version: 66.07.10.p01
glider: 573
mission: 12
dive: 500
start: 11 13 115 10 17 38
data:
$ID,573
$MISSION,12
$DIVE,500
$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,-22556.172
$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,35
$R_STBD_OVSHOOT,48
$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,499
$GPS1,131115,100958,-4504.604,623.394,51,0.9,51,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-68.2
$GPS2,131115,101718,-4504.537,623.492,18,1.7,18,-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,58.2,1197,-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,-49.9,0.0,0.0,0,40,0.00,0.00,-13.05,0.000,2,0.000,0.000,77,2084,1386,0,0,0,0,0,0
$GC,43,-1.13,-116.8,3.0,-0.7,2,113,11.05,2.38,-50.80,0.000,4,0.223,0.068,2811,663,2426,0,0,0,0,0,0
$GC,386,-1.09,-116.8,53.3,-18.4,58,392,0.12,2.20,0.00,0.000,6,0.195,0.041,2833,2044,2428,0,0,0,0,0,0
$GC,735,-1.09,-116.8,110.4,-16.3,95,739,0.00,2.28,0.00,0.000,4,0.000,0.054,2833,659,2428,0,0,0,0,0,0
$GC,858,-1.09,-116.8,131.0,-16.5,100,866,0.00,2.25,0.00,0.000,6,0.000,0.044,2824,2055,2428,0,0,0,0,0,0
$GC,1174,-1.09,-116.8,176.6,-13.1,116,1178,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3469,2429,0,0,0,0,0,0
$GC,1235,-1.09,-116.8,185.5,-14.5,118,1244,0.05,2.25,0.00,0.000,6,0.169,0.044,2829,2067,2429,0,0,0,0,0,0
$GC,1554,-1.14,-116.8,230.4,-14.8,134,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2067,2429,0,0,0,0,0,0
$GC,1865,-1.20,-116.8,274.0,-13.7,149,1869,0.10,2.28,0.00,0.000,4,0.102,0.053,2781,646,2429,0,0,0,0,0,0
$GC,1899,-1.14,-116.8,280.0,-16.2,150,1906,0.10,2.28,0.00,0.000,6,0.174,0.041,2802,2070,2429,0,0,0,0,0,0
$GC,2213,-1.14,-116.8,325.7,-14.3,166,2217,0.00,2.28,0.00,0.000,4,0.000,0.062,2792,3468,2429,0,0,0,0,0,0
$GC,2245,-1.14,-116.8,330.2,-14.3,167,2250,0.05,2.25,0.00,0.000,6,0.174,0.043,2808,2058,2429,0,0,0,0,0,0
$GC,2561,-1.14,-116.8,371.8,-13.1,183,2565,0.00,2.25,0.00,0.000,4,0.000,0.057,2808,656,2429,0,0,0,0,0,0
$GC,2594,-1.14,-116.8,376.7,-14.3,184,2600,0.08,2.22,0.00,0.000,6,0.213,0.047,2815,2058,2429,0,0,0,0,0,0
$GC,2909,-1.17,-116.8,421.6,-14.7,200,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2058,2429,0,0,0,0,0,0
$GC,3220,-1.21,-116.8,467.6,-14.7,215,3225,0.08,2.33,0.00,0.000,4,0.122,0.067,2762,3466,2429,0,0,0,0,0,0
$GC,3288,-1.16,-116.8,478.9,-17.2,218,3293,0.17,2.22,0.00,0.000,6,0.177,0.044,2807,2060,2429,0,0,0,0,0,0
$GC,3608,-1.16,-116.8,528.0,-15.2,234,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2060,2429,0,0,0,0,0,0
$GC,3918,-1.20,-116.8,573.5,-14.4,249,3923,0.00,2.33,0.00,0.000,4,0.000,0.066,2798,3465,2428,0,0,0,0,0,0
$GC,3962,-1.20,-116.8,580.5,-15.5,251,3966,0.00,2.25,0.00,0.000,6,0.000,0.044,2798,2058,2428,0,0,0,0,0,0
$GC,4290,-1.20,-116.8,628.0,-14.5,267,4294,0.00,2.28,0.00,0.000,4,0.000,0.059,2798,649,2428,0,0,0,0,0,0
$GC,4333,-1.20,-116.8,634.6,-14.9,269,4337,0.00,2.30,0.00,0.000,6,0.000,0.048,2790,2066,2428,0,0,0,0,0,0
$GC,4661,-1.20,-116.8,681.0,-13.9,285,4665,0.00,2.30,0.00,0.000,4,0.000,0.067,2779,3472,2428,0,0,0,0,0,0
$GC,4693,-1.20,-116.8,686.0,-14.8,286,4699,0.05,2.28,0.00,0.000,6,0.171,0.047,2794,2060,2428,0,0,0,0,0,0
