version: 66.07.10.p01
glider: 573
mission: 12
dive: 539
start: 11 22 115 6 56 51
data:
$ID,573
$MISSION,12
$DIVE,539
$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,-22683.893
$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,57
$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,538
$GPS1,221115,064033,-4456.191,636.916,36,0.9,36,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-68.1
$GPS2,221115,065631,-4456.194,637.059,15,1.0,16,-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,308.9,1434,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,42,0.00,0.00,-13.57,0.000,2,0.000,0.000,65,2085,1404,0,0,0,0,0,0
$GC,45,-1.13,-107.1,3.1,-2.0,2,108,11.32,0.00,-46.50,0.000,6,0.228,0.000,2813,2079,2387,0,0,0,0,0,0
$GC,160,-1.13,-107.1,11.0,-15.8,20,166,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2079,2389,0,0,0,0,0,0
$GC,218,-1.13,-107.1,22.4,-19.2,29,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2079,2389,0,0,0,0,0,0
$GC,368,-1.13,-107.1,48.8,-16.9,54,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2079,2389,0,0,0,0,0,0
$GC,712,-1.13,-107.1,105.1,-17.0,95,716,0.00,2.30,0.00,0.000,4,0.000,0.052,2813,650,2390,0,0,0,0,0,0
$GC,776,-1.09,-107.1,116.7,-18.0,98,781,0.10,2.20,0.00,0.000,6,0.202,0.041,2827,2037,2390,0,0,0,0,0,0
$GC,1103,-1.09,-107.1,169.5,-16.0,114,1107,0.00,2.28,0.00,0.000,4,0.000,0.056,2828,651,2390,0,0,0,0,0,0
$GC,1197,-1.09,-107.1,184.7,-15.3,118,1201,0.00,2.25,0.00,0.000,6,0.000,0.043,2818,2074,2390,0,0,0,0,0,0
$GC,1519,-1.09,-107.1,228.4,-13.4,134,1523,0.00,2.28,0.00,0.000,4,0.000,0.051,2819,658,2390,0,0,0,0,0,0
$GC,1597,-1.09,-107.1,239.9,-14.8,137,1602,0.08,2.25,0.00,0.000,6,0.212,0.041,2826,2065,2390,0,0,0,0,0,0
$GC,1921,-1.13,-107.1,283.2,-13.4,153,1925,0.00,2.30,0.00,0.000,4,0.000,0.064,2815,3466,2391,0,0,0,0,0,0
$GC,1984,-1.13,-107.1,292.1,-13.9,156,1988,0.00,2.20,0.00,0.000,6,0.000,0.041,2815,2061,2391,0,0,0,0,0,0
$GC,2311,-1.16,-107.1,337.3,-13.8,172,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2062,2391,0,0,0,0,0,0
$GC,2620,-1.19,-107.1,381.1,-14.0,187,2624,0.00,2.28,0.00,0.000,4,0.000,0.054,2815,650,2391,0,0,0,0,0,0
$GC,2675,-1.19,-107.1,389.6,-14.5,189,2680,0.00,2.25,0.00,0.000,6,0.000,0.042,2806,2060,2391,0,0,0,0,0,0
$GC,2992,-1.19,-107.1,434.1,-14.0,205,2996,0.00,2.28,0.00,0.000,4,0.000,0.055,2807,646,2391,0,0,0,0,0,0
$GC,3035,-1.19,-107.1,441.0,-14.5,207,3039,0.00,2.25,0.00,0.000,6,0.000,0.043,2798,2067,2390,0,0,0,0,0,0
$GC,3363,-1.19,-107.1,489.4,-14.8,223,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2067,2391,0,0,0,0,0,0
$GC,3671,-1.19,-107.1,535.3,-14.6,238,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2067,2391,0,0,0,0,0,0
$GC,3981,-1.19,-107.1,578.3,-14.0,253,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2067,2390,0,0,0,0,0,0
$GC,4290,-1.19,-107.1,620.3,-12.9,268,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2067,2390,0,0,0,0,0,0
$GC,4600,-1.19,-107.1,661.1,-13.1,283,4604,0.00,2.33,0.00,0.000,4,0.000,0.056,2798,647,2389,0,0,0,0,0,0
$GC,4650,-1.19,-107.1,668.2,-13.3,285,4654,0.00,2.25,0.00,0.000,6,0.000,0.044,2789,2065,2389,0,0,0,0,0,0
