version: 66.07.10.p01
glider: 573
mission: 12
dive: 480
start: 11 9 115 4 33 2
data:
$ID,573
$MISSION,12
$DIVE,480
$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,-22495.059
$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,22
$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,479
$GPS1,091115,042429,-4456.586,636.342,44,1.1,44,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-68.8
$GPS2,091115,043242,-4456.551,636.388,17,0.8,18,-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,357.9,1141,-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,-49.9,0.0,0.0,0,48,0.00,0.00,-19.85,0.000,2,0.000,0.000,80,2053,1526,0,0,0,0,0,0
$GC,51,-1.12,-99.1,3.2,-2.9,3,109,11.15,2.35,-35.42,0.000,4,0.226,0.065,2815,647,2356,0,0,0,0,0,0
$GC,338,-1.07,-99.1,40.1,-14.4,49,344,0.12,2.25,0.00,0.000,6,0.189,0.042,2837,2071,2358,0,0,0,0,0,0
$GC,697,-1.07,-99.1,88.4,-12.9,104,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2071,2358,0,0,0,0,0,0
$GC,1009,-1.07,-99.1,130.2,-13.6,119,1013,0.00,2.25,0.00,0.000,4,0.000,0.057,2827,3465,2358,0,0,0,0,0,0
$GC,1064,-1.07,-99.1,138.2,-13.4,121,1069,0.00,2.22,0.00,0.000,6,0.000,0.040,2827,2065,2358,0,0,0,0,0,0
$GC,1383,-1.07,-99.1,182.6,-13.9,137,1387,0.00,2.25,0.00,0.000,4,0.000,0.056,2817,3465,2358,0,0,0,0,0,0
$GC,1471,-1.07,-99.1,194.6,-13.4,141,1476,0.08,2.20,0.00,0.000,6,0.198,0.040,2834,2057,2358,0,0,0,0,0,0
$GC,1801,-1.11,-99.1,235.2,-12.3,157,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2359,0,0,0,0,0,0
$GC,2107,-1.15,-99.1,272.5,-12.2,172,2109,0.05,0.00,0.00,0.000,6,0.172,0.000,2802,2057,2359,0,0,0,0,0,0
$GC,2416,-1.15,-99.1,314.8,-13.8,187,2420,0.00,2.28,0.00,0.000,4,0.000,0.057,2802,649,2359,0,0,0,0,0,0
$GC,2466,-1.10,-99.1,322.4,-13.9,189,2471,0.15,2.22,0.00,0.000,6,0.188,0.043,2830,2068,2359,0,0,0,0,0,0
$GC,2788,-1.14,-99.1,362.9,-12.4,205,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2068,2359,0,0,0,0,0,0
$GC,3095,-1.18,-99.1,401.8,-12.4,220,3097,0.08,0.00,0.00,0.000,6,0.122,0.000,2790,2069,2359,0,0,0,0,0,0
$GC,3406,-1.14,-99.1,444.8,-13.9,235,3411,0.10,2.28,0.00,0.000,4,0.205,0.060,2802,3463,2359,0,0,0,0,0,0
$GC,3439,-1.14,-99.1,449.7,-13.8,236,3443,0.00,2.22,0.00,0.000,6,0.000,0.041,2803,2063,2359,0,0,0,0,0,0
$GC,3759,-1.14,-99.1,492.2,-13.3,252,3764,0.00,2.30,0.00,0.000,4,0.000,0.058,2794,3469,2359,0,0,0,0,0,0
$GC,3798,-1.14,-99.1,497.5,-14.0,254,3803,0.08,2.20,0.00,0.000,6,0.201,0.043,2810,2057,2359,0,0,0,0,0,0
$GC,4123,-1.14,-99.1,538.4,-12.3,270,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2057,2359,0,0,0,0,0,0
$GC,4434,-1.14,-99.1,575.3,-11.8,285,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2057,2358,0,0,0,0,0,0
$GC,4742,-1.14,-99.1,611.4,-11.4,300,4746,0.00,2.28,0.00,0.000,4,0.000,0.057,2810,657,2358,0,0,0,0,0,0
$GC,4786,-1.14,-99.1,616.8,-12.8,302,4790,0.00,2.25,0.00,0.000,6,0.000,0.043,2802,2058,2358,0,0,0,0,0,0
$GC,5112,-1.14,-99.1,656.6,-12.4,318,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2059,2358,0,0,0,0,0,0
$GC,5423,-1.14,-99.1,695.5,-12.7,333,5427,0.00,2.28,0.00,0.000,4,0.000,0.063,2791,3462,2357,0,0,0,0,0,0
