version: 66.07.10.p01
glider: 573
mission: 12
dive: 330
start: 10 5 115 22 6 43
data:
$ID,573
$MISSION,12
$DIVE,330
$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,-22069.061
$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,42
$R_STBD_OVSHOOT,47
$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,329
$GPS1,051015,215827,-4503.524,622.840,76,1.0,76,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-70.5
$GPS2,051015,220623,-4503.592,622.911,19,1.0,19,-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,142.2,1613,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-24.75,0.000,2,0.000,0.000,65,2038,1619,0,0,0,0,0,0
$GC,55,-1.12,-100.2,3.2,-2.8,4,100,11.60,2.30,-26.98,0.000,4,0.246,0.070,2806,3450,2359,0,0,0,0,0,0
$GC,370,-1.07,-100.2,56.6,-18.2,56,376,0.12,2.22,0.00,0.000,6,0.188,0.045,2836,2065,2360,0,0,0,0,0,0
$GC,715,-1.07,-100.2,114.0,-16.4,90,719,0.00,2.28,0.00,0.000,4,0.000,0.057,2827,3459,2360,0,0,0,0,0,0
$GC,973,-1.07,-100.2,155.5,-16.0,101,977,0.00,2.25,0.00,0.000,6,0.000,0.042,2827,2052,2361,0,0,0,0,0,0
$GC,1297,-1.07,-100.2,205.7,-15.4,117,1301,0.00,2.25,0.00,0.000,4,0.000,0.057,2827,652,2361,0,0,0,0,0,0
$GC,1397,-1.07,-100.2,222.6,-15.7,121,1403,0.05,2.25,0.00,0.000,6,0.180,0.044,2834,2049,2361,0,0,0,0,0,0
$GC,1715,-1.07,-100.2,270.3,-15.4,137,1719,0.00,2.30,0.00,0.000,4,0.000,0.057,2823,3474,2361,0,0,0,0,0,0
$GC,1787,-1.07,-100.2,282.2,-15.4,140,1792,0.03,2.28,0.00,0.000,6,0.197,0.044,2831,2056,2361,0,0,0,0,0,0
$GC,2107,-1.07,-100.2,332.5,-15.9,156,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2056,2361,0,0,0,0,0,0
$GC,2418,-1.07,-100.2,380.1,-15.5,171,2422,0.00,2.30,0.00,0.000,4,0.000,0.062,2822,3465,2361,0,0,0,0,0,0
$GC,2460,-1.07,-100.2,387.4,-15.7,173,2466,0.03,2.25,0.00,0.000,6,0.198,0.043,2830,2053,2362,0,0,0,0,0,0
$GC,2788,-1.07,-100.2,435.7,-14.4,189,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2053,2361,0,0,0,0,0,0
$GC,3098,-1.10,-100.2,481.1,-15.0,204,3102,0.00,2.33,0.00,0.000,4,0.000,0.061,2821,3474,2361,0,0,0,0,0,0
$GC,3141,-1.10,-100.2,488.0,-15.3,206,3145,0.00,2.25,0.00,0.000,6,0.000,0.044,2821,2065,2361,0,0,0,0,0,0
$GC,3467,-1.10,-100.2,537.4,-14.8,222,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2066,2361,0,0,0,0,0,0
$GC,3778,-1.10,-100.2,584.1,-14.9,237,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2066,2361,0,0,0,0,0,0
$GC,4086,-1.10,-100.2,630.1,-14.8,252,4090,0.00,2.30,0.00,0.000,4,0.000,0.058,2812,3476,2361,0,0,0,0,0,0
$GC,4124,-1.10,-100.2,636.1,-15.7,253,4129,0.00,2.25,0.00,0.000,6,0.000,0.044,2813,2068,2361,0,0,0,0,0,0
$GC,4440,-1.10,-100.2,684.0,-15.1,269,4445,0.05,2.33,0.00,0.000,4,0.239,0.058,2823,647,2361,0,0,0,0,0,0
$GC,4495,-1.10,-100.2,692.8,-15.4,271,4500,0.00,2.25,0.00,0.000,6,0.000,0.043,2814,2056,2361,0,0,0,0,0,0
$GC,4811,-1.10,-100.2,740.4,-14.8,287,4815,0.00,2.28,0.00,0.000,4,0.000,0.060,2803,3471,2361,0,0,0,0,0,0
$GC,4899,-1.10,-100.2,753.9,-15.5,291,4904,0.05,2.28,0.00,0.000,6,0.173,0.045,2820,2055,2361,0,0,0,0,0,0
$GC,5226,-1.14,-100.2,799.9,-14.3,307,5230,0.00,2.30,0.00,0.000,4,0.000,0.063,2811,3469,2361,0,0,0,0,0,0
$GC,5270,-1.14,-100.2,806.8,-15.1,309,5274,0.00,2.25,0.00,0.000,6,0.000,0.045,2810,2064,2361,0,0,0,0,0,0
$GC,5598,-1.14,-100.2,853.8,-14.3,325,5602,0.00,2.28,0.00,0.000,4,0.000,0.060,2802,3466,2360,0,0,0,0,0,0
