version: 66.07.10.p01
glider: 573
mission: 12
dive: 584
start: 12 2 115 5 41 6
data:
$ID,573
$MISSION,12
$DIVE,584
$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,-22838.389
$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,37
$R_STBD_OVSHOOT,32
$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,583
$GPS1,021215,053257,-4455.874,625.227,36,0.8,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-71.9
$GPS2,021215,054046,-4455.930,625.207,19,1.0,20,-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,289.7,1588,-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,-13.65,0.000,2,0.000,0.000,66,2061,1393,0,0,0,0,0,0
$GC,44,-1.13,-106.6,3.1,-2.0,2,114,11.60,2.33,-49.67,0.000,4,0.233,0.066,2804,3467,2385,0,0,0,0,0,0
$GC,259,-1.10,-106.6,24.3,-16.8,36,267,0.08,2.25,0.00,0.000,6,0.155,0.041,2827,2059,2387,0,0,0,0,0,0
$GC,413,-1.10,-106.6,49.0,-15.8,61,418,0.00,2.30,0.00,0.000,4,0.000,0.061,2818,3463,2387,0,0,0,0,0,0
$GC,502,-1.10,-106.6,63.1,-15.4,76,507,0.00,2.20,0.00,0.000,6,0.000,0.039,2818,2054,2388,0,0,0,0,0,0
$GC,839,-1.10,-106.6,116.7,-15.9,106,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2388,0,0,0,0,0,0
$GC,1149,-1.10,-106.6,166.2,-16.2,121,1153,0.00,2.25,0.00,0.000,4,0.000,0.056,2818,659,2388,0,0,0,0,0,0
$GC,1193,-1.10,-106.6,173.6,-14.9,123,1197,0.08,2.22,0.00,0.000,6,0.206,0.041,2826,2072,2388,0,0,0,0,0,0
$GC,1518,-1.15,-106.6,217.0,-13.0,139,1522,0.00,2.25,0.00,0.000,4,0.000,0.057,2815,3473,2389,0,0,0,0,0,0
$GC,1607,-1.18,-106.6,229.5,-12.7,143,1612,0.00,2.20,0.00,0.000,6,0.000,0.042,2815,2065,2389,0,0,0,0,0,0
$GC,1931,-1.22,-106.6,272.9,-13.7,159,1936,0.08,2.28,0.00,0.000,4,0.122,0.053,2766,649,2389,0,0,0,0,0,0
$GC,1958,-1.16,-106.6,277.6,-16.4,160,1963,0.20,2.22,0.00,0.000,6,0.179,0.039,2808,2071,2389,0,0,0,0,0,0
$GC,2274,-1.16,-106.6,322.2,-14.2,175,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2071,2390,0,0,0,0,0,0
$GC,2582,-1.16,-106.6,365.5,-14.0,190,2586,0.00,2.25,0.00,0.000,4,0.000,0.057,2798,3470,2390,0,0,0,0,0,0
$GC,2649,-1.16,-106.6,375.1,-13.8,193,2653,0.00,2.22,0.00,0.000,6,0.000,0.042,2799,2065,2390,0,0,0,0,0,0
$GC,2976,-1.16,-106.6,421.6,-14.0,209,2980,0.00,2.28,0.00,0.000,4,0.000,0.053,2799,648,2390,0,0,0,0,0,0
$GC,3026,-1.16,-106.6,429.2,-14.5,211,3031,0.08,2.22,0.00,0.000,6,0.217,0.039,2805,2070,2390,0,0,0,0,0,0
$GC,3348,-1.16,-106.6,473.8,-13.9,227,3352,0.00,2.25,0.00,0.000,4,0.000,0.058,2795,3468,2390,0,0,0,0,0,0
