version: 66.07.10.p01
glider: 573
mission: 12
dive: 581
start: 12 1 115 16 41 12
data:
$ID,573
$MISSION,12
$DIVE,581
$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,-22828.609
$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,47
$R_STBD_OVSHOOT,39
$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,580
$GPS1,011215,163233,-4455.277,624.103,32,0.9,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-72.9
$GPS2,011215,164052,-4455.279,624.124,18,1.7,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,211.4,1346,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,48,0.00,0.00,-18.98,0.000,2,0.000,0.000,61,2065,1503,0,0,0,0,0,0
$GC,51,-1.13,-105.3,3.1,-2.2,3,115,11.43,2.33,-41.90,0.000,4,0.229,0.070,2805,3451,2381,0,0,0,0,0,0
$GC,169,-1.09,-105.3,10.0,-13.3,21,177,0.08,2.20,0.00,0.000,6,0.158,0.041,2829,2076,2384,0,0,0,0,0,0
$GC,229,-1.13,-105.3,19.6,-15.8,30,236,0.00,2.33,0.00,0.000,4,0.000,0.055,2829,664,2383,0,0,0,0,0,0
$GC,258,-1.13,-105.3,24.3,-16.0,34,265,0.00,2.22,0.00,0.000,6,0.000,0.038,2820,2053,2383,0,0,0,0,0,0
$GC,408,-1.13,-105.3,49.8,-17.0,59,414,0.00,2.28,0.00,0.000,4,0.000,0.056,2809,3469,2384,0,0,0,0,0,0
$GC,594,-1.13,-105.3,80.1,-16.3,91,597,0.00,2.20,0.00,0.000,6,0.000,0.041,2809,2061,2385,0,0,0,0,0,0
$GC,928,-1.13,-105.3,133.4,-15.9,107,932,0.00,2.25,0.00,0.000,4,0.000,0.054,2809,658,2385,0,0,0,0,0,0
$GC,1024,-1.08,-105.3,149.4,-16.6,111,1028,0.12,2.22,0.00,0.000,6,0.183,0.041,2832,2066,2385,0,0,0,0,0,0
$GC,1340,-1.14,-105.3,194.4,-13.7,126,1344,0.00,2.28,0.00,0.000,4,0.000,0.061,2821,3468,2386,0,0,0,0,0,0
$GC,1430,-1.18,-105.3,207.1,-14.3,130,1434,0.00,2.20,0.00,0.000,6,0.000,0.041,2822,2062,2386,0,0,0,0,0,0
$GC,1752,-1.22,-105.3,250.2,-13.6,146,1756,0.10,2.28,0.00,0.000,4,0.096,0.054,2758,650,2386,0,0,0,0,0,0
$GC,1812,-1.12,-105.3,260.4,-16.7,148,1820,0.22,2.25,0.00,0.000,6,0.161,0.043,2816,2057,2386,0,0,0,0,0,0
$GC,2127,-1.12,-105.3,303.0,-13.5,164,2131,0.00,2.28,0.00,0.000,4,0.000,0.061,2805,3465,2386,0,0,0,0,0,0
$GC,2221,-1.12,-105.3,316.2,-13.1,168,2226,0.05,2.22,0.00,0.000,6,0.163,0.040,2822,2056,2386,0,0,0,0,0,0
$GC,2548,-1.17,-105.3,358.6,-13.1,184,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2056,2386,0,0,0,0,0,0
$GC,2858,-1.22,-105.3,400.9,-13.9,199,2863,0.10,2.25,0.00,0.000,4,0.098,0.056,2763,656,2386,0,0,0,0,0,0
$GC,2908,-1.13,-105.3,409.3,-16.7,201,2913,0.22,2.22,0.00,0.000,6,0.176,0.044,2814,2065,2386,0,0,0,0,0,0
$GC,3223,-1.17,-105.3,452.4,-13.5,216,3227,0.00,2.28,0.00,0.000,4,0.000,0.063,2804,3467,2385,0,0,0,0,0,0
