0,0,0,0,0,0
$GC,4102,-1.15,-105.9,587.0,-14.1,262,4106,0.00,2.30,0.00,0.000,4,0.000,0.060,2811,3470,2386,0,0,0,0,0,0
$GC,4139,-1.15,-105.9,592.4,-13.8,263,4145,0.00,2.22,0.00,0.000,6,0.000,0.044,2811,2067,2386,0,0,0,0,0,0
$GC,4456,-1.15,-105.9,637.7,-14.5,279,4460,0.00,2.28,0.00,0.000,4,0.000,0.059,2802,3475,2386,0,0,0,0,0,0
$GC,4495,-1.15,-105.9,644.0,-15.9,281,4499,0.00,2.20,0.00,0.000,6,0.000,0.044,2802,2056,2386,0,0,0,0,0,0
$GC,4821,-1.15,-105.9,694.2,-15.4,297,4825,0.00,2.30,0.00,0.000,4,0.000,0.063,2793,3466,2386,0,0,0,0,0,0
$GC,4909,-1.15,-105.9,708.8,-16.1,301,4914,0.05,2.22,0.00,0.000,6,0.182,0.044,2808,2064,2385,0,0,0,0,0,0
$GC,5236,-1.15,-105.9,756.1,-14.3,317,5240,0.00,2.25,0.00,0.000,4,0.000,0.058,2800,3471,2385,0,0,0,0,0,0
$GC,5312,-1.15,-105.9,767.6,-15.2,320,5319,0.00,2.25,0.00,0.000,6,0.000,0.046,2800,2056,2385,0,0,0,0,0,0
$GC,5629,-1.15,-105.9,811.2,-13.8,336,5631,0.03,0.00,0.00,0.000,6,0.281,0.000,2808,2056,2385,0,0,0,0,0,0
$GC,5938,-1.15,-105.9,850.9,-12.3,351,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2056,2385,0,0,0,0,0,0
$GC,6247,-1.15,-105.9,890.5,-12.5,366,6251,0.00,2.30,0.00,0.000,4,0.000,0.064,2799,3475,2384,0,0,0,0,0,0
$GC,6301,-1.15,-105.9,897.6,-13.2,368,6307,0.00,2.25,0.00,0.000,6,0.000,0.046,2799,2055,2383,0,0,0,0,0,0
$GC,6616,-1.15,-105.9,937.0,-12.4,384,6621,0.05,2.30,0.00,0.000,4,0.246,0.064,2800,3466,2383,0,0,0,0,0,0
$GC,6671,-1.15,-105.9,944.0,-12.6,386,6676,0.00,2.22,0.00,0.000,6,0.000,0.045,2800,2062,2383,0,0,0,0,0,0
$GC,6992,-1.15,-105.9,986.2,-13.3,402,6996,0.00,2.25,0.00,0.000,4,0.000,0.060,2791,3467,2383,0,0,0,0,0,0
$GC,7015,-1.15,-105.9,989.2,-13.1,403,7020,0.10,2.20,0.00,0.000,6,0.196,0.044,2815,2051,2383,0,0,0,0,0,0
$STATE,7117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7117,begin apogee
$GC,7123,-0.19,0.0,1002.3,12.3,408,7225,1.02,0.00,99.03,1.284,6,0.165,0.000,3114,1597,1950,0,0,0,0,0,0
$STATE,7226,end apogee,CONTROL_FINISHED_OK
$STATE,7226,begin climb
$GC,7228,1.13,105.9,1005.8,0.0,413,7340,1.30,2.50,103.03,1.250,4,0.090,0.054,3554,196,1517,0,0,0,0,0,0
$GC,7395,1.13,105.9,989.7,14.4,421,7400,0.00,2.40,0.00,0.000,6,0.000,0.034,3554,1604,1513,0,0,0,0,0,0
$GC,7723,1.13,105.9,945.7,13.8,437,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1509,0,0,0,0,0,0
$GC,8031,1.13,105.9,900.7,14.9,452,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1508,0,0,0,0,0,0
$GC,8341,1.13,105.9,854.9,15.0,467,8345,0.00,2.30,0.00,0.000,4,0.000,0.053,3563,195,1507,0,0,0,0,0,0
$GC,8401,1.13,105.9,845.1,16.3,470,8406,0.08,2.22,0.00,0.000,6,0.199,0.036,3548,1608,1507,0,0,0,0,0,0
$GC,8733,1.17,105.9,798.6,13.5,486,8737,0.00,2.30,0.00,0.000,4,0.000,0.052,3557,192,1507,0,0,0,0,0,0
$GC,8840,1.17,105.9,783.7,14.1,491,8844,0.00,2.20,0.00,0.000,6,0.000,0.036,3557,1608,1506,0,0,0,0,0,0
$GC,9172,1.17,105.9,741.1,12.7,507,9176,0.00,2.20,0.00,0.000,4,0.000,0.054,3557,2995,1506,0,0,0,0,0,0
$GC,9244,1.17,105.9,731.4,13.7,510,9249,0.00,2.20,0.00,0.000,6,0.000,0.037,3565,1597,1506,0,0,0,0,0,0
$GC,9570,1.17,105.9,690.0,12.8,526,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1597,1505,0,0,0,0,0,0
$GC,9881,1.17,105.9,648.8,13.6,541,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1597,1505,0,0,0,0,0,0
$GC,10189,1.17,105.9,607.0,13.2,556,10193,0.00,2.28,0.00,0.000,4,0.000,0.055,3575,192,1506,0,0,0,0,0,0
