version: 66.07.10.p01
glider: 573
mission: 12
dive: 430
start: 10 28 115 19 44 49
data:
$ID,573
$MISSION,12
$DIVE,430
$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,-22340.031
$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,32
$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,429
$GPS1,281015,193527,-4503.799,626.553,40,0.8,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-67.4
$GPS2,281015,194428,-4503.782,626.699,16,1.2,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,287.9,3554,-27.0,-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,22,begin dive
$GC,25,-1.07,-52.4,0.0,0.0,0,52,0.00,0.00,-25.67,0.000,2,0.000,0.000,80,2050,1639,0,0,0,0,0,0
$GC,55,-1.09,-90.6,3.4,-4.4,4,107,11.32,2.33,-33.85,0.000,4,0.234,0.074,2820,3454,2319,0,0,0,0,0,0
$GC,153,-1.10,-102.1,4.7,-7.3,19,162,0.00,2.25,-1.48,0.000,6,0.000,0.041,2820,2056,2366,0,0,0,0,0,0
$GC,213,-1.10,-102.1,11.8,-12.5,28,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2056,2368,0,0,0,0,0,0
$GC,271,-1.07,-102.1,19.0,-12.2,37,279,0.08,2.35,0.00,0.000,4,0.211,0.061,2826,3447,2368,0,0,0,0,0,0
$GC,301,-1.02,-102.1,23.2,-13.3,41,309,0.08,2.22,0.00,0.000,6,0.161,0.041,2850,2062,2368,0,0,0,0,0,0
$GC,456,-1.06,-102.1,42.5,-13.2,66,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2062,2368,0,0,0,0,0,0
$GC,808,-1.09,-102.1,87.9,-12.5,119,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2062,2368,0,0,0,0,0,0
$GC,1113,-1.13,-102.1,129.9,-13.2,134,1118,0.10,2.28,0.00,0.000,4,0.099,0.059,2789,3449,2369,0,0,0,0,0,0
$GC,1146,-1.05,-102.1,134.8,-14.2,135,1152,0.20,2.20,0.00,0.000,6,0.171,0.041,2843,2045,2368,0,0,0,0,0,0
$GC,1464,-1.05,-102.1,175.8,-13.1,151,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2045,2369,0,0,0,0,0,0
$GC,1772,-1.09,-102.1,218.0,-13.5,166,1776,0.00,2.22,0.00,0.000,4,0.000,0.052,2844,652,2369,0,0,0,0,0,0
$GC,1842,-1.09,-102.1,227.0,-13.3,169,1846,0.00,2.20,0.00,0.000,6,0.000,0.040,2835,2048,2369,0,0,0,0,0,0
$GC,2170,-1.09,-102.1,269.1,-12.8,185,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2048,2369,0,0,0,0,0,0
$GC,2476,-1.09,-102.1,308.6,-12.9,200,2480,0.00,2.28,0.00,0.000,4,0.000,0.057,2824,3468,2369,0,0,0,0,0,0
$GC,2550,-1.09,-102.1,318.1,-13.0,203,2554,0.00,2.20,0.00,0.000,6,0.000,0.039,2824,2056,2369,0,0,0,0,0,0
$GC,2864,-1.09,-102.1,359.1,-12.9,218,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2056,2369,0,0,0,0,0,0
$GC,3175,-1.09,-102.1,397.9,-12.8,233,3179,0.00,2.30,0.00,0.000,4,0.000,0.058,2815,3466,2369,0,0,0,0,0,0
$GC,3218,-1.09,-102.1,403.8,-12.6,235,3223,0.03,2.22,0.00,0.000,6,0.202,0.041,2823,2058,2369,0,0,0,0,0,0
$GC,3545,-1.09,-102.1,444.5,-12.5,251,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2058,2369,0,0,0,0,0,0
$GC,3853,-1.09,-102.1,482.7,-11.9,266,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2058,2369,0,0,0,0,0,0
$GC,4164,-1.09,-102.1,518.5,-11.5,281,4168,0.00,2.28,0.00,0.000,4,0.000,0.056,2824,650,2369,0,0,0,0,0,0
$GC,4258,-1.09,-102.1,530.4,-12.2,285,4263,0.03,2.25,0.00,0.000,6,0.204,0.042,2824,2054,2369,0,0,0,0,0,0
$GC,4580,-1.09,-102.1,566.9,-11.7,301,4584,0.00,2.28,0.00,0.000,4,0.000,0.057,2813,3472,2369,0,0,0,0,0,0
$GC,4702,-1.09,-102.1,581.9,-12.0,306,4708,0.05,2.22,0.00,0.000,6,0.168,0.043,2830,2067,2369,0,0,0,0,0,0
$GC,5017,-1.13,-102.1,616.8,-10.9,322,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2068,2369,0,0,0,0,0,0
