version: 66.07.10.p01
glider: 573
mission: 12
dive: 367
start: 10 14 115 10 0 30
data:
$ID,573
$MISSION,12
$DIVE,367
$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,-22172.141
$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,34
$R_STBD_OVSHOOT,43
$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,366
$GPS1,141015,095234,-4503.615,634.762,61,0.8,62,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-65.4
$GPS2,141015,100010,-4503.563,634.841,16,0.9,16,-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,142.5,1718,-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,-19.85,0.000,2,0.000,0.000,66,2072,1519,0,0,0,0,0,0
$GC,49,-1.12,-96.5,3.3,-3.2,3,106,11.43,2.35,-35.08,0.000,4,0.238,0.077,2805,3456,2346,0,0,0,0,0,0
$GC,380,-1.07,-96.5,42.8,-14.9,57,388,0.10,2.25,0.00,0.000,6,0.164,0.046,2836,2070,2347,0,0,0,0,0,0
$GC,737,-1.07,-96.5,98.6,-18.1,106,741,0.00,2.30,0.00,0.000,4,0.000,0.061,2827,3463,2347,0,0,0,0,0,0
$GC,883,-1.07,-96.5,122.4,-16.2,112,891,0.00,2.25,0.00,0.000,6,0.000,0.042,2827,2053,2347,0,0,0,0,0,0
$GC,1199,-1.07,-96.5,169.9,-14.1,128,1203,0.00,2.30,0.00,0.000,4,0.000,0.062,2818,3453,2348,0,0,0,0,0,0
$GC,1248,-1.07,-96.5,176.5,-12.5,130,1253,0.05,2.25,0.00,0.000,6,0.172,0.045,2833,2056,2347,0,0,0,0,0,0
$GC,1569,-1.07,-96.5,220.5,-13.7,146,1573,0.00,2.33,0.00,0.000,4,0.000,0.063,2825,3462,2348,0,0,0,0,0,0
$GC,1596,-1.07,-96.5,224.6,-13.8,147,1601,0.03,2.22,0.00,0.000,6,0.197,0.043,2833,2060,2348,0,0,0,0,0,0
$GC,1925,-1.07,-96.5,270.8,-14.3,163,1929,0.00,2.28,0.00,0.000,4,0.000,0.057,2833,652,2348,0,0,0,0,0,0
$GC,1974,-1.07,-96.5,278.6,-15.0,165,1978,0.00,2.25,0.00,0.000,6,0.000,0.044,2825,2046,2348,0,0,0,0,0,0
$GC,2296,-1.07,-96.5,325.1,-14.6,181,2300,0.05,2.35,0.00,0.000,4,0.249,0.063,2824,3471,2348,0,0,0,0,0,0
$GC,2362,-1.07,-96.5,334.7,-14.1,184,2366,0.05,2.25,0.00,0.000,6,0.227,0.045,2835,2052,2348,0,0,0,0,0,0
$GC,2693,-1.10,-96.5,377.4,-12.9,200,2697,0.00,2.35,0.00,0.000,4,0.000,0.063,2826,3474,2349,0,0,0,0,0,0
$GC,2747,-1.10,-96.5,384.6,-13.0,202,2753,0.00,2.28,0.00,0.000,6,0.000,0.045,2826,2054,2348,0,0,0,0,0,0
$GC,3062,-1.10,-96.5,425.2,-13.2,218,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2054,2348,0,0,0,0,0,0
$GC,3373,-1.10,-96.5,466.9,-14.1,233,3377,0.00,2.33,0.00,0.000,4,0.000,0.064,2817,3466,2348,0,0,0,0,0,0
$GC,3439,-1.10,-96.5,476.5,-13.5,236,3443,0.00,2.22,0.00,0.000,6,0.000,0.044,2817,2055,2348,0,0,0,0,0,0
