version: 66.07.10.p01
glider: 573
mission: 12
dive: 420
start: 10 26 115 11 44 18
data:
$ID,573
$MISSION,12
$DIVE,420
$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,-22312.582
$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,50
$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,419
$GPS1,261015,113303,-4504.201,638.400,38,0.9,38,-24.5
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-67.9
$GPS2,261015,114358,-4504.292,638.504,43,0.9,43,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,303.9,3319,-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,-49.9,0.0,0.0,0,47,0.00,0.00,-19.58,0.000,2,0.000,0.000,81,2078,1513,0,0,0,0,0,0
$GC,50,-1.12,-93.8,3.1,-3.5,3,114,11.12,2.30,-41.35,0.000,4,0.227,0.069,2810,3454,2334,0,0,0,0,0,0
$GC,374,-1.09,-93.8,48.5,-21.6,56,380,0.10,2.22,0.00,0.000,6,0.190,0.043,2834,2055,2335,0,0,0,0,0,0
$GC,728,-1.09,-93.8,102.7,-14.3,99,732,0.00,2.30,0.00,0.000,4,0.000,0.061,2824,3448,2335,0,0,0,0,0,0
$GC,804,-1.09,-93.8,113.8,-14.1,102,813,0.00,2.22,0.00,0.000,6,0.000,0.043,2825,2058,2335,0,0,0,0,0,0
$GC,1121,-1.09,-93.8,159.8,-14.5,118,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,2335,0,0,0,0,0,0
$GC,1432,-1.09,-93.8,202.1,-13.1,133,1436,0.00,2.28,0.00,0.000,4,0.000,0.060,2815,3444,2335,0,0,0,0,0,0
$GC,1533,-1.09,-93.8,216.3,-13.8,137,1539,0.03,2.20,0.00,0.000,6,0.200,0.041,2824,2056,2335,0,0,0,0,0,0
$GC,1851,-1.09,-93.8,258.6,-13.6,153,1855,0.00,2.25,0.00,0.000,4,0.000,0.056,2825,650,2336,0,0,0,0,0,0
$GC,1894,-1.09,-93.8,264.4,-14.5,155,1899,0.08,2.22,0.00,0.000,6,0.222,0.043,2832,2050,2336,0,0,0,0,0,0
$GC,2222,-1.12,-93.8,309.3,-13.5,171,2226,0.00,2.28,0.00,0.000,4,0.000,0.056,2821,3465,2336,0,0,0,0,0,0
$GC,2261,-1.12,-93.8,315.0,-13.7,173,2265,0.00,2.20,0.00,0.000,6,0.000,0.040,2821,2051,2336,0,0,0,0,0,0
$GC,2587,-1.12,-93.8,359.7,-13.7,189,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2051,2336,0,0,0,0,0,0
$GC,2896,-1.12,-93.8,401.5,-14.0,204,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2051,2335,0,0,0,0,0,0
$GC,3206,-1.12,-93.8,444.1,-13.7,219,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2051,2336,0,0,0,0,0,0
$GC,3514,-1.12,-93.8,485.4,-13.0,234,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2051,2336,0,0,0,0,0,0
$GC,3825,-1.12,-93.8,524.7,-12.8,249,3829,0.00,2.33,0.00,0.000,4,0.000,0.060,2812,3469,2336,0,0,0,0,0,0
$GC,3913,-1.12,-93.8,536.6,-13.7,253,3917,0.00,2.25,0.00,0.000,6,0.000,0.044,2812,2054,2336,0,0,0,0,0,0
$GC,4240,-1.12,-93.8,577.3,-12.2,269,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2054,2335,0,0,0,0,0,0
$GC,4549,-1.12,-93.8,614.5,-11.9,284,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2054,2335,0,0,0,0,0,0
$GC,4859,-1.12,-93.8,651.0,-11.6,299,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2054,2335,0,0,0,0,0,0
$GC,5167,-1.12,-93.8,686.6,-11.3,314,5171,0.00,2.33,0.00,0.000,4,0.000,0.061,2803,3463,2335,0,0,0,0,0,0
$GC,5216,-1.12,-93.8,692.3,-11.8,316,5221,0.05,2.22,0.00,0.000,6,0.177,0.044,2818,2067,2335,0,0,0,0,0,0
$GC,5538,-1.15,-93.8,728.4,-11.5,332,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2335,0,0,0,0,0,0