$GC,5328,-1.17,-102.1,650.7,-10.8,337,5330,0.08,0.00,0.00,0.000,6,0.122,0.000,2789,2067,2368,0,0,0,0,0,0
$GC,5636,-1.14,-102.1,689.3,-12.8,352,5637,0.10,0.00,0.00,0.000,6,0.199,0.000,2812,2068,2368,0,0,0,0,0,0
$GC,5946,-1.14,-102.1,724.0,-11.0,367,5950,0.00,2.30,0.00,0.000,4,0.000,0.057,2803,3479,2367,0,0,0,0,0,0
$GC,6012,-1.14,-102.1,731.9,-12.5,370,6016,0.00,2.25,0.00,0.000,6,0.000,0.043,2804,2054,2367,0,0,0,0,0,0
$GC,6343,-1.14,-102.1,769.4,-11.4,386,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2054,2367,0,0,0,0,0,0
$GC,6654,-1.14,-102.1,804.9,-11.6,401,6658,0.00,2.33,0.00,0.000,4,0.000,0.060,2794,3475,2367,0,0,0,0,0,0
$GC,6720,-1.14,-102.1,813.4,-12.6,404,6725,0.08,2.25,0.00,0.000,6,0.204,0.045,2810,2055,2366,0,0,0,0,0,0
$GC,7045,-1.14,-102.1,852.9,-12.1,420,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2054,2366,0,0,0,0,0,0
$GC,7356,-1.14,-102.1,891.5,-13.0,435,7360,0.00,2.33,0.00,0.000,4,0.000,0.060,2802,3469,2366,0,0,0,0,0,0
$GC,7427,-1.14,-102.1,901.2,-12.9,438,7432,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2065,2366,0,0,0,0,0,0
$GC,7753,-1.14,-102.1,942.1,-12.0,454,7757,0.00,2.28,0.00,0.000,4,0.000,0.055,2793,3470,2365,0,0,0,0,0,0
$GC,7820,-1.14,-102.1,950.5,-12.9,457,7825,0.05,2.28,0.00,0.000,6,0.180,0.044,2808,2056,2365,0,0,0,0,0,0
$GC,8147,-1.14,-102.1,988.5,-11.5,473,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2056,2365,0,0,0,0,0,0
$STATE,8246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8247,begin apogee
$GC,8252,-0.19,0.0,1000.4,11.7,478,8353,1.05,0.00,96.70,1.265,6,0.148,0.000,3117,1592,1950,0,0,0,0,0,0
$STATE,8354,end apogee,CONTROL_FINISHED_OK
$STATE,8354,begin climb
$GC,8356,1.10,102.1,1003.6,0.0,483,8467,1.23,2.58,102.18,1.223,4,0.084,0.054,3540,199,1532,0,0,0,0,0,0
$GC,8506,1.10,102.1,990.9,13.2,490,8510,0.00,2.45,0.00,0.000,6,0.000,0.036,3540,1617,1528,0,0,0,0,0,0
$GC,8833,1.15,102.1,949.5,13.0,506,8837,0.00,2.40,0.00,0.000,4,0.000,0.052,3549,196,1524,0,0,0,0,0,0
$GC,8871,1.15,102.1,944.4,12.8,508,8875,0.00,2.28,0.00,0.000,6,0.000,0.037,3549,1607,1523,0,0,0,0,0,0
$GC,9197,1.18,102.1,900.9,13.7,524,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1607,1522,0,0,0,0,0,0
$GC,9507,1.22,102.1,858.7,13.4,539,9512,0.08,2.33,0.00,0.000,4,0.123,0.054,3599,196,1521,0,0,0,0,0,0
$GC,9557,1.13,102.1,850.9,15.6,541,9561,0.17,2.22,0.00,0.000,6,0.165,0.035,3554,1609,1521,0,0,0,0,0,0
$GC,9878,1.16,102.1,807.2,13.7,557,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1609,1520,0,0,0,0,0,0
$GC,10186,1.20,102.1,767.0,12.8,572,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1609,1519,0,0,0,0,0,0
$GC,10497,1.23,102.1,726.9,12.9,587,10502,0.08,2.33,0.00,0.000,4,0.122,0.054,3605,190,1519,0,0,0,0,0,0
$GC,10616,1.14,102.1,708.9,15.3,592,10621,0.20,2.20,0.00,0.000,6,0.165,0.034,3552,1600,1518,0,0,0,0,0,0
$GC,10932,1.18,102.1,667.1,12.8,607,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1600,1518,0,0,0,0,0,0
$GC,11240,1.22,102.1,628.2,12.6,622,11242,0.08,0.00,0.00,0.000,6,0.124,0.000,3593,1600,1518,0,0,0,0,0,0
$GC,11551,1.18,102.1,584.4,14.5,637,11555,0.10,2.30,0.00,0.000,4,0.188,0.054,3579,192,1518,0,0,0,0,0,0
$GC,11606,1.15,102.1,576.3,14.3,639,11610,0.10,2.22,0.00,0.000,6,0.183,0.037,3556,1608,1518,0,0,0,0,0,0
$GC,11927,1.19,102.1,537.1,12.2,655,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1608,1518,0,0,0,0,0,0
