version: 66.07.10.p01
glider: 573
mission: 12
dive: 496
start: 11 12 115 16 29 25
data:
$ID,573
$MISSION,12
$DIVE,496
$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,-22543.195
$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,33
$R_STBD_OVSHOOT,33
$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,495
$GPS1,121115,162055,-4504.007,624.942,45,1.0,45,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-69.3
$GPS2,121115,162905,-4503.955,625.109,26,1.0,26,-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,291.1,1453,-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,27,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-18.00,0.000,2,0.000,0.000,80,2066,1483,0,0,0,0,0,0
$GC,49,-1.13,-109.5,3.1,-1.7,3,113,11.38,2.38,-43.17,0.000,4,0.233,0.079,2800,3457,2398,0,0,0,0,0,0
$GC,130,-1.09,-116.8,4.8,-4.5,15,139,0.10,2.28,-0.77,0.000,6,0.164,0.043,2831,2054,2425,0,0,0,0,0,0
$GC,191,-1.15,-116.8,16.2,-19.3,24,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2054,2426,0,0,0,0,0,0
$GC,249,-1.15,-116.8,25.3,-15.0,33,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2053,2426,0,0,0,0,0,0
$GC,400,-1.15,-116.8,49.0,-15.3,58,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2054,2426,0,0,0,0,0,0
$GC,746,-1.18,-116.8,101.9,-14.4,100,750,0.08,2.30,0.00,0.000,4,0.123,0.057,2788,647,2427,0,0,0,0,0,0
$GC,786,-1.11,-116.8,108.6,-17.6,102,791,0.17,2.28,0.00,0.000,6,0.181,0.045,2824,2061,2427,0,0,0,0,0,0
$GC,1112,-1.11,-116.8,162.4,-16.5,118,1116,0.00,2.33,0.00,0.000,4,0.000,0.067,2814,3468,2427,0,0,0,0,0,0
$GC,1184,-1.11,-116.8,174.7,-16.7,121,1189,0.00,2.25,0.00,0.000,6,0.000,0.044,2814,2065,2427,0,0,0,0,0,0
$GC,1508,-1.11,-116.8,225.7,-14.9,137,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2065,2427,0,0,0,0,0,0
$GC,1816,-1.14,-116.8,275.2,-16.2,152,1820,0.00,2.28,0.00,0.000,4,0.000,0.056,2814,651,2428,0,0,0,0,0,0
$GC,1843,-1.14,-116.8,280.0,-16.4,153,1848,0.00,2.25,0.00,0.000,6,0.000,0.042,2805,2071,2428,0,0,0,0,0,0
$GC,2171,-1.14,-116.8,332.7,-16.6,169,2175,0.00,2.28,0.00,0.000,4,0.000,0.063,2795,3463,2428,0,0,0,0,0,0
$GC,2270,-1.14,-116.8,349.6,-16.7,173,2276,0.05,2.25,0.00,0.000,6,0.162,0.042,2811,2053,2428,0,0,0,0,0,0
$GC,2587,-1.17,-116.8,397.0,-14.7,189,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2052,2428,0,0,0,0,0,0
$GC,2895,-1.20,-116.8,441.9,-14.5,204,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2053,2428,0,0,0,0,0,0
$GC,3206,-1.24,-116.8,487.3,-14.9,219,3210,0.08,2.28,0.00,0.000,4,0.129,0.057,2770,655,2428,0,0,0,0,0,0
$GC,3261,-1.18,-116.8,496.7,-17.4,221,3266,0.15,2.25,0.00,0.000,6,0.189,0.047,2799,2058,2428,0,0,0,0,0,0
$GC,3577,-1.18,-116.8,544.5,-14.7,237,3581,0.00,2.33,0.00,0.000,4,0.000,0.067,2788,3466,2428,0,0,0,0,0,0
$GC,3670,-1.18,-116.8,558.9,-15.4,241,3675,0.03,2.25,0.00,0.000,6,0.193,0.044,2796,2061,2428,0,0,0,0,0,0
$GC,3992,-1.18,-116.8,604.3,-14.3,257,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2061,2428,0,0,0,0,0,0