$GC,3420,-1.16,-106.6,484.6,-13.7,230,3425,0.05,2.20,0.00,0.000,6,0.220,0.041,2805,2058,2390,0,0,0,0,0,0
$GC,3741,-1.20,-106.6,527.1,-13.2,246,3745,0.00,2.28,0.00,0.000,4,0.000,0.056,2806,649,2389,0,0,0,0,0,0
$GC,3813,-1.20,-106.6,537.5,-14.1,249,3817,0.00,2.25,0.00,0.000,6,0.000,0.043,2797,2069,2390,0,0,0,0,0,0
$GC,4135,-1.20,-106.6,579.8,-13.1,265,4139,0.00,2.25,0.00,0.000,4,0.000,0.060,2786,3459,2389,0,0,0,0,0,0
$GC,4190,-1.20,-106.6,587.4,-13.4,267,4195,0.00,2.22,0.00,0.000,6,0.000,0.042,2787,2055,2389,0,0,0,0,0,0
$GC,4506,-1.20,-106.6,628.7,-13.3,283,4510,0.00,2.28,0.00,0.000,4,0.000,0.057,2787,650,2389,0,0,0,0,0,0
$GC,4578,-1.17,-106.6,638.9,-13.5,286,4583,0.12,2.22,0.00,0.000,6,0.190,0.043,2808,2057,2389,0,0,0,0,0,0
$GC,4895,-1.21,-106.6,677.1,-12.2,301,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2057,2388,0,0,0,0,0,0
$GC,5203,-1.26,-106.6,714.5,-12.0,316,5207,0.10,2.30,0.00,0.000,4,0.096,0.062,2740,3468,2388,0,0,0,0,0,0
$GC,5241,-1.18,-106.6,719.8,-14.4,318,5246,0.22,2.22,0.00,0.000,6,0.169,0.044,2800,2055,2388,0,0,0,0,0,0
$GC,5569,-1.22,-106.6,759.2,-11.7,334,5573,0.00,2.33,0.00,0.000,4,0.000,0.063,2791,3470,2387,0,0,0,0,0,0
$GC,5595,-1.22,-106.6,762.6,-12.6,335,5599,0.00,2.22,0.00,0.000,6,0.000,0.043,2791,2058,2387,0,0,0,0,0,0
$GC,5917,-1.22,-106.6,800.5,-11.7,351,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2058,2387,0,0,0,0,0,0
$GC,6225,-1.25,-106.6,837.8,-12.2,366,6230,0.00,2.25,0.00,0.000,4,0.000,0.057,2791,652,2387,0,0,0,0,0,0
$GC,6288,-1.25,-106.6,845.3,-12.6,369,6293,0.00,2.25,0.00,0.000,6,0.000,0.044,2782,2067,2387,0,0,0,0,0,0
$GC,6616,-1.25,-106.6,885.4,-12.5,385,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2067,2387,0,0,0,0,0,0
$GC,6924,-1.25,-106.6,925.8,-12.7,400,6928,0.00,2.28,0.00,0.000,4,0.000,0.062,2772,3463,2387,0,0,0,0,0,0
$GC,6979,-1.25,-106.6,933.2,-13.8,402,6984,0.00,2.20,0.00,0.000,6,0.000,0.042,2772,2052,2386,0,0,0,0,0,0
$GC,7294,-1.25,-106.6,974.3,-13.1,418,7298,0.00,2.25,0.00,0.000,4,0.000,0.057,2772,661,2387,0,0,0,0,0,0
$GC,7366,-1.21,-106.6,983.9,-13.8,421,7370,0.12,2.22,0.00,0.000,6,0.194,0.041,2792,2071,2386,0,0,0,0,0,0
$STATE,7513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7513,begin apogee
$GC,7520,-0.19,0.0,1002.1,11.9,428,7627,1.10,0.00,103.60,1.247,6,0.146,0.000,3117,1598,1950,0,0,0,0,0,0
$STATE,7628,end apogee,CONTROL_FINISHED_OK
$STATE,7628,begin climb