$GC,4972,-1.19,-107.1,710.0,-12.8,301,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2389,0,0,0,0,0,0
$GC,5280,-1.19,-107.1,749.9,-13.1,316,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2389,0,0,0,0,0,0
$GC,5590,-1.19,-107.1,791.5,-13.9,331,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2388,0,0,0,0,0,0
$GC,5899,-1.19,-107.1,834.5,-13.8,346,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2388,0,0,0,0,0,0
$GC,6209,-1.19,-107.1,876.0,-13.2,361,6213,0.00,2.30,0.00,0.000,4,0.000,0.067,2779,3460,2388,0,0,0,0,0,0
$GC,6263,-1.19,-107.1,883.6,-13.5,363,6269,0.05,2.22,0.00,0.000,6,0.170,0.044,2794,2069,2387,0,0,0,0,0,0
$GC,6580,-1.19,-107.1,923.5,-12.5,379,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2069,2387,0,0,0,0,0,0
$GC,6889,-1.23,-107.1,962.0,-12.3,394,6893,0.00,2.28,0.00,0.000,4,0.000,0.055,2794,644,2387,0,0,0,0,0,0
$GC,6979,-1.23,-107.1,973.7,-13.0,398,6983,0.00,2.25,0.00,0.000,6,0.000,0.040,2786,2072,2387,0,0,0,0,0,0
$STATE,7195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7195,begin apogee
$GC,7201,-0.19,0.0,1001.5,12.8,409,7308,1.17,0.00,102.75,1.258,6,0.163,0.000,3118,1583,1950,0,0,0,0,0,0
$STATE,7308,end apogee,CONTROL_FINISHED_OK
$STATE,7309,begin climb
$GC,7311,1.13,107.1,1004.9,0.0,414,7425,1.27,0.00,110.03,1.218,6,0.083,0.000,3543,1583,1512,0,0,0,0,0,0
$GC,7729,1.20,107.1,960.7,12.0,435,7733,0.08,2.33,0.00,0.000,4,0.122,0.055,3596,199,1505,0,0,0,0,0,0
$GC,7836,1.15,107.1,944.7,14.9,440,7841,0.15,2.28,0.00,0.000,6,0.165,0.038,3558,1610,1503,0,0,0,0,0,0
$GC,8163,1.20,107.1,901.8,13.3,456,8167,0.00,2.28,0.00,0.000,4,0.000,0.058,3557,3004,1502,0,0,0,0,0,0
$GC,8207,1.20,107.1,895.1,14.9,458,8211,0.00,2.22,0.00,0.000,6,0.000,0.036,3565,1602,1502,0,0,0,0,0,0
$GC,8534,1.24,107.1,847.6,14.8,474,8538,0.00,2.30,0.00,0.000,4,0.000,0.055,3576,190,1502,0,0,0,0,0,0
$GC,8577,1.24,107.1,840.7,15.8,476,8581,0.00,2.22,0.00,0.000,6,0.000,0.037,3576,1603,1501,0,0,0,0,0,0
$GC,8903,1.24,107.1,791.9,14.6,492,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1603,1501,0,0,0,0,0,0
$GC,9214,1.24,107.1,746.3,14.8,507,9218,0.00,2.25,0.00,0.000,4,0.000,0.057,3576,2994,1500,0,0,0,0,0,0
$GC,9242,1.24,107.1,742.1,14.7,508,9246,0.00,2.17,0.00,0.000,6,0.000,0.036,3585,1593,1501,0,0,0,0,0,0
$GC,9558,1.24,107.1,697.1,14.1,523,9562,0.00,2.25,0.00,0.000,4,0.000,0.055,3596,195,1500,0,0,0,0,0,0
$GC,9608,1.20,107.1,689.7,15.1,525,9613,0.10,2.22,0.00,0.000,6,0.183,0.038,3572,1610,1500,0,0,0,0,0,0
$GC,9930,1.23,107.1,647.6,12.4,541,9934,0.00,2.30,0.00,0.000,4,0.000,0.053,3580,195,1500,0,0,0,0,0,0
$GC,9969,1.23,107.1,642.0,13.1,542,9975,0.00,2.22,0.00,0.000,6,0.000,0.037,3581,1600,1499,0,0,0,0,0,0
$GC,10284,1.23,107.1,602.2,12.9,558,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1600,1500,0,0,0,0,0,0
$GC,10594,1.23,107.1,562.4,13.1,573,10598,0.00,2.25,0.00,0.000,4,0.000,0.057,3580,2995,1500,0,0,0,0,0,0
$GC,10666,1.23,107.1,552.3,13.9,576,10671,0.00,2.17,0.00,0.000,6,0.000,0.037,3589,1604,1500,0,0,0,0,0,0
$GC,10987,1.23,107.1,508.5,13.6,592,10991,0.00,2.25,0.00,0.000,4,0.000,0.054,3600,199,1500,0,0,0,0,0,0
