version: 66.07.10.p01
glider: 573
mission: 12
dive: 479
start: 11 8 115 23 41 27
data:
$ID,573
$MISSION,12
$DIVE,479
$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,-22492.137
$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,33
$R_STBD_OVSHOOT,42
$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,478
$GPS1,081115,233302,-4456.312,638.122,38,2.0,41,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-67.8
$GPS2,081115,234107,-4456.334,638.224,28,0.7,28,-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,306.5,2980,-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,-25.88,0.000,2,0.000,0.000,81,2075,1645,0,0,0,0,0,0
$GC,57,-1.12,-94.0,3.5,-3.5,4,108,11.20,2.38,-30.60,0.000,4,0.229,0.081,2807,3458,2336,0,0,0,0,0,0
$GC,386,-1.08,-94.0,40.2,-14.8,57,393,0.05,2.22,0.00,0.000,6,0.164,0.042,2825,2065,2338,0,0,0,0,0,0
$GC,741,-1.08,-94.0,93.2,-15.1,108,745,0.00,2.30,0.00,0.000,4,0.000,0.054,2825,648,2339,0,0,0,0,0,0
$GC,819,-1.08,-94.0,105.9,-15.7,111,825,0.03,2.25,0.00,0.000,6,0.203,0.038,2824,2058,2339,0,0,0,0,0,0
$GC,1137,-1.08,-94.0,152.0,-14.1,127,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,2339,0,0,0,0,0,0
$GC,1444,-1.08,-94.0,197.1,-13.9,142,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,2340,0,0,0,0,0,0
$GC,1756,-1.08,-94.0,237.2,-12.8,157,1760,0.00,2.30,0.00,0.000,4,0.000,0.060,2813,3474,2340,0,0,0,0,0,0
$GC,1811,-1.08,-94.0,245.2,-13.9,159,1817,0.05,2.25,0.00,0.000,6,0.168,0.042,2830,2058,2339,0,0,0,0,0,0
$GC,2129,-1.12,-94.0,286.0,-12.6,175,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2059,2340,0,0,0,0,0,0
$GC,2435,-1.16,-94.0,324.5,-12.0,190,2440,0.05,2.33,0.00,0.000,4,0.165,0.060,2787,3469,2340,0,0,0,0,0,0
$GC,2507,-1.12,-94.0,334.1,-13.7,193,2512,0.15,2.22,0.00,0.000,6,0.172,0.042,2825,2053,2340,0,0,0,0,0,0
$GC,2829,-1.15,-94.0,372.8,-12.4,209,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2053,2340,0,0,0,0,0,0
$GC,3137,-1.19,-94.0,412.6,-13.0,224,3141,0.08,2.33,0.00,0.000,4,0.129,0.059,2776,3470,2340,0,0,0,0,0,0
$GC,3180,-1.12,-94.0,419.0,-15.2,226,3185,0.17,2.22,0.00,0.000,6,0.174,0.043,2822,2060,2340,0,0,0,0,0,0
$GC,3500,-1.16,-94.0,459.0,-11.9,242,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2060,2340,0,0,0,0,0,0
$GC,3811,-1.19,-94.0,496.4,-12.1,257,3816,0.08,2.30,0.00,0.000,4,0.126,0.060,2774,3463,2340,0,0,0,0,0,0
$GC,3866,-1.13,-94.0,504.2,-14.0,259,3871,0.15,2.20,0.00,0.000,6,0.183,0.040,2812,2057,2340,0,0,0,0,0,0
$GC,4180,-1.13,-94.0,544.1,-12.9,274,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2057,2340,0,0,0,0,0,0
$GC,4491,-1.13,-94.0,582.8,-12.1,289,4495,0.00,2.33,0.00,0.000,4,0.000,0.060,2803,3473,2339,0,0,0,0,0,0
$GC,4552,-1.13,-94.0,590.6,-13.1,292,4557,0.05,2.22,0.00,0.000,6,0.226,0.044,2813,2063,2339,0,0,0,0,0,0
$GC,4883,-1.13,-94.0,628.2,-11.1,308,4887,0.00,2.28,0.00,0.000,4,0.000,0.059,2805,3463,2339,0,0,0,0,0,0
$GC,4933,-1.13,-94.0,634.2,-11.7,310,4937,0.00,2.22,0.00,0.000,6,0.000,0.041,2805,2047,2339,0,0,0,0,0,0
$GC,5259,-1.13,-94.0,670.6,-10.9,326,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2048,2339,0,0,0,0,0,0
$GC,5570,-1.13,-94.0,703.2,-10.7,341,5574,0.00,2.22,0.00,0.000,4,0.000,0.055,2805,661,2338,0,0,0,0,0,0
