version: 66.07.10.p01
glider: 573
mission: 12
dive: 470
start: 11 7 115 4 30 36
data:
$ID,573
$MISSION,12
$DIVE,470
$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,-22465.949
$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,46
$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,469
$GPS1,071115,042228,-4456.596,636.706,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-69.4
$GPS2,071115,043016,-4456.693,636.661,18,1.1,18,-24.4
$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,350.4,1548,-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,-49.9,0.0,0.0,0,53,0.00,0.00,-25.38,0.000,2,0.000,0.000,79,2055,1623,0,0,0,0,0,0
$GC,56,-1.12,-98.7,3.2,-3.0,4,108,11.30,2.30,-34.35,0.000,4,0.232,0.070,2807,3448,2352,0,0,0,0,0,0
$GC,234,-1.09,-98.7,21.3,-16.8,32,242,0.05,2.25,0.00,0.000,6,0.171,0.044,2827,2058,2354,0,0,0,0,0,0
$GC,388,-1.09,-98.7,43.4,-13.8,57,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2354,0,0,0,0,0,0
$GC,746,-1.09,-98.7,95.3,-14.6,106,750,0.00,2.30,0.00,0.000,4,0.000,0.061,2818,3448,2355,0,0,0,0,0,0
$GC,897,-1.09,-98.7,119.1,-15.9,112,905,0.00,2.22,0.00,0.000,6,0.000,0.044,2822,2065,2355,0,0,0,0,0,0
$GC,1213,-1.09,-98.7,164.7,-13.2,128,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2065,2355,0,0,0,0,0,0
$GC,1525,-1.09,-98.7,207.7,-14.5,143,1529,0.00,2.28,0.00,0.000,4,0.000,0.054,2822,650,2355,0,0,0,0,0,0
$GC,1636,-1.09,-98.7,224.1,-14.5,148,1641,0.05,2.25,0.00,0.000,6,0.181,0.041,2829,2049,2355,0,0,0,0,0,0
$GC,1964,-1.12,-98.7,267.1,-13.2,164,1968,0.00,2.28,0.00,0.000,4,0.000,0.056,2818,3469,2356,0,0,0,0,0,0
$GC,2036,-1.12,-98.7,277.1,-13.9,167,2040,0.00,2.25,0.00,0.000,6,0.000,0.042,2819,2052,2356,0,0,0,0,0,0
$GC,2364,-1.12,-98.7,320.1,-13.5,183,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2052,2356,0,0,0,0,0,0
$GC,2672,-1.12,-98.7,361.2,-13.2,198,2676,0.00,2.25,0.00,0.000,4,0.000,0.055,2819,649,2356,0,0,0,0,0,0
$GC,2704,-1.12,-98.7,365.8,-14.2,199,2709,0.00,2.25,0.00,0.000,6,0.000,0.042,2810,2056,2356,0,0,0,0,0,0
$GC,3021,-1.12,-98.7,407.9,-13.5,215,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2056,2356,0,0,0,0,0,0
$GC,3329,-1.12,-98.7,448.9,-13.4,230,3333,0.00,2.28,0.00,0.000,4,0.000,0.060,2798,3469,2356,0,0,0,0,0,0
$GC,3361,-1.12,-98.7,453.3,-13.4,231,3366,0.05,2.25,0.00,0.000,6,0.168,0.043,2815,2060,2356,0,0,0,0,0,0
$GC,3678,-1.12,-98.7,493.3,-12.5,247,3682,0.00,2.25,0.00,0.000,4,0.000,0.056,2815,656,2356,0,0,0,0,0,0
$GC,3699,-1.12,-98.7,496.3,-13.4,248,3703,0.00,2.25,0.00,0.000,6,0.000,0.043,2806,2056,2356,0,0,0,0,0,0
$GC,4025,-1.12,-98.7,537.7,-12.7,264,4030,0.05,2.33,0.00,0.000,4,0.254,0.060,2806,3475,2356,0,0,0,0,0,0
$GC,4051,-1.12,-98.7,541.2,-12.7,265,4056,0.00,2.25,0.00,0.000,6,0.000,0.044,2806,2065,2356,0,0,0,0,0,0
$GC,4379,-1.12,-98.7,581.2,-12.4,281,4381,0.05,0.00,0.00,0.000,6,0.234,0.000,2817,2065,2355,0,0,0,0,0,0
$GC,4688,-1.16,-98.7,617.4,-11.5,296,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2065,2355,0,0,0,0,0,0