$GC,5848,-1.19,-93.8,765.2,-12.2,347,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2335,0,0,0,0,0,0
$GC,6156,-1.24,-93.8,803.3,-12.3,362,6158,0.10,0.00,0.00,0.000,6,0.106,0.000,2771,2067,2334,0,0,0,0,0,0
$GC,6467,-1.19,-93.8,846.7,-13.9,377,6469,0.10,0.00,0.00,0.000,6,0.205,0.000,2793,2067,2334,0,0,0,0,0,0
$GC,6774,-1.19,-93.8,886.5,-12.4,392,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2067,2334,0,0,0,0,0,0
$GC,7085,-1.19,-93.8,924.2,-12.0,407,7089,0.00,2.28,0.00,0.000,4,0.000,0.057,2784,3471,2334,0,0,0,0,0,0
$GC,7202,-1.19,-93.8,938.6,-12.1,412,7206,0.00,2.25,0.00,0.000,6,0.000,0.044,2784,2060,2334,0,0,0,0,0,0
$GC,7528,-1.19,-93.8,975.1,-10.9,428,7530,0.05,0.00,0.00,0.000,6,0.246,0.000,2793,2059,2333,0,0,0,0,0,0
$STATE,7774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7774,begin apogee
$GC,7780,-0.19,0.0,1001.1,10.5,440,7872,1.10,0.00,88.55,1.266,6,0.155,0.000,3113,1594,1950,0,0,0,0,0,0
$STATE,7873,end apogee,CONTROL_FINISHED_OK
$STATE,7873,begin climb
$GC,7875,1.12,93.8,1002.9,0.0,444,7972,1.27,0.00,93.25,1.221,6,0.086,0.000,3538,1594,1567,0,0,0,0,0,0
$GC,8271,1.18,93.8,956.6,13.0,464,8276,0.08,2.35,0.00,0.000,4,0.119,0.054,3593,198,1559,0,0,0,0,0,0
$GC,8333,1.12,93.8,947.3,15.5,467,8338,0.17,2.28,0.00,0.000,6,0.167,0.037,3549,1613,1559,0,0,0,0,0,0
$GC,8661,1.16,93.8,906.6,12.1,483,8665,0.00,2.35,0.00,0.000,4,0.000,0.053,3558,188,1557,0,0,0,0,0,0
$GC,8707,1.16,93.8,900.7,13.2,485,8711,0.00,2.25,0.00,0.000,6,0.000,0.037,3558,1608,1556,0,0,0,0,0,0
$GC,9039,1.16,93.8,860.4,12.4,501,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1608,1556,0,0,0,0,0,0
$GC,9347,1.19,93.8,822.9,12.0,516,9351,0.00,2.33,0.00,0.000,4,0.000,0.052,3567,193,1556,0,0,0,0,0,0
$GC,9385,1.19,93.8,818.1,12.9,518,9389,0.00,2.22,0.00,0.000,6,0.000,0.037,3567,1604,1555,0,0,0,0,0,0
$GC,9716,1.19,93.8,777.0,12.8,534,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1604,1555,0,0,0,0,0,0
$GC,10027,1.19,93.8,737.2,13.0,549,10031,0.00,2.30,0.00,0.000,4,0.000,0.052,3576,196,1555,0,0,0,0,0,0
$GC,10081,1.19,93.8,729.4,14.4,551,10087,0.00,2.22,0.00,0.000,6,0.000,0.036,3576,1600,1555,0,0,0,0,0,0
$GC,10398,1.19,93.8,686.7,13.7,567,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1599,1555,0,0,0,0,0,0
$GC,10706,1.19,93.8,646.0,13.2,582,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1600,1555,0,0,0,0,0,0
$GC,11016,1.19,93.8,605.8,13.0,597,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1600,1554,0,0,0,0,0,0
$GC,11326,1.19,93.8,567.2,12.7,612,11330,0.00,2.22,0.00,0.000,4,0.000,0.055,3576,2993,1554,0,0,0,0,0,0
$GC,11358,1.19,93.8,562.8,12.9,613,11363,0.03,2.20,0.00,0.000,6,0.203,0.037,3576,1591,1554,0,0,0,0,0,0
$GC,11674,1.19,93.8,523.2,12.6,629,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1591,1554,0,0,0,0,0,0
$GC,11983,1.19,93.8,484.1,12.6,644,11987,0.00,2.28,0.00,0.000,4,0.000,0.054,3586,191,1555,0,0,0,0,0,0
$GC,12084,1.15,93.8,470.2,13.6,648,12090,0.12,2.20,0.00,0.000,6,0.177,0.037,3556,1599,1553,0,0,0,0,0,0
$GC,12400,1.20,93.8,433.3,11.7,664,12404,0.00,2.30,0.00,0.000,4,0.000,0.052,3564,190,1553,0,0,0,0,0,0
