version: 66.07.10.p01
glider: 573
mission: 12
dive: 422
start: 10 26 115 20 41 35
data:
$ID,573
$MISSION,12
$DIVE,422
$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,-22317.383
$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,36
$R_STBD_OVSHOOT,45
$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,421
$GPS1,261015,203321,-4504.550,635.378,41,1.0,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-63.1
$GPS2,261015,204116,-4504.565,635.430,21,1.0,21,-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,59.8,1285,-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,24,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,41,0.00,0.00,-12.62,0.000,2,0.000,0.000,82,2050,1381,0,0,0,0,0,0
$GC,44,-1.12,-99.3,3.2,-2.9,2,107,11.02,2.30,-46.20,0.000,4,0.225,0.071,2815,659,2355,0,0,0,0,0,0
$GC,215,-1.06,-99.3,21.3,-17.7,29,223,0.10,2.25,0.00,0.000,6,0.171,0.044,2836,2040,2358,0,0,0,0,0,0
$GC,369,-1.06,-99.3,44.1,-14.0,54,376,0.00,2.30,0.00,0.000,4,0.000,0.056,2837,663,2358,0,0,0,0,0,0
$GC,401,-1.06,-99.3,48.9,-15.0,59,406,0.00,2.25,0.00,0.000,6,0.000,0.039,2828,2077,2358,0,0,0,0,0,0
$GC,741,-1.06,-99.3,101.4,-14.3,100,745,0.00,2.22,0.00,0.000,4,0.000,0.057,2817,3469,2358,0,0,0,0,0,0
$GC,851,-1.06,-99.3,116.6,-14.5,105,855,0.10,2.22,0.00,0.000,6,0.186,0.042,2841,2062,2358,0,0,0,0,0,0
$GC,1181,-1.09,-99.3,163.2,-14.8,121,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2062,2358,0,0,0,0,0,0
$GC,1487,-1.14,-99.3,207.8,-14.6,136,1491,0.08,2.28,0.00,0.000,4,0.125,0.054,2801,658,2358,0,0,0,0,0,0
$GC,1508,-1.14,-99.3,211.5,-15.4,137,1513,0.08,2.25,0.00,0.000,6,0.182,0.043,2814,2056,2359,0,0,0,0,0,0
$GC,1837,-1.14,-99.3,258.8,-13.9,153,1841,0.00,2.30,0.00,0.000,4,0.000,0.057,2804,3477,2358,0,0,0,0,0,0
$GC,1891,-1.14,-99.3,266.9,-14.0,155,1898,0.03,2.25,0.00,0.000,6,0.203,0.043,2811,2066,2359,0,0,0,0,0,0
$GC,2208,-1.14,-99.3,309.5,-13.6,171,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2066,2358,0,0,0,0,0,0
$GC,2516,-1.14,-99.3,352.2,-13.8,186,2520,0.00,2.30,0.00,0.000,4,0.000,0.057,2803,3474,2360,0,0,0,0,0,0
$GC,2548,-1.14,-99.3,357.0,-14.2,187,2553,0.00,2.25,0.00,0.000,6,0.000,0.043,2803,2048,2359,0,0,0,0,0,0
$GC,2865,-1.14,-99.3,401.3,-13.7,203,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2048,2359,0,0,0,0,0,0
$GC,3172,-1.14,-99.3,443.0,-13.4,218,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2048,2359,0,0,0,0,0,0
$GC,3483,-1.14,-99.3,485.3,-14.2,233,3487,0.00,2.30,0.00,0.000,4,0.000,0.056,2794,3474,2359,0,0,0,0,0,0
$GC,3523,-1.10,-99.3,491.1,-15.0,235,3528,0.12,2.22,0.00,0.000,6,0.180,0.044,2825,2061,2359,0,0,0,0,0,0
$GC,3851,-1.15,-99.3,535.1,-13.1,251,3855,0.00,2.33,0.00,0.000,4,0.000,0.060,2816,3475,2359,0,0,0,0,0,0
$GC,3877,-1.15,-99.3,539.1,-13.8,252,3881,0.00,2.25,0.00,0.000,6,0.000,0.043,2817,2063,2359,0,0,0,0,0,0
$GC,4198,-1.15,-99.3,581.6,-13.3,268,4202,0.00,2.25,0.00,0.000,4,0.000,0.056,2816,652,2359,0,0,0,0,0,0
$GC,4247,-1.15,-99.3,588.8,-14.5,270,4251,0.00,2.25,0.00,0.000,6,0.000,0.041,2807,2058,2359,0,0,0,0,0,0
$GC,4568,-1.15,-99.3,632.9,-13.7,286,4572,0.00,2.30,0.00,0.000,4,0.000,0.063,2796,3465,2358,0,0,0,0,0,0
$GC,4622,-1.15,-99.3,640.4,-14.1,288,4629,0.05,2.25,0.00,0.000,6,0.172,0.044,2812,2056,2358,0,0,0,0,0,0
