version: 66.07.10.p01
glider: 573
mission: 12
dive: 540
start: 11 22 115 11 24 1
data:
$ID,573
$MISSION,12
$DIVE,540
$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,-22686.941
$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,39
$R_STBD_OVSHOOT,20
$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,539
$GPS1,221115,111533,-4456.329,635.018,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-64.1
$GPS2,221115,112341,-4456.356,635.048,16,1.2,16,-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,86.6,1412,-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,-13.57,0.000,2,0.000,0.000,65,2034,1399,0,0,0,0,0,0
$GC,45,-1.13,-114.8,3.0,-1.1,2,115,11.52,2.33,-48.83,0.000,4,0.233,0.070,2814,663,2421,0,0,0,0,0,0
$GC,390,-1.13,-114.8,48.6,-17.5,58,395,0.00,2.25,0.00,0.000,6,0.000,0.038,2806,2086,2423,0,0,0,0,0,0
$GC,727,-1.13,-114.8,108.9,-17.1,96,731,0.00,2.25,0.00,0.000,4,0.000,0.066,2795,3469,2423,0,0,0,0,0,0
$GC,767,-1.10,-114.8,116.0,-17.8,98,772,0.12,2.20,0.00,0.000,6,0.180,0.044,2826,2063,2423,0,0,0,0,0,0
$GC,1096,-1.13,-114.8,167.4,-15.6,114,1100,0.00,2.28,0.00,0.000,4,0.000,0.054,2826,647,2424,0,0,0,0,0,0
$GC,1134,-1.13,-114.8,174.4,-17.1,115,1140,0.00,2.25,0.00,0.000,6,0.000,0.041,2817,2056,2423,0,0,0,0,0,0
$GC,1452,-1.13,-114.8,226.5,-16.4,131,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2056,2424,0,0,0,0,0,0
$GC,1760,-1.13,-114.8,273.2,-14.9,146,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2057,2424,0,0,0,0,0,0
$GC,2070,-1.16,-114.8,320.4,-15.3,161,2074,0.00,2.30,0.00,0.000,4,0.000,0.062,2807,3466,2424,0,0,0,0,0,0
$GC,2155,-1.16,-114.8,333.8,-15.4,165,2159,0.00,2.20,0.00,0.000,6,0.000,0.041,2807,2057,2424,0,0,0,0,0,0
$GC,2481,-1.16,-114.8,383.7,-14.8,181,2485,0.00,2.25,0.00,0.000,4,0.000,0.055,2807,662,2424,0,0,0,0,0,0
$GC,2559,-1.16,-114.8,396.1,-15.6,184,2564,0.00,2.22,0.00,0.000,6,0.000,0.039,2798,2066,2424,0,0,0,0,0,0
$GC,2874,-1.16,-114.8,443.8,-15.2,200,2878,0.00,2.28,0.00,0.000,4,0.000,0.063,2788,3471,2424,0,0,0,0,0,0
$GC,2912,-1.16,-114.8,449.8,-15.8,201,2918,0.05,2.25,0.00,0.000,6,0.174,0.044,2802,2058,2424,0,0,0,0,0,0
$GC,3228,-1.16,-114.8,496.8,-14.8,217,3232,0.00,2.28,0.00,0.000,4,0.000,0.055,2803,648,2424,0,0,0,0,0,0
$GC,3295,-1.16,-114.8,507.6,-15.6,220,3299,0.00,2.25,0.00,0.000,6,0.000,0.045,2794,2067,2424,0,0,0,0,0,0
$GC,3621,-1.16,-114.8,555.6,-14.8,236,3625,0.00,2.28,0.00,0.000,4,0.000,0.063,2784,3461,2424,0,0,0,0,0,0
$GC,3671,-1.16,-114.8,563.2,-15.3,238,3675,0.10,2.22,0.00,0.000,6,0.184,0.042,2808,2061,2424,0,0,0,0,0,0
$GC,3992,-1.21,-114.8,607.2,-13.5,254,3996,0.00,2.25,0.00,0.000,4,0.000,0.055,2808,657,2424,0,0,0,0,0,0
$GC,4058,-1.21,-114.8,617.1,-14.8,257,4062,0.00,2.25,0.00,0.000,6,0.000,0.044,2800,2085,2424,0,0,0,0,0,0
$GC,4386,-1.24,-114.8,664.9,-14.5,273,4390,0.00,2.35,0.00,0.000,4,0.000,0.055,2799,649,2424,0,0,0,0,0,0
$GC,4435,-1.24,-114.8,672.6,-16.1,275,4439,0.00,2.25,0.00,0.000,6,0.000,0.045,2791,2064,2424,0,0,0,0,0,0
$GC,4757,-1.24,-114.8,720.4,-15.0,291,4761,0.00,2.30,0.00,0.000,4,0.000,0.067,2780,3462,2424,0,0,0,0,0,0
