version: 66.07.10.p01
glider: 573
mission: 12
dive: 318
start: 10 3 115 9 41 44
data:
$ID,573
$MISSION,12
$DIVE,318
$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,-22031.191
$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,46
$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,317
$GPS1,031015,093057,-4505.875,636.129,42,1.0,42,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.2
$GPS2,031015,094123,-4505.892,636.210,19,1.0,19,-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,19.9,3515,-27.3,-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,-1.08,-51.3,0.0,0.0,0,46,0.00,0.00,-19.45,0.000,2,0.000,0.000,81,2076,1517,0,0,0,0,0,0
$GC,49,-1.11,-100.6,3.2,-3.0,3,106,11.65,2.38,-38.42,0.000,4,0.249,0.070,2818,655,2361,0,0,0,0,0,0
$GC,379,-1.03,-100.6,50.9,-18.5,57,387,0.10,2.28,0.00,0.000,6,0.169,0.046,2840,2039,2363,0,0,0,0,0,0
$GC,723,-1.03,-100.6,108.2,-17.3,96,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2039,2363,0,0,0,0,0,0
$GC,1034,-1.03,-100.6,158.1,-15.9,111,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2039,2363,0,0,0,0,0,0
$GC,1342,-1.03,-100.6,206.6,-15.9,126,1346,0.00,2.25,0.00,0.000,4,0.000,0.057,2841,660,2363,0,0,0,0,0,0
$GC,1368,-1.03,-100.6,210.3,-16.3,127,1373,0.08,2.25,0.00,0.000,6,0.215,0.043,2848,2073,2364,0,0,0,0,0,0
$GC,1697,-1.07,-100.6,259.0,-14.0,143,1702,0.00,2.25,0.00,0.000,4,0.000,0.059,2837,3465,2364,0,0,0,0,0,0
$GC,1809,-1.07,-100.6,275.7,-15.0,148,1813,0.00,2.22,0.00,0.000,6,0.000,0.041,2839,2066,2364,0,0,0,0,0,0
$GC,2135,-1.07,-100.6,323.1,-14.5,164,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2065,2364,0,0,0,0,0,0
$GC,2446,-1.10,-100.6,369.2,-14.9,179,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2065,2364,0,0,0,0,0,0
$GC,2754,-1.14,-100.6,414.3,-13.9,194,2756,0.08,0.00,0.00,0.000,6,0.124,0.000,2800,2065,2364,0,0,0,0,0,0
$GC,3065,-1.11,-100.6,459.3,-14.6,209,3070,0.10,2.30,0.00,0.000,4,0.193,0.057,2814,3475,2364,0,0,0,0,0,0
$GC,3104,-1.11,-100.6,464.9,-14.0,211,3108,0.00,2.22,0.00,0.000,6,0.000,0.044,2814,2052,2364,0,0,0,0,0,0
$GC,3431,-1.11,-100.6,510.8,-14.4,227,3435,0.00,2.33,0.00,0.000,4,0.000,0.063,2806,3465,2364,0,0,0,0,0,0
$GC,3470,-1.11,-100.6,516.6,-14.2,229,3475,0.08,2.22,0.00,0.000,6,0.200,0.045,2825,2058,2364,0,0,0,0,0,0
$GC,3796,-1.11,-100.6,562.0,-13.9,245,3800,0.00,2.33,0.00,0.000,4,0.000,0.063,2816,3472,2364,0,0,0,0,0,0
$GC,3868,-1.11,-100.6,572.6,-15.1,248,3872,0.00,2.25,0.00,0.000,6,0.000,0.046,2816,2063,2364,0,0,0,0,0,0
$GC,4188,-1.11,-100.6,617.2,-13.7,264,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2063,2364,0,0,0,0,0,0
$GC,4499,-1.11,-100.6,658.3,-13.1,279,4503,0.00,2.28,0.00,0.000,4,0.000,0.059,2807,3465,2364,0,0,0,0,0,0
$GC,4571,-1.11,-100.6,668.6,-14.3,282,4576,0.03,2.25,0.00,0.000,6,0.187,0.044,2817,2054,2364,0,0,0,0,0,0
$GC,4891,-1.11,-100.6,711.8,-13.5,298,4895,0.00,2.30,0.00,0.000,4,0.000,0.060,2818,645,2363,0,0,0,0,0,0
$GC,4941,-1.11,-100.6,718.9,-14.5,300,4946,0.03,2.28,0.00,0.000,6,0.207,0.046,2818,2056,2363,0,0,0,0,0,0
$GC,5266,-1.11,-100.6,761.4,-12.5,316,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2056,2363,0,0,0,0,0,0
