version: 66.07.10.p01
glider: 573
mission: 12
dive: 324
start: 10 4 115 18 59 18
data:
$ID,573
$MISSION,12
$DIVE,324
$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,378.00113
$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,-22050.004
$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,34
$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,323
$GPS1,041015,184403,-4503.599,624.145,38,0.9,38,-24.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-62.5
$GPS2,041015,185858,-4503.488,624.305,15,1.3,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,227.2,1028,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,78,0.00,0.00,-49.90,0.000,2,0.000,0.000,61,2066,1444,0,0,0,0,0,0
$GC,81,-1.13,-113.8,3.1,-1.2,8,151,11.55,2.33,-48.20,0.000,4,0.245,0.070,2805,3460,2415,0,0,0,0,0,0
$GC,270,-1.07,-113.8,24.8,-18.8,38,278,0.05,2.25,0.00,0.000,6,0.187,0.041,2824,2058,2416,0,0,0,0,0,0
$GC,423,-1.07,-113.8,51.6,-19.2,63,430,0.05,0.00,0.00,0.000,6,0.254,0.000,2833,2058,2416,0,0,0,0,0,0
$GC,766,-1.07,-113.8,113.3,-17.8,99,770,0.00,2.30,0.00,0.000,4,0.000,0.057,2839,650,2416,0,0,0,0,0,0
$GC,799,-1.07,-113.8,119.9,-18.7,100,807,0.00,2.28,0.00,0.000,6,0.000,0.045,2830,2050,2416,0,0,0,0,0,0
$GC,1115,-1.07,-113.8,173.3,-16.4,116,1119,0.00,2.30,0.00,0.000,4,0.000,0.057,2819,3478,2416,0,0,0,0,0,0
$GC,1169,-1.07,-113.8,182.9,-17.6,118,1178,0.03,2.25,0.00,0.000,6,0.204,0.041,2827,2063,2416,0,0,0,0,0,0
$GC,1485,-1.07,-113.8,234.7,-16.2,134,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2063,2417,0,0,0,0,0,0
$GC,1797,-1.07,-113.8,283.7,-15.8,149,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2063,2417,0,0,0,0,0,0
$GC,2103,-1.07,-113.8,334.9,-16.8,164,2106,0.00,2.28,0.00,0.000,4,0.000,0.054,2827,648,2417,0,0,0,0,0,0
$GC,2130,-1.07,-113.8,339.5,-17.1,165,2135,0.05,2.25,0.00,0.000,6,0.188,0.041,2834,2061,2417,0,0,0,0,0,0
$GC,2457,-1.07,-113.8,391.3,-15.8,181,2461,0.00,2.30,0.00,0.000,4,0.000,0.065,2823,3468,2416,0,0,0,0,0,0
$GC,2517,-1.07,-113.8,401.0,-16.1,184,2521,0.00,2.25,0.00,0.000,6,0.000,0.043,2824,2052,2416,0,0,0,0,0,0
$GC,2848,-1.07,-113.8,455.2,-16.4,200,2853,0.05,2.33,0.00,0.000,4,0.239,0.063,2825,3468,2417,0,0,0,0,0,0
$GC,2962,-1.10,-113.8,473.9,-16.4,205,2966,0.00,2.22,0.00,0.000,6,0.000,0.044,2825,2051,2416,0,0,0,0,0,0
$GC,3289,-1.10,-113.8,527.8,-16.3,221,3293,0.00,2.28,0.00,0.000,4,0.000,0.058,2825,647,2417,0,0,0,0,0,0
$GC,3328,-1.10,-113.8,534.3,-16.8,223,3332,0.00,2.25,0.00,0.000,6,0.000,0.046,2816,2064,2416,0,0,0,0,0,0
$GC,3655,-1.10,-113.8,587.9,-16.5,239,3659,0.00,2.30,0.00,0.000,4,0.000,0.065,2806,3471,2416,0,0,0,0,0,0
$GC,3694,-1.10,-113.8,594.3,-16.2,241,3699,0.10,2.22,0.00,0.000,6,0.193,0.045,2829,2055,2417,0,0,0,0,0,0
$GC,4022,-1.14,-113.8,643.8,-15.3,257,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2055,2416,0,0,0,0,0,0
$GC,4328,-1.18,-113.8,689.8,-15.0,272,4333,0.08,2.33,0.00,0.000,4,0.125,0.064,2782,3463,2416,0,0,0,0,0,0
$GC,4400,-1.15,-113.8,702.0,-16.4,275,4405,0.10,2.22,0.00,0.000,6,0.195,0.044,2808,2044,2416,0,0,0,0,0,0
$GC,4721,-1.15,-113.8,754.1,-15.8,291,4725,0.00,2.25,0.00,0.000,4,0.000,0.057,2809,653,2416,0,0,0,0,0,0
$GC,4753,-1.15,-113.8,759.4,-15.3,292,4759,0.00,2.25,0.00,0.000,6,0.000,0.045,2800,2055,2416,0,0,0,0,0,0
