version: 66.07.10.p01
glider: 573
mission: 12
dive: 362
start: 10 13 115 11 20 25
data:
$ID,573
$MISSION,12
$DIVE,362
$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,-22160.488
$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,44
$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,361
$GPS1,131015,111134,-4504.021,637.391,36,0.9,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-64.8
$GPS2,131015,112004,-4504.030,637.474,16,1.0,16,-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,296.0,1929,-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,-49.9,0.0,0.0,0,40,0.00,0.00,-14.05,0.000,2,0.000,0.000,74,2071,1410,0,0,0,0,0,0
$GC,43,-1.13,-109.0,3.1,-1.8,2,106,11.23,2.30,-45.60,0.000,4,0.235,0.079,2802,3447,2395,0,0,0,0,0,0
$GC,123,-1.04,-115.8,5.9,-7.8,14,131,0.15,2.22,-0.70,0.000,6,0.172,0.044,2845,2072,2423,0,0,0,0,0,0
$GC,183,-1.09,-115.8,14.6,-14.5,23,190,0.00,2.35,0.00,0.000,4,0.000,0.055,2851,651,2424,0,0,0,0,0,0
$GC,254,-1.09,-115.8,25.5,-15.7,34,261,0.00,2.28,0.00,0.000,6,0.000,0.045,2842,2041,2424,0,0,0,0,0,0
$GC,405,-1.09,-115.8,49.9,-16.0,59,410,0.00,2.35,0.00,0.000,4,0.000,0.065,2831,3471,2424,0,0,0,0,0,0
$GC,436,-1.09,-115.8,55.1,-16.7,64,441,0.00,2.25,0.00,0.000,6,0.000,0.043,2831,2055,2424,0,0,0,0,0,0
$GC,776,-1.09,-115.8,111.6,-16.6,100,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2055,2424,0,0,0,0,0,0
$GC,1088,-1.09,-115.8,160.6,-15.6,115,1092,0.00,2.35,0.00,0.000,4,0.000,0.063,2822,3478,2424,0,0,0,0,0,0
$GC,1153,-1.09,-115.8,171.6,-14.8,118,1158,0.00,2.25,0.00,0.000,6,0.000,0.043,2822,2064,2424,0,0,0,0,0,0
$GC,1481,-1.09,-115.8,221.1,-14.9,134,1485,0.00,2.33,0.00,0.000,4,0.000,0.060,2813,3481,2424,0,0,0,0,0,0
$GC,1569,-1.09,-115.8,235.3,-15.9,138,1574,0.05,2.28,0.00,0.000,6,0.180,0.043,2829,2057,2424,0,0,0,0,0,0
$GC,1896,-1.09,-115.8,285.3,-14.9,154,1900,0.00,2.33,0.00,0.000,4,0.000,0.062,2819,3472,2425,0,0,0,0,0,0
$GC,1942,-1.09,-115.8,292.3,-15.1,156,1946,0.00,2.25,0.00,0.000,6,0.000,0.044,2819,2047,2425,0,0,0,0,0,0
$GC,2267,-1.09,-115.8,341.2,-14.9,172,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2047,2425,0,0,0,0,0,0
$GC,2577,-1.09,-115.8,387.3,-14.8,187,2581,0.00,2.33,0.00,0.000,4,0.000,0.057,2810,3476,2425,0,0,0,0,0,0
$GC,2609,-1.09,-115.8,392.3,-14.5,188,2616,0.05,2.25,0.00,0.000,6,0.181,0.043,2826,2063,2425,0,0,0,0,0,0
$GC,2925,-1.12,-115.8,436.6,-14.4,204,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2064,2425,0,0,0,0,0,0
$GC,3236,-1.16,-115.8,484.3,-15.8,219,3240,0.00,2.30,0.00,0.000,4,0.000,0.059,2817,3474,2425,0,0,0,0,0,0
$GC,3257,-1.19,-115.8,488.1,-16.1,220,3261,0.00,2.22,0.00,0.000,6,0.000,0.044,2817,2054,2425,0,0,0,0,0,0
$GC,3583,-1.19,-115.8,538.0,-15.3,236,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2054,2425,0,0,0,0,0,0
$GC,3894,-1.19,-115.8,584.9,-14.8,251,3898,0.00,2.35,0.00,0.000,4,0.000,0.063,2808,3479,2425,0,0,0,0,0,0
$GC,3965,-1.19,-115.8,596.3,-15.8,254,3969,0.00,2.28,0.00,0.000,6,0.000,0.044,2808,2058,2425,0,0,0,0,0,0
$GC,4286,-1.19,-115.8,643.5,-14.5,270,4290,0.00,2.33,0.00,0.000,4,0.000,0.063,2799,3471,2425,0,0,0,0,0,0
$GC,4324,-1.19,-115.8,649.3,-15.1,272,4329,0.00,2.25,0.00,0.000,6,0.000,0.045,2799,2049,2424,0,0,0,0,0,0
