version: 66.07.10.p01
glider: 573
mission: 12
dive: 499
start: 11 13 115 6 6 32
data:
$ID,573
$MISSION,12
$DIVE,499
$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,-22553.215
$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,32
$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,498
$GPS1,131115,055503,-4504.051,624.931,29,0.9,29,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-64.7
$GPS2,131115,060611,-4504.039,625.080,18,1.1,18,-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,297.3,1414,-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,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,35,0.00,0.00,-8.07,0.000,2,0.000,0.000,80,2070,1291,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.1,-0.0,1,114,10.93,2.33,-58.40,0.000,4,0.218,0.075,2802,3469,2422,0,0,0,0,0,0
$GC,388,-1.13,-116.8,49.7,-15.5,58,393,0.05,2.25,0.00,0.000,6,0.230,0.046,2812,2067,2425,0,0,0,0,0,0
$GC,734,-1.13,-116.8,109.0,-17.3,97,738,0.00,2.30,0.00,0.000,4,0.000,0.054,2813,647,2425,0,0,0,0,0,0
$GC,947,-1.13,-116.8,146.7,-16.7,106,955,0.03,2.28,0.00,0.000,6,0.208,0.044,2811,2057,2425,0,0,0,0,0,0
$GC,1263,-1.13,-116.8,197.7,-17.0,122,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2057,2426,0,0,0,0,0,0
$GC,1574,-1.13,-116.8,246.3,-15.1,137,1579,0.00,2.33,0.00,0.000,4,0.000,0.065,2801,3476,2426,0,0,0,0,0,0
$GC,1607,-1.13,-116.8,251.9,-15.2,138,1616,0.03,2.28,0.00,0.000,6,0.201,0.044,2809,2054,2426,0,0,0,0,0,0
$GC,1923,-1.13,-116.8,299.8,-15.3,154,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2054,2426,0,0,0,0,0,0
$GC,2233,-1.13,-116.8,346.0,-15.0,169,2237,0.00,2.28,0.00,0.000,4,0.000,0.058,2809,649,2426,0,0,0,0,0,0
$GC,2304,-1.13,-116.8,357.6,-16.1,172,2309,0.08,2.28,0.00,0.000,6,0.215,0.046,2816,2057,2426,0,0,0,0,0,0
$GC,2632,-1.17,-116.8,405.9,-15.0,188,2637,0.00,2.33,0.00,0.000,4,0.000,0.067,2806,3468,2426,0,0,0,0,0,0
$GC,2704,-1.17,-116.8,417.1,-15.4,191,2709,0.00,2.25,0.00,0.000,6,0.000,0.046,2806,2062,2426,0,0,0,0,0,0
$GC,3026,-1.17,-116.8,464.8,-15.2,207,3030,0.00,2.30,0.00,0.000,4,0.000,0.057,2805,646,2426,0,0,0,0,0,0
$GC,3060,-1.17,-116.8,470.2,-15.5,208,3066,0.00,2.25,0.00,0.000,6,0.000,0.042,2796,2073,2426,0,0,0,0,0,0
$GC,3375,-1.17,-116.8,517.1,-15.3,224,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2073,2426,0,0,0,0,0,0
$GC,3685,-1.17,-116.8,562.3,-14.3,239,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2073,2426,0,0,0,0,0,0
$GC,3995,-1.17,-116.8,606.7,-14.7,254,3999,0.00,2.28,0.00,0.000,4,0.000,0.061,2786,3471,2426,0,0,0,0,0,0
$GC,4084,-1.17,-116.8,620.4,-15.0,258,4089,0.08,2.25,0.00,0.000,6,0.200,0.047,2802,2056,2425,0,0,0,0,0,0
$GC,4404,-1.17,-116.8,665.8,-14.0,274,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2056,2425,0,0,0,0,0,0
$GC,4715,-1.20,-116.8,709.8,-14.1,289,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2056,2425,0,0,0,0,0,0
