version: 66.07.10.p01
glider: 573
mission: 12
dive: 529
start: 11 19 115 20 39 14
data:
$ID,573
$MISSION,12
$DIVE,529
$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,-22649.943
$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,37
$R_STBD_OVSHOOT,31
$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,528
$GPS1,191115,202933,-4504.715,625.475,37,1.0,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-64.0
$GPS2,191115,203853,-4504.698,625.576,19,1.8,19,-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,326.5,2434,-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,-49.9,0.0,0.0,0,58,0.00,0.00,-31.05,0.000,2,0.000,0.000,81,2069,1493,0,0,0,0,0,0
$GC,61,-1.12,-98.0,3.3,-3.0,5,119,11.05,2.33,-38.40,0.000,4,0.223,0.062,2816,659,2345,0,0,0,0,0,0
$GC,305,-1.08,-98.0,33.8,-20.8,44,313,0.08,2.28,0.00,0.000,6,0.172,0.043,2830,2063,2347,0,0,0,0,0,0
$GC,455,-1.12,-98.0,64.4,-19.5,69,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2063,2347,0,0,0,0,0,0
$GC,783,-1.12,-98.0,110.6,-13.9,97,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2063,2347,0,0,0,0,0,0
$GC,1090,-1.15,-98.0,152.8,-13.9,112,1094,0.00,2.28,0.00,0.000,4,0.000,0.062,2820,3468,2347,0,0,0,0,0,0
$GC,1173,-1.15,-98.0,165.0,-14.3,115,1179,0.00,2.22,0.00,0.000,6,0.000,0.041,2820,2066,2347,0,0,0,0,0,0
$GC,1492,-1.15,-98.0,208.9,-13.6,131,1496,0.00,2.25,0.00,0.000,4,0.000,0.051,2820,655,2347,0,0,0,0,0,0
$GC,1586,-1.15,-98.0,223.5,-14.9,135,1591,0.00,2.22,0.00,0.000,6,0.000,0.039,2811,2062,2348,0,0,0,0,0,0
$GC,1910,-1.15,-98.0,267.9,-14.1,151,1914,0.00,2.30,0.00,0.000,4,0.000,0.054,2811,646,2347,0,0,0,0,0,0
$GC,1954,-1.15,-98.0,274.3,-15.1,153,1958,0.00,2.22,0.00,0.000,6,0.000,0.041,2802,2061,2348,0,0,0,0,0,0
$GC,2280,-1.15,-98.0,324.8,-15.0,169,2284,0.00,2.28,0.00,0.000,4,0.000,0.061,2791,3470,2348,0,0,0,0,0,0
$GC,2302,-1.15,-98.0,328.4,-15.5,170,2307,0.08,2.22,0.00,0.000,6,0.200,0.042,2807,2051,2348,0,0,0,0,0,0
$GC,2627,-1.15,-98.0,374.4,-14.3,186,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2051,2348,0,0,0,0,0,0
$GC,2938,-1.15,-98.0,418.0,-13.7,201,2942,0.00,2.25,0.00,0.000,4,0.000,0.055,2808,652,2347,0,0,0,0,0,0
$GC,2993,-1.15,-98.0,426.5,-15.0,203,2998,0.00,2.25,0.00,0.000,6,0.000,0.042,2799,2083,2348,0,0,0,0,0,0
$GC,3310,-1.15,-98.0,470.9,-13.8,219,3311,0.03,0.00,0.00,0.000,6,0.303,0.000,2807,2083,2347,0,0,0,0,0,0
$GC,3617,-1.15,-98.0,511.4,-12.8,234,3622,0.00,2.25,0.00,0.000,4,0.000,0.063,2797,3464,2347,0,0,0,0,0,0
$GC,3639,-1.15,-98.0,514.3,-13.4,235,3644,0.03,2.22,0.00,0.000,6,0.198,0.042,2805,2059,2347,0,0,0,0,0,0
$GC,3966,-1.15,-98.0,555.4,-12.1,251,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2058,2347,0,0,0,0,0,0
$GC,4274,-1.15,-98.0,593.0,-12.0,266,4278,0.00,2.28,0.00,0.000,4,0.000,0.057,2807,651,2347,0,0,0,0,0,0
$GC,4301,-1.15,-98.0,596.5,-12.6,267,4305,0.00,2.22,0.00,0.000,6,0.000,0.043,2799,2059,2347,0,0,0,0,0,0
$GC,4623,-1.15,-98.0,635.8,-12.0,283,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2059,2346,0,0,0,0,0,0
$GC,4931,-1.15,-98.0,673.7,-12.5,298,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2058,2346,0,0,0,0,0,0
