version: 66.07.10.p01
glider: 573
mission: 12
dive: 497
start: 11 12 115 20 41 7
data:
$ID,573
$MISSION,12
$DIVE,497
$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,-22546.09
$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,27
$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,496
$GPS1,121115,203234,-4504.496,623.130,57,1.0,57,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-65.5
$GPS2,121115,204047,-4504.444,623.168,17,1.7,17,-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,77.2,1364,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,53,0.00,0.00,-24.12,0.000,2,0.000,0.000,66,2063,1599,0,0,0,0,0,0
$GC,55,-1.13,-107.0,3.3,-2.0,4,107,11.27,2.35,-32.55,0.000,4,0.228,0.066,2818,654,2388,0,0,0,0,0,0
$GC,378,-1.09,-107.0,52.1,-18.0,57,386,0.05,2.30,0.00,0.000,6,0.178,0.048,2826,2053,2390,0,0,0,0,0,0
$GC,723,-1.09,-107.0,105.3,-15.0,96,727,0.00,2.33,0.00,0.000,4,0.000,0.063,2815,3475,2391,0,0,0,0,0,0
$GC,853,-1.09,-107.0,124.9,-15.1,102,858,0.05,2.22,0.00,0.000,6,0.223,0.044,2826,2063,2391,0,0,0,0,0,0
$GC,1181,-1.13,-107.0,173.2,-14.8,118,1185,0.00,2.25,0.00,0.000,4,0.000,0.057,2826,654,2392,0,0,0,0,0,0
$GC,1265,-1.13,-107.0,186.5,-15.3,121,1271,0.00,2.28,0.00,0.000,6,0.000,0.046,2817,2060,2391,0,0,0,0,0,0
$GC,1584,-1.13,-107.0,234.2,-15.6,137,1588,0.00,2.33,0.00,0.000,4,0.000,0.067,2806,3469,2391,0,0,0,0,0,0
$GC,1684,-1.13,-107.0,250.8,-15.7,141,1690,0.00,2.25,0.00,0.000,6,0.000,0.044,2806,2062,2392,0,0,0,0,0,0
$GC,2002,-1.13,-107.0,298.7,-14.8,157,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2062,2392,0,0,0,0,0,0
$GC,2308,-1.13,-107.0,342.1,-13.8,172,2312,0.00,2.30,0.00,0.000,4,0.000,0.056,2806,642,2392,0,0,0,0,0,0
$GC,2371,-1.13,-107.0,351.0,-15.5,175,2376,0.10,2.25,0.00,0.000,6,0.197,0.041,2821,2070,2392,0,0,0,0,0,0
$GC,2699,-1.17,-107.0,394.9,-13.4,191,2703,0.00,2.28,0.00,0.000,4,0.000,0.063,2810,3461,2392,0,0,0,0,0,0
$GC,2800,-1.20,-107.0,408.9,-13.3,195,2804,0.00,2.22,0.00,0.000,6,0.000,0.042,2810,2046,2392,0,0,0,0,0,0
$GC,3116,-1.20,-107.0,451.5,-13.7,211,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2046,2392,0,0,0,0,0,0
$GC,3424,-1.20,-107.0,493.9,-13.6,226,3428,0.00,2.25,0.00,0.000,4,0.000,0.055,2811,656,2392,0,0,0,0,0,0
$GC,3467,-1.20,-107.0,500.3,-15.3,228,3471,0.00,2.25,0.00,0.000,6,0.000,0.043,2802,2057,2392,0,0,0,0,0,0
$GC,3793,-1.20,-107.0,545.5,-14.0,244,3797,0.00,2.28,0.00,0.000,4,0.000,0.065,2791,3463,2392,0,0,0,0,0,0
$GC,3859,-1.20,-107.0,554.8,-13.4,247,3864,0.00,2.25,0.00,0.000,6,0.000,0.043,2791,2053,2392,0,0,0,0,0,0
$GC,4187,-1.20,-107.0,599.7,-13.8,263,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2053,2392,0,0,0,0,0,0
$GC,4495,-1.20,-107.0,641.8,-13.6,278,4500,0.00,2.35,0.00,0.000,4,0.000,0.065,2782,3463,2392,0,0,0,0,0,0
$GC,4573,-1.20,-107.0,652.9,-14.5,281,4578,0.00,2.25,0.00,0.000,6,0.000,0.044,2782,2057,2392,0,0,0,0,0,0
$GC,4889,-1.20,-107.0,696.8,-14.0,297,4894,0.05,2.38,0.00,0.000,4,0.245,0.067,2783,3465,2391,0,0,0,0,0,0
$GC,4933,-1.20,-107.0,703.4,-14.9,299,4937,0.00,2.25,0.00,0.000,6,0.000,0.046,2783,2062,2391,0,0,0,0,0,0
