version: 66.07.10.p01
glider: 573
mission: 12
dive: 315
start: 10 2 115 20 37 17
data:
$ID,573
$MISSION,12
$DIVE,315
$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,-22020.85
$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,34
$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,314
$GPS1,021015,202828,-4502.617,636.890,39,0.8,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-68.0
$GPS2,021015,203657,-4502.570,636.922,20,1.3,20,-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,228.9,2910,-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,-49.9,0.0,0.0,0,59,0.00,0.00,-32.33,0.000,2,0.000,0.000,64,2060,1467,0,0,0,0,0,0
$GC,62,-1.13,-112.9,3.0,-1.3,5,126,11.62,2.30,-46.08,0.000,4,0.247,0.069,2800,3468,2410,0,0,0,0,0,0
$GC,287,-1.09,-112.9,31.0,-17.9,41,295,0.05,2.25,0.00,0.000,6,0.168,0.042,2824,2067,2412,0,0,0,0,0,0
$GC,437,-1.09,-112.9,54.2,-14.3,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2066,2412,0,0,0,0,0,0
$GC,786,-1.09,-112.9,111.8,-17.1,103,790,0.00,2.28,0.00,0.000,4,0.000,0.057,2814,3466,2412,0,0,0,0,0,0
$GC,848,-1.09,-112.9,123.1,-17.7,106,853,0.08,2.22,0.00,0.000,6,0.204,0.040,2830,2045,2412,0,0,0,0,0,0
$GC,1174,-1.09,-112.9,175.5,-15.9,122,1178,0.00,2.25,0.00,0.000,4,0.000,0.054,2831,646,2412,0,0,0,0,0,0
$GC,1213,-1.09,-112.9,181.8,-16.8,124,1217,0.00,2.22,0.00,0.000,6,0.000,0.037,2822,2069,2412,0,0,0,0,0,0
$GC,1540,-1.09,-112.9,237.1,-16.0,140,1544,0.00,2.30,0.00,0.000,4,0.000,0.054,2822,651,2412,0,0,0,0,0,0
$GC,1588,-1.09,-112.9,245.3,-16.5,142,1594,0.05,2.25,0.00,0.000,6,0.186,0.041,2828,2061,2412,0,0,0,0,0,0
$GC,1910,-1.09,-112.9,294.5,-15.8,158,1915,0.00,2.28,0.00,0.000,4,0.000,0.063,2818,3465,2413,0,0,0,0,0,0
$GC,1954,-1.09,-112.9,301.8,-15.4,160,1959,0.00,2.22,0.00,0.000,6,0.000,0.041,2818,2051,2413,0,0,0,0,0,0
$GC,2280,-1.09,-112.9,352.3,-15.3,176,2284,0.00,2.30,0.00,0.000,4,0.000,0.060,2810,3469,2412,0,0,0,0,0,0
$GC,2341,-1.09,-112.9,362.0,-15.2,178,2348,0.05,2.22,0.00,0.000,6,0.169,0.042,2828,2061,2413,0,0,0,0,0,0
$GC,2656,-1.12,-112.9,407.4,-14.3,194,2660,0.00,2.28,0.00,0.000,4,0.000,0.060,2818,3471,2413,0,0,0,0,0,0
$GC,2705,-1.12,-112.9,414.8,-15.3,196,2710,0.00,2.22,0.00,0.000,6,0.000,0.042,2819,2060,2413,0,0,0,0,0,0
$GC,3026,-1.12,-112.9,462.6,-15.4,212,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2060,2412,0,0,0,0,0,0
$GC,3337,-1.12,-112.9,509.2,-14.7,227,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2060,2413,0,0,0,0,0,0
$GC,3645,-1.12,-112.9,554.2,-14.8,242,3648,0.00,2.28,0.00,0.000,4,0.000,0.059,2810,3465,2413,0,0,0,0,0,0
$GC,3677,-1.12,-112.9,559.2,-14.9,243,3682,0.00,2.20,0.00,0.000,6,0.000,0.041,2811,2065,2412,0,0,0,0,0,0
$GC,3999,-1.12,-112.9,607.0,-15.1,259,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2065,2412,0,0,0,0,0,0
$GC,4307,-1.12,-112.9,652.7,-14.7,274,4311,0.00,2.25,0.00,0.000,4,0.000,0.057,2802,3466,2412,0,0,0,0,0,0
$GC,4345,-1.12,-112.9,658.4,-15.2,275,4351,0.05,2.22,0.00,0.000,6,0.171,0.041,2818,2059,2412,0,0,0,0,0,0
$GC,4662,-1.15,-112.9,700.7,-13.1,291,4666,0.00,2.30,0.00,0.000,4,0.000,0.060,2810,3471,2412,0,0,0,0,0,0
