version: 66.07.10.p01
glider: 573
mission: 12
dive: 391
start: 10 19 115 14 38 37
data:
$ID,573
$MISSION,12
$DIVE,391
$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,-22233.828
$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,31
$R_STBD_OVSHOOT,35
$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,390
$GPS1,191015,142957,-4455.265,636.544,37,0.7,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.2
$GPS2,191015,143816,-4455.266,636.572,19,0.9,19,-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,233.3,1552,-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,25,-1.09,-49.9,0.0,0.0,0,40,0.00,0.00,-13.57,0.000,2,0.000,0.000,81,2058,1402,0,0,0,0,0,0
$GC,43,-1.13,-116.8,3.0,-0.7,2,113,11.10,2.38,-48.47,0.000,4,0.227,0.076,2803,3461,2428,0,0,0,0,0,0
$GC,387,-1.09,-116.8,50.5,-18.0,58,392,0.10,2.25,0.00,0.000,6,0.180,0.042,2827,2048,2430,0,0,0,0,0,0
$GC,731,-1.09,-116.8,107.5,-16.5,97,736,0.00,2.28,0.00,0.000,4,0.000,0.056,2827,652,2430,0,0,0,0,0,0
$GC,764,-1.06,-116.8,113.7,-17.6,98,773,0.05,2.28,0.00,0.000,6,0.181,0.044,2834,2048,2430,0,0,0,0,0,0
$GC,1080,-1.06,-116.8,163.3,-14.9,114,1084,0.00,2.33,0.00,0.000,4,0.000,0.063,2823,3471,2431,0,0,0,0,0,0
$GC,1266,-1.06,-116.8,193.7,-15.6,122,1271,0.03,2.28,0.00,0.000,6,0.190,0.044,2832,2056,2431,0,0,0,0,0,0
$GC,1594,-1.09,-116.8,241.8,-14.6,138,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2056,2431,0,0,0,0,0,0
$GC,1905,-1.13,-116.8,288.7,-14.9,153,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2056,2431,0,0,0,0,0,0
$GC,2211,-1.17,-116.8,335.5,-15.3,168,2213,0.08,0.00,0.00,0.000,6,0.125,0.000,2790,2056,2431,0,0,0,0,0,0
$GC,2522,-1.14,-116.8,387.7,-16.3,183,2527,0.10,2.38,0.00,0.000,4,0.196,0.067,2804,3474,2431,0,0,0,0,0,0
$GC,2610,-1.14,-116.8,402.4,-16.0,187,2614,0.00,2.28,0.00,0.000,6,0.000,0.046,2804,2060,2431,0,0,0,0,0,0
$GC,2938,-1.14,-116.8,454.7,-16.5,203,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2060,2431,0,0,0,0,0,0
$GC,3246,-1.14,-116.8,505.4,-16.2,218,3250,0.00,2.33,0.00,0.000,4,0.000,0.064,2795,3471,2431,0,0,0,0,0,0
$GC,3294,-1.14,-116.8,513.4,-16.4,220,3299,0.05,2.28,0.00,0.000,6,0.178,0.046,2811,2052,2431,0,0,0,0,0,0
$GC,3615,-1.14,-116.8,563.6,-15.6,236,3619,0.00,2.28,0.00,0.000,4,0.000,0.059,2811,654,2431,0,0,0,0,0,0
$GC,3648,-1.14,-116.8,568.9,-16.3,237,3653,0.03,2.30,0.00,0.000,6,0.212,0.047,2809,2070,2431,0,0,0,0,0,0
$GC,3964,-1.14,-116.8,618.5,-15.8,253,3968,0.00,2.30,0.00,0.000,4,0.000,0.066,2799,3475,2431,0,0,0,0,0,0
$GC,4030,-1.14,-116.8,629.4,-16.2,256,4035,0.08,2.25,0.00,0.000,6,0.200,0.047,2816,2060,2431,0,0,0,0,0,0
$GC,4357,-1.17,-116.8,676.1,-14.5,272,4361,0.00,2.35,0.00,0.000,4,0.000,0.067,2807,3471,2431,0,0,0,0,0,0
$GC,4400,-1.17,-116.8,682.9,-15.1,274,4405,0.00,2.25,0.00,0.000,6,0.000,0.046,2807,2065,2430,0,0,0,0,0,0
$GC,4726,-1.17,-116.8,729.7,-13.8,290,4730,0.00,2.33,0.00,0.000,4,0.000,0.061,2798,3477,2430,0,0,0,0,0,0
$GC,4821,-1.17,-116.8,743.1,-14.2,294,4825,0.00,2.28,0.00,0.000,6,0.000,0.047,2798,2062,2429,0,0,0,0,0,0