$GC,7630,1.13,106.6,1005.4,0.0,433,7744,1.27,0.00,110.12,1.208,6,0.080,0.000,3544,1598,1514,0,0,0,0,0,0
$GC,8047,1.21,106.6,958.8,12.8,454,8052,0.08,2.35,0.00,0.000,4,0.119,0.054,3598,192,1507,0,0,0,0,0,0
$GC,8141,1.17,106.6,943.9,15.9,458,8146,0.15,2.28,0.00,0.000,6,0.166,0.036,3560,1614,1506,0,0,0,0,0,0
$GC,8458,1.22,106.6,902.1,13.1,473,8462,0.00,2.22,0.00,0.000,4,0.000,0.054,3560,2993,1505,0,0,0,0,0,0
$GC,8498,1.26,106.6,896.4,15.0,475,8503,0.05,2.17,0.00,0.000,6,0.164,0.036,3596,1600,1505,0,0,0,0,0,0
$GC,8825,1.26,106.6,848.2,15.0,491,8829,0.00,2.28,0.00,0.000,4,0.000,0.055,3607,196,1504,0,0,0,0,0,0
$GC,8914,1.20,106.6,833.8,17.3,495,8919,0.12,2.20,0.00,0.000,6,0.177,0.037,3576,1601,1503,0,0,0,0,0,0
$GC,9235,1.20,106.6,789.4,13.5,511,9239,0.00,2.30,0.00,0.000,4,0.000,0.053,3585,192,1503,0,0,0,0,0,0
$GC,9275,1.20,106.6,783.8,14.8,513,9280,0.05,2.22,0.00,0.000,6,0.225,0.037,3574,1616,1502,0,0,0,0,0,0
$GC,9603,1.24,106.6,739.8,13.2,529,9607,0.00,2.22,0.00,0.000,4,0.000,0.056,3574,2998,1502,0,0,0,0,0,0
$GC,9647,1.24,106.6,733.3,14.0,531,9652,0.00,2.17,0.00,0.000,6,0.000,0.036,3582,1599,1502,0,0,0,0,0,0
$GC,9975,1.24,106.6,689.0,13.5,547,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1599,1502,0,0,0,0,0,0
$GC,10283,1.24,106.6,646.8,13.7,562,10287,0.00,2.28,0.00,0.000,4,0.000,0.054,3593,194,1502,0,0,0,0,0,0
$GC,10367,1.24,106.6,634.8,15.5,566,10371,0.00,2.17,0.00,0.000,6,0.000,0.036,3593,1599,1501,0,0,0,0,0,0
$GC,10698,1.24,106.6,589.7,13.6,582,10702,0.00,2.22,0.00,0.000,4,0.000,0.055,3593,2995,1501,0,0,0,0,0,0
$GC,10736,1.24,106.6,584.4,14.3,583,10741,0.05,2.20,0.00,0.000,6,0.175,0.036,3586,1588,1501,0,0,0,0,0,0
$GC,11052,1.24,106.6,543.4,12.7,599,11056,0.00,2.25,0.00,0.000,4,0.000,0.054,3596,195,1501,0,0,0,0,0,0
$GC,11140,1.24,106.6,531.2,14.4,603,11145,0.05,2.20,0.00,0.000,6,0.226,0.037,3586,1606,1501,0,0,0,0,0,0
$GC,11467,1.24,106.6,490.9,12.4,619,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1606,1501,0,0,0,0,0,0
$GC,11776,1.24,106.6,454.2,11.7,634,11780,0.00,2.20,0.00,0.000,4,0.000,0.052,3586,2999,1501,0,0,0,0,0,0
$GC,11820,1.24,106.6,448.8,11.8,636,11824,0.00,2.17,0.00,0.000,6,0.000,0.036,3594,1589,1501,0,0,0,0,0,0
$GC,12146,1.24,106.6,408.7,12.8,652,12150,0.00,2.25,0.00,0.000,4,0.000,0.054,3605,198,1501,0,0,0,0,0,0
$GC,12240,1.24,106.6,395.9,13.6,656,12245,0.10,2.20,0.00,0.000,6,0.187,0.038,3581,1602,1500,0,0,0,0,0,0
$GC,12558,1.27,106.6,358.3,11.7,671,12562,0.00,2.28,0.00,0.000,4,0.000,0.052,3590,195,1500,0,0,0,0,0,0
