version: 66.07.10.p01
glider: 573
mission: 12
dive: 471
start: 11 7 115 9 8 19
data:
$ID,573
$MISSION,12
$DIVE,471
$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,-22468.814
$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,35
$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,470
$GPS1,071115,090003,-4455.749,636.748,32,1.0,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-59.8
$GPS2,071115,090759,-4455.856,636.796,19,1.1,19,-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,280.0,1077,-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,-25.35,0.000,2,0.000,0.000,82,2070,1616,0,0,0,0,0,0
$GC,56,-1.12,-91.9,3.1,-3.7,4,107,11.43,2.35,-31.48,0.000,4,0.236,0.073,2806,3462,2325,0,0,0,0,0,0
$GC,380,-1.09,-91.9,48.0,-13.4,57,387,0.05,2.25,0.00,0.000,6,0.177,0.041,2826,2054,2327,0,0,0,0,0,0
$GC,736,-1.09,-91.9,95.4,-14.6,105,740,0.00,2.30,0.00,0.000,4,0.000,0.061,2816,3468,2328,0,0,0,0,0,0
$GC,949,-1.09,-91.9,127.9,-15.0,114,957,0.00,2.25,0.00,0.000,6,0.000,0.044,2821,2064,2328,0,0,0,0,0,0
$GC,1265,-1.09,-91.9,173.7,-13.4,130,1269,0.00,2.30,0.00,0.000,4,0.000,0.057,2812,3474,2328,0,0,0,0,0,0
$GC,1298,-1.09,-91.9,178.6,-15.0,131,1304,0.05,2.25,0.00,0.000,6,0.170,0.042,2828,2059,2328,0,0,0,0,0,0
$GC,1616,-1.09,-91.9,220.6,-12.8,147,1620,0.00,2.28,0.00,0.000,4,0.000,0.056,2829,657,2328,0,0,0,0,0,0
$GC,1660,-1.09,-91.9,226.2,-13.3,149,1664,0.00,2.22,0.00,0.000,6,0.000,0.043,2820,2057,2329,0,0,0,0,0,0
$GC,1988,-1.09,-91.9,269.5,-13.6,165,1992,0.00,2.30,0.00,0.000,4,0.000,0.060,2809,3470,2329,0,0,0,0,0,0
$GC,2059,-1.09,-91.9,280.2,-14.3,168,2064,0.05,2.25,0.00,0.000,6,0.162,0.043,2826,2055,2329,0,0,0,0,0,0
$GC,2380,-1.12,-91.9,320.5,-12.5,184,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2055,2328,0,0,0,0,0,0
$GC,2691,-1.15,-91.9,355.4,-10.9,199,2695,0.00,2.28,0.00,0.000,4,0.000,0.057,2826,656,2329,0,0,0,0,0,0
$GC,2757,-1.15,-91.9,363.3,-11.8,202,2761,0.00,2.25,0.00,0.000,6,0.000,0.042,2818,2059,2329,0,0,0,0,0,0
$GC,3083,-1.15,-91.9,403.1,-12.6,218,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2059,2329,0,0,0,0,0,0
$GC,3394,-1.15,-91.9,443.8,-13.3,233,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2059,2329,0,0,0,0,0,0
$GC,3702,-1.15,-91.9,485.3,-13.5,248,3706,0.00,2.30,0.00,0.000,4,0.000,0.063,2806,3469,2329,0,0,0,0,0,0
$GC,3801,-1.15,-91.9,499.1,-13.4,252,3807,0.00,2.25,0.00,0.000,6,0.000,0.044,2807,2065,2329,0,0,0,0,0,0
$GC,4116,-1.15,-91.9,540.2,-12.6,268,4120,0.00,2.28,0.00,0.000,4,0.000,0.055,2798,3473,2328,0,0,0,0,0,0
$GC,4182,-1.15,-91.9,548.9,-12.6,271,4187,0.00,2.28,0.00,0.000,6,0.000,0.044,2798,2053,2328,0,0,0,0,0,0
$GC,4510,-1.15,-91.9,588.8,-12.3,287,4514,0.03,2.30,0.00,0.000,4,0.279,0.058,2807,653,2328,0,0,0,0,0,0
$GC,4536,-1.15,-91.9,592.2,-12.4,288,4540,0.00,2.28,0.00,0.000,6,0.000,0.044,2798,2067,2328,0,0,0,0,0,0
$GC,4857,-1.15,-91.9,630.7,-11.9,304,4861,0.00,2.28,0.00,0.000,4,0.000,0.060,2788,3465,2328,0,0,0,0,0,0
$GC,4884,-1.15,-91.9,634.1,-12.3,305,4888,0.10,2.22,0.00,0.000,6,0.191,0.042,2811,2052,2328,0,0,0,0,0,0
$GC,5206,-1.15,-91.9,670.9,-11.6,321,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2051,2327,0,0,0,0,0,0
$GC,5513,-1.15,-91.9,706.6,-11.8,336,5517,0.00,2.28,0.00,0.000,4,0.000,0.058,2811,656,2326,0,0,0,0,0,0