$GC,4998,-1.20,-98.7,654.2,-12.0,311,5002,0.00,2.28,0.00,0.000,4,0.000,0.055,2817,647,2354,0,0,0,0,0,0
$GC,5019,-1.20,-98.7,657.0,-12.3,312,5023,0.00,2.25,0.00,0.000,6,0.000,0.040,2809,2062,2355,0,0,0,0,0,0
$GC,5345,-1.20,-98.7,696.5,-12.2,328,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2061,2354,0,0,0,0,0,0
$GC,5656,-1.20,-98.7,734.1,-12.4,343,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2062,2354,0,0,0,0,0,0
$GC,5964,-1.20,-98.7,770.5,-11.9,358,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2061,2354,0,0,0,0,0,0
$GC,6274,-1.20,-98.7,806.4,-11.8,373,6278,0.00,2.30,0.00,0.000,4,0.000,0.065,2798,3462,2354,0,0,0,0,0,0
$GC,6301,-1.20,-98.7,809.9,-12.7,374,6305,0.00,2.25,0.00,0.000,6,0.000,0.044,2797,2058,2354,0,0,0,0,0,0
$GC,6627,-1.20,-98.7,848.8,-12.1,390,6631,0.00,2.30,0.00,0.000,4,0.000,0.060,2789,3468,2353,0,0,0,0,0,0
$GC,6694,-1.20,-98.7,857.3,-13.4,393,6698,0.00,2.25,0.00,0.000,6,0.000,0.045,2789,2067,2353,0,0,0,0,0,0
$GC,7021,-1.20,-98.7,896.4,-11.8,409,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2067,2353,0,0,0,0,0,0
$GC,7329,-1.20,-98.7,930.7,-10.8,424,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2067,2353,0,0,0,0,0,0
$GC,7640,-1.20,-98.7,964.7,-11.0,439,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2067,2353,0,0,0,0,0,0
$GC,7948,-1.20,-98.7,998.1,-10.6,454,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2067,2352,0,0,0,0,0,0
$STATE,7969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7970,begin apogee
$GC,7976,-0.19,0.0,1000.6,11.1,455,8074,1.15,0.00,94.43,1.258,6,0.158,0.000,3119,1580,1950,0,0,0,0,0,0
$STATE,8075,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8077,1.12,98.7,1003.1,0.0,460,8180,1.27,0.00,99.60,1.219,6,0.082,0.000,3542,1580,1546,0,0,0,0,0,0
$GC,8480,1.20,98.7,955.5,13.5,480,8485,0.08,2.33,0.00,0.000,4,0.116,0.057,3597,203,1540,0,0,0,0,0,0
$GC,8557,1.14,98.7,942.9,16.5,483,8562,0.17,2.25,0.00,0.000,6,0.165,0.038,3552,1606,1539,0,0,0,0,0,0
$GC,8874,1.19,98.7,900.5,13.5,499,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1606,1536,0,0,0,0,0,0
$GC,9182,1.24,98.7,860.4,12.7,514,9183,0.10,0.00,0.00,0.000,6,0.099,0.000,3605,1606,1536,0,0,0,0,0,0
$GC,9492,1.20,98.7,814.5,15.0,529,9494,0.12,0.00,0.00,0.000,6,0.181,0.000,3574,1608,1535,0,0,0,0,0,0
$GC,9800,1.20,98.7,771.9,13.4,544,9804,0.00,2.30,0.00,0.000,4,0.000,0.056,3583,199,1535,0,0,0,0,0,0
$GC,9871,1.20,98.7,761.6,14.2,547,9875,0.00,2.22,0.00,0.000,6,0.000,0.039,3583,1598,1535,0,0,0,0,0,0
$GC,10193,1.20,98.7,716.8,14.0,563,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1598,1535,0,0,0,0,0,0
$GC,10501,1.20,98.7,675.3,13.2,578,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1598,1534,0,0,0,0,0,0
$GC,10812,1.20,98.7,637.7,12.0,593,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1598,1534,0,0,0,0,0,0
$GC,11120,1.20,98.7,599.7,12.7,608,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1598,1534,0,0,0,0,0,0
$GC,11430,1.20,98.7,559.6,13.2,623,11434,0.00,2.22,0.00,0.000,4,0.000,0.055,3583,2993,1534,0,0,0,0,0,0