$GC,5641,-1.14,-100.2,860.4,-14.3,327,5645,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2057,2360,0,0,0,0,0,0
$GC,5969,-1.14,-100.2,906.9,-14.1,343,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2057,2360,0,0,0,0,0,0
$GC,6276,-1.14,-100.2,951.3,-14.1,358,6281,0.03,2.33,0.00,0.000,4,0.282,0.064,2801,3465,2360,0,0,0,0,0,0
$GC,6360,-1.14,-100.2,963.3,-15.2,362,6364,0.05,2.22,0.00,0.000,6,0.231,0.046,2811,2060,2360,0,0,0,0,0,0
$STATE,6647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6647,begin apogee
$GC,6653,-0.19,0.0,1002.5,13.6,376,6751,1.05,0.00,94.03,1.280,6,0.166,0.000,3113,1594,1950,0,0,0,0,0,0
$STATE,6751,end apogee,CONTROL_FINISHED_OK
$STATE,6752,begin climb
$GC,6753,1.12,100.2,1006.5,0.0,381,6860,1.27,2.53,97.93,1.240,4,0.088,0.055,3547,200,1540,0,0,0,0,0,0
$GC,6949,1.12,100.2,989.5,13.4,390,6954,0.00,2.40,0.00,0.000,6,0.000,0.037,3547,1607,1536,0,0,0,0,0,0
$GC,7270,1.12,100.2,951.1,12.0,406,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1607,1533,0,0,0,0,0,0
$GC,7580,1.12,100.2,914.2,12.0,421,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1607,1532,0,0,0,0,0,0
$GC,7888,1.12,100.2,875.7,12.5,436,7892,0.00,2.35,0.00,0.000,4,0.000,0.054,3557,196,1531,0,0,0,0,0,0
$GC,7915,1.12,100.2,872.1,13.2,437,7920,0.00,2.25,0.00,0.000,6,0.000,0.036,3557,1602,1531,0,0,0,0,0,0
$GC,8243,1.12,100.2,828.4,13.5,453,8247,0.00,2.30,0.00,0.000,4,0.000,0.054,3566,196,1531,0,0,0,0,0,0
$GC,8275,1.08,100.2,823.7,14.6,454,8281,0.08,2.22,0.00,0.000,6,0.161,0.036,3533,1597,1530,0,0,0,0,0,0
$GC,8590,1.13,100.2,784.2,12.3,470,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,1597,1530,0,0,0,0,0,0
$GC,8901,1.19,100.2,749.3,10.8,485,8906,0.10,2.25,0.00,0.000,4,0.103,0.055,3587,2990,1530,0,0,0,0,0,0
$GC,8921,1.19,100.2,746.5,12.2,486,8927,0.08,2.20,0.00,0.000,6,0.177,0.037,3574,1594,1530,0,0,0,0,0,0
$GC,9248,1.19,100.2,706.1,12.3,502,9251,0.00,2.25,0.00,0.000,4,0.000,0.055,3584,199,1530,0,0,0,0,0,0
$GC,9303,1.12,100.2,699.0,12.8,504,9308,0.15,2.20,0.00,0.000,6,0.179,0.038,3546,1601,1530,0,0,0,0,0,0
$GC,9624,1.15,100.2,662.5,11.4,520,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1601,1530,0,0,0,0,0,0
$GC,9934,1.19,100.2,626.5,11.7,535,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1601,1530,0,0,0,0,0,0
$GC,10242,1.23,100.2,591.5,11.1,550,10244,0.10,0.00,0.00,0.000,6,0.099,0.000,3598,1601,1529,0,0,0,0,0,0
$GC,10553,1.18,100.2,554.4,11.7,565,10557,0.12,2.28,0.00,0.000,4,0.184,0.054,3576,200,1530,0,0,0,0,0,0
$GC,10591,1.14,100.2,550.2,10.7,566,10597,0.08,2.22,0.00,0.000,6,0.168,0.037,3553,1604,1529,0,0,0,0,0,0
$GC,10905,1.14,100.2,520.4,9.2,582,10909,0.00,2.30,0.00,0.000,4,0.000,0.053,3562,199,1529,0,0,0,0,0,0
$GC,10955,1.14,100.2,515.4,9.8,584,10959,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1604,1529,0,0,0,0,0,0
$GC,11281,1.14,100.2,484.4,9.3,600,11285,0.00,2.28,0.00,0.000,4,0.000,0.053,3572,200,1529,0,0,0,0,0,0
$GC,11343,1.14,100.2,478.2,10.3,602,11349,0.08,2.20,0.00,0.000,6,0.202,0.037,3556,1613,1529,0,0,0,0,0,0
$GC,11657,1.17,100.2,447.5,9.9,618,11661,0.00,2.30,0.00,0.000,4,0.000,0.053,3564,198,1529,0,0,0,0,0,0
$GC,11695,1.17,100.2,443.3,11.0,619,11701,0.00,2.22,0.00,0.000,6,0.000,0.037,3564,1601,1529,0,0,0,0,0,0