$GC,11111,1.18,107.1,491.3,14.0,597,11116,0.12,2.20,0.00,0.000,6,0.175,0.038,3569,1600,1498,0,0,0,0,0,0
$GC,11427,1.23,107.1,452.2,12.1,613,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1600,1499,0,0,0,0,0,0
$GC,11735,1.28,107.1,415.2,11.7,628,11740,0.08,2.28,0.00,0.000,4,0.123,0.053,3623,198,1499,0,0,0,0,0,0
$GC,11790,1.20,107.1,407.3,14.5,630,11796,0.20,2.20,0.00,0.000,6,0.175,0.038,3571,1605,1499,0,0,0,0,0,0
$GC,12105,1.25,107.1,370.6,11.0,646,12109,0.00,2.30,0.00,0.000,4,0.000,0.052,3579,195,1499,0,0,0,0,0,0
$GC,12143,1.25,107.1,365.9,12.0,648,12147,0.00,2.20,0.00,0.000,6,0.000,0.037,3579,1605,1499,0,0,0,0,0,0
$GC,12469,1.28,107.1,328.0,12.0,664,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1605,1499,0,0,0,0,0,0
$GC,12783,1.31,107.1,291.4,11.6,679,12788,0.08,2.20,0.00,0.000,4,0.123,0.056,3621,2990,1499,0,0,0,0,0,0
$GC,12850,1.25,107.1,281.9,13.6,682,12854,0.17,2.15,0.00,0.000,6,0.184,0.036,3586,1596,1499,0,0,0,0,0,0
$GC,13171,1.25,107.1,245.0,10.9,698,13175,0.00,2.25,0.00,0.000,4,0.000,0.054,3596,194,1499,0,0,0,0,0,0
$GC,13265,1.25,107.1,233.8,11.7,702,13270,0.00,2.22,0.00,0.000,6,0.000,0.036,3595,1605,1498,0,0,0,0,0,0
$GC,13587,1.25,107.1,198.7,10.8,718,13592,0.00,2.28,0.00,0.000,4,0.000,0.051,3605,201,1498,0,0,0,0,0,0
$GC,13666,1.22,107.1,190.2,11.3,721,13672,0.12,2.17,0.00,0.000,6,0.184,0.037,3574,1600,1498,0,0,0,0,0,0
$GC,13985,1.28,107.1,160.4,10.0,737,13989,0.05,2.25,0.00,0.000,4,0.168,0.057,3607,2998,1498,0,0,0,0,0,0
$GC,14034,1.28,107.1,154.4,11.6,739,14038,0.05,2.17,0.00,0.000,6,0.189,0.035,3593,1601,1498,0,0,0,0,0,0
$GC,14358,1.28,107.1,120.2,10.6,755,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1601,1498,0,0,0,0,0,0
$GC,14665,1.28,107.1,85.9,12.0,770,14669,0.00,2.25,0.00,0.000,4,0.000,0.054,3603,199,1498,0,0,0,0,0,0
$GC,14799,1.28,107.1,69.9,12.4,784,14804,0.00,2.20,0.00,0.000,6,0.000,0.037,3603,1614,1498,0,0,0,0,0,0
$GC,15155,1.28,107.1,28.2,11.2,845,15163,0.00,2.33,0.00,0.000,4,0.000,0.050,3613,196,1498,0,0,0,0,0,0
$GC,15203,1.24,107.1,22.1,13.4,852,15211,0.05,2.20,0.00,0.000,6,0.182,0.037,3591,1600,1498,0,0,0,0,0,0
$STATE,15354,end climb,SURFACE_DEPTH_REACHED
$STATE,15354,begin surface coast
$FINISH,2.0,1.005799
$STATE,15380,end surface coast,CONTROL_FINISHED_OK
$STATE,15381,begin surface
$SM_CCo,15399,44.15,0.054,0,0,1133,200.16
$SM_GC,3.16,0.00,0.00,44.15,0.000,0.000,0.054,65,2035,1133,-9.75,-0.71,200.16
$IRIDIUM_FIX,-4438.33,636.54,170908,151544
$TT8_MAMPS,0.026964
$HUMID,64.45
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,21.9,62.911
$10V_AH,9.7,66.077
$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,24.250,113.750,212.775,44.150,0.000,86.203,166.713,410.541,0.250,0.000,19.112,1937.699,11008.462,370.837,2814.937,267.328,0.000,1270.531,0.000,2048.836,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,66.555,1258.425,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.200,1278.531,709.571,406.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,63882,880
$CAP_FILE_SIZE,136631,0
$CFSIZE,2097086464,2021457920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221115,111533,-4456.329,635.018,40,1.0,40,-24.4