$GC,4716,-1.15,-112.9,708.6,-14.8,293,4721,0.00,2.25,0.00,0.000,6,0.000,0.044,2811,2056,2412,0,0,0,0,0,0
$GC,5033,-1.15,-112.9,752.4,-13.9,309,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2056,2412,0,0,0,0,0,0
$GC,5341,-1.15,-112.9,794.0,-12.9,324,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2056,2411,0,0,0,0,0,0
$GC,5652,-1.19,-112.9,833.0,-12.8,339,5656,0.00,2.30,0.00,0.000,4,0.000,0.062,2802,3463,2411,0,0,0,0,0,0
$GC,5713,-1.19,-112.9,841.2,-13.2,342,5717,0.00,2.22,0.00,0.000,6,0.000,0.044,2803,2058,2411,0,0,0,0,0,0
$GC,6044,-1.19,-112.9,883.0,-12.7,358,6048,0.00,2.28,0.00,0.000,4,0.000,0.063,2794,3464,2411,0,0,0,0,0,0
$GC,6088,-1.19,-112.9,888.7,-13.3,360,6092,0.00,2.22,0.00,0.000,6,0.000,0.044,2795,2058,2410,0,0,0,0,0,0
$GC,6419,-1.19,-112.9,931.5,-12.9,376,6424,0.00,2.28,0.00,0.000,4,0.000,0.059,2795,656,2410,0,0,0,0,0,0
$GC,6514,-1.19,-112.9,944.3,-13.6,380,6519,0.00,2.25,0.00,0.000,6,0.000,0.047,2787,2051,2410,0,0,0,0,0,0
$GC,6840,-1.19,-112.9,987.5,-13.1,396,6844,0.00,2.28,0.00,0.000,4,0.000,0.060,2776,3475,2410,0,0,0,0,0,0
$GC,6912,-1.15,-112.9,997.5,-13.9,399,6917,0.12,2.22,0.00,0.000,6,0.185,0.046,2807,2062,2410,0,0,0,0,0,0
$STATE,6948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6949,begin apogee
$GC,6954,-0.19,0.0,1002.2,12.8,401,7063,1.08,0.00,104.93,1.287,6,0.164,0.000,3119,1595,1950,0,0,0,0,0,0
$STATE,7064,end apogee,CONTROL_FINISHED_OK
$STATE,7064,begin climb
$GC,7065,1.13,112.9,1005.8,0.0,406,7187,1.27,2.60,109.82,1.247,4,0.090,0.054,3551,196,1488,0,0,0,0,0,0
$GC,7202,1.13,112.9,994.4,13.1,412,7208,0.00,2.47,0.00,0.000,6,0.000,0.035,3551,1617,1485,0,0,0,0,0,0
$GC,7518,1.13,112.9,951.8,13.1,428,7522,0.00,2.42,0.00,0.000,4,0.000,0.054,3560,192,1480,0,0,0,0,0,0
$GC,7556,1.13,112.9,946.6,14.4,430,7560,0.00,2.30,0.00,0.000,6,0.000,0.037,3560,1605,1480,0,0,0,0,0,0
$GC,7881,1.13,112.9,904.0,12.9,446,7885,0.00,2.35,0.00,0.000,4,0.000,0.054,3569,197,1479,0,0,0,0,0,0
$GC,7952,1.13,112.9,894.1,13.7,449,7957,0.05,2.25,0.00,0.000,6,0.169,0.036,3554,1599,1479,0,0,0,0,0,0
$GC,8273,1.13,112.9,852.4,13.0,465,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1599,1478,0,0,0,0,0,0
$GC,8582,1.16,112.9,813.8,12.3,480,8586,0.00,2.25,0.00,0.000,4,0.000,0.054,3554,2994,1478,0,0,0,0,0,0
$GC,8602,1.16,112.9,810.9,14.0,481,8607,0.00,2.20,0.00,0.000,6,0.000,0.036,3562,1603,1478,0,0,0,0,0,0
$GC,8930,1.16,112.9,768.9,13.2,497,8934,0.00,2.30,0.00,0.000,4,0.000,0.055,3572,192,1478,0,0,0,0,0,0
$GC,8973,1.13,112.9,762.8,13.6,499,8978,0.10,2.22,0.00,0.000,6,0.189,0.037,3549,1595,1477,0,0,0,0,0,0
$GC,9300,1.17,112.9,721.0,13.0,515,9305,0.00,2.30,0.00,0.000,4,0.000,0.054,3559,193,1477,0,0,0,0,0,0
$GC,9349,1.17,112.9,713.6,15.1,517,9354,0.00,2.25,0.00,0.000,6,0.000,0.037,3558,1604,1477,0,0,0,0,0,0
$GC,9672,1.17,112.9,666.9,15.2,533,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1604,1477,0,0,0,0,0,0
$GC,9980,1.20,112.9,622.4,14.4,548,9984,0.00,2.30,0.00,0.000,4,0.000,0.054,3567,198,1477,0,0,0,0,0,0
$GC,10006,1.20,112.9,618.4,14.7,549,10011,0.00,2.22,0.00,0.000,6,0.000,0.036,3567,1606,1477,0,0,0,0,0,0
