version: 66.07.10.p01
glider: 573
mission: 12
dive: 369
start: 10 14 115 19 11 8
data:
$ID,573
$MISSION,12
$DIVE,369
$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,-22176.793
$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,40
$R_STBD_OVSHOOT,39
$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,368
$GPS1,141015,190302,-4503.588,635.430,76,0.8,77,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-70.4
$GPS2,141015,191048,-4503.587,635.447,28,0.8,28,-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,161.0,1052,-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,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,34,0.00,0.00,-7.12,0.000,2,0.000,0.000,71,2065,1272,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.3,-0.0,1,113,10.90,2.30,-58.50,0.000,4,0.222,0.072,2799,3457,2420,0,0,0,0,0,0
$GC,386,-1.09,-116.8,53.5,-19.4,58,392,0.12,2.20,0.00,0.000,6,0.188,0.044,2829,2070,2422,0,0,0,0,0,0
$GC,724,-1.09,-116.8,111.0,-16.7,93,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2070,2423,0,0,0,0,0,0
$GC,1031,-1.09,-116.8,162.7,-16.4,108,1035,0.00,2.28,0.00,0.000,4,0.000,0.057,2820,3463,2423,0,0,0,0,0,0
$GC,1137,-1.09,-116.8,180.6,-17.3,112,1145,0.00,2.22,0.00,0.000,6,0.000,0.041,2821,2063,2423,0,0,0,0,0,0
$GC,1453,-1.09,-116.8,227.9,-15.4,128,1457,0.00,2.28,0.00,0.000,4,0.000,0.056,2820,648,2423,0,0,0,0,0,0
$GC,1517,-1.09,-116.8,237.8,-16.5,131,1522,0.08,2.22,0.00,0.000,6,0.209,0.042,2827,2060,2423,0,0,0,0,0,0
$GC,1846,-1.09,-116.8,288.2,-15.4,147,1850,0.00,2.30,0.00,0.000,4,0.000,0.064,2817,3463,2423,0,0,0,0,0,0
$GC,1952,-1.09,-116.8,305.5,-15.8,152,1956,0.05,2.22,0.00,0.000,6,0.225,0.043,2827,2050,2423,0,0,0,0,0,0
$GC,2284,-1.12,-116.8,355.7,-15.0,168,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2049,2424,0,0,0,0,0,0
$GC,2594,-1.16,-116.8,402.1,-15.0,183,2598,0.00,2.33,0.00,0.000,4,0.000,0.062,2818,3463,2423,0,0,0,0,0,0
$GC,2723,-1.16,-116.8,421.9,-14.8,189,2727,0.00,2.20,0.00,0.000,6,0.000,0.044,2818,2060,2424,0,0,0,0,0,0
$GC,3055,-1.16,-116.8,470.4,-14.4,205,3059,0.00,2.30,0.00,0.000,4,0.000,0.061,2809,3463,2424,0,0,0,0,0,0
$GC,3101,-1.16,-116.8,477.0,-14.1,207,3105,0.00,2.22,0.00,0.000,6,0.000,0.043,2809,2052,2424,0,0,0,0,0,0
$GC,3433,-1.16,-116.8,524.7,-14.2,223,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2052,2423,0,0,0,0,0,0
$GC,3741,-1.16,-116.8,567.8,-14.0,238,3745,0.00,2.28,0.00,0.000,4,0.000,0.059,2809,657,2424,0,0,0,0,0,0
$GC,3774,-1.16,-116.8,572.6,-14.8,239,3779,0.00,2.25,0.00,0.000,6,0.000,0.043,2801,2056,2424,0,0,0,0,0,0
$GC,4090,-1.16,-116.8,616.7,-13.8,255,4094,0.00,2.28,0.00,0.000,4,0.000,0.060,2790,3468,2424,0,0,0,0,0,0
$GC,4183,-1.16,-116.8,630.2,-14.2,259,4189,0.05,2.25,0.00,0.000,6,0.181,0.044,2805,2062,2424,0,0,0,0,0,0
$GC,4506,-1.16,-116.8,673.7,-13.5,275,4510,0.00,2.33,0.00,0.000,4,0.000,0.061,2796,3475,2423,0,0,0,0,0,0
$GC,4560,-1.16,-116.8,681.7,-14.6,277,4565,0.00,2.28,0.00,0.000,6,0.000,0.045,2796,2058,2424,0,0,0,0,0,0
$GC,4877,-1.16,-116.8,723.6,-13.0,293,4881,0.00,2.33,0.00,0.000,4,0.000,0.064,2787,3466,2423,0,0,0,0,0,0
$GC,4904,-1.16,-116.8,727.3,-13.1,294,4909,0.10,2.22,0.00,0.000,6,0.195,0.044,2810,2059,2423,0,0,0,0,0,0
