version: 66.07.10.p01
glider: 573
mission: 12
dive: 464
start: 11 5 115 20 10 7
data:
$ID,573
$MISSION,12
$DIVE,464
$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,-22447.754
$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,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,463
$GPS1,051115,200103,-4456.458,625.768,27,1.0,27,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.0
$GPS2,051115,200946,-4456.521,625.781,33,1.0,33,-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,316.9,2526,-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,25,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-19.98,0.000,2,0.000,0.000,61,2073,1526,0,0,0,0,0,0
$GC,50,-1.12,-98.8,3.2,-2.9,3,108,11.50,2.30,-40.62,0.000,4,0.237,0.073,2808,3462,2352,0,0,0,0,0,0
$GC,288,-1.09,-98.8,28.1,-16.0,41,296,0.05,2.25,0.00,0.000,6,0.175,0.041,2827,2057,2355,0,0,0,0,0,0
$GC,440,-1.09,-98.8,51.3,-15.1,66,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2355,0,0,0,0,0,0
$GC,783,-1.09,-98.8,101.8,-14.8,107,787,0.00,2.30,0.00,0.000,4,0.000,0.060,2818,3453,2356,0,0,0,0,0,0
$GC,916,-1.09,-98.8,121.6,-14.7,113,920,0.00,2.20,0.00,0.000,6,0.000,0.043,2821,2061,2356,0,0,0,0,0,0
$GC,1244,-1.09,-98.8,169.3,-14.1,129,1248,0.00,2.28,0.00,0.000,4,0.000,0.057,2813,3454,2356,0,0,0,0,0,0
$GC,1287,-1.09,-98.8,175.3,-14.6,131,1292,0.08,2.20,0.00,0.000,6,0.204,0.041,2829,2056,2356,0,0,0,0,0,0
$GC,1617,-1.12,-98.8,218.8,-12.8,147,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2056,2356,0,0,0,0,0,0
$GC,1923,-1.15,-98.8,258.7,-13.2,162,1927,0.00,2.28,0.00,0.000,4,0.000,0.056,2829,651,2356,0,0,0,0,0,0
$GC,1955,-1.15,-98.8,263.7,-14.1,163,1961,0.00,2.25,0.00,0.000,6,0.000,0.042,2821,2051,2357,0,0,0,0,0,0
$GC,2272,-1.15,-98.8,307.7,-14.3,179,2276,0.00,2.28,0.00,0.000,4,0.000,0.055,2810,3468,2356,0,0,0,0,0,0
$GC,2371,-1.15,-98.8,322.5,-15.3,183,2376,0.00,2.22,0.00,0.000,6,0.000,0.041,2810,2062,2356,0,0,0,0,0,0
$GC,2688,-1.15,-98.8,367.4,-14.3,199,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2062,2357,0,0,0,0,0,0
$GC,2996,-1.15,-98.8,411.9,-14.3,214,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2062,2357,0,0,0,0,0,0
$GC,3306,-1.15,-98.8,455.7,-14.1,229,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2062,2357,0,0,0,0,0,0
$GC,3614,-1.15,-98.8,499.0,-13.9,244,3618,0.00,2.28,0.00,0.000,4,0.000,0.057,2801,3466,2357,0,0,0,0,0,0
$GC,3647,-1.15,-98.8,503.7,-15.0,245,3652,0.00,2.22,0.00,0.000,6,0.000,0.040,2802,2057,2356,0,0,0,0,0,0
$GC,3963,-1.15,-98.8,549.1,-14.1,261,3967,0.00,2.33,0.00,0.000,4,0.000,0.060,2793,3474,2356,0,0,0,0,0,0
$GC,4012,-1.15,-98.8,556.3,-14.9,263,4017,0.03,2.25,0.00,0.000,6,0.203,0.044,2801,2066,2356,0,0,0,0,0,0
$GC,4333,-1.15,-98.8,600.2,-13.4,279,4337,0.00,2.28,0.00,0.000,4,0.000,0.055,2792,3471,2356,0,0,0,0,0,0
$GC,4377,-1.15,-98.8,606.7,-13.7,281,4382,0.05,2.25,0.00,0.000,6,0.182,0.043,2807,2061,2356,0,0,0,0,0,0
$GC,4704,-1.15,-98.8,648.7,-12.5,297,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2061,2356,0,0,0,0,0,0
$GC,5012,-1.15,-98.8,687.8,-12.8,312,5016,0.00,2.30,0.00,0.000,4,0.000,0.059,2799,3469,2355,0,0,0,0,0,0
