version: 66.07.10.p01
glider: 573
mission: 12
dive: 449
start: 11 2 115 4 38 36
data:
$ID,573
$MISSION,12
$DIVE,449
$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,-22398.561
$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,34
$R_STBD_OVSHOOT,43
$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,448
$GPS1,021115,043004,-4504.594,638.054,31,1.1,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-68.5
$GPS2,021115,043816,-4504.540,638.176,19,1.6,19,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,313.9,3016,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,48,0.00,0.00,-20.02,0.000,2,0.000,0.000,66,2070,1522,0,0,0,0,0,0
$GC,51,-1.12,-98.9,3.2,-2.9,3,102,11.45,0.00,-36.65,0.000,6,0.236,0.000,2815,2073,2354,0,0,0,0,0,0
$GC,154,-1.12,-98.9,9.1,-12.2,19,160,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2073,2358,0,0,0,0,0,0
$GC,212,-1.12,-98.9,17.6,-13.8,28,219,0.00,2.28,0.00,0.000,4,0.000,0.059,2805,3445,2358,0,0,0,0,0,0
$GC,228,-1.12,-98.9,20.1,-14.6,30,236,0.03,2.20,0.00,0.000,6,0.204,0.040,2813,2066,2358,0,0,0,0,0,0
$GC,386,-1.12,-98.9,43.8,-15.5,55,391,0.00,2.28,0.00,0.000,4,0.000,0.052,2813,657,2358,0,0,0,0,0,0
$GC,474,-1.07,-98.9,58.4,-16.1,70,480,0.12,2.22,0.00,0.000,6,0.194,0.040,2835,2061,2358,0,0,0,0,0,0
$GC,811,-1.07,-98.9,106.1,-14.1,105,815,0.00,2.30,0.00,0.000,4,0.000,0.060,2825,3469,2359,0,0,0,0,0,0
$GC,855,-1.07,-98.9,113.2,-14.8,107,859,0.00,2.22,0.00,0.000,6,0.000,0.041,2825,2056,2359,0,0,0,0,0,0
$GC,1185,-1.07,-98.9,160.1,-14.3,123,1189,0.00,2.28,0.00,0.000,4,0.000,0.055,2825,652,2359,0,0,0,0,0,0
$GC,1432,-1.07,-98.9,200.3,-15.3,134,1437,0.05,2.25,0.00,0.000,6,0.174,0.042,2832,2051,2359,0,0,0,0,0,0
$GC,1761,-1.10,-98.9,245.1,-13.5,150,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2051,2359,0,0,0,0,0,0
$GC,2071,-1.14,-98.9,287.1,-13.5,165,2075,0.00,2.28,0.00,0.000,4,0.000,0.056,2822,3471,2360,0,0,0,0,0,0
$GC,2125,-1.14,-98.9,295.4,-14.1,167,2131,0.00,2.22,0.00,0.000,6,0.000,0.041,2822,2065,2360,0,0,0,0,0,0
$GC,2442,-1.14,-98.9,340.6,-14.1,183,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2065,2360,0,0,0,0,0,0
$GC,2750,-1.14,-98.9,384.2,-13.9,198,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2065,2360,0,0,0,0,0,0
$GC,3061,-1.14,-98.9,427.4,-14.6,213,3065,0.00,2.25,0.00,0.000,4,0.000,0.053,2822,655,2360,0,0,0,0,0,0
$GC,3149,-1.14,-98.9,441.0,-14.9,217,3154,0.00,2.25,0.00,0.000,6,0.000,0.039,2812,2077,2360,0,0,0,0,0,0
$GC,3477,-1.14,-98.9,486.7,-13.5,233,3481,0.00,2.22,0.00,0.000,4,0.000,0.056,2802,3463,2360,0,0,0,0,0,0
$GC,3587,-1.14,-98.9,502.2,-13.5,238,3592,0.00,2.22,0.00,0.000,6,0.000,0.040,2802,2055,2360,0,0,0,0,0,0
$GC,3913,-1.14,-98.9,547.0,-13.7,254,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2055,2360,0,0,0,0,0,0
$GC,4224,-1.14,-98.9,589.0,-13.5,269,4228,0.00,2.28,0.00,0.000,4,0.000,0.057,2801,651,2359,0,0,0,0,0,0
$GC,4264,-1.11,-98.9,594.5,-14.0,271,4269,0.12,2.22,0.00,0.000,6,0.192,0.043,2823,2057,2359,0,0,0,0,0,0
$GC,4592,-1.16,-98.9,636.0,-12.3,287,4596,0.00,2.30,0.00,0.000,4,0.000,0.060,2813,3471,2358,0,0,0,0,0,0
$GC,4618,-1.16,-98.9,639.8,-13.3,288,4622,0.00,2.25,0.00,0.000,6,0.000,0.043,2813,2059,2358,0,0,0,0,0,0
