version: 66.07.10.p01
glider: 573
mission: 12
dive: 443
start: 10 31 115 18 40 25
data:
$ID,573
$MISSION,12
$DIVE,443
$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,-22379
$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,53
$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,442
$GPS1,311015,183152,-4455.619,638.698,40,1.0,40,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-68.0
$GPS2,311015,184004,-4455.595,638.763,18,0.9,18,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,282.8,3700,-26.0,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.03,-56.6,0.0,0.0,0,40,0.00,0.00,-13.25,0.000,2,0.000,0.000,65,2089,1397,0,0,0,0,0,0
$GC,43,-1.07,-112.7,3.1,-2.9,2,113,11.52,2.25,-51.30,0.000,4,0.235,0.070,2827,3451,2410,0,0,0,0,0,0
$GC,196,-1.02,-112.7,13.4,-15.4,26,205,0.08,2.25,0.00,0.000,6,0.167,0.044,2850,2067,2412,0,0,0,0,0,0
$GC,256,-1.02,-112.7,22.3,-14.7,35,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2067,2412,0,0,0,0,0,0
$GC,407,-1.02,-112.7,44.6,-14.4,60,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2067,2413,0,0,0,0,0,0
$GC,757,-1.02,-112.7,94.6,-14.1,108,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2067,2413,0,0,0,0,0,0
$GC,1068,-1.02,-112.7,137.7,-13.8,123,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2067,2413,0,0,0,0,0,0
$GC,1376,-1.02,-112.7,179.0,-13.1,138,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2067,2414,0,0,0,0,0,0
$GC,1687,-1.02,-112.7,216.8,-12.8,153,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2067,2413,0,0,0,0,0,0
$GC,1995,-1.05,-112.7,254.4,-11.9,168,1999,0.00,2.22,0.00,0.000,4,0.000,0.055,2841,3444,2414,0,0,0,0,0,0
$GC,2090,-1.05,-112.7,266.4,-12.5,172,2094,0.00,2.20,0.00,0.000,6,0.000,0.041,2841,2059,2414,0,0,0,0,0,0
$GC,2410,-1.05,-112.7,307.1,-12.8,188,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2059,2414,0,0,0,0,0,0
$GC,2721,-1.05,-112.7,346.2,-12.6,203,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2059,2414,0,0,0,0,0,0
$GC,3029,-1.05,-112.7,384.1,-12.2,218,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2059,2414,0,0,0,0,0,0
$GC,3340,-1.05,-112.7,423.0,-12.5,233,3344,0.00,2.28,0.00,0.000,4,0.000,0.061,2832,3442,2414,0,0,0,0,0,0
$GC,3373,-1.05,-112.7,427.3,-13.3,234,3378,0.00,2.17,0.00,0.000,6,0.000,0.043,2832,2056,2414,0,0,0,0,0,0
$GC,3687,-1.05,-112.7,468.9,-13.0,250,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2056,2414,0,0,0,0,0,0
$GC,3998,-1.05,-112.7,510.4,-13.7,265,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2055,2414,0,0,0,0,0,0
$GC,4306,-1.05,-112.7,552.1,-13.4,280,4310,0.00,2.30,0.00,0.000,4,0.000,0.061,2823,3451,2414,0,0,0,0,0,0
$GC,4356,-1.05,-112.7,559.1,-14.1,282,4361,0.05,2.22,0.00,0.000,6,0.171,0.045,2839,2063,2414,0,0,0,0,0,0
$GC,4677,-1.09,-112.7,600.5,-12.4,298,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2414,0,0,0,0,0,0
$GC,4987,-1.13,-112.7,639.4,-12.9,313,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2063,2414,0,0,0,0,0,0
$GC,5295,-1.17,-112.7,678.9,-12.8,328,5297,0.10,0.00,0.00,0.000,6,0.105,0.000,2789,2063,2413,0,0,0,0,0,0