$GC,12235,1.23,102.1,501.8,11.0,670,12237,0.08,0.00,0.00,0.000,6,0.123,0.000,3598,1608,1518,0,0,0,0,0,0
$GC,12546,1.19,102.1,464.3,12.3,685,12551,0.12,2.33,0.00,0.000,4,0.178,0.054,3577,186,1518,0,0,0,0,0,0
$GC,12669,1.19,102.1,449.2,11.8,690,12674,0.00,2.20,0.00,0.000,6,0.000,0.035,3577,1601,1518,0,0,0,0,0,0
$GC,12983,1.19,102.1,412.5,11.6,706,12987,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,194,1518,0,0,0,0,0,0
$GC,13067,1.15,102.1,402.2,12.2,710,13072,0.12,2.20,0.00,0.000,6,0.174,0.037,3555,1601,1518,0,0,0,0,0,0
$GC,13394,1.20,102.1,366.2,10.9,726,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1602,1518,0,0,0,0,0,0
$GC,13703,1.25,102.1,332.5,10.8,741,13708,0.10,2.30,0.00,0.000,4,0.100,0.054,3614,195,1517,0,0,0,0,0,0
$GC,13770,1.15,102.1,323.8,13.1,744,13774,0.22,2.20,0.00,0.000,6,0.169,0.037,3554,1604,1518,0,0,0,0,0,0
$GC,14092,1.21,102.1,290.0,10.4,760,14096,0.00,2.30,0.00,0.000,4,0.000,0.054,3563,195,1517,0,0,0,0,0,0
$GC,14129,1.21,102.1,285.5,10.7,761,14135,0.00,2.22,0.00,0.000,6,0.000,0.037,3563,1601,1517,0,0,0,0,0,0
$GC,14448,1.25,102.1,251.4,10.9,777,14453,0.05,2.30,0.00,0.000,4,0.169,0.052,3606,187,1517,0,0,0,0,0,0
$GC,14526,1.17,102.1,241.4,12.3,780,14534,0.12,2.22,0.00,0.000,6,0.158,0.036,3568,1596,1517,0,0,0,0,0,0
$GC,14842,1.17,102.1,206.3,11.1,796,14846,0.00,2.30,0.00,0.000,4,0.000,0.054,3578,188,1517,0,0,0,0,0,0
$GC,14912,1.17,102.1,197.9,12.5,799,14917,0.05,2.22,0.00,0.000,6,0.226,0.037,3567,1613,1517,0,0,0,0,0,0
$GC,15242,1.21,102.1,161.4,10.4,815,15246,0.00,2.20,0.00,0.000,4,0.000,0.053,3566,2989,1517,0,0,0,0,0,0
$GC,15269,1.21,102.1,157.7,11.0,816,15273,0.00,2.17,0.00,0.000,6,0.000,0.036,3574,1598,1517,0,0,0,0,0,0
$GC,15591,1.21,102.1,122.6,10.8,832,15595,0.00,2.28,0.00,0.000,4,0.000,0.054,3585,195,1517,0,0,0,0,0,0
$GC,15761,1.21,102.1,102.2,11.3,839,15767,0.00,2.20,0.00,0.000,6,0.000,0.035,3585,1596,1517,0,0,0,0,0,0
$GC,16090,1.21,102.1,66.3,10.5,870,16098,0.00,2.30,0.00,0.000,4,0.000,0.052,3594,200,1517,0,0,0,0,0,0
$GC,16360,1.17,102.1,38.7,11.0,916,16368,0.10,2.20,0.00,0.000,6,0.158,0.037,3563,1591,1517,0,0,0,0,0,0
$GC,16519,1.22,102.1,19.9,12.3,941,16526,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1592,1517,0,0,0,0,0,0
$GC,16578,1.25,102.1,12.0,12.1,950,16586,0.08,2.30,0.00,0.000,4,0.125,0.050,3613,190,1517,0,0,0,0,0,0
$STATE,16641,end climb,SURFACE_DEPTH_REACHED
$STATE,16642,begin surface coast
$FINISH,1.8,1.023304
$STATE,16668,end surface coast,CONTROL_FINISHED_OK
$STATE,16669,begin surface
$SM_CCo,16690,45.97,0.054,0,0,1133,200.16
$SM_GC,3.08,0.00,0.00,45.97,0.000,0.000,0.054,72,2082,1133,-9.73,0.65,200.16
$IRIDIUM_FIX,-4447.43,628.16,240808,020242
$TT8_MAMPS,0.026964
$HUMID,64.53
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.50
$XPDR_PINGS,2
$24V_AH,22.3,51.289
$10V_AH,9.6,53.840
$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,25.750,124.075,198.875,45.975,0.000,26.712,21.442,336.233,0.500,0.000,19.444,2123.657,11784.258,350.926,2768.373,240.880,0.000,1359.305,0.000,2270.479,0.000,0.540,0.000
$DEVICE_MAMPS,234.090,74.205,1265.310,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.308,1403.432,792.325,473.310,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353268
$DATA_FILE_SIZE,70675,964
$CAP_FILE_SIZE,148415,0
$CFSIZE,2097086464,2035712000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291015,002503,-4504.318,625.718,41,0.8,41,-24.4