$GC,4651,-1.19,-115.8,698.1,-14.8,288,4655,0.00,2.33,0.00,0.000,4,0.000,0.061,2790,3472,2424,0,0,0,0,0,0
$GC,4700,-1.19,-115.8,706.2,-16.4,290,4705,0.00,2.25,0.00,0.000,6,0.000,0.044,2790,2061,2424,0,0,0,0,0,0
$GC,5022,-1.19,-115.8,756.4,-15.6,306,5026,0.00,2.33,0.00,0.000,4,0.000,0.062,2781,3477,2424,0,0,0,0,0,0
$GC,5089,-1.16,-115.8,767.4,-16.8,309,5094,0.10,2.25,0.00,0.000,6,0.199,0.045,2804,2056,2424,0,0,0,0,0,0
$GC,5416,-1.16,-115.8,815.2,-14.4,325,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2056,2424,0,0,0,0,0,0
$GC,5724,-1.16,-115.8,857.8,-13.5,340,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2056,2423,0,0,0,0,0,0
$GC,6035,-1.16,-115.8,896.7,-12.8,355,6039,0.00,2.35,0.00,0.000,4,0.000,0.065,2795,3475,2423,0,0,0,0,0,0
$GC,6074,-1.16,-115.8,902.1,-13.5,357,6078,0.00,2.25,0.00,0.000,6,0.000,0.046,2796,2054,2423,0,0,0,0,0,0
$GC,6400,-1.16,-115.8,944.8,-13.0,373,6404,0.00,2.35,0.00,0.000,4,0.000,0.064,2787,3475,2423,0,0,0,0,0,0
$GC,6477,-1.16,-115.8,955.8,-13.8,376,6483,0.05,2.28,0.00,0.000,6,0.181,0.047,2802,2062,2422,0,0,0,0,0,0
$GC,6792,-1.16,-115.8,996.8,-12.9,392,6796,0.00,2.33,0.00,0.000,4,0.000,0.062,2793,3474,2423,0,0,0,0,0,0
$STATE,6816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6817,begin apogee
$GC,6824,-0.19,0.0,1000.2,13.4,393,6936,1.10,0.00,108.10,1.278,6,0.165,0.000,3113,1598,1950,0,0,0,0,0,0
$STATE,6937,end apogee,CONTROL_FINISHED_OK
$STATE,6937,begin climb
$GC,6939,1.13,115.8,1003.9,0.0,399,7062,1.30,2.55,113.78,1.236,4,0.089,0.054,3551,198,1478,0,0,0,0,0,0
$GC,7108,1.13,115.8,987.4,15.0,407,7113,0.00,2.42,0.00,0.000,6,0.000,0.037,3551,1618,1474,0,0,0,0,0,0
$GC,7436,1.18,115.8,941.4,14.3,423,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1618,1471,0,0,0,0,0,0
$GC,7744,1.23,115.8,897.8,14.0,438,7746,0.08,0.00,0.00,0.000,6,0.123,0.000,3590,1619,1470,0,0,0,0,0,0
$GC,8054,1.23,115.8,851.2,14.8,453,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1618,1468,0,0,0,0,0,0
$GC,8362,1.23,115.8,805.2,15.0,468,8366,0.00,2.35,0.00,0.000,4,0.000,0.054,3599,193,1467,0,0,0,0,0,0
$GC,8394,1.16,115.8,800.1,16.8,469,8400,0.12,2.25,0.00,0.000,6,0.157,0.038,3562,1597,1467,0,0,0,0,0,0
$GC,8710,1.20,115.8,754.6,14.1,485,8715,0.00,2.30,0.00,0.000,4,0.000,0.054,3571,193,1467,0,0,0,0,0,0
$GC,8804,1.20,115.8,740.7,14.4,489,8809,0.00,2.25,0.00,0.000,6,0.000,0.037,3571,1600,1466,0,0,0,0,0,0
$GC,9127,1.20,115.8,697.6,13.2,505,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1600,1466,0,0,0,0,0,0
$GC,9434,1.20,115.8,657.4,13.0,520,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1600,1466,0,0,0,0,0,0
$GC,9745,1.20,115.8,617.8,12.9,535,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1600,1466,0,0,0,0,0,0
$GC,10053,1.20,115.8,577.7,13.0,550,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1600,1466,0,0,0,0,0,0
$GC,10364,1.20,115.8,538.1,12.8,565,10368,0.00,2.30,0.00,0.000,4,0.000,0.053,3580,191,1466,0,0,0,0,0,0
$GC,10485,1.20,115.8,520.8,14.1,570,10491,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1596,1465,0,0,0,0,0,0
$GC,10801,1.20,115.8,476.9,13.7,586,10805,0.00,2.30,0.00,0.000,4,0.000,0.053,3589,189,1465,0,0,0,0,0,0