$GC,5008,-1.20,-116.8,730.3,-14.0,302,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2060,2427,0,0,0,0,0,0
$GC,5319,-1.20,-116.8,772.7,-13.6,317,5323,0.00,2.35,0.00,0.000,4,0.000,0.069,2785,3472,2427,0,0,0,0,0,0
$GC,5341,-1.20,-116.8,776.0,-14.3,318,5345,0.00,2.28,0.00,0.000,6,0.000,0.046,2785,2049,2427,0,0,0,0,0,0
$GC,5666,-1.20,-116.8,817.6,-12.9,334,5670,0.00,2.35,0.00,0.000,4,0.000,0.064,2777,3465,2427,0,0,0,0,0,0
$GC,5698,-1.20,-116.8,822.0,-14.0,335,5702,0.00,2.25,0.00,0.000,6,0.000,0.044,2776,2063,2427,0,0,0,0,0,0
$GC,6014,-1.20,-116.8,863.2,-13.3,351,6019,0.08,2.35,0.00,0.000,4,0.220,0.067,2783,3464,2427,0,0,0,0,0,0
$GC,6035,-1.20,-116.8,866.4,-14.0,352,6040,0.03,2.28,0.00,0.000,6,0.199,0.045,2792,2055,2427,0,0,0,0,0,0
$GC,6361,-1.20,-116.8,908.3,-12.8,368,6365,0.00,2.28,0.00,0.000,4,0.000,0.060,2791,654,2427,0,0,0,0,0,0
$GC,6384,-1.20,-116.8,911.2,-13.2,369,6389,0.05,2.28,0.00,0.000,6,0.248,0.049,2792,2067,2427,0,0,0,0,0,0
$GC,6710,-1.20,-116.8,954.0,-13.0,385,6714,0.00,2.33,0.00,0.000,4,0.000,0.067,2782,3473,2427,0,0,0,0,0,0
$GC,6782,-1.20,-116.8,964.1,-14.5,388,6787,0.05,2.28,0.00,0.000,6,0.231,0.047,2792,2051,2427,0,0,0,0,0,0
$STATE,7081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7081,begin apogee
$GC,7087,-0.19,0.0,1002.5,13.0,403,7203,1.12,0.00,111.30,1.261,6,0.155,0.000,3117,1588,1949,0,0,0,0,0,0
$STATE,7203,end apogee,CONTROL_FINISHED_OK
$STATE,7204,begin climb
$GC,7206,1.13,116.8,1006.1,0.0,409,7333,1.27,2.53,118.28,1.215,4,0.083,0.054,3551,199,1474,0,0,0,0,0,0
$GC,7372,1.18,116.8,990.5,14.1,417,7377,0.00,2.42,0.00,0.000,6,0.000,0.037,3551,1607,1470,0,0,0,0,0,0
$GC,7694,1.24,116.8,946.8,13.7,433,7699,0.10,2.40,0.00,0.000,4,0.101,0.053,3607,189,1466,0,0,0,0,0,0
$GC,7766,1.18,116.8,935.1,16.3,436,7771,0.15,2.28,0.00,0.000,6,0.174,0.037,3568,1604,1465,0,0,0,0,0,0
$GC,8082,1.21,116.8,890.7,13.7,451,8086,0.00,2.33,0.00,0.000,4,0.000,0.054,3577,195,1464,0,0,0,0,0,0
$GC,8143,1.21,116.8,881.5,14.9,453,8148,0.00,2.25,0.00,0.000,6,0.000,0.037,3577,1602,1464,0,0,0,0,0,0
$GC,8459,1.21,116.8,836.6,14.1,469,8463,0.00,2.33,0.00,0.000,4,0.000,0.053,3586,188,1464,0,0,0,0,0,0
$GC,8520,1.21,116.8,827.5,14.2,472,8525,0.00,2.22,0.00,0.000,6,0.000,0.036,3586,1605,1464,0,0,0,0,0,0
$GC,8846,1.21,116.8,783.7,13.3,488,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1605,1463,0,0,0,0,0,0
$GC,9157,1.21,116.8,742.2,13.6,503,9161,0.00,2.25,0.00,0.000,4,0.000,0.057,3586,2998,1463,0,0,0,0,0,0
$GC,9200,1.21,116.8,735.5,14.6,505,9205,0.05,2.22,0.00,0.000,6,0.177,0.037,3579,1586,1463,0,0,0,0,0,0
$GC,9527,1.21,116.8,690.2,14.0,521,9531,0.00,2.22,0.00,0.000,4,0.000,0.055,3589,201,1463,0,0,0,0,0,0
$GC,9604,1.21,116.8,678.5,15.4,524,9611,0.03,2.22,0.00,0.000,6,0.193,0.038,3581,1602,1463,0,0,0,0,0,0
$GC,9919,1.21,116.8,634.9,13.4,540,9923,0.00,2.30,0.00,0.000,4,0.000,0.053,3590,196,1463,0,0,0,0,0,0
$GC,9981,1.21,116.8,626.1,15.1,543,9986,0.05,2.20,0.00,0.000,6,0.227,0.038,3579,1602,1462,0,0,0,0,0,0
$GC,10310,1.24,116.8,583.0,12.9,559,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1602,1462,0,0,0,0,0,0