$GC,5624,-1.13,-94.0,709.7,-11.7,343,5630,0.05,2.25,0.00,0.000,6,0.188,0.041,2811,2065,2338,0,0,0,0,0,0
$GC,5941,-1.16,-94.0,743.8,-10.8,359,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2065,2338,0,0,0,0,0,0
$GC,6251,-1.20,-94.0,775.3,-10.2,374,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2065,2338,0,0,0,0,0,0
$GC,6560,-1.24,-94.0,806.9,-10.3,389,6565,0.08,2.30,0.00,0.000,4,0.126,0.063,2762,3465,2338,0,0,0,0,0,0
$GC,6592,-1.17,-94.0,810.8,-12.1,390,6599,0.17,2.20,0.00,0.000,6,0.179,0.042,2807,2061,2337,0,0,0,0,0,0
$GC,6907,-1.20,-94.0,845.1,-10.8,406,6912,0.00,2.33,0.00,0.000,4,0.000,0.061,2798,3474,2337,0,0,0,0,0,0
$GC,6946,-1.20,-94.0,849.3,-11.3,408,6950,0.00,2.25,0.00,0.000,6,0.000,0.045,2798,2053,2337,0,0,0,0,0,0
$GC,7272,-1.20,-94.0,885.1,-11.3,424,7276,0.00,2.33,0.00,0.000,4,0.000,0.062,2789,3467,2337,0,0,0,0,0,0
$GC,7304,-1.20,-94.0,888.7,-11.5,425,7309,0.00,2.25,0.00,0.000,6,0.000,0.044,2789,2067,2337,0,0,0,0,0,0
$GC,7620,-1.20,-94.0,925.2,-12.0,441,7624,0.00,2.28,0.00,0.000,4,0.000,0.056,2781,3471,2337,0,0,0,0,0,0
$GC,7692,-1.20,-94.0,934.2,-12.6,444,7697,0.05,2.28,0.00,0.000,6,0.223,0.045,2790,2062,2337,0,0,0,0,0,0
$GC,8018,-1.20,-94.0,971.9,-12.0,460,8022,0.00,2.33,0.00,0.000,4,0.000,0.061,2782,3470,2337,0,0,0,0,0,0
$GC,8067,-1.20,-94.0,978.3,-14.1,462,8071,0.00,2.28,0.00,0.000,6,0.000,0.045,2781,2063,2336,0,0,0,0,0,0
$STATE,8262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8262,begin apogee
$GC,8268,-0.19,0.0,1002.3,12.1,472,8365,1.15,0.00,90.85,1.265,6,0.154,0.000,3115,1595,1951,0,0,0,0,0,0
$STATE,8365,end apogee,CONTROL_FINISHED_OK
$STATE,8366,begin climb
$GC,8368,1.12,94.0,1005.9,0.0,477,8472,1.25,2.60,95.22,1.227,4,0.083,0.055,3548,195,1565,0,0,0,0,0,0
$GC,8512,1.12,94.0,994.7,12.4,484,8517,0.00,2.42,0.00,0.000,6,0.000,0.035,3548,1620,1562,0,0,0,0,0,0
$GC,8838,1.18,94.0,956.3,11.8,500,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1620,1558,0,0,0,0,0,0
$GC,9149,1.24,94.0,920.9,11.1,515,9150,0.10,0.00,0.00,0.000,6,0.099,0.000,3595,1620,1556,0,0,0,0,0,0
$GC,9456,1.24,94.0,880.8,13.0,530,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1620,1556,0,0,0,0,0,0
$GC,9767,1.24,94.0,839.1,14.1,545,9771,0.00,2.35,0.00,0.000,4,0.000,0.054,3605,191,1555,0,0,0,0,0,0
$GC,9822,1.17,94.0,830.7,14.5,547,9827,0.17,2.22,0.00,0.000,6,0.168,0.037,3558,1604,1554,0,0,0,0,0,0
$GC,10138,1.21,94.0,789.4,13.2,563,10142,0.00,2.33,0.00,0.000,4,0.000,0.054,3568,189,1554,0,0,0,0,0,0
$GC,10232,1.21,94.0,776.3,14.2,567,10236,0.00,2.25,0.00,0.000,6,0.000,0.036,3568,1604,1553,0,0,0,0,0,0
$GC,10554,1.21,94.0,734.0,13.0,583,10558,0.00,2.30,0.00,0.000,4,0.000,0.053,3576,196,1553,0,0,0,0,0,0
$GC,10642,1.21,94.0,721.8,13.9,587,10646,0.00,2.20,0.00,0.000,6,0.000,0.037,3576,1602,1553,0,0,0,0,0,0
$GC,10970,1.21,94.0,680.1,12.2,603,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1602,1553,0,0,0,0,0,0
$GC,11277,1.21,94.0,642.1,12.1,618,11282,0.00,2.30,0.00,0.000,4,0.000,0.054,3586,195,1553,0,0,0,0,0,0
$GC,11378,1.18,94.0,629.1,12.9,622,11384,0.08,2.20,0.00,0.000,6,0.200,0.037,3568,1603,1552,0,0,0,0,0,0
$GC,11693,1.22,94.0,592.5,11.7,638,11697,0.00,2.22,0.00,0.000,4,0.000,0.054,3568,2992,1552,0,0,0,0,0,0
$GC,11731,1.22,94.0,588.0,11.4,640,11735,0.00,2.17,0.00,0.000,6,0.000,0.037,3576,1594,1553,0,0,0,0,0,0
