version: 66.07.10.p01
glider: 573
mission: 12
dive: 475
start: 11 8 115 4 11 19
data:
$ID,573
$MISSION,12
$DIVE,475
$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,-22480.389
$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,45
$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,474
$GPS1,081115,040251,-4455.633,637.397,51,1.0,51,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-69.8
$GPS2,081115,041059,-4455.660,637.469,22,1.3,22,-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,276.3,2026,-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,-49.9,0.0,0.0,0,54,0.00,0.00,-26.27,0.000,2,0.000,0.000,81,2079,1643,0,0,0,0,0,0
$GC,57,-1.12,-95.8,3.3,-3.3,4,102,11.32,0.00,-31.00,0.000,6,0.233,0.000,2815,2078,2341,0,0,0,0,0,0
$GC,154,-1.09,-95.8,8.7,-12.5,19,161,0.08,0.00,0.00,0.000,6,0.218,0.000,2832,2078,2344,0,0,0,0,0,0
$GC,213,-1.09,-95.8,17.5,-14.6,28,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2077,2344,0,0,0,0,0,0
$GC,271,-1.09,-95.8,25.9,-13.7,37,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2078,2344,0,0,0,0,0,0
$GC,421,-1.09,-95.8,48.5,-15.5,62,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2078,2344,0,0,0,0,0,0
$GC,762,-1.09,-95.8,98.0,-14.4,106,765,0.00,2.25,0.00,0.000,4,0.000,0.061,2822,3462,2345,0,0,0,0,0,0
$GC,856,-1.09,-95.8,112.3,-14.3,110,861,0.00,2.22,0.00,0.000,6,0.000,0.040,2822,2068,2345,0,0,0,0,0,0
$GC,1184,-1.09,-95.8,158.1,-13.6,126,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2068,2345,0,0,0,0,0,0
$GC,1495,-1.09,-95.8,199.7,-13.6,141,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2068,2346,0,0,0,0,0,0
$GC,1803,-1.09,-95.8,238.6,-12.8,156,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2068,2346,0,0,0,0,0,0
$GC,2114,-1.09,-95.8,276.7,-12.4,171,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2068,2346,0,0,0,0,0,0
$GC,2420,-1.09,-95.8,316.4,-12.8,186,2424,0.00,2.25,0.00,0.000,4,0.000,0.055,2813,3463,2346,0,0,0,0,0,0
$GC,2519,-1.09,-95.8,329.2,-12.5,190,2526,0.05,2.22,0.00,0.000,6,0.164,0.040,2829,2055,2347,0,0,0,0,0,0
$GC,2835,-1.13,-95.8,366.7,-11.9,206,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2056,2347,0,0,0,0,0,0
$GC,3146,-1.17,-95.8,402.2,-11.6,221,3147,0.08,0.00,0.00,0.000,6,0.124,0.000,2788,2055,2347,0,0,0,0,0,0
$GC,3453,-1.14,-95.8,442.6,-13.3,236,3458,0.10,2.30,0.00,0.000,4,0.195,0.059,2812,653,2346,0,0,0,0,0,0
$GC,3492,-1.14,-95.8,447.7,-13.9,238,3496,0.00,2.22,0.00,0.000,6,0.000,0.043,2804,2055,2347,0,0,0,0,0,0
$GC,3817,-1.14,-95.8,489.4,-12.6,254,3821,0.00,2.30,0.00,0.000,4,0.000,0.060,2793,3473,2347,0,0,0,0,0,0
$GC,3895,-1.14,-95.8,499.4,-13.3,257,3900,0.10,2.25,0.00,0.000,6,0.187,0.044,2816,2057,2347,0,0,0,0,0,0
$GC,4211,-1.14,-95.8,537.3,-11.9,273,4215,0.00,2.30,0.00,0.000,4,0.000,0.061,2808,3463,2346,0,0,0,0,0,0
$GC,4282,-1.14,-95.8,546.2,-11.8,276,4287,0.00,2.25,0.00,0.000,6,0.000,0.043,2808,2057,2347,0,0,0,0,0,0
$GC,4609,-1.14,-95.8,584.4,-11.4,292,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2058,2346,0,0,0,0,0,0
$GC,4919,-1.14,-95.8,620.8,-11.2,307,4923,0.00,2.33,0.00,0.000,4,0.000,0.061,2799,3468,2345,0,0,0,0,0,0
$GC,4965,-1.14,-95.8,626.4,-12.4,309,4970,0.08,2.22,0.00,0.000,6,0.200,0.044,2815,2063,2345,0,0,0,0,0,0
$GC,5299,-1.17,-95.8,664.5,-10.9,325,5303,0.00,2.30,0.00,0.000,4,0.000,0.060,2806,3463,2345,0,0,0,0,0,0
