version: 66.07.10.p01
glider: 573
mission: 12
dive: 510
start: 11 15 115 13 49 59
data:
$ID,573
$MISSION,12
$DIVE,510
$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,-22587.264
$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,39
$R_STBD_OVSHOOT,41
$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,509
$GPS1,151115,133928,-4456.163,625.754,40,0.8,40,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-69.5
$GPS2,151115,134938,-4456.211,625.818,23,1.1,23,-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,303.7,2415,-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,26,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-19.42,0.000,2,0.000,0.000,77,2049,1509,0,0,0,0,0,0
$GC,50,-1.13,-116.8,3.1,-0.8,3,120,11.02,2.38,-49.35,0.000,4,0.221,0.073,2801,3453,2428,0,0,0,0,0,0
$GC,379,-1.13,-116.8,34.7,-16.8,56,387,0.03,2.25,0.00,0.000,6,0.193,0.047,2808,2066,2428,0,0,0,0,0,0
$GC,527,-1.13,-116.8,60.3,-16.0,81,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2066,2428,0,0,0,0,0,0
$GC,864,-1.13,-116.8,114.6,-16.5,113,868,0.00,2.30,0.00,0.000,4,0.000,0.055,2809,645,2429,0,0,0,0,0,0
$GC,942,-1.10,-116.8,128.6,-16.6,116,950,0.08,2.22,0.00,0.000,6,0.174,0.039,2823,2044,2428,0,0,0,0,0,0
$GC,1258,-1.10,-116.8,175.8,-14.5,132,1262,0.00,2.33,0.00,0.000,4,0.000,0.063,2812,3475,2429,0,0,0,0,0,0
$GC,1336,-1.10,-116.8,187.3,-15.1,135,1341,0.05,2.25,0.00,0.000,6,0.226,0.043,2823,2059,2429,0,0,0,0,0,0
$GC,1660,-1.14,-116.8,234.2,-15.0,151,1664,0.00,2.28,0.00,0.000,4,0.000,0.057,2823,651,2429,0,0,0,0,0,0
$GC,1722,-1.14,-116.8,244.2,-16.3,154,1726,0.00,2.25,0.00,0.000,6,0.000,0.044,2814,2065,2429,0,0,0,0,0,0
$GC,2049,-1.14,-116.8,296.0,-16.0,170,2053,0.00,2.30,0.00,0.000,4,0.000,0.063,2803,3471,2429,0,0,0,0,0,0
$GC,2098,-1.14,-116.8,304.3,-16.2,172,2102,0.00,2.25,0.00,0.000,6,0.000,0.044,2803,2062,2429,0,0,0,0,0,0
$GC,2419,-1.14,-116.8,353.2,-14.8,188,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2061,2429,0,0,0,0,0,0
$GC,2729,-1.14,-116.8,397.7,-14.6,203,2733,0.00,2.28,0.00,0.000,4,0.000,0.055,2804,646,2429,0,0,0,0,0,0
$GC,2779,-1.14,-116.8,405.6,-14.6,205,2784,0.08,2.25,0.00,0.000,6,0.223,0.041,2809,2071,2429,0,0,0,0,0,0
$GC,3106,-1.14,-116.8,451.6,-13.7,221,3110,0.00,2.25,0.00,0.000,4,0.000,0.060,2799,3462,2430,0,0,0,0,0,0
$GC,3132,-1.14,-116.8,455.7,-14.8,222,3137,0.03,2.22,0.00,0.000,6,0.197,0.041,2807,2054,2430,0,0,0,0,0,0
$GC,3452,-1.14,-116.8,497.4,-12.6,238,3456,0.00,2.28,0.00,0.000,4,0.000,0.057,2808,653,2430,0,0,0,0,0,0
$GC,3485,-1.14,-116.8,501.7,-13.0,239,3490,0.05,2.25,0.00,0.000,6,0.252,0.044,2809,2069,2430,0,0,0,0,0,0
$GC,3802,-1.17,-116.8,542.4,-13.1,255,3806,0.00,2.28,0.00,0.000,4,0.000,0.063,2799,3470,2429,0,0,0,0,0,0
$GC,3857,-1.17,-116.8,550.3,-14.4,257,3861,0.00,2.25,0.00,0.000,6,0.000,0.044,2799,2057,2430,0,0,0,0,0,0
$GC,4173,-1.17,-116.8,591.8,-12.6,273,4177,0.00,2.25,0.00,0.000,4,0.000,0.057,2799,653,2430,0,0,0,0,0,0