$GC,5563,-1.15,-91.9,712.8,-12.7,338,5567,0.00,2.25,0.00,0.000,6,0.000,0.042,2802,2057,2327,0,0,0,0,0,0
$GC,5884,-1.15,-91.9,751.9,-12.2,354,5888,0.00,2.30,0.00,0.000,4,0.000,0.062,2792,3463,2327,0,0,0,0,0,0
$GC,5938,-1.15,-91.9,759.2,-13.1,356,5945,0.05,2.25,0.00,0.000,6,0.177,0.043,2807,2062,2327,0,0,0,0,0,0
$GC,6254,-1.15,-91.9,797.5,-12.0,372,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2061,2326,0,0,0,0,0,0
$GC,6564,-1.15,-91.9,835.3,-12.3,387,6568,0.00,2.30,0.00,0.000,4,0.000,0.060,2798,3470,2326,0,0,0,0,0,0
$GC,6597,-1.15,-91.9,839.7,-13.8,388,6601,0.00,2.28,0.00,0.000,6,0.000,0.044,2799,2051,2326,0,0,0,0,0,0
$GC,6917,-1.15,-91.9,877.9,-11.3,404,6921,0.00,2.33,0.00,0.000,4,0.000,0.060,2790,3464,2326,0,0,0,0,0,0
$GC,6972,-1.15,-91.9,884.5,-12.1,406,6979,0.05,2.25,0.00,0.000,6,0.182,0.044,2805,2064,2326,0,0,0,0,0,0
$GC,7288,-1.18,-91.9,917.4,-10.3,422,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2064,2326,0,0,0,0,0,0
$GC,7599,-1.22,-91.9,947.6,-9.2,437,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2064,2326,0,0,0,0,0,0
$GC,7907,-1.25,-91.9,978.3,-10.2,452,7908,0.08,0.00,0.00,0.000,6,0.130,0.000,2760,2063,2325,0,0,0,0,0,0
$STATE,8110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8110,begin apogee
$GC,8117,-0.19,0.0,1002.3,11.4,462,8208,1.25,0.00,88.18,1.262,6,0.163,0.000,3113,1584,1950,0,0,0,0,0,0
$STATE,8209,end apogee,CONTROL_FINISHED_OK
$STATE,8209,begin climb
$GC,8211,1.12,91.9,1004.9,0.0,466,8311,1.27,0.00,92.55,1.219,6,0.084,0.000,3541,1584,1574,0,0,0,0,0,0
$GC,8620,1.19,91.9,958.8,13.1,486,8625,0.08,2.35,0.00,0.000,4,0.119,0.056,3598,190,1566,0,0,0,0,0,0
$GC,8704,1.12,91.9,946.1,15.9,490,8709,0.20,2.30,0.00,0.000,6,0.163,0.038,3546,1611,1566,0,0,0,0,0,0
$GC,9031,1.18,91.9,902.9,13.3,506,9035,0.00,2.35,0.00,0.000,4,0.000,0.054,3555,196,1565,0,0,0,0,0,0
$GC,9085,1.18,91.9,895.2,13.3,508,9091,0.00,2.28,0.00,0.000,6,0.000,0.037,3556,1609,1564,0,0,0,0,0,0
$GC,9401,1.22,91.9,854.5,12.7,524,9403,0.08,0.00,0.00,0.000,6,0.122,0.000,3597,1609,1564,0,0,0,0,0,0
$GC,9711,1.19,91.9,810.5,14.4,539,9716,0.12,2.22,0.00,0.000,4,0.180,0.052,3565,2999,1563,0,0,0,0,0,0
$GC,9743,1.19,91.9,805.6,14.4,540,9748,0.00,2.22,0.00,0.000,6,0.000,0.036,3574,1595,1563,0,0,0,0,0,0
$GC,10064,1.19,91.9,762.6,13.3,556,10068,0.00,2.28,0.00,0.000,4,0.000,0.056,3584,194,1563,0,0,0,0,0,0
$GC,10135,1.19,91.9,752.6,14.2,559,10140,0.03,2.25,0.00,0.000,6,0.191,0.038,3575,1607,1562,0,0,0,0,0,0
$GC,10457,1.19,91.9,711.0,13.1,575,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1607,1562,0,0,0,0,0,0
$GC,10765,1.19,91.9,672.9,12.2,590,10769,0.00,2.33,0.00,0.000,4,0.000,0.053,3584,189,1562,0,0,0,0,0,0
$GC,10808,1.19,91.9,667.1,14.1,592,10813,0.03,2.22,0.00,0.000,6,0.196,0.036,3575,1600,1562,0,0,0,0,0,0
$GC,11134,1.19,91.9,627.0,12.0,608,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1601,1562,0,0,0,0,0,0
$GC,11445,1.19,91.9,589.9,11.9,623,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1600,1561,0,0,0,0,0,0
$GC,11753,1.19,91.9,553.7,11.8,638,11757,0.00,2.30,0.00,0.000,4,0.000,0.054,3584,194,1561,0,0,0,0,0,0
$GC,11841,1.19,91.9,542.4,12.7,642,11846,0.05,2.22,0.00,0.000,6,0.169,0.037,3568,1596,1561,0,0,0,0,0,0