$GC,5068,-1.15,-113.8,808.0,-14.9,308,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2055,2416,0,0,0,0,0,0
$GC,5378,-1.15,-113.8,852.0,-14.3,323,5382,0.00,2.30,0.00,0.000,4,0.000,0.061,2789,3474,2415,0,0,0,0,0,0
$GC,5410,-1.15,-113.8,857.0,-15.6,324,5417,0.05,2.25,0.00,0.000,6,0.185,0.045,2806,2067,2415,0,0,0,0,0,0
$GC,5726,-1.15,-113.8,902.0,-14.5,340,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2067,2415,0,0,0,0,0,0
$GC,6036,-1.15,-113.8,945.9,-14.0,355,6040,0.00,2.30,0.00,0.000,4,0.000,0.057,2808,649,2415,0,0,0,0,0,0
$GC,6076,-1.15,-113.8,951.6,-13.9,357,6080,0.00,2.25,0.00,0.000,6,0.000,0.044,2800,2066,2415,0,0,0,0,0,0
$GC,6402,-1.15,-113.8,997.3,-13.7,373,6406,0.00,2.28,0.00,0.000,4,0.000,0.064,2789,3465,2415,0,0,0,0,0,0
$STATE,6421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6421,begin apogee
$GC,6429,-0.19,0.0,1000.6,15.5,374,6534,1.12,0.00,101.78,1.258,6,0.174,0.000,3114,1598,1949,0,0,0,0,0,0
$STATE,6535,end apogee,CONTROL_FINISHED_OK
$STATE,6535,begin climb
$GC,6537,1.13,113.8,1004.5,0.0,379,6660,1.30,2.58,110.82,1.235,4,0.090,0.052,3554,198,1486,0,0,0,0,0,0
$GC,6698,1.13,113.8,991.5,13.1,386,6704,0.00,2.42,0.00,0.000,6,0.000,0.035,3554,1605,1485,0,0,0,0,0,0
$GC,7013,1.13,113.8,950.2,13.2,402,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1605,1481,0,0,0,0,0,0
$GC,7324,1.13,113.8,909.6,13.2,417,7328,0.00,2.35,0.00,0.000,4,0.000,0.053,3563,193,1479,0,0,0,0,0,0
$GC,7373,1.09,113.8,902.5,13.7,419,7378,0.10,2.25,0.00,0.000,6,0.186,0.034,3540,1614,1479,0,0,0,0,0,0
$GC,7696,1.14,113.8,863.0,12.2,435,7700,0.00,2.35,0.00,0.000,4,0.000,0.053,3549,188,1478,0,0,0,0,0,0
$GC,7750,1.14,113.8,855.7,13.4,437,7755,0.00,2.25,0.00,0.000,6,0.000,0.037,3549,1595,1478,0,0,0,0,0,0
$GC,8072,1.14,113.8,815.4,13.1,453,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1595,1477,0,0,0,0,0,0
$GC,8380,1.14,113.8,776.4,12.7,468,8384,0.00,2.28,0.00,0.000,4,0.000,0.055,3549,3004,1477,0,0,0,0,0,0
$GC,8418,1.14,113.8,771.4,13.3,469,8423,0.00,2.22,0.00,0.000,6,0.000,0.035,3558,1591,1477,0,0,0,0,0,0
$GC,8735,1.14,113.8,731.9,12.6,485,8739,0.00,2.28,0.00,0.000,4,0.000,0.054,3569,196,1477,0,0,0,0,0,0
$GC,8812,1.10,113.8,721.5,13.3,488,8819,0.12,2.20,0.00,0.000,6,0.179,0.037,3538,1602,1476,0,0,0,0,0,0
$GC,9127,1.15,113.8,684.4,11.9,504,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1602,1476,0,0,0,0,0,0
$GC,9438,1.21,113.8,648.4,11.6,519,9443,0.10,2.25,0.00,0.000,4,0.104,0.056,3591,3002,1477,0,0,0,0,0,0
$GC,9470,1.14,113.8,644.0,13.6,520,9476,0.15,2.20,0.00,0.000,6,0.162,0.036,3556,1597,1476,0,0,0,0,0,0
$GC,9785,1.14,113.8,606.5,11.9,536,9788,0.00,2.28,0.00,0.000,4,0.000,0.055,3566,201,1476,0,0,0,0,0,0
$GC,9868,1.14,113.8,596.1,11.7,539,9873,0.03,2.22,0.00,0.000,6,0.193,0.037,3557,1606,1476,0,0,0,0,0,0
$GC,10184,1.14,113.8,560.1,11.5,555,10188,0.00,2.30,0.00,0.000,4,0.000,0.052,3566,195,1476,0,0,0,0,0,0
$GC,10250,1.14,113.8,552.0,12.9,558,10255,0.05,2.20,0.00,0.000,6,0.229,0.036,3556,1611,1476,0,0,0,0,0,0
$GC,10582,1.17,113.8,514.9,11.1,574,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1611,1476,0,0,0,0,0,0
$GC,10892,1.21,113.8,480.7,11.5,589,10896,0.00,2.20,0.00,0.000,4,0.000,0.053,3556,2993,1476,0,0,0,0,0,0
