version: 66.07.10.p01
glider: 573
mission: 12
dive: 486
start: 11 10 115 11 20 25
data:
$ID,573
$MISSION,12
$DIVE,486
$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,-22512.514
$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,38
$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,485
$GPS1,101115,111103,-4503.511,638.566,37,0.9,37,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-65.5
$GPS2,101115,112005,-4503.525,638.729,22,1.6,22,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,280.7,3676,-26.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.04,-55.9,0.0,0.0,0,52,0.00,0.00,-25.25,0.000,2,0.000,0.000,81,2060,1628,0,0,0,0,0,0
$GC,55,-1.07,-104.0,3.4,-3.6,4,106,11.12,2.33,-31.50,0.000,4,0.226,0.068,2823,3463,2377,0,0,0,0,0,0
$GC,147,-1.01,-104.0,7.9,-10.2,18,155,0.10,2.25,0.00,0.000,6,0.154,0.040,2854,2060,2378,0,0,0,0,0,0
$GC,207,-1.04,-104.0,16.7,-15.5,27,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2060,2379,0,0,0,0,0,0
$GC,265,-1.04,-104.0,24.5,-13.2,36,272,0.00,2.35,0.00,0.000,4,0.000,0.064,2843,3456,2378,0,0,0,0,0,0
$GC,306,-1.04,-104.0,30.6,-15.0,42,313,0.00,2.22,0.00,0.000,6,0.000,0.040,2845,2066,2379,0,0,0,0,0,0
$GC,457,-1.04,-104.0,53.0,-15.1,67,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2066,2379,0,0,0,0,0,0
$GC,793,-1.04,-104.0,102.0,-14.7,107,797,0.00,2.28,0.00,0.000,4,0.000,0.058,2835,3463,2379,0,0,0,0,0,0
$GC,836,-1.04,-104.0,109.2,-15.6,109,840,0.00,2.20,0.00,0.000,6,0.000,0.039,2836,2056,2379,0,0,0,0,0,0
$GC,1166,-1.04,-104.0,160.1,-15.6,125,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2379,0,0,0,0,0,0
$GC,1473,-1.04,-104.0,206.8,-14.1,140,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2380,0,0,0,0,0,0
$GC,1784,-1.04,-104.0,249.2,-13.7,155,1788,0.00,2.25,0.00,0.000,4,0.000,0.055,2836,661,2380,0,0,0,0,0,0
$GC,1862,-1.04,-104.0,260.9,-14.4,158,1871,0.05,2.22,0.00,0.000,6,0.173,0.041,2843,2050,2380,0,0,0,0,0,0
$GC,2177,-1.04,-104.0,303.4,-13.6,174,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2050,2380,0,0,0,0,0,0
$GC,2488,-1.08,-104.0,345.6,-13.4,189,2492,0.00,2.28,0.00,0.000,4,0.000,0.057,2832,3472,2380,0,0,0,0,0,0
$GC,2587,-1.08,-104.0,359.1,-13.5,193,2592,0.00,2.22,0.00,0.000,6,0.000,0.043,2832,2056,2380,0,0,0,0,0,0
$GC,2904,-1.08,-104.0,400.1,-13.1,209,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2057,2380,0,0,0,0,0,0
$GC,3212,-1.08,-104.0,438.8,-12.2,224,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2057,2380,0,0,0,0,0,0
$GC,3522,-1.08,-104.0,475.5,-11.9,239,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2057,2380,0,0,0,0,0,0
$GC,3831,-1.08,-104.0,515.0,-13.4,254,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2057,2379,0,0,0,0,0,0
$GC,4141,-1.08,-104.0,556.7,-13.4,269,4145,0.00,2.35,0.00,0.000,4,0.000,0.064,2823,3477,2379,0,0,0,0,0,0
$GC,4213,-1.08,-104.0,566.9,-14.0,272,4217,0.00,2.25,0.00,0.000,6,0.000,0.044,2823,2072,2379,0,0,0,0,0,0
$GC,4534,-1.08,-104.0,611.5,-13.8,288,4538,0.00,2.28,0.00,0.000,4,0.000,0.055,2823,654,2379,0,0,0,0,0,0
$GC,4594,-1.08,-104.0,620.1,-13.5,290,4601,0.05,2.28,0.00,0.000,6,0.177,0.043,2830,2069,2379,0,0,0,0,0,0
$GC,4910,-1.08,-104.0,660.1,-12.4,306,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2069,2379,0,0,0,0,0,0
$GC,5220,-1.08,-104.0,697.8,-12.2,321,5224,0.00,2.30,0.00,0.000,4,0.000,0.064,2819,3474,2379,0,0,0,0,0,0