$GC,5220,-1.19,-116.8,764.8,-12.0,309,5224,0.00,2.33,0.00,0.000,4,0.000,0.064,2802,3468,2423,0,0,0,0,0,0
$GC,5252,-1.19,-116.8,769.2,-12.9,310,5257,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2060,2423,0,0,0,0,0,0
$GC,5573,-1.19,-116.8,810.4,-13.2,326,5577,0.00,2.33,0.00,0.000,4,0.000,0.061,2793,3477,2422,0,0,0,0,0,0
$GC,5636,-1.19,-116.8,818.9,-14.6,329,5640,0.00,2.25,0.00,0.000,6,0.000,0.046,2793,2058,2423,0,0,0,0,0,0
$GC,5962,-1.19,-116.8,863.4,-13.4,345,5966,0.00,2.35,0.00,0.000,4,0.000,0.064,2784,3471,2422,0,0,0,0,0,0
$GC,6023,-1.19,-116.8,872.0,-14.1,348,6027,0.08,2.22,0.00,0.000,6,0.207,0.047,2799,2060,2422,0,0,0,0,0,0
$GC,6353,-1.19,-116.8,915.4,-12.8,364,6357,0.00,2.30,0.00,0.000,4,0.000,0.063,2790,3466,2422,0,0,0,0,0,0
$GC,6386,-1.19,-116.8,919.6,-13.2,365,6391,0.00,2.25,0.00,0.000,6,0.000,0.045,2790,2064,2422,0,0,0,0,0,0
$GC,6702,-1.19,-116.8,959.9,-13.2,381,6706,0.00,2.30,0.00,0.000,4,0.000,0.059,2790,653,2422,0,0,0,0,0,0
$GC,6736,-1.16,-116.8,964.7,-14.7,382,6742,0.12,2.25,0.00,0.000,6,0.197,0.044,2811,2071,2422,0,0,0,0,0,0
$STATE,7029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7029,begin apogee
$GC,7035,-0.19,0.0,1000.5,12.0,397,7150,1.05,0.00,107.97,1.276,6,0.158,0.000,3116,1588,1949,0,0,0,0,0,0
$STATE,7151,end apogee,CONTROL_FINISHED_OK
$STATE,7151,begin climb
$GC,7153,1.13,116.8,1003.9,0.0,403,7279,1.27,2.58,115.90,1.227,4,0.086,0.056,3550,203,1473,0,0,0,0,0,0
$GC,7403,1.17,116.8,975.7,14.4,414,7409,0.00,2.38,0.00,0.000,6,0.000,0.038,3551,1611,1466,0,0,0,0,0,0
$GC,7718,1.22,116.8,933.4,13.2,430,7720,0.08,0.00,0.00,0.000,6,0.124,0.000,3589,1611,1464,0,0,0,0,0,0
$GC,8028,1.22,116.8,884.7,16.2,445,8032,0.00,2.38,0.00,0.000,4,0.000,0.054,3599,189,1463,0,0,0,0,0,0
$GC,8072,1.15,116.8,876.9,17.2,447,8077,0.17,2.25,0.00,0.000,6,0.166,0.037,3554,1608,1462,0,0,0,0,0,0
$GC,8399,1.20,116.8,828.3,14.3,463,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1608,1463,0,0,0,0,0,0
$GC,8707,1.26,116.8,785.5,13.3,478,8709,0.10,0.00,0.00,0.000,6,0.099,0.000,3602,1608,1462,0,0,0,0,0,0
$GC,9018,1.22,116.8,738.8,14.9,493,9020,0.10,0.00,0.00,0.000,6,0.183,0.000,3578,1611,1461,0,0,0,0,0,0
$GC,9326,1.22,116.8,698.1,12.7,508,9330,0.00,2.33,0.00,0.000,4,0.000,0.055,3588,187,1461,0,0,0,0,0,0
$GC,9346,1.22,116.8,695.4,12.9,509,9350,0.00,2.25,0.00,0.000,6,0.000,0.037,3588,1602,1461,0,0,0,0,0,0
$GC,9674,1.22,116.8,651.4,13.7,525,9678,0.00,2.25,0.00,0.000,4,0.000,0.055,3587,2994,1461,0,0,0,0,0,0
$GC,9694,1.22,116.8,648.3,14.3,526,9699,0.05,2.20,0.00,0.000,6,0.181,0.037,3581,1602,1461,0,0,0,0,0,0
$GC,10020,1.22,116.8,603.1,13.9,542,10024,0.00,2.28,0.00,0.000,4,0.000,0.056,3592,198,1460,0,0,0,0,0,0
$GC,10030,1.22,116.8,601.5,13.9,542,10037,0.03,2.22,0.00,0.000,6,0.200,0.038,3584,1597,1460,0,0,0,0,0,0
$GC,10345,1.22,116.8,558.5,13.7,558,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1597,1460,0,0,0,0,0,0
$GC,10656,1.22,116.8,517.5,13.1,573,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1597,1460,0,0,0,0,0,0
$GC,10964,1.22,116.8,477.4,12.9,588,10968,0.00,2.28,0.00,0.000,4,0.000,0.054,3593,198,1460,0,0,0,0,0,0