$GC,5078,-1.15,-98.8,696.5,-12.9,315,5082,0.00,2.25,0.00,0.000,6,0.000,0.043,2799,2053,2356,0,0,0,0,0,0
$GC,5405,-1.15,-98.8,737.7,-12.6,331,5409,0.00,2.30,0.00,0.000,4,0.000,0.060,2790,3466,2355,0,0,0,0,0,0
$GC,5466,-1.15,-98.8,746.0,-13.3,334,5471,0.08,2.22,0.00,0.000,6,0.202,0.043,2807,2054,2355,0,0,0,0,0,0
$GC,5792,-1.15,-98.8,786.7,-12.4,350,5796,0.00,2.33,0.00,0.000,4,0.000,0.060,2797,3466,2355,0,0,0,0,0,0
$GC,5855,-1.15,-98.8,794.6,-12.8,353,5859,0.00,2.22,0.00,0.000,6,0.000,0.043,2798,2059,2355,0,0,0,0,0,0
$GC,6182,-1.15,-98.8,837.2,-12.8,369,6183,0.05,0.00,0.00,0.000,6,0.237,0.000,2807,2059,2354,0,0,0,0,0,0
$GC,6490,-1.19,-98.8,874.5,-11.8,384,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2059,2354,0,0,0,0,0,0
$GC,6801,-1.22,-98.8,909.7,-11.0,399,6805,0.00,2.30,0.00,0.000,4,0.000,0.061,2799,3463,2353,0,0,0,0,0,0
$GC,6872,-1.22,-98.8,918.1,-10.5,402,6877,0.00,2.25,0.00,0.000,6,0.000,0.042,2799,2055,2354,0,0,0,0,0,0
$GC,7192,-1.22,-98.8,954.6,-11.6,418,7196,0.00,2.33,0.00,0.000,4,0.000,0.061,2791,3465,2353,0,0,0,0,0,0
$GC,7350,-1.22,-98.8,973.2,-11.6,425,7354,0.00,2.22,0.00,0.000,6,0.000,0.043,2790,2058,2353,0,0,0,0,0,0
$STATE,7586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7586,begin apogee
$GC,7592,-0.19,0.0,1000.4,11.4,437,7690,1.15,0.00,94.35,1.263,6,0.161,0.000,3119,1592,1950,0,0,0,0,0,0
$STATE,7691,end apogee,CONTROL_FINISHED_OK
$STATE,7691,begin climb
$GC,7693,1.12,98.8,1003.5,0.0,442,7802,1.27,2.60,99.30,1.219,4,0.084,0.055,3551,196,1546,0,0,0,0,0,0
$GC,7879,1.12,98.8,984.7,13.7,451,7884,0.00,2.40,0.00,0.000,6,0.000,0.036,3551,1603,1542,0,0,0,0,0,0
$GC,8208,1.17,98.8,941.8,13.2,467,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1603,1539,0,0,0,0,0,0
$GC,8516,1.23,98.8,899.9,13.5,482,8521,0.08,2.28,0.00,0.000,4,0.123,0.054,3594,3005,1536,0,0,0,0,0,0
$GC,8565,1.18,98.8,892.5,14.9,484,8570,0.15,2.22,0.00,0.000,6,0.179,0.037,3565,1591,1537,0,0,0,0,0,0
$GC,8881,1.18,98.8,852.0,12.5,499,8885,0.00,2.28,0.00,0.000,4,0.000,0.055,3575,199,1536,0,0,0,0,0,0
$GC,8970,1.18,98.8,840.0,13.7,503,8974,0.00,2.22,0.00,0.000,6,0.000,0.038,3575,1607,1535,0,0,0,0,0,0
$GC,9297,1.18,98.8,798.1,12.8,519,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1607,1535,0,0,0,0,0,0
$GC,9605,1.18,98.8,757.8,13.5,534,9609,0.00,2.30,0.00,0.000,4,0.000,0.054,3585,201,1535,0,0,0,0,0,0
$GC,9667,1.18,98.8,749.2,14.3,537,9672,0.08,2.20,0.00,0.000,6,0.200,0.037,3568,1603,1535,0,0,0,0,0,0
$GC,9994,1.18,98.8,705.9,12.8,553,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1603,1535,0,0,0,0,0,0
$GC,10302,1.21,98.8,664.8,13.3,568,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1603,1535,0,0,0,0,0,0
$GC,10612,1.21,98.8,625.1,12.6,583,10616,0.00,2.28,0.00,0.000,4,0.000,0.054,3577,199,1534,0,0,0,0,0,0
$GC,10679,1.21,98.8,616.1,13.0,586,10683,0.00,2.22,0.00,0.000,6,0.000,0.038,3577,1601,1534,0,0,0,0,0,0
$GC,11005,1.21,98.8,575.1,12.7,602,11009,0.00,2.25,0.00,0.000,4,0.000,0.055,3577,2998,1534,0,0,0,0,0,0