$GC,12012,1.17,100.2,408.9,10.9,635,12016,0.00,2.28,0.00,0.000,4,0.000,0.052,3573,196,1529,0,0,0,0,0,0
$GC,12117,1.17,100.2,396.4,10.9,640,12121,0.00,2.20,0.00,0.000,6,0.000,0.037,3573,1603,1529,0,0,0,0,0,0
$GC,12448,1.17,100.2,357.1,11.5,656,12452,0.00,2.30,0.00,0.000,4,0.000,0.051,3582,193,1529,0,0,0,0,0,0
$GC,12498,1.13,100.2,351.0,12.1,658,12503,0.12,2.20,0.00,0.000,6,0.184,0.036,3552,1614,1529,0,0,0,0,0,0
$GC,12819,1.17,100.2,317.0,10.1,674,12823,0.00,2.30,0.00,0.000,4,0.000,0.053,3561,201,1529,0,0,0,0,0,0
$GC,12868,1.17,100.2,311.6,10.7,676,12872,0.00,2.20,0.00,0.000,6,0.000,0.036,3561,1595,1529,0,0,0,0,0,0
$GC,13190,1.17,100.2,279.5,9.7,692,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1596,1529,0,0,0,0,0,0
$GC,13501,1.17,100.2,248.1,10.2,707,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1596,1529,0,0,0,0,0,0
$GC,13809,1.20,100.2,215.1,10.6,722,13813,0.00,2.25,0.00,0.000,4,0.000,0.052,3570,199,1529,0,0,0,0,0,0
$GC,13841,1.20,100.2,211.4,10.7,723,13845,0.00,2.20,0.00,0.000,6,0.000,0.037,3570,1596,1529,0,0,0,0,0,0
$GC,14165,1.20,100.2,181.6,8.6,739,14169,0.00,2.22,0.00,0.000,4,0.000,0.054,3570,2999,1529,0,0,0,0,0,0
$GC,14272,1.20,100.2,171.5,10.2,744,14276,0.00,2.17,0.00,0.000,6,0.000,0.035,3578,1594,1529,0,0,0,0,0,0
$GC,14598,1.20,100.2,141.2,9.4,760,14602,0.00,2.25,0.00,0.000,4,0.000,0.054,3589,196,1529,0,0,0,0,0,0
$GC,14643,1.15,100.2,136.7,10.1,762,14648,0.12,2.20,0.00,0.000,6,0.187,0.037,3558,1609,1529,0,0,0,0,0,0
$GC,14971,1.19,100.2,107.4,8.9,778,14975,0.00,2.30,0.00,0.000,4,0.000,0.051,3568,196,1529,0,0,0,0,0,0
$GC,15003,1.19,100.2,104.2,9.9,779,15009,0.00,2.20,0.00,0.000,6,0.000,0.035,3568,1600,1529,0,0,0,0,0,0
$GC,15322,1.20,106.5,77.3,7.8,798,15329,0.00,0.00,4.82,0.502,6,0.000,0.000,3567,1600,1515,0,0,0,0,0,0
$GC,15676,1.20,106.5,47.2,8.6,859,15681,0.00,2.22,0.00,0.000,4,0.000,0.053,3568,2990,1515,0,0,0,0,0,0
$GC,15788,1.20,106.5,36.2,8.8,878,15796,0.00,2.17,0.00,0.000,6,0.000,0.036,3576,1599,1515,0,0,0,0,0,0
$GC,15945,1.20,114.4,25.2,7.6,903,15953,0.00,0.00,4.93,0.521,6,0.000,0.000,3576,1598,1482,0,0,0,0,0,0
$GC,16104,1.20,114.5,12.4,8.5,928,16111,0.00,2.25,0.00,0.000,4,0.000,0.050,3575,2989,1482,0,0,0,0,0,0
$GC,16132,1.20,114.5,9.3,10.0,932,16139,0.00,2.17,0.00,0.000,6,0.000,0.037,3584,1597,1482,0,0,0,0,0,0
$STATE,16189,end climb,SURFACE_DEPTH_REACHED
$STATE,16189,begin surface coast
$FINISH,1.5,1.011216
$STATE,16221,end surface coast,CONTROL_FINISHED_OK
$STATE,16221,begin surface
$SM_CCo,16239,42.97,0.055,0,0,1133,200.16
$SM_GC,2.35,0.00,0.00,42.97,0.000,0.000,0.055,82,2065,1133,-9.70,0.14,200.16
$IRIDIUM_FIX,-4447.43,625.13,010808,070723
$TT8_MAMPS,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.6,40.426
$10V_AH,9.8,42.436
$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,24.650,137.075,201.700,42.975,0.000,28.045,43.896,269.267,0.000,0.000,20.983,2094.305,11391.956,344.007,2734.819,193.682,0.000,1338.338,0.000,2274.852,0.000,0.539,0.000
$DEVICE_MAMPS,281.520,69.615,1279.845,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.692,1405.604,808.860,480.810,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353144
$DATA_FILE_SIZE,67178,946
$CAP_FILE_SIZE,143077,0
$CFSIZE,2097086464,2048819200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061015,023928,-4504.222,625.552,47,0.9,47,-24.4