$GC,3771,-1.10,-96.5,520.6,-12.5,252,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2054,2348,0,0,0,0,0,0
$GC,4081,-1.10,-96.5,557.8,-11.9,267,4085,0.00,2.33,0.00,0.000,4,0.000,0.064,2808,3466,2348,0,0,0,0,0,0
$GC,4193,-1.10,-96.5,571.8,-12.7,272,4197,0.08,2.22,0.00,0.000,6,0.200,0.044,2824,2058,2348,0,0,0,0,0,0
$GC,4524,-1.10,-96.5,609.9,-11.6,288,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,2348,0,0,0,0,0,0
$GC,4835,-1.14,-96.5,647.3,-12.2,303,4840,0.00,2.35,0.00,0.000,4,0.000,0.064,2815,3471,2348,0,0,0,0,0,0
$GC,4929,-1.14,-96.5,660.0,-13.5,307,4934,0.00,2.25,0.00,0.000,6,0.000,0.046,2815,2065,2348,0,0,0,0,0,0
$GC,5252,-1.14,-96.5,703.4,-13.8,323,5256,0.00,2.30,0.00,0.000,4,0.000,0.059,2806,3471,2347,0,0,0,0,0,0
$GC,5329,-1.14,-96.5,714.6,-14.3,326,5335,0.00,2.28,0.00,0.000,6,0.000,0.046,2806,2055,2347,0,0,0,0,0,0
$GC,5644,-1.14,-96.5,758.0,-13.2,342,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2055,2347,0,0,0,0,0,0
$GC,5954,-1.14,-96.5,798.4,-12.9,357,5959,0.00,2.33,0.00,0.000,4,0.000,0.066,2797,3466,2347,0,0,0,0,0,0
$GC,5994,-1.14,-96.5,803.3,-12.7,359,5999,0.08,2.25,0.00,0.000,6,0.203,0.047,2813,2049,2347,0,0,0,0,0,0
$GC,6320,-1.14,-96.5,841.9,-11.6,375,6325,0.00,2.30,0.00,0.000,4,0.000,0.060,2813,643,2347,0,0,0,0,0,0
$GC,6392,-1.14,-96.5,850.4,-11.1,378,6397,0.00,2.28,0.00,0.000,6,0.000,0.045,2804,2057,2347,0,0,0,0,0,0
$GC,6713,-1.14,-96.5,884.7,-10.2,394,6717,0.00,2.30,0.00,0.000,4,0.000,0.063,2794,3472,2347,0,0,0,0,0,0
$GC,6790,-1.14,-96.5,893.3,-12.1,397,6795,0.05,2.28,0.00,0.000,6,0.172,0.047,2810,2062,2346,0,0,0,0,0,0
$GC,7106,-1.14,-96.5,927.0,-11.2,413,7110,0.00,2.30,0.00,0.000,4,0.000,0.058,2810,650,2346,0,0,0,0,0,0
$GC,7160,-1.14,-96.5,933.6,-12.6,415,7166,0.03,2.28,0.00,0.000,6,0.204,0.046,2809,2056,2346,0,0,0,0,0,0
$GC,7477,-1.14,-96.5,968.5,-11.8,431,7481,0.00,2.33,0.00,0.000,4,0.000,0.063,2799,3475,2346,0,0,0,0,0,0
$GC,7633,-1.14,-96.5,987.7,-12.2,438,7638,0.08,2.28,0.00,0.000,6,0.199,0.048,2816,2050,2346,0,0,0,0,0,0
$STATE,7745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7745,begin apogee
$GC,7751,-0.19,0.0,1000.4,10.8,444,7848,1.02,0.00,91.07,1.278,6,0.157,0.000,3115,1590,1950,0,0,0,0,0,0
$STATE,7848,end apogee,CONTROL_FINISHED_OK
$STATE,7848,begin climb
$GC,7850,1.12,96.5,1002.9,0.0,449,7956,1.27,2.58,95.10,1.234,4,0.086,0.055,3550,198,1555,0,0,0,0,0,0
$GC,7989,1.12,96.5,990.7,13.1,455,7994,0.00,2.45,0.00,0.000,6,0.000,0.037,3551,1608,1551,0,0,0,0,0,0
$GC,8306,1.16,96.5,949.8,13.1,471,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1608,1546,0,0,0,0,0,0