$GC,3300,-1.17,-105.3,462.9,-13.2,219,3304,0.00,2.22,0.00,0.000,6,0.000,0.042,2804,2051,2386,0,0,0,0,0,0
$GC,3616,-1.17,-105.3,504.2,-13.1,235,3620,0.00,2.25,0.00,0.000,4,0.000,0.056,2804,658,2386,0,0,0,0,0,0
$GC,3711,-1.17,-105.3,517.6,-13.8,239,3715,0.00,2.22,0.00,0.000,6,0.000,0.041,2795,2056,2386,0,0,0,0,0,0
$GC,4038,-1.17,-105.3,560.6,-13.0,255,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2056,2386,0,0,0,0,0,0
$GC,4346,-1.17,-105.3,601.5,-13.2,270,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2055,2386,0,0,0,0,0,0
$GC,4657,-1.17,-105.3,643.6,-13.9,285,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2056,2385,0,0,0,0,0,0
$GC,4965,-1.17,-105.3,687.2,-13.9,300,4969,0.00,2.30,0.00,0.000,4,0.000,0.061,2784,3469,2385,0,0,0,0,0,0
$GC,5014,-1.17,-105.3,694.3,-13.9,302,5019,0.10,2.22,0.00,0.000,6,0.177,0.044,2809,2057,2385,0,0,0,0,0,0
$GC,5335,-1.23,-105.3,737.2,-13.0,318,5337,0.05,0.00,0.00,0.000,6,0.164,0.000,2768,2057,2385,0,0,0,0,0,0
$GC,5645,-1.23,-105.3,781.1,-14.3,333,5650,0.08,2.28,0.00,0.000,4,0.210,0.057,2783,659,2384,0,0,0,0,0,0
$GC,5728,-1.19,-105.3,793.3,-13.9,336,5734,0.10,2.22,0.00,0.000,6,0.202,0.043,2798,2068,2384,0,0,0,0,0,0
$GC,6043,-1.22,-105.3,832.9,-12.7,352,6047,0.00,2.28,0.00,0.000,4,0.000,0.063,2788,3463,2384,0,0,0,0,0,0
$GC,6110,-1.22,-105.3,841.5,-12.8,355,6114,0.00,2.22,0.00,0.000,6,0.000,0.042,2788,2061,2384,0,0,0,0,0,0
$GC,6437,-1.22,-105.3,881.0,-11.8,371,6442,0.00,2.25,0.00,0.000,4,0.000,0.056,2787,658,2383,0,0,0,0,0,0
$GC,6526,-1.22,-105.3,892.3,-12.4,375,6530,0.00,2.22,0.00,0.000,6,0.000,0.044,2779,2061,2383,0,0,0,0,0,0
$GC,6854,-1.22,-105.3,930.4,-11.5,391,6858,0.00,2.30,0.00,0.000,4,0.000,0.066,2767,3461,2382,0,0,0,0,0,0
$GC,6897,-1.22,-105.3,935.8,-12.2,393,6902,0.08,2.20,0.00,0.000,6,0.203,0.043,2783,2060,2382,0,0,0,0,0,0
$GC,7225,-1.22,-105.3,972.7,-11.5,409,7229,0.00,2.25,0.00,0.000,4,0.000,0.057,2783,653,2382,0,0,0,0,0,0
$GC,7280,-1.22,-105.3,979.7,-13.1,411,7285,0.00,2.28,0.00,0.000,6,0.000,0.044,2776,2065,2382,0,0,0,0,0,0
$STATE,7470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7470,begin apogee
$GC,7477,-0.19,0.0,1002.4,11.9,421,7583,1.15,0.00,102.35,1.249,6,0.150,0.000,3114,1597,1950,0,0,0,0,0,0
$STATE,7584,end apogee,CONTROL_FINISHED_OK
$STATE,7584,begin climb
$GC,7586,1.13,105.3,1005.7,0.0,426,7703,1.27,2.58,107.60,1.211,4,0.080,0.055,3552,194,1520,0,0,0,0,0,0
$GC,7725,1.18,105.3,994.1,12.9,432,7731,0.00,2.42,0.00,0.000,6,0.000,0.035,3552,1609,1517,0,0,0,0,0,0
