version: 66.07.10.p01
glider: 573
mission: 12
dive: 524
start: 11 18 115 13 53 55
data:
$ID,573
$MISSION,12
$DIVE,524
$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,-22631.867
$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,38
$R_STBD_OVSHOOT,29
$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,523
$GPS1,181115,134551,-4504.625,637.956,35,0.9,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-65.1
$GPS2,181115,135335,-4504.653,638.079,15,0.8,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,318.4,2976,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-25.12,0.000,2,0.000,0.000,66,2063,1614,0,0,0,0,0,0
$GC,55,-1.12,-90.7,3.3,-3.9,4,106,11.05,0.00,-32.00,0.000,6,0.220,0.000,2818,2062,2319,0,0,0,0,0,0
$GC,157,-1.12,-90.7,9.4,-12.5,20,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2062,2322,0,0,0,0,0,0
$GC,215,-1.12,-90.7,18.2,-15.3,29,223,0.00,2.30,0.00,0.000,4,0.000,0.054,2818,668,2323,0,0,0,0,0,0
$GC,281,-1.06,-90.7,29.6,-18.5,39,289,0.08,2.25,0.00,0.000,6,0.170,0.039,2833,2066,2323,0,0,0,0,0,0
$GC,434,-1.06,-90.7,49.8,-11.4,64,439,0.00,2.30,0.00,0.000,4,0.000,0.063,2823,3471,2323,0,0,0,0,0,0
$GC,463,-1.06,-90.7,54.1,-12.9,69,471,0.03,2.25,0.00,0.000,6,0.194,0.043,2833,2065,2323,0,0,0,0,0,0
$GC,808,-1.06,-90.7,105.5,-16.1,108,812,0.00,2.25,0.00,0.000,4,0.000,0.054,2833,653,2324,0,0,0,0,0,0
$GC,874,-1.06,-90.7,116.4,-15.4,111,879,0.08,2.25,0.00,0.000,6,0.213,0.043,2840,2073,2324,0,0,0,0,0,0
$GC,1203,-1.11,-90.7,159.0,-12.1,127,1208,0.00,2.30,0.00,0.000,4,0.000,0.051,2841,653,2324,0,0,0,0,0,0
$GC,1304,-1.11,-90.7,172.5,-12.0,131,1310,0.00,2.25,0.00,0.000,6,0.000,0.041,2832,2061,2324,0,0,0,0,0,0
$GC,1623,-1.16,-90.7,209.8,-12.2,147,1627,0.05,2.28,0.00,0.000,4,0.164,0.063,2787,3462,2324,0,0,0,0,0,0
$GC,1677,-1.16,-90.7,218.1,-13.8,149,1684,0.05,2.22,0.00,0.000,6,0.170,0.040,2802,2054,2324,0,0,0,0,0,0
$GC,1996,-1.16,-90.7,262.7,-14.5,165,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2054,2324,0,0,0,0,0,0
$GC,2302,-1.16,-90.7,308.9,-14.9,180,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2054,2324,0,0,0,0,0,0
$GC,2613,-1.16,-90.7,354.1,-14.2,195,2617,0.00,2.22,0.00,0.000,4,0.000,0.056,2803,661,2325,0,0,0,0,0,0
$GC,2724,-1.12,-90.7,371.4,-15.4,200,2729,0.10,2.22,0.00,0.000,6,0.200,0.042,2817,2069,2325,0,0,0,0,0,0
$GC,3044,-1.15,-90.7,416.0,-13.9,216,3048,0.00,2.25,0.00,0.000,4,0.000,0.062,2807,3462,2325,0,0,0,0,0,0
