version: 66.07.10.p01
glider: 573
mission: 12
dive: 482
start: 11 9 115 13 32 30
data:
$ID,573
$MISSION,12
$DIVE,482
$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,-22500.834
$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,36
$R_STBD_OVSHOOT,23
$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,481
$GPS1,091115,132433,-4457.345,635.918,59,1.2,59,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-67.0
$GPS2,091115,133210,-4457.362,635.941,19,1.4,19,-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,26.1,2523,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-19.30,0.000,2,0.000,0.000,81,2062,1505,0,0,0,0,0,0
$GC,49,-1.13,-102.6,3.1,-2.5,3,107,11.12,2.30,-41.12,0.000,4,0.226,0.064,2820,654,2367,0,0,0,0,0,0
$GC,381,-1.09,-102.6,45.7,-16.6,57,389,0.05,2.30,0.00,0.000,6,0.173,0.043,2826,2068,2369,0,0,0,0,0,0
$GC,723,-1.09,-102.6,95.9,-15.2,103,728,0.00,2.30,0.00,0.000,4,0.000,0.062,2816,3478,2370,0,0,0,0,0,0
$GC,752,-1.09,-102.6,100.9,-16.1,104,757,0.05,2.22,0.00,0.000,6,0.215,0.041,2827,2057,2370,0,0,0,0,0,0
$GC,1070,-1.09,-102.6,148.3,-14.6,119,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2370,0,0,0,0,0,0
$GC,1377,-1.13,-102.6,192.3,-13.8,134,1381,0.00,2.33,0.00,0.000,4,0.000,0.061,2818,3474,2371,0,0,0,0,0,0
$GC,1469,-1.13,-102.6,205.1,-14.3,138,1473,0.00,2.25,0.00,0.000,6,0.000,0.043,2818,2050,2370,0,0,0,0,0,0
$GC,1796,-1.13,-102.6,249.0,-13.4,154,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2049,2371,0,0,0,0,0,0
$GC,2107,-1.13,-102.6,290.8,-13.5,169,2111,0.00,2.25,0.00,0.000,4,0.000,0.054,2818,653,2371,0,0,0,0,0,0
$GC,2139,-1.13,-102.6,296.0,-15.2,170,2147,0.00,2.25,0.00,0.000,6,0.000,0.041,2809,2060,2371,0,0,0,0,0,0
$GC,2454,-1.13,-102.6,341.8,-14.8,186,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2060,2371,0,0,0,0,0,0
$GC,2764,-1.13,-102.6,387.2,-14.5,201,2769,0.00,2.30,0.00,0.000,4,0.000,0.061,2798,3473,2371,0,0,0,0,0,0
$GC,2805,-1.13,-102.6,393.1,-14.8,203,2809,0.10,2.22,0.00,0.000,6,0.181,0.043,2822,2059,2371,0,0,0,0,0,0
$GC,3133,-1.17,-102.6,438.1,-13.5,219,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2059,2371,0,0,0,0,0,0
$GC,3439,-1.21,-102.6,478.5,-12.7,234,3441,0.08,0.00,0.00,0.000,6,0.125,0.000,2783,2058,2372,0,0,0,0,0,0
$GC,3750,-1.18,-102.6,522.7,-14.6,249,3752,0.08,0.00,0.00,0.000,6,0.213,0.000,2798,2058,2372,0,0,0,0,0,0
$GC,4058,-1.18,-102.6,566.2,-14.6,264,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2058,2372,0,0,0,0,0,0
$GC,4368,-1.18,-102.6,608.4,-13.7,279,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2058,2371,0,0,0,0,0,0
$GC,4676,-1.18,-102.6,650.9,-13.7,294,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2058,2371,0,0,0,0,0,0
$GC,4987,-1.18,-102.6,692.0,-13.2,309,4991,0.00,2.33,0.00,0.000,4,0.000,0.063,2789,3471,2371,0,0,0,0,0,0
$GC,5013,-1.18,-102.6,695.7,-13.8,310,5018,0.00,2.25,0.00,0.000,6,0.000,0.044,2790,2067,2371,0,0,0,0,0,0
$GC,5340,-1.18,-102.6,738.1,-12.9,326,5341,0.05,0.00,0.00,0.000,6,0.242,0.000,2799,2068,2371,0,0,0,0,0,0
