version: 66.07.10.p01
glider: 573
mission: 12
dive: 507
start: 11 15 115 0 24 56
data:
$ID,573
$MISSION,12
$DIVE,507
$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,-22578.182
$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,60
$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,506
$GPS1,151115,001603,-4456.842,625.207,26,0.9,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-70.3
$GPS2,151115,002435,-4456.867,625.190,14,1.4,14,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,340.2,2239,-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,-49.9,0.0,0.0,0,47,0.00,0.00,-19.73,0.000,2,0.000,0.000,65,2086,1521,0,0,0,0,0,0
$GC,50,-1.12,-96.1,3.3,-3.3,3,107,11.30,2.35,-38.47,0.000,4,0.228,0.063,2821,665,2342,0,0,0,0,0,0
$GC,221,-1.12,-96.1,19.3,-15.3,30,228,0.00,2.20,0.00,0.000,6,0.000,0.039,2813,2032,2344,0,0,0,0,0,0
$GC,280,-1.12,-96.1,28.2,-15.2,39,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2032,2344,0,0,0,0,0,0
$GC,430,-1.12,-96.1,52.5,-16.6,64,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2032,2344,0,0,0,0,0,0
$GC,767,-1.12,-96.1,106.5,-15.5,102,771,0.00,2.33,0.00,0.000,4,0.000,0.061,2802,3469,2345,0,0,0,0,0,0
$GC,897,-1.12,-96.1,127.1,-15.1,108,902,0.08,2.22,0.00,0.000,6,0.204,0.043,2818,2056,2345,0,0,0,0,0,0
$GC,1224,-1.12,-96.1,176.2,-14.7,124,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2057,2345,0,0,0,0,0,0
$GC,1535,-1.12,-96.1,218.1,-13.4,139,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2057,2345,0,0,0,0,0,0
$GC,1843,-1.12,-96.1,259.8,-13.7,154,1847,0.00,2.25,0.00,0.000,4,0.000,0.055,2818,657,2345,0,0,0,0,0,0
$GC,1887,-1.12,-96.1,266.7,-14.6,156,1891,0.00,2.25,0.00,0.000,6,0.000,0.041,2809,2064,2345,0,0,0,0,0,0
$GC,2215,-1.12,-96.1,314.3,-14.5,172,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2064,2345,0,0,0,0,0,0
$GC,2524,-1.12,-96.1,359.7,-14.7,187,2528,0.00,2.30,0.00,0.000,4,0.000,0.054,2809,649,2345,0,0,0,0,0,0
$GC,2567,-1.12,-96.1,366.5,-14.9,189,2572,0.05,2.28,0.00,0.000,6,0.177,0.044,2824,2064,2345,0,0,0,0,0,0
$GC,2896,-1.16,-96.1,409.9,-12.9,205,2900,0.00,2.30,0.00,0.000,4,0.000,0.054,2825,651,2346,0,0,0,0,0,0
$GC,2962,-1.16,-96.1,419.2,-13.1,208,2966,0.00,2.22,0.00,0.000,6,0.000,0.044,2816,2067,2345,0,0,0,0,0,0
$GC,3290,-1.19,-96.1,460.7,-12.4,224,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2068,2345,0,0,0,0,0,0
$GC,3599,-1.22,-96.1,500.2,-12.8,239,3604,0.08,2.28,0.00,0.000,4,0.123,0.063,2763,3471,2345,0,0,0,0,0,0
$GC,3665,-1.16,-96.1,510.3,-14.8,242,3670,0.17,2.22,0.00,0.000,6,0.174,0.044,2809,2051,2345,0,0,0,0,0,0
$GC,3985,-1.16,-96.1,549.9,-12.1,258,3989,0.00,2.28,0.00,0.000,4,0.000,0.057,2809,645,2345,0,0,0,0,0,0
$GC,4012,-1.16,-96.1,553.5,-13.4,259,4017,0.00,2.28,0.00,0.000,6,0.000,0.044,2800,2063,2345,0,0,0,0,0,0
$GC,4334,-1.16,-96.1,594.1,-13.2,275,4338,0.00,2.30,0.00,0.000,4,0.000,0.067,2790,3472,2345,0,0,0,0,0,0
$GC,4361,-1.16,-96.1,597.9,-13.5,276,4366,0.08,2.25,0.00,0.000,6,0.198,0.045,2805,2031,2345,0,0,0,0,0,0
$GC,4681,-1.16,-96.1,638.7,-12.9,292,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2031,2344,0,0,0,0,0,0
