version: 66.07.10.p01
glider: 573
mission: 12
dive: 332
start: 10 6 115 7 47 56
data:
$ID,573
$MISSION,12
$DIVE,332
$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,-22073.707
$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,33
$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,331
$GPS1,061015,073957,-4503.376,624.072,50,0.9,50,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-70.4
$GPS2,061015,074735,-4503.320,624.097,16,1.9,16,-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,210.1,1266,-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,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-26.17,0.000,2,0.000,0.000,64,2072,1649,0,0,0,0,0,0
$GC,55,-1.13,-105.6,3.2,-2.2,4,106,11.48,2.38,-31.25,0.000,4,0.242,0.080,2803,3463,2380,0,0,0,0,0,0
$GC,368,-1.07,-105.6,49.4,-17.4,55,374,0.12,2.25,0.00,0.000,6,0.186,0.044,2833,2053,2382,0,0,0,0,0,0
$GC,704,-1.07,-105.6,103.6,-16.0,95,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2054,2382,0,0,0,0,0,0
$GC,1012,-1.07,-105.6,154.1,-16.7,110,1016,0.00,2.33,0.00,0.000,4,0.000,0.063,2824,3461,2382,0,0,0,0,0,0
$GC,1060,-1.07,-105.6,162.6,-16.1,112,1065,0.00,2.25,0.00,0.000,6,0.000,0.043,2824,2054,2382,0,0,0,0,0,0
$GC,1388,-1.07,-105.6,213.8,-15.8,128,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2055,2383,0,0,0,0,0,0
$GC,1699,-1.07,-105.6,264.6,-16.3,143,1703,0.00,2.33,0.00,0.000,4,0.000,0.061,2815,3465,2383,0,0,0,0,0,0
$GC,1754,-1.07,-105.6,274.2,-16.2,145,1761,0.05,2.25,0.00,0.000,6,0.182,0.044,2830,2053,2383,0,0,0,0,0,0
$GC,2071,-1.07,-105.6,322.5,-15.3,161,2074,0.00,2.33,0.00,0.000,4,0.000,0.062,2821,3467,2383,0,0,0,0,0,0
$GC,2142,-1.07,-105.6,333.8,-15.2,164,2147,0.03,2.25,0.00,0.000,6,0.200,0.045,2830,2064,2383,0,0,0,0,0,0
$GC,2469,-1.11,-105.6,383.5,-15.2,180,2473,0.00,2.28,0.00,0.000,4,0.000,0.060,2821,3462,2383,0,0,0,0,0,0
$GC,2568,-1.11,-105.6,399.6,-16.8,184,2574,0.00,2.25,0.00,0.000,6,0.000,0.044,2821,2050,2383,0,0,0,0,0,0
$GC,2883,-1.11,-105.6,447.9,-15.3,200,2887,0.00,2.33,0.00,0.000,4,0.000,0.060,2812,3472,2383,0,0,0,0,0,0
$GC,2951,-1.11,-105.6,458.0,-15.0,203,2956,0.05,2.25,0.00,0.000,6,0.230,0.047,2822,2051,2383,0,0,0,0,0,0
$GC,3278,-1.11,-105.6,505.9,-14.3,219,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2050,2383,0,0,0,0,0,0
$GC,3586,-1.11,-105.6,549.4,-13.7,234,3590,0.00,2.33,0.00,0.000,4,0.000,0.062,2813,3461,2384,0,0,0,0,0,0
$GC,3657,-1.11,-105.6,559.6,-14.0,237,3661,0.00,2.22,0.00,0.000,6,0.000,0.044,2813,2060,2383,0,0,0,0,0,0
$GC,3979,-1.11,-105.6,608.0,-15.5,253,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2060,2383,0,0,0,0,0,0
$GC,4287,-1.11,-105.6,657.4,-16.2,268,4289,0.05,0.00,0.00,0.000,6,0.239,0.000,2823,2061,2383,0,0,0,0,0,0
$GC,4598,-1.15,-105.6,704.9,-15.0,283,4602,0.00,2.30,0.00,0.000,4,0.000,0.062,2814,3462,2383,0,0,0,0,0,0
$GC,4646,-1.15,-105.6,712.7,-15.5,285,4651,0.00,2.22,0.00,0.000,6,0.000,0.043,2814,2060,2383,0,0,0,0,0,0
$GC,4969,-1.15,-105.6,759.6,-14.0,301,4973,0.00,2.33,0.00,0.000,4,0.000,0.062,2805,3469,2383,0,0,0,0,0,0
$GC,5040,-1.15,-105.6,769.8,-13.8,304,5045,0.00,2.22,0.00,0.000,6,0.000,0.046,2805,2072,2383,0,0,0,0,0,0
$GC,5361,-1.15,-105.6,813.2,-13.1,320,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2072,2383,0,0,0,0,0,0