$GC,11471,1.20,98.7,554.1,13.7,625,11475,0.10,2.15,0.00,0.000,6,0.197,0.037,3569,1596,1534,0,0,0,0,0,0
$GC,11799,1.24,98.7,512.4,12.8,641,11803,0.00,2.28,0.00,0.000,4,0.000,0.057,3579,201,1534,0,0,0,0,0,0
$GC,11898,1.24,98.7,498.9,13.6,645,11903,0.00,2.22,0.00,0.000,6,0.000,0.037,3579,1603,1533,0,0,0,0,0,0
$GC,12214,1.24,98.7,460.1,12.1,661,12218,0.00,2.22,0.00,0.000,4,0.000,0.053,3579,2993,1533,0,0,0,0,0,0
$GC,12309,1.24,98.7,447.8,12.9,665,12313,0.00,2.20,0.00,0.000,6,0.000,0.037,3587,1598,1533,0,0,0,0,0,0
$GC,12631,1.24,98.7,404.8,13.2,681,12635,0.00,2.28,0.00,0.000,4,0.000,0.056,3598,199,1533,0,0,0,0,0,0
$GC,12784,1.24,98.7,383.6,14.0,688,12788,0.05,2.20,0.00,0.000,6,0.223,0.038,3589,1599,1533,0,0,0,0,0,0
$GC,13109,1.24,98.7,342.4,12.1,704,13113,0.00,2.30,0.00,0.000,4,0.000,0.054,3596,195,1533,0,0,0,0,0,0
$GC,13237,1.24,98.7,326.5,11.8,710,13242,0.03,2.20,0.00,0.000,6,0.269,0.038,3588,1603,1533,0,0,0,0,0,0
$GC,13569,1.24,98.7,287.0,11.8,726,13573,0.00,2.30,0.00,0.000,4,0.000,0.053,3596,191,1533,0,0,0,0,0,0
$GC,13624,1.24,98.7,279.6,13.2,728,13629,0.00,2.22,0.00,0.000,6,0.000,0.036,3596,1600,1533,0,0,0,0,0,0
$GC,13946,1.24,98.7,238.9,13.0,744,13950,0.00,2.22,0.00,0.000,4,0.000,0.053,3596,3001,1533,0,0,0,0,0,0
$GC,13987,1.24,98.7,233.7,12.8,746,13991,0.10,2.15,0.00,0.000,6,0.200,0.037,3582,1599,1533,0,0,0,0,0,0
$GC,14315,1.27,98.7,195.7,11.8,762,14316,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1599,1532,0,0,0,0,0,0
$GC,14625,1.30,98.7,160.5,11.0,777,14629,0.05,2.28,0.00,0.000,4,0.166,0.055,3625,199,1533,0,0,0,0,0,0
$GC,14883,1.22,98.7,127.9,13.1,788,14892,0.12,2.22,0.00,0.000,6,0.166,0.037,3587,1597,1533,0,0,0,0,0,0
$GC,15199,1.22,98.7,92.4,11.2,804,15203,0.00,2.28,0.00,0.000,4,0.000,0.053,3596,198,1533,0,0,0,0,0,0
$GC,15294,1.22,98.7,80.9,12.5,808,15299,0.08,2.22,0.00,0.000,6,0.207,0.037,3580,1605,1533,0,0,0,0,0,0
$GC,15645,1.26,98.7,40.7,11.5,867,15651,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1606,1533,0,0,0,0,0,0
$STATE,16005,end climb,SURFACE_DEPTH_REACHED
$STATE,16005,begin surface coast
$FINISH,1.6,1.012957
$STATE,16031,end surface coast,CONTROL_FINISHED_OK
$STATE,16031,begin surface
$SM_CCo,16050,47.75,0.053,0,0,1132,200.16
$SM_GC,3.29,0.00,0.00,47.75,0.000,0.000,0.053,82,2072,1132,-9.68,0.34,200.16
$IRIDIUM_FIX,-4435.30,639.22,020908,131307
$TT8_MAMPS,0.027713
$HUMID,65.08
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.00
$XPDR_PINGS,1
$24V_AH,22.1,55.615
$10V_AH,9.7,58.480
$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,24.300,100.575,194.025,47.750,0.000,27.760,19.038,276.150,0.250,0.000,20.609,2025.458,11347.480,346.729,2611.531,232.577,0.000,1276.675,0.000,2184.547,0.000,0.540,0.000
$DEVICE_MAMPS,269.280,70.380,1258.425,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.462,1360.425,765.995,476.578,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353188
$DATA_FILE_SIZE,67251,930
$CAP_FILE_SIZE,130476,0
$CFSIZE,2097086464,2030501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071115,090003,-4455.749,636.748,32,1.0,32,-24.4