$GC,12748,1.27,106.6,334.6,11.4,679,12753,0.00,2.20,0.00,0.000,6,0.000,0.037,3590,1599,1501,0,0,0,0,0,0
$GC,13074,1.27,106.6,295.2,12.2,695,13078,0.00,2.28,0.00,0.000,4,0.000,0.051,3599,198,1500,0,0,0,0,0,0
$GC,13129,1.27,106.6,287.6,12.7,697,13134,0.00,2.20,0.00,0.000,6,0.000,0.037,3599,1608,1500,0,0,0,0,0,0
$GC,13447,1.27,106.6,247.5,12.9,713,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1608,1500,0,0,0,0,0,0
$GC,13755,1.27,106.6,208.4,12.5,728,13758,0.00,2.20,0.00,0.000,4,0.000,0.053,3599,2998,1500,0,0,0,0,0,0
$GC,13787,1.27,106.6,204.0,12.9,729,13792,0.05,2.15,0.00,0.000,6,0.243,0.035,3597,1599,1500,0,0,0,0,0,0
$GC,14111,1.27,106.6,166.3,11.7,745,14115,0.00,2.28,0.00,0.000,4,0.000,0.054,3608,193,1500,0,0,0,0,0,0
$GC,14198,1.27,106.6,157.3,10.3,749,14203,0.05,2.20,0.00,0.000,6,0.236,0.035,3597,1614,1500,0,0,0,0,0,0
$GC,14528,1.30,106.6,123.4,10.6,765,14532,0.00,2.20,0.00,0.000,4,0.000,0.053,3597,2992,1501,0,0,0,0,0,0
$GC,14623,1.30,106.6,112.0,11.7,769,14627,0.00,2.15,0.00,0.000,6,0.000,0.035,3605,1596,1500,0,0,0,0,0,0
$GC,14944,1.30,106.6,76.9,11.3,787,14949,0.00,2.25,0.00,0.000,4,0.000,0.053,3616,200,1500,0,0,0,0,0,0
$GC,15032,1.27,106.6,65.7,13.3,802,15038,0.08,2.17,0.00,0.000,6,0.205,0.037,3598,1599,1500,0,0,0,0,0,0
$GC,15396,1.30,106.6,22.3,11.6,863,15403,0.00,2.25,0.00,0.000,4,0.000,0.053,3598,2992,1500,0,0,0,0,0,0
$STATE,15552,end climb,SURFACE_DEPTH_REACHED
$STATE,15552,begin surface coast
$FINISH,2.0,1.013461
$STATE,15572,end surface coast,CONTROL_FINISHED_OK
$STATE,15572,begin surface
$SM_CCo,15592,44.35,0.055,0,0,1133,200.16
$SM_GC,3.52,0.00,0.00,44.35,0.000,0.000,0.055,66,2038,1133,-9.75,-0.62,200.16
$IRIDIUM_FIX,-4438.33,626.79,270908,141451
$TT8_MAMPS,0.026964
$HUMID,65.90
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.8,67.743
$10V_AH,9.7,71.092
$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,25.275,147.550,213.725,44.350,0.000,25.230,27.290,259.856,0.000,0.000,22.437,1989.356,10884.250,383.383,2572.881,274.073,0.000,1340.722,0.000,2156.479,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,65.790,1246.950,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.290,1290.561,716.545,427.682,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,63738,891
$CAP_FILE_SIZE,142789,0
$CFSIZE,2097086464,2015559680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021215,100257,-4455.522,623.050,36,1.0,36,-24.3