$GC,8614,1.19,96.5,911.2,12.5,486,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1609,1545,0,0,0,0,0,0
$GC,8924,1.22,96.5,873.5,12.2,501,8926,0.08,0.00,0.00,0.000,6,0.125,0.000,3591,1608,1544,0,0,0,0,0,0
$GC,9234,1.19,96.5,831.0,14.0,516,9239,0.10,2.35,0.00,0.000,4,0.182,0.054,3577,188,1544,0,0,0,0,0,0
$GC,9328,1.14,96.5,817.7,14.0,520,9333,0.10,2.25,0.00,0.000,6,0.183,0.037,3553,1607,1543,0,0,0,0,0,0
$GC,9644,1.18,96.5,777.9,12.7,535,9648,0.00,2.33,0.00,0.000,4,0.000,0.054,3562,193,1543,0,0,0,0,0,0
$GC,9711,1.18,96.5,768.3,14.0,538,9715,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1602,1542,0,0,0,0,0,0
$GC,10042,1.18,96.5,722.9,13.7,554,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1603,1542,0,0,0,0,0,0
$GC,10353,1.18,96.5,680.6,13.5,569,10357,0.00,2.30,0.00,0.000,4,0.000,0.054,3571,193,1542,0,0,0,0,0,0
$GC,10385,1.18,96.5,676.1,14.3,570,10389,0.00,2.25,0.00,0.000,6,0.000,0.037,3571,1605,1542,0,0,0,0,0,0
$GC,10705,1.18,96.5,635.7,12.2,586,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1605,1542,0,0,0,0,0,0
$GC,11016,1.18,96.5,599.1,11.8,601,11020,0.00,2.30,0.00,0.000,4,0.000,0.054,3580,193,1542,0,0,0,0,0,0
$GC,11070,1.14,96.5,592.0,12.5,603,11076,0.10,2.20,0.00,0.000,6,0.185,0.037,3556,1600,1542,0,0,0,0,0,0
$GC,11387,1.18,96.5,556.5,11.0,619,11391,0.00,2.30,0.00,0.000,4,0.000,0.054,3565,188,1542,0,0,0,0,0,0
$GC,11480,1.18,96.5,545.5,11.1,623,11485,0.00,2.25,0.00,0.000,6,0.000,0.037,3565,1603,1542,0,0,0,0,0,0
$GC,11803,1.18,96.5,509.1,11.8,639,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1603,1542,0,0,0,0,0,0
$GC,12110,1.18,96.5,473.7,11.5,654,12114,0.00,2.30,0.00,0.000,4,0.000,0.054,3573,185,1542,0,0,0,0,0,0
$GC,12154,1.18,96.5,468.3,12.6,656,12159,0.00,2.25,0.00,0.000,6,0.000,0.037,3574,1601,1542,0,0,0,0,0,0
$GC,12480,1.18,96.5,428.1,12.5,672,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1602,1541,0,0,0,0,0,0
$GC,12791,1.18,96.5,389.6,12.3,687,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1601,1542,0,0,0,0,0,0
$GC,13099,1.18,96.5,351.1,11.9,702,13103,0.00,2.33,0.00,0.000,4,0.000,0.054,3583,189,1541,0,0,0,0,0,0
$GC,13183,1.15,96.5,340.8,11.7,706,13188,0.10,2.22,0.00,0.000,6,0.184,0.036,3559,1604,1541,0,0,0,0,0,0
$GC,13509,1.20,96.5,304.2,11.2,722,13514,0.00,2.33,0.00,0.000,4,0.000,0.054,3568,189,1541,0,0,0,0,0,0
$GC,13559,1.20,96.5,297.9,12.2,724,13563,0.00,2.25,0.00,0.000,6,0.000,0.037,3568,1607,1541,0,0,0,0,0,0