$GC,4300,-1.18,-116.8,648.3,-14.3,272,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2061,2428,0,0,0,0,0,0
$GC,4611,-1.18,-116.8,692.4,-14.3,287,4615,0.00,2.35,0.00,0.000,4,0.000,0.067,2787,3471,2428,0,0,0,0,0,0
$GC,4699,-1.18,-116.8,705.9,-15.2,291,4704,0.05,2.28,0.00,0.000,6,0.221,0.047,2797,2057,2428,0,0,0,0,0,0
$GC,5028,-1.21,-116.8,750.9,-13.6,307,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2057,2427,0,0,0,0,0,0
$GC,5335,-1.24,-116.8,792.5,-13.4,322,5339,0.00,2.30,0.00,0.000,4,0.000,0.060,2798,650,2427,0,0,0,0,0,0
$GC,5368,-1.24,-116.8,797.0,-14.4,323,5373,0.00,2.28,0.00,0.000,6,0.000,0.048,2790,2060,2427,0,0,0,0,0,0
$GC,5684,-1.24,-116.8,840.9,-13.8,339,5688,0.00,2.35,0.00,0.000,4,0.000,0.070,2779,3468,2427,0,0,0,0,0,0
$GC,5731,-1.24,-116.8,847.4,-14.5,341,5735,0.00,2.25,0.00,0.000,6,0.000,0.047,2779,2058,2427,0,0,0,0,0,0
$GC,6057,-1.24,-116.8,894.2,-14.2,357,6061,0.00,2.38,0.00,0.000,4,0.000,0.068,2770,3471,2427,0,0,0,0,0,0
$GC,6143,-1.24,-116.8,906.7,-15.0,361,6147,0.00,2.25,0.00,0.000,6,0.000,0.047,2770,2061,2426,0,0,0,0,0,0
$GC,6470,-1.24,-116.8,953.0,-13.8,377,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2062,2426,0,0,0,0,0,0
$GC,6777,-1.24,-116.8,994.2,-13.0,392,6782,0.00,2.35,0.00,0.000,4,0.000,0.067,2761,3468,2426,0,0,0,0,0,0
$STATE,6825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6825,begin apogee
$GC,6833,-0.19,0.0,1000.8,13.2,394,6948,1.20,0.00,110.62,1.258,6,0.158,0.000,3111,1596,1950,0,0,0,0,0,0
$STATE,6948,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6951,1.13,116.8,1003.7,0.0,400,7078,1.30,2.58,118.07,1.212,4,0.085,0.057,3553,198,1473,0,0,0,0,0,0
$GC,7151,1.17,116.8,981.0,15.4,409,7156,0.00,2.42,0.00,0.000,6,0.000,0.037,3552,1616,1468,0,0,0,0,0,0
$GC,7467,1.24,116.8,934.1,15.0,425,7469,0.10,0.00,0.00,0.000,6,0.099,0.000,3603,1616,1465,0,0,0,0,0,0
$GC,7775,1.24,116.8,883.1,16.3,440,7777,0.08,0.00,0.00,0.000,6,0.197,0.000,3586,1617,1464,0,0,0,0,0,0
$GC,8086,1.24,116.8,835.7,15.0,455,8090,0.00,2.35,0.00,0.000,4,0.000,0.055,3596,192,1464,0,0,0,0,0,0
$GC,8157,1.20,116.8,824.0,16.4,458,8162,0.10,2.25,0.00,0.000,6,0.183,0.039,3572,1608,1464,0,0,0,0,0,0
$GC,8474,1.24,116.8,778.9,14.0,473,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1609,1463,0,0,0,0,0,0
$GC,8783,1.28,116.8,735.9,13.7,488,8788,0.08,2.33,0.00,0.000,4,0.125,0.054,3624,190,1463,0,0,0,0,0,0
$GC,8861,1.19,116.8,723.6,16.8,491,8866,0.20,2.22,0.00,0.000,6,0.171,0.037,3570,1600,1462,0,0,0,0,0,0
$GC,9177,1.23,116.8,681.9,12.9,507,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1600,1462,0,0,0,0,0,0
$GC,9487,1.28,116.8,641.5,12.8,522,9488,0.08,0.00,0.00,0.000,6,0.124,0.000,3610,1601,1462,0,0,0,0,0,0
$GC,9795,1.28,116.8,597.7,14.1,537,9800,0.05,2.30,0.00,0.000,4,0.227,0.054,3610,190,1462,0,0,0,0,0,0
$GC,9921,1.22,116.8,579.4,14.3,542,9926,0.12,2.22,0.00,0.000,6,0.179,0.038,3578,1606,1462,0,0,0,0,0,0
$GC,10235,1.26,116.8,537.2,13.3,558,10239,0.00,2.30,0.00,0.000,4,0.000,0.054,3587,192,1462,0,0,0,0,0,0