$GC,5606,-1.12,-112.7,723.0,-13.8,343,5608,0.12,0.00,0.00,0.000,6,0.188,0.000,2820,2063,2413,0,0,0,0,0,0
$GC,5914,-1.12,-112.7,762.6,-12.7,358,5918,0.00,2.28,0.00,0.000,4,0.000,0.062,2811,3440,2413,0,0,0,0,0,0
$GC,6036,-1.12,-112.7,778.7,-13.1,363,6041,0.00,2.20,0.00,0.000,6,0.000,0.044,2811,2061,2413,0,0,0,0,0,0
$GC,6353,-1.12,-112.7,818.9,-12.6,379,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2412,0,0,0,0,0,0
$GC,6660,-1.12,-112.7,857.1,-12.2,394,6664,0.00,2.25,0.00,0.000,4,0.000,0.060,2802,3441,2411,0,0,0,0,0,0
$GC,6698,-1.12,-112.7,861.9,-12.4,395,6704,0.05,2.20,0.00,0.000,6,0.178,0.044,2818,2067,2411,0,0,0,0,0,0
$GC,7015,-1.12,-112.7,896.6,-10.6,411,7019,0.00,2.25,0.00,0.000,4,0.000,0.057,2809,3447,2411,0,0,0,0,0,0
$GC,7086,-1.12,-112.7,904.7,-11.2,414,7090,0.00,2.22,0.00,0.000,6,0.000,0.045,2809,2060,2411,0,0,0,0,0,0
$GC,7407,-1.12,-112.7,940.7,-11.4,430,7411,0.00,2.28,0.00,0.000,4,0.000,0.060,2801,3446,2411,0,0,0,0,0,0
$GC,7501,-1.12,-112.7,952.2,-12.2,434,7506,0.05,2.25,0.00,0.000,6,0.168,0.046,2816,2053,2411,0,0,0,0,0,0
$GC,7827,-1.12,-112.7,992.0,-12.7,450,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2053,2411,0,0,0,0,0,0
$STATE,7888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7888,begin apogee
$GC,7894,-0.19,0.0,1000.0,13.0,453,8005,1.05,0.00,106.90,1.265,6,0.156,0.000,3119,1594,1950,0,0,0,0,0,0
$STATE,8005,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8008,1.07,112.7,1004.2,0.0,458,8130,1.20,2.58,113.45,1.222,4,0.083,0.057,3531,198,1489,0,0,0,0,0,0
$GC,8180,1.07,112.7,990.9,12.4,466,8184,0.00,2.40,0.00,0.000,6,0.000,0.035,3531,1590,1485,0,0,0,0,0,0
$GC,8506,1.12,112.7,954.2,11.5,482,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1591,1482,0,0,0,0,0,0
$GC,8817,1.17,112.7,915.5,12.6,497,8819,0.08,0.00,0.00,0.000,6,0.124,0.000,3574,1591,1481,0,0,0,0,0,0
$GC,9126,1.17,112.7,870.8,14.9,512,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1591,1480,0,0,0,0,0,0
$GC,9435,1.17,112.7,825.1,14.9,527,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1591,1479,0,0,0,0,0,0
$GC,9743,1.17,112.7,779.3,14.8,542,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1591,1479,0,0,0,0,0,0
$GC,10054,1.17,112.7,733.2,15.3,557,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1591,1479,0,0,0,0,0,0
$GC,10362,1.17,112.7,687.4,14.8,572,10366,0.00,2.30,0.00,0.000,4,0.000,0.057,3583,193,1478,0,0,0,0,0,0
$GC,10397,1.10,112.7,682.5,15.0,573,10402,0.17,2.22,0.00,0.000,6,0.165,0.037,3537,1611,1478,0,0,0,0,0,0
$GC,10713,1.15,112.7,641.0,13.0,589,10717,0.00,2.33,0.00,0.000,4,0.000,0.057,3546,186,1478,0,0,0,0,0,0
$GC,10758,1.15,112.7,635.0,13.7,591,10762,0.00,2.20,0.00,0.000,6,0.000,0.037,3546,1601,1477,0,0,0,0,0,0
$GC,11091,1.19,112.7,591.3,12.8,607,11096,0.05,2.30,0.00,0.000,4,0.168,0.054,3594,192,1477,0,0,0,0,0,0
$GC,11192,1.10,112.7,575.8,15.1,611,11197,0.20,2.20,0.00,0.000,6,0.160,0.037,3540,1598,1477,0,0,0,0,0,0
$GC,11508,1.15,112.7,536.3,12.3,627,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1599,1477,0,0,0,0,0,0