$GC,5141,-1.17,-116.8,787.6,-13.7,310,5145,0.00,2.35,0.00,0.000,4,0.000,0.063,2789,3478,2429,0,0,0,0,0,0
$GC,5185,-1.17,-116.8,793.9,-14.2,312,5190,0.03,2.28,0.00,0.000,6,0.203,0.045,2797,2058,2429,0,0,0,0,0,0
$GC,5511,-1.17,-116.8,839.0,-13.6,328,5515,0.00,2.35,0.00,0.000,4,0.000,0.065,2788,3469,2429,0,0,0,0,0,0
$GC,5576,-1.17,-116.8,848.5,-14.0,331,5581,0.03,2.28,0.00,0.000,6,0.204,0.046,2797,2059,2429,0,0,0,0,0,0
$GC,5904,-1.17,-116.8,893.3,-13.4,347,5908,0.00,2.35,0.00,0.000,4,0.000,0.067,2788,3468,2429,0,0,0,0,0,0
$GC,5982,-1.17,-116.8,904.6,-14.7,350,5988,0.08,2.25,0.00,0.000,6,0.207,0.046,2803,2049,2429,0,0,0,0,0,0
$GC,6296,-1.17,-116.8,946.7,-13.2,366,6300,0.00,2.35,0.00,0.000,4,0.000,0.063,2795,3477,2428,0,0,0,0,0,0
$GC,6335,-1.17,-116.8,951.7,-13.6,367,6340,0.00,2.28,0.00,0.000,6,0.000,0.045,2795,2059,2428,0,0,0,0,0,0
$GC,6651,-1.17,-116.8,992.9,-12.6,383,6655,0.00,2.35,0.00,0.000,4,0.000,0.066,2786,3468,2428,0,0,0,0,0,0
$GC,6690,-1.17,-116.8,997.9,-12.4,385,6695,0.08,2.25,0.00,0.000,6,0.207,0.045,2801,2048,2428,0,0,0,0,0,0
$STATE,6704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6704,begin apogee
$GC,6710,-0.19,0.0,1000.0,12.8,386,6826,1.08,0.00,110.22,1.271,6,0.153,0.000,3118,1595,1949,0,0,0,0,0,0
$STATE,6827,end apogee,CONTROL_FINISHED_OK
$STATE,6827,begin climb
$GC,6829,1.13,116.8,1002.0,0.0,392,6956,1.27,2.58,115.97,1.226,4,0.083,0.055,3553,203,1473,0,0,0,0,0,0
$GC,6974,1.16,116.8,987.8,14.7,399,6978,0.00,2.45,0.00,0.000,6,0.000,0.037,3553,1617,1471,0,0,0,0,0,0
$GC,7300,1.21,116.8,938.0,15.3,415,7302,0.05,0.00,0.00,0.000,6,0.164,0.000,3582,1618,1466,0,0,0,0,0,0
$GC,7608,1.21,116.8,887.2,16.1,430,7612,0.00,2.38,0.00,0.000,4,0.000,0.054,3592,198,1465,0,0,0,0,0,0
$GC,7652,1.16,116.8,879.8,17.3,432,7657,0.12,2.25,0.00,0.000,6,0.175,0.039,3561,1605,1464,0,0,0,0,0,0
$GC,7978,1.19,116.8,832.5,14.1,448,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1463,0,0,0,0,0,0
$GC,8288,1.23,116.8,790.5,12.8,463,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1463,0,0,0,0,0,0
$GC,8596,1.23,116.8,751.1,12.7,478,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1462,0,0,0,0,0,0
$GC,8907,1.27,116.8,711.7,12.3,493,8909,0.10,0.00,0.00,0.000,6,0.100,0.000,3607,1605,1463,0,0,0,0,0,0
$GC,9215,1.22,116.8,668.0,14.0,508,9220,0.10,2.25,0.00,0.000,4,0.189,0.056,3583,2997,1461,0,0,0,0,0,0
$GC,9241,1.22,116.8,664.4,13.7,509,9246,0.00,2.20,0.00,0.000,6,0.000,0.037,3591,1602,1461,0,0,0,0,0,0
$GC,9563,1.22,116.8,623.2,13.2,525,9567,0.00,2.30,0.00,0.000,4,0.000,0.056,3602,195,1462,0,0,0,0,0,0
$GC,9635,1.16,116.8,612.9,14.2,528,9640,0.15,2.22,0.00,0.000,6,0.176,0.038,3563,1602,1461,0,0,0,0,0,0
$GC,9955,1.20,116.8,573.3,12.4,544,9960,0.00,2.33,0.00,0.000,4,0.000,0.054,3572,192,1461,0,0,0,0,0,0
$GC,10068,1.20,116.8,558.8,13.9,549,10072,0.00,2.22,0.00,0.000,6,0.000,0.038,3572,1600,1461,0,0,0,0,0,0
$GC,10388,1.20,116.8,519.0,12.5,565,10392,0.00,2.33,0.00,0.000,4,0.000,0.054,3581,186,1461,0,0,0,0,0,0
