version: 66.07.10.p01
glider: 573
mission: 12
dive: 492
start: 11 11 115 22 36 8
data:
$ID,573
$MISSION,12
$DIVE,492
$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,-22531.326
$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,38
$R_STBD_OVSHOOT,31
$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,491
$GPS1,111115,222052,-4505.027,626.248,37,0.9,37,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-67.0
$GPS2,111115,223548,-4505.102,626.545,15,0.9,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,325.9,3905,-24.6,-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,-0.98,-63.0,0.0,0.0,0,48,0.00,0.00,-19.62,0.000,2,0.000,0.000,74,2057,1519,0,0,0,0,0,0
$GC,51,-1.02,-116.8,3.1,-2.3,3,108,11.60,2.35,-38.47,0.000,4,0.236,0.068,2841,3493,2425,0,0,0,0,0,0
$GC,253,-0.97,-116.8,24.9,-16.4,35,260,0.08,2.30,0.00,0.000,6,0.164,0.043,2864,2069,2428,0,0,0,0,0,0
$GC,406,-0.97,-116.8,46.4,-14.4,60,413,0.00,2.33,0.00,0.000,4,0.000,0.053,2864,647,2429,0,0,0,0,0,0
$GC,438,-0.97,-116.8,51.3,-15.1,65,444,0.05,2.25,0.00,0.000,6,0.239,0.038,2866,2072,2428,0,0,0,0,0,0
$GC,782,-0.97,-116.8,98.3,-14.3,109,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2072,2429,0,0,0,0,0,0
$GC,1089,-0.97,-116.8,142.2,-14.5,124,1093,0.00,2.30,0.00,0.000,4,0.000,0.050,2866,647,2429,0,0,0,0,0,0
$GC,1121,-0.97,-116.8,147.3,-14.8,125,1126,0.00,2.22,0.00,0.000,6,0.000,0.036,2857,2058,2429,0,0,0,0,0,0
$GC,1445,-0.97,-116.8,192.1,-12.6,141,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2058,2429,0,0,0,0,0,0
$GC,1753,-0.97,-116.8,231.5,-12.9,156,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2059,2429,0,0,0,0,0,0
$GC,2064,-0.97,-116.8,271.1,-12.9,171,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2059,2429,0,0,0,0,0,0
$GC,2370,-0.97,-116.8,311.6,-13.1,186,2374,0.00,2.30,0.00,0.000,4,0.000,0.062,2846,3472,2429,0,0,0,0,0,0
$GC,2402,-0.97,-116.8,316.2,-14.6,187,2407,0.05,2.25,0.00,0.000,6,0.161,0.042,2863,2054,2429,0,0,0,0,0,0
$GC,2719,-1.01,-116.8,357.7,-12.9,203,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2053,2429,0,0,0,0,0,0
$GC,3027,-1.05,-116.8,396.2,-12.0,218,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2053,2429,0,0,0,0,0,0
$GC,3337,-1.09,-116.8,434.7,-12.7,233,3339,0.10,0.00,0.00,0.000,6,0.099,0.000,2811,2053,2429,0,0,0,0,0,0
$GC,3645,-1.02,-116.8,479.2,-14.7,248,3647,0.15,0.00,0.00,0.000,6,0.174,0.000,2852,2053,2429,0,0,0,0,0,0
$GC,3956,-1.02,-116.8,518.1,-12.1,263,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2053,2429,0,0,0,0,0,0
$GC,4264,-1.02,-116.8,554.9,-11.7,278,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2053,2429,0,0,0,0,0,0
$GC,4574,-1.02,-116.8,591.3,-12.1,293,4578,0.00,2.25,0.00,0.000,4,0.000,0.056,2852,649,2428,0,0,0,0,0,0
$GC,4614,-1.02,-116.8,596.3,-12.3,295,4618,0.00,2.25,0.00,0.000,6,0.000,0.043,2843,2069,2428,0,0,0,0,0,0
$GC,4941,-1.02,-116.8,636.1,-12.4,311,4945,0.00,2.28,0.00,0.000,4,0.000,0.061,2832,3466,2428,0,0,0,0,0,0
$GC,4968,-1.02,-116.8,639.7,-13.4,312,4973,0.05,2.25,0.00,0.000,6,0.163,0.041,2849,2053,2428,0,0,0,0,0,0
$GC,5289,-1.05,-116.8,678.0,-11.7,328,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2053,2428,0,0,0,0,0,0