$GC,4992,-1.19,-96.1,676.5,-11.9,307,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2031,2344,0,0,0,0,0,0
$GC,5300,-1.19,-96.1,713.7,-12.2,322,5304,0.00,2.22,0.00,0.000,4,0.000,0.058,2805,657,2344,0,0,0,0,0,0
$GC,5338,-1.19,-96.1,718.5,-12.6,324,5342,0.00,2.22,0.00,0.000,6,0.000,0.044,2797,2066,2344,0,0,0,0,0,0
$GC,5663,-1.19,-96.1,759.6,-12.4,340,5667,0.00,2.28,0.00,0.000,4,0.000,0.064,2786,3466,2344,0,0,0,0,0,0
$GC,5729,-1.19,-96.1,768.2,-12.8,343,5733,0.00,2.25,0.00,0.000,6,0.000,0.044,2787,2057,2343,0,0,0,0,0,0
$GC,6056,-1.19,-96.1,808.9,-12.3,359,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2056,2343,0,0,0,0,0,0
$GC,6366,-1.19,-96.1,845.8,-11.5,374,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2056,2343,0,0,0,0,0,0
$GC,6675,-1.19,-96.1,880.5,-11.1,389,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2056,2343,0,0,0,0,0,0
$GC,6983,-1.19,-96.1,915.5,-11.4,404,6987,0.00,2.35,0.00,0.000,4,0.000,0.067,2778,3465,2342,0,0,0,0,0,0
$GC,7043,-1.19,-96.1,922.6,-11.4,406,7049,0.05,2.25,0.00,0.000,6,0.175,0.046,2793,2065,2342,0,0,0,0,0,0
$GC,7358,-1.19,-96.1,956.4,-10.7,422,7362,0.00,2.30,0.00,0.000,4,0.000,0.056,2793,647,2342,0,0,0,0,0,0
$GC,7421,-1.19,-96.1,962.9,-10.8,425,7425,0.00,2.25,0.00,0.000,6,0.000,0.044,2784,2073,2342,0,0,0,0,0,0
$GC,7747,-1.19,-96.1,997.6,-10.6,441,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2073,2342,0,0,0,0,0,0
$STATE,7786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7786,begin apogee
$GC,7793,-0.19,0.0,1002.0,10.3,443,7889,1.15,0.00,92.38,1.258,6,0.159,0.000,3113,1587,1950,0,0,0,0,0,0
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7892,1.12,96.1,1004.6,0.0,448,7994,1.27,0.00,97.65,1.220,6,0.083,0.000,3539,1588,1557,0,0,0,0,0,0
$GC,8302,1.20,96.1,958.1,12.4,468,8307,0.10,2.33,0.00,0.000,4,0.096,0.054,3603,199,1549,0,0,0,0,0,0
$GC,8526,1.13,96.1,923.9,15.1,478,8531,0.20,2.25,0.00,0.000,6,0.161,0.038,3550,1618,1548,0,0,0,0,0,0
$GC,8847,1.19,96.1,884.6,12.0,494,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1617,1546,0,0,0,0,0,0
$GC,9157,1.25,96.1,848.5,11.3,509,9159,0.10,0.00,0.00,0.000,6,0.100,0.000,3603,1618,1546,0,0,0,0,0,0
$GC,9465,1.21,96.1,808.0,12.9,524,9467,0.10,0.00,0.00,0.000,6,0.188,0.000,3579,1619,1546,0,0,0,0,0,0
$GC,9775,1.21,96.1,770.2,12.0,539,9779,0.00,2.30,0.00,0.000,4,0.000,0.054,3588,196,1545,0,0,0,0,0,0
$GC,9860,1.18,96.1,759.5,13.8,543,9865,0.10,2.20,0.00,0.000,6,0.184,0.039,3564,1601,1545,0,0,0,0,0,0
$GC,10194,1.22,96.1,721.1,11.5,559,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1602,1545,0,0,0,0,0,0
$GC,10500,1.26,96.1,685.0,12.0,574,10502,0.08,0.00,0.00,0.000,6,0.125,0.000,3609,1602,1545,0,0,0,0,0,0
$GC,10811,1.22,96.1,642.7,14.0,589,10813,0.12,0.00,0.00,0.000,6,0.180,0.000,3578,1603,1545,0,0,0,0,0,0
$GC,11119,1.22,96.1,603.1,12.5,604,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1603,1544,0,0,0,0,0,0
$GC,11429,1.22,96.1,564.1,12.7,619,11433,0.00,2.30,0.00,0.000,4,0.000,0.054,3587,190,1544,0,0,0,0,0,0
$GC,11512,1.22,96.1,552.9,13.3,622,11518,0.00,2.22,0.00,0.000,6,0.000,0.037,3588,1600,1544,0,0,0,0,0,0
