version: 66.07.10.p01
glider: 573
mission: 12
dive: 469
start: 11 6 115 23 46 32
data:
$ID,573
$MISSION,12
$DIVE,469
$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,-22463.113
$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,30
$R_STBD_OVSHOOT,33
$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,468
$GPS1,061115,233733,-4456.923,638.069,31,0.8,31,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-69.8
$GPS2,061115,234611,-4456.943,638.070,18,1.1,18,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,327.2,3228,-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,-49.9,0.0,0.0,0,53,0.00,0.00,-26.00,0.000,2,0.000,0.000,71,2060,1638,0,0,0,0,0,0
$GC,56,-1.12,-97.6,3.3,-3.1,4,108,11.20,2.33,-34.65,0.000,4,0.227,0.068,2806,3474,2347,0,0,0,0,0,0
$GC,382,-1.08,-97.6,42.4,-15.7,57,390,0.08,2.28,0.00,0.000,6,0.154,0.044,2830,2069,2350,0,0,0,0,0,0
$GC,735,-1.08,-97.6,96.3,-15.2,105,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2069,2350,0,0,0,0,0,0
$GC,1043,-1.08,-97.6,143.5,-15.0,120,1047,0.00,2.30,0.00,0.000,4,0.000,0.054,2839,645,2351,0,0,0,0,0,0
$GC,1062,-1.08,-97.6,146.1,-15.1,121,1066,0.00,2.22,0.00,0.000,6,0.000,0.037,2830,2066,2351,0,0,0,0,0,0
$GC,1390,-1.08,-97.6,192.2,-13.2,137,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2066,2351,0,0,0,0,0,0
$GC,1698,-1.12,-97.6,232.7,-13.0,152,1702,0.00,2.25,0.00,0.000,4,0.000,0.060,2819,3460,2351,0,0,0,0,0,0
$GC,1752,-1.12,-97.6,240.3,-13.5,154,1757,0.00,2.22,0.00,0.000,6,0.000,0.040,2819,2053,2351,0,0,0,0,0,0
$GC,2074,-1.12,-97.6,281.2,-12.8,170,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2053,2351,0,0,0,0,0,0
$GC,2384,-1.12,-97.6,321.3,-12.6,185,2388,0.00,2.30,0.00,0.000,4,0.000,0.058,2810,3467,2351,0,0,0,0,0,0
$GC,2474,-1.12,-97.6,333.3,-13.2,189,2478,0.00,2.22,0.00,0.000,6,0.000,0.041,2810,2050,2351,0,0,0,0,0,0
$GC,2800,-1.12,-97.6,376.6,-13.5,205,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2050,2351,0,0,0,0,0,0
$GC,3108,-1.12,-97.6,416.5,-13.1,220,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2050,2351,0,0,0,0,0,0
$GC,3419,-1.12,-97.6,457.6,-13.1,235,3423,0.00,2.28,0.00,0.000,4,0.000,0.057,2802,3457,2351,0,0,0,0,0,0
$GC,3462,-1.12,-97.6,463.9,-13.7,237,3467,0.05,2.20,0.00,0.000,6,0.174,0.041,2818,2068,2351,0,0,0,0,0,0
$GC,3791,-1.15,-97.6,506.1,-12.7,253,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2068,2351,0,0,0,0,0,0
$GC,4098,-1.19,-97.6,546.6,-12.9,268,4102,0.00,2.22,0.00,0.000,4,0.000,0.053,2810,3462,2351,0,0,0,0,0,0
$GC,4137,-1.19,-97.6,551.5,-12.7,270,4141,0.00,2.20,0.00,0.000,6,0.000,0.040,2811,2056,2351,0,0,0,0,0,0
$GC,4462,-1.19,-97.6,593.0,-12.4,286,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2056,2351,0,0,0,0,0,0
$GC,4773,-1.19,-97.6,632.7,-12.5,301,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2055,2351,0,0,0,0,0,0
$GC,5082,-1.19,-97.6,669.9,-11.8,316,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2055,2351,0,0,0,0,0,0
$GC,5392,-1.22,-97.6,705.4,-11.2,331,5396,0.00,2.30,0.00,0.000,4,0.000,0.060,2802,3465,2350,0,0,0,0,0,0
