version: 66.07.10.p01
glider: 573
mission: 12
dive: 388
start: 10 19 115 0 30 54
data:
$ID,573
$MISSION,12
$DIVE,388
$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,-22226.785
$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,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,387
$GPS1,191015,002251,-4455.358,636.235,42,1.0,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-69.7
$GPS2,191015,003034,-4455.370,636.319,18,0.9,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,224.1,1239,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-24.80,0.000,2,0.000,0.000,81,2060,1609,0,0,0,0,0,0
$GC,55,-1.13,-104.8,3.2,-2.3,4,106,11.32,2.33,-31.75,0.000,4,0.237,0.064,2814,661,2375,0,0,0,0,0,0
$GC,378,-1.06,-104.8,52.2,-17.3,57,385,0.10,2.25,0.00,0.000,6,0.167,0.041,2836,2046,2376,0,0,0,0,0,0
$GC,722,-1.06,-104.8,107.1,-16.2,96,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2047,2377,0,0,0,0,0,0
$GC,1034,-1.06,-104.8,156.4,-15.7,111,1038,0.00,2.33,0.00,0.000,4,0.000,0.060,2826,3471,2377,0,0,0,0,0,0
$GC,1141,-1.06,-104.8,174.2,-15.8,116,1146,0.05,2.22,0.00,0.000,6,0.221,0.043,2836,2064,2377,0,0,0,0,0,0
$GC,1469,-1.10,-104.8,221.9,-14.2,132,1473,0.00,2.30,0.00,0.000,4,0.000,0.060,2827,3478,2377,0,0,0,0,0,0
$GC,1515,-1.10,-104.8,228.7,-14.3,134,1519,0.00,2.25,0.00,0.000,6,0.000,0.041,2827,2050,2377,0,0,0,0,0,0
$GC,1841,-1.10,-104.8,274.5,-13.6,150,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2050,2378,0,0,0,0,0,0
$GC,2150,-1.10,-104.8,317.0,-14.0,165,2154,0.00,2.33,0.00,0.000,4,0.000,0.057,2818,3477,2378,0,0,0,0,0,0
$GC,2216,-1.10,-104.8,326.6,-14.6,168,2221,0.00,2.28,0.00,0.000,6,0.000,0.043,2818,2053,2378,0,0,0,0,0,0
$GC,2543,-1.10,-104.8,372.7,-14.2,184,2547,0.00,2.35,0.00,0.000,4,0.000,0.061,2809,3478,2378,0,0,0,0,0,0
$GC,2608,-1.10,-104.8,382.4,-14.7,187,2613,0.05,2.28,0.00,0.000,6,0.170,0.043,2824,2053,2378,0,0,0,0,0,0
$GC,2936,-1.10,-104.8,427.8,-13.8,203,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2053,2378,0,0,0,0,0,0
$GC,3244,-1.10,-104.8,471.3,-14.3,218,3248,0.00,2.35,0.00,0.000,4,0.000,0.061,2815,3480,2378,0,0,0,0,0,0
$GC,3287,-1.10,-104.8,477.6,-13.9,220,3292,0.03,2.25,0.00,0.000,6,0.201,0.042,2823,2067,2377,0,0,0,0,0,0
$GC,3613,-1.10,-104.8,524.0,-14.4,236,3617,0.00,2.28,0.00,0.000,4,0.000,0.054,2823,654,2378,0,0,0,0,0,0
$GC,3656,-1.10,-104.8,530.7,-15.6,238,3661,0.00,2.25,0.00,0.000,6,0.000,0.041,2815,2063,2378,0,0,0,0,0,0
$GC,3983,-1.10,-104.8,579.8,-15.3,254,3987,0.05,2.33,0.00,0.000,4,0.255,0.064,2814,3469,2378,0,0,0,0,0,0
$GC,4037,-1.10,-104.8,588.5,-15.6,256,4044,0.03,2.25,0.00,0.000,6,0.201,0.044,2822,2061,2377,0,0,0,0,0,0
$GC,4353,-1.13,-104.8,633.3,-14.1,272,4357,0.00,2.30,0.00,0.000,4,0.000,0.061,2813,3466,2378,0,0,0,0,0,0
$GC,4418,-1.13,-104.8,642.8,-14.1,275,4423,0.00,2.25,0.00,0.000,6,0.000,0.042,2814,2052,2377,0,0,0,0,0,0
$GC,4746,-1.13,-104.8,688.4,-13.7,291,4750,0.00,2.33,0.00,0.000,4,0.000,0.061,2804,3465,2378,0,0,0,0,0,0
$GC,4795,-1.13,-104.8,695.6,-14.6,293,4800,0.00,2.22,0.00,0.000,6,0.000,0.043,2804,2066,2377,0,0,0,0,0,0
$GC,5117,-1.13,-104.8,739.2,-14.2,309,5122,0.05,2.30,0.00,0.000,4,0.239,0.057,2805,3466,2377,0,0,0,0,0,0
