version: 66.07.10.p01
glider: 573
mission: 12
dive: 379
start: 10 16 115 23 24 53
data:
$ID,573
$MISSION,12
$DIVE,379
$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,-22203.805
$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,32
$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,378
$GPS1,161015,231557,-4503.642,624.534,36,0.9,37,-24.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-67.1
$GPS2,161015,232434,-4503.665,624.702,17,1.1,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,260.3,1108,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,36,0.00,0.00,-7.82,0.000,2,0.000,0.000,79,2057,1281,0,0,0,0,0,0
$GC,39,-1.13,-116.8,3.0,-0.0,1,115,10.82,2.33,-57.78,0.000,4,0.220,0.069,2805,3475,2425,0,0,0,0,0,0
$GC,389,-1.09,-116.8,53.0,-21.9,58,395,0.10,2.28,0.00,0.000,6,0.195,0.047,2829,2066,2427,0,0,0,0,0,0
$GC,730,-1.09,-116.8,107.9,-13.8,94,734,0.00,2.35,0.00,0.000,4,0.000,0.065,2819,3473,2427,0,0,0,0,0,0
$GC,756,-1.09,-116.8,112.8,-18.6,95,761,0.00,2.28,0.00,0.000,6,0.000,0.044,2819,2055,2427,0,0,0,0,0,0
$GC,1080,-1.09,-116.8,164.4,-16.8,111,1084,0.00,2.35,0.00,0.000,4,0.000,0.065,2810,3463,2427,0,0,0,0,0,0
$GC,1128,-1.09,-116.8,173.0,-15.8,113,1134,0.05,2.25,0.00,0.000,6,0.172,0.042,2826,2056,2427,0,0,0,0,0,0
$GC,1452,-1.09,-116.8,220.2,-14.6,129,1456,0.00,2.35,0.00,0.000,4,0.000,0.065,2817,3466,2428,0,0,0,0,0,0
$GC,1563,-1.09,-116.8,237.2,-14.4,134,1568,0.00,2.25,0.00,0.000,6,0.000,0.042,2817,2054,2428,0,0,0,0,0,0
$GC,1891,-1.09,-116.8,283.8,-14.5,150,1895,0.00,2.33,0.00,0.000,4,0.000,0.063,2808,3462,2428,0,0,0,0,0,0
$GC,2014,-1.09,-116.8,302.0,-15.1,155,2019,0.05,2.22,0.00,0.000,6,0.171,0.041,2824,2063,2428,0,0,0,0,0,0
$GC,2336,-1.09,-116.8,345.1,-13.8,171,2340,0.00,2.33,0.00,0.000,4,0.000,0.063,2815,3465,2428,0,0,0,0,0,0
$GC,2368,-1.09,-116.8,350.0,-14.2,172,2374,0.03,2.22,0.00,0.000,6,0.198,0.041,2823,2065,2428,0,0,0,0,0,0
$GC,2683,-1.12,-116.8,394.7,-14.5,188,2687,0.00,2.28,0.00,0.000,4,0.000,0.060,2814,3468,2428,0,0,0,0,0,0
$GC,2715,-1.12,-116.8,399.9,-15.7,189,2719,0.00,2.22,0.00,0.000,6,0.000,0.042,2814,2065,2428,0,0,0,0,0,0
$GC,3037,-1.12,-116.8,449.5,-15.6,205,3041,0.00,2.30,0.00,0.000,4,0.000,0.060,2806,3466,2428,0,0,0,0,0,0
$GC,3085,-1.12,-116.8,457.4,-16.1,207,3090,0.00,2.22,0.00,0.000,6,0.000,0.041,2806,2065,2428,0,0,0,0,0,0
$GC,3408,-1.12,-116.8,508.2,-15.5,223,3409,0.05,0.00,0.00,0.000,6,0.245,0.000,2815,2065,2428,0,0,0,0,0,0
$GC,3716,-1.12,-116.8,554.4,-14.8,238,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2065,2428,0,0,0,0,0,0
$GC,4027,-1.16,-116.8,599.4,-14.0,253,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2065,2428,0,0,0,0,0,0
$GC,4335,-1.19,-116.8,641.4,-13.6,268,4339,0.00,2.30,0.00,0.000,4,0.000,0.061,2807,3465,2428,0,0,0,0,0,0
$GC,4373,-1.19,-116.8,646.5,-14.0,270,4377,0.00,2.22,0.00,0.000,6,0.000,0.042,2807,2057,2428,0,0,0,0,0,0
$GC,4698,-1.19,-116.8,688.2,-12.5,286,4702,0.00,2.35,0.00,0.000,4,0.000,0.065,2798,3466,2428,0,0,0,0,0,0
