version: 66.07.10.p01
glider: 573
mission: 12
dive: 501
start: 11 13 115 14 34 18
data:
$ID,573
$MISSION,12
$DIVE,501
$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,-22559.158
$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,40
$R_STBD_OVSHOOT,38
$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,500
$GPS1,131115,142603,-4503.701,626.632,26,1.1,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-68.1
$GPS2,131115,143358,-4503.689,626.664,20,0.9,20,-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,285.0,3533,-27.2,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.08,-51.8,0.0,0.0,0,46,0.00,0.00,-18.02,0.000,2,0.000,0.000,80,2077,1483,0,0,0,0,0,0
$GC,49,-1.11,-107.2,3.0,-2.4,3,106,11.15,0.00,-41.45,0.000,6,0.225,0.000,2821,2078,2389,0,0,0,0,0,0
$GC,158,-1.11,-107.2,9.6,-12.3,20,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2078,2391,0,0,0,0,0,0
$GC,216,-1.11,-107.2,18.5,-15.0,29,223,0.00,2.33,0.00,0.000,4,0.000,0.069,2811,3449,2391,0,0,0,0,0,0
$GC,251,-1.06,-107.2,24.3,-17.0,34,259,0.08,2.22,0.00,0.000,6,0.171,0.046,2835,2077,2391,0,0,0,0,0,0
$GC,404,-1.06,-107.2,49.0,-16.4,59,409,0.00,2.33,0.00,0.000,4,0.000,0.058,2836,655,2392,0,0,0,0,0,0
$GC,451,-1.06,-107.2,56.7,-16.9,67,457,0.00,2.28,0.00,0.000,6,0.000,0.047,2827,2062,2392,0,0,0,0,0,0
$GC,782,-1.06,-107.2,110.8,-16.2,101,786,0.00,2.33,0.00,0.000,4,0.000,0.056,2826,651,2392,0,0,0,0,0,0
$GC,837,-1.06,-107.2,121.1,-17.3,103,844,0.05,2.30,0.00,0.000,6,0.181,0.046,2833,2062,2392,0,0,0,0,0,0
$GC,1156,-1.06,-107.2,170.2,-15.6,119,1160,0.00,2.33,0.00,0.000,4,0.000,0.068,2822,3469,2392,0,0,0,0,0,0
$GC,1222,-1.06,-107.2,181.1,-14.8,122,1227,0.03,2.28,0.00,0.000,6,0.193,0.045,2832,2053,2392,0,0,0,0,0,0
$GC,1551,-1.10,-107.2,228.5,-14.1,138,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2393,0,0,0,0,0,0
$GC,1861,-1.14,-107.2,268.9,-12.9,153,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2392,0,0,0,0,0,0
$GC,2167,-1.18,-107.2,307.8,-12.4,168,2172,0.10,2.28,0.00,0.000,4,0.104,0.057,2785,654,2393,0,0,0,0,0,0
$GC,2194,-1.13,-107.2,311.7,-14.8,169,2199,0.17,2.25,0.00,0.000,6,0.186,0.047,2819,2069,2393,0,0,0,0,0,0
$GC,2515,-1.13,-107.2,353.1,-13.4,185,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2069,2393,0,0,0,0,0,0
$GC,2823,-1.13,-107.2,395.1,-13.9,200,2827,0.00,2.30,0.00,0.000,4,0.000,0.065,2809,3470,2393,0,0,0,0,0,0
$GC,2856,-1.13,-107.2,399.8,-14.6,201,2860,0.00,2.25,0.00,0.000,6,0.000,0.044,2809,2058,2393,0,0,0,0,0,0
$GC,3172,-1.13,-107.2,443.8,-14.0,217,3176,0.00,2.28,0.00,0.000,4,0.000,0.057,2809,657,2393,0,0,0,0,0,0
$GC,3238,-1.13,-107.2,454.1,-15.7,220,3243,0.08,2.28,0.00,0.000,6,0.215,0.047,2816,2060,2393,0,0,0,0,0,0
$GC,3564,-1.13,-107.2,497.7,-13.4,236,3568,0.00,2.33,0.00,0.000,4,0.000,0.067,2805,3474,2393,0,0,0,0,0,0
$GC,3652,-1.13,-107.2,510.7,-14.7,240,3656,0.00,2.25,0.00,0.000,6,0.000,0.045,2805,2053,2393,0,0,0,0,0,0
$GC,3978,-1.13,-107.2,557.0,-14.0,256,3983,0.00,2.28,0.00,0.000,4,0.000,0.058,2806,656,2393,0,0,0,0,0,0
$GC,4017,-1.13,-107.2,562.8,-15.3,258,4022,0.10,2.25,0.00,0.000,6,0.197,0.047,2820,2061,2393,0,0,0,0,0,0
$GC,4344,-1.17,-107.2,605.7,-12.9,274,4348,0.00,2.33,0.00,0.000,4,0.000,0.057,2820,651,2392,0,0,0,0,0,0
