version: 66.07.10.p01
glider: 573
mission: 12
dive: 345
start: 10 9 115 8 55 26
data:
$ID,573
$MISSION,12
$DIVE,345
$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,-22112.584
$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,42
$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,344
$GPS1,091015,084634,-4503.466,637.716,42,0.9,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-73.7
$GPS2,091015,085505,-4503.487,637.785,19,1.0,19,-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,272.3,2521,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-19.88,0.000,2,0.000,0.000,61,2057,1522,0,0,0,0,0,0
$GC,49,-1.13,-114.1,3.1,-1.2,3,106,11.45,2.30,-39.88,0.000,4,0.241,0.073,2801,3462,2414,0,0,0,0,0,0
$GC,167,-1.08,-114.1,11.5,-15.5,21,174,0.10,2.25,0.00,0.000,6,0.159,0.041,2831,2064,2416,0,0,0,0,0,0
$GC,226,-1.08,-114.1,22.0,-17.3,30,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2064,2417,0,0,0,0,0,0
$GC,377,-1.08,-114.1,49.4,-18.5,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2064,2417,0,0,0,0,0,0
$GC,720,-1.08,-114.1,108.6,-17.0,94,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2064,2417,0,0,0,0,0,0
$GC,1032,-1.08,-114.1,161.4,-17.2,109,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2064,2417,0,0,0,0,0,0
$GC,1339,-1.08,-114.1,211.8,-15.3,124,1343,0.00,2.28,0.00,0.000,4,0.000,0.060,2822,3456,2417,0,0,0,0,0,0
$GC,1537,-1.08,-114.1,242.1,-14.9,132,1544,0.00,2.22,0.00,0.000,6,0.000,0.041,2822,2058,2417,0,0,0,0,0,0
$GC,1852,-1.08,-114.1,287.5,-14.4,148,1856,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3456,2417,0,0,0,0,0,0
$GC,1896,-1.08,-114.1,294.2,-14.3,150,1901,0.05,2.22,0.00,0.000,6,0.178,0.041,2829,2055,2418,0,0,0,0,0,0
$GC,2222,-1.12,-114.1,340.1,-13.8,166,2226,0.00,2.30,0.00,0.000,4,0.000,0.063,2820,3460,2418,0,0,0,0,0,0
$GC,2265,-1.12,-114.1,346.2,-13.4,168,2270,0.00,2.20,0.00,0.000,6,0.000,0.041,2820,2066,2418,0,0,0,0,0,0
$GC,2591,-1.12,-114.1,393.6,-14.6,184,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2066,2418,0,0,0,0,0,0
$GC,2902,-1.12,-114.1,438.4,-14.6,199,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2066,2418,0,0,0,0,0,0
$GC,3210,-1.12,-114.1,482.1,-14.0,214,3214,0.00,2.25,0.00,0.000,4,0.000,0.054,2820,664,2417,0,0,0,0,0,0
$GC,3236,-1.12,-114.1,486.1,-14.9,215,3241,0.00,2.20,0.00,0.000,6,0.000,0.040,2811,2046,2417,0,0,0,0,0,0
$GC,3564,-1.12,-114.1,531.6,-13.9,231,3568,0.00,2.28,0.00,0.000,4,0.000,0.063,2800,3463,2417,0,0,0,0,0,0
$GC,3612,-1.12,-114.1,539.1,-14.7,233,3618,0.05,2.22,0.00,0.000,6,0.171,0.042,2816,2061,2418,0,0,0,0,0,0
$GC,3934,-1.12,-114.1,584.1,-13.8,249,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2061,2418,0,0,0,0,0,0
$GC,4243,-1.15,-114.1,626.6,-13.6,264,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2061,2418,0,0,0,0,0,0
$GC,4554,-1.18,-114.1,671.2,-14.2,279,4558,0.00,2.33,0.00,0.000,4,0.000,0.063,2807,3471,2418,0,0,0,0,0,0
$GC,4597,-1.18,-114.1,677.9,-14.4,281,4602,0.00,2.25,0.00,0.000,6,0.000,0.044,2807,2064,2417,0,0,0,0,0,0