$GC,5500,-1.14,-99.1,705.6,-13.0,336,5506,0.05,2.25,0.00,0.000,6,0.179,0.043,2807,2058,2357,0,0,0,0,0,0
$GC,5815,-1.14,-99.1,744.7,-12.6,352,5819,0.00,2.30,0.00,0.000,4,0.000,0.062,2799,3462,2357,0,0,0,0,0,0
$GC,5841,-1.14,-99.1,748.2,-13.2,353,5846,0.03,2.22,0.00,0.000,6,0.195,0.042,2807,2068,2357,0,0,0,0,0,0
$GC,6163,-1.14,-99.1,789.0,-12.9,369,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2066,2357,0,0,0,0,0,0
$GC,6470,-1.14,-99.1,827.7,-12.4,384,6475,0.00,2.28,0.00,0.000,4,0.000,0.056,2798,3463,2357,0,0,0,0,0,0
$GC,6559,-1.14,-99.1,839.4,-13.3,388,6564,0.03,2.25,0.00,0.000,6,0.196,0.042,2806,2053,2357,0,0,0,0,0,0
$GC,6885,-1.14,-99.1,878.1,-11.5,404,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2053,2357,0,0,0,0,0,0
$GC,7196,-1.18,-99.1,912.4,-11.0,419,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2054,2356,0,0,0,0,0,0
$GC,7504,-1.21,-99.1,946.8,-10.9,434,7508,0.00,2.30,0.00,0.000,4,0.000,0.061,2798,3462,2356,0,0,0,0,0,0
$GC,7587,-1.21,-99.1,956.3,-11.6,438,7591,0.00,2.22,0.00,0.000,6,0.000,0.043,2798,2049,2356,0,0,0,0,0,0
$GC,7913,-1.21,-99.1,991.0,-10.4,454,7917,0.00,2.22,0.00,0.000,4,0.000,0.056,2798,658,2356,0,0,0,0,0,0
$GC,7951,-1.21,-99.1,995.0,-11.0,456,7955,0.00,2.20,0.00,0.000,6,0.000,0.041,2789,2061,2356,0,0,0,0,0,0
$STATE,8008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8008,begin apogee
$GC,8014,-0.19,0.0,1001.2,10.7,459,8113,1.15,0.00,94.95,1.265,6,0.155,0.000,3120,1595,1950,0,0,0,0,0,0
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin climb
$GC,8116,1.12,99.1,1002.9,0.0,464,8225,1.27,2.58,99.47,1.226,4,0.082,0.055,3553,201,1545,0,0,0,0,0,0
$GC,8292,1.12,99.1,983.6,14.7,472,8298,0.00,2.42,0.00,0.000,6,0.000,0.036,3553,1611,1541,0,0,0,0,0,0
$GC,8607,1.17,99.1,940.3,13.4,488,8611,0.00,2.38,0.00,0.000,4,0.000,0.053,3562,190,1537,0,0,0,0,0,0
$GC,8645,1.17,99.1,934.9,13.6,489,8651,0.00,2.30,0.00,0.000,6,0.000,0.037,3562,1603,1536,0,0,0,0,0,0
$GC,8962,1.21,99.1,891.6,13.7,505,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1603,1536,0,0,0,0,0,0
$GC,9271,1.25,99.1,851.0,12.8,520,9275,0.08,2.33,0.00,0.000,4,0.123,0.054,3610,190,1535,0,0,0,0,0,0
$GC,9326,1.17,99.1,842.8,15.4,522,9332,0.17,2.22,0.00,0.000,6,0.168,0.037,3563,1607,1534,0,0,0,0,0,0
$GC,9641,1.20,99.1,802.5,12.7,538,9645,0.00,2.20,0.00,0.000,4,0.000,0.054,3562,2991,1535,0,0,0,0,0,0
$GC,9707,1.20,99.1,793.5,13.8,541,9711,0.00,2.20,0.00,0.000,6,0.000,0.037,3570,1599,1534,0,0,0,0,0,0
$GC,10034,1.20,99.1,752.2,12.4,557,10038,0.00,2.28,0.00,0.000,4,0.000,0.055,3581,198,1534,0,0,0,0,0,0
$GC,10164,1.20,99.1,735.0,13.8,563,10168,0.00,2.17,0.00,0.000,6,0.000,0.037,3581,1600,1533,0,0,0,0,0,0
$GC,10491,1.20,99.1,692.4,12.9,579,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1600,1533,0,0,0,0,0,0
$GC,10799,1.20,99.1,651.0,13.6,594,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1600,1533,0,0,0,0,0,0
$GC,11110,1.20,99.1,607.8,14.1,609,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1600,1533,0,0,0,0,0,0
$GC,11418,1.20,99.1,565.9,13.1,624,11422,0.00,2.30,0.00,0.000,4,0.000,0.054,3590,198,1533,0,0,0,0,0,0
$GC,11553,1.17,99.1,546.9,14.6,630,11558,0.12,2.20,0.00,0.000,6,0.174,0.037,3559,1599,1532,0,0,0,0,0,0