$GC,5252,-1.08,-104.0,702.1,-12.7,322,5258,0.05,2.28,0.00,0.000,6,0.168,0.044,2836,2056,2379,0,0,0,0,0,0
$GC,5567,-1.12,-104.0,739.6,-12.0,338,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2378,0,0,0,0,0,0
$GC,5878,-1.17,-104.0,777.0,-12.0,353,5880,0.10,0.00,0.00,0.000,6,0.103,0.000,2786,2056,2378,0,0,0,0,0,0
$GC,6186,-1.13,-104.0,817.9,-13.3,368,6188,0.12,0.00,0.00,0.000,6,0.187,0.000,2817,2056,2377,0,0,0,0,0,0
$GC,6496,-1.13,-104.0,857.1,-12.7,383,6500,0.00,2.35,0.00,0.000,4,0.000,0.067,2807,3469,2377,0,0,0,0,0,0
$GC,6598,-1.13,-104.0,870.6,-13.4,387,6602,0.00,2.25,0.00,0.000,6,0.000,0.047,2808,2058,2377,0,0,0,0,0,0
$GC,6912,-1.13,-104.0,911.6,-12.9,402,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2058,2377,0,0,0,0,0,0
$GC,7223,-1.13,-104.0,949.4,-12.0,417,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2058,2377,0,0,0,0,0,0
$GC,7531,-1.13,-104.0,987.3,-12.2,432,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2058,2377,0,0,0,0,0,0
$STATE,7652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7653,begin apogee
$GC,7659,-0.19,0.0,1002.1,11.9,438,7761,1.05,0.00,98.82,1.267,6,0.149,0.000,3117,1592,1950,0,0,0,0,0,0
$STATE,7762,end apogee,CONTROL_FINISHED_OK
$STATE,7762,begin climb
$GC,7764,1.07,104.0,1005.0,0.0,443,7876,1.23,2.55,104.28,1.219,4,0.081,0.054,3533,192,1526,0,0,0,0,0,0
$GC,7928,1.07,104.0,991.0,12.7,451,7932,0.00,2.42,0.00,0.000,6,0.000,0.036,3533,1603,1521,0,0,0,0,0,0
$GC,8256,1.11,104.0,951.8,12.2,467,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1603,1518,0,0,0,0,0,0
$GC,8564,1.15,104.0,915.2,11.7,482,8568,0.05,2.33,0.00,0.000,4,0.170,0.053,3576,192,1517,0,0,0,0,0,0
$GC,8637,1.08,104.0,905.2,13.9,485,8642,0.17,2.25,0.00,0.000,6,0.166,0.036,3531,1613,1516,0,0,0,0,0,0
$GC,8952,1.13,104.0,868.3,11.5,500,8956,0.00,2.33,0.00,0.000,4,0.000,0.053,3540,195,1516,0,0,0,0,0,0
$GC,9007,1.13,104.0,861.4,12.2,502,9011,0.00,2.25,0.00,0.000,6,0.000,0.037,3540,1601,1516,0,0,0,0,0,0
$GC,9329,1.16,104.0,823.7,11.7,518,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1601,1515,0,0,0,0,0,0
$GC,9638,1.20,104.0,787.3,11.7,533,9640,0.08,0.00,0.00,0.000,6,0.126,0.000,3585,1601,1515,0,0,0,0,0,0
$GC,9947,1.14,104.0,748.6,12.5,548,9951,0.12,2.30,0.00,0.000,4,0.178,0.053,3563,193,1515,0,0,0,0,0,0
$GC,10002,1.11,104.0,741.8,11.6,550,10008,0.08,2.20,0.00,0.000,6,0.203,0.037,3544,1601,1515,0,0,0,0,0,0
$GC,10316,1.11,104.0,707.3,10.7,566,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1601,1514,0,0,0,0,0,0
$GC,10627,1.14,104.0,676.0,9.7,581,10632,0.00,2.30,0.00,0.000,4,0.000,0.053,3554,192,1514,0,0,0,0,0,0
$GC,10802,1.14,104.0,657.6,11.0,589,10807,0.00,2.20,0.00,0.000,6,0.000,0.037,3554,1598,1514,0,0,0,0,0,0
$GC,11129,1.14,104.0,624.2,10.4,605,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1599,1514,0,0,0,0,0,0
$GC,11437,1.14,104.0,591.3,11.1,620,11441,0.00,2.22,0.00,0.000,4,0.000,0.057,3553,2993,1514,0,0,0,0,0,0
$GC,11476,1.14,104.0,586.7,11.5,622,11480,0.00,2.17,0.00,0.000,6,0.000,0.036,3562,1593,1514,0,0,0,0,0,0
$GC,11802,1.14,104.0,549.0,11.4,638,11806,0.00,2.28,0.00,0.000,4,0.000,0.055,3572,192,1514,0,0,0,0,0,0
$GC,11890,1.10,104.0,538.2,12.2,642,11895,0.10,2.22,0.00,0.000,6,0.183,0.037,3543,1613,1514,0,0,0,0,0,0
$GC,12212,1.14,104.0,502.8,11.2,658,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1613,1514,0,0,0,0,0,0