$GC,12462,1.20,93.8,425.9,11.6,667,12466,0.00,2.22,0.00,0.000,6,0.000,0.038,3564,1607,1553,0,0,0,0,0,0
$GC,12789,1.23,93.8,389.1,11.0,683,12793,0.00,2.22,0.00,0.000,4,0.000,0.053,3564,2996,1553,0,0,0,0,0,0
$GC,12855,1.23,93.8,381.1,11.5,686,12859,0.00,2.20,0.00,0.000,6,0.000,0.036,3573,1595,1553,0,0,0,0,0,0
$GC,13181,1.23,93.8,343.7,11.3,702,13185,0.00,2.28,0.00,0.000,4,0.000,0.054,3584,196,1553,0,0,0,0,0,0
$GC,13288,1.23,93.8,331.1,11.8,707,13292,0.00,2.20,0.00,0.000,6,0.000,0.037,3584,1607,1553,0,0,0,0,0,0
$GC,13622,1.23,93.8,292.2,12.0,723,13623,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1607,1553,0,0,0,0,0,0
$GC,13929,1.23,93.8,257.4,10.9,738,13933,0.00,2.30,0.00,0.000,4,0.000,0.053,3593,199,1553,0,0,0,0,0,0
$GC,13969,1.19,93.8,252.8,11.0,740,13974,0.10,2.20,0.00,0.000,6,0.186,0.037,3569,1604,1553,0,0,0,0,0,0
$GC,14297,1.22,93.8,218.3,10.6,756,14301,0.00,2.22,0.00,0.000,4,0.000,0.053,3569,3002,1553,0,0,0,0,0,0
$GC,14414,1.22,93.8,204.8,10.9,761,14418,0.00,2.20,0.00,0.000,6,0.000,0.036,3577,1604,1553,0,0,0,0,0,0
$GC,14744,1.22,93.8,169.5,11.0,777,14748,0.00,2.30,0.00,0.000,4,0.000,0.054,3588,187,1553,0,0,0,0,0,0
$GC,14798,1.22,93.8,162.8,11.6,779,14804,0.00,2.22,0.00,0.000,6,0.000,0.036,3589,1597,1553,0,0,0,0,0,0
$GC,15117,1.22,93.8,127.8,11.2,795,15121,0.00,2.25,0.00,0.000,4,0.000,0.054,3588,2994,1553,0,0,0,0,0,0
$GC,15188,1.22,93.8,118.9,11.8,798,15193,0.05,2.17,0.00,0.000,6,0.177,0.035,3581,1600,1553,0,0,0,0,0,0
$GC,15510,1.22,93.8,83.4,11.1,814,15514,0.00,2.25,0.00,0.000,4,0.000,0.053,3591,198,1553,0,0,0,0,0,0
$GC,15772,1.23,98.8,53.8,8.0,855,15779,0.00,2.20,0.00,0.000,6,0.000,0.037,3592,1594,1553,0,0,0,0,0,0
$GC,16137,1.23,98.8,18.7,9.7,916,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1594,1553,0,0,0,0,0,0
$GC,16195,1.23,98.8,12.5,10.7,925,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1594,1553,0,0,0,0,0,0
$GC,16254,1.23,98.8,5.2,13.8,934,16260,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1603,1553,0,0,0,0,0,0
$STATE,16279,end climb,SURFACE_DEPTH_REACHED
$STATE,16279,begin surface coast
$FINISH,1.8,1.023355
$STATE,16318,end surface coast,CONTROL_FINISHED_OK
$STATE,16318,begin surface
$SM_CCo,16336,50.45,0.054,0,0,1133,200.16
$SM_GC,3.54,0.00,0.00,50.45,0.000,0.000,0.054,82,2072,1133,-9.69,0.34,200.16
$IRIDIUM_FIX,-4447.43,637.25,210808,191942
$TT8_MAMPS,0.026964
$HUMID,63.38
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,22.4,50.214
$10V_AH,9.7,52.687
$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,23.950,100.525,181.800,50.450,0.000,25.059,24.521,423.964,0.250,0.000,46.044,2041.490,11665.353,348.163,2763.410,216.086,0.000,1270.984,0.000,2151.222,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,68.850,1266.075,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.443,1370.083,765.807,453.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,67321,944
$CAP_FILE_SIZE,133674,0
$CFSIZE,2097086464,2037022720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261015,161833,-4503.693,637.103,31,1.1,31,-24.4