$GC,5337,-1.17,-95.8,669.1,-10.8,326,5343,0.00,2.25,0.00,0.000,6,0.000,0.042,2806,2055,2345,0,0,0,0,0,0
$GC,5652,-1.17,-95.8,706.3,-12.0,342,5656,0.00,2.33,0.00,0.000,4,0.000,0.061,2797,3463,2345,0,0,0,0,0,0
$GC,5740,-1.17,-95.8,717.6,-12.7,346,5745,0.00,2.25,0.00,0.000,6,0.000,0.044,2797,2060,2345,0,0,0,0,0,0
$GC,6067,-1.17,-95.8,756.2,-11.8,362,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2060,2345,0,0,0,0,0,0
$GC,6377,-1.17,-95.8,791.8,-11.1,377,6381,0.00,2.33,0.00,0.000,4,0.000,0.061,2788,3472,2344,0,0,0,0,0,0
$GC,6462,-1.17,-95.8,801.5,-11.5,381,6467,0.08,2.25,0.00,0.000,6,0.202,0.046,2804,2059,2344,0,0,0,0,0,0
$GC,6794,-1.17,-95.8,837.4,-10.8,397,6798,0.00,2.30,0.00,0.000,4,0.000,0.062,2795,3462,2344,0,0,0,0,0,0
$GC,6832,-1.17,-95.8,841.9,-11.2,398,6838,0.00,2.25,0.00,0.000,6,0.000,0.043,2796,2056,2344,0,0,0,0,0,0
$GC,7147,-1.17,-95.8,876.6,-10.9,414,7151,0.00,2.33,0.00,0.000,4,0.000,0.061,2787,3462,2344,0,0,0,0,0,0
$GC,7174,-1.17,-95.8,879.7,-11.2,415,7179,0.03,2.25,0.00,0.000,6,0.192,0.044,2795,2062,2344,0,0,0,0,0,0
$GC,7496,-1.17,-95.8,914.2,-10.9,431,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2062,2343,0,0,0,0,0,0
$GC,7804,-1.17,-95.8,946.9,-10.5,446,7808,0.00,2.30,0.00,0.000,4,0.000,0.060,2786,3462,2343,0,0,0,0,0,0
$GC,7903,-1.17,-95.8,957.6,-11.3,450,7909,0.05,2.25,0.00,0.000,6,0.173,0.043,2802,2060,2343,0,0,0,0,0,0
$GC,8218,-1.20,-95.8,989.6,-10.4,466,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2059,2343,0,0,0,0,0,0
$STATE,8321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8321,begin apogee
$GC,8327,-0.19,0.0,1000.8,10.9,471,8423,1.08,0.00,92.12,1.262,6,0.154,0.000,3115,1594,1950,0,0,0,0,0,0
$STATE,8423,end apogee,CONTROL_FINISHED_OK
$STATE,8423,begin climb
$GC,8426,1.12,95.8,1003.9,0.0,476,8527,1.30,0.00,97.05,1.221,6,0.084,0.000,3544,1594,1559,0,0,0,0,0,0
$GC,8832,1.19,95.8,960.7,12.0,496,8837,0.05,2.35,0.00,0.000,4,0.159,0.055,3592,196,1550,0,0,0,0,0,0
$GC,8876,1.13,95.8,954.6,14.6,498,8881,0.17,2.28,0.00,0.000,6,0.164,0.036,3548,1610,1549,0,0,0,0,0,0
$GC,9197,1.18,95.8,915.5,12.1,514,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1610,1548,0,0,0,0,0,0
$GC,9507,1.23,95.8,876.4,12.6,529,9512,0.10,2.33,0.00,0.000,4,0.099,0.054,3611,193,1547,0,0,0,0,0,0
$GC,9547,1.14,95.8,870.4,15.9,531,9552,0.20,2.22,0.00,0.000,6,0.170,0.036,3558,1614,1546,0,0,0,0,0,0
$GC,9875,1.18,95.8,828.9,12.5,547,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1614,1546,0,0,0,0,0,0
$GC,10182,1.22,95.8,790.7,12.6,562,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1614,1545,0,0,0,0,0,0
$GC,10493,1.27,95.8,751.1,12.9,577,10495,0.10,0.00,0.00,0.000,6,0.101,0.000,3608,1614,1545,0,0,0,0,0,0
$GC,10801,1.22,95.8,707.2,14.2,592,10803,0.12,0.00,0.00,0.000,6,0.182,0.000,3576,1616,1545,0,0,0,0,0,0
$GC,11111,1.22,95.8,666.3,13.4,607,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1616,1546,0,0,0,0,0,0
$GC,11419,1.22,95.8,625.1,13.2,622,11423,0.00,2.33,0.00,0.000,4,0.000,0.056,3587,195,1545,0,0,0,0,0,0
$GC,11463,1.22,95.8,619.0,14.0,624,11467,0.00,2.22,0.00,0.000,6,0.000,0.037,3587,1600,1545,0,0,0,0,0,0
$GC,11789,1.22,95.8,575.9,13.0,640,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1600,1545,0,0,0,0,0,0
$GC,12100,1.22,95.8,536.7,12.3,655,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1600,1544,0,0,0,0,0,0