$GC,5431,-1.22,-97.6,710.3,-12.0,333,5436,0.00,2.22,0.00,0.000,6,0.000,0.043,2802,2059,2350,0,0,0,0,0,0
$GC,5758,-1.22,-97.6,746.8,-11.1,349,5762,0.00,2.28,0.00,0.000,4,0.000,0.060,2793,3455,2350,0,0,0,0,0,0
$GC,5843,-1.22,-97.6,756.4,-11.7,353,5848,0.00,2.22,0.00,0.000,6,0.000,0.044,2794,2053,2350,0,0,0,0,0,0
$GC,6170,-1.22,-97.6,792.8,-11.3,369,6174,0.00,2.28,0.00,0.000,4,0.000,0.060,2794,654,2348,0,0,0,0,0,0
$GC,6203,-1.19,-97.6,796.9,-11.8,370,6209,0.05,2.22,0.00,0.000,6,0.252,0.044,2795,2053,2349,0,0,0,0,0,0
$GC,6518,-1.19,-97.6,831.2,-11.0,386,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2052,2349,0,0,0,0,0,0
$GC,6829,-1.19,-97.6,865.0,-11.3,401,6833,0.00,2.30,0.00,0.000,4,0.000,0.060,2785,3474,2349,0,0,0,0,0,0
$GC,6884,-1.19,-97.6,871.5,-11.7,403,6889,0.05,2.28,0.00,0.000,6,0.226,0.045,2795,2063,2349,0,0,0,0,0,0
$GC,7206,-1.19,-97.6,906.3,-10.4,419,7210,0.00,2.28,0.00,0.000,4,0.000,0.060,2786,3463,2349,0,0,0,0,0,0
$GC,7255,-1.19,-97.6,912.0,-11.7,421,7259,0.00,2.25,0.00,0.000,6,0.000,0.042,2786,2057,2348,0,0,0,0,0,0
$GC,7577,-1.19,-97.6,946.6,-10.7,437,7582,0.05,2.33,0.00,0.000,4,0.240,0.062,2787,3462,2348,0,0,0,0,0,0
$GC,7683,-1.19,-97.6,958.6,-11.4,442,7687,0.00,2.22,0.00,0.000,6,0.000,0.043,2789,2060,2348,0,0,0,0,0,0
$GC,8008,-1.19,-97.6,994.8,-11.5,458,8012,0.00,2.28,0.00,0.000,4,0.000,0.060,2781,3463,2347,0,0,0,0,0,0
$STATE,8050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8050,begin apogee
$GC,8058,-0.19,0.0,1000.3,12.2,460,8156,1.15,0.00,93.38,1.261,6,0.161,0.000,3115,1593,1950,0,0,0,0,0,0
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8159,1.12,97.6,1003.9,0.0,465,8266,1.27,2.55,97.78,1.219,4,0.086,0.056,3552,198,1551,0,0,0,0,0,0
$GC,8310,1.12,97.6,991.4,12.6,472,8314,0.00,2.42,0.00,0.000,6,0.000,0.037,3552,1612,1547,0,0,0,0,0,0
$GC,8631,1.17,97.6,952.5,12.2,488,8635,0.00,2.30,0.00,0.000,4,0.000,0.055,3552,3001,1544,0,0,0,0,0,0
$GC,8693,1.17,97.6,944.8,12.5,491,8697,0.00,2.25,0.00,0.000,6,0.000,0.036,3561,1591,1544,0,0,0,0,0,0
$GC,9020,1.20,97.6,903.4,13.1,507,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1591,1543,0,0,0,0,0,0
$GC,9328,1.23,97.6,862.4,13.1,522,9332,0.00,2.28,0.00,0.000,4,0.000,0.057,3570,189,1542,0,0,0,0,0,0
$GC,9440,1.23,97.6,846.8,13.5,527,9445,0.00,2.25,0.00,0.000,6,0.000,0.038,3571,1614,1540,0,0,0,0,0,0
$GC,9762,1.23,97.6,802.6,13.3,543,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1614,1540,0,0,0,0,0,0
$GC,10070,1.23,97.6,762.1,13.1,558,10074,0.00,2.33,0.00,0.000,4,0.000,0.054,3581,186,1540,0,0,0,0,0,0
$GC,10132,1.23,97.6,753.8,14.3,561,10136,0.00,2.22,0.00,0.000,6,0.000,0.038,3581,1604,1539,0,0,0,0,0,0
$GC,10459,1.23,97.6,711.8,12.9,577,10463,0.00,2.22,0.00,0.000,4,0.000,0.054,3581,2992,1539,0,0,0,0,0,0
$GC,10553,1.23,97.6,698.8,13.6,581,10557,0.00,2.20,0.00,0.000,6,0.000,0.037,3590,1599,1539,0,0,0,0,0,0
$GC,10875,1.23,97.6,657.3,12.8,597,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1598,1539,0,0,0,0,0,0
$GC,11183,1.23,97.6,616.7,13.4,612,11187,0.00,2.28,0.00,0.000,4,0.000,0.057,3600,191,1539,0,0,0,0,0,0
