version: 66.07.10.p01
glider: 573
mission: 12
dive: 373
start: 10 15 115 12 42 16
data:
$ID,573
$MISSION,12
$DIVE,373
$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,-22186.672
$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,36
$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,372
$GPS1,151015,123423,-4502.683,637.426,36,1.9,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-72.2
$GPS2,151015,124156,-4502.755,637.388,23,1.6,23,-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,242.6,2934,-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,-19.75,0.000,2,0.000,0.000,62,2071,1516,0,0,0,0,0,0
$GC,49,-1.13,-103.8,3.1,-2.4,3,113,11.50,2.35,-42.30,0.000,4,0.240,0.076,2804,3460,2375,0,0,0,0,0,0
$GC,387,-1.08,-103.8,47.0,-17.0,58,392,0.10,2.25,0.00,0.000,6,0.181,0.044,2828,2054,2377,0,0,0,0,0,0
$GC,740,-1.08,-103.8,104.6,-16.5,101,745,0.00,2.33,0.00,0.000,4,0.000,0.063,2819,3457,2377,0,0,0,0,0,0
$GC,999,-1.08,-103.8,149.2,-17.0,112,1007,0.00,2.25,0.00,0.000,6,0.000,0.044,2819,2060,2378,0,0,0,0,0,0
$GC,1315,-1.08,-103.8,202.9,-16.2,128,1319,0.00,2.30,0.00,0.000,4,0.000,0.060,2810,3460,2378,0,0,0,0,0,0
$GC,1409,-1.08,-103.8,218.4,-15.0,132,1414,0.05,2.22,0.00,0.000,6,0.167,0.043,2827,2068,2378,0,0,0,0,0,0
$GC,1736,-1.08,-103.8,266.6,-14.8,148,1740,0.00,2.25,0.00,0.000,4,0.000,0.056,2818,3461,2378,0,0,0,0,0,0
$GC,1918,-1.08,-103.8,293.9,-14.9,156,1923,0.05,2.22,0.00,0.000,6,0.225,0.041,2828,2045,2378,0,0,0,0,0,0
$GC,2244,-1.11,-103.8,339.7,-14.1,172,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2045,2378,0,0,0,0,0,0
$GC,2554,-1.15,-103.8,382.8,-14.1,187,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2045,2378,0,0,0,0,0,0
$GC,2862,-1.19,-103.8,425.5,-13.6,202,2864,0.08,0.00,0.00,0.000,6,0.125,0.000,2791,2045,2378,0,0,0,0,0,0
$GC,3173,-1.16,-103.8,472.2,-15.1,217,3177,0.08,2.30,0.00,0.000,4,0.214,0.054,2798,3462,2378,0,0,0,0,0,0
$GC,3199,-1.16,-103.8,476.4,-14.8,218,3203,0.00,2.22,0.00,0.000,6,0.000,0.041,2797,2056,2379,0,0,0,0,0,0
$GC,3525,-1.16,-103.8,525.3,-15.0,234,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2056,2379,0,0,0,0,0,0
$GC,3836,-1.16,-103.8,572.3,-15.6,249,3840,0.00,2.33,0.00,0.000,4,0.000,0.061,2788,3465,2378,0,0,0,0,0,0
$GC,3929,-1.16,-103.8,587.2,-16.0,253,3934,0.05,2.25,0.00,0.000,6,0.185,0.043,2803,2058,2378,0,0,0,0,0,0
$GC,4251,-1.16,-103.8,634.8,-14.6,269,4255,0.00,2.33,0.00,0.000,4,0.000,0.062,2795,3466,2378,0,0,0,0,0,0
$GC,4311,-1.16,-103.8,643.7,-14.7,272,4316,0.05,2.22,0.00,0.000,6,0.232,0.044,2805,2055,2378,0,0,0,0,0,0
$GC,4642,-1.16,-103.8,690.0,-13.6,288,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2055,2378,0,0,0,0,0,0
$GC,4953,-1.16,-103.8,731.6,-13.4,303,4957,0.00,2.33,0.00,0.000,4,0.000,0.062,2796,3462,2377,0,0,0,0,0,0
$GC,5018,-1.16,-103.8,740.9,-13.2,306,5023,0.00,2.22,0.00,0.000,6,0.000,0.043,2796,2064,2377,0,0,0,0,0,0
$GC,5345,-1.16,-103.8,784.4,-13.2,322,5349,0.00,2.30,0.00,0.000,4,0.000,0.060,2787,3463,2377,0,0,0,0,0,0
$GC,5365,-1.16,-103.8,787.2,-13.3,323,5371,0.05,2.25,0.00,0.000,6,0.181,0.044,2803,2057,2377,0,0,0,0,0,0