$GC,10616,1.28,116.8,540.6,13.8,574,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1602,1462,0,0,0,0,0,0
$GC,10927,1.31,116.8,497.6,14.0,589,10929,0.08,0.00,0.00,0.000,6,0.127,0.000,3617,1602,1462,0,0,0,0,0,0
$GC,11235,1.27,116.8,451.6,14.6,604,11240,0.10,2.30,0.00,0.000,4,0.193,0.053,3603,193,1462,0,0,0,0,0,0
$GC,11319,1.24,116.8,439.4,14.9,608,11323,0.08,2.20,0.00,0.000,6,0.206,0.037,3587,1599,1461,0,0,0,0,0,0
$GC,11644,1.24,116.8,396.7,13.0,624,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1600,1461,0,0,0,0,0,0
$GC,11954,1.24,116.8,356.7,12.8,639,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1600,1461,0,0,0,0,0,0
$GC,12262,1.24,116.8,318.0,12.2,654,12266,0.00,2.28,0.00,0.000,4,0.000,0.053,3596,202,1461,0,0,0,0,0,0
$GC,12385,1.24,116.8,301.7,12.6,659,12390,0.00,2.22,0.00,0.000,6,0.000,0.038,3595,1603,1461,0,0,0,0,0,0
$GC,12703,1.24,116.8,261.9,12.7,675,12707,0.00,2.28,0.00,0.000,4,0.000,0.052,3605,195,1461,0,0,0,0,0,0
$GC,12747,1.24,116.8,256.3,13.4,677,12752,0.10,2.20,0.00,0.000,6,0.190,0.037,3581,1602,1461,0,0,0,0,0,0
$GC,13077,1.28,116.8,213.5,13.4,693,13081,0.00,2.22,0.00,0.000,4,0.000,0.057,3581,2999,1461,0,0,0,0,0,0
$GC,13126,1.28,116.8,206.2,14.3,695,13130,0.00,2.17,0.00,0.000,6,0.000,0.036,3589,1611,1461,0,0,0,0,0,0
$GC,13450,1.31,116.8,165.1,12.1,711,13454,0.00,2.30,0.00,0.000,4,0.000,0.055,3600,190,1461,0,0,0,0,0,0
$GC,13609,1.31,116.8,144.6,12.0,718,13613,0.00,2.22,0.00,0.000,6,0.000,0.037,3599,1606,1461,0,0,0,0,0,0
$GC,13930,1.31,116.8,105.2,12.6,734,13934,0.00,2.25,0.00,0.000,4,0.000,0.056,3599,3004,1461,0,0,0,0,0,0
$GC,14071,1.31,116.8,87.3,13.4,740,14075,0.00,2.17,0.00,0.000,6,0.000,0.036,3608,1594,1461,0,0,0,0,0,0
$GC,14414,1.31,116.8,44.0,12.2,791,14419,0.00,2.25,0.00,0.000,4,0.000,0.053,3619,202,1461,0,0,0,0,0,0
$GC,14476,1.27,116.8,35.6,13.5,801,14484,0.08,2.22,0.00,0.000,6,0.173,0.038,3596,1603,1461,0,0,0,0,0,0
$GC,14636,1.27,116.8,16.8,11.0,826,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1603,1461,0,0,0,0,0,0
$GC,14694,1.27,116.8,9.5,12.3,835,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1603,1461,0,0,0,0,0,0
$STATE,14750,end climb,SURFACE_DEPTH_REACHED
$STATE,14750,begin surface coast
$FINISH,1.8,1.023043
$STATE,14782,end surface coast,CONTROL_FINISHED_OK
$STATE,14782,begin surface
$SM_CCo,14801,39.90,0.056,0,0,1132,200.16
$SM_GC,3.40,0.00,0.00,39.90,0.000,0.000,0.056,82,2078,1132,-9.70,0.48,200.16
$IRIDIUM_FIX,-4447.43,625.13,080908,191932
$TT8_MAMPS,0.026964
$HUMID,64.84
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,58.653
$10V_AH,9.6,61.640
$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,24.675,133.375,229.575,39.900,0.000,28.079,20.927,246.182,0.000,0.000,20.698,1879.656,10372.717,367.014,2431.583,231.167,0.000,1303.379,0.000,2040.393,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,68.850,1260.720,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.665,1232.742,682.950,414.485,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,60455,849
$CAP_FILE_SIZE,134652,0
$CFSIZE,2097086464,2026569728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131115,142603,-4503.701,626.632,26,1.1,26,-24.4