$GC,10844,1.20,115.8,470.4,15.2,588,10849,0.05,2.25,0.00,0.000,6,0.168,0.037,3573,1601,1465,0,0,0,0,0,0
$GC,11170,1.20,115.8,427.1,13.3,604,11174,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,192,1465,0,0,0,0,0,0
$GC,11215,1.20,115.8,421.3,14.1,606,11219,0.00,2.22,0.00,0.000,6,0.000,0.038,3582,1609,1465,0,0,0,0,0,0
$GC,11546,1.20,115.8,379.5,12.3,622,11550,0.00,2.20,0.00,0.000,4,0.000,0.055,3582,2992,1465,0,0,0,0,0,0
$GC,11584,1.20,115.8,374.5,13.4,623,11590,0.05,2.20,0.00,0.000,6,0.176,0.037,3575,1590,1465,0,0,0,0,0,0
$GC,11901,1.20,115.8,336.8,12.3,639,11905,0.00,2.28,0.00,0.000,4,0.000,0.055,3585,192,1465,0,0,0,0,0,0
$GC,11944,1.20,115.8,331.0,13.5,641,11949,0.03,2.22,0.00,0.000,6,0.196,0.037,3577,1599,1465,0,0,0,0,0,0
$GC,12273,1.20,115.8,288.4,13.4,657,12277,0.00,2.30,0.00,0.000,4,0.000,0.053,3585,191,1465,0,0,0,0,0,0
$GC,12335,1.20,115.8,279.5,13.8,660,12340,0.05,2.22,0.00,0.000,6,0.230,0.038,3574,1608,1465,0,0,0,0,0,0
$GC,12663,1.23,115.8,237.7,12.6,676,12667,0.00,2.30,0.00,0.000,4,0.000,0.053,3583,198,1465,0,0,0,0,0,0
$GC,12734,1.23,115.8,228.0,12.8,679,12738,0.00,2.22,0.00,0.000,6,0.000,0.037,3583,1602,1465,0,0,0,0,0,0
$GC,13058,1.23,115.8,186.1,13.3,695,13062,0.00,2.30,0.00,0.000,4,0.000,0.053,3592,194,1465,0,0,0,0,0,0
$GC,13107,1.23,115.8,179.0,13.9,697,13111,0.00,2.22,0.00,0.000,6,0.000,0.037,3592,1599,1465,0,0,0,0,0,0
$GC,13431,1.23,115.8,138.5,12.9,713,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1600,1465,0,0,0,0,0,0
$GC,13738,1.23,115.8,99.3,12.4,728,13742,0.00,2.28,0.00,0.000,4,0.000,0.052,3601,198,1465,0,0,0,0,0,0
$GC,13855,1.19,115.8,83.2,13.1,733,13860,0.12,2.20,0.00,0.000,6,0.183,0.038,3569,1605,1465,0,0,0,0,0,0
$GC,14203,1.26,115.8,42.9,12.5,789,14210,0.00,2.33,0.00,0.000,4,0.000,0.052,3579,195,1465,0,0,0,0,0,0
$GC,14302,1.26,115.8,31.5,11.9,805,14310,0.00,2.22,0.00,0.000,6,0.000,0.036,3579,1605,1465,0,0,0,0,0,0
$GC,14461,1.29,115.8,14.5,10.4,830,14469,0.05,2.33,0.00,0.000,4,0.170,0.056,3618,202,1465,0,0,0,0,0,0
$GC,14496,1.24,115.8,9.9,11.9,835,14504,0.10,2.22,0.00,0.000,6,0.182,0.037,3589,1610,1464,0,0,0,0,0,0
$STATE,14548,end climb,SURFACE_DEPTH_REACHED
$STATE,14548,begin surface coast
$FINISH,1.9,1.003200
$STATE,14574,end surface coast,CONTROL_FINISHED_OK
$STATE,14574,begin surface
$SM_CCo,14592,39.90,0.054,0,0,1133,200.16
$SM_GC,3.44,0.00,0.00,39.90,0.000,0.000,0.054,61,2067,1133,-9.76,0.20,200.16
$IRIDIUM_FIX,-4441.36,642.95,080808,121224
$TT8_MAMPS,0.026964
$HUMID,63.74
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.40
$XPDR_PINGS,1
$24V_AH,22.3,44.007
$10V_AH,9.6,46.181
$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,23.825,134.000,221.875,39.900,0.000,26.823,43.414,297.001,0.250,0.000,18.883,1867.669,10243.573,361.107,2469.455,194.356,0.000,1272.677,0.000,2001.256,0.000,0.540,0.000
$DEVICE_MAMPS,234.855,78.795,1278.315,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.230,1233.912,696.291,422.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,60544,847
$CAP_FILE_SIZE,133088,0
$CFSIZE,2097086464,2044657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131015,152534,-4503.462,635.511,39,0.9,39,-24.4