version: 66.07.10.p01
glider: 573
mission: 12
dive: 413
start: 10 24 115 21 20 55
data:
$ID,573
$MISSION,12
$DIVE,413
$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,-22294.383
$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,32
$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,412
$GPS1,241015,211127,-4456.118,634.501,45,0.8,50,-24.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-68.0
$GPS2,241015,212035,-4456.016,634.588,21,1.4,21,-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,113.5,1851,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-19.55,0.000,2,0.000,0.000,69,2081,1519,0,0,0,0,0,0
$GC,49,-1.13,-113.9,3.0,-1.2,3,113,11.15,2.35,-43.53,0.000,4,0.229,0.061,2814,653,2416,0,0,0,0,0,0
$GC,387,-1.08,-113.9,48.5,-17.5,58,393,0.10,2.25,0.00,0.000,6,0.200,0.044,2828,2056,2418,0,0,0,0,0,0
$GC,731,-1.08,-113.9,104.6,-16.5,100,735,0.00,2.25,0.00,0.000,4,0.000,0.052,2829,655,2418,0,0,0,0,0,0
$GC,831,-1.08,-113.9,122.6,-17.4,104,839,0.00,2.25,0.00,0.000,6,0.000,0.042,2820,2057,2418,0,0,0,0,0,0
$GC,1148,-1.08,-113.9,178.0,-16.9,120,1152,0.00,2.28,0.00,0.000,4,0.000,0.063,2809,3468,2418,0,0,0,0,0,0
$GC,1279,-1.08,-113.9,198.7,-16.7,126,1283,0.10,2.20,0.00,0.000,6,0.181,0.041,2833,2058,2419,0,0,0,0,0,0
$GC,1606,-1.12,-113.9,245.2,-14.0,142,1610,0.00,2.33,0.00,0.000,4,0.000,0.063,2824,3475,2419,0,0,0,0,0,0
$GC,1639,-1.12,-113.9,250.6,-14.9,143,1643,0.00,2.25,0.00,0.000,6,0.000,0.042,2824,2057,2419,0,0,0,0,0,0
$GC,1963,-1.12,-113.9,297.5,-14.7,159,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2057,2419,0,0,0,0,0,0
$GC,2269,-1.15,-113.9,339.0,-12.6,174,2273,0.00,2.25,0.00,0.000,4,0.000,0.055,2824,656,2419,0,0,0,0,0,0
$GC,2308,-1.15,-113.9,344.4,-13.5,176,2312,0.00,2.25,0.00,0.000,6,0.000,0.044,2815,2078,2419,0,0,0,0,0,0
$GC,2639,-1.15,-113.9,386.3,-12.8,192,2643,0.00,2.22,0.00,0.000,4,0.000,0.058,2804,3466,2419,0,0,0,0,0,0
$GC,2723,-1.15,-113.9,397.5,-12.9,196,2727,0.00,2.20,0.00,0.000,6,0.000,0.041,2805,2051,2419,0,0,0,0,0,0
$GC,3048,-1.15,-113.9,442.5,-14.0,212,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2050,2419,0,0,0,0,0,0
$GC,3359,-1.15,-113.9,485.3,-14.0,227,3363,0.00,2.22,0.00,0.000,4,0.000,0.056,2805,657,2420,0,0,0,0,0,0
$GC,3408,-1.15,-113.9,492.6,-14.4,229,3413,0.03,2.22,0.00,0.000,6,0.213,0.041,2804,2050,2420,0,0,0,0,0,0
$GC,3730,-1.15,-113.9,538.1,-14.8,245,3734,0.00,2.30,0.00,0.000,4,0.000,0.059,2794,3478,2420,0,0,0,0,0,0
$GC,3823,-1.15,-113.9,552.7,-15.6,249,3828,0.03,2.25,0.00,0.000,6,0.190,0.044,2802,2062,2420,0,0,0,0,0,0
$GC,4145,-1.15,-113.9,598.3,-13.6,265,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2062,2420,0,0,0,0,0,0
$GC,4453,-1.15,-113.9,640.3,-13.9,280,4457,0.00,2.25,0.00,0.000,4,0.000,0.056,2803,649,2419,0,0,0,0,0,0
$GC,4530,-1.15,-113.9,651.9,-15.2,283,4535,0.03,2.28,0.00,0.000,6,0.207,0.044,2802,2067,2420,0,0,0,0,0,0
$GC,4846,-1.15,-113.9,698.3,-14.6,299,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2067,2419,0,0,0,0,0,0