$GC,3077,-1.15,-90.7,420.7,-13.9,217,3082,0.00,2.20,0.00,0.000,6,0.000,0.041,2807,2065,2325,0,0,0,0,0,0
$GC,3393,-1.15,-90.7,464.9,-13.7,233,3398,0.00,2.28,0.00,0.000,4,0.000,0.055,2807,653,2325,0,0,0,0,0,0
$GC,3428,-1.15,-90.7,469.8,-14.5,234,3433,0.00,2.22,0.00,0.000,6,0.000,0.041,2798,2070,2324,0,0,0,0,0,0
$GC,3742,-1.15,-90.7,514.4,-14.2,250,3746,0.00,2.25,0.00,0.000,4,0.000,0.061,2788,3468,2324,0,0,0,0,0,0
$GC,3774,-1.15,-90.7,519.0,-14.3,251,3779,0.10,2.22,0.00,0.000,6,0.187,0.041,2811,2063,2325,0,0,0,0,0,0
$GC,4096,-1.19,-90.7,561.5,-12.9,267,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2063,2324,0,0,0,0,0,0
$GC,4404,-1.22,-90.7,600.7,-12.2,282,4409,0.05,2.33,0.00,0.000,4,0.173,0.060,2770,3470,2324,0,0,0,0,0,0
$GC,4443,-1.18,-90.7,605.9,-14.9,284,4448,0.12,2.22,0.00,0.000,6,0.184,0.044,2800,2057,2324,0,0,0,0,0,0
$GC,4769,-1.18,-90.7,648.4,-12.9,300,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2057,2324,0,0,0,0,0,0
$GC,5079,-1.18,-90.7,687.6,-12.0,315,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2057,2324,0,0,0,0,0,0
$GC,5387,-1.18,-90.7,724.0,-11.6,330,5391,0.00,2.28,0.00,0.000,4,0.000,0.058,2801,658,2323,0,0,0,0,0,0
$GC,5471,-1.18,-90.7,734.0,-11.7,334,5475,0.00,2.22,0.00,0.000,6,0.000,0.044,2793,2063,2323,0,0,0,0,0,0
$GC,5802,-1.18,-90.7,773.3,-11.8,350,5806,0.00,2.30,0.00,0.000,4,0.000,0.066,2782,3471,2322,0,0,0,0,0,0
$GC,5891,-1.18,-90.7,784.3,-12.5,354,5896,0.10,2.25,0.00,0.000,6,0.183,0.046,2805,2057,2322,0,0,0,0,0,0
$GC,6218,-1.21,-90.7,820.1,-10.3,370,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2057,2322,0,0,0,0,0,0
$GC,6527,-1.25,-90.7,851.4,-9.9,385,6529,0.08,0.00,0.00,0.000,6,0.125,0.000,2761,2057,2322,0,0,0,0,0,0
$GC,6835,-1.20,-90.7,886.2,-11.5,400,6837,0.12,0.00,0.00,0.000,6,0.198,0.000,2792,2057,2322,0,0,0,0,0,0
$GC,7145,-1.20,-90.7,920.8,-11.1,415,7149,0.00,2.35,0.00,0.000,4,0.000,0.066,2783,3462,2322,0,0,0,0,0,0
$GC,7189,-1.20,-90.7,926.2,-11.4,417,7193,0.00,2.22,0.00,0.000,6,0.000,0.044,2783,2056,2322,0,0,0,0,0,0
$GC,7517,-1.20,-90.7,963.7,-11.8,433,7522,0.03,2.35,0.00,0.000,4,0.286,0.065,2784,3460,2321,0,0,0,0,0,0
$GC,7543,-1.20,-90.7,967.1,-12.5,434,7547,0.00,2.25,0.00,0.000,6,0.000,0.044,2783,2055,2321,0,0,0,0,0,0
$STATE,7821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7821,begin apogee
$GC,7827,-0.19,0.0,1000.0,11.6,448,7919,1.17,0.00,88.25,1.263,6,0.161,0.000,3118,1594,1950,0,0,0,0,0,0
$STATE,7920,end apogee,CONTROL_FINISHED_OK
$STATE,7920,begin climb
