version: 66.07.10.p01
glider: 573
mission: 12
dive: 538
start: 11 22 115 2 2 22
data:
$ID,573
$MISSION,12
$DIVE,538
$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,-22680.779
$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,30
$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,537
$GPS1,221115,015303,-4457.326,636.596,42,0.9,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-67.5
$GPS2,221115,020201,-4457.345,636.706,19,1.9,19,-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,4.0,2658,-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,-19.35,0.000,2,0.000,0.000,65,2069,1509,0,0,0,0,0,0
$GC,50,-1.12,-92.2,3.2,-3.7,3,108,11.10,2.35,-38.38,0.000,4,0.222,0.065,2819,655,2323,0,0,0,0,0,0
$GC,361,-1.12,-92.2,53.1,-19.1,54,368,0.00,2.28,0.00,0.000,6,0.000,0.044,2810,2060,2325,0,0,0,0,0,0
$GC,699,-1.12,-92.2,106.2,-15.4,92,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2060,2326,0,0,0,0,0,0
$GC,1011,-1.12,-92.2,151.4,-14.5,107,1015,0.00,2.28,0.00,0.000,4,0.000,0.053,2810,646,2326,0,0,0,0,0,0
$GC,1189,-1.09,-92.2,180.0,-16.8,115,1194,0.12,2.22,0.00,0.000,6,0.194,0.042,2832,2067,2326,0,0,0,0,0,0
$GC,1521,-1.14,-92.2,224.0,-12.7,131,1525,0.00,2.25,0.00,0.000,4,0.000,0.062,2822,3465,2327,0,0,0,0,0,0
$GC,1554,-1.17,-92.2,229.0,-13.1,132,1561,0.00,2.22,0.00,0.000,6,0.000,0.040,2822,2051,2326,0,0,0,0,0,0
$GC,1870,-1.21,-92.2,270.0,-13.3,148,1875,0.08,2.22,0.00,0.000,4,0.125,0.054,2778,660,2327,0,0,0,0,0,0
$GC,1925,-1.13,-92.2,278.9,-15.9,150,1933,0.17,2.22,0.00,0.000,6,0.172,0.041,2820,2053,2327,0,0,0,0,0,0
$GC,2240,-1.16,-92.2,320.9,-13.0,166,2244,0.00,2.28,0.00,0.000,4,0.000,0.057,2809,3472,2327,0,0,0,0,0,0
$GC,2323,-1.16,-92.2,332.3,-13.5,169,2328,0.00,2.25,0.00,0.000,6,0.000,0.043,2809,2036,2327,0,0,0,0,0,0
$GC,2640,-1.16,-92.2,374.4,-13.6,185,2644,0.00,2.20,0.00,0.000,4,0.000,0.055,2809,655,2327,0,0,0,0,0,0
$GC,2683,-1.16,-92.2,381.0,-14.5,187,2687,0.00,2.25,0.00,0.000,6,0.000,0.044,2800,2075,2327,0,0,0,0,0,0
$GC,3011,-1.16,-92.2,426.7,-14.0,203,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2075,2327,0,0,0,0,0,0
$GC,3319,-1.16,-92.2,469.5,-13.5,218,3323,0.00,2.22,0.00,0.000,4,0.000,0.057,2790,3469,2327,0,0,0,0,0,0
$GC,3363,-1.16,-92.2,475.8,-14.2,220,3368,0.08,2.20,0.00,0.000,6,0.197,0.041,2806,2051,2327,0,0,0,0,0,0
$GC,3694,-1.16,-92.2,519.9,-13.4,236,3698,0.00,2.25,0.00,0.000,4,0.000,0.056,2806,651,2326,0,0,0,0,0,0
$GC,3731,-1.16,-92.2,525.1,-13.9,237,3736,0.00,2.25,0.00,0.000,6,0.000,0.043,2798,2056,2327,0,0,0,0,0,0
$GC,4048,-1.16,-92.2,567.7,-13.2,253,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2056,2327,0,0,0,0,0,0
$GC,4356,-1.16,-92.2,609.5,-13.3,268,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2056,2326,0,0,0,0,0,0
$GC,4666,-1.16,-92.2,650.1,-13.1,283,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2056,2326,0,0,0,0,0,0
$GC,4974,-1.16,-92.2,688.9,-12.3,298,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2056,2326,0,0,0,0,0,0
$GC,5285,-1.16,-92.2,725.1,-11.5,313,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2056,2326,0,0,0,0,0,0