$GC,5693,-1.16,-103.8,828.5,-12.8,339,5697,0.00,2.33,0.00,0.000,4,0.000,0.063,2794,3462,2377,0,0,0,0,0,0
$GC,5725,-1.16,-103.8,833.0,-13.4,340,5731,0.00,2.22,0.00,0.000,6,0.000,0.044,2794,2064,2377,0,0,0,0,0,0
$GC,6040,-1.16,-103.8,872.6,-12.6,356,6042,0.05,0.00,0.00,0.000,6,0.240,0.000,2804,2065,2377,0,0,0,0,0,0
$GC,6350,-1.16,-103.8,910.9,-12.2,371,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2064,2377,0,0,0,0,0,0
$GC,6659,-1.19,-103.8,948.4,-12.3,386,6663,0.00,2.28,0.00,0.000,4,0.000,0.058,2796,3466,2377,0,0,0,0,0,0
$GC,6719,-1.19,-103.8,955.9,-12.8,388,6724,0.00,2.25,0.00,0.000,6,0.000,0.043,2796,2060,2376,0,0,0,0,0,0
$GC,7034,-1.19,-103.8,994.1,-12.1,404,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2060,2376,0,0,0,0,0,0
$STATE,7095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7095,begin apogee
$GC,7101,-0.19,0.0,1001.5,12.0,407,7203,1.10,0.00,98.50,1.280,6,0.161,0.000,3113,1596,1950,0,0,0,0,0,0
$STATE,7204,end apogee,CONTROL_FINISHED_OK
$STATE,7204,begin climb
$GC,7206,1.13,103.8,1004.6,0.0,412,7313,1.27,0.00,103.03,1.233,6,0.088,0.000,3538,1596,1527,0,0,0,0,0,0
$GC,7616,1.19,103.8,956.5,13.3,432,7621,0.10,2.40,0.00,0.000,4,0.096,0.056,3601,193,1518,0,0,0,0,0,0
$GC,7724,1.11,103.8,939.0,16.5,437,7729,0.22,2.30,0.00,0.000,6,0.167,0.036,3543,1617,1517,0,0,0,0,0,0
$GC,8052,1.17,103.8,892.9,14.0,453,8056,0.00,2.38,0.00,0.000,4,0.000,0.054,3552,195,1516,0,0,0,0,0,0
$GC,8096,1.17,103.8,886.1,14.8,455,8100,0.00,2.28,0.00,0.000,6,0.000,0.038,3552,1603,1516,0,0,0,0,0,0
$GC,8424,1.21,103.8,840.5,13.6,471,8429,0.05,2.33,0.00,0.000,4,0.166,0.054,3596,198,1516,0,0,0,0,0,0
$GC,8456,1.15,103.8,835.4,15.5,472,8462,0.15,2.25,0.00,0.000,6,0.175,0.038,3558,1596,1515,0,0,0,0,0,0
$GC,8771,1.18,103.8,793.7,13.1,488,8775,0.00,2.33,0.00,0.000,4,0.000,0.054,3567,189,1515,0,0,0,0,0,0
$GC,8854,1.18,103.8,782.0,14.3,492,8858,0.00,2.25,0.00,0.000,6,0.000,0.037,3567,1609,1514,0,0,0,0,0,0
$GC,9181,1.18,103.8,738.9,13.1,508,9185,0.00,2.33,0.00,0.000,4,0.000,0.054,3576,198,1514,0,0,0,0,0,0
$GC,9213,1.18,103.8,734.2,14.5,509,9219,0.03,2.25,0.00,0.000,6,0.194,0.037,3568,1606,1514,0,0,0,0,0,0
$GC,9529,1.18,103.8,693.6,12.8,525,9533,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,193,1514,0,0,0,0,0,0
$GC,9561,1.18,103.8,688.9,14.3,526,9567,0.03,2.22,0.00,0.000,6,0.199,0.035,3569,1594,1514,0,0,0,0,0,0
$GC,9876,1.18,103.8,647.7,12.9,542,9880,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,186,1514,0,0,0,0,0,0
$GC,9947,1.14,103.8,638.0,13.6,545,9953,0.05,2.25,0.00,0.000,6,0.171,0.037,3561,1598,1514,0,0,0,0,0,0
$GC,10269,1.18,103.8,596.3,12.6,561,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1599,1514,0,0,0,0,0,0
$GC,10577,1.22,103.8,558.6,11.9,576,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1599,1513,0,0,0,0,0,0
$GC,10888,1.26,103.8,522.2,11.9,591,10892,0.10,2.33,0.00,0.000,4,0.101,0.054,3622,186,1513,0,0,0,0,0,0
$GC,10928,1.16,103.8,516.7,15.0,593,10933,0.22,2.22,0.00,0.000,6,0.180,0.037,3563,1608,1513,0,0,0,0,0,0
$GC,11256,1.20,103.8,477.8,11.8,609,11260,0.00,2.33,0.00,0.000,4,0.000,0.054,3572,190,1513,0,0,0,0,0,0
$GC,11367,1.20,103.8,463.8,12.2,614,11371,0.00,2.22,0.00,0.000,6,0.000,0.035,3572,1595,1513,0,0,0,0,0,0
