version: 66.07.10.p01
glider: 573
mission: 12
dive: 542
start: 11 22 115 20 8 1
data:
$ID,573
$MISSION,12
$DIVE,542
$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,-22693.176
$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,40
$R_STBD_OVSHOOT,32
$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,541
$GPS1,221115,195934,-4456.457,636.539,43,1.0,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-68.1
$GPS2,221115,200741,-4456.443,636.631,17,1.6,17,-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,339.2,1165,-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,-13.62,0.000,2,0.000,0.000,61,2066,1396,0,0,0,0,0,0
$GC,45,-1.13,-114.2,3.0,-1.2,2,114,11.60,0.00,-51.60,0.000,6,0.236,0.000,2810,2065,2416,0,0,0,0,0,0
$GC,167,-1.13,-114.2,10.6,-15.8,21,174,0.00,2.28,0.00,0.000,4,0.000,0.050,2810,668,2419,0,0,0,0,0,0
$GC,238,-1.07,-114.2,23.2,-19.1,32,246,0.10,2.25,0.00,0.000,6,0.180,0.041,2830,2061,2418,0,0,0,0,0,0
$GC,393,-1.07,-114.2,48.9,-15.8,57,400,0.00,2.33,0.00,0.000,4,0.000,0.055,2830,662,2419,0,0,0,0,0,0
$GC,420,-1.07,-114.2,53.5,-16.4,61,426,0.05,2.22,0.00,0.000,6,0.243,0.041,2831,2071,2419,0,0,0,0,0,0
$GC,753,-1.10,-114.2,106.6,-15.8,98,757,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3469,2420,0,0,0,0,0,0
$GC,780,-1.10,-114.2,110.4,-15.9,99,784,0.00,2.22,0.00,0.000,6,0.000,0.042,2821,2053,2419,0,0,0,0,0,0
$GC,1108,-1.10,-114.2,159.9,-15.1,115,1112,0.00,2.25,0.00,0.000,4,0.000,0.055,2821,663,2420,0,0,0,0,0,0
$GC,1278,-1.10,-114.2,188.0,-17.4,122,1285,0.00,2.22,0.00,0.000,6,0.000,0.039,2812,2060,2420,0,0,0,0,0,0
$GC,1594,-1.10,-114.2,236.0,-14.8,138,1596,0.05,0.00,0.00,0.000,6,0.249,0.000,2822,2060,2420,0,0,0,0,0,0
$GC,1906,-1.14,-114.2,278.7,-13.4,153,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2060,2420,0,0,0,0,0,0
$GC,2212,-1.18,-114.2,320.9,-14.0,168,2216,0.05,2.30,0.00,0.000,4,0.167,0.063,2780,3464,2420,0,0,0,0,0,0
$GC,2318,-1.15,-114.2,337.4,-15.7,172,2323,0.12,2.17,0.00,0.000,6,0.175,0.041,2811,2061,2420,0,0,0,0,0,0
$GC,2632,-1.15,-114.2,383.4,-14.4,188,2636,0.00,2.25,0.00,0.000,4,0.000,0.054,2811,654,2420,0,0,0,0,0,0
$GC,2664,-1.15,-114.2,388.3,-15.3,189,2668,0.00,2.22,0.00,0.000,6,0.000,0.041,2803,2061,2420,0,0,0,0,0,0
$GC,2986,-1.15,-114.2,436.3,-15.2,205,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2061,2421,0,0,0,0,0,0
$GC,3294,-1.15,-114.2,484.0,-15.2,220,3298,0.00,2.28,0.00,0.000,4,0.000,0.054,2803,663,2421,0,0,0,0,0,0
$GC,3366,-1.15,-114.2,495.6,-16.5,223,3371,0.08,2.20,0.00,0.000,6,0.216,0.038,2809,2080,2421,0,0,0,0,0,0
$GC,3688,-1.15,-114.2,542.3,-14.5,239,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2080,2420,0,0,0,0,0,0
$GC,3996,-1.18,-114.2,586.8,-14.3,254,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2080,2421,0,0,0,0,0,0
$GC,4307,-1.23,-114.2,629.4,-13.6,269,4312,0.05,2.28,0.00,0.000,4,0.167,0.062,2764,3466,2420,0,0,0,0,0,0
$GC,4463,-1.18,-114.2,654.3,-15.8,276,4468,0.15,2.22,0.00,0.000,6,0.178,0.043,2802,2052,2420,0,0,0,0,0,0
$GC,4785,-1.21,-114.2,696.9,-12.7,292,4789,0.00,2.28,0.00,0.000,4,0.000,0.057,2802,651,2420,0,0,0,0,0,0
$GC,4823,-1.21,-114.2,702.2,-13.4,294,4828,0.00,2.22,0.00,0.000,6,0.000,0.045,2794,2061,2420,0,0,0,0,0,0
$GC,5149,-1.21,-114.2,743.8,-12.4,310,5153,0.00,2.33,0.00,0.000,4,0.000,0.067,2783,3466,2420,0,0,0,0,0,0
