version: 66.07.10.p01
glider: 573
mission: 12
dive: 421
start: 10 26 115 16 27 0
data:
$ID,573
$MISSION,12
$DIVE,421
$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,-22315.055
$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,37
$R_STBD_OVSHOOT,34
$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,420
$GPS1,261015,161833,-4503.693,637.103,31,1.1,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-66.5
$GPS2,261015,162640,-4503.733,637.202,21,1.1,21,-24.4
$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,277.0,1648,-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,-19.50,0.000,2,0.000,0.000,81,2072,1513,0,0,0,0,0,0
$GC,50,-1.13,-116.8,3.0,-0.4,3,114,11.00,2.35,-42.85,0.000,4,0.224,0.075,2804,3466,2426,0,0,0,0,0,0
$GC,318,-1.09,-116.8,36.7,-17.6,46,326,0.08,2.25,0.00,0.000,6,0.164,0.044,2826,2072,2428,0,0,0,0,0,0
$GC,467,-1.09,-116.8,59.9,-14.9,71,472,0.00,2.30,0.00,0.000,4,0.000,0.059,2817,3465,2429,0,0,0,0,0,0
$GC,498,-1.09,-116.8,65.4,-17.4,76,504,0.00,2.22,0.00,0.000,6,0.000,0.041,2818,2054,2428,0,0,0,0,0,0
$GC,836,-1.09,-116.8,123.3,-18.3,103,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2054,2429,0,0,0,0,0,0
$GC,1141,-1.09,-116.8,176.0,-16.0,118,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2054,2429,0,0,0,0,0,0
$GC,1452,-1.09,-116.8,222.7,-15.3,133,1456,0.00,2.33,0.00,0.000,4,0.000,0.061,2808,3469,2429,0,0,0,0,0,0
$GC,1540,-1.09,-116.8,237.8,-16.3,137,1545,0.05,2.25,0.00,0.000,6,0.171,0.043,2824,2055,2429,0,0,0,0,0,0
$GC,1870,-1.09,-116.8,287.1,-14.6,153,1874,0.00,2.33,0.00,0.000,4,0.000,0.061,2816,3465,2429,0,0,0,0,0,0
$GC,1913,-1.09,-116.8,293.3,-15.5,155,1918,0.05,2.20,0.00,0.000,6,0.230,0.042,2826,2060,2429,0,0,0,0,0,0
$GC,2239,-1.09,-116.8,343.1,-15.4,171,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2430,0,0,0,0,0,0
$GC,2548,-1.13,-116.8,388.7,-14.3,186,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2430,0,0,0,0,0,0
$GC,2858,-1.16,-116.8,432.3,-14.0,201,2862,0.00,2.30,0.00,0.000,4,0.000,0.061,2817,3463,2429,0,0,0,0,0,0
$GC,2907,-1.16,-116.8,439.7,-14.7,203,2912,0.00,2.22,0.00,0.000,6,0.000,0.041,2817,2058,2430,0,0,0,0,0,0
$GC,3230,-1.16,-116.8,484.1,-13.8,219,3234,0.00,2.28,0.00,0.000,4,0.000,0.057,2817,657,2430,0,0,0,0,0,0
$GC,3251,-1.16,-116.8,487.5,-14.2,220,3255,0.00,2.25,0.00,0.000,6,0.000,0.044,2808,2053,2429,0,0,0,0,0,0
$GC,3577,-1.16,-116.8,532.6,-14.0,236,3581,0.00,2.28,0.00,0.000,4,0.000,0.059,2796,3472,2429,0,0,0,0,0,0
$GC,3620,-1.16,-116.8,538.9,-14.7,238,3625,0.00,2.25,0.00,0.000,6,0.000,0.044,2797,2061,2429,0,0,0,0,0,0
$GC,3946,-1.16,-116.8,587.3,-14.9,254,3951,0.00,2.33,0.00,0.000,4,0.000,0.060,2788,3475,2429,0,0,0,0,0,0
$GC,4001,-1.16,-116.8,595.8,-14.9,256,4008,0.05,2.25,0.00,0.000,6,0.183,0.044,2803,2069,2429,0,0,0,0,0,0
$GC,4316,-1.16,-116.8,640.4,-14.2,272,4321,0.00,2.30,0.00,0.000,4,0.000,0.057,2794,3476,2429,0,0,0,0,0,0
$GC,4371,-1.16,-116.8,648.4,-14.7,274,4377,0.00,2.28,0.00,0.000,6,0.000,0.044,2794,2054,2429,0,0,0,0,0,0
$GC,4686,-1.16,-116.8,693.2,-14.2,290,4691,0.00,2.28,0.00,0.000,4,0.000,0.058,2794,658,2429,0,0,0,0,0,0