$GC,10923,1.21,113.8,476.6,12.9,590,10928,0.00,2.17,0.00,0.000,6,0.000,0.036,3564,1605,1476,0,0,0,0,0,0
$GC,11244,1.21,113.8,439.3,11.8,606,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1605,1476,0,0,0,0,0,0
$GC,11555,1.21,113.8,404.7,11.0,621,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1605,1476,0,0,0,0,0,0
$GC,11863,1.21,113.8,371.2,11.1,636,11866,0.00,2.30,0.00,0.000,4,0.000,0.054,3575,187,1476,0,0,0,0,0,0
$GC,11985,1.21,113.8,357.3,11.3,641,11990,0.00,2.22,0.00,0.000,6,0.000,0.036,3575,1602,1475,0,0,0,0,0,0
$GC,12307,1.21,113.8,323.0,10.4,657,12312,0.00,2.30,0.00,0.000,4,0.000,0.052,3584,191,1475,0,0,0,0,0,0
$GC,12334,1.17,113.8,319.8,11.0,658,12339,0.10,2.20,0.00,0.000,6,0.186,0.035,3560,1610,1475,0,0,0,0,0,0
$GC,12657,1.20,113.8,286.6,10.8,674,12661,0.00,2.30,0.00,0.000,4,0.000,0.053,3569,196,1475,0,0,0,0,0,0
$GC,12684,1.20,113.8,283.0,11.4,675,12688,0.00,2.20,0.00,0.000,6,0.000,0.035,3569,1596,1475,0,0,0,0,0,0
$GC,13008,1.20,113.8,246.7,11.1,691,13012,0.00,2.28,0.00,0.000,4,0.000,0.051,3578,196,1475,0,0,0,0,0,0
$GC,13070,1.17,113.8,239.1,12.0,694,13075,0.08,2.20,0.00,0.000,6,0.200,0.037,3562,1610,1475,0,0,0,0,0,0
$GC,13398,1.20,113.8,204.7,9.9,710,13402,0.00,2.17,0.00,0.000,4,0.000,0.053,3562,2990,1475,0,0,0,0,0,0
$GC,13464,1.20,113.8,197.5,10.6,713,13468,0.00,2.17,0.00,0.000,6,0.000,0.037,3570,1599,1475,0,0,0,0,0,0
$GC,13793,1.20,113.8,163.3,10.0,729,13797,0.00,2.28,0.00,0.000,4,0.000,0.053,3581,189,1475,0,0,0,0,0,0
$GC,14051,1.20,113.8,136.9,10.1,740,14059,0.00,2.20,0.00,0.000,6,0.000,0.034,3581,1596,1474,0,0,0,0,0,0
$GC,14367,1.20,113.8,105.5,10.2,756,14371,0.00,2.28,0.00,0.000,4,0.000,0.051,3590,189,1475,0,0,0,0,0,0
$GC,14564,1.16,113.8,84.2,10.2,764,14572,0.10,2.22,0.00,0.000,6,0.153,0.036,3559,1605,1475,0,0,0,0,0,0
$GC,14910,1.22,129.6,52.7,6.7,819,14926,0.00,0.00,13.20,0.672,6,0.000,0.000,3559,1605,1421,0,0,0,0,0,0
$GC,15287,1.28,129.6,15.2,11.5,882,15295,0.10,2.35,0.00,0.000,4,0.099,0.054,3616,193,1421,0,0,0,0,0,0
$GC,15365,1.20,129.6,4.9,13.7,894,15372,0.12,2.22,0.00,0.000,6,0.172,0.035,3578,1604,1421,0,0,0,0,0,0
$STATE,15380,end climb,SURFACE_DEPTH_REACHED
$STATE,15380,begin surface coast
$FINISH,1.8,1.008590
$STATE,15406,end surface coast,CONTROL_FINISHED_OK
$STATE,15406,begin surface
$SM_CCo,15424,123.60,0.053,0,0,405,378.00
$SM_GC,2.58,0.00,0.00,123.60,0.000,0.000,0.053,82,2078,405,-9.69,0.51,378.00
$IRIDIUM_FIX,-4444.39,627.81,310708,080837
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,9.19647
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.5,39.848
$10V_AH,9.7,41.846
$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,24.800,137.400,225.800,123.600,0.000,132.929,400.637,0.000,0.000,0.000,17.797,1973.994,10988.543,467.748,2822.074,188.334,0.000,1478.666,0.000,2186.306,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,70.380,1258.425,52.785,0.000,91.040,160.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.423,1314.771,746.036,450.769,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,63662,900
$CAP_FILE_SIZE,138497,0
$CFSIZE,2097086464,2049638400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041015,231934,-4504.853,624.083,31,1.0,31,-24.4