$GC,5595,-1.16,-92.2,760.5,-11.5,328,5599,0.00,2.28,0.00,0.000,4,0.000,0.054,2798,661,2326,0,0,0,0,0,0
$GC,5634,-1.16,-92.2,765.6,-13.5,330,5638,0.08,2.20,0.00,0.000,6,0.218,0.040,2804,2069,2326,0,0,0,0,0,0
$GC,5961,-1.20,-92.2,805.3,-12.0,346,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2069,2325,0,0,0,0,0,0
$GC,6270,-1.24,-92.2,843.4,-12.7,361,6275,0.05,2.30,0.00,0.000,4,0.163,0.063,2758,3465,2325,0,0,0,0,0,0
$GC,6347,-1.20,-92.2,854.5,-14.9,364,6353,0.15,2.20,0.00,0.000,6,0.177,0.042,2795,2056,2325,0,0,0,0,0,0
$GC,6661,-1.20,-92.2,896.2,-12.9,380,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2056,2325,0,0,0,0,0,0
$GC,6972,-1.20,-92.2,934.4,-12.0,395,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2056,2325,0,0,0,0,0,0
$GC,7281,-1.24,-92.2,970.6,-11.4,410,7285,0.00,2.28,0.00,0.000,4,0.000,0.057,2796,655,2324,0,0,0,0,0,0
$GC,7370,-1.24,-92.2,981.2,-11.2,414,7374,0.00,2.22,0.00,0.000,6,0.000,0.045,2788,2060,2324,0,0,0,0,0,0
$STATE,7545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7545,begin apogee
$GC,7552,-0.19,0.0,1000.7,10.8,423,7646,1.15,0.00,88.55,1.258,6,0.162,0.000,3114,1591,1950,0,0,0,0,0,0
$STATE,7647,end apogee,CONTROL_FINISHED_OK
$STATE,7647,begin climb
$GC,7649,1.12,92.2,1003.3,0.0,428,7751,1.30,2.55,93.85,1.222,4,0.082,0.053,3557,201,1573,0,0,0,0,0,0
$GC,7792,1.12,92.2,990.5,13.7,435,7796,0.00,2.38,0.00,0.000,6,0.000,0.036,3557,1609,1570,0,0,0,0,0,0
$GC,8119,1.16,92.2,948.0,12.9,451,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1610,1566,0,0,0,0,0,0
$GC,8427,1.21,92.2,907.9,13.0,466,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1609,1565,0,0,0,0,0,0
$GC,8737,1.26,92.2,868.1,12.7,481,8739,0.10,0.00,0.00,0.000,6,0.102,0.000,3608,1610,1564,0,0,0,0,0,0
$GC,9045,1.21,92.2,824.6,14.1,496,9047,0.12,0.00,0.00,0.000,6,0.179,0.000,3577,1611,1563,0,0,0,0,0,0
$GC,9356,1.21,92.2,785.1,12.8,511,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1611,1563,0,0,0,0,0,0
$GC,9663,1.21,92.2,747.5,12.1,526,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1611,1563,0,0,0,0,0,0
$GC,9974,1.21,92.2,709.8,12.0,541,9978,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,186,1563,0,0,0,0,0,0
$GC,10158,1.21,92.2,686.2,12.8,549,10163,0.00,2.25,0.00,0.000,6,0.000,0.037,3586,1603,1562,0,0,0,0,0,0
$GC,10481,1.21,92.2,647.7,11.9,565,10485,0.00,2.30,0.00,0.000,4,0.000,0.051,3595,189,1562,0,0,0,0,0,0
$GC,10547,1.17,92.2,639.2,12.3,568,10552,0.12,2.17,0.00,0.000,6,0.173,0.035,3564,1602,1562,0,0,0,0,0,0
$GC,10869,1.22,92.2,604.3,10.9,584,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1603,1562,0,0,0,0,0,0
$GC,11178,1.26,92.2,569.4,11.3,599,11180,0.08,0.00,0.00,0.000,6,0.125,0.000,3606,1602,1561,0,0,0,0,0,0
$GC,11486,1.23,92.2,529.6,13.1,614,11491,0.10,2.30,0.00,0.000,4,0.184,0.051,3591,188,1561,0,0,0,0,0,0
$GC,11653,1.23,92.2,508.8,11.9,621,11658,0.00,2.22,0.00,0.000,6,0.000,0.036,3592,1610,1561,0,0,0,0,0,0
$GC,11970,1.23,92.2,471.3,11.9,637,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1610,1561,0,0,0,0,0,0
$GC,12278,1.23,92.2,434.8,11.9,652,12282,0.00,2.30,0.00,0.000,4,0.000,0.052,3601,196,1561,0,0,0,0,0,0