$GC,11082,1.21,98.8,564.9,13.4,605,11087,0.00,2.17,0.00,0.000,6,0.000,0.037,3585,1610,1534,0,0,0,0,0,0
$GC,11398,1.21,98.8,524.3,12.6,621,11402,0.00,2.30,0.00,0.000,4,0.000,0.055,3597,195,1534,0,0,0,0,0,0
$GC,11460,1.17,98.8,515.9,14.1,624,11465,0.15,2.22,0.00,0.000,6,0.174,0.038,3558,1611,1533,0,0,0,0,0,0
$GC,11787,1.23,98.8,478.8,11.3,640,11789,0.05,0.00,0.00,0.000,6,0.168,0.000,3594,1611,1533,0,0,0,0,0,0
$GC,12096,1.23,98.8,439.7,12.5,655,12100,0.00,2.30,0.00,0.000,4,0.000,0.054,3604,195,1533,0,0,0,0,0,0
$GC,12213,1.18,98.8,424.0,12.9,660,12218,0.15,2.20,0.00,0.000,6,0.174,0.036,3565,1598,1533,0,0,0,0,0,0
$GC,12530,1.23,98.8,386.1,12.3,675,12535,0.00,2.28,0.00,0.000,4,0.000,0.053,3574,193,1533,0,0,0,0,0,0
$GC,12619,1.23,98.8,374.0,14.0,679,12623,0.00,2.22,0.00,0.000,6,0.000,0.037,3574,1596,1533,0,0,0,0,0,0
$GC,12947,1.27,98.8,332.2,12.7,695,12951,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,190,1533,0,0,0,0,0,0
$GC,13047,1.27,98.8,318.5,13.3,699,13052,0.00,2.22,0.00,0.000,6,0.000,0.037,3583,1593,1533,0,0,0,0,0,0
$GC,13367,1.27,98.8,278.5,12.6,715,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1593,1533,0,0,0,0,0,0
$GC,13673,1.27,98.8,240.6,12.1,730,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1593,1533,0,0,0,0,0,0
$GC,13984,1.27,98.8,204.6,11.8,745,13988,0.00,2.28,0.00,0.000,4,0.000,0.052,3592,189,1533,0,0,0,0,0,0
$GC,14084,1.27,98.8,192.1,11.4,749,14090,0.00,2.22,0.00,0.000,6,0.000,0.036,3592,1600,1533,0,0,0,0,0,0
$GC,14402,1.27,98.8,156.1,11.1,765,14406,0.00,2.30,0.00,0.000,4,0.000,0.053,3601,187,1533,0,0,0,0,0,0
$GC,14480,1.27,98.8,146.8,11.7,768,14488,0.00,2.25,0.00,0.000,6,0.000,0.036,3601,1608,1533,0,0,0,0,0,0
$GC,14796,1.27,98.8,111.5,11.6,784,14800,0.00,2.20,0.00,0.000,4,0.000,0.052,3601,2992,1533,0,0,0,0,0,0
$GC,14891,1.27,98.8,99.5,13.0,788,14896,0.05,2.20,0.00,0.000,6,0.181,0.036,3594,1588,1533,0,0,0,0,0,0
$GC,15224,1.27,98.8,60.0,12.1,823,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1587,1533,0,0,0,0,0,0
$GC,15588,1.27,98.8,17.7,10.6,884,15595,0.00,2.28,0.00,0.000,4,0.000,0.054,3605,201,1532,0,0,0,0,0,0
$STATE,15705,end climb,SURFACE_DEPTH_REACHED
$STATE,15706,begin surface coast
$FINISH,1.9,1.004554
$STATE,15733,end surface coast,CONTROL_FINISHED_OK
$STATE,15733,begin surface
$SM_CCo,15754,48.05,0.055,0,0,1134,200.16
$SM_GC,3.77,0.00,0.00,48.05,0.000,0.000,0.055,63,2054,1134,-9.76,-0.17,200.16
$IRIDIUM_FIX,-4438.33,624.11,010908,030304
$TT8_MAMPS,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,22.2,54.992
$10V_AH,9.7,57.799
$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,24.425,123.775,193.650,48.050,0.000,25.119,25.221,301.541,0.250,0.000,35.596,2003.111,11055.689,361.867,2661.875,234.577,0.000,1310.414,0.000,2193.369,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,73.440,1263.015,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.915,1331.743,749.612,449.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,64045,907
$CAP_FILE_SIZE,135706,0
$CFSIZE,2097086464,2031288320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061115,003433,-4456.271,624.567,27,1.1,27,-24.4