version: 66.07.10.p01
glider: 573
mission: 12
dive: 494
start: 11 12 115 7 56 5
data:
$ID,573
$MISSION,12
$DIVE,494
$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,-22537.254
$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,34
$R_STBD_OVSHOOT,30
$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,493
$GPS1,121115,074733,-4504.431,623.158,47,0.8,47,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-68.1
$GPS2,121115,075545,-4504.472,623.149,19,1.0,19,-24.3
$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,76.1,1415,-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,-19.80,0.000,2,0.000,0.000,78,2057,1520,0,0,0,0,0,0
$GC,51,-1.13,-106.3,3.0,-2.1,3,103,11.18,2.30,-34.55,0.000,4,0.227,0.067,2813,655,2385,0,0,0,0,0,0
$GC,376,-1.09,-106.3,49.9,-17.0,56,382,0.10,2.25,0.00,0.000,6,0.198,0.042,2829,2073,2387,0,0,0,0,0,0
$GC,725,-1.09,-106.3,103.7,-13.7,96,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2073,2388,0,0,0,0,0,0
$GC,1036,-1.09,-106.3,149.4,-15.5,111,1040,0.00,2.25,0.00,0.000,4,0.000,0.056,2818,3469,2388,0,0,0,0,0,0
$GC,1079,-1.09,-106.3,157.2,-16.8,113,1083,0.00,2.22,0.00,0.000,6,0.000,0.041,2818,2052,2388,0,0,0,0,0,0
$GC,1409,-1.09,-106.3,212.3,-16.5,129,1413,0.00,2.25,0.00,0.000,4,0.000,0.055,2818,647,2388,0,0,0,0,0,0
$GC,1426,-1.09,-106.3,215.6,-16.2,130,1431,0.10,2.25,0.00,0.000,6,0.195,0.041,2832,2069,2388,0,0,0,0,0,0
$GC,1755,-1.15,-106.3,263.0,-14.3,146,1759,0.00,2.28,0.00,0.000,4,0.000,0.060,2822,3468,2389,0,0,0,0,0,0
$GC,1799,-1.20,-106.3,270.0,-15.0,148,1803,0.08,2.22,0.00,0.000,6,0.122,0.042,2786,2052,2389,0,0,0,0,0,0
$GC,2119,-1.17,-106.3,320.6,-16.2,164,2124,0.10,2.35,0.00,0.000,4,0.193,0.061,2799,3472,2389,0,0,0,0,0,0
$GC,2185,-1.17,-106.3,331.3,-16.0,167,2189,0.00,2.25,0.00,0.000,6,0.000,0.044,2799,2066,2389,0,0,0,0,0,0
$GC,2512,-1.17,-106.3,380.2,-14.8,183,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2066,2389,0,0,0,0,0,0
$GC,2820,-1.17,-106.3,425.2,-14.3,198,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2066,2389,0,0,0,0,0,0
$GC,3131,-1.17,-106.3,470.3,-14.8,213,3135,0.00,2.28,0.00,0.000,4,0.000,0.054,2799,643,2390,0,0,0,0,0,0
$GC,3169,-1.17,-106.3,476.6,-15.3,214,3175,0.03,2.25,0.00,0.000,6,0.220,0.037,2798,2060,2389,0,0,0,0,0,0
$GC,3484,-1.17,-106.3,522.6,-14.7,230,3488,0.00,2.30,0.00,0.000,4,0.000,0.064,2788,3462,2389,0,0,0,0,0,0
$GC,3550,-1.17,-106.3,532.6,-15.1,233,3555,0.05,2.22,0.00,0.000,6,0.182,0.041,2803,2060,2389,0,0,0,0,0,0
$GC,3877,-1.17,-106.3,578.5,-13.9,249,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2060,2389,0,0,0,0,0,0
$GC,4185,-1.17,-106.3,620.7,-13.2,264,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2060,2389,0,0,0,0,0,0
$GC,4496,-1.17,-106.3,661.8,-12.7,279,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2060,2389,0,0,0,0,0,0
$GC,4804,-1.17,-106.3,702.6,-13.1,294,4808,0.00,2.33,0.00,0.000,4,0.000,0.063,2794,3468,2388,0,0,0,0,0,0
$GC,4853,-1.17,-106.3,709.3,-13.8,296,4857,0.00,2.25,0.00,0.000,6,0.000,0.044,2794,2062,2388,0,0,0,0,0,0