$GC,4216,-1.17,-116.8,597.8,-12.9,275,4221,0.05,2.28,0.00,0.000,6,0.255,0.045,2799,2081,2430,0,0,0,0,0,0
$GC,4543,-1.17,-116.8,638.5,-12.6,291,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2081,2429,0,0,0,0,0,0
$GC,4851,-1.17,-116.8,678.6,-12.9,306,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2081,2429,0,0,0,0,0,0
$GC,5162,-1.17,-116.8,720.0,-13.2,321,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2081,2428,0,0,0,0,0,0
$GC,5470,-1.17,-116.8,761.9,-13.5,336,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2081,2428,0,0,0,0,0,0
$GC,5781,-1.21,-116.8,804.6,-13.5,351,5785,0.00,2.28,0.00,0.000,4,0.000,0.066,2789,3471,2428,0,0,0,0,0,0
$GC,5852,-1.21,-116.8,815.0,-14.0,354,5857,0.00,2.25,0.00,0.000,6,0.000,0.045,2789,2068,2427,0,0,0,0,0,0
$GC,6173,-1.21,-116.8,858.7,-13.7,370,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2068,2427,0,0,0,0,0,0
$GC,6484,-1.21,-116.8,900.0,-13.7,385,6488,0.00,2.30,0.00,0.000,4,0.000,0.058,2780,3475,2426,0,0,0,0,0,0
$GC,6523,-1.21,-116.8,905.4,-13.4,387,6527,0.00,2.25,0.00,0.000,6,0.000,0.044,2781,2055,2427,0,0,0,0,0,0
$GC,6850,-1.21,-116.8,949.4,-12.8,403,6854,0.00,2.28,0.00,0.000,4,0.000,0.058,2781,656,2427,0,0,0,0,0,0
$GC,6905,-1.21,-116.8,957.0,-13.1,405,6910,0.10,2.28,0.00,0.000,6,0.207,0.045,2795,2061,2426,0,0,0,0,0,0
$GC,7222,-1.24,-116.8,994.3,-11.6,421,7226,0.00,2.33,0.00,0.000,4,0.000,0.067,2785,3466,2426,0,0,0,0,0,0
$STATE,7269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7269,begin apogee
$GC,7278,-0.19,0.0,1000.5,11.8,423,7392,1.12,0.00,110.47,1.263,6,0.161,0.000,3111,1602,1949,0,0,0,0,0,0
$STATE,7393,end apogee,CONTROL_FINISHED_OK
$STATE,7393,begin climb
$GC,7395,1.13,116.8,1003.0,0.0,429,7523,1.30,2.55,118.78,1.213,4,0.087,0.054,3550,198,1473,0,0,0,0,0,0
$GC,7558,1.18,116.8,986.4,15.0,437,7563,0.00,2.42,0.00,0.000,6,0.000,0.036,3550,1608,1469,0,0,0,0,0,0
$GC,7886,1.26,116.8,938.2,14.8,453,7888,0.12,0.00,0.00,0.000,6,0.087,0.000,3608,1608,1465,0,0,0,0,0,0
$GC,8194,1.22,116.8,887.4,16.5,468,8199,0.12,2.35,0.00,0.000,4,0.177,0.053,3587,185,1464,0,0,0,0,0,0
$GC,8238,1.22,116.8,880.0,17.0,470,8242,0.00,2.25,0.00,0.000,6,0.000,0.037,3586,1605,1463,0,0,0,0,0,0
$GC,8565,1.22,116.8,829.5,15.3,486,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1463,0,0,0,0,0,0
$GC,8875,1.22,116.8,783.8,14.7,501,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1463,0,0,0,0,0,0
$GC,9183,1.22,116.8,739.5,13.9,516,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1462,0,0,0,0,0,0
$GC,9493,1.22,116.8,695.6,14.3,531,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1605,1462,0,0,0,0,0,0
$GC,9801,1.22,116.8,651.6,14.3,546,9806,0.00,2.33,0.00,0.000,4,0.000,0.054,3596,183,1462,0,0,0,0,0,0
$GC,9851,1.19,116.8,643.9,15.6,548,9856,0.12,2.22,0.00,0.000,6,0.177,0.036,3565,1613,1461,0,0,0,0,0,0
$GC,10168,1.24,116.8,602.7,12.8,563,10172,0.00,2.33,0.00,0.000,4,0.000,0.053,3574,189,1461,0,0,0,0,0,0
$GC,10261,1.24,116.8,589.8,14.2,567,10266,0.00,2.22,0.00,0.000,6,0.000,0.037,3574,1593,1461,0,0,0,0,0,0
