version: 66.07.10.p01
glider: 573
mission: 12
dive: 328
start: 10 5 115 13 7 24
data:
$ID,573
$MISSION,12
$DIVE,328
$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,-22063.289
$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,33
$R_STBD_OVSHOOT,38
$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,327
$GPS1,051015,125625,-4503.000,623.023,63,3.0,82,-24.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-71.7
$GPS2,051015,130703,-4502.916,623.110,34,1.0,34,-24.3
$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,174.2,2320,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-19.45,0.000,2,0.000,0.000,61,2072,1521,0,0,0,0,0,0
$GC,49,-1.13,-108.8,3.2,-1.8,3,106,11.43,2.38,-37.38,0.000,4,0.239,0.074,2814,663,2396,0,0,0,0,0,0
$GC,376,-1.06,-108.8,57.2,-19.4,57,384,0.10,2.25,0.00,0.000,6,0.174,0.041,2835,2054,2397,0,0,0,0,0,0
$GC,705,-1.06,-108.8,118.6,-18.8,88,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2054,2398,0,0,0,0,0,0
$GC,1017,-1.06,-108.8,174.5,-17.6,103,1021,0.00,2.30,0.00,0.000,4,0.000,0.058,2824,3472,2398,0,0,0,0,0,0
$GC,1117,-1.06,-108.8,192.2,-16.6,107,1123,0.03,2.25,0.00,0.000,6,0.200,0.044,2833,2070,2398,0,0,0,0,0,0
$GC,1435,-1.06,-108.8,242.2,-14.8,123,1439,0.00,2.30,0.00,0.000,4,0.000,0.060,2824,3473,2398,0,0,0,0,0,0
$GC,1512,-1.06,-108.8,254.6,-15.1,126,1520,0.05,2.28,0.00,0.000,6,0.174,0.045,2839,2056,2398,0,0,0,0,0,0
$GC,1828,-1.10,-108.8,301.7,-15.0,142,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2055,2398,0,0,0,0,0,0
$GC,2138,-1.14,-108.8,348.3,-15.3,157,2142,0.08,2.28,0.00,0.000,4,0.126,0.058,2802,646,2398,0,0,0,0,0,0
$GC,2170,-1.08,-108.8,354.2,-17.6,158,2176,0.10,2.28,0.00,0.000,6,0.155,0.044,2832,2059,2398,0,0,0,0,0,0
$GC,2485,-1.12,-108.8,404.5,-16.4,174,2489,0.00,2.30,0.00,0.000,4,0.000,0.063,2822,3466,2398,0,0,0,0,0,0
$GC,2547,-1.12,-108.8,414.1,-14.8,177,2551,0.00,2.20,0.00,0.000,6,0.000,0.044,2822,2057,2398,0,0,0,0,0,0
$GC,2873,-1.12,-108.8,465.6,-15.4,193,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2057,2398,0,0,0,0,0,0
$GC,3181,-1.12,-108.8,513.6,-15.7,208,3186,0.00,2.33,0.00,0.000,4,0.000,0.063,2813,3465,2398,0,0,0,0,0,0
$GC,3215,-1.12,-108.8,518.9,-16.7,209,3219,0.00,2.20,0.00,0.000,6,0.000,0.044,2813,2059,2398,0,0,0,0,0,0
$GC,3531,-1.12,-108.8,570.5,-16.4,225,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2059,2398,0,0,0,0,0,0
$GC,3839,-1.12,-108.8,620.8,-16.0,240,3843,0.00,2.33,0.00,0.000,4,0.000,0.063,2804,3472,2398,0,0,0,0,0,0
$GC,3871,-1.12,-108.8,626.3,-16.6,241,3877,0.05,2.25,0.00,0.000,6,0.174,0.046,2819,2069,2398,0,0,0,0,0,0
$GC,4188,-1.15,-108.8,674.6,-15.6,257,4192,0.00,2.25,0.00,0.000,4,0.000,0.060,2810,3463,2397,0,0,0,0,0,0
$GC,4248,-1.15,-108.8,684.5,-16.0,259,4253,0.00,2.22,0.00,0.000,6,0.000,0.044,2810,2064,2397,0,0,0,0,0,0
$GC,4564,-1.15,-108.8,734.3,-16.0,275,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2064,2397,0,0,0,0,0,0
$GC,4872,-1.15,-108.8,786.1,-16.7,290,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2064,2397,0,0,0,0,0,0
$GC,5183,-1.15,-108.8,835.1,-15.7,305,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2064,2397,0,0,0,0,0,0
$GC,5491,-1.15,-108.8,881.7,-14.8,320,5494,0.00,2.28,0.00,0.000,4,0.000,0.057,2801,3474,2397,0,0,0,0,0,0
