version: 66.07.10.p01
glider: 573
mission: 12
dive: 316
start: 10 3 115 0 52 1
data:
$ID,573
$MISSION,12
$DIVE,316
$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,-22024.277
$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,36
$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,315
$GPS1,031015,004358,-4504.674,636.509,41,1.2,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-70.0
$GPS2,031015,005141,-4504.679,636.506,18,1.2,19,-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,356.6,1422,-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,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-12.80,0.000,2,0.000,0.000,81,2071,1385,0,0,0,0,0,0
$GC,43,-1.13,-116.8,3.0,-0.4,2,113,11.48,2.35,-51.67,0.000,4,0.246,0.070,2813,652,2424,0,0,0,0,0,0
$GC,373,-1.07,-116.8,48.3,-17.3,56,379,0.12,2.28,0.00,0.000,6,0.199,0.047,2834,2065,2426,0,0,0,0,0,0
$GC,706,-1.07,-116.8,107.2,-18.4,96,710,0.00,2.30,0.00,0.000,4,0.000,0.065,2824,3464,2427,0,0,0,0,0,0
$GC,767,-1.07,-116.8,118.1,-17.4,98,775,0.00,2.22,0.00,0.000,6,0.000,0.041,2824,2067,2426,0,0,0,0,0,0
$GC,1083,-1.07,-116.8,172.0,-15.9,114,1087,0.00,2.28,0.00,0.000,4,0.000,0.057,2815,3471,2426,0,0,0,0,0,0
$GC,1173,-1.07,-116.8,186.9,-15.6,118,1178,0.10,2.25,0.00,0.000,6,0.185,0.044,2839,2045,2426,0,0,0,0,0,0
$GC,1501,-1.11,-116.8,235.9,-15.2,134,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2045,2427,0,0,0,0,0,0
$GC,1811,-1.15,-116.8,282.3,-15.1,149,1813,0.08,0.00,0.00,0.000,6,0.129,0.000,2801,2045,2427,0,0,0,0,0,0
$GC,2117,-1.15,-116.8,332.4,-16.0,164,2121,0.00,2.28,0.00,0.000,4,0.000,0.057,2792,3466,2427,0,0,0,0,0,0
$GC,2144,-1.12,-116.8,336.7,-15.5,165,2149,0.10,2.22,0.00,0.000,6,0.187,0.042,2818,2031,2427,0,0,0,0,0,0
$GC,2471,-1.12,-116.8,385.9,-14.9,181,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2031,2428,0,0,0,0,0,0
$GC,2779,-1.12,-116.8,431.9,-15.2,196,2783,0.00,2.35,0.00,0.000,4,0.000,0.063,2809,3467,2428,0,0,0,0,0,0
$GC,2805,-1.12,-116.8,436.1,-16.2,197,2810,0.00,2.25,0.00,0.000,6,0.000,0.044,2811,2056,2427,0,0,0,0,0,0
$GC,3133,-1.12,-116.8,485.1,-15.4,213,3137,0.00,2.30,0.00,0.000,4,0.000,0.063,2802,3470,2427,0,0,0,0,0,0
$GC,3187,-1.12,-116.8,493.8,-15.8,215,3193,0.05,2.25,0.00,0.000,6,0.174,0.045,2818,2060,2427,0,0,0,0,0,0
$GC,3503,-1.12,-116.8,539.6,-14.6,231,3507,0.00,2.28,0.00,0.000,4,0.000,0.060,2809,3465,2427,0,0,0,0,0,0
$GC,3552,-1.12,-116.8,547.6,-15.9,233,3556,0.00,2.22,0.00,0.000,6,0.000,0.043,2809,2058,2427,0,0,0,0,0,0
$GC,3874,-1.12,-116.8,596.4,-15.4,249,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2058,2427,0,0,0,0,0,0
$GC,4182,-1.12,-116.8,644.1,-15.6,264,4186,0.00,2.30,0.00,0.000,4,0.000,0.060,2801,3469,2427,0,0,0,0,0,0
$GC,4242,-1.12,-116.8,654.0,-15.9,266,4249,0.05,2.25,0.00,0.000,6,0.171,0.044,2818,2055,2427,0,0,0,0,0,0
$GC,4558,-1.15,-116.8,702.4,-15.4,282,4562,0.00,2.30,0.00,0.000,4,0.000,0.063,2809,3463,2427,0,0,0,0,0,0
$GC,4647,-1.15,-116.8,716.6,-16.0,286,4651,0.00,2.20,0.00,0.000,6,0.000,0.044,2809,2049,2427,0,0,0,0,0,0