$GC,12367,1.19,92.2,423.8,12.5,656,12371,0.12,2.20,0.00,0.000,6,0.171,0.037,3569,1610,1561,0,0,0,0,0,0
$GC,12687,1.23,92.2,389.2,10.7,672,12691,0.00,2.30,0.00,0.000,4,0.000,0.052,3577,186,1561,0,0,0,0,0,0
$GC,12736,1.23,92.2,383.5,10.8,674,12740,0.00,2.22,0.00,0.000,6,0.000,0.036,3577,1613,1561,0,0,0,0,0,0
$GC,13064,1.27,92.2,347.8,11.1,690,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1614,1561,0,0,0,0,0,0
$GC,13373,1.30,92.2,315.1,10.2,705,13378,0.08,2.22,0.00,0.000,4,0.124,0.056,3617,2996,1561,0,0,0,0,0,0
$GC,13441,1.24,92.2,307.2,11.4,708,13446,0.15,2.15,0.00,0.000,6,0.188,0.035,3588,1590,1561,0,0,0,0,0,0
$GC,13762,1.24,92.2,273.5,10.2,724,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1590,1561,0,0,0,0,0,0
$GC,14073,1.24,92.2,243.4,9.3,739,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1590,1561,0,0,0,0,0,0
$GC,14381,1.24,92.2,214.0,9.6,754,14384,0.00,2.25,0.00,0.000,4,0.000,0.053,3598,198,1561,0,0,0,0,0,0
$GC,14472,1.24,92.2,204.3,10.8,758,14477,0.03,2.17,0.00,0.000,6,0.269,0.038,3587,1606,1561,0,0,0,0,0,0
$GC,14798,1.24,92.2,173.5,8.8,774,14802,0.00,2.28,0.00,0.000,4,0.000,0.051,3596,199,1560,0,0,0,0,0,0
$GC,15058,1.24,92.2,147.6,10.0,785,15062,0.00,2.17,0.00,0.000,6,0.000,0.037,3596,1608,1560,0,0,0,0,0,0
$GC,15381,1.24,92.2,119.0,9.2,801,15385,0.00,2.30,0.00,0.000,4,0.000,0.051,3606,193,1560,0,0,0,0,0,0
$GC,15537,1.21,92.2,102.6,11.6,808,15542,0.12,2.17,0.00,0.000,6,0.176,0.035,3574,1606,1560,0,0,0,0,0,0
$GC,15861,1.26,92.2,71.4,9.3,834,15867,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1606,1560,0,0,0,0,0,0
$GC,16214,1.32,92.2,37.3,9.3,895,16222,0.10,2.30,0.00,0.000,4,0.098,0.050,3632,203,1560,0,0,0,0,0,0
$GC,16280,1.24,92.2,29.6,12.0,905,16288,0.15,2.20,0.00,0.000,6,0.158,0.034,3586,1600,1560,0,0,0,0,0,0
$GC,16440,1.28,92.2,11.4,11.0,930,16447,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1600,1560,0,0,0,0,0,0
$GC,16499,1.32,92.2,4.5,10.8,939,16506,0.05,0.00,0.00,0.000,6,0.171,0.000,3615,1603,1560,0,0,0,0,0,0
$STATE,16513,end climb,SURFACE_DEPTH_REACHED
$STATE,16513,begin surface coast
$FINISH,1.9,1.023380
$STATE,16546,end surface coast,CONTROL_FINISHED_OK
$STATE,16546,begin surface
$SM_CCo,16565,52.15,0.054,0,0,1132,200.16
$SM_GC,3.52,0.00,0.00,52.15,0.000,0.000,0.054,65,2086,1132,-9.75,0.74,200.16
$IRIDIUM_FIX,-4441.36,633.52,170908,090910
$TT8_MAMPS,0.026964
$HUMID,64.05
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,3
$24V_AH,22.1,62.800
$10V_AH,9.7,65.978
$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,25.075,100.575,182.400,52.150,0.000,25.146,42.524,307.306,0.750,0.000,21.943,2069.938,11785.701,344.772,2692.757,253.691,0.000,1304.698,0.000,2217.597,0.000,0.539,0.000
$DEVICE_MAMPS,269.280,65.025,1258.425,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.264,1356.160,746.039,412.814,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353188
$DATA_FILE_SIZE,70448,946
$CAP_FILE_SIZE,136592,0
$CFSIZE,2097086464,2021556224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221115,064033,-4456.191,636.916,36,0.9,36,-24.4