version: 66.07.10.p01
glider: 573
mission: 12
dive: 423
start: 10 27 115 1 18 12
data:
$ID,573
$MISSION,12
$DIVE,423
$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,-22319.705
$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,36
$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,422
$GPS1,271015,011004,-4503.488,638.779,36,1.0,37,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-63.6
$GPS2,271015,011752,-4503.511,638.801,20,0.9,20,-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,280.6,3774,-25.5,-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,-1.01,-58.8,0.0,0.0,0,53,0.00,0.00,-25.73,0.000,2,0.000,0.000,82,2068,1633,0,0,0,0,0,0
$GC,56,-1.04,-109.6,3.3,-3.6,4,107,11.43,2.35,-31.02,0.000,4,0.235,0.076,2829,3452,2398,0,0,0,0,0,0
$GC,293,-0.97,-109.6,31.9,-16.5,42,301,0.12,2.25,0.00,0.000,6,0.161,0.044,2866,2061,2401,0,0,0,0,0,0
$GC,445,-0.97,-109.6,53.5,-13.4,67,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2062,2401,0,0,0,0,0,0
$GC,780,-0.97,-109.6,101.3,-14.7,107,785,0.00,2.33,0.00,0.000,4,0.000,0.060,2858,3468,2401,0,0,0,0,0,0
$GC,807,-0.97,-109.6,105.9,-15.1,108,812,0.00,2.25,0.00,0.000,6,0.000,0.041,2858,2056,2401,0,0,0,0,0,0
$GC,1129,-0.97,-109.6,151.7,-13.9,124,1133,0.00,2.33,0.00,0.000,4,0.000,0.060,2848,3468,2402,0,0,0,0,0,0
$GC,1156,-0.97,-109.6,155.7,-13.7,125,1161,0.05,2.22,0.00,0.000,6,0.174,0.041,2864,2066,2402,0,0,0,0,0,0
$GC,1480,-1.01,-109.6,198.8,-13.7,141,1484,0.00,2.28,0.00,0.000,4,0.000,0.054,2864,652,2402,0,0,0,0,0,0
$GC,1557,-1.01,-109.6,209.9,-14.0,144,1565,0.00,2.25,0.00,0.000,6,0.000,0.042,2856,2053,2402,0,0,0,0,0,0
$GC,1873,-1.01,-109.6,253.6,-13.6,160,1877,0.00,2.30,0.00,0.000,4,0.000,0.058,2845,3471,2402,0,0,0,0,0,0
$GC,1939,-1.01,-109.6,262.1,-13.6,163,1943,0.00,2.22,0.00,0.000,6,0.000,0.042,2845,2055,2402,0,0,0,0,0,0
$GC,2266,-1.01,-109.6,305.7,-12.9,179,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2055,2402,0,0,0,0,0,0
$GC,2574,-1.01,-109.6,345.9,-13.2,194,2576,0.05,0.00,0.00,0.000,6,0.236,0.000,2855,2055,2403,0,0,0,0,0,0
$GC,2885,-1.01,-109.6,387.6,-13.4,209,2889,0.00,2.33,0.00,0.000,4,0.000,0.061,2846,3465,2402,0,0,0,0,0,0
$GC,2933,-1.01,-109.6,394.6,-14.1,211,2938,0.00,2.22,0.00,0.000,6,0.000,0.041,2846,2062,2402,0,0,0,0,0,0
$GC,3255,-1.01,-109.6,437.8,-13.5,227,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2062,2402,0,0,0,0,0,0
$GC,3563,-1.01,-109.6,478.6,-13.4,242,3567,0.00,2.33,0.00,0.000,4,0.000,0.059,2837,3475,2402,0,0,0,0,0,0
$GC,3596,-1.01,-109.6,483.3,-14.2,243,3601,0.05,2.25,0.00,0.000,6,0.167,0.043,2853,2065,2402,0,0,0,0,0,0
$GC,3912,-1.01,-109.6,523.1,-11.8,259,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2066,2402,0,0,0,0,0,0
$GC,4221,-1.04,-109.6,558.2,-11.0,274,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2066,2402,0,0,0,0,0,0
$GC,4531,-1.07,-109.6,591.9,-10.8,289,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2065,2402,0,0,0,0,0,0
$GC,4839,-1.11,-109.6,626.6,-11.6,304,4841,0.08,0.00,0.00,0.000,6,0.130,0.000,2815,2066,2402,0,0,0,0,0,0
$GC,5150,-1.07,-109.6,666.2,-12.9,319,5152,0.08,0.00,0.00,0.000,6,0.207,0.000,2832,2065,2402,0,0,0,0,0,0
$GC,5458,-1.07,-109.6,704.5,-12.0,334,5462,0.00,2.30,0.00,0.000,4,0.000,0.060,2822,3465,2401,0,0,0,0,0,0