$GC,5023,-1.24,-116.8,752.3,-13.6,304,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2056,2425,0,0,0,0,0,0
$GC,5334,-1.28,-116.8,793.9,-13.2,319,5336,0.10,0.00,0.00,0.000,6,0.104,0.000,2750,2056,2425,0,0,0,0,0,0
$GC,5642,-1.22,-116.8,838.6,-14.9,334,5644,0.15,0.00,0.00,0.000,6,0.193,0.000,2787,2056,2425,0,0,0,0,0,0
$GC,5952,-1.22,-116.8,880.0,-13.4,349,5956,0.00,2.38,0.00,0.000,4,0.000,0.069,2777,3466,2425,0,0,0,0,0,0
$GC,6001,-1.22,-116.8,887.0,-13.8,351,6005,0.00,2.28,0.00,0.000,6,0.000,0.047,2782,2058,2425,0,0,0,0,0,0
$GC,6323,-1.22,-116.8,930.2,-13.3,367,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2058,2424,0,0,0,0,0,0
$GC,6632,-1.22,-116.8,971.6,-13.2,382,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2057,2424,0,0,0,0,0,0
$STATE,6857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6857,begin apogee
$GC,6863,-0.19,0.0,1001.1,12.8,393,6979,1.17,0.00,110.40,1.257,6,0.159,0.000,3118,1595,1950,0,0,0,0,0,0
$STATE,6979,end apogee,CONTROL_FINISHED_OK
$STATE,6979,begin climb
$GC,6982,1.13,116.8,1004.5,0.0,399,7109,1.27,2.55,118.40,1.212,4,0.083,0.054,3552,200,1473,0,0,0,0,0,0
$GC,7154,1.18,116.8,987.6,14.0,407,7158,0.00,2.42,0.00,0.000,6,0.000,0.037,3552,1610,1469,0,0,0,0,0,0
$GC,7469,1.25,116.8,944.1,13.7,422,7471,0.10,0.00,0.00,0.000,6,0.099,0.000,3602,1610,1465,0,0,0,0,0,0
$GC,7779,1.25,116.8,895.6,15.7,437,7781,0.08,0.00,0.00,0.000,6,0.197,0.000,3586,1611,1464,0,0,0,0,0,0
$GC,8087,1.25,116.8,848.6,15.0,452,8091,0.00,2.35,0.00,0.000,4,0.000,0.054,3596,186,1464,0,0,0,0,0,0
$GC,8150,1.21,116.8,838.8,16.9,455,8155,0.10,2.25,0.00,0.000,6,0.182,0.037,3572,1609,1463,0,0,0,0,0,0
$GC,8479,1.24,116.8,790.6,15.1,471,8483,0.00,2.33,0.00,0.000,4,0.000,0.054,3581,194,1463,0,0,0,0,0,0
$GC,8541,1.24,116.8,780.6,15.4,474,8545,0.00,2.22,0.00,0.000,6,0.000,0.037,3581,1606,1462,0,0,0,0,0,0
$GC,8866,1.24,116.8,732.3,15.0,490,8870,0.00,2.33,0.00,0.000,4,0.000,0.053,3590,186,1463,0,0,0,0,0,0
$GC,8899,1.24,116.8,727.1,15.7,491,8904,0.00,2.25,0.00,0.000,6,0.000,0.037,3590,1603,1462,0,0,0,0,0,0
$GC,9215,1.24,116.8,681.8,13.7,507,9219,0.00,2.30,0.00,0.000,4,0.000,0.053,3599,195,1462,0,0,0,0,0,0
$GC,9287,1.21,116.8,671.3,14.7,510,9291,0.10,2.20,0.00,0.000,6,0.181,0.036,3575,1602,1462,0,0,0,0,0,0
$GC,9607,1.24,116.8,629.6,13.2,526,9611,0.00,2.22,0.00,0.000,4,0.000,0.057,3575,2992,1462,0,0,0,0,0,0
$GC,9656,1.24,116.8,622.8,14.2,528,9660,0.00,2.17,0.00,0.000,6,0.000,0.037,3583,1596,1462,0,0,0,0,0,0
$GC,9982,1.24,116.8,577.6,13.9,544,9986,0.00,2.28,0.00,0.000,4,0.000,0.054,3594,192,1462,0,0,0,0,0,0
$GC,10066,1.24,116.8,565.4,14.8,548,10070,0.00,2.17,0.00,0.000,6,0.000,0.037,3594,1601,1461,0,0,0,0,0,0
$GC,10397,1.24,116.8,520.1,13.6,564,10401,0.00,2.28,0.00,0.000,4,0.000,0.052,3603,195,1461,0,0,0,0,0,0