$GC,10986,1.22,116.8,474.4,13.4,589,10991,0.05,2.20,0.00,0.000,6,0.237,0.039,3583,1608,1460,0,0,0,0,0,0
$GC,11307,1.22,116.8,433.2,12.7,605,11311,0.00,2.30,0.00,0.000,4,0.000,0.054,3592,196,1460,0,0,0,0,0,0
$GC,11367,1.19,116.8,425.0,13.5,607,11372,0.10,2.20,0.00,0.000,6,0.197,0.037,3569,1614,1460,0,0,0,0,0,0
$GC,11684,1.24,116.8,388.5,11.7,623,11688,0.00,2.22,0.00,0.000,4,0.000,0.056,3569,2992,1460,0,0,0,0,0,0
$GC,11738,1.24,116.8,381.7,12.4,625,11743,0.00,2.20,0.00,0.000,6,0.000,0.037,3577,1594,1460,0,0,0,0,0,0
$GC,12055,1.24,116.8,341.7,12.7,641,12059,0.00,2.25,0.00,0.000,4,0.000,0.055,3588,198,1460,0,0,0,0,0,0
$GC,12103,1.24,116.8,334.8,13.9,643,12108,0.00,2.22,0.00,0.000,6,0.000,0.038,3588,1596,1460,0,0,0,0,0,0
$GC,12427,1.24,116.8,293.1,13.0,659,12431,0.00,2.30,0.00,0.000,4,0.000,0.053,3596,193,1460,0,0,0,0,0,0
$GC,12460,1.20,116.8,288.4,13.3,660,12468,0.08,2.22,0.00,0.000,6,0.176,0.038,3574,1597,1460,0,0,0,0,0,0
$GC,12776,1.24,116.8,248.5,12.3,676,12780,0.00,2.30,0.00,0.000,4,0.000,0.054,3582,192,1460,0,0,0,0,0,0
$GC,12837,1.24,116.8,240.4,12.6,678,12845,0.00,2.25,0.00,0.000,6,0.000,0.037,3582,1603,1460,0,0,0,0,0,0
$GC,13153,1.24,116.8,202.6,12.7,694,13157,0.00,2.30,0.00,0.000,4,0.000,0.052,3591,196,1460,0,0,0,0,0,0
$GC,13208,1.24,116.8,195.2,13.2,696,13213,0.00,2.22,0.00,0.000,6,0.000,0.037,3591,1597,1460,0,0,0,0,0,0
$GC,13530,1.24,116.8,157.2,11.1,712,13534,0.00,2.28,0.00,0.000,4,0.000,0.057,3591,3004,1460,0,0,0,0,0,0
$GC,13624,1.24,116.8,145.2,12.6,716,13629,0.05,2.20,0.00,0.000,6,0.190,0.036,3585,1600,1460,0,0,0,0,0,0
$GC,13945,1.24,116.8,107.8,11.5,732,13949,0.00,2.28,0.00,0.000,4,0.000,0.054,3594,190,1460,0,0,0,0,0,0
$GC,13989,1.24,116.8,102.4,12.4,734,13994,0.00,2.25,0.00,0.000,6,0.000,0.036,3594,1610,1460,0,0,0,0,0,0
$GC,14322,1.24,116.8,61.9,12.1,766,14327,0.00,2.30,0.00,0.000,4,0.000,0.051,3603,189,1460,0,0,0,0,0,0
$GC,14364,1.21,116.8,56.4,13.0,773,14370,0.10,2.20,0.00,0.000,6,0.199,0.036,3577,1614,1460,0,0,0,0,0,0
$GC,14731,1.24,116.8,11.7,11.1,834,14739,0.00,2.35,0.00,0.000,4,0.000,0.051,3587,189,1460,0,0,0,0,0,0
$STATE,14794,end climb,SURFACE_DEPTH_REACHED
$STATE,14794,begin surface coast
$FINISH,1.9,1.023488
$STATE,14820,end surface coast,CONTROL_FINISHED_OK
$STATE,14820,begin surface
$SM_CCo,14841,39.65,0.056,0,0,1132,200.16
$SM_GC,2.83,0.00,0.00,39.65,0.000,0.000,0.056,67,2062,1132,-9.74,0.06,200.16
$IRIDIUM_FIX,-4447.43,637.25,100808,040423
$TT8_MAMPS,0.026964
$HUMID,64.17
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.3,44.663
$10V_AH,9.7,46.858
$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,24.100,142.300,223.875,39.650,0.000,24.149,41.963,254.683,0.000,0.000,31.151,1874.127,10444.212,369.415,2464.007,195.375,0.000,1299.496,0.000,2028.374,0.000,0.539,0.000
$DEVICE_MAMPS,237.150,71.910,1276.020,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.540,1225.992,676.669,406.091,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,60465,848
$CAP_FILE_SIZE,134231,0
$CFSIZE,2097086464,2043740160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141015,232034,-4504.721,637.722,48,0.9,48,-24.4