version: 66.07.10.p01
glider: 573
mission: 12
dive: 353
start: 10 11 115 7 27 43
data:
$ID,573
$MISSION,12
$DIVE,353
$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,-22134.682
$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,27
$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,352
$GPS1,111015,071833,-4456.317,626.416,30,1.4,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-67.9
$GPS2,111015,072722,-4456.277,626.475,19,1.4,19,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,303.4,3285,-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,-19.95,0.000,2,0.000,0.000,64,2057,1520,0,0,0,0,0,0
$GC,49,-1.13,-102.2,3.1,-2.6,3,106,11.32,2.33,-39.53,0.000,4,0.236,0.073,2805,3477,2366,0,0,0,0,0,0
$GC,256,-1.08,-102.2,27.7,-15.9,36,264,0.08,2.30,0.00,0.000,6,0.169,0.049,2828,2066,2369,0,0,0,0,0,0
$GC,409,-1.08,-102.2,52.7,-16.8,61,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2066,2370,0,0,0,0,0,0
$GC,739,-1.08,-102.2,106.1,-15.8,98,744,0.00,2.30,0.00,0.000,4,0.000,0.061,2819,3469,2370,0,0,0,0,0,0
$GC,780,-1.08,-102.2,112.4,-15.9,100,785,0.05,2.25,0.00,0.000,6,0.226,0.047,2830,2056,2370,0,0,0,0,0,0
$GC,1106,-1.08,-102.2,162.5,-15.3,116,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2056,2371,0,0,0,0,0,0
$GC,1417,-1.08,-102.2,207.2,-14.6,131,1421,0.00,2.28,0.00,0.000,4,0.000,0.060,2830,649,2370,0,0,0,0,0,0
$GC,1483,-1.08,-102.2,217.2,-14.2,134,1488,0.00,2.30,0.00,0.000,6,0.000,0.047,2821,2072,2370,0,0,0,0,0,0
$GC,1811,-1.08,-102.2,261.6,-14.0,150,1815,0.00,2.25,0.00,0.000,4,0.000,0.062,2810,3464,2371,0,0,0,0,0,0
$GC,1901,-1.08,-102.2,274.2,-14.0,154,1906,0.10,2.22,0.00,0.000,6,0.186,0.044,2834,2051,2370,0,0,0,0,0,0
$GC,2228,-1.12,-102.2,318.7,-14.1,170,2232,0.00,2.33,0.00,0.000,4,0.000,0.063,2825,3468,2371,0,0,0,0,0,0
$GC,2305,-1.12,-102.2,329.9,-14.1,173,2310,0.00,2.25,0.00,0.000,6,0.000,0.044,2825,2058,2370,0,0,0,0,0,0
$GC,2621,-1.12,-102.2,374.2,-13.9,189,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2370,0,0,0,0,0,0
$GC,2929,-1.12,-102.2,416.3,-13.7,204,2933,0.00,2.25,0.00,0.000,4,0.000,0.060,2825,657,2370,0,0,0,0,0,0
$GC,2962,-1.12,-102.2,421.0,-15.0,205,2966,0.00,2.25,0.00,0.000,6,0.000,0.045,2816,2057,2370,0,0,0,0,0,0
$GC,3278,-1.12,-102.2,467.6,-14.7,221,3282,0.00,2.30,0.00,0.000,4,0.000,0.064,2805,3470,2370,0,0,0,0,0,0
$GC,3317,-1.12,-102.2,473.6,-15.1,223,3322,0.08,2.22,0.00,0.000,6,0.207,0.047,2821,2061,2370,0,0,0,0,0,0
$GC,3643,-1.12,-102.2,519.4,-13.9,239,3648,0.00,2.30,0.00,0.000,4,0.000,0.062,2812,3465,2370,0,0,0,0,0,0
$GC,3693,-1.12,-102.2,526.7,-14.7,241,3697,0.00,2.25,0.00,0.000,6,0.000,0.046,2812,2056,2370,0,0,0,0,0,0
$GC,4015,-1.12,-102.2,572.2,-13.8,257,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2055,2370,0,0,0,0,0,0
$GC,4322,-1.12,-102.2,613.6,-12.6,272,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2056,2370,0,0,0,0,0,0
$GC,4633,-1.12,-102.2,651.2,-12.4,287,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2055,2370,0,0,0,0,0,0