$GC,5559,-1.15,-108.8,891.9,-15.5,323,5563,0.00,2.22,0.00,0.000,6,0.000,0.047,2801,2055,2396,0,0,0,0,0,0
$GC,5885,-1.15,-108.8,939.4,-14.5,339,5889,0.00,2.28,0.00,0.000,4,0.000,0.061,2801,655,2396,0,0,0,0,0,0
$GC,5924,-1.15,-108.8,945.2,-15.3,341,5929,0.08,2.25,0.00,0.000,6,0.226,0.047,2807,2064,2396,0,0,0,0,0,0
$GC,6250,-1.15,-108.8,990.1,-13.8,357,6254,0.00,2.30,0.00,0.000,4,0.000,0.066,2797,3467,2396,0,0,0,0,0,0
$STATE,6320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6328,-0.19,0.0,1000.4,13.6,360,6434,1.08,0.00,102.03,1.278,6,0.166,0.000,3111,1599,1950,0,0,0,0,0,0
$STATE,6435,end apogee,CONTROL_FINISHED_OK
$STATE,6435,begin climb
$GC,6436,1.13,108.8,1004.1,0.0,365,6553,1.30,2.58,106.40,1.235,4,0.086,0.054,3555,199,1505,0,0,0,0,0,0
$GC,6609,1.13,108.8,989.4,13.5,373,6613,0.00,2.38,0.00,0.000,6,0.000,0.037,3554,1610,1502,0,0,0,0,0,0
$GC,6936,1.13,108.8,947.8,12.7,389,6940,0.00,2.40,0.00,0.000,4,0.000,0.054,3564,186,1499,0,0,0,0,0,0
$GC,6977,1.09,108.8,942.4,14.2,391,6982,0.12,2.28,0.00,0.000,6,0.175,0.036,3534,1607,1498,0,0,0,0,0,0
$GC,7304,1.13,108.8,902.9,12.1,407,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1607,1498,0,0,0,0,0,0
$GC,7611,1.18,108.8,866.0,11.9,422,7616,0.10,2.35,0.00,0.000,4,0.103,0.054,3599,189,1497,0,0,0,0,0,0
$GC,7689,1.07,108.8,854.9,14.8,425,7694,0.25,2.25,0.00,0.000,6,0.168,0.035,3532,1619,1497,0,0,0,0,0,0
$GC,8005,1.12,108.8,818.3,11.5,441,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,1620,1496,0,0,0,0,0,0
$GC,8313,1.17,108.8,781.6,12.3,456,8318,0.08,2.33,0.00,0.000,4,0.125,0.055,3586,193,1497,0,0,0,0,0,0
$GC,8396,1.10,108.8,769.8,13.7,460,8401,0.17,2.20,0.00,0.000,6,0.170,0.037,3540,1603,1496,0,0,0,0,0,0
$GC,8723,1.14,108.8,730.0,11.7,476,8727,0.00,2.33,0.00,0.000,4,0.000,0.054,3550,190,1496,0,0,0,0,0,0
$GC,8806,1.14,108.8,719.5,12.0,480,8810,0.00,2.22,0.00,0.000,6,0.000,0.037,3550,1612,1496,0,0,0,0,0,0
$GC,9137,1.14,108.8,680.7,11.4,496,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1613,1495,0,0,0,0,0,0
$GC,9448,1.14,108.8,646.7,10.3,511,9452,0.00,2.22,0.00,0.000,4,0.000,0.054,3550,2996,1496,0,0,0,0,0,0
$GC,9496,1.14,108.8,641.3,10.5,513,9501,0.00,2.20,0.00,0.000,6,0.000,0.037,3558,1600,1496,0,0,0,0,0,0
$GC,9819,1.14,108.8,607.0,10.5,529,9823,0.00,2.30,0.00,0.000,4,0.000,0.057,3569,189,1495,0,0,0,0,0,0
$GC,9862,1.10,108.8,601.9,12.0,531,9867,0.08,2.22,0.00,0.000,6,0.166,0.036,3537,1599,1495,0,0,0,0,0,0
$GC,10190,1.15,108.8,570.2,9.7,547,10194,0.00,2.30,0.00,0.000,4,0.000,0.054,3547,195,1495,0,0,0,0,0,0
$GC,10267,1.15,108.8,562.1,10.6,550,10273,0.00,2.22,0.00,0.000,6,0.000,0.038,3547,1599,1495,0,0,0,0,0,0
$GC,10582,1.19,108.8,531.8,9.7,566,10586,0.00,2.28,0.00,0.000,4,0.000,0.054,3556,195,1495,0,0,0,0,0,0
$GC,10599,1.19,108.8,530.1,10.7,567,10603,0.00,2.20,0.00,0.000,6,0.000,0.037,3555,1611,1495,0,0,0,0,0,0
$GC,10925,1.19,108.8,492.2,12.1,583,10929,0.00,2.20,0.00,0.000,4,0.000,0.054,3555,2996,1494,0,0,0,0,0,0
$GC,10964,1.19,108.8,487.4,12.2,585,10968,0.00,2.17,0.00,0.000,6,0.000,0.037,3563,1597,1494,0,0,0,0,0,0
$GC,11290,1.19,108.8,447.6,12.4,601,11294,0.00,2.25,0.00,0.000,4,0.000,0.055,3574,194,1495,0,0,0,0,0,0
$GC,11317,1.15,108.8,444.0,11.9,602,11322,0.05,2.22,0.00,0.000,6,0.171,0.037,3559,1602,1494,0,0,0,0,0,0