$GC,5260,-1.20,-107.0,747.1,-12.9,315,5262,0.03,0.00,0.00,0.000,6,0.287,0.000,2791,2062,2391,0,0,0,0,0,0
$GC,5569,-1.20,-107.0,786.6,-12.9,330,5573,0.00,2.35,0.00,0.000,4,0.000,0.066,2783,3472,2390,0,0,0,0,0,0
$GC,5640,-1.20,-107.0,796.3,-12.9,333,5645,0.00,2.28,0.00,0.000,6,0.000,0.047,2783,2063,2390,0,0,0,0,0,0
$GC,5962,-1.20,-107.0,838.5,-13.1,349,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2063,2390,0,0,0,0,0,0
$GC,6272,-1.20,-107.0,878.5,-12.8,364,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2063,2390,0,0,0,0,0,0
$GC,6581,-1.20,-107.0,918.3,-12.8,379,6583,0.03,0.00,0.00,0.000,6,0.285,0.000,2791,2064,2390,0,0,0,0,0,0
$GC,6889,-1.20,-107.0,956.5,-12.2,394,6893,0.00,2.35,0.00,0.000,4,0.000,0.066,2782,3471,2389,0,0,0,0,0,0
$GC,6939,-1.20,-107.0,962.8,-13.0,396,6943,0.00,2.28,0.00,0.000,6,0.000,0.047,2783,2062,2389,0,0,0,0,0,0
$STATE,7258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7258,begin apogee
$GC,7264,-0.19,0.0,1002.1,12.1,412,7371,1.15,0.00,103.03,1.258,6,0.156,0.000,3114,1594,1950,0,0,0,0,0,0
$STATE,7372,end apogee,CONTROL_FINISHED_OK
$STATE,7372,begin climb
$GC,7374,1.13,107.0,1004.9,0.0,417,7491,1.27,2.55,108.38,1.215,4,0.084,0.056,3549,192,1512,0,0,0,0,0,0
$GC,7553,1.17,107.0,987.1,13.8,424,7559,0.00,2.40,0.00,0.000,6,0.000,0.037,3549,1603,1507,0,0,0,0,0,0
$GC,7868,1.22,107.0,943.7,13.7,440,7873,0.08,2.35,0.00,0.000,4,0.122,0.054,3600,196,1505,0,0,0,0,0,0
$GC,7934,1.16,107.0,932.9,16.8,443,7939,0.15,2.28,0.00,0.000,6,0.168,0.037,3562,1612,1503,0,0,0,0,0,0
$GC,8257,1.20,107.0,887.3,13.9,459,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1613,1503,0,0,0,0,0,0
$GC,8564,1.24,107.0,844.7,13.5,474,8568,0.05,2.30,0.00,0.000,4,0.168,0.054,3604,196,1502,0,0,0,0,0,0
$GC,8624,1.18,107.0,835.2,16.3,476,8630,0.15,2.22,0.00,0.000,6,0.174,0.037,3566,1607,1501,0,0,0,0,0,0
$GC,8939,1.21,107.0,792.3,13.4,492,8943,0.00,2.30,0.00,0.000,4,0.000,0.055,3575,195,1501,0,0,0,0,0,0
$GC,8994,1.21,107.0,784.1,14.5,494,8999,0.00,2.25,0.00,0.000,6,0.000,0.037,3574,1605,1501,0,0,0,0,0,0
$GC,9315,1.21,107.0,738.7,14.2,510,9319,0.00,2.25,0.00,0.000,4,0.000,0.057,3574,2998,1501,0,0,0,0,0,0
$GC,9370,1.21,107.0,730.3,15.1,512,9376,0.00,2.20,0.00,0.000,6,0.000,0.037,3582,1601,1501,0,0,0,0,0,0
$GC,9686,1.21,107.0,684.7,14.3,528,9690,0.00,2.30,0.00,0.000,4,0.000,0.056,3593,186,1500,0,0,0,0,0,0
$GC,9833,1.18,107.0,663.3,15.1,534,9839,0.12,2.22,0.00,0.000,6,0.177,0.037,3562,1608,1500,0,0,0,0,0,0
$GC,10148,1.23,107.0,623.3,12.2,550,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1609,1500,0,0,0,0,0,0
$GC,10459,1.28,107.0,584.6,12.4,565,10464,0.10,2.33,0.00,0.000,4,0.100,0.055,3625,189,1500,0,0,0,0,0,0
$GC,10503,1.18,107.0,578.0,14.9,567,10508,0.20,2.20,0.00,0.000,6,0.177,0.037,3570,1605,1500,0,0,0,0,0,0
$GC,10826,1.23,107.0,537.3,12.6,583,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1605,1500,0,0,0,0,0,0
$GC,11132,1.27,107.0,497.8,13.0,598,11137,0.05,2.30,0.00,0.000,4,0.168,0.054,3614,193,1500,0,0,0,0,0,0