$GC,4941,-1.12,-102.2,688.6,-11.7,302,4945,0.00,2.33,0.00,0.000,4,0.000,0.065,2803,3463,2370,0,0,0,0,0,0
$GC,5025,-1.12,-102.2,699.1,-12.9,306,5029,0.08,2.22,0.00,0.000,6,0.201,0.047,2819,2061,2369,0,0,0,0,0,0
$GC,5357,-1.15,-102.2,737.7,-11.6,322,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2060,2369,0,0,0,0,0,0
$GC,5667,-1.19,-102.2,773.1,-11.5,337,5671,0.00,2.33,0.00,0.000,4,0.000,0.065,2810,3467,2369,0,0,0,0,0,0
$GC,5711,-1.19,-102.2,778.8,-11.8,339,5715,0.00,2.25,0.00,0.000,6,0.000,0.047,2810,2067,2369,0,0,0,0,0,0
$GC,6038,-1.19,-102.2,818.6,-12.5,355,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2067,2369,0,0,0,0,0,0
$GC,6346,-1.19,-102.2,857.4,-12.2,370,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2067,2369,0,0,0,0,0,0
$GC,6657,-1.19,-102.2,895.7,-12.5,385,6661,0.00,2.33,0.00,0.000,4,0.000,0.062,2810,645,2369,0,0,0,0,0,0
$GC,6677,-1.19,-102.2,898.7,-13.7,386,6682,0.00,2.28,0.00,0.000,6,0.000,0.044,2802,2065,2369,0,0,0,0,0,0
$GC,7004,-1.19,-102.2,941.5,-13.1,402,7008,0.00,2.30,0.00,0.000,4,0.000,0.068,2791,3466,2368,0,0,0,0,0,0
$GC,7075,-1.19,-102.2,951.5,-13.5,405,7080,0.00,2.28,0.00,0.000,6,0.000,0.048,2791,2051,2368,0,0,0,0,0,0
$GC,7398,-1.19,-102.2,993.7,-13.0,421,7402,0.00,2.35,0.00,0.000,4,0.000,0.066,2782,3473,2368,0,0,0,0,0,0
$STATE,7445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7445,begin apogee
$GC,7453,-0.19,0.0,1000.7,13.6,423,7553,1.15,0.00,96.20,1.287,6,0.169,0.000,3113,1601,1950,0,0,0,0,0,0
$STATE,7554,end apogee,CONTROL_FINISHED_OK
$STATE,7554,begin climb
$GC,7556,1.13,102.2,1005.0,0.0,428,7662,1.30,0.00,100.55,1.245,6,0.090,0.000,3542,1601,1533,0,0,0,0,0,0
$GC,7966,1.18,102.2,960.8,12.9,448,7970,0.05,2.40,0.00,0.000,4,0.161,0.058,3588,186,1525,0,0,0,0,0,0
$GC,8060,1.12,102.2,946.1,16.2,452,8065,0.15,2.33,0.00,0.000,6,0.168,0.039,3550,1617,1523,0,0,0,0,0,0
$GC,8380,1.16,102.2,899.6,14.7,468,8385,0.00,2.40,0.00,0.000,4,0.000,0.057,3559,182,1522,0,0,0,0,0,0
$GC,8435,1.16,102.2,891.3,15.6,470,8441,0.00,2.30,0.00,0.000,6,0.000,0.041,3559,1601,1522,0,0,0,0,0,0
$GC,8750,1.16,102.2,844.8,15.0,486,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1601,1522,0,0,0,0,0,0
$GC,9061,1.16,102.2,800.0,14.0,501,9065,0.00,2.35,0.00,0.000,4,0.000,0.056,3568,182,1521,0,0,0,0,0,0
$GC,9145,1.16,102.2,787.2,15.7,505,9149,0.00,2.25,0.00,0.000,6,0.000,0.041,3568,1602,1521,0,0,0,0,0,0
$GC,9471,1.16,102.2,739.9,14.3,521,9475,0.00,2.33,0.00,0.000,4,0.000,0.056,3577,190,1520,0,0,0,0,0,0
$GC,9538,1.13,102.2,729.6,16.4,524,9543,0.08,2.25,0.00,0.000,6,0.155,0.040,3554,1596,1521,0,0,0,0,0,0
$GC,9864,1.17,102.2,685.9,13.3,540,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1596,1520,0,0,0,0,0,0
$GC,10175,1.22,102.2,644.9,13.2,555,10177,0.05,0.00,0.00,0.000,6,0.163,0.000,3591,1596,1520,0,0,0,0,0,0
$GC,10483,1.22,102.2,600.9,14.3,570,10487,0.05,2.30,0.00,0.000,4,0.224,0.057,3589,190,1520,0,0,0,0,0,0
$GC,10545,1.16,102.2,591.8,16.4,573,10550,0.12,2.22,0.00,0.000,6,0.178,0.041,3559,1604,1519,0,0,0,0,0,0