$GC,7922,1.12,90.7,1003.0,0.0,452,8018,1.25,0.00,92.22,1.219,6,0.083,0.000,3537,1594,1580,0,0,0,0,0,0
$GC,8318,1.19,90.7,960.5,12.6,472,8323,0.10,2.35,0.00,0.000,4,0.099,0.057,3600,186,1572,0,0,0,0,0,0
$GC,8450,1.12,90.7,940.2,16.5,478,8455,0.20,2.28,0.00,0.000,6,0.162,0.036,3548,1610,1572,0,0,0,0,0,0
$GC,8778,1.18,90.7,897.0,12.8,494,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1609,1571,0,0,0,0,0,0
$GC,9087,1.24,90.7,858.6,12.5,509,9091,0.10,2.33,0.00,0.000,4,0.099,0.054,3611,192,1569,0,0,0,0,0,0
$GC,9119,1.16,90.7,853.5,15.2,510,9125,0.20,2.20,0.00,0.000,6,0.169,0.036,3559,1602,1569,0,0,0,0,0,0
$GC,9434,1.20,90.7,813.0,12.4,526,9438,0.00,2.33,0.00,0.000,4,0.000,0.054,3567,183,1569,0,0,0,0,0,0
$GC,9496,1.20,90.7,804.8,13.2,529,9500,0.00,2.22,0.00,0.000,6,0.000,0.036,3568,1604,1568,0,0,0,0,0,0
$GC,9823,1.20,90.7,763.9,12.3,545,9827,0.00,2.33,0.00,0.000,4,0.000,0.053,3576,182,1568,0,0,0,0,0,0
$GC,9886,1.20,90.7,755.8,13.7,548,9890,0.00,2.22,0.00,0.000,6,0.000,0.036,3576,1607,1568,0,0,0,0,0,0
$GC,10212,1.20,90.7,715.6,12.3,564,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1607,1568,0,0,0,0,0,0
$GC,10522,1.20,90.7,677.0,12.7,579,10526,0.00,2.30,0.00,0.000,4,0.000,0.054,3586,183,1567,0,0,0,0,0,0
$GC,10607,1.20,90.7,665.9,13.1,583,10611,0.08,2.20,0.00,0.000,6,0.197,0.035,3570,1597,1567,0,0,0,0,0,0
$GC,10935,1.23,90.7,626.5,12.1,599,10939,0.00,2.30,0.00,0.000,4,0.000,0.053,3578,188,1567,0,0,0,0,0,0
$GC,10996,1.23,90.7,618.4,12.5,602,11000,0.00,2.20,0.00,0.000,6,0.000,0.037,3578,1606,1567,0,0,0,0,0,0
$GC,11327,1.23,90.7,578.0,12.1,618,11331,0.00,2.20,0.00,0.000,4,0.000,0.055,3578,2991,1566,0,0,0,0,0,0
$GC,11395,1.23,90.7,569.4,13.8,621,11399,0.00,2.17,0.00,0.000,6,0.000,0.037,3587,1591,1566,0,0,0,0,0,0
$GC,11721,1.23,90.7,529.7,11.8,637,11725,0.00,2.25,0.00,0.000,4,0.000,0.054,3598,196,1566,0,0,0,0,0,0
$GC,11945,1.18,90.7,501.8,12.0,647,11950,0.12,2.17,0.00,0.000,6,0.174,0.037,3566,1597,1567,0,0,0,0,0,0
$GC,12274,1.23,90.7,467.3,10.7,663,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1597,1566,0,0,0,0,0,0
$GC,12580,1.27,90.7,432.7,11.3,678,12585,0.08,2.28,0.00,0.000,4,0.125,0.054,3621,187,1566,0,0,0,0,0,0
$GC,12658,1.18,90.7,422.1,13.8,681,12663,0.20,2.22,0.00,0.000,6,0.170,0.037,3568,1606,1566,0,0,0,0,0,0
$GC,12975,1.22,90.7,385.2,12.0,697,12979,0.00,2.30,0.00,0.000,4,0.000,0.054,3577,190,1566,0,0,0,0,0,0
$GC,13086,1.22,90.7,370.8,13.0,702,13091,0.00,2.20,0.00,0.000,6,0.000,0.035,3577,1603,1566,0,0,0,0,0,0