$GC,5174,-1.17,-106.3,750.1,-12.8,312,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2062,2387,0,0,0,0,0,0
$GC,5484,-1.17,-106.3,787.6,-12.0,327,5488,0.00,2.28,0.00,0.000,4,0.000,0.056,2795,653,2387,0,0,0,0,0,0
$GC,5517,-1.17,-106.3,792.0,-12.4,328,5522,0.05,2.25,0.00,0.000,6,0.179,0.044,2809,2052,2387,0,0,0,0,0,0
$GC,5838,-1.21,-106.3,829.3,-12.1,344,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2052,2387,0,0,0,0,0,0
$GC,6149,-1.26,-106.3,865.4,-11.5,359,6153,0.10,2.30,0.00,0.000,4,0.102,0.058,2749,3468,2387,0,0,0,0,0,0
$GC,6284,-1.20,-106.3,884.0,-12.9,365,6289,0.17,2.22,0.00,0.000,6,0.171,0.044,2795,2062,2387,0,0,0,0,0,0
$GC,6605,-1.20,-106.3,921.7,-11.4,381,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2062,2387,0,0,0,0,0,0
$GC,6914,-1.24,-106.3,956.0,-11.2,396,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2062,2386,0,0,0,0,0,0
$GC,7224,-1.24,-106.3,990.5,-11.2,411,7228,0.00,2.33,0.00,0.000,4,0.000,0.061,2786,3471,2386,0,0,0,0,0,0
$GC,7251,-1.24,-106.3,994.0,-12.3,412,7255,0.00,2.28,0.00,0.000,6,0.000,0.044,2786,2053,2386,0,0,0,0,0,0
$STATE,7308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7309,begin apogee
$GC,7315,-0.19,0.0,1000.5,11.5,415,7421,1.15,0.00,101.95,1.258,6,0.155,0.000,3118,1589,1950,0,0,0,0,0,0
$STATE,7421,end apogee,CONTROL_FINISHED_OK
$STATE,7421,begin climb
$GC,7424,1.13,106.3,1002.8,0.0,420,7540,1.27,2.58,106.78,1.212,4,0.081,0.054,3556,199,1515,0,0,0,0,0,0
$GC,7573,1.13,106.3,987.7,14.5,427,7578,0.00,2.42,0.00,0.000,6,0.000,0.037,3556,1608,1512,0,0,0,0,0,0
$GC,7902,1.18,106.3,941.0,14.4,443,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1609,1507,0,0,0,0,0,0
$GC,8209,1.24,106.3,897.1,14.2,458,8211,0.08,0.00,0.00,0.000,6,0.120,0.000,3598,1609,1506,0,0,0,0,0,0
$GC,8520,1.24,106.3,849.1,15.6,473,8525,0.08,2.33,0.00,0.000,4,0.196,0.053,3591,195,1505,0,0,0,0,0,0
$GC,8575,1.20,106.3,840.3,15.4,475,8580,0.08,2.22,0.00,0.000,6,0.198,0.037,3575,1609,1505,0,0,0,0,0,0
$GC,8891,1.20,106.3,794.6,14.2,491,8895,0.00,2.22,0.00,0.000,4,0.000,0.055,3575,2991,1505,0,0,0,0,0,0
$GC,8923,1.20,106.3,789.9,14.1,492,8928,0.00,2.20,0.00,0.000,6,0.000,0.037,3583,1601,1504,0,0,0,0,0,0
$GC,9239,1.20,106.3,745.3,14.0,508,9243,0.00,2.30,0.00,0.000,4,0.000,0.055,3594,188,1504,0,0,0,0,0,0
$GC,9387,1.16,106.3,723.9,14.7,514,9392,0.15,2.20,0.00,0.000,6,0.173,0.036,3555,1600,1504,0,0,0,0,0,0
$GC,9701,1.22,106.3,682.7,12.8,530,9703,0.05,0.00,0.00,0.000,6,0.168,0.000,3592,1600,1503,0,0,0,0,0,0
$GC,10012,1.22,106.3,637.3,14.6,545,10016,0.08,2.30,0.00,0.000,4,0.200,0.054,3585,195,1503,0,0,0,0,0,0
$GC,10100,1.22,106.3,623.7,15.7,549,10104,0.00,2.22,0.00,0.000,6,0.000,0.037,3585,1598,1502,0,0,0,0,0,0
$GC,10428,1.22,106.3,577.8,13.5,565,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1597,1503,0,0,0,0,0,0
$GC,10736,1.22,106.3,536.0,13.3,580,10739,0.00,2.30,0.00,0.000,4,0.000,0.053,3594,186,1503,0,0,0,0,0,0
$GC,10837,1.22,106.3,521.6,13.9,584,10842,0.08,2.22,0.00,0.000,6,0.201,0.037,3578,1605,1502,0,0,0,0,0,0
$GC,11154,1.25,106.3,479.4,13.5,599,11158,0.00,2.30,0.00,0.000,4,0.000,0.053,3587,195,1502,0,0,0,0,0,0