$GC,4938,-1.15,-99.3,680.3,-12.7,304,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2056,2358,0,0,0,0,0,0
$GC,5248,-1.15,-99.3,717.3,-11.9,319,5253,0.00,2.30,0.00,0.000,4,0.000,0.063,2803,3462,2358,0,0,0,0,0,0
$GC,5311,-1.15,-99.3,724.8,-12.0,322,5315,0.00,2.20,0.00,0.000,6,0.000,0.043,2803,2059,2357,0,0,0,0,0,0
$GC,5636,-1.15,-99.3,763.1,-11.6,338,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2059,2357,0,0,0,0,0,0
$GC,5947,-1.15,-99.3,801.1,-12.6,353,5951,0.00,2.33,0.00,0.000,4,0.000,0.061,2794,3466,2357,0,0,0,0,0,0
$GC,5996,-1.15,-99.3,808.3,-14.5,355,6001,0.05,2.25,0.00,0.000,6,0.172,0.044,2809,2063,2357,0,0,0,0,0,0
$GC,6318,-1.18,-99.3,847.2,-11.2,371,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2063,2357,0,0,0,0,0,0
$GC,6626,-1.21,-99.3,881.5,-10.6,386,6630,0.00,2.28,0.00,0.000,4,0.000,0.057,2810,652,2356,0,0,0,0,0,0
$GC,6721,-1.21,-99.3,892.6,-12.2,390,6725,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2062,2356,0,0,0,0,0,0
$GC,7041,-1.21,-99.3,927.4,-10.6,406,7045,0.00,2.30,0.00,0.000,4,0.000,0.064,2791,3469,2356,0,0,0,0,0,0
$GC,7135,-1.21,-99.3,938.1,-11.6,410,7140,0.00,2.28,0.00,0.000,6,0.000,0.046,2791,2051,2356,0,0,0,0,0,0
$GC,7462,-1.21,-99.3,978.3,-12.7,426,7466,0.00,2.28,0.00,0.000,4,0.000,0.058,2790,655,2356,0,0,0,0,0,0
$GC,7495,-1.18,-99.3,982.7,-13.6,427,7499,0.08,2.25,0.00,0.000,6,0.230,0.045,2797,2064,2356,0,0,0,0,0,0
$STATE,7649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7649,begin apogee
$GC,7655,-0.19,0.0,1002.5,12.8,435,7753,1.10,0.00,94.30,1.265,6,0.158,0.000,3116,1597,1950,0,0,0,0,0,0
$STATE,7754,end apogee,CONTROL_FINISHED_OK
$STATE,7754,begin climb
$GC,7756,1.12,99.3,1006.3,0.0,440,7863,1.27,2.55,98.50,1.221,4,0.087,0.054,3550,198,1544,0,0,0,0,0,0
$GC,7924,1.12,99.3,991.8,13.2,448,7929,0.00,2.40,0.00,0.000,6,0.000,0.037,3550,1610,1540,0,0,0,0,0,0
$GC,8252,1.17,99.3,951.6,12.9,464,8257,0.00,2.40,0.00,0.000,4,0.000,0.054,3560,189,1536,0,0,0,0,0,0
$GC,8318,1.17,99.3,941.9,14.7,467,8323,0.00,2.30,0.00,0.000,6,0.000,0.037,3561,1603,1535,0,0,0,0,0,0
$GC,8646,1.17,99.3,897.6,13.6,483,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1535,0,0,0,0,0,0
$GC,8954,1.17,99.3,854.3,14.2,498,8958,0.00,2.30,0.00,0.000,4,0.000,0.054,3570,198,1533,0,0,0,0,0,0
$GC,9093,1.17,99.3,833.3,14.5,504,9097,0.00,2.25,0.00,0.000,6,0.000,0.037,3570,1605,1534,0,0,0,0,0,0
$GC,9419,1.17,99.3,787.6,14.2,520,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1606,1534,0,0,0,0,0,0
$GC,9730,1.17,99.3,745.1,13.3,535,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1606,1533,0,0,0,0,0,0
$GC,10038,1.17,99.3,702.5,14.0,550,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1606,1533,0,0,0,0,0,0
$GC,10348,1.17,99.3,660.0,13.3,565,10353,0.00,2.33,0.00,0.000,4,0.000,0.054,3578,193,1532,0,0,0,0,0,0
$GC,10392,1.17,99.3,653.8,13.4,567,10397,0.05,2.25,0.00,0.000,6,0.163,0.036,3562,1607,1532,0,0,0,0,0,0
$GC,10719,1.20,99.3,611.7,12.9,583,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1608,1532,0,0,0,0,0,0
$GC,11027,1.24,99.3,575.0,11.6,598,11032,0.08,2.33,0.00,0.000,4,0.124,0.054,3614,189,1532,0,0,0,0,0,0
$GC,11082,1.16,99.3,568.2,12.7,600,11089,0.20,2.20,0.00,0.000,6,0.170,0.035,3561,1605,1531,0,0,0,0,0,0
$GC,11397,1.20,99.3,534.0,10.6,616,11401,0.00,2.30,0.00,0.000,4,0.000,0.054,3570,186,1531,0,0,0,0,0,0
