version: 66.07.10.p01
glider: 573
mission: 12
dive: 476
start: 11 8 115 9 0 54
data:
$ID,573
$MISSION,12
$DIVE,476
$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,-22483.283
$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,49
$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,475
$GPS1,081115,085233,-4457.035,636.164,38,0.8,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.3
$GPS2,081115,090034,-4457.005,636.229,17,1.1,17,-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,15.3,1886,-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,-26.08,0.000,2,0.000,0.000,76,2072,1642,0,0,0,0,0,0
$GC,57,-1.12,-94.5,3.3,-3.4,4,109,11.45,2.38,-29.70,0.000,4,0.236,0.070,2816,664,2338,0,0,0,0,0,0
$GC,382,-1.07,-94.5,44.8,-15.3,57,390,0.08,2.22,0.00,0.000,6,0.166,0.038,2832,2048,2340,0,0,0,0,0,0
$GC,739,-1.07,-94.5,94.8,-14.3,105,743,0.00,2.28,0.00,0.000,4,0.000,0.056,2822,3465,2341,0,0,0,0,0,0
$GC,839,-1.07,-94.5,110.1,-13.9,109,846,0.03,2.22,0.00,0.000,6,0.183,0.039,2831,2065,2341,0,0,0,0,0,0
$GC,1158,-1.07,-94.5,151.9,-13.0,125,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2065,2341,0,0,0,0,0,0
$GC,1465,-1.10,-94.5,193.3,-13.4,140,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2066,2342,0,0,0,0,0,0
$GC,1777,-1.14,-94.5,234.8,-13.0,155,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2065,2342,0,0,0,0,0,0
$GC,2084,-1.18,-94.5,276.4,-13.6,170,2089,0.08,2.28,0.00,0.000,4,0.124,0.056,2781,3465,2342,0,0,0,0,0,0
$GC,2128,-1.12,-94.5,283.4,-15.8,172,2133,0.15,2.20,0.00,0.000,6,0.176,0.041,2821,2052,2342,0,0,0,0,0,0
$GC,2448,-1.12,-94.5,328.8,-14.6,188,2452,0.00,2.33,0.00,0.000,4,0.000,0.059,2812,3472,2342,0,0,0,0,0,0
$GC,2497,-1.12,-94.5,336.4,-15.7,190,2501,0.00,2.25,0.00,0.000,6,0.000,0.044,2812,2069,2342,0,0,0,0,0,0
$GC,2817,-1.12,-94.5,385.0,-14.6,206,2821,0.00,2.28,0.00,0.000,4,0.000,0.055,2803,3474,2342,0,0,0,0,0,0
$GC,2850,-1.12,-94.5,389.9,-14.6,207,2855,0.05,2.25,0.00,0.000,6,0.172,0.044,2819,2065,2342,0,0,0,0,0,0
$GC,3166,-1.12,-94.5,434.8,-14.4,223,3170,0.00,2.28,0.00,0.000,4,0.000,0.057,2810,3463,2342,0,0,0,0,0,0
$GC,3193,-1.12,-94.5,438.9,-14.2,224,3198,0.00,2.22,0.00,0.000,6,0.000,0.041,2810,2061,2342,0,0,0,0,0,0
$GC,3514,-1.12,-94.5,481.8,-12.8,240,3518,0.00,2.30,0.00,0.000,4,0.000,0.059,2810,651,2342,0,0,0,0,0,0
$GC,3568,-1.12,-94.5,489.2,-13.3,242,3574,0.05,2.25,0.00,0.000,6,0.185,0.044,2816,2055,2342,0,0,0,0,0,0
$GC,3883,-1.12,-94.5,527.4,-11.8,258,3887,0.00,2.28,0.00,0.000,4,0.000,0.058,2806,3465,2342,0,0,0,0,0,0
$GC,3961,-1.12,-94.5,536.9,-12.3,261,3965,0.00,2.22,0.00,0.000,6,0.000,0.042,2806,2066,2342,0,0,0,0,0,0
$GC,4277,-1.12,-94.5,572.9,-11.5,277,4279,0.05,0.00,0.00,0.000,6,0.237,0.000,2817,2066,2342,0,0,0,0,0,0
$GC,4586,-1.16,-94.5,606.1,-10.3,292,4590,0.00,2.30,0.00,0.000,4,0.000,0.057,2808,3474,2342,0,0,0,0,0,0
$GC,4674,-1.16,-94.5,616.0,-10.6,296,4679,0.00,2.28,0.00,0.000,6,0.000,0.046,2808,2060,2342,0,0,0,0,0,0
$GC,5001,-1.16,-94.5,652.3,-11.4,312,5005,0.00,2.30,0.00,0.000,4,0.000,0.062,2799,3463,2341,0,0,0,0,0,0
$GC,5050,-1.16,-94.5,658.2,-12.1,314,5054,0.00,2.25,0.00,0.000,6,0.000,0.043,2800,2056,2341,0,0,0,0,0,0