$GC,13881,1.23,96.5,257.7,13.0,740,13885,0.00,2.33,0.00,0.000,4,0.000,0.054,3576,186,1541,0,0,0,0,0,0
$GC,14017,1.23,96.5,239.8,12.7,746,14021,0.00,2.22,0.00,0.000,6,0.000,0.036,3577,1605,1541,0,0,0,0,0,0
$GC,14343,1.23,96.5,201.6,11.9,762,14347,0.00,2.22,0.00,0.000,4,0.000,0.055,3577,2990,1541,0,0,0,0,0,0
$GC,14403,1.23,96.5,194.2,11.3,764,14411,0.00,2.20,0.00,0.000,6,0.000,0.037,3586,1595,1541,0,0,0,0,0,0
$GC,14719,1.23,96.5,161.1,10.1,780,14723,0.00,2.28,0.00,0.000,4,0.000,0.057,3597,197,1541,0,0,0,0,0,0
$GC,14765,1.18,96.5,156.0,11.7,782,14770,0.12,2.20,0.00,0.000,6,0.181,0.038,3565,1600,1541,0,0,0,0,0,0
$GC,15093,1.22,96.5,124.5,9.6,798,15097,0.00,2.28,0.00,0.000,4,0.000,0.053,3574,196,1541,0,0,0,0,0,0
$GC,15159,1.22,96.5,117.3,10.2,801,15163,0.00,2.22,0.00,0.000,6,0.000,0.038,3574,1594,1541,0,0,0,0,0,0
$GC,15489,1.26,96.5,84.6,10.2,817,15493,0.00,2.28,0.00,0.000,4,0.000,0.053,3583,192,1541,0,0,0,0,0,0
$GC,15562,1.26,96.5,76.4,11.0,822,15569,0.00,2.22,0.00,0.000,6,0.000,0.038,3583,1593,1541,0,0,0,0,0,0
$GC,15915,1.26,96.5,37.9,11.6,883,15923,0.00,2.30,0.00,0.000,4,0.000,0.053,3592,201,1541,0,0,0,0,0,0
$GC,15962,1.26,96.5,31.9,13.1,890,15969,0.00,2.22,0.00,0.000,6,0.000,0.038,3592,1603,1541,0,0,0,0,0,0
$GC,16119,1.26,96.5,13.2,11.8,915,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1603,1541,0,0,0,0,0,0
$GC,16177,1.26,100.0,7.5,8.1,924,16184,0.00,2.33,0.00,0.000,4,0.000,0.051,3601,195,1541,0,0,0,0,0,0
$STATE,16215,end climb,SURFACE_DEPTH_REACHED
$STATE,16215,begin surface coast
$FINISH,1.8,1.023476
$STATE,16247,end surface coast,CONTROL_FINISHED_OK
$STATE,16247,begin surface
$SM_CCo,16268,49.30,0.055,0,0,1133,200.16
$SM_GC,3.31,0.00,0.00,49.30,0.000,0.000,0.055,80,2067,1133,-9.70,0.20,200.16
$IRIDIUM_FIX,-4450.47,643.66,090808,191956
$TT8_MAMPS,0.026964
$HUMID,63.74
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.5,44.470
$10V_AH,9.7,46.672
$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,24.250,147.625,186.175,49.300,0.000,26.226,25.312,273.999,0.000,0.000,18.619,2074.487,11414.494,352.463,2732.681,200.932,0.000,1381.438,0.000,2295.306,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,77.265,1277.550,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.943,1355.133,755.650,452.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,67190,935
$CAP_FILE_SIZE,145104,0
$CFSIZE,2097086464,2043969536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141015,143403,-4504.180,637.637,58,0.8,58,-24.4