$GC,11637,1.15,108.8,405.3,11.8,618,11638,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1603,1495,0,0,0,0,0,0
$GC,11948,1.15,108.8,368.2,11.6,633,11952,0.00,2.30,0.00,0.000,4,0.000,0.054,3567,195,1495,0,0,0,0,0,0
$GC,11980,1.15,108.8,364.2,12.3,634,11985,0.00,2.22,0.00,0.000,6,0.000,0.036,3567,1608,1495,0,0,0,0,0,0
$GC,12294,1.15,108.8,328.5,11.2,650,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1609,1495,0,0,0,0,0,0
$GC,12607,1.15,108.8,293.7,11.2,665,12611,0.00,2.30,0.00,0.000,4,0.000,0.053,3576,190,1495,0,0,0,0,0,0
$GC,12645,1.12,108.8,288.9,11.7,666,12653,0.10,2.22,0.00,0.000,6,0.161,0.036,3546,1601,1495,0,0,0,0,0,0
$GC,12961,1.17,108.8,255.9,10.2,682,12965,0.00,2.30,0.00,0.000,4,0.000,0.054,3555,195,1495,0,0,0,0,0,0
$GC,13021,1.17,108.8,249.4,10.5,684,13029,0.00,2.22,0.00,0.000,6,0.000,0.036,3555,1605,1495,0,0,0,0,0,0
$GC,13338,1.21,108.8,218.7,9.2,700,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1605,1495,0,0,0,0,0,0
$GC,13649,1.25,111.4,192.5,8.3,715,13654,0.10,2.20,0.00,0.000,4,0.099,0.053,3605,2993,1494,0,0,0,0,0,0
$GC,13767,1.16,111.4,180.3,10.1,720,13772,0.20,2.15,0.00,0.000,6,0.191,0.036,3564,1591,1495,0,0,0,0,0,0
$GC,14088,1.16,111.4,151.5,8.8,736,14092,0.00,2.25,0.00,0.000,4,0.000,0.054,3574,203,1495,0,0,0,0,0,0
$GC,14302,1.16,111.4,129.9,10.0,745,14309,0.03,2.20,0.00,0.000,6,0.198,0.036,3565,1604,1495,0,0,0,0,0,0
$GC,14621,1.16,111.4,101.5,8.8,761,14625,0.00,2.28,0.00,0.000,4,0.000,0.051,3574,203,1495,0,0,0,0,0,0
$GC,14649,1.16,111.4,98.8,8.6,762,14653,0.05,2.17,0.00,0.000,6,0.230,0.034,3564,1608,1495,0,0,0,0,0,0
$GC,14976,1.20,111.4,69.4,8.9,792,14983,0.00,2.30,0.00,0.000,4,0.000,0.052,3572,202,1495,0,0,0,0,0,0
$GC,15125,1.20,111.4,55.6,9.9,817,15130,0.00,2.15,0.00,0.000,6,0.000,0.035,3572,1602,1495,0,0,0,0,0,0
$GC,15486,1.20,111.4,22.0,9.3,878,15494,0.00,2.30,0.00,0.000,4,0.000,0.050,3581,199,1495,0,0,0,0,0,0
$GC,15520,1.20,111.4,18.4,10.1,883,15528,0.03,2.20,0.00,0.000,6,0.194,0.037,3574,1600,1495,0,0,0,0,0,0
$GC,15580,1.20,112.8,12.9,8.4,892,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1600,1495,0,0,0,0,0,0
$GC,15639,1.20,112.8,8.0,9.0,901,15646,0.00,2.28,0.00,0.000,4,0.000,0.051,3583,203,1494,0,0,0,0,0,0
$GC,15667,1.15,112.8,5.3,9.1,905,15676,0.08,2.20,0.68,0.073,6,0.170,0.037,3557,1600,1490,0,0,0,0,0,0
$STATE,15689,end climb,SURFACE_DEPTH_REACHED
$STATE,15689,begin surface coast
$FINISH,1.5,1.023469
$STATE,15722,end surface coast,CONTROL_FINISHED_OK
$STATE,15722,begin surface
$SM_CCo,15740,44.50,0.056,0,0,1133,200.16
$SM_GC,2.25,0.00,0.00,44.50,0.000,0.000,0.056,63,2077,1133,-9.76,0.48,200.16
$IRIDIUM_FIX,-4444.39,547.79,010808,020235
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.5,40.237
$10V_AH,9.7,42.237
$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,24.950,141.775,209.100,44.500,0.000,47.934,100.938,279.664,0.000,0.000,36.095,2021.033,11107.301,367.137,2733.671,194.117,0.000,1353.677,0.000,2182.411,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,74.205,1277.550,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.924,1347.671,762.494,455.410,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,67002,913
$CAP_FILE_SIZE,144090,0
$CFSIZE,2097086464,2049081344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051015,173203,-4504.076,624.896,58,1.0,58,-24.4