$GC,5183,-1.13,-104.8,748.5,-13.4,312,5187,0.00,2.22,0.00,0.000,6,0.000,0.042,2806,2065,2377,0,0,0,0,0,0
$GC,5509,-1.13,-104.8,792.5,-13.1,328,5513,0.00,2.28,0.00,0.000,4,0.000,0.055,2797,3472,2377,0,0,0,0,0,0
$GC,5553,-1.13,-104.8,798.4,-13.2,330,5558,0.05,2.25,0.00,0.000,6,0.177,0.044,2812,2065,2376,0,0,0,0,0,0
$GC,5880,-1.16,-104.8,838.2,-11.5,346,5884,0.00,2.28,0.00,0.000,4,0.000,0.056,2803,3471,2376,0,0,0,0,0,0
$GC,5993,-1.16,-104.8,852.3,-12.5,351,5997,0.00,2.25,0.00,0.000,6,0.000,0.044,2803,2051,2376,0,0,0,0,0,0
$GC,6313,-1.16,-104.8,893.3,-12.7,367,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2051,2375,0,0,0,0,0,0
$GC,6621,-1.16,-104.8,933.1,-12.8,382,6625,0.00,2.33,0.00,0.000,4,0.000,0.060,2794,3464,2376,0,0,0,0,0,0
$GC,6684,-1.16,-104.8,941.1,-13.0,385,6689,0.05,2.22,0.00,0.000,6,0.230,0.044,2804,2054,2376,0,0,0,0,0,0
$GC,7010,-1.16,-104.8,980.3,-11.8,401,7014,0.00,2.33,0.00,0.000,4,0.000,0.061,2795,3465,2375,0,0,0,0,0,0
$STATE,7171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7179,-0.19,0.0,1000.2,11.9,408,7279,1.08,0.00,96.05,1.265,6,0.158,0.000,3113,1592,1950,0,0,0,0,0,0
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7280,begin climb
$GC,7282,1.13,104.8,1002.9,0.0,413,7395,1.27,2.55,104.15,1.230,4,0.087,0.053,3548,190,1521,0,0,0,0,0,0
$GC,7417,1.13,104.8,990.1,14.0,419,7422,0.00,2.47,0.00,0.000,6,0.000,0.036,3548,1608,1518,0,0,0,0,0,0
$GC,7733,1.17,104.8,944.7,14.0,435,7738,0.00,2.30,0.00,0.000,4,0.000,0.054,3548,3002,1515,0,0,0,0,0,0
$GC,7827,1.17,104.8,930.4,14.5,439,7831,0.00,2.28,0.00,0.000,6,0.000,0.035,3556,1596,1514,0,0,0,0,0,0
$GC,8149,1.17,104.8,882.4,14.9,455,8153,0.00,2.30,0.00,0.000,4,0.000,0.053,3567,195,1513,0,0,0,0,0,0
$GC,8237,1.17,104.8,868.7,15.5,459,8241,0.00,2.25,0.00,0.000,6,0.000,0.037,3568,1607,1513,0,0,0,0,0,0
$GC,8565,1.17,104.8,821.7,14.6,475,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1607,1512,0,0,0,0,0,0
$GC,8873,1.17,104.8,777.4,14.1,490,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1607,1511,0,0,0,0,0,0
$GC,9183,1.17,104.8,735.0,13.0,505,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1607,1511,0,0,0,0,0,0
$GC,9491,1.17,104.8,696.6,12.2,520,9495,0.00,2.25,0.00,0.000,4,0.000,0.054,3567,2998,1511,0,0,0,0,0,0
$GC,9518,1.17,104.8,693.1,12.5,521,9523,0.03,2.20,0.00,0.000,6,0.200,0.036,3568,1601,1511,0,0,0,0,0,0
$GC,9839,1.17,104.8,656.2,11.3,537,9844,0.00,2.30,0.00,0.000,4,0.000,0.054,3578,192,1511,0,0,0,0,0,0
$GC,9873,1.17,104.8,652.2,12.1,538,9879,0.05,2.20,0.00,0.000,6,0.227,0.035,3568,1608,1510,0,0,0,0,0,0
$GC,10187,1.17,104.8,615.4,12.0,554,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1608,1510,0,0,0,0,0,0
$GC,10498,1.17,104.8,577.3,12.7,569,10502,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,190,1510,0,0,0,0,0,0
$GC,10592,1.17,104.8,564.9,13.4,573,10597,0.03,2.22,0.00,0.000,6,0.196,0.035,3568,1597,1510,0,0,0,0,0,0
$GC,10914,1.17,104.8,526.0,12.0,589,10918,0.00,2.30,0.00,0.000,4,0.000,0.053,3576,195,1510,0,0,0,0,0,0
$GC,10985,1.17,104.8,516.7,12.7,592,10990,0.03,2.25,0.00,0.000,6,0.196,0.037,3568,1605,1510,0,0,0,0,0,0