$GC,10584,1.29,116.8,549.2,12.6,583,10586,0.08,0.00,0.00,0.000,6,0.122,0.000,3616,1594,1461,0,0,0,0,0,0
$GC,10892,1.25,116.8,504.6,14.5,598,10894,0.10,0.00,0.00,0.000,6,0.188,0.000,3592,1595,1461,0,0,0,0,0,0
$GC,11202,1.25,116.8,463.0,13.4,613,11206,0.00,2.30,0.00,0.000,4,0.000,0.054,3601,186,1461,0,0,0,0,0,0
$GC,11243,1.22,116.8,457.3,15.3,615,11248,0.10,2.22,0.00,0.000,6,0.185,0.037,3577,1612,1460,0,0,0,0,0,0
$GC,11571,1.27,116.8,414.9,12.9,631,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1612,1460,0,0,0,0,0,0
$GC,11878,1.32,116.8,375.8,12.8,646,11883,0.10,2.30,0.00,0.000,4,0.101,0.052,3635,188,1460,0,0,0,0,0,0
$GC,12023,1.22,116.8,353.6,15.0,652,12029,0.20,2.20,0.00,0.000,6,0.169,0.037,3580,1598,1460,0,0,0,0,0,0
$GC,12338,1.27,116.8,313.2,13.2,668,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1598,1460,0,0,0,0,0,0
$GC,12652,1.31,116.8,271.4,13.4,683,12657,0.08,2.30,0.00,0.000,4,0.126,0.052,3627,187,1459,0,0,0,0,0,0
$GC,12719,1.24,116.8,260.5,15.6,686,12724,0.15,2.22,0.00,0.000,6,0.177,0.037,3588,1609,1460,0,0,0,0,0,0
$GC,13042,1.28,116.8,217.9,12.7,702,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1609,1460,0,0,0,0,0,0
$GC,13351,1.28,116.8,176.6,14.2,717,13355,0.00,2.22,0.00,0.000,4,0.000,0.054,3588,2999,1460,0,0,0,0,0,0
$GC,13406,1.28,116.8,167.9,15.0,719,13412,0.00,2.20,0.00,0.000,6,0.000,0.036,3596,1594,1459,0,0,0,0,0,0
$GC,13725,1.28,116.8,124.7,13.0,735,13729,0.00,2.25,0.00,0.000,4,0.000,0.054,3607,196,1460,0,0,0,0,0,0
$GC,13797,1.28,116.8,114.8,13.0,738,13801,0.00,2.22,0.00,0.000,6,0.000,0.037,3607,1602,1460,0,0,0,0,0,0
$GC,14117,1.28,116.8,74.4,13.2,759,14124,0.00,2.25,0.00,0.000,4,0.000,0.055,3607,2990,1459,0,0,0,0,0,0
$GC,14165,1.28,116.8,67.6,14.2,767,14171,0.08,2.15,0.00,0.000,6,0.213,0.035,3599,1593,1460,0,0,0,0,0,0
$GC,14527,1.31,116.8,19.8,13.0,828,14534,0.00,2.28,0.00,0.000,4,0.000,0.054,3609,211,1459,0,0,0,0,0,0
$STATE,14638,end climb,SURFACE_DEPTH_REACHED
$STATE,14638,begin surface coast
$FINISH,1.8,1.012336
$STATE,14661,end surface coast,CONTROL_FINISHED_OK
$STATE,14661,begin surface
$SM_CCo,14682,39.55,0.054,0,0,1132,200.16
$SM_GC,3.11,0.00,0.00,39.55,0.000,0.000,0.054,62,2056,1132,-9.76,-0.11,200.16
$IRIDIUM_FIX,-4438.33,624.11,110908,030352
$TT8_MAMPS,0.026964
$HUMID,65.27
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,2
$24V_AH,21.9,59.717
$10V_AH,9.7,62.716
$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,24.275,115.125,229.250,39.550,0.000,52.225,99.482,245.346,0.500,0.000,26.470,1850.007,10422.121,365.238,2464.095,231.048,0.000,1242.819,0.000,1961.476,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,72.675,1263.015,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.296,1236.651,693.296,433.848,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,60508,849
$CAP_FILE_SIZE,127713,0
$CFSIZE,2097086464,2025291776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151115,175722,-4456.237,624.123,83,0.9,83,-24.4