$GC,11874,1.23,99.1,507.1,12.2,646,11875,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1599,1532,0,0,0,0,0,0
$GC,12184,1.29,99.1,469.7,11.8,661,12186,0.12,0.00,0.00,0.000,6,0.087,0.000,3615,1599,1532,0,0,0,0,0,0
$GC,12491,1.25,99.1,428.1,13.7,676,12496,0.10,2.28,0.00,0.000,4,0.190,0.053,3601,196,1532,0,0,0,0,0,0
$GC,12563,1.20,99.1,418.3,14.0,679,12568,0.10,2.17,0.00,0.000,6,0.188,0.037,3576,1600,1531,0,0,0,0,0,0
$GC,12885,1.24,99.1,379.9,11.8,695,12889,0.00,2.28,0.00,0.000,4,0.000,0.054,3584,195,1531,0,0,0,0,0,0
$GC,12951,1.24,99.1,371.5,11.4,698,12956,0.00,2.22,0.00,0.000,6,0.000,0.037,3584,1600,1531,0,0,0,0,0,0
$GC,13278,1.24,99.1,333.8,11.3,714,13279,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1600,1531,0,0,0,0,0,0
$GC,13588,1.24,99.1,298.6,11.1,729,13593,0.00,2.30,0.00,0.000,4,0.000,0.053,3593,193,1532,0,0,0,0,0,0
$GC,13631,1.21,99.1,294.0,11.5,731,13636,0.08,2.22,0.00,0.000,6,0.209,0.037,3578,1611,1531,0,0,0,0,0,0
$GC,13963,1.25,99.1,258.2,10.7,747,13967,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,193,1531,0,0,0,0,0,0
$GC,14025,1.25,99.1,250.0,11.5,750,14029,0.00,2.20,0.00,0.000,6,0.000,0.037,3587,1609,1531,0,0,0,0,0,0
$GC,14352,1.25,99.1,212.4,11.5,766,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1610,1531,0,0,0,0,0,0
$GC,14663,1.25,99.1,178.0,10.6,781,14664,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1609,1531,0,0,0,0,0,0
$GC,14970,1.25,99.1,145.3,10.3,796,14974,0.00,2.30,0.00,0.000,4,0.000,0.052,3596,198,1531,0,0,0,0,0,0
$GC,15123,1.25,99.1,127.9,11.4,802,15130,0.00,2.22,0.00,0.000,6,0.000,0.037,3595,1599,1531,0,0,0,0,0,0
$GC,15439,1.25,99.1,93.9,10.9,818,15440,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1599,1531,0,0,0,0,0,0
$GC,15766,1.25,99.1,56.3,11.3,857,15771,0.00,2.22,0.00,0.000,4,0.000,0.054,3595,2997,1531,0,0,0,0,0,0
$GC,15814,1.25,99.1,51.1,11.5,865,15820,0.08,2.15,0.00,0.000,6,0.218,0.034,3589,1588,1531,0,0,0,0,0,0
$GC,16182,1.25,99.1,10.9,8.9,926,16189,0.00,2.28,0.00,0.000,4,0.000,0.056,3599,206,1531,0,0,0,0,0,0
$STATE,16251,end climb,SURFACE_DEPTH_REACHED
$STATE,16251,begin surface coast
$FINISH,1.8,1.023394
$STATE,16282,end surface coast,CONTROL_FINISHED_OK
$STATE,16283,begin surface
$SM_CCo,16304,52.10,0.054,0,0,1133,200.16
$SM_GC,3.61,0.00,0.00,52.10,0.000,0.000,0.054,82,2066,1133,-9.68,0.17,200.16
$IRIDIUM_FIX,-4438.33,639.57,040908,131328
$TT8_MAMPS,0.026964
$HUMID,64.76
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,2
$24V_AH,22.1,56.510
$10V_AH,9.7,59.501
$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,24.750,114.500,194.425,52.100,0.000,27.895,41.551,276.050,0.500,0.000,20.870,2049.305,11584.989,347.294,2630.042,234.155,0.000,1285.356,0.000,2180.600,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,65.025,1265.310,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.732,1371.342,765.770,446.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,67199,942
$CAP_FILE_SIZE,135268,0
$CFSIZE,2097086464,2029158400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091115,090703,-4455.558,636.637,48,0.9,48,-24.4