$GC,11305,1.17,104.8,478.0,12.3,608,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1605,1509,0,0,0,0,0,0
$GC,11616,1.17,104.8,440.5,12.1,623,11620,0.00,2.33,0.00,0.000,4,0.000,0.053,3577,186,1510,0,0,0,0,0,0
$GC,11737,1.17,104.8,424.4,13.3,628,11744,0.03,2.25,0.00,0.000,6,0.196,0.035,3568,1607,1509,0,0,0,0,0,0
$GC,12053,1.21,104.8,384.6,12.6,644,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1607,1509,0,0,0,0,0,0
$GC,12363,1.21,104.8,345.4,12.5,659,12367,0.00,2.30,0.00,0.000,4,0.000,0.052,3577,193,1509,0,0,0,0,0,0
$GC,12424,1.21,104.8,337.1,13.7,661,12429,0.00,2.22,0.00,0.000,6,0.000,0.035,3577,1602,1509,0,0,0,0,0,0
$GC,12740,1.21,104.8,297.6,11.9,677,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1602,1509,0,0,0,0,0,0
$GC,13049,1.21,104.8,261.0,11.9,692,13054,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,195,1509,0,0,0,0,0,0
$GC,13116,1.21,104.8,252.6,12.5,695,13121,0.03,2.22,0.00,0.000,6,0.191,0.036,3578,1599,1509,0,0,0,0,0,0
$GC,13445,1.21,104.8,214.5,11.4,711,13449,0.00,2.30,0.00,0.000,4,0.000,0.052,3587,193,1509,0,0,0,0,0,0
$GC,13489,1.21,104.8,209.7,11.2,713,13494,0.05,2.22,0.00,0.000,6,0.230,0.037,3576,1613,1509,0,0,0,0,0,0
$GC,13817,1.21,104.8,174.2,11.0,729,13821,0.00,2.33,0.00,0.000,4,0.000,0.052,3586,189,1509,0,0,0,0,0,0
$GC,13843,1.21,104.8,170.9,11.4,730,13848,0.03,2.22,0.00,0.000,6,0.198,0.036,3577,1601,1509,0,0,0,0,0,0
$GC,14165,1.24,104.8,137.2,11.1,746,14169,0.00,2.25,0.00,0.000,4,0.000,0.054,3577,2998,1509,0,0,0,0,0,0
$GC,14191,1.24,104.8,133.8,12.2,747,14196,0.00,2.20,0.00,0.000,6,0.000,0.035,3586,1593,1509,0,0,0,0,0,0
$GC,14516,1.24,104.8,95.9,12.0,763,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1593,1509,0,0,0,0,0,0
$GC,14844,1.24,104.8,56.8,12.1,802,14849,0.00,2.28,0.00,0.000,4,0.000,0.054,3596,192,1509,0,0,0,0,0,0
$GC,14882,1.24,104.8,52.0,12.6,808,14888,0.05,2.20,0.00,0.000,6,0.227,0.037,3586,1601,1509,0,0,0,0,0,0
$GC,15251,1.24,104.8,11.0,10.1,869,15258,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1602,1509,0,0,0,0,0,0
$GC,15310,1.30,104.8,3.7,12.9,878,15317,0.00,2.25,0.00,0.000,4,0.000,0.053,3584,2993,1509,0,0,0,0,0,0
$STATE,15326,end climb,SURFACE_DEPTH_REACHED
$STATE,15326,begin surface coast
$FINISH,1.7,1.023478
$STATE,15333,end surface coast,CONTROL_FINISHED_OK
$STATE,15334,begin surface
$SM_CCo,15352,46.38,0.056,0,0,1132,200.16
$SM_GC,2.48,0.00,0.00,46.38,0.000,0.000,0.056,64,2047,1132,-9.76,-0.37,200.16
$IRIDIUM_FIX,-4438.33,633.17,140808,090926
$TT8_MAMPS,0.026964
$HUMID,64.17
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.3,46.691
$10V_AH,9.7,48.968
$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,23.925,136.725,200.200,46.375,0.000,23.231,47.362,255.877,0.000,0.000,20.850,1960.230,10787.284,348.276,2561.820,205.033,0.000,1300.123,0.000,2134.907,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,64.260,1265.310,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.598,1286.078,716.379,422.569,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,63789,881
$CAP_FILE_SIZE,136360,0
$CFSIZE,2097086464,2041249792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191015,044851,-4456.192,636.655,40,1.1,40,-24.4