$GC,4792,-1.19,-116.8,700.6,-14.1,290,4796,0.00,2.25,0.00,0.000,6,0.000,0.044,2798,2044,2428,0,0,0,0,0,0
$GC,5112,-1.19,-116.8,742.2,-13.2,306,5116,0.00,2.33,0.00,0.000,4,0.000,0.059,2789,3467,2428,0,0,0,0,0,0
$GC,5180,-1.19,-116.8,751.5,-13.8,309,5184,0.00,2.22,0.00,0.000,6,0.000,0.044,2789,2058,2427,0,0,0,0,0,0
$GC,5507,-1.19,-116.8,796.5,-13.7,325,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2058,2427,0,0,0,0,0,0
$GC,5815,-1.19,-116.8,837.8,-13.2,340,5819,0.00,2.35,0.00,0.000,4,0.000,0.066,2780,3471,2427,0,0,0,0,0,0
$GC,5937,-1.19,-116.8,855.2,-14.8,345,5943,0.05,2.28,0.00,0.000,6,0.180,0.047,2795,2065,2427,0,0,0,0,0,0
$GC,6260,-1.19,-116.8,897.0,-12.8,361,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2065,2426,0,0,0,0,0,0
$GC,6567,-1.19,-116.8,937.3,-13.3,376,6572,0.00,2.33,0.00,0.000,4,0.000,0.063,2786,3464,2426,0,0,0,0,0,0
$GC,6656,-1.19,-116.8,950.1,-14.8,380,6661,0.00,2.25,0.00,0.000,6,0.000,0.044,2786,2058,2426,0,0,0,0,0,0
$GC,6982,-1.19,-116.8,994.1,-13.2,396,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2058,2426,0,0,0,0,0,0
$STATE,7044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7044,begin apogee
$GC,7050,-0.19,0.0,1002.3,13.0,399,7165,1.12,0.00,109.30,1.274,6,0.158,0.000,3113,1597,1950,0,0,0,0,0,0
$STATE,7166,end apogee,CONTROL_FINISHED_OK
$STATE,7166,begin climb
$GC,7168,1.13,116.8,1005.8,0.0,405,7295,1.30,2.60,116.07,1.230,4,0.087,0.055,3553,197,1473,0,0,0,0,0,0
$GC,7361,1.13,116.8,984.7,15.6,414,7366,0.00,2.42,0.00,0.000,6,0.000,0.036,3553,1604,1468,0,0,0,0,0,0
$GC,7689,1.18,116.8,938.3,14.2,430,7694,0.00,2.40,0.00,0.000,4,0.000,0.054,3563,192,1465,0,0,0,0,0,0
$GC,7728,1.18,116.8,932.3,15.9,432,7732,0.00,2.30,0.00,0.000,6,0.000,0.037,3563,1611,1464,0,0,0,0,0,0
$GC,8053,1.18,116.8,885.0,14.4,448,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1612,1464,0,0,0,0,0,0
$GC,8364,1.22,116.8,839.1,15.2,463,8368,0.00,2.35,0.00,0.000,4,0.000,0.054,3572,195,1463,0,0,0,0,0,0
$GC,8418,1.22,116.8,830.3,16.3,465,8424,0.00,2.25,0.00,0.000,6,0.000,0.037,3572,1591,1462,0,0,0,0,0,0
$GC,8735,1.22,116.8,783.2,15.0,481,8739,0.00,2.30,0.00,0.000,4,0.000,0.057,3571,3002,1462,0,0,0,0,0,0
$GC,8767,1.22,116.8,778.1,14.8,482,8773,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1602,1462,0,0,0,0,0,0
$GC,9083,1.22,116.8,731.3,14.6,498,9087,0.00,2.30,0.00,0.000,4,0.000,0.056,3591,196,1461,0,0,0,0,0,0
$GC,9183,1.17,116.8,715.4,16.2,502,9190,0.10,2.25,0.00,0.000,6,0.187,0.038,3566,1600,1461,0,0,0,0,0,0
$GC,9499,1.21,116.8,671.5,13.8,518,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1600,1461,0,0,0,0,0,0
$GC,9809,1.24,116.8,628.6,13.8,533,9813,0.00,2.33,0.00,0.000,4,0.000,0.054,3576,188,1461,0,0,0,0,0,0
$GC,9887,1.24,116.8,616.7,15.5,536,9893,0.00,2.28,0.00,0.000,6,0.000,0.038,3575,1610,1461,0,0,0,0,0,0
$GC,10201,1.24,116.8,572.3,13.6,552,10206,0.00,2.33,0.00,0.000,4,0.000,0.054,3585,190,1461,0,0,0,0,0,0
$GC,10270,1.24,116.8,562.7,14.6,555,10274,0.00,2.22,0.00,0.000,6,0.000,0.037,3584,1607,1461,0,0,0,0,0,0