$GC,10317,1.13,105.9,588.9,14.2,561,10323,0.08,2.22,0.00,0.000,6,0.164,0.035,3552,1610,1505,0,0,0,0,0,0
$GC,10634,1.16,105.9,550.1,12.1,577,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1504,0,0,0,0,0,0
$GC,10942,1.19,105.9,513.5,12.0,592,10946,0.00,2.28,0.00,0.000,4,0.000,0.054,3562,195,1505,0,0,0,0,0,0
$GC,11036,1.19,105.9,501.8,12.0,596,11040,0.00,2.20,0.00,0.000,6,0.000,0.036,3562,1598,1504,0,0,0,0,0,0
$GC,11356,1.19,105.9,463.5,12.0,612,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1598,1504,0,0,0,0,0,0
$GC,11667,1.19,105.9,426.3,12.1,627,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1598,1504,0,0,0,0,0,0
$GC,11975,1.19,105.9,388.6,12.6,642,11979,0.00,2.30,0.00,0.000,4,0.000,0.053,3571,198,1504,0,0,0,0,0,0
$GC,12034,1.19,105.9,380.9,13.4,644,12041,0.00,2.22,0.00,0.000,6,0.000,0.037,3571,1610,1504,0,0,0,0,0,0
$GC,12350,1.19,105.9,341.1,12.9,660,12354,0.00,2.20,0.00,0.000,4,0.000,0.054,3571,2996,1504,0,0,0,0,0,0
$GC,12439,1.19,105.9,329.0,14.2,664,12443,0.00,2.12,0.00,0.000,6,0.000,0.036,3579,1599,1504,0,0,0,0,0,0
$GC,12759,1.19,105.9,287.7,12.4,680,12763,0.00,2.25,0.00,0.000,4,0.000,0.054,3590,192,1504,0,0,0,0,0,0
$GC,12912,1.14,105.9,268.3,12.5,686,12920,0.10,2.20,0.00,0.000,6,0.163,0.035,3558,1599,1504,0,0,0,0,0,0
$GC,13228,1.18,105.9,232.1,11.4,702,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1599,1504,0,0,0,0,0,0
$GC,13539,1.22,105.9,196.3,11.6,717,13543,0.00,2.25,0.00,0.000,4,0.000,0.053,3568,196,1504,0,0,0,0,0,0
$GC,13646,1.22,105.9,183.5,11.7,722,13650,0.00,2.17,0.00,0.000,6,0.000,0.037,3568,1601,1504,0,0,0,0,0,0
$GC,13972,1.22,105.9,151.6,9.5,738,13976,0.00,2.28,0.00,0.000,4,0.000,0.052,3577,193,1504,0,0,0,0,0,0
$GC,14127,1.22,105.9,134.5,11.7,745,14131,0.00,2.17,0.00,0.000,6,0.000,0.036,3577,1601,1504,0,0,0,0,0,0
$GC,14456,1.22,105.9,98.7,11.2,761,14457,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1601,1504,0,0,0,0,0,0
$GC,14778,1.22,105.9,61.7,11.8,794,14783,0.00,2.28,0.00,0.000,4,0.000,0.051,3586,193,1504,0,0,0,0,0,0
$GC,15006,1.22,105.9,33.4,12.8,833,15013,0.00,2.20,0.00,0.000,6,0.000,0.035,3586,1598,1504,0,0,0,0,0,0
$GC,15164,1.22,105.9,15.0,11.6,858,15171,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1504,0,0,0,0,0,0
$GC,15222,1.22,105.9,7.9,12.4,867,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1504,0,0,0,0,0,0
$STATE,15265,end climb,SURFACE_DEPTH_REACHED
$STATE,15265,begin surface coast
$FINISH,1.8,1.005045
$STATE,15298,end surface coast,CONTROL_FINISHED_OK
$STATE,15298,begin surface
$SM_CCo,15315,44.75,0.057,0,0,1132,200.16
$SM_GC,3.04,0.00,0.00,44.75,0.000,0.000,0.057,63,2078,1132,-9.76,0.51,200.16
$IRIDIUM_FIX,-4450.47,349.45,160708,141440
$TT8_MAMPS,0.026964
$HUMID,63.74
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,32.681
$10V_AH,9.9,34.556
$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,23.650,109.450,202.050,44.750,0.000,25.380,29.479,236.248,0.000,0.000,20.732,1930.051,10837.497,342.556,2500.277,165.723,0.000,1277.979,0.000,2100.523,0.000,0.540,0.000
$DEVICE_MAMPS,280.755,68.850,1284.435,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.247,1281.111,712.788,419.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,63760,879
$CAP_FILE_SIZE,130165,0
$CFSIZE,2097086464,2058321920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,200915,093434,-4504.117,636.291,40,0.8,40,-24.4