$GC,11340,1.17,97.6,595.0,14.1,619,11345,0.15,2.20,0.00,0.000,6,0.170,0.035,3561,1600,1538,0,0,0,0,0,0
$GC,11663,1.23,97.6,555.9,12.1,635,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1600,1538,0,0,0,0,0,0
$GC,11970,1.28,97.6,519.1,11.9,650,11971,0.10,0.00,0.00,0.000,6,0.099,0.000,3611,1600,1538,0,0,0,0,0,0
$GC,12280,1.24,97.6,477.2,13.5,665,12285,0.10,2.30,0.00,0.000,4,0.186,0.054,3596,196,1538,0,0,0,0,0,0
$GC,12420,1.20,97.6,458.2,13.5,671,12424,0.10,2.20,0.00,0.000,6,0.186,0.038,3572,1600,1538,0,0,0,0,0,0
$GC,12741,1.24,97.6,420.8,11.6,687,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1600,1538,0,0,0,0,0,0
$GC,13049,1.28,97.6,386.2,10.7,702,13051,0.08,0.00,0.00,0.000,6,0.122,0.000,3615,1600,1538,0,0,0,0,0,0
$GC,13360,1.23,97.6,347.7,12.7,717,13365,0.12,2.22,0.00,0.000,4,0.184,0.053,3583,2991,1538,0,0,0,0,0,0
$GC,13414,1.23,97.6,340.7,12.3,719,13419,0.00,2.20,0.00,0.000,6,0.000,0.037,3592,1590,1538,0,0,0,0,0,0
$GC,13731,1.23,97.6,304.4,11.3,735,13735,0.00,2.25,0.00,0.000,4,0.000,0.055,3603,196,1538,0,0,0,0,0,0
$GC,13780,1.19,97.6,298.5,12.5,737,13785,0.12,2.20,0.00,0.000,6,0.187,0.038,3570,1604,1538,0,0,0,0,0,0
$GC,14107,1.24,97.6,264.2,10.8,753,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1604,1537,0,0,0,0,0,0
$GC,14411,1.29,97.6,229.2,11.4,768,14413,0.08,0.00,0.00,0.000,6,0.124,0.000,3611,1604,1537,0,0,0,0,0,0
$GC,14722,1.29,97.6,189.7,12.7,783,14726,0.00,2.30,0.00,0.000,4,0.000,0.054,3621,199,1537,0,0,0,0,0,0
$GC,14953,1.22,97.6,158.7,14.2,793,14958,0.15,2.20,0.00,0.000,6,0.181,0.037,3582,1601,1537,0,0,0,0,0,0
$GC,15271,1.26,97.6,125.5,10.8,808,15275,0.00,2.22,0.00,0.000,4,0.000,0.054,3582,2993,1537,0,0,0,0,0,0
$GC,15316,1.26,97.6,120.4,10.5,810,15320,0.00,2.17,0.00,0.000,6,0.000,0.036,3590,1591,1537,0,0,0,0,0,0
$GC,15642,1.26,97.6,83.2,11.6,826,15646,0.00,2.25,0.00,0.000,4,0.000,0.054,3601,192,1537,0,0,0,0,0,0
$GC,15759,1.23,97.6,69.4,12.0,841,15765,0.10,2.22,0.00,0.000,6,0.190,0.037,3578,1614,1537,0,0,0,0,0,0
$GC,16119,1.28,97.6,31.5,10.6,902,16127,0.00,2.22,0.00,0.000,4,0.000,0.054,3577,2986,1537,0,0,0,0,0,0
$STATE,16384,end climb,SURFACE_DEPTH_REACHED
$STATE,16384,begin surface coast
$FINISH,1.8,1.012780
$STATE,16410,end surface coast,CONTROL_FINISHED_OK
$STATE,16410,begin surface
$SM_CCo,16430,48.62,0.054,0,0,1133,200.16
$SM_GC,3.20,0.00,0.00,48.62,0.000,0.000,0.054,79,2055,1133,-9.71,-0.11,200.16
$IRIDIUM_FIX,-4438.33,1135.30,020908,070728
$TT8_MAMPS,0.026964
$HUMID,64.68
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.1,55.526
$10V_AH,9.7,58.381
$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,24.425,117.450,191.150,48.625,0.000,27.269,40.968,293.865,0.000,0.000,21.050,2082.851,11615.634,324.349,2725.812,240.999,0.000,1298.207,0.000,2254.845,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,68.085,1260.720,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.056,1385.698,776.047,479.222,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,67069,949
$CAP_FILE_SIZE,139283,0
$CFSIZE,2097086464,2030600192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071115,042228,-4456.596,636.706,40,1.0,40,-24.4