$GC,11424,1.20,99.3,530.9,10.9,617,11428,0.00,2.22,0.00,0.000,6,0.000,0.036,3570,1599,1531,0,0,0,0,0,0
$GC,11746,1.20,99.3,494.6,11.5,633,11750,0.00,2.22,0.00,0.000,4,0.000,0.056,3570,2992,1531,0,0,0,0,0,0
$GC,11834,1.20,99.3,483.5,12.1,637,11838,0.00,2.17,0.00,0.000,6,0.000,0.037,3578,1595,1531,0,0,0,0,0,0
$GC,12162,1.20,99.3,444.8,11.6,653,12166,0.00,2.28,0.00,0.000,4,0.000,0.056,3589,196,1531,0,0,0,0,0,0
$GC,12228,1.16,99.3,436.2,13.7,656,12232,0.12,2.20,0.00,0.000,6,0.178,0.038,3558,1599,1531,0,0,0,0,0,0
$GC,12554,1.21,99.3,399.4,10.9,672,12558,0.00,2.28,0.00,0.000,4,0.000,0.053,3566,195,1530,0,0,0,0,0,0
$GC,12598,1.21,99.3,394.2,11.7,674,12602,0.00,2.22,0.00,0.000,6,0.000,0.038,3567,1598,1531,0,0,0,0,0,0
$GC,12925,1.25,99.3,358.9,10.7,690,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1598,1530,0,0,0,0,0,0
$GC,13235,1.29,99.3,324.7,11.3,705,13237,0.10,0.00,0.00,0.000,6,0.099,0.000,3615,1598,1530,0,0,0,0,0,0
$GC,13545,1.25,99.3,284.2,13.2,720,13547,0.12,0.00,0.00,0.000,6,0.187,0.000,3583,1601,1530,0,0,0,0,0,0
$GC,13855,1.25,99.3,245.8,11.8,735,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1601,1531,0,0,0,0,0,0
$GC,14163,1.25,99.3,210.1,11.5,750,14167,0.00,2.30,0.00,0.000,4,0.000,0.054,3593,196,1531,0,0,0,0,0,0
$GC,14218,1.21,99.3,203.4,11.7,752,14226,0.05,2.22,0.00,0.000,6,0.178,0.037,3577,1601,1531,0,0,0,0,0,0
$GC,14534,1.24,99.3,167.4,11.7,768,14538,0.00,2.25,0.00,0.000,4,0.000,0.054,3577,2998,1531,0,0,0,0,0,0
$GC,14635,1.24,99.3,155.0,12.5,772,14643,0.00,2.20,0.00,0.000,6,0.000,0.036,3586,1594,1530,0,0,0,0,0,0
$GC,14951,1.24,99.3,119.8,11.3,788,14956,0.00,2.28,0.00,0.000,4,0.000,0.054,3596,193,1531,0,0,0,0,0,0
$GC,15001,1.21,99.3,113.8,12.0,790,15006,0.08,2.22,0.00,0.000,6,0.202,0.037,3579,1619,1530,0,0,0,0,0,0
$GC,15323,1.25,99.3,77.8,11.7,808,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1619,1530,0,0,0,0,0,0
$GC,15678,1.28,99.3,36.0,9.8,869,15685,0.00,2.35,0.00,0.000,4,0.000,0.052,3589,192,1530,0,0,0,0,0,0
$GC,15749,1.28,99.3,26.7,14.3,880,15756,0.00,2.22,0.00,0.000,6,0.000,0.037,3589,1598,1530,0,0,0,0,0,0
$GC,15907,1.28,99.3,7.3,10.1,905,15915,0.00,2.33,0.00,0.000,4,0.000,0.057,3598,201,1530,0,0,0,0,0,0
$STATE,15940,end climb,SURFACE_DEPTH_REACHED
$STATE,15940,begin surface coast
$FINISH,1.8,1.014496
$STATE,15966,end surface coast,CONTROL_FINISHED_OK
$STATE,15966,begin surface
$SM_CCo,15987,47.90,0.054,0,0,1132,200.16
$SM_GC,3.15,0.00,0.00,47.90,0.000,0.000,0.054,86,2068,1132,-9.68,0.25,200.16
$IRIDIUM_FIX,-4444.39,633.87,220808,050555
$TT8_MAMPS,0.027713
$HUMID,64.60
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.40
$XPDR_PINGS,2
$24V_AH,22.3,50.404
$10V_AH,9.7,52.876
$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,24.225,133.325,192.800,47.900,0.000,24.472,44.237,263.567,0.500,0.000,23.708,1998.651,11380.713,347.740,2562.468,219.534,0.000,1305.270,0.000,2128.059,0.000,0.540,0.000
$DEVICE_MAMPS,229.500,71.145,1264.545,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.708,1307.986,713.004,416.587,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,67195,914
$CAP_FILE_SIZE,138235,0
$CFSIZE,2097086464,2036760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271015,011004,-4503.488,638.779,36,1.0,37,-24.5