version: 66.07.10.p01
glider: 573
mission: 12
dive: 415
start: 10 25 115 5 59 19
data:
$ID,573
$MISSION,12
$DIVE,415
$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,-22299.41
$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,35
$R_STBD_OVSHOOT,23
$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,414
$GPS1,251015,055028,-4455.609,636.601,52,0.9,53,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-60.8
$GPS2,251015,055859,-4455.558,636.746,21,1.1,21,-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,254.5,1275,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-24.60,0.000,2,0.000,0.000,81,2057,1615,0,0,0,0,0,0
$GC,55,-1.13,-103.6,3.2,-2.4,4,106,11.30,2.38,-31.58,0.000,4,0.234,0.073,2806,3465,2370,0,0,0,0,0,0
$GC,335,-1.04,-103.6,42.1,-20.4,49,341,0.15,2.22,0.00,0.000,6,0.175,0.041,2844,2055,2374,0,0,0,0,0,0
$GC,692,-1.08,-103.6,94.9,-13.9,98,696,0.00,2.35,0.00,0.000,4,0.000,0.064,2836,3471,2374,0,0,0,0,0,0
$GC,718,-1.08,-103.6,99.1,-15.2,99,723,0.00,2.25,0.00,0.000,6,0.000,0.044,2835,2065,2374,0,0,0,0,0,0
$GC,1043,-1.08,-103.6,147.3,-14.6,115,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2064,2374,0,0,0,0,0,0
$GC,1350,-1.08,-103.6,191.2,-14.4,130,1354,0.00,2.30,0.00,0.000,4,0.000,0.060,2826,3475,2374,0,0,0,0,0,0
$GC,1444,-1.08,-103.6,204.6,-14.4,134,1449,0.00,2.28,0.00,0.000,6,0.000,0.044,2826,2051,2374,0,0,0,0,0,0
$GC,1772,-1.08,-103.6,249.4,-13.7,150,1776,0.00,2.33,0.00,0.000,4,0.000,0.061,2817,3472,2375,0,0,0,0,0,0
$GC,1842,-1.08,-103.6,259.1,-14.5,153,1847,0.08,2.22,0.00,0.000,6,0.199,0.044,2833,2057,2374,0,0,0,0,0,0
$GC,2170,-1.12,-103.6,304.6,-13.6,169,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2058,2374,0,0,0,0,0,0
$GC,2477,-1.17,-103.6,345.6,-13.3,184,2478,0.08,0.00,0.00,0.000,6,0.125,0.000,2794,2058,2375,0,0,0,0,0,0
$GC,2787,-1.17,-103.6,391.4,-15.0,199,2791,0.00,2.33,0.00,0.000,4,0.000,0.063,2784,3470,2375,0,0,0,0,0,0
$GC,2853,-1.13,-103.6,401.6,-15.0,202,2857,0.12,2.22,0.00,0.000,6,0.180,0.044,2815,2055,2375,0,0,0,0,0,0
$GC,3179,-1.13,-103.6,446.8,-13.9,218,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2055,2375,0,0,0,0,0,0
$GC,3489,-1.13,-103.6,490.9,-14.4,233,3494,0.00,2.35,0.00,0.000,4,0.000,0.063,2807,3478,2374,0,0,0,0,0,0
$GC,3561,-1.13,-103.6,501.7,-14.4,236,3566,0.00,2.25,0.00,0.000,6,0.000,0.044,2807,2063,2375,0,0,0,0,0,0
$GC,3882,-1.13,-103.6,547.2,-14.4,252,3886,0.00,2.30,0.00,0.000,4,0.000,0.060,2797,3470,2374,0,0,0,0,0,0
$GC,3936,-1.13,-103.6,555.7,-15.0,254,3943,0.05,2.25,0.00,0.000,6,0.173,0.046,2813,2066,2375,0,0,0,0,0,0
$GC,4251,-1.13,-103.6,600.7,-14.2,270,4255,0.00,2.30,0.00,0.000,4,0.000,0.057,2805,3483,2375,0,0,0,0,0,0
$GC,4284,-1.13,-103.6,605.5,-14.4,271,4289,0.00,2.28,0.00,0.000,6,0.000,0.042,2804,2047,2375,0,0,0,0,0,0
$GC,4600,-1.13,-103.6,649.1,-13.7,287,4605,0.05,2.35,0.00,0.000,4,0.240,0.060,2807,3471,2374,0,0,0,0,0,0
$GC,4654,-1.13,-103.6,657.0,-14.2,289,4659,0.00,2.25,0.00,0.000,6,0.000,0.044,2807,2058,2374,0,0,0,0,0,0
$GC,4971,-1.13,-103.6,699.0,-13.2,305,4975,0.00,2.28,0.00,0.000,4,0.000,0.059,2807,658,2374,0,0,0,0,0,0