$GC,5371,-1.16,-94.5,696.6,-12.2,330,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2055,2341,0,0,0,0,0,0
$GC,5681,-1.16,-94.5,734.4,-12.2,345,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2055,2340,0,0,0,0,0,0
$GC,5989,-1.16,-94.5,773.4,-12.7,360,5993,0.00,2.33,0.00,0.000,4,0.000,0.061,2790,3465,2340,0,0,0,0,0,0
$GC,6052,-1.16,-94.5,781.4,-13.3,363,6057,0.08,2.25,0.00,0.000,6,0.200,0.045,2806,2053,2340,0,0,0,0,0,0
$GC,6379,-1.16,-94.5,820.9,-11.9,379,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2053,2340,0,0,0,0,0,0
$GC,6687,-1.19,-94.5,858.7,-12.1,394,6691,0.00,2.33,0.00,0.000,4,0.000,0.061,2797,3469,2339,0,0,0,0,0,0
$GC,6736,-1.19,-94.5,864.9,-12.4,396,6740,0.00,2.28,0.00,0.000,6,0.000,0.047,2797,2060,2339,0,0,0,0,0,0
$GC,7056,-1.19,-94.5,902.4,-11.6,412,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2060,2339,0,0,0,0,0,0
$GC,7367,-1.19,-94.5,937.8,-11.8,427,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2060,2339,0,0,0,0,0,0
$GC,7675,-1.19,-94.5,974.4,-11.8,442,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2060,2339,0,0,0,0,0,0
$STATE,7901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7901,begin apogee
$GC,7908,-0.19,0.0,1000.6,11.7,453,8002,1.10,0.00,90.93,1.263,6,0.154,0.000,3116,1592,1950,0,0,0,0,0,0
$STATE,8003,end apogee,CONTROL_FINISHED_OK
$STATE,8003,begin climb
$GC,8005,1.12,94.5,1004.1,0.0,458,8109,1.25,2.53,94.50,1.221,4,0.083,0.056,3547,200,1565,0,0,0,0,0,0
$GC,8155,1.12,94.5,991.4,13.4,465,8159,0.00,2.40,0.00,0.000,6,0.000,0.037,3548,1618,1561,0,0,0,0,0,0
$GC,8481,1.17,94.5,948.6,13.6,481,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1619,1556,0,0,0,0,0,0
$GC,8791,1.23,94.5,906.2,13.6,496,8796,0.10,2.38,0.00,0.000,4,0.099,0.055,3609,189,1555,0,0,0,0,0,0
$GC,8857,1.14,94.5,895.1,17.3,499,8862,0.20,2.22,0.00,0.000,6,0.167,0.037,3556,1608,1554,0,0,0,0,0,0
$GC,9180,1.18,94.5,851.2,13.4,515,9184,0.00,2.35,0.00,0.000,4,0.000,0.055,3565,187,1554,0,0,0,0,0,0
$GC,9234,1.18,94.5,843.1,14.0,517,9239,0.00,2.25,0.00,0.000,6,0.000,0.037,3565,1599,1554,0,0,0,0,0,0
$GC,9551,1.18,94.5,800.0,13.6,533,9555,0.00,2.25,0.00,0.000,4,0.000,0.055,3565,2995,1553,0,0,0,0,0,0
$GC,9612,1.18,94.5,791.2,13.9,536,9616,0.00,2.17,0.00,0.000,6,0.000,0.037,3573,1596,1553,0,0,0,0,0,0
$GC,9937,1.18,94.5,747.9,13.2,552,9941,0.00,2.28,0.00,0.000,4,0.000,0.057,3584,197,1553,0,0,0,0,0,0
$GC,10020,1.18,94.5,736.6,13.0,556,10025,0.08,2.20,0.00,0.000,6,0.204,0.038,3567,1606,1553,0,0,0,0,0,0
$GC,10345,1.18,94.5,698.2,11.6,572,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1606,1552,0,0,0,0,0,0
$GC,10656,1.21,94.5,663.2,11.3,587,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1606,1552,0,0,0,0,0,0
$GC,10964,1.21,94.5,628.9,11.1,602,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1606,1552,0,0,0,0,0,0
$GC,11275,1.24,94.5,593.7,11.4,617,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1606,1552,0,0,0,0,0,0
$GC,11583,1.28,94.5,558.1,11.6,632,11585,0.08,0.00,0.00,0.000,6,0.125,0.000,3610,1607,1552,0,0,0,0,0,0
$GC,11894,1.23,94.5,518.0,12.6,647,11896,0.12,0.00,0.00,0.000,6,0.188,0.000,3579,1609,1552,0,0,0,0,0,0