$GC,5650,-1.18,-102.6,778.0,-12.9,341,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2068,2370,0,0,0,0,0,0
$GC,5958,-1.18,-102.6,818.7,-13.3,356,5962,0.00,2.28,0.00,0.000,4,0.000,0.057,2799,652,2371,0,0,0,0,0,0
$GC,6002,-1.18,-102.6,824.8,-13.7,358,6006,0.00,2.28,0.00,0.000,6,0.000,0.043,2791,2063,2370,0,0,0,0,0,0
$GC,6328,-1.18,-102.6,868.0,-13.1,374,6332,0.00,2.33,0.00,0.000,4,0.000,0.064,2780,3475,2370,0,0,0,0,0,0
$GC,6400,-1.18,-102.6,878.2,-13.7,377,6405,0.10,2.28,0.00,0.000,6,0.190,0.046,2803,2063,2369,0,0,0,0,0,0
$GC,6722,-1.21,-102.6,918.8,-12.7,393,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2063,2370,0,0,0,0,0,0
$GC,7030,-1.24,-102.6,955.7,-11.6,408,7032,0.05,0.00,0.00,0.000,6,0.169,0.000,2772,2063,2369,0,0,0,0,0,0
$GC,7340,-1.24,-102.6,994.1,-12.2,423,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2063,2369,0,0,0,0,0,0
$STATE,7399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7399,begin apogee
$GC,7405,-0.19,0.0,1001.7,12.2,426,7505,1.17,0.00,95.80,1.258,6,0.155,0.000,3113,1582,1950,0,0,0,0,0,0
$STATE,7505,end apogee,CONTROL_FINISHED_OK
$STATE,7506,begin climb
$GC,7508,1.13,102.6,1004.7,0.0,431,7616,1.27,0.00,104.03,1.225,6,0.085,0.000,3539,1582,1530,0,0,0,0,0,0
$GC,7919,1.20,102.6,958.0,12.9,451,7924,0.10,2.33,0.00,0.000,4,0.093,0.056,3605,198,1524,0,0,0,0,0,0
$GC,7997,1.12,102.6,945.8,15.8,454,8003,0.22,2.28,0.00,0.000,6,0.164,0.037,3546,1613,1523,0,0,0,0,0,0
$GC,8312,1.17,102.6,904.8,12.7,470,8316,0.00,2.33,0.00,0.000,4,0.000,0.054,3556,198,1523,0,0,0,0,0,0
$GC,8378,1.17,102.6,895.7,14.6,473,8382,0.00,2.25,0.00,0.000,6,0.000,0.037,3555,1601,1522,0,0,0,0,0,0
$GC,8706,1.22,102.6,853.0,12.6,489,8710,0.05,2.22,0.00,0.000,4,0.168,0.057,3589,2994,1521,0,0,0,0,0,0
$GC,8772,1.18,102.6,843.1,15.1,492,8777,0.12,2.20,0.00,0.000,6,0.184,0.037,3567,1587,1521,0,0,0,0,0,0
$GC,9092,1.18,102.6,798.9,13.4,508,9096,0.00,2.28,0.00,0.000,4,0.000,0.056,3578,193,1520,0,0,0,0,0,0
$GC,9159,1.18,102.6,789.3,14.2,511,9164,0.05,2.25,0.00,0.000,6,0.230,0.037,3568,1606,1520,0,0,0,0,0,0
$GC,9486,1.18,102.6,746.1,13.2,527,9490,0.00,2.30,0.00,0.000,4,0.000,0.054,3577,199,1520,0,0,0,0,0,0
$GC,9552,1.18,102.6,736.6,14.2,530,9557,0.03,2.22,0.00,0.000,6,0.201,0.037,3568,1599,1519,0,0,0,0,0,0
$GC,9877,1.18,102.6,692.5,13.6,546,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1599,1519,0,0,0,0,0,0
$GC,10189,1.21,102.6,652.1,13.2,561,10193,0.00,2.30,0.00,0.000,4,0.000,0.054,3577,195,1519,0,0,0,0,0,0
$GC,10244,1.21,102.6,644.2,15.0,563,10248,0.00,2.22,0.00,0.000,6,0.000,0.037,3577,1597,1519,0,0,0,0,0,0
$GC,10560,1.21,102.6,601.2,13.8,579,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1597,1519,0,0,0,0,0,0
$GC,10868,1.21,102.6,560.1,13.2,594,10872,0.00,2.28,0.00,0.000,4,0.000,0.054,3586,192,1519,0,0,0,0,0,0
$GC,10959,1.21,102.6,547.5,14.1,598,10963,0.00,2.22,0.00,0.000,6,0.000,0.037,3585,1610,1519,0,0,0,0,0,0
$GC,11279,1.21,102.6,505.4,13.1,614,11283,0.00,2.30,0.00,0.000,4,0.000,0.054,3594,193,1519,0,0,0,0,0,0
$GC,11362,1.17,102.6,494.2,14.0,617,11367,0.12,2.20,0.00,0.000,6,0.182,0.037,3563,1600,1518,0,0,0,0,0,0