$GC,5014,-1.13,-103.6,705.3,-14.2,307,5019,0.05,2.28,0.00,0.000,6,0.184,0.044,2813,2070,2374,0,0,0,0,0,0
$GC,5341,-1.13,-103.6,747.0,-12.4,323,5345,0.00,2.28,0.00,0.000,4,0.000,0.063,2803,3463,2374,0,0,0,0,0,0
$GC,5412,-1.13,-103.6,756.2,-12.6,326,5417,0.03,2.22,0.00,0.000,6,0.197,0.043,2812,2063,2374,0,0,0,0,0,0
$GC,5733,-1.16,-103.6,794.2,-12.5,342,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2063,2374,0,0,0,0,0,0
$GC,6043,-1.19,-103.6,832.0,-11.9,357,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2063,2374,0,0,0,0,0,0
$GC,6351,-1.23,-103.6,868.3,-11.1,372,6356,0.08,2.30,0.00,0.000,4,0.129,0.060,2765,3465,2373,0,0,0,0,0,0
$GC,6414,-1.17,-103.6,876.1,-13.0,375,6419,0.15,2.22,0.00,0.000,6,0.185,0.043,2801,2048,2372,0,0,0,0,0,0
$GC,6741,-1.17,-103.6,914.2,-11.7,391,6745,0.00,2.33,0.00,0.000,4,0.000,0.057,2792,3475,2372,0,0,0,0,0,0
$GC,6802,-1.17,-103.6,921.9,-12.1,394,6805,0.00,2.25,0.00,0.000,6,0.000,0.045,2793,2051,2372,0,0,0,0,0,0
$GC,7133,-1.17,-103.6,960.8,-11.6,410,7137,0.00,2.35,0.00,0.000,4,0.000,0.063,2784,3469,2373,0,0,0,0,0,0
$GC,7245,-1.17,-103.6,974.5,-13.2,415,7250,0.08,2.22,0.00,0.000,6,0.207,0.045,2799,2063,2372,0,0,0,0,0,0
$STATE,7482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7482,begin apogee
$GC,7488,-0.19,0.0,1001.2,11.1,427,7589,1.10,0.00,97.38,1.265,6,0.158,0.000,3118,1594,1950,0,0,0,0,0,0
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7590,begin climb
$GC,7591,1.13,103.6,1003.1,0.0,432,7703,1.25,2.53,102.70,1.226,4,0.086,0.055,3547,200,1526,0,0,0,0,0,0
$GC,7739,1.16,103.6,989.0,14.1,439,7743,0.00,2.42,0.00,0.000,6,0.000,0.037,3546,1614,1523,0,0,0,0,0,0
$GC,8065,1.21,103.6,943.4,14.2,455,8067,0.08,0.00,0.00,0.000,6,0.121,0.000,3586,1615,1519,0,0,0,0,0,0
$GC,8373,1.21,103.6,896.5,15.0,470,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1615,1518,0,0,0,0,0,0
$GC,8683,1.21,103.6,850.7,14.9,485,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1615,1517,0,0,0,0,0,0
$GC,8992,1.21,103.6,804.8,14.9,500,8996,0.00,2.35,0.00,0.000,4,0.000,0.054,3596,186,1517,0,0,0,0,0,0
$GC,9114,1.15,103.6,786.1,16.4,505,9119,0.15,2.22,0.00,0.000,6,0.167,0.037,3557,1600,1516,0,0,0,0,0,0
$GC,9430,1.20,103.6,745.4,12.7,521,9434,0.00,2.30,0.00,0.000,4,0.000,0.054,3565,197,1516,0,0,0,0,0,0
$GC,9553,1.20,103.6,728.1,13.9,526,9558,0.00,2.22,0.00,0.000,6,0.000,0.038,3565,1597,1515,0,0,0,0,0,0
$GC,9868,1.20,103.6,686.1,13.1,542,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1597,1515,0,0,0,0,0,0
$GC,10178,1.20,103.6,644.8,13.5,557,10182,0.00,2.30,0.00,0.000,4,0.000,0.053,3574,190,1515,0,0,0,0,0,0
$GC,10227,1.20,103.6,637.6,14.6,559,10232,0.00,2.25,0.00,0.000,6,0.000,0.037,3574,1607,1515,0,0,0,0,0,0
$GC,10550,1.20,103.6,594.6,13.0,575,10554,0.00,2.22,0.00,0.000,4,0.000,0.055,3574,2992,1515,0,0,0,0,0,0
$GC,10571,1.20,103.6,591.7,12.5,576,10576,0.03,2.17,0.00,0.000,6,0.196,0.037,3575,1603,1515,0,0,0,0,0,0
$GC,10896,1.20,103.6,549.2,12.8,592,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1603,1515,0,0,0,0,0,0
$GC,11207,1.20,103.6,509.9,12.6,607,11211,0.00,2.30,0.00,0.000,4,0.000,0.056,3585,188,1514,0,0,0,0,0,0