$GC,4966,-1.15,-116.8,767.4,-15.8,302,4970,0.00,2.33,0.00,0.000,4,0.000,0.062,2800,3470,2427,0,0,0,0,0,0
$GC,5034,-1.15,-116.8,778.0,-15.7,305,5038,0.00,2.22,0.00,0.000,6,0.000,0.046,2800,2059,2426,0,0,0,0,0,0
$GC,5361,-1.15,-116.8,828.0,-15.3,321,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2059,2426,0,0,0,0,0,0
$GC,5669,-1.15,-116.8,873.3,-14.3,336,5673,0.00,2.28,0.00,0.000,4,0.000,0.058,2800,655,2426,0,0,0,0,0,0
$GC,5729,-1.15,-116.8,882.6,-15.1,338,5736,0.05,2.25,0.00,0.000,6,0.193,0.045,2806,2055,2426,0,0,0,0,0,0
$GC,6046,-1.15,-116.8,926.0,-13.5,354,6050,0.00,2.28,0.00,0.000,4,0.000,0.060,2796,3477,2425,0,0,0,0,0,0
$GC,6084,-1.15,-116.8,931.4,-14.3,356,6089,0.05,2.22,0.00,0.000,6,0.224,0.044,2807,2052,2425,0,0,0,0,0,0
$GC,6412,-1.19,-116.8,974.0,-12.9,372,6416,0.00,2.33,0.00,0.000,4,0.000,0.063,2798,3472,2425,0,0,0,0,0,0
$GC,6558,-1.19,-116.8,995.1,-14.2,378,6564,0.00,2.22,0.00,0.000,6,0.000,0.047,2798,2062,2425,0,0,0,0,0,0
$STATE,6604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6604,begin apogee
$GC,6610,-0.19,0.0,1001.8,14.3,381,6725,1.10,0.00,107.97,1.284,6,0.164,0.000,3116,1595,1950,0,0,0,0,0,0
$STATE,6725,end apogee,CONTROL_FINISHED_OK
$STATE,6726,begin climb
$GC,6727,1.13,116.8,1006.4,0.0,387,6851,1.30,2.55,114.12,1.244,4,0.090,0.054,3555,194,1473,0,0,0,0,0,0
$GC,6918,1.13,116.8,988.3,14.4,396,6922,0.00,2.38,0.00,0.000,6,0.000,0.034,3555,1619,1469,0,0,0,0,0,0
$GC,7249,1.13,116.8,943.6,13.8,412,7253,0.00,2.28,0.00,0.000,4,0.000,0.055,3555,2993,1466,0,0,0,0,0,0
$GC,7349,1.13,116.8,929.0,14.8,416,7354,0.03,2.25,0.00,0.000,6,0.196,0.037,3555,1604,1465,0,0,0,0,0,0
$GC,7669,1.13,116.8,884.6,13.7,432,7673,0.00,2.33,0.00,0.000,4,0.000,0.055,3565,196,1464,0,0,0,0,0,0
$GC,7827,1.13,116.8,861.4,15.9,439,7832,0.08,2.22,0.00,0.000,6,0.198,0.037,3549,1613,1463,0,0,0,0,0,0
$GC,8155,1.17,116.8,816.5,13.9,455,8159,0.00,2.35,0.00,0.000,4,0.000,0.053,3559,187,1463,0,0,0,0,0,0
$GC,8287,1.17,116.8,796.2,14.9,461,8292,0.00,2.25,0.00,0.000,6,0.000,0.036,3558,1599,1462,0,0,0,0,0,0
$GC,8615,1.17,116.8,749.0,14.4,477,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1599,1462,0,0,0,0,0,0
$GC,8923,1.17,116.8,704.7,14.3,492,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1599,1462,0,0,0,0,0,0
$GC,9234,1.17,116.8,663.2,13.2,507,9238,0.00,2.25,0.00,0.000,4,0.000,0.054,3559,3002,1462,0,0,0,0,0,0
$GC,9322,1.17,116.8,650.9,14.1,511,9327,0.00,2.20,0.00,0.000,6,0.000,0.037,3567,1603,1462,0,0,0,0,0,0
$GC,9650,1.17,116.8,605.8,14.0,527,9654,0.00,2.30,0.00,0.000,4,0.000,0.056,3577,191,1462,0,0,0,0,0,0
$GC,9738,1.14,116.8,592.5,15.3,531,9743,0.10,2.20,0.00,0.000,6,0.187,0.037,3554,1600,1461,0,0,0,0,0,0
$GC,10066,1.18,116.8,548.3,13.1,547,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1600,1461,0,0,0,0,0,0
$GC,10374,1.22,116.8,508.5,12.6,562,10378,0.08,2.28,0.00,0.000,4,0.125,0.054,3606,192,1461,0,0,0,0,0,0
$GC,10423,1.14,116.8,501.4,14.0,564,10428,0.20,2.22,0.00,0.000,6,0.174,0.037,3554,1602,1461,0,0,0,0,0,0