$GC,5154,-1.15,-113.9,742.0,-13.8,314,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2067,2419,0,0,0,0,0,0
$GC,5465,-1.15,-113.9,783.3,-13.0,329,5469,0.00,2.30,0.00,0.000,4,0.000,0.065,2792,3471,2418,0,0,0,0,0,0
$GC,5519,-1.15,-113.9,791.0,-13.1,331,5525,0.05,2.25,0.00,0.000,6,0.181,0.044,2807,2053,2418,0,0,0,0,0,0
$GC,5836,-1.18,-113.9,830.5,-12.5,347,5840,0.00,2.25,0.00,0.000,4,0.000,0.057,2808,656,2418,0,0,0,0,0,0
$GC,5897,-1.18,-113.9,838.8,-13.9,350,5901,0.00,2.25,0.00,0.000,6,0.000,0.044,2800,2074,2418,0,0,0,0,0,0
$GC,6229,-1.18,-113.9,882.4,-13.7,366,6233,0.00,2.28,0.00,0.000,4,0.000,0.062,2789,3467,2417,0,0,0,0,0,0
$GC,6267,-1.18,-113.9,887.8,-13.9,368,6271,0.00,2.20,0.00,0.000,6,0.000,0.042,2789,2050,2417,0,0,0,0,0,0
$GC,6598,-1.18,-113.9,930.8,-12.5,384,6603,0.05,2.35,0.00,0.000,4,0.243,0.063,2789,3468,2416,0,0,0,0,0,0
$GC,6636,-1.18,-113.9,935.5,-12.4,386,6640,0.00,2.22,0.00,0.000,6,0.000,0.044,2789,2052,2416,0,0,0,0,0,0
$GC,6967,-1.18,-113.9,976.7,-12.9,402,6972,0.00,2.33,0.00,0.000,4,0.000,0.063,2780,3462,2416,0,0,0,0,0,0
$GC,7030,-1.18,-113.9,984.9,-13.3,405,7035,0.10,2.17,0.00,0.000,6,0.195,0.044,2803,2061,2416,0,0,0,0,0,0
$STATE,7168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7168,begin apogee
$GC,7174,-0.19,0.0,1002.2,11.9,412,7285,1.08,0.00,107.55,1.271,6,0.156,0.000,3116,1593,1950,0,0,0,0,0,0
$STATE,7286,end apogee,CONTROL_FINISHED_OK
$STATE,7286,begin climb
$GC,7288,1.13,113.9,1005.3,0.0,417,7407,1.30,0.00,113.57,1.224,6,0.088,0.000,3544,1592,1485,0,0,0,0,0,0
$GC,7725,1.20,113.9,952.9,13.6,439,7730,0.08,2.35,0.00,0.000,4,0.117,0.054,3599,193,1477,0,0,0,0,0,0
$GC,7752,1.17,113.9,948.7,15.4,440,7756,0.15,2.30,0.00,0.000,6,0.170,0.037,3562,1613,1476,0,0,0,0,0,0
$GC,8072,1.22,113.9,903.2,13.8,456,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1613,1475,0,0,0,0,0,0
$GC,8382,1.25,113.9,859.8,13.9,471,8387,0.08,2.33,0.00,0.000,4,0.125,0.053,3611,196,1475,0,0,0,0,0,0
$GC,8415,1.18,113.9,854.3,17.0,472,8421,0.17,2.22,0.00,0.000,6,0.171,0.038,3565,1604,1474,0,0,0,0,0,0
$GC,8730,1.21,113.9,808.2,14.4,488,8734,0.00,2.30,0.00,0.000,4,0.000,0.054,3574,196,1473,0,0,0,0,0,0
$GC,8773,1.21,113.9,801.7,15.8,490,8777,0.00,2.25,0.00,0.000,6,0.000,0.038,3575,1605,1473,0,0,0,0,0,0
$GC,9099,1.21,113.9,756.2,13.6,506,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1606,1473,0,0,0,0,0,0
$GC,9410,1.21,113.9,714.5,13.4,521,9414,0.00,2.25,0.00,0.000,4,0.000,0.056,3575,3005,1472,0,0,0,0,0,0
$GC,9448,1.21,113.9,708.9,14.1,522,9453,0.00,2.20,0.00,0.000,6,0.000,0.037,3583,1603,1472,0,0,0,0,0,0
$GC,9763,1.21,113.9,665.2,13.9,538,9767,0.00,2.30,0.00,0.000,4,0.000,0.055,3594,185,1472,0,0,0,0,0,0
$GC,9842,1.17,113.9,653.7,14.1,541,9847,0.12,2.22,0.00,0.000,6,0.181,0.037,3563,1602,1471,0,0,0,0,0,0
$GC,10158,1.22,113.9,613.3,12.3,557,10162,0.00,2.30,0.00,0.000,4,0.000,0.053,3572,191,1471,0,0,0,0,0,0
$GC,10242,1.22,113.9,602.1,14.6,561,10246,0.00,2.22,0.00,0.000,6,0.000,0.037,3572,1608,1471,0,0,0,0,0,0
