version: 66.07.10.p01
glider: 573
mission: 12
dive: 583
start: 12 2 115 1 27 13
data:
$ID,573
$MISSION,12
$DIVE,583
$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,-22835.111
$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,41
$R_STBD_OVSHOOT,28
$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,582
$GPS1,021215,011921,-4454.997,622.915,38,0.8,38,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-73.2
$GPS2,021215,012653,-4454.956,622.943,16,0.8,18,-24.3
$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,168.7,2379,-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,23,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,41,0.00,0.00,-13.70,0.000,2,0.000,0.000,59,2060,1395,0,0,0,0,0,0
$GC,44,-1.13,-116.8,3.0,-0.9,2,114,11.52,2.33,-50.15,0.000,4,0.230,0.064,2814,659,2424,0,0,0,0,0,0
$GC,388,-1.13,-116.8,47.8,-16.0,58,393,0.00,2.25,0.00,0.000,6,0.000,0.042,2806,2068,2426,0,0,0,0,0,0
$GC,729,-1.13,-116.8,104.1,-16.5,99,733,0.00,2.28,0.00,0.000,4,0.000,0.062,2795,3471,2427,0,0,0,0,0,0
$GC,816,-1.13,-116.8,118.5,-17.5,103,821,0.10,2.20,0.00,0.000,6,0.178,0.043,2819,2062,2427,0,0,0,0,0,0
$GC,1146,-1.17,-116.8,168.5,-14.5,119,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2061,2427,0,0,0,0,0,0
$GC,1452,-1.21,-116.8,212.4,-13.7,134,1457,0.08,2.28,0.00,0.000,4,0.121,0.054,2772,654,2428,0,0,0,0,0,0
$GC,1531,-1.13,-116.8,225.5,-16.1,137,1537,0.20,2.22,0.00,0.000,6,0.176,0.043,2816,2065,2428,0,0,0,0,0,0
$GC,1849,-1.16,-116.8,270.1,-14.2,153,1853,0.00,2.28,0.00,0.000,4,0.000,0.063,2805,3461,2428,0,0,0,0,0,0
$GC,1904,-1.16,-116.8,278.7,-14.6,155,1909,0.00,2.20,0.00,0.000,6,0.000,0.039,2805,2060,2427,0,0,0,0,0,0
$GC,2220,-1.16,-116.8,324.7,-14.6,171,2224,0.00,2.25,0.00,0.000,4,0.000,0.054,2805,650,2428,0,0,0,0,0,0
$GC,2247,-1.16,-116.8,329.0,-14.6,172,2251,0.00,2.20,0.00,0.000,6,0.000,0.041,2796,2059,2428,0,0,0,0,0,0
$GC,2573,-1.16,-116.8,375.9,-14.2,188,2577,0.00,2.28,0.00,0.000,4,0.000,0.062,2786,3473,2428,0,0,0,0,0,0
$GC,2627,-1.16,-116.8,384.0,-14.8,190,2634,0.10,2.25,0.00,0.000,6,0.179,0.043,2810,2036,2428,0,0,0,0,0,0
$GC,2943,-1.21,-116.8,426.6,-13.7,206,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2036,2428,0,0,0,0,0,0
$GC,3254,-1.25,-116.8,469.4,-14.0,221,3258,0.08,2.22,0.00,0.000,4,0.122,0.055,2762,658,2428,0,0,0,0,0,0
$GC,3315,-1.17,-116.8,479.6,-16.5,224,3320,0.20,2.20,0.00,0.000,6,0.177,0.042,2805,2063,2428,0,0,0,0,0,0
$GC,3642,-1.21,-116.8,526.9,-14.4,240,3646,0.00,2.30,0.00,0.000,4,0.000,0.063,2794,3471,2428,0,0,0,0,0,0
$GC,3800,-1.21,-116.8,550.1,-14.7,247,3804,0.00,2.22,0.00,0.000,6,0.000,0.044,2795,2051,2428,0,0,0,0,0,0
$GC,4127,-1.21,-116.8,596.2,-13.9,263,4131,0.00,2.25,0.00,0.000,4,0.000,0.056,2794,657,2428,0,0,0,0,0,0
$GC,4182,-1.21,-116.8,604.9,-15.0,265,4186,0.00,2.22,0.00,0.000,6,0.000,0.042,2785,2067,2428,0,0,0,0,0,0
$GC,4504,-1.21,-116.8,651.0,-14.2,281,4508,0.00,2.25,0.00,0.000,4,0.000,0.061,2775,3464,2428,0,0,0,0,0,0
$GC,4565,-1.21,-116.8,660.2,-14.5,284,4569,0.08,2.17,0.00,0.000,6,0.198,0.041,2791,2058,2428,0,0,0,0,0,0
$GC,4890,-1.21,-116.8,702.8,-12.8,300,4894,0.00,2.25,0.00,0.000,4,0.000,0.057,2791,654,2428,0,0,0,0,0,0
