version: 66.07.10.p01
glider: 573
mission: 12
dive: 516
start: 11 16 115 22 8 31
data:
$ID,573
$MISSION,12
$DIVE,516
$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,-22606.334
$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,43
$R_STBD_OVSHOOT,46
$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,515
$GPS1,161115,220029,-4456.858,634.609,40,1.1,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-68.7
$GPS2,161115,220811,-4456.811,634.600,18,1.4,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,75.1,2371,-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,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,35,0.00,0.00,-6.20,0.000,2,0.000,0.000,63,2089,1251,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.1,-0.0,1,113,11.05,2.38,-57.03,0.000,4,0.220,0.067,2811,671,2424,0,0,0,0,0,0
$GC,387,-1.09,-116.8,54.5,-17.5,58,393,0.12,2.17,0.00,0.000,6,0.189,0.042,2834,2045,2426,0,0,0,0,0,0
$GC,728,-1.12,-116.8,108.2,-14.4,94,732,0.00,2.30,0.00,0.000,4,0.000,0.062,2823,3464,2426,0,0,0,0,0,0
$GC,756,-1.12,-116.8,112.3,-14.1,95,760,0.00,2.20,0.00,0.000,6,0.000,0.041,2823,2060,2427,0,0,0,0,0,0
$GC,1085,-1.12,-116.8,159.0,-14.4,111,1089,0.00,2.28,0.00,0.000,4,0.000,0.055,2824,661,2427,0,0,0,0,0,0
$GC,1219,-1.12,-116.8,179.7,-15.5,117,1223,0.00,2.25,0.00,0.000,6,0.000,0.043,2815,2071,2427,0,0,0,0,0,0
$GC,1549,-1.12,-116.8,228.0,-15.0,133,1553,0.00,2.28,0.00,0.000,4,0.000,0.060,2804,3473,2428,0,0,0,0,0,0
$GC,1621,-1.12,-116.8,239.8,-15.2,136,1626,0.08,2.25,0.00,0.000,6,0.196,0.044,2820,2061,2428,0,0,0,0,0,0
$GC,1943,-1.17,-116.8,284.4,-13.1,152,1947,0.00,2.28,0.00,0.000,4,0.000,0.055,2821,647,2428,0,0,0,0,0,0
$GC,2013,-1.17,-116.8,294.3,-14.3,155,2017,0.00,2.22,0.00,0.000,6,0.000,0.042,2812,2068,2428,0,0,0,0,0,0
$GC,2339,-1.17,-116.8,341.3,-14.1,171,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2068,2427,0,0,0,0,0,0
$GC,2648,-1.17,-116.8,386.4,-14.5,186,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2068,2428,0,0,0,0,0,0
$GC,2958,-1.17,-116.8,430.6,-14.2,201,2962,0.00,2.25,0.00,0.000,4,0.000,0.062,2801,3471,2428,0,0,0,0,0,0
$GC,2990,-1.17,-116.8,435.5,-14.6,202,2996,0.00,2.25,0.00,0.000,6,0.000,0.044,2801,2057,2427,0,0,0,0,0,0
$GC,3305,-1.17,-116.8,481.2,-14.7,218,3309,0.00,2.28,0.00,0.000,4,0.000,0.056,2801,650,2428,0,0,0,0,0,0
$GC,3332,-1.17,-116.8,485.2,-15.4,219,3337,0.05,2.22,0.00,0.000,6,0.255,0.044,2801,2059,2428,0,0,0,0,0,0
$GC,3646,-1.17,-116.8,529.2,-14.0,234,3650,0.00,2.30,0.00,0.000,4,0.000,0.064,2791,3471,2428,0,0,0,0,0,0
$GC,3679,-1.17,-116.8,533.9,-14.7,235,3684,0.03,2.25,0.00,0.000,6,0.190,0.044,2800,2066,2427,0,0,0,0,0,0
$GC,4001,-1.17,-116.8,578.2,-14.2,251,4005,0.00,2.28,0.00,0.000,4,0.000,0.054,2800,654,2427,0,0,0,0,0,0
$GC,4017,-1.17,-116.8,580.7,-14.3,252,4022,0.05,2.20,0.00,0.000,6,0.251,0.040,2801,2066,2427,0,0,0,0,0,0
$GC,4342,-1.17,-116.8,627.1,-14.4,268,4346,0.00,2.25,0.00,0.000,4,0.000,0.063,2791,3462,2427,0,0,0,0,0,0
$GC,4396,-1.17,-116.8,635.3,-14.5,270,4402,0.00,2.22,0.00,0.000,6,0.000,0.041,2791,2059,2427,0,0,0,0,0,0