$GC,4845,-1.24,-114.8,734.3,-15.7,295,4850,0.00,2.22,0.00,0.000,6,0.000,0.042,2780,2042,2423,0,0,0,0,0,0
$GC,5173,-1.24,-114.8,781.8,-14.5,311,5177,0.00,2.22,0.00,0.000,4,0.000,0.054,2780,659,2423,0,0,0,0,0,0
$GC,5272,-1.24,-114.8,797.2,-14.9,315,5277,0.00,2.25,0.00,0.000,6,0.000,0.043,2771,2078,2423,0,0,0,0,0,0
$GC,5589,-1.24,-114.8,842.4,-14.1,331,5593,0.00,2.25,0.00,0.000,4,0.000,0.059,2760,3465,2423,0,0,0,0,0,0
$GC,5615,-1.24,-114.8,846.7,-15.2,332,5620,0.05,2.22,0.00,0.000,6,0.185,0.041,2776,2064,2422,0,0,0,0,0,0
$GC,5935,-1.24,-114.8,892.0,-14.0,348,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2064,2422,0,0,0,0,0,0
$GC,6246,-1.24,-114.8,935.0,-13.7,363,6250,0.00,2.25,0.00,0.000,4,0.000,0.054,2776,656,2422,0,0,0,0,0,0
$GC,6334,-1.24,-114.8,947.9,-14.4,367,6339,0.08,2.22,0.00,0.000,6,0.220,0.042,2782,2073,2422,0,0,0,0,0,0
$GC,6661,-1.24,-114.8,989.5,-12.7,383,6665,0.00,2.25,0.00,0.000,4,0.000,0.060,2773,3467,2421,0,0,0,0,0,0
$GC,6705,-1.24,-114.8,995.2,-12.6,385,6709,0.00,2.25,0.00,0.000,6,0.000,0.042,2773,2036,2421,0,0,0,0,0,0
$STATE,6742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6742,begin apogee
$GC,6748,-0.19,0.0,1000.0,13.1,387,6864,1.23,0.00,111.47,1.258,6,0.164,0.000,3118,1596,1949,0,0,0,0,0,0
$STATE,6864,end apogee,CONTROL_FINISHED_OK
$STATE,6865,begin climb
$GC,6867,1.13,114.8,1003.3,0.0,393,6994,1.30,2.55,117.25,1.214,4,0.086,0.054,3556,205,1481,0,0,0,0,0,0
$GC,7061,1.17,114.8,982.8,14.6,402,7065,0.00,2.38,0.00,0.000,6,0.000,0.036,3556,1605,1477,0,0,0,0,0,0
$GC,7381,1.22,114.8,936.8,14.4,418,7386,0.05,2.28,0.00,0.000,4,0.164,0.055,3591,3005,1474,0,0,0,0,0,0
$GC,7408,1.22,114.8,932.5,16.2,419,7413,0.05,2.25,0.00,0.000,6,0.171,0.036,3584,1600,1474,0,0,0,0,0,0
$GC,7730,1.22,114.8,884.2,14.9,435,7734,0.00,2.30,0.00,0.000,4,0.000,0.054,3594,193,1473,0,0,0,0,0,0
$GC,7815,1.18,114.8,871.0,15.4,439,7820,0.12,2.20,0.00,0.000,6,0.176,0.037,3564,1605,1471,0,0,0,0,0,0
$GC,8143,1.23,114.8,828.1,12.7,455,8147,0.00,2.25,0.00,0.000,4,0.000,0.055,3563,3001,1471,0,0,0,0,0,0
$GC,8187,1.23,114.8,821.6,14.0,457,8191,0.00,2.20,0.00,0.000,6,0.000,0.036,3571,1602,1470,0,0,0,0,0,0
$GC,8515,1.23,114.8,779.7,12.5,473,8519,0.00,2.28,0.00,0.000,4,0.000,0.054,3582,198,1470,0,0,0,0,0,0
$GC,8620,1.23,114.8,765.4,13.7,478,8625,0.00,2.20,0.00,0.000,6,0.000,0.038,3582,1601,1469,0,0,0,0,0,0
$GC,8946,1.23,114.8,722.8,13.1,494,8950,0.00,2.25,0.00,0.000,4,0.000,0.056,3582,2998,1469,0,0,0,0,0,0
$GC,8990,1.23,114.8,716.8,13.6,496,8994,0.00,2.20,0.00,0.000,6,0.000,0.036,3591,1595,1469,0,0,0,0,0,0
$GC,9316,1.23,114.8,672.3,13.5,512,9320,0.00,2.25,0.00,0.000,4,0.000,0.054,3602,200,1469,0,0,0,0,0,0
$GC,9452,1.18,114.8,653.1,14.4,518,9456,0.12,2.20,0.00,0.000,6,0.174,0.038,3569,1602,1469,0,0,0,0,0,0
$GC,9772,1.22,114.8,612.3,12.7,534,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1602,1469,0,0,0,0,0,0
$GC,10082,1.26,114.8,572.6,12.9,549,10087,0.05,2.25,0.00,0.000,4,0.171,0.054,3615,202,1469,0,0,0,0,0,0
$GC,10143,1.19,114.8,563.5,15.0,551,10148,0.17,2.20,0.00,0.000,6,0.171,0.037,3568,1608,1469,0,0,0,0,0,0
$GC,10459,1.24,114.8,523.1,12.9,567,10463,0.00,2.22,0.00,0.000,4,0.000,0.054,3569,2996,1469,0,0,0,0,0,0