$GC,11227,1.20,107.0,483.9,14.8,602,11231,0.15,2.20,0.00,0.000,6,0.177,0.037,3573,1597,1500,0,0,0,0,0,0
$GC,11544,1.23,107.0,444.4,12.3,617,11548,0.00,2.30,0.00,0.000,4,0.000,0.054,3582,193,1499,0,0,0,0,0,0
$GC,11666,1.23,107.0,427.1,13.6,622,11672,0.00,2.25,0.00,0.000,6,0.000,0.039,3583,1600,1500,0,0,0,0,0,0
$GC,11981,1.23,107.0,384.7,13.5,638,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1601,1500,0,0,0,0,0,0
$GC,12292,1.23,107.0,344.3,12.8,653,12296,0.00,2.30,0.00,0.000,4,0.000,0.054,3591,188,1499,0,0,0,0,0,0
$GC,12374,1.23,107.0,332.7,13.6,656,12380,0.00,2.25,0.00,0.000,6,0.000,0.038,3591,1602,1500,0,0,0,0,0,0
$GC,12691,1.23,107.0,292.3,12.5,672,12695,0.00,2.25,0.00,0.000,4,0.000,0.058,3591,3000,1500,0,0,0,0,0,0
$GC,12740,1.23,107.0,285.8,12.4,674,12745,0.05,2.20,0.00,0.000,6,0.181,0.037,3585,1595,1499,0,0,0,0,0,0
$GC,13067,1.23,107.0,246.3,12.0,690,13072,0.00,2.28,0.00,0.000,4,0.000,0.057,3594,189,1499,0,0,0,0,0,0
$GC,13208,1.23,107.0,227.5,14.1,696,13213,0.03,2.25,0.00,0.000,6,0.273,0.037,3586,1641,1499,0,0,0,0,0,0
$GC,13535,1.23,107.0,185.6,12.9,712,13539,0.00,2.17,0.00,0.000,4,0.000,0.059,3582,2990,1499,0,0,0,0,0,0
$GC,13580,1.23,107.0,179.5,13.2,714,13584,0.00,2.17,0.00,0.000,6,0.000,0.037,3590,1589,1499,0,0,0,0,0,0
$GC,13907,1.23,107.0,140.9,11.1,730,13911,0.00,2.28,0.00,0.000,4,0.000,0.056,3601,191,1499,0,0,0,0,0,0
$GC,13973,1.23,107.0,132.9,12.1,733,13978,0.05,2.22,0.00,0.000,6,0.230,0.037,3586,1610,1499,0,0,0,0,0,0
$GC,14302,1.27,107.0,98.4,10.6,749,14307,0.00,2.33,0.00,0.000,4,0.000,0.054,3595,190,1499,0,0,0,0,0,0
$GC,14347,1.27,107.0,93.0,11.4,751,14351,0.00,2.20,0.00,0.000,6,0.000,0.036,3594,1612,1499,0,0,0,0,0,0
$GC,14686,1.27,107.0,55.2,10.8,795,14693,0.00,2.35,0.00,0.000,4,0.000,0.053,3603,192,1499,0,0,0,0,0,0
$GC,14908,1.27,107.0,27.4,13.4,832,14916,0.00,2.22,0.00,0.000,6,0.000,0.037,3603,1596,1499,0,0,0,0,0,0
$GC,15066,1.27,107.0,5.0,15.4,857,15073,0.00,2.30,0.00,0.000,4,0.000,0.060,3603,2996,1499,0,0,0,0,0,0
$STATE,15086,end climb,SURFACE_DEPTH_REACHED
$STATE,15086,begin surface coast
$FINISH,1.8,1.017039
$STATE,15118,end surface coast,CONTROL_FINISHED_OK
$STATE,15118,begin surface
$SM_CCo,15138,44.58,0.056,0,0,1132,200.16
$SM_GC,2.84,0.00,0.00,44.58,0.000,0.000,0.056,80,2053,1132,-9.70,-0.20,200.16
$IRIDIUM_FIX,-4444.39,624.79,080908,050516
$TT8_MAMPS,0.026964
$HUMID,65.31
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.0,58.351
$10V_AH,9.7,61.347
$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,24.650,132.050,211.400,44.575,0.000,28.151,41.613,273.557,0.000,0.000,20.018,1915.382,10601.225,350.789,2571.227,236.509,0.000,1305.147,0.000,2122.158,0.000,0.539,0.000
$DEVICE_MAMPS,286.875,67.320,1257.660,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.028,1240.762,683.383,392.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353336
$DATA_FILE_SIZE,63750,865
$CAP_FILE_SIZE,134976,0
$CFSIZE,2097086464,2026962944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131115,005551,-4504.292,626.826,64,1.2,64,-24.4