$GC,4711,-1.17,-116.8,680.9,-14.6,286,4716,0.05,2.28,0.00,0.000,4,0.239,0.057,2802,654,2426,0,0,0,0,0,0
$GC,4760,-1.17,-116.8,688.1,-14.6,288,4765,0.00,2.25,0.00,0.000,6,0.000,0.045,2792,2079,2426,0,0,0,0,0,0
$GC,5081,-1.17,-116.8,732.8,-13.5,304,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2079,2426,0,0,0,0,0,0
$GC,5392,-1.17,-116.8,776.0,-13.8,319,5396,0.00,2.28,0.00,0.000,4,0.000,0.063,2783,3467,2426,0,0,0,0,0,0
$GC,5418,-1.17,-116.8,780.0,-14.5,320,5423,0.10,2.25,0.00,0.000,6,0.190,0.044,2805,2057,2426,0,0,0,0,0,0
$GC,5739,-1.22,-116.8,822.3,-13.0,336,5743,0.00,2.28,0.00,0.000,4,0.000,0.057,2806,658,2426,0,0,0,0,0,0
$GC,5801,-1.22,-116.8,830.9,-13.7,339,5805,0.00,2.22,0.00,0.000,6,0.000,0.044,2797,2060,2426,0,0,0,0,0,0
$GC,6129,-1.25,-116.8,874.7,-13.4,355,6133,0.00,2.30,0.00,0.000,4,0.000,0.067,2787,3462,2425,0,0,0,0,0,0
$GC,6169,-1.25,-116.8,880.4,-14.3,357,6173,0.00,2.20,0.00,0.000,6,0.000,0.044,2787,2059,2426,0,0,0,0,0,0
$GC,6495,-1.25,-116.8,925.6,-13.9,373,6499,0.00,2.28,0.00,0.000,4,0.000,0.057,2787,655,2425,0,0,0,0,0,0
$GC,6545,-1.25,-116.8,933.0,-14.2,375,6549,0.00,2.22,0.00,0.000,6,0.000,0.046,2779,2059,2426,0,0,0,0,0,0
$GC,6867,-1.25,-116.8,978.2,-14.2,391,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2058,2426,0,0,0,0,0,0
$STATE,7030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7030,begin apogee
$GC,7036,-0.19,0.0,1001.8,14.5,399,7151,1.17,0.00,111.28,1.261,6,0.159,0.000,3114,1594,1950,0,0,0,0,0,0
$STATE,7152,end apogee,CONTROL_FINISHED_OK
$STATE,7152,begin climb
$GC,7154,1.13,116.8,1006.9,0.0,405,7283,1.30,2.55,118.97,1.218,4,0.084,0.054,3555,195,1473,0,0,0,0,0,0
$GC,7328,1.17,116.8,991.5,14.4,413,7332,0.00,2.42,0.00,0.000,6,0.000,0.035,3555,1610,1469,0,0,0,0,0,0
$GC,7643,1.24,116.8,948.5,13.6,428,7645,0.08,0.00,0.00,0.000,6,0.122,0.000,3594,1610,1465,0,0,0,0,0,0
$GC,7953,1.24,116.8,901.1,15.2,443,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1611,1464,0,0,0,0,0,0
$GC,8261,1.24,116.8,853.4,15.5,458,8265,0.00,2.35,0.00,0.000,4,0.000,0.053,3604,184,1463,0,0,0,0,0,0
$GC,8305,1.19,116.8,846.1,17.4,460,8309,0.15,2.22,0.00,0.000,6,0.170,0.036,3565,1603,1463,0,0,0,0,0,0
$GC,8626,1.24,116.8,798.5,14.6,476,8630,0.00,2.33,0.00,0.000,4,0.000,0.054,3574,189,1463,0,0,0,0,0,0
$GC,8688,1.24,116.8,788.7,16.1,479,8692,0.00,2.20,0.00,0.000,6,0.000,0.037,3574,1608,1462,0,0,0,0,0,0
$GC,9015,1.28,116.8,738.6,15.3,495,9017,0.05,0.00,0.00,0.000,6,0.170,0.000,3606,1608,1462,0,0,0,0,0,0
$GC,9323,1.28,116.8,688.3,16.0,510,9327,0.00,2.33,0.00,0.000,4,0.000,0.053,3617,189,1461,0,0,0,0,0,0
$GC,9400,1.22,116.8,675.0,17.3,513,9405,0.15,2.20,0.00,0.000,6,0.171,0.036,3576,1602,1461,0,0,0,0,0,0
$GC,9717,1.25,116.8,629.2,14.4,529,9721,0.00,2.30,0.00,0.000,4,0.000,0.054,3586,195,1461,0,0,0,0,0,0
$GC,9757,1.25,116.8,623.1,15.4,531,9761,0.00,2.17,0.00,0.000,6,0.000,0.036,3586,1603,1461,0,0,0,0,0,0
$GC,10084,1.25,116.8,577.6,13.3,547,10088,0.00,2.22,0.00,0.000,4,0.000,0.055,3586,2990,1460,0,0,0,0,0,0
