version: 66.07.10.p01
glider: 573
mission: 12
dive: 493
start: 11 12 115 3 27 3
data:
$ID,573
$MISSION,12
$DIVE,493
$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,-22534.312
$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,35
$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,492
$GPS1,121115,031833,-4504.164,625.107,41,0.9,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-70.9
$GPS2,121115,032643,-4504.119,625.150,16,0.9,17,-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,302.7,1521,-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,-26.00,0.000,2,0.000,0.000,72,2079,1630,0,0,0,0,0,0
$GC,57,-1.13,-104.5,3.2,-2.3,4,108,11.00,0.00,-35.42,0.000,6,0.220,0.000,2813,2073,2377,0,0,0,0,0,0
$GC,160,-1.07,-104.5,9.2,-14.5,20,167,0.10,0.00,0.00,0.000,6,0.189,0.000,2839,2073,2379,0,0,0,0,0,0
$GC,219,-1.10,-104.5,19.7,-18.8,29,226,0.00,2.35,0.00,0.000,4,0.000,0.054,2839,654,2379,0,0,0,0,0,0
$GC,247,-1.10,-104.5,24.1,-16.0,33,254,0.00,2.28,0.00,0.000,6,0.000,0.044,2831,2051,2379,0,0,0,0,0,0
$GC,400,-1.10,-104.5,47.3,-14.5,58,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2051,2379,0,0,0,0,0,0
$GC,742,-1.10,-104.5,98.2,-14.4,102,746,0.00,2.28,0.00,0.000,4,0.000,0.051,2830,651,2380,0,0,0,0,0,0
$GC,859,-1.10,-104.5,116.3,-15.1,107,863,0.00,2.28,0.00,0.000,6,0.000,0.041,2821,2070,2380,0,0,0,0,0,0
$GC,1183,-1.10,-104.5,164.3,-14.9,123,1187,0.00,2.28,0.00,0.000,4,0.000,0.061,2810,3466,2381,0,0,0,0,0,0
$GC,1270,-1.10,-104.5,177.7,-15.4,127,1275,0.08,2.20,0.00,0.000,6,0.195,0.041,2827,2063,2380,0,0,0,0,0,0
$GC,1600,-1.14,-104.5,223.6,-14.1,143,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2063,2381,0,0,0,0,0,0
$GC,1906,-1.19,-104.5,266.6,-14.2,158,1908,0.08,0.00,0.00,0.000,6,0.124,0.000,2790,2063,2381,0,0,0,0,0,0
$GC,2215,-1.19,-104.5,315.0,-16.0,173,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2381,0,0,0,0,0,0
$GC,2523,-1.19,-104.5,364.8,-16.0,188,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2380,0,0,0,0,0,0
$GC,2834,-1.19,-104.5,414.6,-16.0,203,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2063,2381,0,0,0,0,0,0
$GC,3142,-1.19,-104.5,462.9,-15.8,218,3146,0.00,2.30,0.00,0.000,4,0.000,0.059,2781,3465,2381,0,0,0,0,0,0
$GC,3185,-1.19,-104.5,469.8,-16.3,220,3190,0.03,2.22,0.00,0.000,6,0.193,0.041,2791,2063,2381,0,0,0,0,0,0
$GC,3511,-1.19,-104.5,520.6,-15.3,236,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2063,2381,0,0,0,0,0,0
$GC,3821,-1.19,-104.5,568.7,-15.8,251,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2063,2381,0,0,0,0,0,0
$GC,4129,-1.19,-104.5,614.5,-14.4,266,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2063,2381,0,0,0,0,0,0
$GC,4440,-1.19,-104.5,656.9,-13.4,281,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2063,2381,0,0,0,0,0,0
$GC,4748,-1.19,-104.5,697.1,-12.4,296,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2063,2381,0,0,0,0,0,0
$GC,5059,-1.19,-104.5,735.1,-12.3,311,5063,0.00,2.30,0.00,0.000,4,0.000,0.060,2783,3467,2381,0,0,0,0,0,0