$GC,5577,-1.11,-100.6,799.8,-12.8,331,5581,0.00,2.30,0.00,0.000,4,0.000,0.063,2807,3469,2363,0,0,0,0,0,0
$GC,5676,-1.11,-100.6,813.3,-14.0,335,5682,0.03,2.25,0.00,0.000,6,0.183,0.047,2818,2067,2362,0,0,0,0,0,0
$GC,5993,-1.11,-100.6,854.3,-12.5,351,5997,0.00,2.30,0.00,0.000,4,0.000,0.060,2809,3474,2362,0,0,0,0,0,0
$GC,6077,-1.11,-100.6,865.4,-13.4,355,6082,0.08,2.25,0.00,0.000,6,0.194,0.046,2825,2049,2362,0,0,0,0,0,0
$GC,6410,-1.15,-100.6,905.8,-12.2,371,6414,0.00,2.35,0.00,0.000,4,0.000,0.063,2816,3478,2362,0,0,0,0,0,0
$GC,6470,-1.15,-100.6,913.7,-12.6,373,6476,0.00,2.25,0.00,0.000,6,0.000,0.045,2816,2066,2362,0,0,0,0,0,0
$GC,6787,-1.18,-100.6,953.0,-12.5,389,6791,0.00,2.28,0.00,0.000,4,0.000,0.057,2807,3471,2362,0,0,0,0,0,0
$GC,6893,-1.18,-100.6,966.9,-13.2,394,6897,0.00,2.22,0.00,0.000,6,0.000,0.046,2808,2049,2362,0,0,0,0,0,0
$STATE,7162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7162,begin apogee
$GC,7168,-0.19,0.0,1000.6,12.5,407,7266,1.08,0.00,94.40,1.284,6,0.168,0.000,3119,1598,1950,0,0,0,0,0,0
$STATE,7267,end apogee,CONTROL_FINISHED_OK
$STATE,7267,begin climb
$GC,7269,1.11,100.6,1003.9,0.0,412,7376,1.25,2.53,98.50,1.242,4,0.088,0.054,3545,192,1538,0,0,0,0,0,0
$GC,7482,1.11,100.6,982.3,14.0,422,7487,0.00,2.40,0.00,0.000,6,0.000,0.034,3545,1610,1533,0,0,0,0,0,0
$GC,7808,1.11,100.6,938.9,13.5,438,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1611,1530,0,0,0,0,0,0
$GC,8119,1.11,100.6,899.4,12.7,453,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1611,1529,0,0,0,0,0,0
$GC,8427,1.11,100.6,859.4,13.1,468,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1612,1528,0,0,0,0,0,0
$GC,8737,1.11,100.6,818.8,13.3,483,8741,0.00,2.22,0.00,0.000,4,0.000,0.054,3545,3001,1528,0,0,0,0,0,0
$GC,8786,1.11,100.6,811.7,13.3,485,8791,0.00,2.22,0.00,0.000,6,0.000,0.036,3554,1597,1528,0,0,0,0,0,0
$GC,9108,1.11,100.6,768.2,13.7,501,9112,0.00,2.30,0.00,0.000,4,0.000,0.056,3565,192,1528,0,0,0,0,0,0
$GC,9260,1.07,100.6,746.8,14.1,508,9265,0.12,2.20,0.00,0.000,6,0.177,0.037,3534,1608,1527,0,0,0,0,0,0
$GC,9587,1.12,100.6,708.7,11.3,524,9591,0.00,2.33,0.00,0.000,4,0.000,0.054,3543,192,1526,0,0,0,0,0,0
$GC,9663,1.12,100.6,699.4,11.1,527,9668,0.00,2.22,0.00,0.000,6,0.000,0.036,3543,1601,1526,0,0,0,0,0,0
$GC,9980,1.16,100.6,665.8,10.9,543,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1601,1526,0,0,0,0,0,0
$GC,10288,1.19,100.6,631.5,11.3,558,10290,0.08,0.00,0.00,0.000,6,0.122,0.000,3589,1601,1526,0,0,0,0,0,0
$GC,10599,1.15,100.6,592.0,12.5,573,10601,0.12,0.00,0.00,0.000,6,0.181,0.000,3558,1603,1526,0,0,0,0,0,0
$GC,10906,1.15,100.6,557.3,11.3,588,10910,0.00,2.33,0.00,0.000,4,0.000,0.054,3568,185,1526,0,0,0,0,0,0
$GC,11024,1.11,100.6,543.2,12.4,593,11028,0.10,2.20,0.00,0.000,6,0.190,0.035,3544,1611,1525,0,0,0,0,0,0
$GC,11351,1.15,100.6,507.2,11.2,609,11356,0.00,2.33,0.00,0.000,4,0.000,0.054,3553,191,1525,0,0,0,0,0,0
$GC,11406,1.15,100.6,500.5,12.4,611,11411,0.00,2.20,0.00,0.000,6,0.000,0.036,3552,1591,1525,0,0,0,0,0,0
$GC,11723,1.19,100.6,465.4,11.0,627,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1592,1525,0,0,0,0,0,0