$GC,4925,-1.18,-114.1,725.6,-14.5,297,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2064,2417,0,0,0,0,0,0
$GC,5233,-1.18,-114.1,771.2,-14.8,312,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2064,2417,0,0,0,0,0,0
$GC,5544,-1.21,-114.1,815.8,-13.7,327,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2064,2416,0,0,0,0,0,0
$GC,5852,-1.25,-114.1,858.1,-13.5,342,5856,0.08,2.30,0.00,0.000,4,0.125,0.061,2754,3463,2416,0,0,0,0,0,0
$GC,5901,-1.17,-114.1,865.6,-15.4,344,5906,0.20,2.22,0.00,0.000,6,0.183,0.044,2805,2050,2415,0,0,0,0,0,0
$GC,6221,-1.21,-114.1,907.9,-13.1,360,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2049,2416,0,0,0,0,0,0
$GC,6532,-1.24,-114.1,947.2,-12.5,375,6537,0.05,2.35,0.00,0.000,4,0.171,0.060,2768,3472,2415,0,0,0,0,0,0
$GC,6581,-1.20,-114.1,954.4,-14.3,377,6586,0.10,2.22,0.00,0.000,6,0.199,0.046,2791,2062,2414,0,0,0,0,0,0
$GC,6902,-1.20,-114.1,995.5,-13.0,393,6906,0.00,2.33,0.00,0.000,4,0.000,0.063,2783,3472,2415,0,0,0,0,0,0
$STATE,6933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6933,begin apogee
$GC,6941,-0.19,0.0,1000.2,13.9,394,7051,1.15,0.00,106.75,1.281,6,0.168,0.000,3115,1599,1949,0,0,0,0,0,0
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7054,1.13,114.1,1003.2,0.0,400,7176,1.30,2.55,112.85,1.234,4,0.088,0.054,3553,199,1483,0,0,0,0,0,0
$GC,7259,1.13,114.1,979.3,16.4,409,7264,0.00,2.40,0.00,0.000,6,0.000,0.037,3553,1599,1479,0,0,0,0,0,0
$GC,7576,1.17,114.1,931.2,15.3,425,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1599,1477,0,0,0,0,0,0
$GC,7884,1.20,114.1,885.0,14.5,440,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1600,1476,0,0,0,0,0,0
$GC,8195,1.24,114.1,842.2,13.8,455,8200,0.10,2.35,0.00,0.000,4,0.099,0.052,3612,192,1475,0,0,0,0,0,0
$GC,8280,1.14,114.1,828.6,17.7,459,8285,0.22,2.25,0.00,0.000,6,0.169,0.037,3552,1611,1474,0,0,0,0,0,0
$GC,8608,1.18,114.1,785.3,13.1,475,8612,0.00,2.33,0.00,0.000,4,0.000,0.052,3561,190,1474,0,0,0,0,0,0
$GC,8674,1.18,114.1,775.8,13.9,478,8678,0.00,2.25,0.00,0.000,6,0.000,0.037,3561,1608,1473,0,0,0,0,0,0
$GC,9005,1.18,114.1,732.3,13.6,494,9009,0.00,2.22,0.00,0.000,4,0.000,0.055,3561,2993,1473,0,0,0,0,0,0
$GC,9038,1.18,114.1,727.7,13.8,495,9043,0.00,2.20,0.00,0.000,6,0.000,0.037,3569,1599,1473,0,0,0,0,0,0
$GC,9360,1.18,114.1,686.0,13.0,511,9364,0.00,2.30,0.00,0.000,4,0.000,0.055,3580,190,1473,0,0,0,0,0,0
$GC,9483,1.14,114.1,668.9,13.1,516,9489,0.10,2.25,0.00,0.000,6,0.189,0.036,3557,1610,1473,0,0,0,0,0,0
$GC,9798,1.18,114.1,629.8,12.8,532,9802,0.00,2.22,0.00,0.000,4,0.000,0.054,3556,2994,1473,0,0,0,0,0,0
$GC,9829,1.18,114.1,625.4,13.3,533,9834,0.00,2.20,0.00,0.000,6,0.000,0.036,3565,1601,1473,0,0,0,0,0,0
$GC,10146,1.18,114.1,583.3,13.2,549,10150,0.00,2.30,0.00,0.000,4,0.000,0.054,3575,186,1473,0,0,0,0,0,0
$GC,10352,1.18,114.1,554.5,13.7,558,10357,0.00,2.22,0.00,0.000,6,0.000,0.036,3575,1596,1473,0,0,0,0,0,0
$GC,10673,1.18,114.1,512.6,13.0,574,10677,0.00,2.30,0.00,0.000,4,0.000,0.052,3584,189,1473,0,0,0,0,0,0