$GC,11693,1.20,103.8,425.3,11.8,630,11697,0.00,2.30,0.00,0.000,4,0.000,0.053,3581,195,1513,0,0,0,0,0,0
$GC,11848,1.20,103.8,405.9,12.7,637,11853,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1596,1513,0,0,0,0,0,0
$GC,12175,1.20,103.8,366.2,12.4,653,12180,0.00,2.30,0.00,0.000,4,0.000,0.052,3589,192,1512,0,0,0,0,0,0
$GC,12282,1.16,103.8,352.4,12.5,658,12287,0.10,2.22,0.00,0.000,6,0.189,0.037,3561,1609,1513,0,0,0,0,0,0
$GC,12608,1.21,103.8,316.3,10.9,674,12613,0.00,2.33,0.00,0.000,4,0.000,0.054,3570,191,1512,0,0,0,0,0,0
$GC,12725,1.21,103.8,302.6,11.7,679,12729,0.00,2.22,0.00,0.000,6,0.000,0.036,3568,1599,1512,0,0,0,0,0,0
$GC,13051,1.25,103.8,266.4,11.2,695,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1598,1512,0,0,0,0,0,0
$GC,13357,1.29,103.8,232.9,10.6,710,13359,0.10,0.00,0.00,0.000,6,0.102,0.000,3613,1599,1513,0,0,0,0,0,0
$GC,13668,1.24,103.8,197.7,11.7,725,13670,0.10,0.00,0.00,0.000,6,0.200,0.000,3589,1600,1512,0,0,0,0,0,0
$GC,13975,1.24,103.8,163.7,10.5,740,13979,0.00,2.25,0.00,0.000,4,0.000,0.054,3585,2998,1512,0,0,0,0,0,0
$GC,14024,1.24,103.8,157.9,11.5,742,14028,0.00,2.20,0.00,0.000,6,0.000,0.036,3593,1594,1512,0,0,0,0,0,0
$GC,14346,1.24,103.8,121.5,11.2,758,14350,0.00,2.28,0.00,0.000,4,0.000,0.054,3604,187,1513,0,0,0,0,0,0
$GC,14416,1.20,103.8,113.2,12.2,761,14421,0.12,2.20,0.00,0.000,6,0.191,0.036,3573,1602,1512,0,0,0,0,0,0
$GC,14737,1.24,103.8,77.9,11.0,778,14742,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,196,1512,0,0,0,0,0,0
$GC,14777,1.24,103.8,73.1,11.2,785,14782,0.00,2.20,0.00,0.000,6,0.000,0.037,3582,1609,1512,0,0,0,0,0,0
$GC,15130,1.24,103.8,33.9,10.5,846,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1609,1512,0,0,0,0,0,0
$GC,15286,1.24,103.8,17.0,11.4,871,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1608,1512,0,0,0,0,0,0
$GC,15344,1.24,103.8,10.7,10.9,880,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1608,1512,0,0,0,0,0,0
$GC,15402,1.29,103.8,3.6,12.8,889,15409,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1609,1512,0,0,0,0,0,0
$STATE,15417,end climb,SURFACE_DEPTH_REACHED
$STATE,15417,begin surface coast
$FINISH,2.0,1.023492
$STATE,15450,end surface coast,CONTROL_FINISHED_OK
$STATE,15450,begin surface
$SM_CCo,15468,46.90,0.055,0,0,1133,200.16
$SM_GC,3.87,0.00,0.00,46.90,0.000,0.000,0.055,88,2081,1133,-9.67,0.57,200.16
$IRIDIUM_FIX,-4447.43,634.22,100808,212125
$TT8_MAMPS,0.026964
$HUMID,63.74
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.4,45.036
$10V_AH,9.7,47.240
$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,25.150,119.725,201.525,46.900,0.000,37.650,27.382,248.903,0.000,0.000,25.360,1988.981,10800.637,363.143,2616.684,200.983,0.000,1332.061,0.000,2195.897,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,75.735,1279.845,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.590,1314.407,742.633,454.374,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,63926,896
$CAP_FILE_SIZE,138149,0
$CFSIZE,2097086464,2043215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151015,170204,-4503.701,636.289,36,1.0,37,-24.4