$GC,10596,1.24,116.8,517.5,14.0,571,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1607,1461,0,0,0,0,0,0
$GC,10904,1.24,116.8,476.2,13.3,586,10908,0.00,2.30,0.00,0.000,4,0.000,0.054,3594,196,1460,0,0,0,0,0,0
$GC,10981,1.20,116.8,465.4,13.7,589,10986,0.10,2.20,0.00,0.000,6,0.191,0.036,3570,1599,1460,0,0,0,0,0,0
$GC,11303,1.24,116.8,425.7,12.2,605,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1600,1460,0,0,0,0,0,0
$GC,11611,1.28,116.8,386.9,12.9,620,11615,0.08,2.30,0.00,0.000,4,0.125,0.054,3616,195,1460,0,0,0,0,0,0
$GC,11845,1.20,116.8,350.4,15.3,630,11852,0.17,2.25,0.00,0.000,6,0.179,0.038,3571,1623,1460,0,0,0,0,0,0
$GC,12160,1.24,116.8,309.1,12.6,646,12165,0.00,2.35,0.00,0.000,4,0.000,0.054,3580,189,1460,0,0,0,0,0,0
$GC,12223,1.24,116.8,300.8,13.3,649,12227,0.00,2.22,0.00,0.000,6,0.000,0.038,3580,1603,1460,0,0,0,0,0,0
$GC,12552,1.24,116.8,258.4,13.1,665,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1604,1460,0,0,0,0,0,0
$GC,12859,1.28,116.8,218.3,12.6,680,12863,0.00,2.25,0.00,0.000,4,0.000,0.057,3580,2993,1460,0,0,0,0,0,0
$GC,12908,1.28,116.8,211.9,12.6,682,12912,0.00,2.20,0.00,0.000,6,0.000,0.037,3589,1596,1460,0,0,0,0,0,0
$GC,13230,1.28,116.8,166.9,13.9,698,13234,0.00,2.28,0.00,0.000,4,0.000,0.055,3600,197,1460,0,0,0,0,0,0
$GC,13484,1.24,116.8,130.9,13.3,709,13488,0.05,2.20,0.00,0.000,6,0.236,0.037,3589,1598,1460,0,0,0,0,0,0
$GC,13807,1.24,116.8,92.1,12.1,725,13811,0.00,2.30,0.00,0.000,4,0.000,0.053,3598,193,1460,0,0,0,0,0,0
$GC,13850,1.24,116.8,86.8,10.9,727,13855,0.00,2.25,0.00,0.000,6,0.000,0.038,3596,1608,1460,0,0,0,0,0,0
$GC,14195,1.24,116.8,45.1,11.7,777,14202,0.00,2.33,0.00,0.000,4,0.000,0.053,3606,202,1460,0,0,0,0,0,0
$GC,14441,1.19,116.8,15.4,13.5,817,14449,0.10,2.22,0.00,0.000,6,0.164,0.039,3575,1590,1460,0,0,0,0,0,0
$GC,14501,1.25,130.3,10.0,7.0,826,14508,0.00,0.00,5.75,0.492,6,0.000,0.000,3575,1601,1417,0,0,0,0,0,0
$GC,14560,1.21,130.3,5.2,8.9,835,14566,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1601,1416,0,0,0,0,0,0
$STATE,14573,end climb,SURFACE_DEPTH_REACHED
$STATE,14573,begin surface coast
$FINISH,1.7,1.023469
$STATE,14599,end surface coast,CONTROL_FINISHED_OK
$STATE,14600,begin surface
$SM_CCo,14618,33.85,0.054,0,0,1133,200.16
$SM_GC,2.53,0.00,0.00,33.85,0.000,0.000,0.054,81,2083,1133,-9.69,0.68,200.16
$IRIDIUM_FIX,-4444.39,621.76,120808,070703
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,1
$24V_AH,22.3,45.724
$10V_AH,9.6,47.946
$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,23.300,125.075,231.125,33.850,0.000,26.675,41.962,310.393,0.250,0.000,19.718,1871.972,10154.187,357.364,2592.524,190.664,0.000,1305.038,0.000,2104.147,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,68.850,1274.490,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.269,1233.657,696.679,432.920,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353256
$DATA_FILE_SIZE,60462,841
$CAP_FILE_SIZE,133005,0
$CFSIZE,2097086464,2042429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171015,033051,-4503.896,623.685,69,0.8,69,-24.4