$GC,10127,1.25,116.8,571.4,14.0,549,10132,0.00,2.20,0.00,0.000,6,0.000,0.037,3595,1591,1460,0,0,0,0,0,0
$GC,10455,1.25,116.8,526.4,14.0,565,10459,0.00,2.25,0.00,0.000,4,0.000,0.055,3606,199,1460,0,0,0,0,0,0
$GC,10528,1.22,116.8,515.8,14.5,568,10533,0.10,2.20,0.00,0.000,6,0.182,0.038,3581,1599,1460,0,0,0,0,0,0
$GC,10846,1.25,116.8,474.5,12.7,583,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1599,1460,0,0,0,0,0,0
$GC,11153,1.29,116.8,433.9,12.7,598,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1599,1460,0,0,0,0,0,0
$GC,11463,1.33,116.8,393.0,13.1,613,11465,0.10,0.00,0.00,0.000,6,0.099,0.000,3625,1599,1460,0,0,0,0,0,0
$GC,11771,1.29,116.8,347.7,14.3,628,11776,0.10,2.30,0.00,0.000,4,0.189,0.053,3611,189,1460,0,0,0,0,0,0
$GC,11834,1.25,116.8,338.9,14.0,631,11839,0.10,2.22,0.00,0.000,6,0.187,0.037,3587,1614,1460,0,0,0,0,0,0
$GC,12163,1.28,116.8,297.7,12.5,647,12167,0.00,2.33,0.00,0.000,4,0.000,0.052,3596,192,1460,0,0,0,0,0,0
$GC,12190,1.28,116.8,293.5,13.5,648,12194,0.00,2.22,0.00,0.000,6,0.000,0.037,3596,1630,1459,0,0,0,0,0,0
$GC,12512,1.28,116.8,250.8,13.3,664,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1630,1459,0,0,0,0,0,0
$GC,12823,1.28,116.8,207.5,14.3,679,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1631,1459,0,0,0,0,0,0
$GC,13130,1.28,116.8,164.3,13.4,694,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1630,1459,0,0,0,0,0,0
$GC,13442,1.32,116.8,126.7,12.1,709,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1630,1459,0,0,0,0,0,0
$GC,13749,1.35,116.8,88.0,13.1,724,13754,0.05,2.30,0.00,0.000,4,0.171,0.051,3635,199,1459,0,0,0,0,0,0
$GC,13782,1.28,116.8,83.0,14.7,725,13788,0.12,2.17,0.00,0.000,6,0.180,0.035,3601,1604,1459,0,0,0,0,0,0
$GC,14131,1.28,116.8,39.8,13.6,783,14138,0.00,2.33,0.00,0.000,4,0.000,0.051,3611,193,1460,0,0,0,0,0,0
$GC,14214,1.28,116.8,27.7,16.0,796,14221,0.00,2.20,0.00,0.000,6,0.000,0.034,3611,1597,1459,0,0,0,0,0,0
$GC,14371,1.28,116.8,3.6,14.8,821,14379,0.00,2.33,0.00,0.000,4,0.000,0.057,3621,200,1459,0,0,0,0,0,0
$STATE,14386,end climb,SURFACE_DEPTH_REACHED
$STATE,14386,begin surface coast
$FINISH,1.9,1.023409
$STATE,14394,end surface coast,CONTROL_FINISHED_OK
$STATE,14394,begin surface
$SM_CCo,14415,39.33,0.054,0,0,1132,200.16
$SM_GC,3.09,0.00,0.00,39.33,0.000,0.000,0.054,73,2086,1132,-9.72,0.74,200.16
$IRIDIUM_FIX,-4435.30,626.79,120908,060629
$TT8_MAMPS,0.026964
$HUMID,64.80
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,60.365
$10V_AH,9.7,63.388
$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,24.300,123.725,230.250,39.325,0.000,19.206,18.021,268.806,0.000,0.000,21.194,1805.108,10225.119,354.047,2294.971,234.741,0.000,1222.373,0.000,1893.300,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,67.320,1260.720,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.865,1172.682,637.190,362.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353332
$DATA_FILE_SIZE,60533,824
$CAP_FILE_SIZE,126849,0
$CFSIZE,2097086464,2024505344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171115,021033,-4456.580,637.614,30,0.9,30,-24.4