$GC,12167,1.23,91.9,503.7,12.0,658,12171,0.00,2.25,0.00,0.000,4,0.000,0.055,3568,2995,1561,0,0,0,0,0,0
$GC,12222,1.23,91.9,496.4,13.0,660,12228,0.00,2.20,0.00,0.000,6,0.000,0.037,3575,1598,1560,0,0,0,0,0,0
$GC,12537,1.23,91.9,457.5,11.7,676,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1598,1561,0,0,0,0,0,0
$GC,12848,1.23,91.9,422.4,11.1,691,12852,0.00,2.28,0.00,0.000,4,0.000,0.056,3586,195,1561,0,0,0,0,0,0
$GC,12990,1.23,91.9,405.3,12.9,697,12994,0.00,2.20,0.00,0.000,6,0.000,0.037,3587,1603,1560,0,0,0,0,0,0
$GC,13304,1.23,91.9,367.7,11.9,712,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1604,1560,0,0,0,0,0,0
$GC,13615,1.23,91.9,329.1,12.5,727,13619,0.00,2.30,0.00,0.000,4,0.000,0.053,3596,194,1560,0,0,0,0,0,0
$GC,13681,1.20,91.9,320.0,13.5,730,13686,0.10,2.22,0.00,0.000,6,0.184,0.037,3572,1602,1560,0,0,0,0,0,0
$GC,14010,1.25,91.9,282.2,11.6,746,14014,0.00,2.25,0.00,0.000,4,0.000,0.053,3572,3005,1560,0,0,0,0,0,0
$GC,14037,1.25,91.9,278.6,11.6,747,14041,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1591,1560,0,0,0,0,0,0
$GC,14361,1.25,91.9,241.9,11.2,763,14365,0.00,2.28,0.00,0.000,4,0.000,0.055,3591,192,1560,0,0,0,0,0,0
$GC,14404,1.25,91.9,237.1,10.7,765,14408,0.00,2.22,0.00,0.000,6,0.000,0.037,3591,1611,1560,0,0,0,0,0,0
$GC,14732,1.25,91.9,199.4,11.3,781,14736,0.00,2.22,0.00,0.000,4,0.000,0.054,3591,2999,1560,0,0,0,0,0,0
$GC,14775,1.25,91.9,194.9,10.8,783,14780,0.05,2.17,0.00,0.000,6,0.241,0.036,3590,1595,1560,0,0,0,0,0,0
$GC,15103,1.25,91.9,157.5,10.8,799,15107,0.00,2.25,0.00,0.000,4,0.000,0.054,3600,198,1560,0,0,0,0,0,0
$GC,15361,1.21,91.9,126.6,12.3,810,15370,0.08,2.22,0.00,0.000,6,0.165,0.037,3576,1601,1560,0,0,0,0,0,0
$GC,15678,1.26,91.9,92.5,10.8,826,15682,0.00,2.30,0.00,0.000,4,0.000,0.052,3585,190,1560,0,0,0,0,0,0
$GC,15761,1.26,91.9,82.6,11.7,829,15767,0.00,2.25,0.00,0.000,6,0.000,0.036,3585,1614,1559,0,0,0,0,0,0
$GC,16110,1.26,91.9,44.7,10.8,887,16115,0.00,2.30,0.00,0.000,4,0.000,0.050,3594,199,1560,0,0,0,0,0,0
$GC,16299,1.26,91.9,23.7,11.2,918,16307,0.00,2.22,0.00,0.000,6,0.000,0.037,3594,1606,1559,0,0,0,0,0,0
$GC,16458,1.26,91.9,6.1,11.3,943,16465,0.00,2.25,0.00,0.000,4,0.000,0.053,3594,2992,1560,0,0,0,0,0,0
$STATE,16485,end climb,SURFACE_DEPTH_REACHED
$STATE,16485,begin surface coast
$FINISH,1.5,1.014884
$STATE,16499,end surface coast,CONTROL_FINISHED_OK
$STATE,16499,begin surface
$SM_CCo,16519,50.95,0.054,0,0,1134,200.16
$SM_GC,3.24,0.00,0.00,50.95,0.000,0.000,0.054,73,2042,1134,-9.73,-0.51,200.16
$IRIDIUM_FIX,-4435.30,636.19,020908,171752
$TT8_MAMPS,0.026964
$HUMID,64.05
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,2
$24V_AH,22.3,55.700
$10V_AH,9.7,58.581
$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,24.425,135.850,180.725,50.950,0.000,24.525,22.272,283.830,0.500,0.000,21.626,2091.123,11659.584,361.450,2695.584,236.494,0.000,1349.884,0.000,2254.205,0.000,0.541,0.000
$DEVICE_MAMPS,279.225,72.675,1262.250,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.297,1356.891,749.379,435.508,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,70500,949
$CAP_FILE_SIZE,142703,0
$CFSIZE,2097086464,2030338048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071115,134533,-4456.972,635.545,27,0.9,27,-24.4