$GC,5599,-1.08,-116.8,712.6,-11.0,343,5603,0.00,2.28,0.00,0.000,4,0.000,0.057,2849,656,2428,0,0,0,0,0,0
$GC,5661,-1.08,-116.8,720.2,-12.7,346,5665,0.00,2.25,0.00,0.000,6,0.000,0.044,2840,2072,2428,0,0,0,0,0,0
$GC,5986,-1.08,-116.8,758.8,-11.7,362,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2072,2428,0,0,0,0,0,0
$GC,6297,-1.08,-116.8,795.4,-11.8,377,6301,0.00,2.22,0.00,0.000,4,0.000,0.061,2829,3462,2428,0,0,0,0,0,0
$GC,6340,-1.08,-116.8,800.9,-12.4,379,6344,0.00,2.22,0.00,0.000,6,0.000,0.042,2830,2064,2427,0,0,0,0,0,0
$GC,6668,-1.08,-116.8,840.9,-12.4,395,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2064,2427,0,0,0,0,0,0
$GC,6976,-1.08,-116.8,878.8,-12.2,410,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2064,2427,0,0,0,0,0,0
$GC,7286,-1.08,-116.8,914.5,-11.5,425,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2063,2426,0,0,0,0,0,0
$GC,7594,-1.08,-116.8,950.5,-11.7,440,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2064,2426,0,0,0,0,0,0
$GC,7905,-1.08,-116.8,986.5,-11.7,455,7909,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,658,2425,0,0,0,0,0,0
$GC,7937,-1.08,-116.8,990.4,-12.3,456,7943,0.00,2.22,0.00,0.000,6,0.000,0.042,2821,2067,2426,0,0,0,0,0,0
$STATE,8025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8025,begin apogee
$GC,8031,-0.19,0.0,1001.1,12.1,461,8146,1.00,0.00,110.65,1.260,6,0.147,0.000,3115,1595,1950,0,0,0,0,0,0
$STATE,8147,end apogee,CONTROL_FINISHED_OK
$STATE,8147,begin climb
$GC,8149,1.02,116.8,1005.1,0.0,467,8276,1.17,2.58,117.47,1.216,4,0.082,0.054,3518,195,1474,0,0,0,0,0,0
$GC,8317,1.02,116.8,991.7,12.8,475,8321,0.00,2.42,0.00,0.000,6,0.000,0.035,3518,1610,1470,0,0,0,0,0,0
$GC,8643,1.06,116.8,951.5,12.6,491,8648,0.00,2.38,0.00,0.000,4,0.000,0.053,3528,199,1466,0,0,0,0,0,0
$GC,8729,1.06,116.8,939.9,14.2,495,8733,0.00,2.25,0.00,0.000,6,0.000,0.036,3527,1606,1465,0,0,0,0,0,0
$GC,9055,1.06,116.8,896.2,13.6,511,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1606,1464,0,0,0,0,0,0
$GC,9363,1.06,116.8,853.8,13.7,526,9367,0.00,2.30,0.00,0.000,4,0.000,0.053,3536,195,1463,0,0,0,0,0,0
$GC,9407,1.06,116.8,847.5,14.8,528,9411,0.00,2.22,0.00,0.000,6,0.000,0.035,3537,1596,1463,0,0,0,0,0,0
$GC,9733,1.06,116.8,802.9,13.5,544,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1596,1463,0,0,0,0,0,0
$GC,10044,1.06,116.8,762.0,13.1,559,10048,0.00,2.25,0.00,0.000,4,0.000,0.055,3536,2994,1463,0,0,0,0,0,0
$GC,10099,1.06,116.8,754.4,13.1,561,10105,0.05,2.20,0.00,0.000,6,0.173,0.036,3529,1597,1463,0,0,0,0,0,0
$GC,10416,1.09,116.8,715.7,11.9,577,10420,0.00,2.25,0.00,0.000,4,0.000,0.054,3540,196,1463,0,0,0,0,0,0
$GC,10617,1.09,116.8,689.9,11.4,586,10621,0.00,2.22,0.00,0.000,6,0.000,0.036,3540,1601,1462,0,0,0,0,0,0
$GC,10943,1.09,116.8,651.2,11.8,602,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1602,1462,0,0,0,0,0,0
$GC,11254,1.09,116.8,614.6,11.8,617,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1602,1462,0,0,0,0,0,0
$GC,11562,1.09,116.8,578.7,11.4,632,11566,0.00,2.28,0.00,0.000,4,0.000,0.053,3549,195,1462,0,0,0,0,0,0
$GC,11639,1.09,116.8,569.5,11.8,635,11644,0.03,2.22,0.00,0.000,6,0.191,0.036,3540,1604,1461,0,0,0,0,0,0
$GC,11955,1.09,116.8,535.0,10.7,651,11959,0.00,2.30,0.00,0.000,4,0.000,0.053,3548,195,1461,0,0,0,0,0,0