$GC,4961,-1.21,-116.8,712.4,-13.4,303,4965,0.00,2.22,0.00,0.000,6,0.000,0.044,2782,2068,2427,0,0,0,0,0,0
$GC,5284,-1.21,-116.8,752.4,-12.1,319,5288,0.00,2.25,0.00,0.000,4,0.000,0.062,2772,3465,2427,0,0,0,0,0,0
$GC,5318,-1.21,-116.8,756.7,-12.0,320,5324,0.10,2.20,0.00,0.000,6,0.185,0.041,2795,2056,2427,0,0,0,0,0,0
$GC,5633,-1.25,-116.8,793.1,-11.3,336,5637,0.00,2.28,0.00,0.000,4,0.000,0.057,2795,654,2427,0,0,0,0,0,0
$GC,5671,-1.25,-116.8,798.0,-12.3,337,5676,0.00,2.25,0.00,0.000,6,0.000,0.044,2787,2054,2427,0,0,0,0,0,0
$GC,5987,-1.25,-116.8,835.8,-12.2,353,5992,0.00,2.25,0.00,0.000,4,0.000,0.059,2777,3467,2427,0,0,0,0,0,0
$GC,6043,-1.25,-116.8,843.1,-13.2,355,6047,0.00,2.25,0.00,0.000,6,0.000,0.043,2777,2056,2427,0,0,0,0,0,0
$GC,6359,-1.25,-116.8,882.7,-12.6,371,6363,0.00,2.28,0.00,0.000,4,0.000,0.057,2777,658,2427,0,0,0,0,0,0
$GC,6402,-1.25,-116.8,888.8,-13.4,373,6407,0.00,2.22,0.00,0.000,6,0.000,0.043,2768,2074,2427,0,0,0,0,0,0
$GC,6730,-1.25,-116.8,930.9,-13.2,389,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2075,2426,0,0,0,0,0,0
$GC,7038,-1.25,-116.8,973.6,-14.0,404,7042,0.00,2.22,0.00,0.000,4,0.000,0.057,2757,3466,2426,0,0,0,0,0,0
$GC,7088,-1.25,-116.8,980.9,-14.3,406,7093,0.10,2.20,0.00,0.000,6,0.185,0.043,2781,2061,2425,0,0,0,0,0,0
$STATE,7241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7241,begin apogee
$GC,7248,-0.19,0.0,1001.9,13.4,414,7364,1.12,0.00,112.50,1.246,6,0.146,0.000,3113,1593,1950,0,0,0,0,0,0
$STATE,7365,end apogee,CONTROL_FINISHED_OK
$STATE,7365,begin climb
$GC,7367,1.13,116.8,1006.0,0.0,420,7492,1.33,0.00,120.75,1.205,6,0.080,0.000,3548,1593,1473,0,0,0,0,0,0
$GC,7796,1.22,116.8,957.1,13.2,441,7801,0.08,2.33,0.00,0.000,4,0.119,0.054,3603,191,1465,0,0,0,0,0,0
$GC,7817,1.22,116.8,953.4,14.7,442,7822,0.10,2.28,0.00,0.000,6,0.184,0.036,3581,1620,1465,0,0,0,0,0,0
$GC,8143,1.22,116.8,906.1,14.8,458,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1620,1464,0,0,0,0,0,0
$GC,8454,1.22,116.8,859.8,15.3,473,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1620,1464,0,0,0,0,0,0
$GC,8762,1.22,116.8,813.7,15.0,488,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1621,1463,0,0,0,0,0,0
$GC,9073,1.22,116.8,767.4,14.8,503,9076,0.00,2.20,0.00,0.000,4,0.000,0.055,3580,2992,1462,0,0,0,0,0,0
$GC,9088,1.22,116.8,764.7,14.9,503,9093,0.00,2.17,0.00,0.000,6,0.000,0.036,3589,1577,1462,0,0,0,0,0,0
$GC,9405,1.22,116.8,717.1,15.1,519,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1577,1462,0,0,0,0,0,0
$GC,9713,1.22,116.8,670.8,14.7,534,9717,0.00,2.22,0.00,0.000,4,0.000,0.055,3599,192,1462,0,0,0,0,0,0
$GC,9751,1.22,116.8,665.1,15.5,536,9756,0.10,2.20,0.00,0.000,6,0.183,0.036,3576,1602,1461,0,0,0,0,0,0
$GC,10079,1.26,116.8,619.6,13.8,552,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1602,1461,0,0,0,0,0,0
$GC,10388,1.32,116.8,577.4,13.6,567,10393,0.10,2.20,0.00,0.000,4,0.099,0.054,3623,2992,1461,0,0,0,0,0,0
$GC,10428,1.26,116.8,571.2,16.9,569,10433,0.15,2.15,0.00,0.000,6,0.187,0.036,3594,1597,1461,0,0,0,0,0,0