$GC,5242,-1.15,-98.0,713.2,-12.7,313,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2059,2346,0,0,0,0,0,0
$GC,5550,-1.15,-98.0,751.2,-12.3,328,5554,0.00,2.28,0.00,0.000,4,0.000,0.063,2789,3464,2346,0,0,0,0,0,0
$GC,5588,-1.15,-98.0,756.2,-13.7,330,5593,0.10,2.20,0.00,0.000,6,0.191,0.043,2811,2059,2345,0,0,0,0,0,0
$GC,5915,-1.20,-98.0,794.5,-11.7,346,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2059,2345,0,0,0,0,0,0
$GC,6224,-1.25,-98.0,830.2,-11.5,361,6226,0.10,0.00,0.00,0.000,6,0.105,0.000,2759,2059,2345,0,0,0,0,0,0
$GC,6532,-1.20,-98.0,870.4,-12.8,376,6534,0.12,0.00,0.00,0.000,6,0.197,0.000,2789,2059,2345,0,0,0,0,0,0
$GC,6843,-1.20,-98.0,907.4,-11.8,391,6847,0.00,2.25,0.00,0.000,4,0.000,0.057,2791,658,2345,0,0,0,0,0,0
$GC,6897,-1.20,-98.0,914.3,-12.9,393,6902,0.00,2.22,0.00,0.000,6,0.000,0.044,2783,2058,2344,0,0,0,0,0,0
$GC,7214,-1.20,-98.0,951.3,-11.8,409,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2062,2344,0,0,0,0,0,0
$GC,7522,-1.20,-98.0,986.7,-11.4,424,7526,0.00,2.30,0.00,0.000,4,0.000,0.063,2773,3462,2344,0,0,0,0,0,0
$GC,7571,-1.20,-98.0,992.6,-12.1,426,7576,0.10,2.22,0.00,0.000,6,0.197,0.042,2795,2065,2344,0,0,0,0,0,0
$STATE,7642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7642,begin apogee
$GC,7648,-0.19,0.0,1000.5,11.1,430,7745,1.12,0.00,92.93,1.261,6,0.162,0.000,3116,1595,1950,0,0,0,0,0,0
$STATE,7746,end apogee,CONTROL_FINISHED_OK
$STATE,7746,begin climb
$GC,7748,1.12,98.0,1002.8,0.0,435,7851,1.27,0.00,98.40,1.220,6,0.086,0.000,3540,1595,1550,0,0,0,0,0,0
$GC,8160,1.21,98.0,957.5,12.2,455,8165,0.10,2.33,0.00,0.000,4,0.099,0.054,3606,190,1542,0,0,0,0,0,0
$GC,8228,1.15,98.0,947.6,15.5,458,8233,0.20,2.28,0.00,0.000,6,0.163,0.036,3554,1610,1542,0,0,0,0,0,0
$GC,8550,1.21,98.0,908.6,12.0,474,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1610,1541,0,0,0,0,0,0
$GC,8859,1.27,98.0,872.6,11.7,489,8864,0.12,2.33,0.00,0.000,4,0.089,0.052,3622,188,1540,0,0,0,0,0,0
$GC,8903,1.17,98.0,866.1,15.6,491,8908,0.22,2.22,0.00,0.000,6,0.168,0.035,3561,1612,1540,0,0,0,0,0,0
$GC,9226,1.22,98.0,827.0,12.1,507,9230,0.00,2.30,0.00,0.000,4,0.000,0.052,3570,190,1540,0,0,0,0,0,0
$GC,9292,1.22,98.0,818.1,12.9,510,9296,0.00,2.20,0.00,0.000,6,0.000,0.037,3570,1599,1539,0,0,0,0,0,0
$GC,9619,1.25,98.0,777.0,12.9,526,9623,0.00,2.30,0.00,0.000,4,0.000,0.051,3579,186,1539,0,0,0,0,0,0
$GC,9674,1.25,98.0,769.1,14.0,528,9679,0.00,2.22,0.00,0.000,6,0.000,0.037,3579,1597,1538,0,0,0,0,0,0
$GC,9989,1.25,98.0,727.4,13.0,544,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1597,1538,0,0,0,0,0,0
$GC,10299,1.25,98.0,686.5,13.1,559,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1597,1538,0,0,0,0,0,0
$GC,10607,1.25,98.0,647.4,12.4,574,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1597,1538,0,0,0,0,0,0
$GC,10918,1.25,98.0,610.6,11.3,589,10922,0.00,2.28,0.00,0.000,4,0.000,0.053,3588,188,1537,0,0,0,0,0,0
$GC,11009,1.25,98.0,599.6,11.7,593,11013,0.00,2.20,0.00,0.000,6,0.000,0.037,3588,1599,1537,0,0,0,0,0,0
$GC,11336,1.25,98.0,563.0,10.9,609,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1599,1537,0,0,0,0,0,0