$GC,10772,1.15,114.1,499.3,13.7,578,10779,0.12,2.22,0.00,0.000,6,0.178,0.037,3553,1594,1473,0,0,0,0,0,0
$GC,11089,1.20,114.1,461.7,12.0,594,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1594,1472,0,0,0,0,0,0
$GC,11398,1.25,114.1,425.4,11.9,609,11403,0.10,2.30,0.00,0.000,4,0.099,0.054,3613,188,1472,0,0,0,0,0,0
$GC,11487,1.17,114.1,412.5,15.1,613,11491,0.20,2.22,0.00,0.000,6,0.177,0.037,3560,1608,1473,0,0,0,0,0,0
$GC,11814,1.22,114.1,371.8,12.6,629,11818,0.00,2.33,0.00,0.000,4,0.000,0.053,3570,187,1472,0,0,0,0,0,0
$GC,11898,1.22,114.1,361.0,13.1,633,11902,0.00,2.22,0.00,0.000,6,0.000,0.036,3569,1613,1472,0,0,0,0,0,0
$GC,12224,1.22,114.1,322.6,11.5,649,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1613,1472,0,0,0,0,0,0
$GC,12534,1.25,114.1,287.5,11.0,664,12538,0.00,2.30,0.00,0.000,4,0.000,0.052,3578,196,1472,0,0,0,0,0,0
$GC,12583,1.25,114.1,281.3,11.8,666,12587,0.00,2.22,0.00,0.000,6,0.000,0.037,3578,1601,1472,0,0,0,0,0,0
$GC,12910,1.25,114.1,242.9,12.1,682,12914,0.00,2.25,0.00,0.000,4,0.000,0.057,3578,2996,1472,0,0,0,0,0,0
$GC,13051,1.25,114.1,224.6,13.2,688,13055,0.00,2.15,0.00,0.000,6,0.000,0.036,3587,1595,1472,0,0,0,0,0,0
$GC,13372,1.25,114.1,182.9,13.3,704,13376,0.00,2.28,0.00,0.000,4,0.000,0.054,3597,193,1472,0,0,0,0,0,0
$GC,13437,1.20,114.1,174.1,13.6,707,13442,0.10,2.22,0.00,0.000,6,0.200,0.037,3575,1617,1473,0,0,0,0,0,0
$GC,13767,1.24,114.1,136.9,11.0,723,13771,0.00,2.33,0.00,0.000,4,0.000,0.051,3584,190,1472,0,0,0,0,0,0
$GC,13899,1.24,114.1,120.9,11.7,729,13903,0.00,2.20,0.00,0.000,6,0.000,0.037,3584,1596,1472,0,0,0,0,0,0
$GC,14227,1.24,114.1,82.4,11.5,745,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1605,1472,0,0,0,0,0,0
$GC,14567,1.24,114.1,41.6,11.6,799,14572,0.00,2.30,0.00,0.000,4,0.000,0.053,3594,190,1472,0,0,0,0,0,0
$GC,14709,1.21,114.1,23.9,12.6,822,14717,0.05,2.22,0.00,0.000,6,0.184,0.036,3578,1598,1473,0,0,0,0,0,0
$GC,14867,1.21,114.1,4.9,12.4,847,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1598,1472,0,0,0,0,0,0
$STATE,14880,end climb,SURFACE_DEPTH_REACHED
$STATE,14880,begin surface coast
$FINISH,1.9,1.012920
$STATE,14906,end surface coast,CONTROL_FINISHED_OK
$STATE,14906,begin surface
$SM_CCo,14925,41.42,0.055,0,0,1133,200.16
$SM_GC,2.86,0.00,0.00,41.42,0.000,0.000,0.055,68,2091,1133,-9.74,0.88,200.16
$IRIDIUM_FIX,-4444.39,633.87,040808,151534
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.4,42.070
$10V_AH,9.7,44.164
$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,24.750,114.900,219.600,41.425,0.000,28.121,19.218,312.395,0.000,0.000,22.440,1890.641,10483.409,350.349,2546.593,196.492,0.000,1282.365,0.000,2079.310,0.000,0.539,0.000
$DEVICE_MAMPS,240.975,72.675,1281.375,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.372,1235.735,683.132,407.423,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,60515,853
$CAP_FILE_SIZE,133608,0
$CFSIZE,2097086464,2046885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091015,130603,-4504.201,635.925,34,0.9,34,-24.4