version: 66.07.10.p01
glider: 573
mission: 12
dive: 357
start: 10 12 115 5 24 31
data:
$ID,573
$MISSION,12
$DIVE,357
$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,-22146.793
$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,30
$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,356
$GPS1,121015,051533,-4455.210,633.841,32,0.9,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-64.3
$GPS2,121015,052410,-4455.164,633.984,18,1.2,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,144.8,3063,-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,-26.02,0.000,2,0.000,0.000,80,2070,1420,0,0,0,0,0,0
$GC,55,-1.13,-106.0,3.1,-2.1,4,125,11.60,2.38,-47.40,0.000,4,0.245,0.080,2807,3461,2384,0,0,0,0,0,0
$GC,396,-1.09,-106.0,50.2,-14.9,60,403,0.05,2.25,0.00,0.000,6,0.187,0.044,2823,2062,2387,0,0,0,0,0,0
$GC,745,-1.09,-106.0,104.0,-14.0,100,749,0.00,2.30,0.00,0.000,4,0.000,0.061,2814,3463,2387,0,0,0,0,0,0
$GC,970,-1.09,-106.0,140.2,-15.9,110,975,0.03,2.25,0.00,0.000,6,0.214,0.043,2822,2051,2387,0,0,0,0,0,0
$GC,1297,-1.09,-106.0,189.7,-15.2,126,1301,0.00,2.30,0.00,0.000,4,0.000,0.057,2813,3465,2387,0,0,0,0,0,0
$GC,1408,-1.09,-106.0,207.6,-15.0,131,1414,0.03,2.22,0.00,0.000,6,0.203,0.042,2822,2064,2387,0,0,0,0,0,0
$GC,1738,-1.09,-106.0,255.5,-14.4,147,1742,0.00,2.28,0.00,0.000,4,0.000,0.055,2822,649,2387,0,0,0,0,0,0
$GC,1781,-1.09,-106.0,261.5,-15.3,149,1786,0.08,2.22,0.00,0.000,6,0.217,0.041,2829,2064,2386,0,0,0,0,0,0
$GC,2107,-1.09,-106.0,304.6,-12.7,165,2111,0.00,2.25,0.00,0.000,4,0.000,0.064,2818,3462,2387,0,0,0,0,0,0
$GC,2223,-1.09,-106.0,320.8,-13.7,170,2228,0.00,2.22,0.00,0.000,6,0.000,0.042,2819,2053,2387,0,0,0,0,0,0
$GC,2544,-1.09,-106.0,365.4,-13.8,186,2548,0.00,2.30,0.00,0.000,4,0.000,0.061,2809,3463,2387,0,0,0,0,0,0
$GC,2616,-1.09,-106.0,375.9,-14.3,189,2621,0.10,2.20,0.00,0.000,6,0.189,0.043,2833,2057,2387,0,0,0,0,0,0
$GC,2931,-1.13,-106.0,418.8,-13.3,204,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2057,2387,0,0,0,0,0,0
$GC,3242,-1.17,-106.0,458.1,-12.3,219,3246,0.08,2.28,0.00,0.000,4,0.125,0.058,2795,657,2387,0,0,0,0,0,0
$GC,3308,-1.11,-106.0,467.9,-14.5,222,3312,0.15,2.22,0.00,0.000,6,0.191,0.045,2823,2058,2387,0,0,0,0,0,0
$GC,3633,-1.11,-106.0,510.8,-13.4,238,3637,0.00,2.28,0.00,0.000,4,0.000,0.063,2813,3474,2387,0,0,0,0,0,0
$GC,3732,-1.11,-106.0,524.8,-13.5,242,3738,0.00,2.25,0.00,0.000,6,0.000,0.045,2813,2062,2387,0,0,0,0,0,0
$GC,4047,-1.11,-106.0,565.9,-12.9,258,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2062,2387,0,0,0,0,0,0
$GC,4358,-1.11,-106.0,606.0,-13.1,273,4362,0.00,2.28,0.00,0.000,4,0.000,0.060,2804,3465,2386,0,0,0,0,0,0
$GC,4407,-1.11,-106.0,613.1,-14.4,275,4411,0.05,2.22,0.00,0.000,6,0.177,0.044,2829,2063,2386,0,0,0,0,0,0
$GC,4735,-1.16,-106.0,655.3,-12.8,291,4739,0.00,2.28,0.00,0.000,4,0.000,0.062,2819,3465,2386,0,0,0,0,0,0
$GC,4789,-1.16,-106.0,663.0,-13.7,293,4794,0.00,2.22,0.00,0.000,6,0.000,0.044,2820,2061,2386,0,0,0,0,0,0