$GC,10515,1.27,114.8,515.4,12.9,569,10519,0.00,2.15,0.00,0.000,6,0.000,0.036,3576,1605,1469,0,0,0,0,0,0
$GC,10831,1.31,114.8,474.2,12.7,585,10836,0.08,2.28,0.00,0.000,4,0.125,0.054,3629,195,1469,0,0,0,0,0,0
$GC,10964,1.22,114.8,454.6,15.7,591,10969,0.17,2.17,0.00,0.000,6,0.177,0.037,3582,1600,1469,0,0,0,0,0,0
$GC,11291,1.22,114.8,413.0,12.9,607,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1600,1469,0,0,0,0,0,0
$GC,11599,1.22,114.8,374.2,12.8,622,11603,0.00,2.30,0.00,0.000,4,0.000,0.052,3592,189,1468,0,0,0,0,0,0
$GC,11670,1.22,114.8,364.7,13.6,625,11675,0.05,2.20,0.00,0.000,6,0.230,0.037,3582,1608,1468,0,0,0,0,0,0
$GC,11992,1.26,114.8,324.9,12.3,641,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1608,1468,0,0,0,0,0,0
$GC,12302,1.29,114.8,287.5,11.9,656,12306,0.00,2.22,0.00,0.000,4,0.000,0.054,3582,2996,1468,0,0,0,0,0,0
$GC,12412,1.29,114.8,274.5,11.3,661,12416,0.00,2.17,0.00,0.000,6,0.000,0.037,3590,1589,1468,0,0,0,0,0,0
$GC,12741,1.29,114.8,235.5,11.6,677,12745,0.00,2.25,0.00,0.000,4,0.000,0.054,3601,196,1468,0,0,0,0,0,0
$GC,12835,1.29,114.8,223.3,12.8,681,12840,0.00,2.22,0.00,0.000,6,0.000,0.037,3601,1617,1468,0,0,0,0,0,0
$GC,13159,1.29,114.8,183.6,12.8,697,13164,0.00,2.30,0.00,0.000,4,0.000,0.050,3610,200,1468,0,0,0,0,0,0
$GC,13192,1.29,114.8,178.7,13.2,698,13200,0.00,2.22,0.00,0.000,6,0.000,0.037,3610,1603,1468,0,0,0,0,0,0
$GC,13508,1.29,114.8,141.2,12.4,714,13513,0.00,2.28,0.00,0.000,4,0.000,0.050,3619,201,1468,0,0,0,0,0,0
$GC,13718,1.25,114.8,113.1,13.5,723,13723,0.12,2.17,0.00,0.000,6,0.180,0.037,3587,1608,1468,0,0,0,0,0,0
$GC,14038,1.29,114.8,75.0,12.1,741,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1608,1468,0,0,0,0,0,0
$GC,14393,1.29,114.8,33.8,11.3,802,14400,0.00,2.22,0.00,0.000,4,0.000,0.051,3587,2993,1468,0,0,0,0,0,0
$GC,14434,1.29,114.8,28.4,13.3,808,14441,0.00,2.17,0.00,0.000,6,0.000,0.036,3595,1599,1468,0,0,0,0,0,0
$GC,14592,1.29,114.8,11.4,10.8,833,14599,0.00,2.28,0.00,0.000,4,0.000,0.050,3606,196,1468,0,0,0,0,0,0
$STATE,14703,end climb,SURFACE_DEPTH_REACHED
$STATE,14703,begin surface coast
$FINISH,1.9,1.014217
$STATE,14761,end surface coast,CONTROL_FINISHED_OK
$STATE,14761,begin surface
$SM_CCo,14782,40.88,0.057,0,0,1133,200.16
$SM_GC,2.55,0.00,0.00,40.88,0.000,0.000,0.057,63,2078,1133,-9.76,0.48,200.16
$IRIDIUM_FIX,-4438.33,636.54,170908,202025
$TT8_MAMPS,0.026964
$HUMID,64.76
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.9,63.012
$10V_AH,9.7,66.175
$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,24.925,145.350,228.725,40.875,0.000,27.160,41.426,265.224,0.000,0.000,19.463,1927.918,10128.711,367.552,2632.780,251.770,0.000,1353.872,0.000,2193.169,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,70.380,1258.425,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.242,1286.745,742.596,475.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353172
$DATA_FILE_SIZE,63744,860
$CAP_FILE_SIZE,138155,0
$CFSIZE,2097086464,2021326848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221115,153233,-4456.584,637.820,51,1.0,51,-24.5