$GC,4398,-1.17,-107.2,613.2,-12.9,276,4404,0.00,2.28,0.00,0.000,6,0.000,0.047,2811,2053,2392,0,0,0,0,0,0
$GC,4713,-1.17,-107.2,654.3,-12.9,292,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2052,2392,0,0,0,0,0,0
$GC,5024,-1.17,-107.2,695.0,-13.5,307,5028,0.00,2.30,0.00,0.000,4,0.000,0.063,2801,3466,2391,0,0,0,0,0,0
$GC,5090,-1.17,-107.2,704.2,-13.3,310,5094,0.00,2.25,0.00,0.000,6,0.000,0.044,2801,2041,2391,0,0,0,0,0,0
$GC,5416,-1.17,-107.2,748.2,-13.6,326,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2041,2391,0,0,0,0,0,0
$GC,5727,-1.17,-107.2,790.0,-13.4,341,5731,0.00,2.22,0.00,0.000,4,0.000,0.057,2801,659,2391,0,0,0,0,0,0
$GC,5776,-1.17,-107.2,797.0,-13.2,343,5780,0.05,2.25,0.00,0.000,6,0.249,0.044,2801,2070,2391,0,0,0,0,0,0
$GC,6098,-1.17,-107.2,837.9,-12.7,359,6102,0.00,2.30,0.00,0.000,4,0.000,0.065,2791,3470,2390,0,0,0,0,0,0
$GC,6153,-1.17,-107.2,845.7,-13.8,361,6158,0.05,2.25,0.00,0.000,6,0.223,0.046,2802,2057,2390,0,0,0,0,0,0
$GC,6469,-1.17,-107.2,885.5,-12.4,377,6473,0.00,2.30,0.00,0.000,4,0.000,0.059,2802,649,2390,0,0,0,0,0,0
$GC,6518,-1.17,-107.2,892.3,-13.9,379,6522,0.00,2.30,0.00,0.000,6,0.000,0.047,2793,2061,2390,0,0,0,0,0,0
$GC,6840,-1.17,-107.2,930.4,-11.6,395,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2061,2390,0,0,0,0,0,0
$GC,7148,-1.17,-107.2,965.7,-11.6,410,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2061,2389,0,0,0,0,0,0
$STATE,7457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7457,begin apogee
$GC,7463,-0.19,0.0,1000.7,11.5,425,7570,1.10,0.00,103.18,1.261,6,0.155,0.000,3113,1599,1950,0,0,0,0,0,0
$STATE,7571,end apogee,CONTROL_FINISHED_OK
$STATE,7571,begin climb
$GC,7573,1.11,107.2,1003.6,0.0,430,7686,1.27,0.00,108.88,1.213,6,0.086,0.000,3536,1599,1512,0,0,0,0,0,0
$GC,7989,1.18,107.2,955.4,12.4,451,7994,0.08,2.38,0.00,0.000,4,0.119,0.055,3589,186,1504,0,0,0,0,0,0
$GC,8067,1.13,107.2,943.8,14.9,454,8073,0.15,2.30,0.00,0.000,6,0.168,0.037,3552,1619,1503,0,0,0,0,0,0
$GC,8382,1.18,107.2,903.0,12.8,470,8386,0.00,2.38,0.00,0.000,4,0.000,0.053,3561,185,1502,0,0,0,0,0,0
$GC,8444,1.18,107.2,894.3,15.2,473,8448,0.00,2.25,0.00,0.000,6,0.000,0.037,3561,1603,1502,0,0,0,0,0,0
$GC,8771,1.21,107.2,851.0,13.0,489,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1501,0,0,0,0,0,0
$GC,9079,1.21,107.2,810.8,12.7,504,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1501,0,0,0,0,0,0
$GC,9389,1.25,107.2,773.0,11.8,519,9391,0.08,0.00,0.00,0.000,6,0.124,0.000,3601,1604,1501,0,0,0,0,0,0
$GC,9699,1.21,107.2,730.6,13.9,534,9701,0.10,0.00,0.00,0.000,6,0.186,0.000,3577,1605,1500,0,0,0,0,0,0
$GC,10008,1.21,107.2,689.5,13.0,549,10012,0.00,2.33,0.00,0.000,4,0.000,0.054,3587,185,1500,0,0,0,0,0,0
$GC,10074,1.17,107.2,680.1,14.1,552,10079,0.10,2.22,0.00,0.000,6,0.183,0.037,3563,1605,1499,0,0,0,0,0,0
$GC,10395,1.21,107.2,640.3,12.6,568,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1605,1499,0,0,0,0,0,0
$GC,10705,1.25,107.2,601.8,12.6,583,10709,0.08,2.30,0.00,0.000,4,0.124,0.052,3613,193,1499,0,0,0,0,0,0
$GC,10812,1.16,107.2,586.2,14.6,588,10817,0.20,2.20,0.00,0.000,6,0.168,0.036,3560,1602,1499,0,0,0,0,0,0
$GC,11139,1.21,107.2,547.3,11.6,604,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1602,1499,0,0,0,0,0,0