$GC,11644,1.25,98.0,528.3,11.7,624,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1599,1537,0,0,0,0,0,0
$GC,11954,1.25,98.0,492.0,12.3,639,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1599,1537,0,0,0,0,0,0
$GC,12263,1.25,98.0,454.5,12.4,654,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1599,1537,0,0,0,0,0,0
$GC,12573,1.25,98.0,415.4,12.6,669,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1599,1537,0,0,0,0,0,0
$GC,12881,1.25,98.0,376.4,12.7,684,12885,0.00,2.28,0.00,0.000,4,0.000,0.052,3598,187,1537,0,0,0,0,0,0
$GC,12937,1.22,98.0,368.9,14.5,686,12943,0.08,2.20,0.00,0.000,6,0.194,0.037,3580,1602,1537,0,0,0,0,0,0
$GC,13252,1.26,98.0,331.0,11.8,702,13256,0.00,2.22,0.00,0.000,4,0.000,0.055,3580,2992,1536,0,0,0,0,0,0
$GC,13336,1.26,98.0,320.6,11.6,706,13340,0.00,2.17,0.00,0.000,6,0.000,0.036,3588,1585,1536,0,0,0,0,0,0
$GC,13662,1.26,98.0,284.2,11.0,722,13666,0.00,2.25,0.00,0.000,4,0.000,0.054,3599,195,1536,0,0,0,0,0,0
$GC,13753,1.22,98.0,273.4,12.1,726,13757,0.08,2.20,0.00,0.000,6,0.194,0.037,3582,1600,1536,0,0,0,0,0,0
$GC,14075,1.26,98.0,240.1,9.8,742,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1600,1536,0,0,0,0,0,0
$GC,14385,1.30,98.0,210.0,9.6,757,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1600,1536,0,0,0,0,0,0
$GC,14693,1.34,98.0,180.5,9.6,772,14697,0.10,2.28,0.00,0.000,4,0.100,0.052,3640,200,1536,0,0,0,0,0,0
$GC,14952,1.24,98.0,149.4,11.8,783,14958,0.20,2.17,0.00,0.000,6,0.168,0.037,3585,1599,1536,0,0,0,0,0,0
$GC,15270,1.28,98.0,118.6,9.7,799,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1600,1536,0,0,0,0,0,0
$GC,15578,1.31,98.0,88.3,9.6,814,15583,0.05,2.25,0.00,0.000,4,0.171,0.050,3625,196,1536,0,0,0,0,0,0
$GC,15697,1.26,98.0,74.4,13.3,823,15703,0.12,2.20,0.00,0.000,6,0.176,0.036,3594,1603,1536,0,0,0,0,0,0
$GC,16053,1.28,135.9,38.0,4.2,884,16091,0.00,0.00,33.55,0.663,6,0.000,0.000,3593,1611,1397,0,0,0,0,0,0
$GC,16242,1.33,153.2,16.7,6.6,914,16257,0.00,2.28,9.25,0.544,4,0.000,0.049,3604,198,1324,0,0,0,0,0,0
$STATE,16343,end climb,SURFACE_DEPTH_REACHED
$STATE,16343,begin surface coast
$FINISH,1.9,1.017332
$STATE,16364,end surface coast,CONTROL_FINISHED_OK
$STATE,16364,begin surface
$SM_CCo,16385,22.77,0.054,0,0,1133,200.16
$SM_GC,3.07,0.00,0.00,22.77,0.000,0.000,0.054,74,2073,1133,-9.72,0.37,200.16
$IRIDIUM_FIX,-4447.43,628.16,150908,030342
$TT8_MAMPS,0.026964
$HUMID,64.64
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.1,61.767
$10V_AH,9.7,64.866
$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,24.750,100.400,234.125,22.775,0.000,24.381,20.119,341.434,0.000,0.000,22.860,2001.469,11751.646,325.571,2617.076,261.662,0.000,1270.564,0.000,2126.102,0.000,0.540,0.000
$DEVICE_MAMPS,302.940,63.495,1261.485,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.961,1357.559,746.110,433.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353316
$DATA_FILE_SIZE,67111,933
$CAP_FILE_SIZE,134708,0
$CFSIZE,2097086464,2022735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201115,011402,-4504.029,624.214,42,1.1,42,-24.4