$GC,11816,1.21,112.7,499.0,11.8,642,11818,0.10,0.00,0.00,0.000,6,0.103,0.000,3594,1599,1477,0,0,0,0,0,0
$GC,12127,1.16,112.7,457.1,13.2,657,12132,0.12,2.30,0.00,0.000,4,0.173,0.055,3572,192,1477,0,0,0,0,0,0
$GC,12167,1.13,112.7,451.9,12.9,659,12172,0.10,2.20,0.00,0.000,6,0.180,0.038,3548,1604,1477,0,0,0,0,0,0
$GC,12495,1.18,112.7,416.4,10.7,675,12499,0.00,2.33,0.00,0.000,4,0.000,0.054,3557,189,1477,0,0,0,0,0,0
$GC,12545,1.18,112.7,410.4,11.9,677,12549,0.00,2.22,0.00,0.000,6,0.000,0.036,3557,1598,1476,0,0,0,0,0,0
$GC,12867,1.18,112.7,376.2,10.6,693,12871,0.00,2.30,0.00,0.000,4,0.000,0.054,3565,192,1476,0,0,0,0,0,0
$GC,12906,1.18,112.7,371.8,12.2,695,12910,0.00,2.20,0.00,0.000,6,0.000,0.037,3565,1600,1476,0,0,0,0,0,0
$GC,13232,1.18,112.7,337.0,10.6,711,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1600,1477,0,0,0,0,0,0
$GC,13541,1.18,112.7,303.9,10.9,726,13545,0.00,2.30,0.00,0.000,4,0.000,0.054,3574,191,1476,0,0,0,0,0,0
$GC,13580,1.14,112.7,299.3,12.3,728,13585,0.10,2.20,0.00,0.000,6,0.180,0.037,3550,1603,1476,0,0,0,0,0,0
$GC,13908,1.19,112.7,262.9,11.5,744,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1476,0,0,0,0,0,0
$GC,14218,1.24,112.7,225.3,12.4,759,14223,0.10,2.33,0.00,0.000,4,0.099,0.054,3614,185,1476,0,0,0,0,0,0
$GC,14305,1.13,112.7,212.3,14.7,763,14310,0.22,2.20,0.00,0.000,6,0.163,0.036,3553,1596,1476,0,0,0,0,0,0
$GC,14636,1.17,112.7,171.2,12.0,779,14640,0.00,2.28,0.00,0.000,4,0.000,0.054,3562,192,1476,0,0,0,0,0,0
$GC,14820,1.17,112.7,146.9,12.4,787,14824,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1599,1476,0,0,0,0,0,0
$GC,15146,1.21,112.7,107.8,12.2,803,15150,0.00,2.30,0.00,0.000,4,0.000,0.053,3570,192,1476,0,0,0,0,0,0
$GC,15194,1.21,112.7,101.0,12.8,805,15199,0.00,2.22,0.00,0.000,6,0.000,0.037,3571,1603,1476,0,0,0,0,0,0
$GC,15529,1.21,112.7,60.9,11.9,841,15535,0.00,2.30,0.00,0.000,4,0.000,0.052,3579,192,1476,0,0,0,0,0,0
$GC,15640,1.21,112.7,46.9,12.4,860,15645,0.00,2.20,0.00,0.000,6,0.000,0.035,3579,1608,1476,0,0,0,0,0,0
$STATE,15990,end climb,SURFACE_DEPTH_REACHED
$STATE,15990,begin surface coast
$FINISH,2.0,1.003254
$STATE,16017,end surface coast,CONTROL_FINISHED_OK
$STATE,16018,begin surface
$SM_CCo,16036,41.35,0.055,0,0,1133,200.16
$SM_GC,3.11,0.00,0.00,41.35,0.000,0.000,0.055,67,2069,1133,-9.74,0.25,200.16
$IRIDIUM_FIX,-4438.33,633.17,270808,030313
$TT8_MAMPS,0.026964
$HUMID,64.84
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,22.1,52.683
$10V_AH,9.6,55.318
$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,24.800,91.850,220.350,41.350,0.000,27.018,41.265,271.762,0.250,0.000,21.058,1992.584,11483.205,347.482,2520.762,222.917,0.000,1248.866,0.000,2079.095,0.000,0.540,0.000
$DEVICE_MAMPS,234.855,69.615,1265.310,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.895,1337.164,742.648,445.857,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353200
$DATA_FILE_SIZE,67311,922
$CAP_FILE_SIZE,129391,0
$CFSIZE,2097086464,2034040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311015,230934,-4456.151,637.196,34,0.9,34,-24.4