$GC,8040,1.24,105.3,952.7,12.8,448,8045,0.10,2.30,0.00,0.000,4,0.099,0.055,3603,3001,1512,0,0,0,0,0,0
$GC,8061,1.24,105.3,949.5,14.7,449,8066,0.10,2.22,0.00,0.000,6,0.197,0.036,3590,1597,1512,0,0,0,0,0,0
$GC,8389,1.24,105.3,904.2,13.5,465,8393,0.00,2.30,0.00,0.000,4,0.000,0.055,3600,194,1510,0,0,0,0,0,0
$GC,8422,1.20,105.3,899.3,14.6,466,8428,0.12,2.22,0.00,0.000,6,0.181,0.036,3569,1619,1509,0,0,0,0,0,0
$GC,8737,1.24,105.3,860.2,12.4,482,8741,0.00,2.20,0.00,0.000,4,0.000,0.056,3569,2987,1509,0,0,0,0,0,0
$GC,8759,1.24,105.3,857.5,13.1,483,8763,0.00,2.17,0.00,0.000,6,0.000,0.036,3577,1591,1509,0,0,0,0,0,0
$GC,9081,1.24,105.3,816.6,12.7,499,9085,0.00,2.28,0.00,0.000,4,0.000,0.056,3588,189,1508,0,0,0,0,0,0
$GC,9102,1.24,105.3,813.4,13.6,500,9107,0.00,2.20,0.00,0.000,6,0.000,0.037,3588,1596,1508,0,0,0,0,0,0
$GC,9428,1.24,105.3,770.7,13.6,516,9432,0.00,2.28,0.00,0.000,4,0.000,0.053,3597,198,1508,0,0,0,0,0,0
$GC,9472,1.20,105.3,764.7,13.3,518,9476,0.10,2.20,0.00,0.000,6,0.191,0.038,3574,1602,1507,0,0,0,0,0,0
$GC,9792,1.23,105.3,723.1,12.9,534,9796,0.00,2.22,0.00,0.000,4,0.000,0.055,3572,2999,1507,0,0,0,0,0,0
$GC,9841,1.23,105.3,716.3,13.2,536,9845,0.00,2.17,0.00,0.000,6,0.000,0.037,3580,1593,1507,0,0,0,0,0,0
$GC,10161,1.23,105.3,674.3,13.0,552,10166,0.00,2.25,0.00,0.000,4,0.000,0.055,3591,201,1507,0,0,0,0,0,0
$GC,10211,1.23,105.3,667.0,14.8,554,10215,0.00,2.20,0.00,0.000,6,0.000,0.038,3591,1604,1507,0,0,0,0,0,0
$GC,10532,1.23,105.3,623.4,13.6,570,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1604,1507,0,0,0,0,0,0
$GC,10843,1.23,105.3,581.7,13.1,585,10847,0.00,2.28,0.00,0.000,4,0.000,0.052,3600,200,1507,0,0,0,0,0,0
$GC,10943,1.23,105.3,567.6,13.9,589,10948,0.08,2.20,0.00,0.000,6,0.200,0.037,3584,1605,1507,0,0,0,0,0,0
$GC,11259,1.23,105.3,528.4,12.1,605,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1606,1506,0,0,0,0,0,0
$GC,11567,1.26,105.3,491.7,11.7,620,11572,0.00,2.30,0.00,0.000,4,0.000,0.054,3593,197,1506,0,0,0,0,0,0
$GC,11639,1.26,105.3,482.6,11.9,623,11644,0.00,2.20,0.00,0.000,6,0.000,0.037,3593,1603,1506,0,0,0,0,0,0
$GC,11962,1.26,105.3,443.3,12.2,639,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1603,1506,0,0,0,0,0,0
$GC,12269,1.26,105.3,405.1,12.7,654,12273,0.00,2.22,0.00,0.000,4,0.000,0.054,3593,2994,1506,0,0,0,0,0,0
$GC,12302,1.26,105.3,400.8,13.5,655,12307,0.00,2.17,0.00,0.000,6,0.000,0.036,3601,1581,1506,0,0,0,0,0,0
$GC,12618,1.26,105.3,359.2,13.2,671,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1581,1506,0,0,0,0,0,0