$GC,10466,1.20,116.8,508.7,13.7,568,10470,0.00,2.25,0.00,0.000,6,0.000,0.037,3581,1599,1461,0,0,0,0,0,0
$GC,10786,1.20,116.8,469.0,12.7,584,10790,0.00,2.33,0.00,0.000,4,0.000,0.054,3591,186,1461,0,0,0,0,0,0
$GC,10850,1.17,116.8,460.9,13.6,587,10854,0.12,2.22,0.00,0.000,6,0.179,0.038,3559,1602,1461,0,0,0,0,0,0
$GC,11177,1.22,116.8,423.1,11.5,603,11182,0.00,2.33,0.00,0.000,4,0.000,0.054,3567,188,1461,0,0,0,0,0,0
$GC,11272,1.22,116.8,410.8,12.9,607,11276,0.00,2.25,0.00,0.000,6,0.000,0.037,3569,1604,1460,0,0,0,0,0,0
$GC,11594,1.26,116.8,372.9,11.7,623,11599,0.08,2.33,0.00,0.000,4,0.125,0.054,3617,186,1460,0,0,0,0,0,0
$GC,11695,1.18,116.8,358.8,15.2,627,11700,0.20,2.22,0.00,0.000,6,0.170,0.036,3564,1603,1461,0,0,0,0,0,0
$GC,12011,1.23,116.8,322.7,11.1,643,12015,0.00,2.25,0.00,0.000,4,0.000,0.055,3564,2997,1460,0,0,0,0,0,0
$GC,12043,1.23,116.8,318.8,12.0,644,12049,0.00,2.20,0.00,0.000,6,0.000,0.036,3571,1598,1460,0,0,0,0,0,0
$GC,12359,1.27,116.8,282.7,11.8,660,12364,0.05,2.28,0.00,0.000,4,0.167,0.056,3614,198,1460,0,0,0,0,0,0
$GC,12507,1.20,116.8,262.1,14.6,666,12515,0.12,2.22,0.00,0.000,6,0.164,0.038,3576,1591,1460,0,0,0,0,0,0
$GC,12823,1.23,116.8,221.1,13.0,682,12827,0.00,2.30,0.00,0.000,4,0.000,0.054,3585,189,1460,0,0,0,0,0,0
$GC,12979,1.23,116.8,198.8,15.2,689,12983,0.00,2.22,0.00,0.000,6,0.000,0.037,3585,1604,1460,0,0,0,0,0,0
$GC,13307,1.23,116.8,156.7,12.1,705,13311,0.00,2.22,0.00,0.000,4,0.000,0.055,3585,2997,1460,0,0,0,0,0,0
$GC,13414,1.23,116.8,142.8,12.5,710,13418,0.00,2.17,0.00,0.000,6,0.000,0.036,3594,1593,1460,0,0,0,0,0,0
$GC,13741,1.23,116.8,101.4,12.5,726,13745,0.00,2.28,0.00,0.000,4,0.000,0.054,3605,192,1460,0,0,0,0,0,0
$GC,13811,1.19,116.8,92.6,12.7,729,13816,0.12,2.22,0.00,0.000,6,0.187,0.037,3573,1610,1460,0,0,0,0,0,0
$GC,14148,1.24,116.8,52.3,13.1,773,14154,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,201,1460,0,0,0,0,0,0
$GC,14217,1.24,116.8,43.1,13.1,785,14222,0.00,2.20,0.00,0.000,6,0.000,0.037,3582,1604,1460,0,0,0,0,0,0
$STATE,14574,end climb,SURFACE_DEPTH_REACHED
$STATE,14574,begin surface coast
$FINISH,1.9,1.023435
$STATE,14620,end surface coast,CONTROL_FINISHED_OK
$STATE,14620,begin surface
$SM_CCo,14638,39.70,0.054,0,0,1133,200.16
$SM_GC,2.74,0.00,0.00,39.70,0.000,0.000,0.054,63,2064,1133,-9.76,0.11,200.16
$IRIDIUM_FIX,-4441.36,636.54,140808,181804
$TT8_MAMPS,0.027713
$HUMID,64.21
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.2,46.963
$10V_AH,9.7,49.271
$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,24.700,134.125,226.200,39.700,0.000,27.976,18.678,304.519,0.000,0.000,22.113,1908.620,10107.290,361.029,2588.012,207.103,0.000,1311.422,0.000,2131.870,0.000,0.539,0.000
$DEVICE_MAMPS,227.205,75.735,1270.665,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.988,1256.432,713.073,445.702,0.000,0.000,0.000,0.000,0.000,0.000
$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,60502,851
$CAP_FILE_SIZE,137350,0
$CFSIZE,2097086464,2040856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191015,184433,-4456.051,636.209,41,1.0,41,-24.4