$GC,5496,-1.07,-109.6,709.5,-13.0,336,5500,0.00,2.22,0.00,0.000,6,0.000,0.041,2823,2048,2401,0,0,0,0,0,0
$GC,5828,-1.07,-109.6,750.6,-12.1,352,5829,0.03,0.00,0.00,0.000,6,0.284,0.000,2832,2048,2402,0,0,0,0,0,0
$GC,6138,-1.07,-109.6,786.4,-11.5,367,6143,0.00,2.33,0.00,0.000,4,0.000,0.056,2823,3473,2401,0,0,0,0,0,0
$GC,6223,-1.07,-109.6,796.6,-11.8,371,6227,0.00,2.22,0.00,0.000,6,0.000,0.044,2823,2061,2401,0,0,0,0,0,0
$GC,6556,-1.07,-109.6,836.8,-12.2,387,6560,0.00,2.33,0.00,0.000,4,0.000,0.063,2814,3468,2401,0,0,0,0,0,0
$GC,6601,-1.07,-109.6,842.3,-12.7,389,6605,0.10,2.22,0.00,0.000,6,0.186,0.043,2838,2054,2400,0,0,0,0,0,0
$GC,6933,-1.07,-109.6,879.8,-11.4,405,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2054,2400,0,0,0,0,0,0
$GC,7241,-1.10,-109.6,915.2,-11.5,420,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2054,2400,0,0,0,0,0,0
$GC,7552,-1.14,-109.6,950.2,-11.4,435,7554,0.05,0.00,0.00,0.000,6,0.169,0.000,2805,2054,2400,0,0,0,0,0,0
$GC,7860,-1.10,-109.6,987.7,-12.1,450,7864,0.08,2.30,0.00,0.000,4,0.209,0.059,2822,658,2400,0,0,0,0,0,0
$GC,7891,-1.10,-109.6,991.7,-13.2,451,7896,0.00,2.28,0.00,0.000,6,0.000,0.044,2813,2066,2400,0,0,0,0,0,0
$STATE,7978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7978,begin apogee
$GC,7984,-0.19,0.0,1001.9,11.8,456,8092,1.05,0.00,104.40,1.265,6,0.155,0.000,3118,1601,1950,0,0,0,0,0,0
$STATE,8093,end apogee,CONTROL_FINISHED_OK
$STATE,8093,begin climb
$GC,8095,1.04,109.6,1004.9,0.0,461,8209,1.20,0.00,109.75,1.220,6,0.086,0.000,3517,1601,1503,0,0,0,0,0,0
$GC,8506,1.10,109.6,964.0,10.8,481,8511,0.05,2.38,0.00,0.000,4,0.160,0.055,3557,192,1494,0,0,0,0,0,0
$GC,8651,1.05,109.6,945.4,12.5,487,8656,0.12,2.30,0.00,0.000,6,0.171,0.037,3525,1620,1493,0,0,0,0,0,0
$GC,8967,1.08,109.6,909.7,11.4,503,8971,0.00,2.38,0.00,0.000,4,0.000,0.054,3535,189,1491,0,0,0,0,0,0
$GC,9056,1.08,109.6,898.8,12.4,507,9060,0.00,2.28,0.00,0.000,6,0.000,0.038,3535,1602,1491,0,0,0,0,0,0
$GC,9383,1.08,109.6,859.4,11.8,523,9388,0.00,2.33,0.00,0.000,4,0.000,0.054,3544,193,1491,0,0,0,0,0,0
$GC,9433,1.08,109.6,853.2,12.5,525,9437,0.00,2.25,0.00,0.000,6,0.000,0.037,3544,1601,1490,0,0,0,0,0,0
$GC,9755,1.08,109.6,816.0,11.7,541,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1601,1490,0,0,0,0,0,0
$GC,10063,1.08,109.6,779.7,11.8,556,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1490,0,0,0,0,0,0
$GC,10373,1.08,109.6,740.8,12.9,571,10377,0.00,2.33,0.00,0.000,4,0.000,0.055,3553,188,1490,0,0,0,0,0,0
$GC,10428,1.08,109.6,733.0,13.4,573,10434,0.05,2.25,0.00,0.000,6,0.165,0.037,3537,1600,1489,0,0,0,0,0,0
$GC,10745,1.08,109.6,692.6,13.0,589,10749,0.00,2.28,0.00,0.000,4,0.000,0.056,3537,3010,1490,0,0,0,0,0,0
$GC,10799,1.08,109.6,685.0,14.0,591,10804,0.00,2.22,0.00,0.000,6,0.000,0.037,3545,1600,1489,0,0,0,0,0,0
$GC,11116,1.08,109.6,642.5,13.2,607,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1600,1489,0,0,0,0,0,0
$GC,11424,1.08,109.6,602.9,12.5,622,11428,0.00,2.30,0.00,0.000,4,0.000,0.056,3556,190,1489,0,0,0,0,0,0
$GC,11496,1.05,109.6,593.2,13.7,625,11500,0.12,2.22,0.00,0.000,6,0.178,0.037,3524,1610,1488,0,0,0,0,0,0
$GC,11818,1.11,109.6,556.0,11.2,641,11822,0.00,2.33,0.00,0.000,4,0.000,0.054,3534,195,1488,0,0,0,0,0,0
$GC,11907,1.11,109.6,544.8,12.9,645,11911,0.00,2.22,0.00,0.000,6,0.000,0.037,3534,1602,1488,0,0,0,0,0,0