$GC,10352,1.26,116.8,520.6,14.2,563,10356,0.00,2.22,0.00,0.000,6,0.000,0.037,3587,1596,1461,0,0,0,0,0,0
$GC,10680,1.26,116.8,477.1,13.2,579,10684,0.00,2.28,0.00,0.000,4,0.000,0.060,3587,2997,1461,0,0,0,0,0,0
$GC,10719,1.26,116.8,471.7,14.5,581,10723,0.00,2.17,0.00,0.000,6,0.000,0.037,3595,1594,1461,0,0,0,0,0,0
$GC,11046,1.26,116.8,427.5,13.9,597,11050,0.00,2.28,0.00,0.000,4,0.000,0.055,3606,193,1461,0,0,0,0,0,0
$GC,11164,1.22,116.8,410.1,15.1,602,11168,0.12,2.22,0.00,0.000,6,0.181,0.038,3575,1605,1461,0,0,0,0,0,0
$GC,11480,1.27,116.8,368.6,13.0,617,11484,0.00,2.30,0.00,0.000,4,0.000,0.054,3584,199,1461,0,0,0,0,0,0
$GC,11568,1.27,116.8,356.6,13.1,621,11572,0.00,2.22,0.00,0.000,6,0.000,0.038,3584,1597,1461,0,0,0,0,0,0
$GC,11896,1.30,116.8,315.7,12.1,637,11900,0.00,2.28,0.00,0.000,4,0.000,0.059,3584,2999,1461,0,0,0,0,0,0
$GC,11957,1.30,116.8,307.8,12.6,640,11961,0.00,2.17,0.00,0.000,6,0.000,0.036,3593,1584,1461,0,0,0,0,0,0
$GC,12289,1.30,116.8,264.6,13.1,656,12293,0.00,2.25,0.00,0.000,4,0.000,0.055,3604,201,1460,0,0,0,0,0,0
$GC,12355,1.27,116.8,255.9,13.2,659,12359,0.00,2.22,0.00,0.000,6,0.000,0.039,3603,1611,1460,0,0,0,0,0,0
$GC,12684,1.27,116.8,212.9,12.8,675,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1611,1461,0,0,0,0,0,0
$GC,12991,1.27,116.8,173.5,12.3,690,12995,0.00,2.25,0.00,0.000,4,0.000,0.057,3604,3000,1460,0,0,0,0,0,0
$GC,13018,1.27,116.8,169.8,12.5,691,13023,0.05,2.17,0.00,0.000,6,0.184,0.036,3597,1609,1461,0,0,0,0,0,0
$GC,13342,1.27,116.8,129.3,12.3,707,13346,0.00,2.30,0.00,0.000,4,0.000,0.054,3607,191,1461,0,0,0,0,0,0
$GC,13419,1.27,116.8,118.3,14.2,710,13428,0.03,2.25,0.00,0.000,6,0.212,0.037,3599,1613,1460,0,0,0,0,0,0
$GC,13736,1.27,116.8,80.6,11.9,726,13740,0.00,2.28,0.00,0.000,4,0.000,0.051,3608,199,1461,0,0,0,0,0,0
$GC,13937,1.23,116.8,55.7,12.6,758,13943,0.10,2.20,0.00,0.000,6,0.193,0.037,3583,1605,1461,0,0,0,0,0,0
$GC,14306,1.28,116.8,13.7,9.5,819,14313,0.00,2.33,0.00,0.000,4,0.000,0.052,3592,195,1460,0,0,0,0,0,0
$STATE,14405,end climb,SURFACE_DEPTH_REACHED
$STATE,14405,begin surface coast
$FINISH,1.8,1.019172
$STATE,14432,end surface coast,CONTROL_FINISHED_OK
$STATE,14432,begin surface
$SM_CCo,14454,39.95,0.054,0,0,1132,200.16
$SM_GC,2.57,0.00,0.00,39.95,0.000,0.000,0.054,66,2062,1132,-9.75,0.06,200.16
$IRIDIUM_FIX,-4447.43,624.79,080908,010113
$TT8_MAMPS,0.026964
$HUMID,64.80
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.0,58.255
$10V_AH,9.7,61.252
$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,24.950,120.150,228.700,39.950,0.000,25.645,42.140,268.840,0.000,0.000,29.459,1866.534,10058.955,355.635,2477.964,225.776,0.000,1269.854,0.000,2038.241,0.000,0.539,0.000
$DEVICE_MAMPS,233.325,78.795,1257.660,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.682,1239.217,706.444,441.467,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353332
$DATA_FILE_SIZE,60705,839
$CAP_FILE_SIZE,131491,0
$CFSIZE,2097086464,2027094016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121115,203234,-4504.496,623.130,57,1.0,57,-24.3