$GC,10430,1.21,116.8,515.4,14.4,565,10434,0.12,2.20,0.00,0.000,6,0.177,0.037,3572,1603,1461,0,0,0,0,0,0
$GC,10746,1.26,116.8,473.4,13.5,580,10750,0.00,2.30,0.00,0.000,4,0.000,0.053,3581,194,1461,0,0,0,0,0,0
$GC,10829,1.26,116.8,461.5,14.8,584,10833,0.00,2.20,0.00,0.000,6,0.000,0.037,3581,1600,1461,0,0,0,0,0,0
$GC,11154,1.31,116.8,418.7,12.9,600,11156,0.08,0.00,0.00,0.000,6,0.125,0.000,3619,1600,1461,0,0,0,0,0,0
$GC,11465,1.31,116.8,375.7,13.9,615,11467,0.05,0.00,0.00,0.000,6,0.229,0.000,3609,1600,1461,0,0,0,0,0,0
$GC,11773,1.31,116.8,334.2,13.7,630,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1600,1461,0,0,0,0,0,0
$GC,12085,1.31,116.8,291.2,13.6,645,12090,0.00,2.30,0.00,0.000,4,0.000,0.053,3618,192,1461,0,0,0,0,0,0
$GC,12152,1.26,116.8,281.0,14.1,648,12157,0.10,2.20,0.00,0.000,6,0.190,0.037,3592,1598,1460,0,0,0,0,0,0
$GC,12473,1.26,116.8,242.5,11.6,664,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1597,1460,0,0,0,0,0,0
$GC,12785,1.29,116.8,208.3,10.7,679,12789,0.00,2.28,0.00,0.000,4,0.000,0.053,3601,198,1460,0,0,0,0,0,0
$GC,12872,1.29,116.8,197.9,12.4,683,12876,0.00,2.20,0.00,0.000,6,0.000,0.038,3601,1600,1460,0,0,0,0,0,0
$GC,13200,1.29,116.8,160.2,12.0,699,13201,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1600,1460,0,0,0,0,0,0
$GC,13508,1.29,116.8,121.2,12.9,714,13512,0.00,2.28,0.00,0.000,4,0.000,0.052,3610,192,1460,0,0,0,0,0,0
$GC,13760,1.29,116.8,87.2,14.7,725,13764,0.00,2.20,0.00,0.000,6,0.000,0.037,3608,1599,1461,0,0,0,0,0,0
$GC,14108,1.29,116.8,42.6,12.2,778,14113,0.00,2.30,0.00,0.000,4,0.000,0.051,3617,186,1460,0,0,0,0,0,0
$GC,14236,1.25,116.8,25.6,12.9,799,14244,0.08,2.22,0.00,0.000,6,0.163,0.037,3591,1594,1460,0,0,0,0,0,0
$GC,14395,1.25,116.8,6.0,13.0,824,14401,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1594,1460,0,0,0,0,0,0
$STATE,14426,end climb,SURFACE_DEPTH_REACHED
$STATE,14427,begin surface coast
$FINISH,1.9,1.011025
$STATE,14459,end surface coast,CONTROL_FINISHED_OK
$STATE,14459,begin surface
$SM_CCo,14478,39.80,0.054,0,0,1133,200.16
$SM_GC,3.18,0.00,0.00,39.80,0.000,0.000,0.054,77,2084,1133,-9.71,0.68,200.16
$IRIDIUM_FIX,-4447.43,628.16,080908,141418
$TT8_MAMPS,0.026964
$HUMID,65.31
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,58.554
$10V_AH,9.7,61.547
$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,23.975,97.025,228.800,39.800,0.000,59.515,103.483,286.425,0.000,0.000,22.533,1825.496,10256.282,342.321,2531.209,227.302,0.000,1219.414,0.000,1980.332,0.000,0.540,0.000
$DEVICE_MAMPS,230.265,74.970,1256.895,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.487,1220.082,686.312,418.509,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,60622,834
$CAP_FILE_SIZE,123770,0
$CFSIZE,2097086464,2026733568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131115,100958,-4504.604,623.394,51,0.9,51,-24.3