$GC,12235,1.14,109.6,507.8,11.1,661,12239,0.00,2.25,0.00,0.000,4,0.000,0.054,3534,3001,1488,0,0,0,0,0,0
$GC,12278,1.14,109.6,502.6,11.4,663,12282,0.00,2.20,0.00,0.000,6,0.000,0.037,3542,1602,1488,0,0,0,0,0,0
$GC,12606,1.14,109.6,462.9,12.5,679,12610,0.00,2.30,0.00,0.000,4,0.000,0.057,3553,192,1488,0,0,0,0,0,0
$GC,12742,1.14,109.6,445.1,13.2,685,12746,0.00,2.20,0.00,0.000,6,0.000,0.036,3553,1600,1488,0,0,0,0,0,0
$GC,13063,1.14,109.6,406.5,11.8,701,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1488,0,0,0,0,0,0
$GC,13371,1.14,109.6,370.4,11.7,716,13375,0.00,2.33,0.00,0.000,4,0.000,0.054,3562,186,1488,0,0,0,0,0,0
$GC,13425,1.14,109.6,363.5,12.7,718,13431,0.00,2.25,0.00,0.000,6,0.000,0.036,3561,1606,1488,0,0,0,0,0,0
$GC,13740,1.14,109.6,326.2,11.8,734,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1488,0,0,0,0,0,0
$GC,14053,1.14,109.6,288.9,11.8,749,14054,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1606,1487,0,0,0,0,0,0
$GC,14360,1.14,109.6,253.3,11.1,764,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1488,0,0,0,0,0,0
$GC,14672,1.14,109.6,218.6,11.3,779,14676,0.00,2.33,0.00,0.000,4,0.000,0.054,3570,192,1488,0,0,0,0,0,0
$GC,14749,1.11,109.6,209.1,11.7,782,14757,0.10,2.22,0.00,0.000,6,0.145,0.035,3537,1602,1488,0,0,0,0,0,0
$GC,15065,1.16,109.6,177.9,9.6,798,15070,0.05,2.22,0.00,0.000,4,0.172,0.053,3567,2999,1487,0,0,0,0,0,0
$GC,15120,1.16,109.6,171.5,10.9,800,15125,0.05,2.20,0.00,0.000,6,0.166,0.036,3561,1594,1487,0,0,0,0,0,0
$GC,15441,1.16,109.6,138.2,10.7,816,15445,0.00,2.25,0.00,0.000,4,0.000,0.055,3571,199,1487,0,0,0,0,0,0
$GC,15559,1.16,109.6,123.9,12.0,821,15563,0.00,2.22,0.00,0.000,6,0.000,0.037,3571,1609,1487,0,0,0,0,0,0
$GC,15888,1.16,109.6,86.3,11.4,837,15892,0.00,2.20,0.00,0.000,4,0.000,0.051,3571,2992,1487,0,0,0,0,0,0
$GC,16010,1.13,109.6,71.9,11.7,850,16016,0.12,2.15,0.00,0.000,6,0.182,0.036,3549,1601,1488,0,0,0,0,0,0
$GC,16365,1.17,109.6,34.9,10.4,911,16373,0.00,2.30,0.00,0.000,4,0.000,0.054,3559,200,1488,0,0,0,0,0,0
$GC,16412,1.17,109.6,29.3,12.3,918,16419,0.00,2.20,0.00,0.000,6,0.000,0.036,3558,1597,1488,0,0,0,0,0,0
$GC,16569,1.20,109.6,9.2,12.6,943,16576,0.00,2.25,0.00,0.000,4,0.000,0.053,3559,2984,1488,0,0,0,0,0,0
$STATE,16638,end climb,SURFACE_DEPTH_REACHED
$STATE,16638,begin surface coast
$FINISH,1.7,1.023201
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
$SM_CCo,16689,42.75,0.053,0,0,1133,200.16
$SM_GC,2.98,0.00,0.00,42.75,0.000,0.000,0.053,83,2032,1133,-9.68,-0.79,200.16
$IRIDIUM_FIX,-4447.43,634.22,220808,101037
$TT8_MAMPS,0.026964
$HUMID,64.09
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.2,50.499
$10V_AH,9.7,52.977
$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,24.350,122.450,214.150,42.750,0.000,26.249,42.075,257.685,0.000,0.000,22.853,2088.736,11872.884,360.659,2658.781,218.568,0.000,1338.490,0.000,2219.207,0.000,0.539,0.000
$DEVICE_MAMPS,283.815,76.500,1265.310,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.134,1376.604,762.531,448.993,0.000,0.000,0.000,0.000,0.000,0.000
$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,70520,959
$CAP_FILE_SIZE,140555,0
$CFSIZE,2097086464,2036629504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271015,055833,-4504.104,637.178,51,1.1,51,-24.4