$GC,11449,1.27,107.2,511.8,12.0,619,11454,0.10,2.30,0.00,0.000,4,0.102,0.052,3620,192,1499,0,0,0,0,0,0
$GC,11493,1.18,107.2,505.2,15.3,621,11498,0.20,2.20,0.00,0.000,6,0.173,0.036,3566,1606,1499,0,0,0,0,0,0
$GC,11815,1.22,107.2,465.0,12.5,637,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1606,1499,0,0,0,0,0,0
$GC,12122,1.27,107.2,426.8,12.0,652,12127,0.08,2.30,0.00,0.000,4,0.125,0.053,3618,192,1499,0,0,0,0,0,0
$GC,12172,1.18,107.2,420.0,14.0,654,12177,0.20,2.20,0.00,0.000,6,0.173,0.037,3564,1595,1499,0,0,0,0,0,0
$GC,12490,1.23,107.2,385.2,10.6,669,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1595,1498,0,0,0,0,0,0
$GC,12796,1.29,107.2,353.0,10.5,684,12801,0.10,2.30,0.00,0.000,4,0.106,0.053,3623,186,1499,0,0,0,0,0,0
$GC,12891,1.20,107.2,340.8,14.4,688,12896,0.17,2.22,0.00,0.000,6,0.177,0.037,3576,1605,1499,0,0,0,0,0,0
$GC,13208,1.23,107.2,304.6,11.9,703,13213,0.00,2.30,0.00,0.000,4,0.000,0.052,3585,193,1499,0,0,0,0,0,0
$GC,13280,1.23,107.2,294.8,12.8,706,13285,0.00,2.22,0.00,0.000,6,0.000,0.036,3584,1622,1498,0,0,0,0,0,0
$GC,13602,1.23,107.2,253.7,12.8,722,13606,0.00,2.33,0.00,0.000,4,0.000,0.052,3593,193,1498,0,0,0,0,0,0
$GC,13675,1.23,107.2,243.1,14.5,725,13680,0.00,2.22,0.00,0.000,6,0.000,0.037,3593,1597,1499,0,0,0,0,0,0
$GC,14001,1.23,107.2,199.2,12.2,741,14005,0.00,2.28,0.00,0.000,4,0.000,0.059,3593,3001,1498,0,0,0,0,0,0
$GC,14043,1.23,107.2,193.7,12.6,743,14048,0.08,2.20,0.00,0.000,6,0.216,0.036,3586,1581,1498,0,0,0,0,0,0
$GC,14373,1.23,107.2,155.3,11.1,759,14377,0.00,2.25,0.00,0.000,4,0.000,0.054,3596,195,1498,0,0,0,0,0,0
$GC,14427,1.23,107.2,148.0,12.9,761,14434,0.03,2.22,0.00,0.000,6,0.203,0.037,3588,1600,1498,0,0,0,0,0,0
$GC,14746,1.23,107.2,111.6,11.5,777,14750,0.00,2.25,0.00,0.000,4,0.000,0.057,3588,2995,1498,0,0,0,0,0,0
$GC,14787,1.23,107.2,106.8,11.1,779,14792,0.05,2.15,0.00,0.000,6,0.246,0.035,3587,1598,1498,0,0,0,0,0,0
$GC,15113,1.23,107.2,71.3,11.5,805,15118,0.00,2.25,0.00,0.000,4,0.000,0.052,3581,2998,1498,0,0,0,0,0,0
$GC,15184,1.23,107.2,62.8,11.8,817,15189,0.00,2.15,0.00,0.000,6,0.000,0.034,3589,1604,1499,0,0,0,0,0,0
$GC,15544,1.23,107.2,19.0,12.6,878,15552,0.00,2.30,0.00,0.000,4,0.000,0.053,3600,198,1498,0,0,0,0,0,0
$STATE,15662,end climb,SURFACE_DEPTH_REACHED
$STATE,15662,begin surface coast
$FINISH,1.8,1.023409
$STATE,15685,end surface coast,CONTROL_FINISHED_OK
$STATE,15685,begin surface
$SM_CCo,15706,44.33,0.055,0,0,1133,200.16
$SM_GC,3.14,0.00,0.00,44.33,0.000,0.000,0.055,71,2069,1133,-9.73,0.25,200.16
$IRIDIUM_FIX,-4447.43,622.10,080908,232323
$TT8_MAMPS,0.026964
$HUMID,65.23
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.0,58.747
$10V_AH,9.7,61.734
$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,25.225,128.650,212.050,44.325,0.000,26.883,48.287,251.488,0.000,0.000,22.890,1972.990,11145.847,377.720,2478.758,249.406,0.000,1290.886,0.000,2056.211,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,68.850,1260.720,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.878,1279.142,699.710,409.046,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353296
$DATA_FILE_SIZE,64062,900
$CAP_FILE_SIZE,138679,0
$CFSIZE,2097086464,2026438656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131115,185803,-4504.479,624.871,37,0.8,37,-24.4