version: 66.07.10.p01
glider: 573
mission: 12
dive: 319
start: 10 3 115 14 19 30
data:
$ID,573
$MISSION,12
$DIVE,319
$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,-22034.684
$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,52
$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,318
$GPS1,031015,141204,-4504.680,637.494,32,1.1,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-73.2
$GPS2,031015,141910,-4504.670,637.493,16,1.1,16,-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,326.8,2314,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-12.73,0.000,2,0.000,0.000,76,2079,1386,0,0,0,0,0,0
$GC,43,-1.13,-114.9,3.1,-1.1,2,112,11.30,2.33,-52.30,0.000,4,0.239,0.070,2812,663,2417,0,0,0,0,0,0
$GC,311,-1.07,-114.9,37.8,-19.2,45,318,0.10,2.22,0.00,0.000,6,0.168,0.042,2834,2030,2419,0,0,0,0,0,0
$GC,460,-1.07,-114.9,63.3,-16.5,70,465,0.00,2.33,0.00,0.000,4,0.000,0.057,2823,3477,2419,0,0,0,0,0,0
$GC,488,-1.07,-114.9,68.8,-16.9,75,496,0.00,2.28,0.00,0.000,6,0.000,0.044,2825,2062,2419,0,0,0,0,0,0
$GC,824,-1.07,-114.9,126.0,-17.2,99,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2062,2420,0,0,0,0,0,0
$GC,1131,-1.07,-114.9,176.9,-15.1,114,1135,0.00,2.28,0.00,0.000,4,0.000,0.055,2825,651,2420,0,0,0,0,0,0
$GC,1180,-1.07,-114.9,185.3,-16.8,116,1185,0.05,2.28,0.00,0.000,6,0.184,0.042,2831,2058,2420,0,0,0,0,0,0
$GC,1507,-1.07,-114.9,234.5,-15.2,132,1511,0.00,2.33,0.00,0.000,4,0.000,0.063,2821,3481,2420,0,0,0,0,0,0
$GC,1635,-1.07,-114.9,254.4,-15.3,137,1641,0.00,2.28,0.00,0.000,6,0.000,0.042,2825,2052,2420,0,0,0,0,0,0
$GC,1954,-1.07,-114.9,302.9,-15.4,153,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2420,0,0,0,0,0,0
$GC,2259,-1.07,-114.9,349.9,-14.9,168,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2420,0,0,0,0,0,0
$GC,2570,-1.07,-114.9,394.6,-14.5,183,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2420,0,0,0,0,0,0
$GC,2878,-1.07,-114.9,438.8,-14.6,198,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2420,0,0,0,0,0,0
$GC,3189,-1.10,-114.9,484.7,-14.9,213,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2420,0,0,0,0,0,0
$GC,3497,-1.13,-114.9,530.3,-14.3,228,3501,0.00,2.35,0.00,0.000,4,0.000,0.063,2816,3478,2420,0,0,0,0,0,0
$GC,3524,-1.13,-114.9,534.3,-14.5,229,3528,0.00,2.25,0.00,0.000,6,0.000,0.044,2816,2064,2420,0,0,0,0,0,0
$GC,3846,-1.13,-114.9,581.0,-14.7,245,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2064,2420,0,0,0,0,0,0
$GC,4154,-1.13,-114.9,625.7,-14.6,260,4158,0.00,2.28,0.00,0.000,4,0.000,0.059,2807,3477,2420,0,0,0,0,0,0
$GC,4198,-1.13,-114.9,632.2,-14.9,262,4202,0.00,2.22,0.00,0.000,6,0.000,0.044,2808,2059,2420,0,0,0,0,0,0
$GC,4529,-1.13,-114.9,681.1,-14.8,278,4533,0.00,2.33,0.00,0.000,4,0.000,0.061,2800,3478,2420,0,0,0,0,0,0
$GC,4591,-1.13,-114.9,690.5,-15.3,280,4597,0.08,2.25,0.00,0.000,6,0.197,0.045,2816,2051,2420,0,0,0,0,0,0
$GC,4906,-1.16,-114.9,736.5,-14.3,296,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2051,2420,0,0,0,0,0,0
$GC,5217,-1.20,-114.9,780.4,-14.1,311,5218,0.05,0.00,0.00,0.000,6,0.164,0.000,2785,2051,2419,0,0,0,0,0,0