$GC,5106,-1.20,-106.0,703.8,-12.9,309,5108,0.05,0.00,0.00,0.000,6,0.171,0.000,2785,2061,2386,0,0,0,0,0,0
$GC,5414,-1.20,-106.0,746.7,-13.8,324,5418,0.00,2.30,0.00,0.000,4,0.000,0.061,2776,3469,2386,0,0,0,0,0,0
$GC,5521,-1.14,-106.0,761.6,-13.9,329,5526,0.15,2.20,0.00,0.000,6,0.183,0.045,2813,2064,2386,0,0,0,0,0,0
$GC,5854,-1.18,-106.0,802.5,-11.8,345,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2064,2386,0,0,0,0,0,0
$GC,6161,-1.21,-106.0,839.6,-11.6,360,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2063,2385,0,0,0,0,0,0
$GC,6472,-1.24,-106.0,875.8,-11.6,375,6474,0.10,0.00,0.00,0.000,6,0.103,0.000,2765,2064,2385,0,0,0,0,0,0
$GC,6780,-1.19,-106.0,916.1,-13.2,390,6785,0.15,2.33,0.00,0.000,4,0.200,0.062,2792,3471,2385,0,0,0,0,0,0
$GC,6891,-1.19,-106.0,930.5,-12.8,395,6895,0.00,2.28,0.00,0.000,6,0.000,0.047,2795,2058,2385,0,0,0,0,0,0
$GC,7218,-1.19,-106.0,970.2,-12.1,411,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2057,2384,0,0,0,0,0,0
$STATE,7464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7464,begin apogee
$GC,7470,-0.19,0.0,1000.8,12.9,423,7573,1.12,0.00,99.88,1.282,6,0.166,0.000,3115,1595,1950,0,0,0,0,0,0
$STATE,7574,end apogee,CONTROL_FINISHED_OK
$STATE,7574,begin climb
$GC,7576,1.13,106.0,1005.1,0.0,428,7689,1.30,2.53,104.03,1.237,4,0.087,0.054,3556,193,1516,0,0,0,0,0,0
$GC,7767,1.13,106.0,987.8,12.8,437,7771,0.00,2.40,0.00,0.000,6,0.000,0.036,3556,1602,1511,0,0,0,0,0,0
$GC,8095,1.13,106.0,945.5,13.1,453,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1603,1508,0,0,0,0,0,0
$GC,8403,1.16,106.0,903.9,13.9,468,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1603,1507,0,0,0,0,0,0
$GC,8714,1.19,106.0,860.9,13.8,483,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1603,1505,0,0,0,0,0,0
$GC,9022,1.22,106.0,817.2,14.3,498,9026,0.05,2.30,0.00,0.000,4,0.167,0.054,3598,190,1506,0,0,0,0,0,0
$GC,9104,1.15,106.0,803.8,16.2,501,9110,0.17,2.22,0.00,0.000,6,0.166,0.036,3553,1608,1504,0,0,0,0,0,0
$GC,9421,1.19,106.0,760.1,13.6,517,9425,0.00,2.30,0.00,0.000,4,0.000,0.053,3562,193,1504,0,0,0,0,0,0
$GC,9463,1.19,106.0,754.0,14.0,519,9468,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1597,1504,0,0,0,0,0,0
$GC,9792,1.23,106.0,709.5,13.6,535,9796,0.00,2.28,0.00,0.000,4,0.000,0.057,3562,3005,1504,0,0,0,0,0,0
$GC,9818,1.23,106.0,705.5,14.4,536,9823,0.00,2.22,0.00,0.000,6,0.000,0.036,3570,1592,1503,0,0,0,0,0,0
$GC,10140,1.23,106.0,662.9,12.5,552,10144,0.00,2.28,0.00,0.000,4,0.000,0.055,3581,192,1503,0,0,0,0,0,0
$GC,10241,1.19,106.0,649.3,13.8,556,10247,0.05,2.25,0.00,0.000,6,0.230,0.038,3571,1627,1503,0,0,0,0,0,0
$GC,10555,1.19,106.0,609.2,12.8,572,10559,0.00,2.33,0.00,0.000,4,0.000,0.053,3580,198,1503,0,0,0,0,0,0
$GC,10582,1.19,106.0,605.6,12.6,573,10587,0.03,2.22,0.00,0.000,6,0.200,0.038,3572,1601,1503,0,0,0,0,0,0
$GC,10909,1.19,106.0,563.7,13.1,589,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1601,1503,0,0,0,0,0,0
$GC,11219,1.19,106.0,520.5,14.2,604,11223,0.00,2.30,0.00,0.000,4,0.000,0.053,3581,193,1503,0,0,0,0,0,0