$GC,12521,1.19,104.0,467.7,11.2,673,12526,0.08,2.33,0.00,0.000,4,0.129,0.054,3597,192,1514,0,0,0,0,0,0
$GC,12645,1.10,104.0,450.8,14.7,678,12651,0.20,2.20,0.00,0.000,6,0.167,0.037,3544,1599,1513,0,0,0,0,0,0
$GC,12960,1.15,104.0,415.1,11.0,694,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1599,1513,0,0,0,0,0,0
$GC,13270,1.19,104.0,382.2,10.5,709,13275,0.08,2.33,0.00,0.000,4,0.129,0.054,3595,195,1513,0,0,0,0,0,0
$GC,13356,1.11,104.0,371.4,13.0,713,13360,0.20,2.22,0.00,0.000,6,0.168,0.037,3542,1611,1513,0,0,0,0,0,0
$GC,13684,1.16,104.0,336.5,10.5,729,13688,0.00,2.33,0.00,0.000,4,0.000,0.054,3551,193,1513,0,0,0,0,0,0
$GC,13873,1.16,104.0,315.0,11.4,737,13878,0.00,2.22,0.00,0.000,6,0.000,0.037,3551,1597,1513,0,0,0,0,0,0
$GC,14192,1.20,104.0,281.9,10.3,753,14196,0.00,2.30,0.00,0.000,4,0.000,0.053,3560,191,1513,0,0,0,0,0,0
$GC,14254,1.20,104.0,274.9,11.5,756,14258,0.00,2.22,0.00,0.000,6,0.000,0.037,3558,1610,1513,0,0,0,0,0,0
$GC,14581,1.20,104.0,242.0,10.1,772,14585,0.00,2.33,0.00,0.000,4,0.000,0.054,3566,192,1513,0,0,0,0,0,0
$GC,14670,1.20,104.0,232.6,10.0,776,14674,0.00,2.22,0.00,0.000,6,0.000,0.037,3567,1601,1513,0,0,0,0,0,0
$GC,14997,1.20,104.0,200.2,10.5,792,15001,0.00,2.30,0.00,0.000,4,0.000,0.052,3575,193,1513,0,0,0,0,0,0
$GC,15092,1.16,104.0,189.6,11.7,796,15097,0.03,2.20,0.00,0.000,6,0.263,0.037,3563,1601,1513,0,0,0,0,0,0
$GC,15410,1.16,104.0,158.6,9.6,811,15414,0.00,2.25,0.00,0.000,4,0.000,0.055,3562,2999,1513,0,0,0,0,0,0
$GC,15443,1.16,104.0,155.1,9.7,812,15451,0.00,2.20,0.00,0.000,6,0.000,0.036,3570,1599,1513,0,0,0,0,0,0
$GC,15759,1.16,104.0,124.2,10.1,828,15763,0.00,2.28,0.00,0.000,4,0.000,0.055,3581,195,1513,0,0,0,0,0,0
$GC,15865,1.13,104.0,112.4,11.3,832,15873,0.08,2.22,0.00,0.000,6,0.148,0.037,3555,1600,1513,0,0,0,0,0,0
$GC,16181,1.17,104.0,81.4,9.3,848,16185,0.00,2.30,0.00,0.000,4,0.000,0.051,3565,191,1513,0,0,0,0,0,0
$GC,16262,1.17,104.0,73.8,9.2,860,16267,0.00,2.22,0.00,0.000,6,0.000,0.037,3565,1613,1513,0,0,0,0,0,0
$GC,16615,1.17,105.1,37.3,8.4,921,16623,0.00,2.35,0.00,0.000,4,0.000,0.054,3574,193,1513,0,0,0,0,0,0
$GC,16863,1.17,105.1,14.3,11.3,961,16871,0.00,2.22,0.00,0.000,6,0.000,0.037,3573,1593,1513,0,0,0,0,0,0
$GC,16922,1.17,105.1,7.8,12.1,970,16929,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1602,1513,0,0,0,0,0,0
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,1.9,1.008799
$STATE,16980,end surface coast,CONTROL_FINISHED_OK
$STATE,16981,begin surface
$SM_CCo,17000,46.30,0.053,0,0,1132,200.16
$SM_GC,3.63,0.00,0.00,46.30,0.000,0.000,0.053,83,2076,1132,-9.67,0.45,200.16
$IRIDIUM_FIX,-4441.36,636.90,050908,181817
$TT8_MAMPS,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,2
$24V_AH,22.1,57.151
$10V_AH,9.6,60.152
$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,24.350,119.625,203.100,46.300,0.000,24.839,41.510,305.714,0.500,0.000,24.797,2135.225,12021.386,363.522,2793.807,261.597,0.000,1377.187,0.000,2310.599,0.000,0.539,0.000
$DEVICE_MAMPS,263.160,68.085,1266.840,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.467,1432.281,805.272,483.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,70725,979
$CAP_FILE_SIZE,146323,0
$CFSIZE,2097086464,2028371968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101115,160533,-4504.617,636.905,25,1.5,25,-24.4