$GC,4719,-1.13,-116.8,698.0,-14.7,291,4725,0.12,2.22,0.00,0.000,6,0.198,0.043,2815,2064,2429,0,0,0,0,0,0
$GC,5036,-1.17,-116.8,741.4,-13.9,307,5040,0.00,2.33,0.00,0.000,4,0.000,0.065,2805,3472,2429,0,0,0,0,0,0
$GC,5096,-1.17,-116.8,750.2,-14.5,310,5100,0.00,2.25,0.00,0.000,6,0.000,0.045,2805,2054,2428,0,0,0,0,0,0
$GC,5422,-1.17,-116.8,794.7,-13.4,326,5426,0.00,2.28,0.00,0.000,4,0.000,0.058,2805,659,2428,0,0,0,0,0,0
$GC,5471,-1.17,-116.8,801.7,-14.0,328,5476,0.00,2.25,0.00,0.000,6,0.000,0.044,2796,2054,2429,0,0,0,0,0,0
$GC,5792,-1.17,-116.8,845.8,-14.2,344,5796,0.00,2.30,0.00,0.000,4,0.000,0.059,2785,3469,2428,0,0,0,0,0,0
$GC,5825,-1.17,-116.8,850.6,-15.3,345,5830,0.05,2.25,0.00,0.000,6,0.182,0.044,2800,2064,2428,0,0,0,0,0,0
$GC,6141,-1.17,-116.8,892.7,-13.2,361,6145,0.00,2.30,0.00,0.000,4,0.000,0.059,2792,3466,2428,0,0,0,0,0,0
$GC,6181,-1.17,-116.8,898.3,-14.9,363,6185,0.00,2.22,0.00,0.000,6,0.000,0.042,2792,2051,2428,0,0,0,0,0,0
$GC,6507,-1.17,-116.8,943.0,-13.3,379,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2052,2428,0,0,0,0,0,0
$GC,6815,-1.17,-116.8,985.7,-13.8,394,6820,0.05,2.35,0.00,0.000,4,0.243,0.062,2793,3465,2427,0,0,0,0,0,0
$STATE,6920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6920,begin apogee
$GC,6930,-0.19,0.0,1000.3,13.5,399,7043,1.12,0.00,109.82,1.259,6,0.157,0.000,3118,1605,1950,0,0,0,0,0,0
$STATE,7044,end apogee,CONTROL_FINISHED_OK
$STATE,7044,begin climb
$GC,7046,1.13,116.8,1005.3,0.0,405,7173,1.27,2.60,116.50,1.218,4,0.085,0.054,3552,202,1473,0,0,0,0,0,0
$GC,7217,1.13,116.8,989.9,14.3,413,7221,0.00,2.45,0.00,0.000,6,0.000,0.037,3552,1610,1469,0,0,0,0,0,0
$GC,7545,1.19,116.8,946.7,13.2,429,7549,0.00,2.33,0.00,0.000,4,0.000,0.055,3552,3008,1465,0,0,0,0,0,0
$GC,7588,1.22,116.8,940.7,13.9,431,7592,0.00,2.28,0.00,0.000,6,0.000,0.037,3561,1592,1465,0,0,0,0,0,0
$GC,7916,1.26,116.8,896.8,13.6,447,7921,0.08,2.30,0.00,0.000,4,0.119,0.055,3617,192,1463,0,0,0,0,0,0
$GC,7983,1.17,116.8,886.1,16.4,450,7989,0.20,2.25,0.00,0.000,6,0.171,0.038,3564,1607,1463,0,0,0,0,0,0
$GC,8306,1.20,116.8,841.5,13.9,466,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1607,1463,0,0,0,0,0,0
$GC,8614,1.23,116.8,798.5,14.2,481,8618,0.00,2.33,0.00,0.000,4,0.000,0.054,3574,192,1463,0,0,0,0,0,0
$GC,8677,1.23,116.8,789.4,14.2,484,8681,0.00,2.22,0.00,0.000,6,0.000,0.037,3574,1608,1462,0,0,0,0,0,0
$GC,9002,1.23,116.8,743.8,13.9,500,9006,0.00,2.33,0.00,0.000,4,0.000,0.054,3583,193,1462,0,0,0,0,0,0
$GC,9109,1.23,116.8,728.3,15.1,505,9113,0.00,2.20,0.00,0.000,6,0.000,0.037,3582,1600,1462,0,0,0,0,0,0
$GC,9435,1.23,116.8,682.7,14.1,521,9439,0.00,2.25,0.00,0.000,4,0.000,0.056,3582,2992,1462,0,0,0,0,0,0
$GC,9479,1.23,116.8,676.1,15.1,523,9483,0.00,2.20,0.00,0.000,6,0.000,0.037,3591,1592,1462,0,0,0,0,0,0
$GC,9807,1.23,116.8,629.1,14.7,539,9811,0.00,2.28,0.00,0.000,4,0.000,0.056,3602,196,1462,0,0,0,0,0,0
$GC,9949,1.17,116.8,607.1,16.5,545,9954,0.15,2.22,0.00,0.000,6,0.173,0.038,3564,1604,1461,0,0,0,0,0,0
$GC,10265,1.22,116.8,564.8,13.1,560,10269,0.00,2.22,0.00,0.000,4,0.000,0.054,3564,3001,1460,0,0,0,0,0,0