$GC,10328,1.20,112.9,570.5,15.2,565,10332,0.00,2.30,0.00,0.000,4,0.000,0.053,3576,198,1476,0,0,0,0,0,0
$GC,10354,1.20,112.9,566.1,15.7,566,10359,0.00,2.22,0.00,0.000,6,0.000,0.035,3576,1605,1477,0,0,0,0,0,0
$GC,10675,1.20,112.9,517.3,15.2,582,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1605,1476,0,0,0,0,0,0
$GC,10985,1.20,112.9,472.4,13.9,597,10990,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,197,1476,0,0,0,0,0,0
$GC,11085,1.17,112.9,458.0,14.5,601,11091,0.10,2.22,0.00,0.000,6,0.187,0.035,3562,1609,1476,0,0,0,0,0,0
$GC,11402,1.21,112.9,418.9,12.3,617,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1609,1476,0,0,0,0,0,0
$GC,11710,1.25,112.9,380.3,12.6,632,11712,0.08,0.00,0.00,0.000,6,0.125,0.000,3602,1610,1476,0,0,0,0,0,0
$GC,12021,1.21,112.9,336.9,14.0,647,12022,0.10,0.00,0.00,0.000,6,0.188,0.000,3578,1611,1476,0,0,0,0,0,0
$GC,12330,1.21,112.9,295.8,13.0,662,12334,0.00,2.30,0.00,0.000,4,0.000,0.054,3588,196,1477,0,0,0,0,0,0
$GC,12478,1.17,112.9,275.5,14.1,668,12485,0.08,2.20,0.00,0.000,6,0.168,0.035,3564,1598,1476,0,0,0,0,0,0
$GC,12793,1.22,112.9,235.5,12.7,684,12798,0.00,2.25,0.00,0.000,4,0.000,0.055,3564,3003,1476,0,0,0,0,0,0
$GC,12813,1.25,112.9,233.1,12.6,685,12817,0.00,2.17,0.00,0.000,6,0.000,0.036,3572,1595,1476,0,0,0,0,0,0
$GC,13142,1.25,112.9,190.9,12.5,701,13146,0.00,2.25,0.00,0.000,4,0.000,0.053,3572,2994,1476,0,0,0,0,0,0
$GC,13173,1.25,112.9,186.5,12.6,702,13182,0.00,2.17,0.00,0.000,6,0.000,0.036,3581,1606,1476,0,0,0,0,0,0
$GC,13490,1.25,112.9,150.7,11.2,718,13494,0.00,2.30,0.00,0.000,4,0.000,0.055,3592,185,1476,0,0,0,0,0,0
$GC,13748,1.21,112.9,117.6,13.3,729,13755,0.05,2.22,0.00,0.000,6,0.178,0.035,3576,1605,1476,0,0,0,0,0,0
$GC,14067,1.24,112.9,77.8,12.8,745,14072,0.00,2.30,0.00,0.000,4,0.000,0.051,3586,193,1476,0,0,0,0,0,0
$GC,14249,1.24,112.9,53.7,12.3,777,14256,0.00,2.20,0.00,0.000,6,0.000,0.034,3585,1601,1476,0,0,0,0,0,0
$GC,14618,1.24,112.9,5.5,14.2,838,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1601,1476,0,0,0,0,0,0
$STATE,14637,end climb,SURFACE_DEPTH_REACHED
$STATE,14637,begin surface coast
$FINISH,1.9,1.012570
$STATE,14663,end surface coast,CONTROL_FINISHED_OK
$STATE,14664,begin surface
$SM_CCo,14681,41.72,0.054,0,0,1132,200.16
$SM_GC,3.10,0.00,0.00,41.72,0.000,0.000,0.054,81,2072,1132,-9.69,0.31,200.16
$IRIDIUM_FIX,-4441.36,633.87,290708,030328
$TT8_MAMPS,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,1
$24V_AH,22.5,38.909
$10V_AH,9.7,40.863
$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,23.975,128.450,214.750,41.725,0.000,24.922,18.504,313.897,0.250,0.000,23.711,1856.234,10331.054,366.470,2481.922,184.750,0.000,1293.646,0.000,2019.164,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,68.850,1287.495,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.678,1223.849,680.130,407.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,60530,845
$CAP_FILE_SIZE,132580,0
$CFSIZE,2097086464,2050818048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031015,004358,-4504.674,636.509,41,1.2,41,-24.4