$GC,10569,1.22,113.9,559.8,13.2,577,10573,0.00,2.22,0.00,0.000,4,0.000,0.054,3572,2995,1472,0,0,0,0,0,0
$GC,10653,1.22,113.9,548.1,14.6,581,10658,0.00,2.17,0.00,0.000,6,0.000,0.037,3580,1589,1471,0,0,0,0,0,0
$GC,10980,1.22,113.9,500.9,14.6,597,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1589,1471,0,0,0,0,0,0
$GC,11288,1.22,113.9,456.2,14.4,612,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1589,1471,0,0,0,0,0,0
$GC,11599,1.22,113.9,412.9,13.8,627,11603,0.00,2.22,0.00,0.000,4,0.000,0.055,3591,198,1471,0,0,0,0,0,0
$GC,11687,1.22,113.9,400.5,13.3,631,11691,0.00,2.17,0.00,0.000,6,0.000,0.038,3591,1602,1471,0,0,0,0,0,0
$GC,12015,1.22,113.9,357.8,12.9,647,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1602,1471,0,0,0,0,0,0
$GC,12322,1.22,113.9,318.2,12.6,662,12326,0.00,2.22,0.00,0.000,4,0.000,0.056,3591,2999,1471,0,0,0,0,0,0
$GC,12385,1.22,113.9,309.7,13.2,665,12390,0.08,2.17,0.00,0.000,6,0.210,0.037,3583,1586,1471,0,0,0,0,0,0
$GC,12714,1.22,113.9,267.3,13.3,681,12718,0.00,2.25,0.00,0.000,4,0.000,0.055,3593,198,1471,0,0,0,0,0,0
$GC,12746,1.22,113.9,262.5,13.6,682,12755,0.03,2.22,0.00,0.000,6,0.202,0.039,3585,1604,1471,0,0,0,0,0,0
$GC,13062,1.22,113.9,221.3,13.2,698,13066,0.00,2.22,0.00,0.000,4,0.000,0.055,3585,2992,1471,0,0,0,0,0,0
$GC,13129,1.22,113.9,211.8,14.3,701,13134,0.03,2.17,0.00,0.000,6,0.214,0.037,3585,1599,1471,0,0,0,0,0,0
$GC,13458,1.22,113.9,169.4,12.7,717,13462,0.00,2.28,0.00,0.000,4,0.000,0.054,3595,193,1471,0,0,0,0,0,0
$GC,13716,1.22,113.9,137.4,11.3,728,13724,0.05,2.20,0.00,0.000,6,0.179,0.036,3578,1593,1471,0,0,0,0,0,0
$GC,14033,1.27,113.9,103.8,11.3,744,14037,0.00,2.28,0.00,0.000,4,0.000,0.052,3587,193,1471,0,0,0,0,0,0
$GC,14127,1.27,113.9,92.3,11.1,748,14132,0.00,2.22,0.00,0.000,6,0.000,0.037,3587,1600,1471,0,0,0,0,0,0
$GC,14469,1.30,113.9,50.2,13.7,793,14475,0.00,2.28,0.00,0.000,4,0.000,0.052,3596,200,1471,0,0,0,0,0,0
$GC,14532,1.30,113.9,42.1,12.1,804,14540,0.00,2.22,0.00,0.000,6,0.000,0.037,3596,1604,1471,0,0,0,0,0,0
$STATE,14856,end climb,SURFACE_DEPTH_REACHED
$STATE,14856,begin surface coast
$FINISH,1.8,1.023418
$STATE,14883,end surface coast,CONTROL_FINISHED_OK
$STATE,14883,begin surface
$SM_CCo,14902,40.62,0.054,0,0,1132,200.16
$SM_GC,3.63,0.00,0.00,40.62,0.000,0.000,0.054,69,2050,1132,-9.74,-0.31,200.16
$IRIDIUM_FIX,-4438.33,630.15,200808,040431
$TT8_MAMPS,0.026964
$HUMID,64.53
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,2
$24V_AH,22.2,49.455
$10V_AH,9.7,51.883
$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,24.450,127.425,221.125,40.625,0.000,27.392,23.250,335.060,0.500,0.000,23.486,1904.518,10411.929,374.023,2580.517,208.698,0.000,1302.413,0.000,2092.924,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,65.025,1270.665,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.391,1248.130,693.214,429.884,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,63910,861
$CAP_FILE_SIZE,133562,0
$CFSIZE,2097086464,2037972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251015,013151,-4455.850,638.146,75,1.0,76,-24.5