$GC,5671,-1.15,-105.6,854.1,-13.1,335,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2073,2382,0,0,0,0,0,0
$GC,5979,-1.15,-105.6,893.4,-12.3,350,5983,0.00,2.28,0.00,0.000,4,0.000,0.062,2796,3466,2382,0,0,0,0,0,0
$GC,6074,-1.15,-105.6,905.5,-12.5,354,6079,0.03,2.25,0.00,0.000,6,0.209,0.044,2804,2060,2381,0,0,0,0,0,0
$GC,6399,-1.15,-105.6,945.7,-12.6,370,6403,0.00,2.30,0.00,0.000,4,0.000,0.060,2796,3463,2381,0,0,0,0,0,0
$GC,6482,-1.15,-105.6,956.7,-13.3,373,6488,0.03,2.25,0.00,0.000,6,0.210,0.044,2804,2056,2381,0,0,0,0,0,0
$GC,6799,-1.15,-105.6,999.1,-14.0,389,6803,0.00,2.33,0.00,0.000,4,0.000,0.064,2796,3466,2381,0,0,0,0,0,0
$STATE,6806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6806,begin apogee
$GC,6814,-0.19,0.0,1000.7,13.9,389,6920,1.10,0.00,99.05,1.278,6,0.167,0.000,3115,1595,1949,0,0,0,0,0,0
$STATE,6921,end apogee,CONTROL_FINISHED_OK
$STATE,6921,begin climb
$GC,6922,1.13,105.6,1004.7,0.0,395,7035,1.27,2.55,104.07,1.238,4,0.088,0.054,3549,190,1518,0,0,0,0,0,0
$GC,7087,1.13,105.6,991.8,12.3,403,7091,0.00,2.38,0.00,0.000,6,0.000,0.034,3549,1608,1514,0,0,0,0,0,0
$GC,7413,1.13,105.6,951.8,12.4,419,7417,0.00,2.42,0.00,0.000,4,0.000,0.053,3558,185,1511,0,0,0,0,0,0
$GC,7444,1.13,105.6,947.4,14.0,420,7450,0.00,2.33,0.00,0.000,6,0.000,0.034,3558,1605,1510,0,0,0,0,0,0
$GC,7759,1.13,105.6,908.3,12.5,436,7764,0.00,2.38,0.00,0.000,4,0.000,0.054,3568,190,1509,0,0,0,0,0,0
$GC,7782,1.13,105.6,905.6,12.3,437,7787,0.08,2.25,0.00,0.000,6,0.200,0.034,3552,1608,1509,0,0,0,0,0,0
$GC,8103,1.13,105.6,867.8,11.5,453,8107,0.00,2.35,0.00,0.000,4,0.000,0.053,3560,188,1508,0,0,0,0,0,0
$GC,8118,1.13,105.6,865.8,11.5,453,8123,0.03,2.25,0.00,0.000,6,0.192,0.034,3553,1600,1508,0,0,0,0,0,0
$GC,8434,1.13,105.6,829.8,11.8,469,8438,0.00,2.33,0.00,0.000,4,0.000,0.054,3562,190,1507,0,0,0,0,0,0
$GC,8499,1.13,105.6,821.7,12.3,472,8505,0.03,2.25,0.00,0.000,6,0.198,0.037,3554,1602,1507,0,0,0,0,0,0
$GC,8826,1.13,105.6,784.9,11.2,488,8829,0.00,2.33,0.00,0.000,4,0.000,0.053,3563,190,1507,0,0,0,0,0,0
$GC,8852,1.13,105.6,781.7,11.4,489,8857,0.03,2.22,0.00,0.000,6,0.201,0.037,3553,1594,1507,0,0,0,0,0,0
$GC,9180,1.13,105.6,744.4,11.5,505,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1594,1507,0,0,0,0,0,0
$GC,9488,1.13,105.6,709.1,11.3,520,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1594,1507,0,0,0,0,0,0
$GC,9799,1.13,105.6,675.3,10.7,535,9803,0.00,2.30,0.00,0.000,4,0.000,0.054,3562,191,1506,0,0,0,0,0,0
$GC,9847,1.13,105.6,669.6,12.4,537,9852,0.03,2.25,0.00,0.000,6,0.197,0.037,3554,1605,1506,0,0,0,0,0,0
$GC,10169,1.13,105.6,634.6,11.4,553,10173,0.00,2.33,0.00,0.000,4,0.000,0.054,3562,191,1506,0,0,0,0,0,0
$GC,10299,1.13,105.6,618.4,12.5,559,10304,0.05,2.22,0.00,0.000,6,0.228,0.035,3551,1614,1506,0,0,0,0,0,0
$GC,10627,1.17,105.6,579.9,12.1,575,10631,0.00,2.35,0.00,0.000,4,0.000,0.054,3560,184,1506,0,0,0,0,0,0
$GC,10642,1.17,105.6,577.8,12.4,576,10646,0.00,2.22,0.00,0.000,6,0.000,0.037,3560,1603,1506,0,0,0,0,0,0
$GC,10973,1.17,105.6,537.8,11.7,592,10977,0.00,2.33,0.00,0.000,4,0.000,0.054,3569,187,1506,0,0,0,0,0,0
$GC,11067,1.17,105.6,526.0,13.0,596,11072,0.00,2.22,0.00,0.000,6,0.000,0.035,3569,1596,1506,0,0,0,0,0,0
$GC,11394,1.17,105.6,489.0,10.9,612,11398,0.00,2.33,0.00,0.000,4,0.000,0.054,3578,185,1506,0,0,0,0,0,0
$GC,11523,1.13,105.6,474.8,11.1,618,11528,0.12,2.22,0.00,0.000,6,0.173,0.036,3547,1608,1506,0,0,0,0,0,0