$GC,5524,-1.20,-114.9,828.4,-15.6,326,5528,0.00,2.33,0.00,0.000,4,0.000,0.063,2776,3477,2419,0,0,0,0,0,0
$GC,5574,-1.17,-114.9,836.2,-15.4,328,5579,0.10,2.25,0.00,0.000,6,0.187,0.047,2804,2055,2419,0,0,0,0,0,0
$GC,5894,-1.17,-114.9,879.6,-13.0,344,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2055,2419,0,0,0,0,0,0
$GC,6205,-1.17,-114.9,921.4,-14.2,359,6209,0.00,2.33,0.00,0.000,4,0.000,0.064,2796,3478,2419,0,0,0,0,0,0
$GC,6289,-1.17,-114.9,933.6,-14.3,363,6293,0.00,2.25,0.00,0.000,6,0.000,0.046,2795,2055,2419,0,0,0,0,0,0
$GC,6615,-1.17,-114.9,979.7,-14.6,379,6619,0.00,2.33,0.00,0.000,4,0.000,0.064,2787,3477,2418,0,0,0,0,0,0
$GC,6646,-1.17,-114.9,984.5,-14.6,380,6653,0.05,2.28,0.00,0.000,6,0.177,0.046,2804,2054,2418,0,0,0,0,0,0
$STATE,6776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6776,begin apogee
$GC,6781,-0.19,0.0,1002.4,13.6,387,6891,1.08,0.00,106.60,1.283,6,0.164,0.000,3115,1591,1950,0,0,0,0,0,0
$STATE,6892,end apogee,CONTROL_FINISHED_OK
$STATE,6892,begin climb
$GC,6894,1.13,114.9,1006.5,0.0,392,7016,1.30,2.55,112.57,1.240,4,0.090,0.055,3551,199,1480,0,0,0,0,0,0
$GC,7073,1.13,114.9,989.8,14.4,400,7077,0.00,2.42,0.00,0.000,6,0.000,0.037,3552,1622,1476,0,0,0,0,0,0
$GC,7388,1.13,114.9,946.8,13.9,415,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1623,1473,0,0,0,0,0,0
$GC,7696,1.13,114.9,901.7,14.9,430,7700,0.00,2.25,0.00,0.000,4,0.000,0.054,3551,2996,1471,0,0,0,0,0,0
$GC,7768,1.13,114.9,890.6,16.3,433,7773,0.00,2.25,0.00,0.000,6,0.000,0.036,3561,1597,1471,0,0,0,0,0,0
$GC,8096,1.13,114.9,841.3,15.1,449,8100,0.00,2.33,0.00,0.000,4,0.000,0.056,3571,188,1471,0,0,0,0,0,0
$GC,8213,1.13,114.9,822.6,16.2,454,8218,0.10,2.25,0.00,0.000,6,0.185,0.036,3548,1614,1470,0,0,0,0,0,0
$GC,8529,1.17,114.9,779.1,13.5,469,8533,0.00,2.35,0.00,0.000,4,0.000,0.054,3557,187,1470,0,0,0,0,0,0
$GC,8584,1.17,114.9,771.0,14.2,471,8589,0.00,2.25,0.00,0.000,6,0.000,0.037,3557,1597,1469,0,0,0,0,0,0
$GC,8908,1.21,114.9,730.2,12.5,487,8912,0.00,2.33,0.00,0.000,4,0.000,0.054,3567,187,1469,0,0,0,0,0,0
$GC,8984,1.21,114.9,720.3,12.1,490,8990,0.00,2.25,0.00,0.000,6,0.000,0.036,3567,1605,1469,0,0,0,0,0,0
$GC,9299,1.21,114.9,683.0,11.5,506,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1605,1469,0,0,0,0,0,0
$GC,9610,1.21,114.9,646.3,12.2,521,9614,0.00,2.20,0.00,0.000,4,0.000,0.053,3566,2993,1469,0,0,0,0,0,0
$GC,9664,1.21,114.9,638.7,13.5,523,9670,0.00,2.20,0.00,0.000,6,0.000,0.037,3575,1600,1468,0,0,0,0,0,0
$GC,9981,1.21,114.9,595.4,13.8,539,9985,0.00,2.30,0.00,0.000,4,0.000,0.056,3586,190,1468,0,0,0,0,0,0
$GC,10024,1.16,114.9,588.9,14.9,541,10029,0.10,2.22,0.00,0.000,6,0.190,0.035,3563,1601,1468,0,0,0,0,0,0
$GC,10351,1.16,114.9,546.0,13.0,557,10355,0.00,2.33,0.00,0.000,4,0.000,0.053,3572,184,1467,0,0,0,0,0,0
$GC,10394,1.16,114.9,539.7,14.4,559,10399,0.03,2.22,0.00,0.000,6,0.194,0.036,3563,1597,1468,0,0,0,0,0,0
$GC,10721,1.16,114.9,498.5,12.4,575,10725,0.00,2.28,0.00,0.000,4,0.000,0.053,3572,192,1467,0,0,0,0,0,0