$GC,10873,1.20,102.2,549.9,12.6,589,10877,0.00,2.33,0.00,0.000,4,0.000,0.055,3568,185,1519,0,0,0,0,0,0
$GC,10983,1.20,102.2,534.7,13.5,594,10988,0.00,2.22,0.00,0.000,6,0.000,0.037,3568,1599,1519,0,0,0,0,0,0
$GC,11310,1.20,102.2,494.5,12.4,610,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1599,1519,0,0,0,0,0,0
$GC,11620,1.20,102.2,454.3,12.9,625,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1599,1519,0,0,0,0,0,0
$GC,11928,1.20,102.2,414.7,12.8,640,11932,0.00,2.30,0.00,0.000,4,0.000,0.054,3577,185,1519,0,0,0,0,0,0
$GC,12041,1.20,102.2,399.9,13.2,645,12045,0.00,2.22,0.00,0.000,6,0.000,0.037,3577,1612,1519,0,0,0,0,0,0
$GC,12368,1.20,102.2,360.0,12.0,661,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1613,1519,0,0,0,0,0,0
$GC,12676,1.20,102.2,325.2,11.2,676,12680,0.00,2.33,0.00,0.000,4,0.000,0.054,3586,189,1519,0,0,0,0,0,0
$GC,12754,1.17,102.2,315.8,12.2,679,12759,0.10,2.20,0.00,0.000,6,0.188,0.038,3563,1599,1519,0,0,0,0,0,0
$GC,13072,1.22,102.2,283.4,10.2,695,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1599,1519,0,0,0,0,0,0
$GC,13380,1.26,102.2,251.2,10.6,710,13382,0.08,0.00,0.00,0.000,6,0.123,0.000,3603,1599,1519,0,0,0,0,0,0
$GC,13691,1.26,102.2,216.0,11.5,725,13695,0.00,2.30,0.00,0.000,4,0.000,0.054,3613,190,1519,0,0,0,0,0,0
$GC,13858,1.18,102.2,194.3,13.0,732,13867,0.15,2.22,0.00,0.000,6,0.164,0.037,3568,1597,1519,0,0,0,0,0,0
$GC,14175,1.23,102.2,160.3,10.8,748,14179,0.00,2.25,0.00,0.000,4,0.000,0.055,3568,3004,1519,0,0,0,0,0,0
$GC,14305,1.23,102.2,147.4,8.8,754,14309,0.00,2.20,0.00,0.000,6,0.000,0.037,3576,1578,1519,0,0,0,0,0,0
$GC,14632,1.26,102.2,113.5,10.7,770,14636,0.00,2.22,0.00,0.000,4,0.000,0.056,3587,199,1519,0,0,0,0,0,0
$GC,14891,1.26,102.2,83.4,12.3,781,14895,0.00,2.22,0.00,0.000,6,0.000,0.038,3587,1605,1519,0,0,0,0,0,0
$GC,15240,1.26,102.2,43.2,11.1,838,15244,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1606,1519,0,0,0,0,0,0
$STATE,15573,end climb,SURFACE_DEPTH_REACHED
$STATE,15573,begin surface coast
$FINISH,1.7,1.003794
$STATE,15599,end surface coast,CONTROL_FINISHED_OK
$STATE,15599,begin surface
$SM_CCo,15617,46.17,0.054,0,0,1132,200.16
$SM_GC,3.36,0.00,0.00,46.17,0.000,0.000,0.054,70,2080,1132,-9.74,0.57,200.16
$IRIDIUM_FIX,-4444.39,618.73,060808,141443
$TT8_MAMPS,0.026964
$HUMID,64.21
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,2
$24V_AH,22.5,42.979
$10V_AH,9.8,45.124
$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,24.175,110.925,196.750,46.175,0.000,25.451,41.508,310.236,0.500,0.000,22.258,1976.522,11014.771,331.642,2666.261,195.748,0.000,1279.411,0.000,2178.986,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,72.675,1287.495,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.706,1307.893,729.286,426.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353272
$DATA_FILE_SIZE,63845,897
$CAP_FILE_SIZE,133887,0
$CFSIZE,2097086464,2045837312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111015,115004,-4455.104,624.965,40,1.0,40,-24.4