$GC,11352,1.20,103.6,489.9,14.1,613,11357,0.08,2.22,0.00,0.000,6,0.197,0.036,3568,1611,1514,0,0,0,0,0,0
$GC,11668,1.23,103.6,452.4,11.5,629,11672,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,190,1514,0,0,0,0,0,0
$GC,11767,1.23,103.6,440.1,12.0,633,11772,0.00,2.22,0.00,0.000,6,0.000,0.037,3578,1600,1514,0,0,0,0,0,0
$GC,12084,1.23,103.6,403.0,11.9,649,12088,0.00,2.25,0.00,0.000,4,0.000,0.056,3578,2994,1514,0,0,0,0,0,0
$GC,12144,1.23,103.6,395.3,12.3,652,12148,0.00,2.17,0.00,0.000,6,0.000,0.037,3587,1589,1514,0,0,0,0,0,0
$GC,12476,1.23,103.6,355.6,12.2,668,12480,0.00,2.28,0.00,0.000,4,0.000,0.056,3597,195,1514,0,0,0,0,0,0
$GC,12564,1.19,103.6,343.9,13.0,672,12569,0.12,2.20,0.00,0.000,6,0.176,0.037,3566,1603,1514,0,0,0,0,0,0
$GC,12891,1.24,103.6,306.7,11.0,688,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1603,1514,0,0,0,0,0,0
$GC,13203,1.29,103.6,272.0,11.0,703,13205,0.10,0.00,0.00,0.000,6,0.099,0.000,3613,1603,1514,0,0,0,0,0,0
$GC,13510,1.25,103.6,230.8,13.8,718,13515,0.10,2.30,0.00,0.000,4,0.190,0.053,3599,193,1514,0,0,0,0,0,0
$GC,13577,1.20,103.6,221.2,13.9,721,13582,0.10,2.20,0.00,0.000,6,0.189,0.037,3574,1602,1514,0,0,0,0,0,0
$GC,13908,1.23,103.6,181.4,12.2,737,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1602,1514,0,0,0,0,0,0
$GC,14214,1.28,103.6,146.8,10.3,752,14219,0.03,2.30,0.00,0.000,4,0.249,0.054,3616,187,1514,0,0,0,0,0,0
$GC,14292,1.21,103.6,136.9,12.3,755,14298,0.15,2.20,0.00,0.000,6,0.177,0.037,3576,1603,1514,0,0,0,0,0,0
$GC,14610,1.25,103.6,103.8,10.2,771,14614,0.00,2.30,0.00,0.000,4,0.000,0.052,3586,191,1514,0,0,0,0,0,0
$GC,14654,1.25,103.6,99.2,11.1,773,14658,0.00,2.20,0.00,0.000,6,0.000,0.037,3585,1602,1514,0,0,0,0,0,0
$GC,14986,1.25,103.6,63.5,11.1,808,14991,0.00,2.30,0.00,0.000,4,0.000,0.051,3595,191,1514,0,0,0,0,0,0
$GC,15117,1.25,103.6,47.7,11.5,831,15124,0.00,2.22,0.00,0.000,6,0.000,0.036,3594,1599,1514,0,0,0,0,0,0
$GC,15488,1.25,103.6,4.3,13.8,892,15495,0.00,2.30,0.00,0.000,4,0.000,0.051,3604,199,1514,0,0,0,0,0,0
$STATE,15502,end climb,SURFACE_DEPTH_REACHED
$STATE,15502,begin surface coast
$FINISH,1.9,1.012214
$STATE,15516,end surface coast,CONTROL_FINISHED_OK
$STATE,15516,begin surface
$SM_CCo,15537,45.90,0.054,0,0,1133,200.16
$SM_GC,3.26,0.00,0.00,45.90,0.000,0.000,0.054,73,2054,1133,-9.72,-0.17,200.16
$IRIDIUM_FIX,-4438.33,639.22,200808,151507
$TT8_MAMPS,0.026215
$HUMID,64.45
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,2
$24V_AH,22.3,49.647
$10V_AH,9.6,52.069
$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,24.950,129.000,200.075,45.900,0.000,26.103,46.215,292.633,0.500,0.000,23.504,1986.115,10930.517,342.797,2624.130,211.398,0.000,1290.973,0.000,2150.989,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,73.440,1265.310,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.324,1296.117,719.352,422.938,0.000,0.000,0.000,0.000,0.000,0.000
$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,63757,896
$CAP_FILE_SIZE,137381,0
$CFSIZE,2097086464,2037710848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251015,102022,-4456.137,636.037,42,0.9,43,-24.4