$GC,5086,-1.19,-104.5,738.7,-12.7,312,5090,0.03,2.25,0.00,0.000,6,0.206,0.043,2791,2060,2380,0,0,0,0,0,0
$GC,5412,-1.19,-104.5,777.2,-11.8,328,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2060,2381,0,0,0,0,0,0
$GC,5723,-1.19,-104.5,815.8,-12.6,343,5727,0.00,2.30,0.00,0.000,4,0.000,0.063,2782,3460,2380,0,0,0,0,0,0
$GC,5777,-1.19,-104.5,823.0,-12.0,345,5783,0.03,2.25,0.00,0.000,6,0.200,0.043,2790,2055,2380,0,0,0,0,0,0
$GC,6094,-1.19,-104.5,862.0,-12.1,361,6098,0.00,2.33,0.00,0.000,4,0.000,0.062,2782,3465,2379,0,0,0,0,0,0
$GC,6188,-1.19,-104.5,874.1,-13.2,365,6193,0.03,2.25,0.00,0.000,6,0.192,0.044,2791,2062,2379,0,0,0,0,0,0
$GC,6510,-1.19,-104.5,912.6,-11.8,381,6514,0.00,2.30,0.00,0.000,4,0.000,0.060,2782,3461,2379,0,0,0,0,0,0
$GC,6558,-1.19,-104.5,918.9,-12.2,383,6563,0.03,2.25,0.00,0.000,6,0.197,0.044,2791,2056,2379,0,0,0,0,0,0
$GC,6881,-1.19,-104.5,955.5,-11.3,399,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2056,2378,0,0,0,0,0,0
$GC,7189,-1.19,-104.5,991.2,-11.7,414,7193,0.00,2.33,0.00,0.000,4,0.000,0.063,2782,3463,2378,0,0,0,0,0,0
$GC,7237,-1.19,-104.5,997.3,-12.1,416,7242,0.03,2.25,0.00,0.000,6,0.196,0.044,2791,2064,2378,0,0,0,0,0,0
$STATE,7267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7267,begin apogee
$GC,7274,-0.19,0.0,1001.0,12.2,418,7378,1.12,0.00,100.10,1.264,6,0.151,0.000,3118,1579,1950,0,0,0,0,0,0
$STATE,7378,end apogee,CONTROL_FINISHED_OK
$STATE,7378,begin climb
$GC,7381,1.13,104.5,1003.7,0.0,423,7492,1.25,0.00,105.45,1.218,6,0.080,0.000,3540,1579,1522,0,0,0,0,0,0
$GC,7792,1.21,104.5,954.8,13.8,443,7797,0.10,2.33,0.00,0.000,4,0.099,0.056,3603,200,1515,0,0,0,0,0,0
$GC,7900,1.15,104.5,937.1,16.5,448,7905,0.17,2.28,0.00,0.000,6,0.162,0.038,3557,1609,1514,0,0,0,0,0,0
$GC,8227,1.20,104.5,891.4,13.8,464,8231,0.00,2.35,0.00,0.000,4,0.000,0.054,3566,188,1513,0,0,0,0,0,0
$GC,8270,1.20,104.5,884.6,14.8,466,8274,0.00,2.28,0.00,0.000,6,0.000,0.037,3566,1606,1513,0,0,0,0,0,0
$GC,8597,1.23,104.5,839.5,13.7,482,8601,0.00,2.25,0.00,0.000,4,0.000,0.054,3566,3002,1512,0,0,0,0,0,0
$GC,8668,1.23,104.5,828.6,14.8,485,8673,0.00,2.22,0.00,0.000,6,0.000,0.037,3575,1596,1512,0,0,0,0,0,0
$GC,8990,1.23,104.5,784.1,13.7,501,8995,0.00,2.28,0.00,0.000,4,0.000,0.055,3586,197,1512,0,0,0,0,0,0
$GC,9062,1.23,104.5,773.3,14.4,504,9067,0.00,2.22,0.00,0.000,6,0.000,0.038,3586,1599,1511,0,0,0,0,0,0
$GC,9383,1.23,104.5,729.3,13.7,520,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1511,0,0,0,0,0,0
$GC,9694,1.23,104.5,686.5,13.8,535,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1511,0,0,0,0,0,0
$GC,10002,1.23,104.5,646.5,12.7,550,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1599,1511,0,0,0,0,0,0
$GC,10312,1.23,104.5,607.7,12.5,565,10316,0.00,2.30,0.00,0.000,4,0.000,0.054,3595,195,1510,0,0,0,0,0,0
$GC,10357,1.20,104.5,601.6,13.7,567,10361,0.10,2.20,0.00,0.000,6,0.184,0.037,3571,1599,1510,0,0,0,0,0,0
$GC,10679,1.24,104.5,563.8,11.7,583,10683,0.00,2.30,0.00,0.000,4,0.000,0.053,3580,192,1510,0,0,0,0,0,0