$GC,11995,1.09,116.8,530.6,11.4,653,11999,0.05,2.20,0.00,0.000,6,0.221,0.036,3538,1605,1461,0,0,0,0,0,0
$GC,12321,1.09,116.8,496.7,10.3,669,12325,0.00,2.28,0.00,0.000,4,0.000,0.053,3546,198,1461,0,0,0,0,0,0
$GC,12420,1.09,116.8,485.8,10.3,673,12425,0.00,2.20,0.00,0.000,6,0.000,0.037,3546,1593,1461,0,0,0,0,0,0
$GC,12737,1.09,116.8,452.1,10.7,689,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1593,1461,0,0,0,0,0,0
$GC,13045,1.09,116.8,416.4,11.7,704,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1593,1461,0,0,0,0,0,0
$GC,13355,1.09,116.8,379.5,12.1,719,13359,0.00,2.28,0.00,0.000,4,0.000,0.053,3555,201,1461,0,0,0,0,0,0
$GC,13427,1.09,116.8,370.1,13.4,722,13432,0.05,2.22,0.00,0.000,6,0.156,0.037,3538,1604,1461,0,0,0,0,0,0
$GC,13748,1.12,116.8,331.8,12.2,738,13752,0.00,2.30,0.00,0.000,4,0.000,0.052,3547,196,1461,0,0,0,0,0,0
$GC,13824,1.12,116.8,321.5,13.4,741,13829,0.00,2.22,0.00,0.000,6,0.000,0.036,3547,1605,1461,0,0,0,0,0,0
$GC,14143,1.12,116.8,281.5,12.4,757,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1605,1461,0,0,0,0,0,0
$GC,14450,1.12,116.8,246.6,10.7,772,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1604,1461,0,0,0,0,0,0
$GC,14762,1.12,116.8,213.1,11.0,787,14766,0.00,2.30,0.00,0.000,4,0.000,0.052,3556,198,1461,0,0,0,0,0,0
$GC,14833,1.12,116.8,204.4,10.9,790,14838,0.00,2.20,0.00,0.000,6,0.000,0.036,3555,1596,1461,0,0,0,0,0,0
$GC,15155,1.12,116.8,168.7,10.4,806,15157,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1596,1461,0,0,0,0,0,0
$GC,15467,1.12,116.8,137.3,10.4,821,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1597,1461,0,0,0,0,0,0
$GC,15774,1.12,116.8,106.6,9.9,836,15775,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1597,1461,0,0,0,0,0,0
$GC,16086,1.12,116.8,77.2,9.5,854,16091,0.00,2.30,0.00,0.000,4,0.000,0.053,3563,192,1461,0,0,0,0,0,0
$GC,16325,1.12,116.8,52.7,10.8,896,16331,0.08,2.20,0.00,0.000,6,0.178,0.035,3546,1608,1461,0,0,0,0,0,0
$GC,16694,1.17,116.8,13.2,10.5,957,16701,0.00,2.33,0.00,0.000,4,0.000,0.051,3555,198,1461,0,0,0,0,0,0
$GC,16747,1.09,116.8,7.3,11.4,965,16756,0.05,2.20,0.00,0.000,6,0.162,0.037,3538,1588,1460,0,0,0,0,0,0
$STATE,16781,end climb,SURFACE_DEPTH_REACHED
$STATE,16781,begin surface coast
$FINISH,1.7,1.023372
$STATE,16807,end surface coast,CONTROL_FINISHED_OK
$STATE,16807,begin surface
$SM_CCo,16826,39.97,0.054,0,0,1131,200.16
$SM_GC,2.96,0.00,0.00,39.97,0.000,0.000,0.054,74,2079,1131,-9.72,0.54,200.16
$IRIDIUM_FIX,-4447.43,625.13,070908,111139
$TT8_MAMPS,0.026964
$HUMID,64.45
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.0,57.866
$10V_AH,9.7,60.879
$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,23.775,101.375,228.125,39.975,0.000,92.987,178.988,337.341,0.000,0.000,19.439,2080.270,12192.354,349.998,2881.505,245.521,0.000,1289.016,0.000,2169.239,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,68.085,1259.955,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.436,1407.562,785.628,461.365,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353132
$DATA_FILE_SIZE,70545,974
$CAP_FILE_SIZE,135123,0
$CFSIZE,2097086464,2027585536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121115,031833,-4504.164,625.107,41,0.9,41,-24.4