$GC,12031,1.22,100.6,430.3,11.6,642,12036,0.08,2.30,0.00,0.000,4,0.122,0.053,3606,184,1525,0,0,0,0,0,0
$GC,12160,1.12,100.6,412.7,13.0,648,12165,0.22,2.20,0.00,0.000,6,0.171,0.037,3547,1597,1525,0,0,0,0,0,0
$GC,12486,1.17,100.6,375.2,11.3,664,12490,0.00,2.30,0.00,0.000,4,0.000,0.053,3556,189,1525,0,0,0,0,0,0
$GC,12565,1.17,100.6,366.2,11.0,667,12569,0.00,2.17,0.00,0.000,6,0.000,0.037,3556,1603,1525,0,0,0,0,0,0
$GC,12880,1.17,100.6,329.6,11.2,683,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1603,1525,0,0,0,0,0,0
$GC,13190,1.20,100.6,297.3,10.3,698,13194,0.00,2.30,0.00,0.000,4,0.000,0.053,3565,192,1525,0,0,0,0,0,0
$GC,13284,1.20,100.6,287.1,10.6,702,13289,0.00,2.20,0.00,0.000,6,0.000,0.035,3565,1593,1525,0,0,0,0,0,0
$GC,13606,1.20,100.6,254.9,10.0,718,13610,0.00,2.28,0.00,0.000,4,0.000,0.052,3574,192,1524,0,0,0,0,0,0
$GC,13707,1.17,100.6,243.7,11.9,722,13712,0.03,2.20,0.00,0.000,6,0.197,0.037,3565,1590,1525,0,0,0,0,0,0
$GC,14028,1.17,100.6,208.8,10.9,738,14032,0.00,2.25,0.00,0.000,4,0.000,0.054,3565,3001,1525,0,0,0,0,0,0
$GC,14286,1.17,100.6,180.3,11.1,749,14291,0.03,2.20,0.00,0.000,6,0.201,0.036,3566,1590,1524,0,0,0,0,0,0
$GC,14609,1.17,100.6,148.6,9.9,765,14613,0.00,2.22,0.00,0.000,4,0.000,0.052,3565,2993,1525,0,0,0,0,0,0
$GC,14653,1.17,100.6,143.5,10.6,767,14658,0.03,2.17,0.00,0.000,6,0.203,0.036,3566,1597,1525,0,0,0,0,0,0
$GC,14982,1.17,100.6,110.5,10.1,783,14986,0.00,2.28,0.00,0.000,4,0.000,0.054,3576,193,1525,0,0,0,0,0,0
$GC,15098,1.17,100.6,97.4,10.9,788,15103,0.03,2.20,0.00,0.000,6,0.203,0.034,3568,1602,1525,0,0,0,0,0,0
$GC,15428,1.17,100.6,65.8,9.2,821,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1602,1525,0,0,0,0,0,0
$GC,15784,1.17,100.6,30.0,10.6,882,15791,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1602,1525,0,0,0,0,0,0
$GC,15939,1.17,100.6,14.2,9.8,907,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1603,1525,0,0,0,0,0,0
$GC,15997,1.22,100.6,8.4,9.6,916,16004,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1602,1525,0,0,0,0,0,0
$STATE,16053,end climb,SURFACE_DEPTH_REACHED
$STATE,16054,begin surface coast
$FINISH,1.9,1.022763
$STATE,16086,end surface coast,CONTROL_FINISHED_OK
$STATE,16086,begin surface
$SM_CCo,16104,47.53,0.055,0,0,1132,200.16
$SM_GC,3.38,0.00,0.00,47.53,0.000,0.000,0.055,76,2080,1132,-9.71,0.54,200.16
$IRIDIUM_FIX,-4447.43,637.60,290708,222207
$TT8_MAMPS,0.026964
$HUMID,63.15
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,22.6,39.193
$10V_AH,9.7,41.157
$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,24.600,114.700,192.900,47.525,0.000,49.003,122.338,263.123,0.250,0.000,21.042,2063.497,11354.378,334.072,2843.441,182.943,0.000,1337.468,0.000,2302.784,0.000,0.539,0.000
$DEVICE_MAMPS,249.390,69.615,1284.435,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.786,1362.014,768.870,464.352,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,67030,930
$CAP_FILE_SIZE,139307,0
$CFSIZE,2097086464,2050392064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031015,141204,-4504.680,637.494,32,1.1,32,-24.4