$GC,11281,1.19,106.0,511.4,15.0,607,11286,0.05,2.22,0.00,0.000,6,0.230,0.037,3571,1614,1503,0,0,0,0,0,0
$GC,11607,1.19,106.0,468.0,13.5,623,11611,0.00,2.33,0.00,0.000,4,0.000,0.053,3580,189,1503,0,0,0,0,0,0
$GC,11618,1.19,106.0,466.5,13.0,623,11623,0.03,2.22,0.00,0.000,6,0.275,0.038,3571,1610,1503,0,0,0,0,0,0
$GC,11934,1.19,106.0,426.9,12.3,639,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1610,1503,0,0,0,0,0,0
$GC,12242,1.22,106.0,387.2,13.3,654,12246,0.00,2.30,0.00,0.000,4,0.000,0.053,3580,198,1503,0,0,0,0,0,0
$GC,12397,1.22,106.0,364.6,14.9,661,12402,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1605,1503,0,0,0,0,0,0
$GC,12725,1.22,106.0,319.7,13.6,677,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1606,1503,0,0,0,0,0,0
$GC,13035,1.22,106.0,281.3,11.9,692,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1605,1503,0,0,0,0,0,0
$GC,13346,1.22,106.0,244.1,11.9,707,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1605,1502,0,0,0,0,0,0
$GC,13653,1.22,106.0,207.4,12.1,722,13657,0.00,2.22,0.00,0.000,4,0.000,0.054,3580,3001,1502,0,0,0,0,0,0
$GC,13744,1.22,106.0,195.9,12.3,726,13748,0.00,2.17,0.00,0.000,6,0.000,0.036,3589,1594,1503,0,0,0,0,0,0
$GC,14071,1.22,106.0,152.4,12.7,742,14072,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1593,1502,0,0,0,0,0,0
$GC,14382,1.22,106.0,116.8,11.5,757,14386,0.00,2.25,0.00,0.000,4,0.000,0.055,3600,192,1502,0,0,0,0,0,0
$GC,14432,1.18,106.0,110.3,13.0,759,14437,0.12,2.20,0.00,0.000,6,0.184,0.037,3569,1603,1502,0,0,0,0,0,0
$GC,14756,1.23,106.0,72.4,12.0,783,14763,0.00,2.33,0.00,0.000,4,0.000,0.054,3578,192,1502,0,0,0,0,0,0
$GC,14803,1.23,106.0,65.4,14.8,791,14808,0.00,2.20,0.00,0.000,6,0.000,0.037,3578,1611,1502,0,0,0,0,0,0
$GC,15162,1.23,106.0,22.2,13.5,852,15168,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1611,1502,0,0,0,0,0,0
$GC,15317,1.31,106.0,5.6,10.0,877,15325,0.08,2.20,0.00,0.000,4,0.125,0.052,3609,2983,1502,0,0,0,0,0,0
$STATE,15344,end climb,SURFACE_DEPTH_REACHED
$STATE,15344,begin surface coast
$FINISH,1.7,1.023463
$STATE,15382,end surface coast,CONTROL_FINISHED_OK
$STATE,15382,begin surface
$SM_CCo,15401,47.08,0.054,0,0,1131,200.16
$SM_GC,3.61,0.00,0.00,47.08,0.000,0.000,0.054,66,2062,1131,-9.75,0.06,200.16
$IRIDIUM_FIX,-4435.30,633.17,070808,121201
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.40
$XPDR_PINGS,2
$24V_AH,22.4,43.410
$10V_AH,9.6,45.577
$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,24.850,113.200,203.900,47.075,0.000,28.404,23.084,309.854,0.500,0.000,22.180,1956.536,10838.105,346.935,2617.937,196.258,0.000,1297.363,0.000,2143.248,0.000,0.540,0.000
$DEVICE_MAMPS,274.635,80.325,1282.140,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.135,1291.458,722.849,441.489,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,63867,887
$CAP_FILE_SIZE,134532,0
$CFSIZE,2097086464,2045313024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121015,094321,-4455.930,636.481,44,0.8,44,-24.4