$GC,10755,1.26,116.8,524.6,13.9,585,10759,0.00,2.25,0.00,0.000,4,0.000,0.054,3604,203,1461,0,0,0,0,0,0
$GC,10771,1.26,116.8,522.1,13.9,586,10776,0.05,2.17,0.00,0.000,6,0.230,0.035,3594,1607,1460,0,0,0,0,0,0
$GC,11096,1.26,116.8,475.6,14.1,602,11100,0.00,2.20,0.00,0.000,4,0.000,0.052,3594,2988,1460,0,0,0,0,0,0
$GC,11135,1.26,116.8,469.9,15.2,604,11139,0.00,2.15,0.00,0.000,6,0.000,0.036,3602,1599,1460,0,0,0,0,0,0
$GC,11461,1.26,116.8,422.4,14.6,620,11465,0.00,2.28,0.00,0.000,4,0.000,0.054,3613,195,1460,0,0,0,0,0,0
$GC,11524,1.22,116.8,412.9,16.2,623,11529,0.12,2.15,0.00,0.000,6,0.183,0.036,3581,1600,1460,0,0,0,0,0,0
$GC,11852,1.27,116.8,367.7,13.8,639,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1600,1460,0,0,0,0,0,0
$GC,12159,1.33,116.8,326.6,13.0,654,12164,0.10,2.28,0.00,0.000,4,0.099,0.054,3642,193,1459,0,0,0,0,0,0
$GC,12176,1.33,116.8,324.2,13.4,655,12181,0.12,2.17,0.00,0.000,6,0.184,0.037,3611,1607,1459,0,0,0,0,0,0
$GC,12505,1.33,116.8,277.1,14.3,671,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1608,1459,0,0,0,0,0,0
$GC,12812,1.33,116.8,233.3,14.0,686,12816,0.00,2.28,0.00,0.000,4,0.000,0.052,3621,193,1459,0,0,0,0,0,0
$GC,12832,1.33,116.8,230.7,14.7,687,12836,0.00,2.17,0.00,0.000,6,0.000,0.036,3620,1608,1460,0,0,0,0,0,0
$GC,13161,1.33,116.8,182.9,14.5,703,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1608,1459,0,0,0,0,0,0
$GC,13469,1.33,116.8,141.4,12.6,718,13473,0.00,2.28,0.00,0.000,4,0.000,0.052,3629,199,1459,0,0,0,0,0,0
$GC,13553,1.28,116.8,129.9,13.1,721,13559,0.12,2.17,0.00,0.000,6,0.172,0.037,3596,1608,1459,0,0,0,0,0,0
$GC,13871,1.32,116.8,92.3,11.9,737,13875,0.00,2.30,0.00,0.000,4,0.000,0.052,3606,193,1460,0,0,0,0,0,0
$GC,13904,1.32,116.8,87.7,12.0,738,13912,0.00,2.20,0.00,0.000,6,0.000,0.034,3605,1601,1459,0,0,0,0,0,0
$GC,14251,1.32,116.8,46.2,12.3,790,14256,0.00,2.28,0.00,0.000,4,0.000,0.050,3615,195,1459,0,0,0,0,0,0
$GC,14371,1.32,116.8,30.5,13.2,810,14379,0.00,2.20,0.00,0.000,6,0.000,0.035,3614,1603,1459,0,0,0,0,0,0
$GC,14529,1.32,116.8,10.5,13.1,835,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1603,1459,0,0,0,0,0,0
$STATE,14585,end climb,SURFACE_DEPTH_REACHED
$STATE,14585,begin surface coast
$FINISH,2.1,1.011988
$STATE,14611,end surface coast,CONTROL_FINISHED_OK
$STATE,14612,begin surface
$SM_CCo,14630,39.50,0.056,0,0,1133,200.16
$SM_GC,3.20,0.00,0.00,39.50,0.000,0.000,0.056,66,2061,1133,-9.75,0.06,200.16
$IRIDIUM_FIX,-4438.33,624.11,270908,101035
$TT8_MAMPS,0.026964
$HUMID,65.43
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.8,67.648
$10V_AH,9.7,70.995
$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,25.450,126.375,233.250,39.500,0.000,25.357,20.393,252.270,0.000,0.000,19.817,1854.433,10281.796,390.764,2336.707,257.186,0.000,1257.509,0.000,1950.545,0.000,0.540,0.000
$DEVICE_MAMPS,230.265,64.260,1246.185,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.299,1224.425,683.754,412.054,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353220
$DATA_FILE_SIZE,60507,848
$CAP_FILE_SIZE,130111,0
$CFSIZE,2097086464,2015723520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021215,053257,-4455.874,625.227,36,0.8,36,-24.4