$GC,11187,1.25,106.3,474.4,13.9,600,11191,0.00,2.22,0.00,0.000,6,0.000,0.036,3587,1605,1502,0,0,0,0,0,0
$GC,11507,1.25,106.3,431.2,13.6,616,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1604,1502,0,0,0,0,0,0
$GC,11818,1.25,106.3,388.6,13.6,631,11822,0.00,2.30,0.00,0.000,4,0.000,0.053,3596,196,1502,0,0,0,0,0,0
$GC,11879,1.25,106.3,379.6,14.1,634,11883,0.00,2.17,0.00,0.000,6,0.000,0.036,3596,1603,1502,0,0,0,0,0,0
$GC,12205,1.25,106.3,336.2,13.0,650,12209,0.00,2.30,0.00,0.000,4,0.000,0.052,3605,196,1502,0,0,0,0,0,0
$GC,12341,1.20,106.3,318.0,14.1,656,12345,0.12,2.17,0.00,0.000,6,0.176,0.036,3574,1601,1502,0,0,0,0,0,0
$GC,12663,1.25,106.3,279.0,12.0,672,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1601,1502,0,0,0,0,0,0
$GC,12973,1.30,106.3,243.1,11.4,687,12978,0.08,2.30,0.00,0.000,4,0.125,0.053,3622,192,1502,0,0,0,0,0,0
$GC,13040,1.23,106.3,233.7,13.3,690,13044,0.15,2.20,0.00,0.000,6,0.181,0.036,3582,1618,1502,0,0,0,0,0,0
$GC,13362,1.26,106.3,196.6,11.5,706,13366,0.00,2.33,0.00,0.000,4,0.000,0.053,3591,196,1502,0,0,0,0,0,0
$GC,13402,1.26,106.3,191.6,12.2,708,13407,0.00,2.20,0.00,0.000,6,0.000,0.038,3591,1602,1502,0,0,0,0,0,0
$GC,13729,1.26,106.3,154.5,11.8,724,13733,0.00,2.22,0.00,0.000,4,0.000,0.054,3591,2990,1502,0,0,0,0,0,0
$GC,13779,1.26,106.3,148.3,12.9,726,13783,0.00,2.17,0.00,0.000,6,0.000,0.036,3599,1604,1502,0,0,0,0,0,0
$GC,14101,1.26,106.3,109.5,12.1,742,14105,0.00,2.28,0.00,0.000,4,0.000,0.054,3610,198,1502,0,0,0,0,0,0
$GC,14242,1.23,106.3,90.9,12.8,748,14246,0.10,2.20,0.00,0.000,6,0.197,0.037,3584,1606,1501,0,0,0,0,0,0
$GC,14585,1.27,106.3,51.1,11.5,796,14591,0.00,2.30,0.00,0.000,4,0.000,0.051,3593,196,1501,0,0,0,0,0,0
$GC,14801,1.27,106.3,28.4,10.0,832,14809,0.00,2.20,0.00,0.000,6,0.000,0.035,3593,1592,1501,0,0,0,0,0,0
$GC,14959,1.33,117.0,14.3,7.3,857,14967,0.00,0.00,4.28,0.435,6,0.000,0.000,3593,1592,1471,0,0,0,0,0,0
$GC,15019,1.37,117.0,8.9,10.6,866,15026,0.10,0.00,0.00,0.000,6,0.109,0.000,3637,1592,1470,0,0,0,0,0,0
$STATE,15063,end climb,SURFACE_DEPTH_REACHED
$STATE,15063,begin surface coast
$FINISH,1.8,1.023382
$STATE,15089,end surface coast,CONTROL_FINISHED_OK
$STATE,15089,begin surface
$SM_CCo,15109,41.28,0.054,0,0,1132,200.16
$SM_GC,2.93,0.00,0.00,41.28,0.000,0.000,0.054,82,2089,1132,-9.68,0.82,200.16
$IRIDIUM_FIX,-4447.43,622.10,070908,161656
$TT8_MAMPS,0.026964
$HUMID,64.37
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.0,58.054
$10V_AH,9.6,61.070
$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,25.000,114.725,213.000,41.275,0.000,26.955,46.487,269.395,0.000,0.000,22.313,1940.613,10602.436,335.257,2527.969,234.549,0.000,1248.411,0.000,2083.275,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,66.555,1258.425,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.844,1293.982,739.136,455.980,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353364
$DATA_FILE_SIZE,63963,877
$CAP_FILE_SIZE,132461,0
$CFSIZE,2097086464,2027356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121115,120951,-4504.289,626.496,39,1.0,39,-24.4