$GC,10743,1.19,116.8,464.0,11.3,580,10747,0.00,2.30,0.00,0.000,4,0.000,0.054,3563,192,1461,0,0,0,0,0,0
$GC,10815,1.19,116.8,455.3,12.2,583,10819,0.00,2.22,0.00,0.000,6,0.000,0.037,3563,1602,1461,0,0,0,0,0,0
$GC,11137,1.22,116.8,418.8,11.2,599,11141,0.00,2.30,0.00,0.000,4,0.000,0.053,3572,192,1460,0,0,0,0,0,0
$GC,11198,1.22,116.8,411.4,11.9,602,11202,0.00,2.20,0.00,0.000,6,0.000,0.036,3571,1602,1460,0,0,0,0,0,0
$GC,11529,1.22,116.8,371.3,12.3,618,11534,0.00,2.28,0.00,0.000,4,0.000,0.052,3580,192,1461,0,0,0,0,0,0
$GC,11573,1.22,116.8,365.6,12.5,620,11578,0.00,2.22,0.00,0.000,6,0.000,0.036,3580,1600,1460,0,0,0,0,0,0
$GC,11899,1.22,116.8,325.3,12.4,636,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1601,1461,0,0,0,0,0,0
$GC,12212,1.22,116.8,286.7,12.4,651,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1601,1460,0,0,0,0,0,0
$GC,12519,1.22,116.8,246.5,13.5,666,12523,0.00,2.30,0.00,0.000,4,0.000,0.054,3589,189,1460,0,0,0,0,0,0
$GC,12597,1.19,116.8,235.3,14.5,669,12602,0.05,2.22,0.00,0.000,6,0.172,0.035,3564,1603,1461,0,0,0,0,0,0
$GC,12921,1.23,116.8,194.1,12.7,685,12925,0.00,2.30,0.00,0.000,4,0.000,0.053,3573,192,1461,0,0,0,0,0,0
$GC,13178,1.23,116.8,158.9,13.4,696,13187,0.00,2.20,0.00,0.000,6,0.000,0.035,3574,1594,1460,0,0,0,0,0,0
$GC,13495,1.26,116.8,121.5,11.6,712,13499,0.00,2.22,0.00,0.000,4,0.000,0.054,3574,2992,1460,0,0,0,0,0,0
$GC,13611,1.26,116.8,107.8,11.5,717,13615,0.00,2.17,0.00,0.000,6,0.000,0.036,3582,1586,1460,0,0,0,0,0,0
$GC,13938,1.26,116.8,65.7,12.7,746,13943,0.00,2.25,0.00,0.000,4,0.000,0.054,3593,193,1460,0,0,0,0,0,0
$GC,13995,1.23,116.8,57.8,13.6,756,14003,0.03,2.22,0.00,0.000,6,0.202,0.036,3585,1607,1460,0,0,0,0,0,0
$GC,14360,1.23,116.8,13.6,13.3,817,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1607,1461,0,0,0,0,0,0
$GC,14418,1.23,116.8,6.0,13.1,826,14425,0.00,2.33,0.00,0.000,4,0.000,0.052,3594,194,1461,0,0,0,0,0,0
$STATE,14444,end climb,SURFACE_DEPTH_REACHED
$STATE,14444,begin surface coast
$FINISH,1.9,1.023018
$STATE,14470,end surface coast,CONTROL_FINISHED_OK
$STATE,14470,begin surface
$SM_CCo,14490,41.42,0.054,0,0,1132,200.16
$SM_GC,3.22,0.00,0.00,41.42,0.000,0.000,0.054,73,2069,1132,-9.72,0.25,200.16
$IRIDIUM_FIX,-4444.39,636.90,290708,090953
$TT8_MAMPS,0.027713
$HUMID,63.74
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.5,39.010
$10V_AH,9.8,40.956
$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,24.475,128.500,222.100,41.425,0.000,25.228,41.072,266.861,0.000,0.000,21.479,1858.126,10055.326,361.586,2546.529,174.210,0.000,1314.970,0.000,2109.625,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,69.615,1283.670,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.441,1217.099,683.173,422.477,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,60359,834
$CAP_FILE_SIZE,130878,0
$CFSIZE,2097086464,2050719744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031015,045527,-4503.289,636.159,38,1.0,38,-24.4