$GC,4939,-1.19,-98.9,678.8,-11.8,304,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2058,2359,0,0,0,0,0,0
$GC,5250,-1.22,-98.9,713.6,-11.3,319,5255,0.05,2.33,0.00,0.000,4,0.171,0.060,2769,3462,2358,0,0,0,0,0,0
$GC,5290,-1.15,-98.9,718.6,-12.8,321,5295,0.15,2.20,0.00,0.000,6,0.185,0.041,2805,2059,2358,0,0,0,0,0,0
$GC,5616,-1.15,-98.9,757.0,-11.9,337,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2058,2358,0,0,0,0,0,0
$GC,5925,-1.15,-98.9,793.2,-11.5,352,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2059,2357,0,0,0,0,0,0
$GC,6235,-1.15,-98.9,828.1,-11.5,367,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2057,2356,0,0,0,0,0,0
$GC,6543,-1.15,-98.9,863.5,-11.8,382,6547,0.00,2.33,0.00,0.000,4,0.000,0.060,2796,3468,2357,0,0,0,0,0,0
$GC,6577,-1.15,-98.9,867.4,-12.3,383,6581,0.00,2.22,0.00,0.000,6,0.000,0.043,2796,2060,2356,0,0,0,0,0,0
$GC,6893,-1.15,-98.9,905.9,-11.9,399,6895,0.05,0.00,0.00,0.000,6,0.236,0.000,2806,2060,2356,0,0,0,0,0,0
$GC,7201,-1.15,-98.9,944.2,-12.5,414,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2060,2356,0,0,0,0,0,0
$GC,7512,-1.19,-98.9,981.2,-11.7,429,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2060,2356,0,0,0,0,0,0
$STATE,7674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7675,begin apogee
$GC,7681,-0.19,0.0,1000.3,11.5,437,7778,1.08,0.00,93.57,1.260,6,0.160,0.000,3113,1594,1950,0,0,0,0,0,0
$STATE,7779,end apogee,CONTROL_FINISHED_OK
$STATE,7779,begin climb
$GC,7781,1.12,98.9,1003.8,0.0,442,7889,1.27,2.53,98.65,1.222,4,0.089,0.054,3548,195,1545,0,0,0,0,0,0
$GC,7924,1.15,98.9,992.7,11.6,449,7928,0.00,2.42,0.00,0.000,6,0.000,0.035,3548,1615,1542,0,0,0,0,0,0
$GC,8251,1.21,98.9,953.9,11.8,465,8252,0.08,0.00,0.00,0.000,6,0.120,0.000,3587,1615,1537,0,0,0,0,0,0
$GC,8560,1.21,98.9,915.2,12.3,480,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1616,1536,0,0,0,0,0,0
$GC,8869,1.21,98.9,874.5,13.0,495,8873,0.00,2.35,0.00,0.000,4,0.000,0.053,3597,188,1535,0,0,0,0,0,0
$GC,8923,1.15,98.9,866.9,13.9,497,8929,0.10,2.25,0.00,0.000,6,0.151,0.037,3555,1596,1535,0,0,0,0,0,0
$GC,9240,1.20,98.9,827.1,12.8,513,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1596,1534,0,0,0,0,0,0
$GC,9549,1.25,98.9,786.3,13.2,528,9554,0.10,2.28,0.00,0.000,4,0.099,0.053,3616,193,1534,0,0,0,0,0,0
$GC,9679,1.16,98.9,765.7,16.7,534,9684,0.20,2.22,0.00,0.000,6,0.166,0.037,3562,1609,1534,0,0,0,0,0,0
$GC,10006,1.20,98.9,720.5,13.6,550,10010,0.00,2.33,0.00,0.000,4,0.000,0.054,3571,190,1534,0,0,0,0,0,0
$GC,10118,1.20,98.9,704.3,14.5,555,10122,0.00,2.22,0.00,0.000,6,0.000,0.036,3570,1613,1533,0,0,0,0,0,0
$GC,10438,1.20,98.9,661.3,13.3,571,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1613,1533,0,0,0,0,0,0
$GC,10746,1.20,98.9,620.4,13.3,586,10750,0.00,2.33,0.00,0.000,4,0.000,0.053,3578,189,1534,0,0,0,0,0,0
$GC,10779,1.20,98.9,616.0,14.1,587,10784,0.00,2.22,0.00,0.000,6,0.000,0.036,3578,1595,1533,0,0,0,0,0,0
$GC,11095,1.20,98.9,575.9,12.2,603,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1595,1533,0,0,0,0,0,0
$GC,11403,1.20,98.9,537.0,12.3,618,11407,0.00,2.28,0.00,0.000,4,0.000,0.052,3588,198,1533,0,0,0,0,0,0
$GC,11458,1.20,98.9,529.5,13.8,620,11465,0.05,2.22,0.00,0.000,6,0.166,0.037,3571,1602,1533,0,0,0,0,0,0