$GC,11828,1.22,96.1,513.2,12.3,638,11832,0.00,2.25,0.00,0.000,4,0.000,0.057,3587,2996,1544,0,0,0,0,0,0
$GC,11901,1.22,96.1,503.8,13.3,641,11906,0.08,2.17,0.00,0.000,6,0.214,0.037,3581,1591,1544,0,0,0,0,0,0
$GC,12215,1.22,96.1,466.5,11.6,656,12219,0.00,2.25,0.00,0.000,4,0.000,0.054,3591,202,1544,0,0,0,0,0,0
$GC,12298,1.22,96.1,456.2,12.4,660,12303,0.05,2.17,0.00,0.000,6,0.227,0.038,3580,1603,1544,0,0,0,0,0,0
$GC,12625,1.25,96.1,417.5,11.7,676,12629,0.00,2.28,0.00,0.000,4,0.000,0.052,3589,195,1544,0,0,0,0,0,0
$GC,12755,1.25,96.1,401.1,12.7,682,12759,0.00,2.20,0.00,0.000,6,0.000,0.037,3589,1599,1544,0,0,0,0,0,0
$GC,13081,1.25,96.1,360.7,12.7,698,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1599,1544,0,0,0,0,0,0
$GC,13391,1.25,96.1,322.5,12.4,713,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1600,1544,0,0,0,0,0,0
$GC,13700,1.25,96.1,285.1,12.4,728,13704,0.00,2.28,0.00,0.000,4,0.000,0.053,3598,198,1544,0,0,0,0,0,0
$GC,13771,1.21,96.1,276.2,12.6,731,13776,0.10,2.17,0.00,0.000,6,0.183,0.038,3575,1601,1544,0,0,0,0,0,0
$GC,14102,1.26,96.1,237.5,11.7,747,14103,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1601,1544,0,0,0,0,0,0
$GC,14408,1.30,96.1,202.4,11.1,762,14409,0.08,0.00,0.00,0.000,6,0.122,0.000,3618,1602,1544,0,0,0,0,0,0
$GC,14719,1.30,96.1,163.5,12.5,777,14723,0.00,2.30,0.00,0.000,4,0.000,0.052,3628,193,1544,0,0,0,0,0,0
$GC,14866,1.23,96.1,144.6,12.1,783,14871,0.17,2.20,0.00,0.000,6,0.174,0.036,3579,1602,1544,0,0,0,0,0,0
$GC,15184,1.28,96.1,112.6,9.8,799,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1603,1544,0,0,0,0,0,0
$GC,15491,1.33,96.1,80.7,10.2,814,15496,0.10,2.25,0.00,0.000,4,0.102,0.054,3621,3003,1543,0,0,0,0,0,0
$GC,15560,1.27,96.1,72.8,11.6,824,15566,0.12,2.15,0.00,0.000,6,0.198,0.034,3599,1596,1544,0,0,0,0,0,0
$GC,15914,1.27,96.1,34.3,11.3,885,15922,0.00,2.28,0.00,0.000,4,0.000,0.054,3609,205,1543,0,0,0,0,0,0
$GC,16028,1.23,96.1,20.1,12.7,903,16036,0.08,2.20,0.00,0.000,6,0.165,0.034,3586,1609,1543,0,0,0,0,0,0
$STATE,16185,end climb,SURFACE_DEPTH_REACHED
$STATE,16185,begin surface coast
$FINISH,2.0,1.023415
$STATE,16217,end surface coast,CONTROL_FINISHED_OK
$STATE,16217,begin surface
$SM_CCo,16236,49.55,0.054,0,0,1134,200.16
$SM_GC,3.73,0.00,0.00,49.55,0.000,0.000,0.054,78,2063,1134,-9.71,0.08,200.16
$IRIDIUM_FIX,-4441.36,627.47,100908,070742
$TT8_MAMPS,0.026964
$HUMID,64.72
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,22.1,59.420
$10V_AH,9.7,62.437
$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,25.150,100.625,190.025,49.550,0.000,26.986,41.990,288.411,0.250,0.000,16.781,2031.830,11561.236,334.313,2615.635,247.230,0.000,1267.594,0.000,2158.304,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,66.555,1257.660,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.963,1347.542,746.120,445.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353244
$DATA_FILE_SIZE,67270,933
$CAP_FILE_SIZE,135547,0
$CFSIZE,2097086464,2025619456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151115,045733,-4455.594,624.644,33,1.0,33,-24.4