$GC,12057,1.22,94.0,549.0,12.3,656,12061,0.00,2.28,0.00,0.000,4,0.000,0.055,3587,194,1553,0,0,0,0,0,0
$GC,12134,1.22,94.0,539.3,12.4,659,12138,0.00,2.22,0.00,0.000,6,0.000,0.037,3587,1611,1552,0,0,0,0,0,0
$GC,12450,1.22,94.0,500.4,12.3,675,12454,0.00,2.33,0.00,0.000,4,0.000,0.054,3597,187,1552,0,0,0,0,0,0
$GC,12541,1.17,94.0,488.6,13.1,679,12545,0.12,2.22,0.00,0.000,6,0.178,0.035,3565,1610,1552,0,0,0,0,0,0
$GC,12869,1.22,94.0,450.5,11.6,695,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1610,1552,0,0,0,0,0,0
$GC,13175,1.27,94.0,414.5,11.4,710,13177,0.08,0.00,0.00,0.000,6,0.126,0.000,3604,1610,1552,0,0,0,0,0,0
$GC,13486,1.27,94.0,375.5,12.6,725,13490,0.00,2.30,0.00,0.000,4,0.000,0.054,3615,196,1552,0,0,0,0,0,0
$GC,13610,1.21,94.0,359.2,12.5,730,13616,0.15,2.20,0.00,0.000,6,0.177,0.036,3576,1605,1552,0,0,0,0,0,0
$GC,13924,1.24,94.0,322.3,11.9,746,13928,0.00,2.30,0.00,0.000,4,0.000,0.054,3585,195,1552,0,0,0,0,0,0
$GC,13969,1.24,94.0,316.8,12.3,748,13973,0.00,2.20,0.00,0.000,6,0.000,0.035,3585,1616,1552,0,0,0,0,0,0
$GC,14301,1.24,94.0,277.4,11.7,764,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1616,1552,0,0,0,0,0,0
$GC,14612,1.24,94.0,241.4,11.6,779,14616,0.00,2.33,0.00,0.000,4,0.000,0.053,3594,193,1552,0,0,0,0,0,0
$GC,14706,1.24,94.0,229.7,11.4,783,14711,0.00,2.22,0.00,0.000,6,0.000,0.037,3594,1600,1552,0,0,0,0,0,0
$GC,15030,1.24,94.0,194.7,10.9,799,15034,0.00,2.25,0.00,0.000,4,0.000,0.054,3594,3002,1552,0,0,0,0,0,0
$GC,15074,1.24,94.0,189.7,11.4,801,15079,0.08,2.20,0.00,0.000,6,0.219,0.036,3588,1586,1552,0,0,0,0,0,0
$GC,15402,1.24,94.0,155.2,9.8,817,15404,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1585,1552,0,0,0,0,0,0
$GC,15710,1.28,94.0,122.6,10.3,832,15714,0.00,2.25,0.00,0.000,4,0.000,0.054,3598,200,1552,0,0,0,0,0,0
$GC,15857,1.28,94.0,106.3,11.4,838,15861,0.00,2.20,0.00,0.000,6,0.000,0.037,3596,1610,1552,0,0,0,0,0,0
$GC,16183,1.28,94.0,71.7,10.4,862,16188,0.00,2.30,0.00,0.000,4,0.000,0.052,3605,201,1551,0,0,0,0,0,0
$GC,16311,1.28,94.0,55.6,12.7,884,16316,0.00,2.20,0.00,0.000,6,0.000,0.036,3604,1608,1552,0,0,0,0,0,0
$GC,16678,1.28,98.7,20.0,8.0,945,16685,0.00,2.33,0.00,0.000,4,0.000,0.050,3613,195,1552,0,0,0,0,0,0
$STATE,16801,end climb,SURFACE_DEPTH_REACHED
$STATE,16801,begin surface coast
$FINISH,1.7,1.023408
$STATE,16829,end surface coast,CONTROL_FINISHED_OK
$STATE,16829,begin surface
$SM_CCo,16850,51.15,0.053,0,0,1133,200.16
$SM_GC,3.35,0.00,0.00,51.15,0.000,0.000,0.053,81,2054,1133,-9.68,-0.17,200.16
$IRIDIUM_FIX,-4438.33,633.52,040908,080819
$TT8_MAMPS,0.026964
$HUMID,64.17
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,22.2,56.420
$10V_AH,9.7,59.401
$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,24.850,133.275,186.075,51.150,0.000,27.652,25.597,274.665,0.250,0.000,30.759,2125.373,11931.490,359.491,2726.659,239.630,0.000,1339.155,0.000,2281.177,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,81.090,1265.310,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.282,1423.418,799.096,496.631,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,70673,969
$CAP_FILE_SIZE,144199,0
$CFSIZE,2097086464,2029289472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091115,042429,-4456.586,636.342,44,1.1,44,-24.4