$GC,12201,1.23,94.5,482.4,11.6,662,12205,0.00,2.33,0.00,0.000,4,0.000,0.056,3590,193,1552,0,0,0,0,0,0
$GC,12347,1.23,94.5,464.1,12.8,668,12353,0.00,2.20,0.00,0.000,6,0.000,0.037,3587,1605,1551,0,0,0,0,0,0
$GC,12662,1.23,94.5,424.1,13.1,684,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1606,1551,0,0,0,0,0,0
$GC,12972,1.23,94.5,382.9,13.5,699,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1606,1551,0,0,0,0,0,0
$GC,13281,1.23,94.5,342.7,12.6,714,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1606,1551,0,0,0,0,0,0
$GC,13591,1.23,94.5,305.3,11.9,729,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1606,1551,0,0,0,0,0,0
$GC,13901,1.23,94.5,268.7,11.7,744,13905,0.00,2.30,0.00,0.000,4,0.000,0.054,3596,198,1551,0,0,0,0,0,0
$GC,13945,1.23,94.5,262.8,13.4,746,13949,0.03,2.22,0.00,0.000,6,0.193,0.037,3587,1604,1551,0,0,0,0,0,0
$GC,14272,1.23,94.5,224.6,11.8,762,14273,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1604,1551,0,0,0,0,0,0
$GC,14584,1.23,94.5,188.6,11.4,777,14588,0.00,2.30,0.00,0.000,4,0.000,0.054,3596,198,1551,0,0,0,0,0,0
$GC,14656,1.23,94.5,179.5,11.5,780,14660,0.03,2.20,0.00,0.000,6,0.205,0.037,3587,1595,1551,0,0,0,0,0,0
$GC,14978,1.23,94.5,145.1,10.7,796,14982,0.00,2.22,0.00,0.000,4,0.000,0.053,3586,2996,1551,0,0,0,0,0,0
$GC,15048,1.23,94.5,137.9,10.2,799,15053,0.05,2.15,0.00,0.000,6,0.249,0.037,3585,1591,1551,0,0,0,0,0,0
$GC,15377,1.23,94.5,101.6,11.0,815,15381,0.00,2.28,0.00,0.000,4,0.000,0.055,3595,194,1551,0,0,0,0,0,0
$GC,15488,1.23,94.5,88.2,11.8,820,15493,0.03,2.22,0.00,0.000,6,0.207,0.037,3586,1604,1551,0,0,0,0,0,0
$GC,15833,1.26,94.5,48.6,12.4,870,15840,0.00,2.22,0.00,0.000,4,0.000,0.051,3586,2986,1551,0,0,0,0,0,0
$GC,15915,1.26,94.5,39.5,10.4,884,15923,0.00,2.17,0.00,0.000,6,0.000,0.036,3594,1597,1551,0,0,0,0,0,0
$GC,16072,1.26,94.5,22.1,11.2,909,16079,0.00,2.28,0.00,0.000,4,0.000,0.054,3605,209,1551,0,0,0,0,0,0
$GC,16137,1.22,94.5,14.4,11.7,919,16145,0.05,2.20,0.00,0.000,6,0.181,0.035,3582,1609,1551,0,0,0,0,0,0
$GC,16197,1.25,94.5,7.8,10.7,928,16204,0.00,2.30,0.00,0.000,4,0.000,0.050,3591,205,1551,0,0,0,0,0,0
$STATE,16236,end climb,SURFACE_DEPTH_REACHED
$STATE,16236,begin surface coast
$FINISH,1.9,1.011113
$STATE,16268,end surface coast,CONTROL_FINISHED_OK
$STATE,16268,begin surface
$SM_CCo,16289,50.08,0.054,0,0,1133,200.16
$SM_GC,3.48,0.00,0.00,50.08,0.000,0.000,0.054,76,2058,1133,-9.72,-0.06,200.16
$IRIDIUM_FIX,-4438.33,636.19,030908,121222
$TT8_MAMPS,0.026964
$HUMID,64.17
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.50
$XPDR_PINGS,2
$24V_AH,22.2,56.133
$10V_AH,9.6,59.082
$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,24.525,114.850,185.425,50.075,0.000,26.765,43.984,262.631,0.500,0.000,19.595,2028.719,11636.723,332.127,2588.870,230.874,0.000,1272.727,0.000,2149.934,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,70.380,1263.015,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.635,1358.114,755.779,446.430,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,67242,939
$CAP_FILE_SIZE,134261,0
$CFSIZE,2097086464,2029682688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081115,133427,-4455.761,637.148,37,0.8,37,-24.4