$GC,11774,1.23,98.9,489.9,12.9,636,11778,0.00,2.30,0.00,0.000,4,0.000,0.053,3580,193,1532,0,0,0,0,0,0
$GC,11851,1.23,98.9,479.5,13.9,639,11856,0.00,2.20,0.00,0.000,6,0.000,0.037,3580,1604,1533,0,0,0,0,0,0
$GC,12167,1.23,98.9,440.3,12.6,655,12171,0.00,2.22,0.00,0.000,4,0.000,0.053,3580,2997,1532,0,0,0,0,0,0
$GC,12269,1.23,98.9,427.2,13.0,659,12273,0.00,2.17,0.00,0.000,6,0.000,0.036,3589,1594,1532,0,0,0,0,0,0
$GC,12583,1.23,98.9,387.6,12.5,674,12587,0.00,2.25,0.00,0.000,4,0.000,0.054,3600,192,1532,0,0,0,0,0,0
$GC,12756,1.19,98.9,364.4,13.3,682,12761,0.12,2.20,0.00,0.000,6,0.174,0.036,3568,1601,1532,0,0,0,0,0,0
$GC,13082,1.23,98.9,325.1,12.1,698,13086,0.00,2.30,0.00,0.000,4,0.000,0.052,3577,193,1532,0,0,0,0,0,0
$GC,13171,1.23,98.9,313.3,13.6,702,13175,0.00,2.22,0.00,0.000,6,0.000,0.037,3577,1602,1532,0,0,0,0,0,0
$GC,13499,1.23,98.9,272.1,12.4,718,13503,0.00,2.22,0.00,0.000,4,0.000,0.054,3577,2990,1532,0,0,0,0,0,0
$GC,13531,1.23,98.9,267.7,13.2,719,13537,0.00,2.17,0.00,0.000,6,0.000,0.035,3586,1604,1532,0,0,0,0,0,0
$GC,13850,1.23,98.9,228.5,12.1,735,13854,0.00,2.30,0.00,0.000,4,0.000,0.054,3597,189,1532,0,0,0,0,0,0
$GC,13958,1.20,98.9,215.0,12.5,740,13962,0.10,2.20,0.00,0.000,6,0.187,0.034,3573,1602,1531,0,0,0,0,0,0
$GC,14286,1.24,98.9,181.5,9.9,756,14290,0.00,2.22,0.00,0.000,4,0.000,0.052,3573,2997,1531,0,0,0,0,0,0
$GC,14454,1.24,98.9,164.9,9.5,763,14459,0.00,2.20,0.00,0.000,6,0.000,0.035,3581,1592,1531,0,0,0,0,0,0
$GC,14779,1.27,98.9,133.2,9.9,779,14783,0.00,2.25,0.00,0.000,4,0.000,0.054,3592,189,1531,0,0,0,0,0,0
$GC,14986,1.27,98.9,109.4,10.9,788,14990,0.00,2.22,0.00,0.000,6,0.000,0.035,3592,1599,1531,0,0,0,0,0,0
$GC,15306,1.27,98.9,74.1,11.1,809,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1599,1531,0,0,0,0,0,0
$GC,15659,1.27,98.9,35.8,11.0,870,15667,0.00,2.30,0.00,0.000,4,0.000,0.051,3601,203,1531,0,0,0,0,0,0
$GC,15737,1.24,98.9,26.1,13.6,882,15745,0.05,2.20,0.00,0.000,6,0.165,0.036,3585,1598,1531,0,0,0,0,0,0
$GC,15895,1.24,98.9,8.6,10.2,907,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1598,1531,0,0,0,0,0,0
$GC,15953,1.21,98.9,3.2,9.7,916,15960,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1600,1530,0,0,0,0,0,0
$STATE,15968,end climb,SURFACE_DEPTH_REACHED
$STATE,15968,begin surface coast
$FINISH,2.2,1.023403
$STATE,16001,end surface coast,CONTROL_FINISHED_OK
$STATE,16001,begin surface
$SM_CCo,16020,48.10,0.055,0,0,1133,200.16
$SM_GC,3.50,0.00,0.00,48.10,0.000,0.000,0.055,62,2072,1133,-9.76,0.34,200.16
$IRIDIUM_FIX,-4444.39,640.27,280808,121203
$TT8_MAMPS,0.026964
$HUMID,64.45
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,2
$24V_AH,22.2,53.320
$10V_AH,9.7,56.025
$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,24.350,118.850,192.225,48.100,0.000,28.501,23.755,283.504,0.500,0.000,21.630,2047.500,11210.811,344.164,2713.916,238.495,0.000,1342.016,0.000,2261.473,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,60.435,1259.955,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.011,1347.931,755.793,454.211,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353228
$DATA_FILE_SIZE,67210,923
$CAP_FILE_SIZE,141752,0
$CFSIZE,2097086464,2033221632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021115,090734,-4504.016,636.990,33,0.8,33,-24.4