$GC,12926,1.26,105.3,318.1,13.2,686,12930,0.00,2.25,0.00,0.000,4,0.000,0.055,3612,195,1506,0,0,0,0,0,0
$GC,12966,1.21,105.3,312.7,13.4,688,12971,0.12,2.20,0.00,0.000,6,0.182,0.037,3579,1607,1506,0,0,0,0,0,0
$GC,13294,1.26,105.3,272.2,12.4,704,13298,0.00,2.28,0.00,0.000,4,0.000,0.052,3589,204,1506,0,0,0,0,0,0
$GC,13350,1.26,105.3,264.6,12.8,706,13354,0.00,2.17,0.00,0.000,6,0.000,0.034,3588,1608,1506,0,0,0,0,0,0
$GC,13672,1.29,105.3,224.5,12.8,722,13676,0.00,2.17,0.00,0.000,4,0.000,0.053,3589,2986,1506,0,0,0,0,0,0
$GC,13699,1.29,105.3,220.8,12.8,723,13703,0.00,2.15,0.00,0.000,6,0.000,0.036,3596,1614,1506,0,0,0,0,0,0
$GC,14023,1.29,105.3,178.8,13.0,739,14024,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1614,1506,0,0,0,0,0,0
$GC,14330,1.29,105.3,141.8,11.5,754,14334,0.00,2.30,0.00,0.000,4,0.000,0.054,3608,185,1506,0,0,0,0,0,0
$GC,14362,1.29,105.3,137.5,12.5,755,14366,0.00,2.20,0.00,0.000,6,0.000,0.037,3607,1594,1506,0,0,0,0,0,0
$GC,14686,1.29,105.3,98.4,12.1,771,14687,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1594,1506,0,0,0,0,0,0
$GC,15009,1.29,105.3,58.2,12.5,807,15017,0.00,2.25,0.00,0.000,4,0.000,0.054,3607,2987,1506,0,0,0,0,0,0
$GC,15023,1.29,105.3,56.5,12.5,809,15029,0.05,2.15,0.00,0.000,6,0.244,0.035,3605,1590,1506,0,0,0,0,0,0
$GC,15392,1.29,105.3,12.6,12.2,870,15399,0.00,2.28,0.00,0.000,4,0.000,0.052,3603,2988,1506,0,0,0,0,0,0
$STATE,15473,end climb,SURFACE_DEPTH_REACHED
$STATE,15473,begin surface coast
$FINISH,2.0,1.011448
$STATE,15505,end surface coast,CONTROL_FINISHED_OK
$STATE,15507,begin surface
$SM_CCo,15527,45.00,0.056,0,0,1133,200.16
$SM_GC,3.67,0.00,0.00,45.00,0.000,0.000,0.056,62,2061,1133,-9.76,0.03,200.16
$IRIDIUM_FIX,-4438.33,419.02,270908,010111
$TT8_MAMPS,0.026215
$HUMID,65.67
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.20
$XPDR_PINGS,1
$24V_AH,21.8,67.451
$10V_AH,9.7,70.811
$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,25.125,148.200,209.950,45.000,0.000,27.898,43.580,270.488,0.250,0.000,21.490,1962.509,10930.019,358.452,2550.853,266.287,0.000,1324.713,0.000,2107.740,0.000,0.540,0.000
$DEVICE_MAMPS,244.035,70.380,1249.245,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.931,1286.337,713.385,434.082,0.000,0.000,0.000,0.000,0.000,0.000
$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,63925,888
$CAP_FILE_SIZE,142026,0
$CFSIZE,2097086464,2015952896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011215,210203,-4456.328,624.631,41,0.9,41,-24.4