$GC,13412,1.22,90.7,331.9,11.6,718,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1604,1566,0,0,0,0,0,0
$GC,13727,1.25,90.7,296.5,11.1,733,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1604,1566,0,0,0,0,0,0
$GC,14033,1.29,90.7,263.0,10.9,748,14037,0.05,2.30,0.00,0.000,4,0.168,0.053,3624,189,1566,0,0,0,0,0,0
$GC,14110,1.20,90.7,253.0,12.6,751,14116,0.20,2.20,0.00,0.000,6,0.171,0.034,3571,1605,1566,0,0,0,0,0,0
$GC,14429,1.24,90.7,219.3,10.4,767,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1605,1566,0,0,0,0,0,0
$GC,14736,1.29,90.7,187.5,10.0,782,14741,0.08,2.28,0.00,0.000,4,0.125,0.052,3621,196,1566,0,0,0,0,0,0
$GC,14916,1.21,90.7,167.5,10.7,790,14921,0.17,2.20,0.00,0.000,6,0.174,0.035,3574,1604,1566,0,0,0,0,0,0
$GC,15239,1.26,90.7,139.2,9.4,806,15243,0.00,2.22,0.00,0.000,4,0.000,0.053,3574,3000,1566,0,0,0,0,0,0
$GC,15289,1.26,90.7,134.1,9.7,808,15294,0.00,2.20,0.00,0.000,6,0.000,0.036,3582,1597,1566,0,0,0,0,0,0
$GC,15612,1.29,90.7,102.8,9.4,824,15616,0.00,2.28,0.00,0.000,4,0.000,0.054,3593,191,1566,0,0,0,0,0,0
$GC,15735,1.29,90.7,91.2,9.7,829,15740,0.00,2.22,0.00,0.000,6,0.000,0.036,3593,1602,1566,0,0,0,0,0,0
$GC,16072,1.29,90.7,58.8,9.1,872,16077,0.00,2.30,0.00,0.000,4,0.000,0.051,3603,188,1566,0,0,0,0,0,0
$GC,16206,1.29,90.7,45.1,10.5,895,16211,0.00,2.20,0.00,0.000,6,0.000,0.035,3603,1600,1566,0,0,0,0,0,0
$GC,16576,1.29,90.7,5.1,11.4,956,16583,0.00,2.30,0.00,0.000,4,0.000,0.052,3612,199,1566,0,0,0,0,0,0
$STATE,16596,end climb,SURFACE_DEPTH_REACHED
$STATE,16596,begin surface coast
$FINISH,1.7,1.003688
$STATE,16634,end surface coast,CONTROL_FINISHED_OK
$STATE,16634,begin surface
$SM_CCo,16655,54.17,0.053,0,0,1133,200.16
$SM_GC,3.42,0.00,0.00,54.17,0.000,0.000,0.053,81,2071,1133,-9.70,0.31,200.16
$IRIDIUM_FIX,-4447.43,634.22,130908,232350
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.1,61.162
$10V_AH,9.7,64.248
$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,25.600,136.725,180.475,54.175,0.000,26.062,20.630,269.225,0.000,0.000,18.855,2147.139,11643.680,367.202,2750.597,264.540,0.000,1377.286,0.000,2329.150,0.000,0.540,0.000
$DEVICE_MAMPS,286.110,65.790,1263.015,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.950,1408.343,792.315,457.985,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,70678,965
$CAP_FILE_SIZE,148751,0
$CFSIZE,2097086464,2023391232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181115,183334,-4504.320,636.430,31,1.1,31,-24.4