$GC,10741,1.24,104.5,555.7,12.7,586,10745,0.00,2.22,0.00,0.000,6,0.000,0.038,3580,1611,1510,0,0,0,0,0,0
$GC,11066,1.24,104.5,516.8,12.0,602,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1611,1509,0,0,0,0,0,0
$GC,11377,1.24,104.5,479.5,11.9,617,11381,0.00,2.33,0.00,0.000,4,0.000,0.053,3589,188,1510,0,0,0,0,0,0
$GC,11470,1.24,104.5,467.1,13.4,621,11474,0.00,2.22,0.00,0.000,6,0.000,0.037,3590,1599,1509,0,0,0,0,0,0
$GC,11792,1.24,104.5,425.8,13.5,637,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1599,1509,0,0,0,0,0,0
$GC,12100,1.24,104.5,387.3,11.8,652,12104,0.00,2.30,0.00,0.000,4,0.000,0.053,3598,190,1509,0,0,0,0,0,0
$GC,12163,1.20,104.5,379.6,13.5,655,12168,0.10,2.22,0.00,0.000,6,0.184,0.037,3574,1609,1509,0,0,0,0,0,0
$GC,12491,1.24,104.5,342.2,11.2,671,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1609,1509,0,0,0,0,0,0
$GC,12798,1.28,104.5,305.8,12.2,686,12803,0.08,2.30,0.00,0.000,4,0.123,0.053,3624,199,1509,0,0,0,0,0,0
$GC,12899,1.21,104.5,291.7,14.2,690,12907,0.15,2.20,0.00,0.000,6,0.163,0.037,3578,1586,1509,0,0,0,0,0,0
$GC,13215,1.25,104.5,253.0,12.2,706,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1586,1509,0,0,0,0,0,0
$GC,13527,1.29,104.5,218.0,11.1,721,13532,0.05,2.28,0.00,0.000,4,0.171,0.054,3617,192,1509,0,0,0,0,0,0
$GC,13640,1.22,104.5,202.4,13.3,726,13645,0.12,2.20,0.00,0.000,6,0.184,0.035,3578,1602,1509,0,0,0,0,0,0
$GC,13963,1.27,104.5,164.8,10.6,742,13967,0.00,2.28,0.00,0.000,4,0.000,0.053,3587,197,1509,0,0,0,0,0,0
$GC,14046,1.27,104.5,155.4,10.0,745,14051,0.00,2.22,0.00,0.000,6,0.000,0.037,3587,1605,1509,0,0,0,0,0,0
$GC,14365,1.30,104.5,123.3,10.3,761,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1508,0,0,0,0,0,0
$GC,14672,1.30,104.5,91.4,9.8,776,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1509,0,0,0,0,0,0
$GC,15002,1.30,104.5,58.9,11.2,818,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1509,0,0,0,0,0,0
$GC,15363,1.34,104.5,20.1,13.6,879,15371,0.08,2.33,0.00,0.000,4,0.126,0.053,3631,198,1509,0,0,0,0,0,0
$STATE,15469,end climb,SURFACE_DEPTH_REACHED
$STATE,15470,begin surface coast
$FINISH,1.7,1.023404
$STATE,15478,end surface coast,CONTROL_FINISHED_OK
$STATE,15479,begin surface
$SM_CCo,15500,45.58,0.054,0,0,1132,200.16
$SM_GC,2.85,0.00,0.00,45.58,0.000,0.000,0.054,78,2057,1132,-9.71,-0.08,200.16
$IRIDIUM_FIX,-4447.43,622.10,070908,111124
$TT8_MAMPS,0.026964
$HUMID,64.01
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,2
$24V_AH,22.0,57.960
$10V_AH,9.7,60.974
$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,23.950,96.800,205.550,45.575,0.000,24.801,43.131,276.280,0.500,0.000,19.670,1950.988,11009.772,338.420,2497.654,236.416,0.000,1240.727,0.000,2061.022,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,62.730,1263.780,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.920,1288.339,716.313,402.544,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,63770,897
$CAP_FILE_SIZE,129308,0
$CFSIZE,2097086464,2027520000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121115,074733,-4504.431,623.158,47,0.8,47,-24.3