$GC,11679,1.22,102.6,458.1,11.1,633,11683,0.00,2.30,0.00,0.000,4,0.000,0.054,3572,198,1518,0,0,0,0,0,0
$GC,11739,1.22,102.6,451.1,11.6,636,11743,0.00,2.20,0.00,0.000,6,0.000,0.037,3568,1603,1518,0,0,0,0,0,0
$GC,12071,1.27,102.6,416.3,10.3,652,12073,0.08,0.00,0.00,0.000,6,0.128,0.000,3608,1604,1518,0,0,0,0,0,0
$GC,12381,1.27,102.6,379.6,12.2,667,12386,0.05,2.30,0.00,0.000,4,0.228,0.054,3607,193,1518,0,0,0,0,0,0
$GC,12507,1.22,102.6,364.3,11.4,672,12512,0.12,2.20,0.00,0.000,6,0.184,0.036,3575,1600,1518,0,0,0,0,0,0
$GC,12821,1.22,102.6,328.8,11.3,688,12825,0.00,2.30,0.00,0.000,4,0.000,0.054,3585,193,1518,0,0,0,0,0,0
$GC,12967,1.22,102.6,310.8,12.5,694,12971,0.00,2.20,0.00,0.000,6,0.000,0.037,3585,1601,1518,0,0,0,0,0,0
$GC,13288,1.22,102.6,271.0,12.7,710,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1601,1518,0,0,0,0,0,0
$GC,13599,1.22,102.6,231.5,12.7,725,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1601,1518,0,0,0,0,0,0
$GC,13907,1.22,102.6,192.5,12.4,740,13911,0.00,2.22,0.00,0.000,4,0.000,0.054,3585,3000,1518,0,0,0,0,0,0
$GC,13972,1.22,102.6,184.5,11.9,743,13977,0.08,2.17,0.00,0.000,6,0.222,0.036,3578,1595,1518,0,0,0,0,0,0
$GC,14302,1.26,102.6,146.3,11.4,759,14306,0.00,2.28,0.00,0.000,4,0.000,0.055,3588,199,1518,0,0,0,0,0,0
$GC,14389,1.26,102.6,135.7,11.8,763,14393,0.00,2.17,0.00,0.000,6,0.000,0.037,3585,1606,1518,0,0,0,0,0,0
$GC,14718,1.29,102.6,99.8,10.8,779,14719,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1605,1518,0,0,0,0,0,0
$GC,15040,1.32,102.6,65.3,9.3,812,15046,0.08,2.30,0.00,0.000,4,0.129,0.051,3630,197,1518,0,0,0,0,0,0
$GC,15260,1.24,102.6,39.0,12.5,850,15268,0.12,2.20,0.00,0.000,6,0.168,0.035,3590,1594,1518,0,0,0,0,0,0
$GC,15420,1.27,102.6,20.8,10.6,875,15427,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1594,1517,0,0,0,0,0,0
$GC,15575,1.32,102.6,5.2,10.7,900,15583,0.00,2.33,0.00,0.000,4,0.000,0.060,3600,206,1518,0,0,0,0,0,0
$STATE,15597,end climb,SURFACE_DEPTH_REACHED
$STATE,15597,begin surface coast
$FINISH,1.8,1.012333
$STATE,15629,end surface coast,CONTROL_FINISHED_OK
$STATE,15629,begin surface
$SM_CCo,15650,50.12,0.054,0,0,1133,200.16
$SM_GC,3.44,0.00,0.00,50.12,0.000,0.000,0.054,82,2069,1133,-9.69,0.28,200.16
$IRIDIUM_FIX,-4438.33,633.17,040908,222231
$TT8_MAMPS,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.00
$XPDR_PINGS,1
$24V_AH,22.1,56.699
$10V_AH,9.7,59.689
$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,24.775,105.500,199.825,50.125,0.000,27.417,21.737,261.912,0.250,0.000,21.615,1979.212,11095.467,354.460,2499.787,227.885,0.000,1251.954,0.000,2089.629,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,64.260,1258.425,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.054,1331.045,752.568,462.029,0.000,0.000,0.000,0.000,0.000,0.000
$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,67271,908
$CAP_FILE_SIZE,129593,0
$CFSIZE,2097086464,2028929024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091115,175533,-4456.264,637.245,46,1.4,46,-24.4