$GC,10805,1.16,114.9,487.0,13.7,579,10810,0.05,2.20,0.00,0.000,6,0.229,0.037,3561,1600,1467,0,0,0,0,0,0
$GC,11133,1.20,114.9,446.1,12.0,595,11137,0.00,2.33,0.00,0.000,4,0.000,0.054,3571,182,1467,0,0,0,0,0,0
$GC,11217,1.20,114.9,435.0,12.8,599,11221,0.00,2.22,0.00,0.000,6,0.000,0.037,3571,1604,1467,0,0,0,0,0,0
$GC,11544,1.20,114.9,394.3,12.6,615,11548,0.00,2.33,0.00,0.000,4,0.000,0.053,3580,185,1467,0,0,0,0,0,0
$GC,11615,1.20,114.9,384.7,12.9,618,11619,0.00,2.22,0.00,0.000,6,0.000,0.034,3580,1597,1467,0,0,0,0,0,0
$GC,11936,1.20,114.9,344.3,12.2,634,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1598,1467,0,0,0,0,0,0
$GC,12246,1.20,114.9,305.1,12.6,649,12250,0.00,2.30,0.00,0.000,4,0.000,0.054,3589,183,1467,0,0,0,0,0,0
$GC,12289,1.16,114.9,299.2,13.5,651,12294,0.12,2.25,0.00,0.000,6,0.181,0.037,3558,1601,1467,0,0,0,0,0,0
$GC,12619,1.20,114.9,260.6,12.0,667,12623,0.00,2.30,0.00,0.000,4,0.000,0.054,3567,182,1467,0,0,0,0,0,0
$GC,12752,1.20,114.9,244.1,12.0,673,12756,0.00,2.22,0.00,0.000,6,0.000,0.037,3568,1610,1467,0,0,0,0,0,0
$GC,13080,1.23,114.9,207.2,11.0,689,13084,0.00,2.20,0.00,0.000,4,0.000,0.053,3567,2990,1467,0,0,0,0,0,0
$GC,13213,1.23,114.9,191.7,11.8,695,13217,0.00,2.17,0.00,0.000,6,0.000,0.037,3576,1590,1467,0,0,0,0,0,0
$GC,13541,1.23,114.9,154.6,10.5,711,13545,0.00,2.25,0.00,0.000,4,0.000,0.052,3576,2990,1467,0,0,0,0,0,0
$GC,13628,1.23,114.9,144.9,11.9,715,13632,0.00,2.15,0.00,0.000,6,0.000,0.036,3585,1595,1467,0,0,0,0,0,0
$GC,13957,1.23,114.9,108.4,11.4,731,13961,0.00,2.25,0.00,0.000,4,0.000,0.054,3595,196,1467,0,0,0,0,0,0
$GC,14064,1.20,114.9,94.8,12.1,736,14069,0.10,2.17,0.00,0.000,6,0.194,0.034,3572,1600,1467,0,0,0,0,0,0
$GC,14399,1.24,114.9,56.5,11.4,777,14406,0.00,2.30,0.00,0.000,4,0.000,0.052,3581,202,1468,0,0,0,0,0,0
$GC,14452,1.24,114.9,50.0,12.2,786,14459,0.00,2.20,0.00,0.000,6,0.000,0.036,3581,1599,1467,0,0,0,0,0,0
$GC,14822,1.24,114.9,7.4,11.8,847,14829,0.00,2.25,0.00,0.000,4,0.000,0.054,3581,2993,1467,0,0,0,0,0,0
$STATE,14860,end climb,SURFACE_DEPTH_REACHED
$STATE,14861,begin surface coast
$FINISH,1.8,1.023427
$STATE,14886,end surface coast,CONTROL_FINISHED_OK
$STATE,14886,begin surface
$SM_CCo,14904,40.92,0.056,0,0,1133,200.16
$SM_GC,3.10,0.00,0.00,40.92,0.000,0.000,0.056,67,2059,1133,-9.74,-0.03,200.16
$IRIDIUM_FIX,-4450.47,634.57,290708,232349
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.5,39.290
$10V_AH,9.8,41.250
$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,23.650,127.225,219.175,40.925,0.000,24.460,22.179,251.703,0.000,0.000,18.448,1897.384,10454.377,355.999,2488.988,173.722,0.000,1291.312,0.000,2088.445,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,70.380,1282.905,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.613,1258.959,709.698,429.886,0.000,0.000,0.000,0.000,0.000,0.000
$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,60638,857
$CAP_FILE_SIZE,131770,0
$CFSIZE,2097086464,2050293760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031015,182951,-4503.771,635.563,40,0.9,40,-24.4