$GC,10309,1.22,116.8,558.6,13.4,562,10313,0.00,2.17,0.00,0.000,6,0.000,0.037,3572,1595,1461,0,0,0,0,0,0
$GC,10640,1.25,116.8,514.0,13.6,578,10644,0.00,2.25,0.00,0.000,4,0.000,0.055,3583,198,1461,0,0,0,0,0,0
$GC,10717,1.25,116.8,502.5,14.7,581,10721,0.00,2.22,0.00,0.000,6,0.000,0.038,3583,1600,1460,0,0,0,0,0,0
$GC,11039,1.25,116.8,458.3,13.5,597,11043,0.00,2.30,0.00,0.000,4,0.000,0.053,3592,195,1460,0,0,0,0,0,0
$GC,11100,1.25,116.8,449.5,14.0,600,11104,0.00,2.22,0.00,0.000,6,0.000,0.037,3591,1610,1461,0,0,0,0,0,0
$GC,11431,1.25,116.8,403.7,14.1,616,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1610,1460,0,0,0,0,0,0
$GC,11742,1.25,116.8,360.9,13.8,631,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1610,1460,0,0,0,0,0,0
$GC,12050,1.25,116.8,320.0,12.9,646,12054,0.00,2.33,0.00,0.000,4,0.000,0.054,3600,189,1460,0,0,0,0,0,0
$GC,12099,1.21,116.8,313.1,14.0,648,12104,0.10,2.20,0.00,0.000,6,0.185,0.036,3577,1600,1460,0,0,0,0,0,0
$GC,12421,1.25,116.8,274.5,12.0,664,12425,0.00,2.30,0.00,0.000,4,0.000,0.054,3586,198,1460,0,0,0,0,0,0
$GC,12486,1.25,116.8,266.6,13.4,667,12490,0.00,2.20,0.00,0.000,6,0.000,0.038,3586,1602,1460,0,0,0,0,0,0
$GC,12814,1.25,116.8,225.1,12.5,683,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1602,1460,0,0,0,0,0,0
$GC,13122,1.25,116.8,185.5,12.1,698,13126,0.00,2.22,0.00,0.000,4,0.000,0.054,3586,2995,1460,0,0,0,0,0,0
$GC,13154,1.25,116.8,180.9,13.5,699,13159,0.00,2.20,0.00,0.000,6,0.000,0.037,3594,1595,1460,0,0,0,0,0,0
$GC,13478,1.25,116.8,142.9,12.5,715,13482,0.00,2.28,0.00,0.000,4,0.000,0.054,3605,195,1460,0,0,0,0,0,0
$GC,13579,1.22,116.8,128.7,14.3,719,13586,0.10,2.20,0.00,0.000,6,0.190,0.038,3580,1604,1459,0,0,0,0,0,0
$GC,13898,1.25,116.8,89.8,12.1,735,13902,0.00,2.30,0.00,0.000,4,0.000,0.052,3589,196,1460,0,0,0,0,0,0
$GC,14058,1.25,116.8,67.9,13.2,752,14063,0.00,2.20,0.00,0.000,6,0.000,0.036,3589,1604,1459,0,0,0,0,0,0
$GC,14417,1.25,116.8,23.5,13.8,813,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1605,1460,0,0,0,0,0,0
$GC,14572,1.30,116.8,5.1,9.7,838,14580,0.00,2.22,0.00,0.000,4,0.000,0.051,3590,2983,1460,0,0,0,0,0,0
$STATE,14599,end climb,SURFACE_DEPTH_REACHED
$STATE,14599,begin surface coast
$FINISH,1.8,1.023429
$STATE,14643,end surface coast,CONTROL_FINISHED_OK
$STATE,14643,begin surface
$SM_CCo,14663,39.62,0.054,0,0,1132,200.16
$SM_GC,3.02,0.00,0.00,39.62,0.000,0.000,0.054,81,2053,1132,-9.69,-0.20,200.16
$IRIDIUM_FIX,-4444.39,637.25,220808,010131
$TT8_MAMPS,0.026964
$HUMID,64.29
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.1,50.315
$10V_AH,9.6,52.780
$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,23.775,140.725,226.325,39.625,0.000,27.434,23.267,290.875,0.000,0.000,23.954,1892.752,10193.888,364.866,2520.676,216.280,0.000,1302.041,0.000,2076.085,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,74.970,1259.190,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.776,1252.344,709.764,441.281,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,60344,849
$CAP_FILE_SIZE,134697,0
$CFSIZE,2097086464,2036924416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261015,203321,-4504.550,635.378,41,1.0,41,-24.4