$GC,12408,1.22,95.8,499.9,11.8,670,12412,0.00,2.25,0.00,0.000,4,0.000,0.054,3587,3003,1544,0,0,0,0,0,0
$GC,12430,1.22,95.8,497.3,12.2,671,12435,0.08,2.20,0.00,0.000,6,0.218,0.037,3580,1589,1544,0,0,0,0,0,0
$GC,12751,1.22,95.8,460.5,11.3,687,12755,0.00,2.25,0.00,0.000,4,0.000,0.056,3590,199,1544,0,0,0,0,0,0
$GC,12845,1.22,95.8,448.7,12.6,691,12850,0.03,2.22,0.00,0.000,6,0.203,0.038,3582,1599,1544,0,0,0,0,0,0
$GC,13172,1.22,95.8,410.4,12.1,707,13176,0.00,2.22,0.00,0.000,4,0.000,0.054,3582,2995,1544,0,0,0,0,0,0
$GC,13209,1.22,95.8,405.3,13.2,708,13216,0.03,2.20,0.00,0.000,6,0.219,0.037,3583,1597,1544,0,0,0,0,0,0
$GC,13524,1.22,95.8,366.4,12.7,724,13528,0.00,2.28,0.00,0.000,4,0.000,0.056,3593,198,1544,0,0,0,0,0,0
$GC,13598,1.19,95.8,356.8,12.6,727,13603,0.10,2.22,0.00,0.000,6,0.197,0.038,3570,1615,1544,0,0,0,0,0,0
$GC,13914,1.23,95.8,318.1,11.9,742,13918,0.00,2.33,0.00,0.000,4,0.000,0.053,3579,195,1544,0,0,0,0,0,0
$GC,14003,1.23,95.8,306.7,13.1,746,14007,0.00,2.22,0.00,0.000,6,0.000,0.037,3579,1598,1544,0,0,0,0,0,0
$GC,14331,1.23,95.8,268.4,11.2,762,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1598,1544,0,0,0,0,0,0
$GC,14642,1.23,95.8,232.4,11.7,777,14646,0.00,2.30,0.00,0.000,4,0.000,0.052,3588,192,1544,0,0,0,0,0,0
$GC,14697,1.23,95.8,224.9,13.0,779,14703,0.00,2.25,0.00,0.000,6,0.000,0.037,3588,1610,1544,0,0,0,0,0,0
$GC,15016,1.23,95.8,187.5,11.8,795,15020,0.00,2.33,0.00,0.000,4,0.000,0.054,3596,190,1544,0,0,0,0,0,0
$GC,15104,1.23,95.8,176.4,13.2,799,15109,0.05,2.22,0.00,0.000,6,0.227,0.037,3584,1610,1544,0,0,0,0,0,0
$GC,15432,1.23,95.8,138.6,11.0,815,15436,0.00,2.22,0.00,0.000,4,0.000,0.053,3584,3000,1544,0,0,0,0,0,0
$GC,15510,1.23,95.8,129.2,11.4,818,15518,0.00,2.20,0.00,0.000,6,0.000,0.036,3592,1597,1544,0,0,0,0,0,0
$GC,15826,1.23,95.8,95.5,10.2,834,15830,0.00,2.25,0.00,0.000,4,0.000,0.054,3603,198,1544,0,0,0,0,0,0
$GC,15945,1.20,95.8,81.9,11.5,839,15949,0.12,2.20,0.00,0.000,6,0.188,0.037,3573,1602,1544,0,0,0,0,0,0
$GC,16294,1.25,95.8,46.7,9.7,896,16299,0.00,2.30,0.00,0.000,4,0.000,0.053,3582,193,1544,0,0,0,0,0,0
$GC,16495,1.25,95.8,24.6,11.6,929,16502,0.00,2.22,0.00,0.000,6,0.000,0.037,3582,1603,1544,0,0,0,0,0,0
$GC,16654,1.30,95.8,8.1,10.6,954,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1603,1544,0,0,0,0,0,0
$STATE,16698,end climb,SURFACE_DEPTH_REACHED
$STATE,16698,begin surface coast
$FINISH,1.8,1.018199
$STATE,16730,end surface coast,CONTROL_FINISHED_OK
$STATE,16730,begin surface
$SM_CCo,16749,49.30,0.055,0,0,1133,200.16
$SM_GC,3.54,0.00,0.00,49.30,0.000,0.000,0.055,76,2071,1133,-9.71,0.31,200.16
$IRIDIUM_FIX,-4438.33,636.19,030908,121222
$TT8_MAMPS,0.026215
$HUMID,64.88
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,12.00
$XPDR_PINGS,1
$24V_AH,22.2,56.046
$10V_AH,9.7,58.984
$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,24.750,114.525,189.175,49.300,0.000,25.896,42.591,270.685,0.250,0.000,24.652,2109.620,11889.340,362.695,2682.254,240.555,0.000,1331.777,0.000,2230.038,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,61.965,1262.250,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.000,1398.660,779.125,464.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,70600,966
$CAP_FILE_SIZE,141749,0
$CFSIZE,2097086464,2029813760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081115,085233,-4457.035,636.164,38,0.8,38,-24.4