$GC,11849,1.19,105.6,442.3,10.3,634,11853,0.00,2.33,0.00,0.000,4,0.000,0.054,3556,191,1506,0,0,0,0,0,0
$GC,11888,1.19,105.6,437.9,11.5,636,11892,0.00,2.20,0.00,0.000,6,0.000,0.035,3556,1604,1506,0,0,0,0,0,0
$GC,12219,1.23,105.6,404.0,9.9,652,12224,0.08,2.33,0.00,0.000,4,0.123,0.053,3602,183,1506,0,0,0,0,0,0
$GC,12237,1.23,105.6,402.2,9.9,653,12242,0.08,2.20,0.00,0.000,6,0.203,0.035,3586,1602,1506,0,0,0,0,0,0
$GC,12563,1.23,105.6,366.8,10.9,669,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1602,1506,0,0,0,0,0,0
$GC,12871,1.23,105.6,333.0,11.1,684,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1602,1506,0,0,0,0,0,0
$GC,13182,1.23,105.6,297.6,11.6,699,13186,0.00,2.33,0.00,0.000,4,0.000,0.053,3595,185,1506,0,0,0,0,0,0
$GC,13294,1.18,105.6,283.3,13.1,704,13299,0.12,2.20,0.00,0.000,6,0.184,0.035,3564,1605,1506,0,0,0,0,0,0
$GC,13621,1.18,105.6,247.9,10.5,720,13625,0.00,2.30,0.00,0.000,4,0.000,0.053,3573,189,1506,0,0,0,0,0,0
$GC,13698,1.18,105.6,239.1,11.7,723,13703,0.00,2.20,0.00,0.000,6,0.000,0.035,3573,1591,1506,0,0,0,0,0,0
$GC,14022,1.18,105.6,203.8,10.3,739,14026,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,185,1506,0,0,0,0,0,0
$GC,14246,1.14,105.6,179.3,9.9,749,14251,0.08,2.22,0.00,0.000,6,0.164,0.034,3558,1601,1506,0,0,0,0,0,0
$GC,14576,1.19,109.5,152.8,8.1,765,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1601,1506,0,0,0,0,0,0
$GC,14883,1.24,109.9,127.2,8.5,780,14887,0.08,2.22,0.00,0.000,4,0.125,0.054,3598,2993,1506,0,0,0,0,0,0
$GC,14897,1.24,109.9,125.6,8.8,780,14906,0.08,2.20,0.00,0.000,6,0.182,0.036,3585,1590,1506,0,0,0,0,0,0
$GC,15214,1.24,109.9,94.9,9.6,796,15218,0.00,2.28,0.00,0.000,4,0.000,0.054,3596,189,1506,0,0,0,0,0,0
$GC,15362,1.17,109.9,79.5,10.4,802,15370,0.10,2.22,0.00,0.000,6,0.165,0.037,3563,1597,1506,0,0,0,0,0,0
$GC,15718,1.21,109.9,42.5,10.4,863,15723,0.00,2.30,0.00,0.000,4,0.000,0.052,3573,188,1506,0,0,0,0,0,0
$GC,15816,1.21,109.9,31.0,12.2,879,15823,0.00,2.22,0.00,0.000,6,0.000,0.037,3573,1600,1506,0,0,0,0,0,0
$GC,15975,1.25,109.9,14.1,10.5,904,15981,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1600,1506,0,0,0,0,0,0
$GC,16032,1.25,109.9,8.0,10.1,913,16039,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1600,1505,0,0,0,0,0,0
$STATE,16082,end climb,SURFACE_DEPTH_REACHED
$STATE,16083,begin surface coast
$FINISH,1.4,1.016734
$STATE,16127,end surface coast,CONTROL_FINISHED_OK
$STATE,16127,begin surface
$SM_CCo,16145,45.85,0.054,0,0,1133,200.16
$SM_GC,2.61,0.00,0.00,45.85,0.000,0.000,0.054,69,2053,1133,-9.74,-0.20,200.16
$IRIDIUM_FIX,-4444.39,621.76,010808,161643
$TT8_MAMPS,0.026964
$HUMID,63.82
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.5,40.604
$10V_AH,9.7,42.647
$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,24.375,143.050,203.125,45.850,0.000,26.785,19.409,276.529,0.000,0.000,18.405,2066.399,11317.585,361.386,2701.786,199.081,0.000,1376.419,0.000,2271.158,0.000,0.539,0.000
$DEVICE_MAMPS,241.740,79.560,1278.315,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.336,1345.244,749.011,448.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,67417,928
$CAP_FILE_SIZE,145261,0
$CFSIZE,2097086464,2048557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061015,121904,-4504.930,624.755,40,1.0,40,-24.4