$GC,5170,-1.21,-114.2,746.4,-12.6,311,5174,0.00,2.20,0.00,0.000,6,0.000,0.045,2783,2060,2420,0,0,0,0,0,0
$GC,5498,-1.21,-114.2,788.4,-12.9,327,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2060,2419,0,0,0,0,0,0
$GC,5805,-1.21,-114.2,829.5,-13.3,342,5810,0.00,2.28,0.00,0.000,4,0.000,0.056,2783,650,2419,0,0,0,0,0,0
$GC,5838,-1.21,-114.2,834.2,-14.1,343,5843,0.08,2.22,0.00,0.000,6,0.222,0.044,2789,2060,2419,0,0,0,0,0,0
$GC,6154,-1.21,-114.2,876.3,-13.2,359,6159,0.00,2.30,0.00,0.000,4,0.000,0.067,2779,3463,2419,0,0,0,0,0,0
$GC,6221,-1.21,-114.2,885.8,-13.6,362,6225,0.00,2.22,0.00,0.000,6,0.000,0.043,2779,2063,2418,0,0,0,0,0,0
$GC,6547,-1.21,-114.2,930.5,-13.7,378,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2063,2418,0,0,0,0,0,0
$GC,6858,-1.21,-114.2,972.6,-13.5,393,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2063,2418,0,0,0,0,0,0
$STATE,7062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7062,begin apogee
$GC,7068,-0.19,0.0,1000.3,13.5,403,7184,1.20,0.00,110.50,1.263,6,0.164,0.000,3119,1594,1950,0,0,0,0,0,0
$STATE,7184,end apogee,CONTROL_FINISHED_OK
$STATE,7185,begin climb
$GC,7187,1.13,114.2,1004.5,0.0,409,7308,1.30,0.00,117.32,1.218,6,0.084,0.000,3543,1594,1484,0,0,0,0,0,0
$GC,7614,1.22,114.2,959.9,12.3,430,7616,0.10,0.00,0.00,0.000,6,0.096,0.000,3595,1593,1476,0,0,0,0,0,0
$GC,7923,1.22,114.2,914.4,15.1,445,7925,0.08,0.00,0.00,0.000,6,0.198,0.000,3579,1595,1475,0,0,0,0,0,0
$GC,8231,1.22,114.2,870.0,14.1,460,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1595,1474,0,0,0,0,0,0
$GC,8542,1.22,114.2,827.9,13.6,475,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1595,1474,0,0,0,0,0,0
$GC,8850,1.22,114.2,785.7,13.5,490,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1595,1474,0,0,0,0,0,0
$GC,9160,1.22,114.2,743.3,14.0,505,9164,0.00,2.25,0.00,0.000,4,0.000,0.056,3589,198,1473,0,0,0,0,0,0
$GC,9210,1.22,114.2,735.8,15.6,507,9214,0.00,2.22,0.00,0.000,6,0.000,0.038,3589,1611,1472,0,0,0,0,0,0
$GC,9532,1.22,114.2,690.8,13.8,523,9536,0.00,2.25,0.00,0.000,4,0.000,0.057,3589,3001,1472,0,0,0,0,0,0
$GC,9571,1.22,114.2,685.4,13.3,525,9576,0.10,2.15,0.00,0.000,6,0.192,0.036,3574,1597,1472,0,0,0,0,0,0
$GC,9900,1.26,114.2,644.6,12.4,541,9904,0.00,2.25,0.00,0.000,4,0.000,0.055,3585,196,1472,0,0,0,0,0,0
$GC,9955,1.26,114.2,637.0,14.0,543,9960,0.00,2.20,0.00,0.000,6,0.000,0.037,3585,1602,1472,0,0,0,0,0,0
$GC,10272,1.26,114.2,595.6,13.5,559,10276,0.00,2.25,0.00,0.000,4,0.000,0.057,3585,2996,1472,0,0,0,0,0,0
$GC,10412,1.26,114.2,576.0,13.8,565,10416,0.00,2.15,0.00,0.000,6,0.000,0.036,3593,1590,1472,0,0,0,0,0,0
$GC,10727,1.26,114.2,532.3,13.7,580,10731,0.00,2.22,0.00,0.000,4,0.000,0.054,3603,200,1472,0,0,0,0,0,0
$GC,10817,1.22,114.2,518.9,15.2,584,10822,0.10,2.20,0.00,0.000,6,0.185,0.038,3580,1600,1471,0,0,0,0,0,0
$GC,11139,1.26,114.2,474.7,13.9,600,11143,0.00,2.25,0.00,0.000,4,0.000,0.052,3589,202,1471,0,0,0,0,0,0
$GC,11188,1.26,114.2,467.1,15.0,602,11192,0.00,2.20,0.00,0.000,6,0.000,0.038,3589,1604,1471,0,0,0,0,0,0
$GC,11508,1.26,114.2,422.1,14.0,618,11512,0.00,2.25,0.00,0.000,4,0.000,0.057,3589,3000,1471,0,0,0,0,0,0
$GC,11571,1.26,114.2,413.1,15.4,621,11575,0.00,2.17,0.00,0.000,6,0.000,0.036,3597,1590,1471,0,0,0,0,0,0
$GC,11898,1.26,114.2,368.2,13.3,637,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1590,1471,0,0,0,0,0,0
$GC,12206,1.26,114.2,326.8,13.3,652,12209,0.00,2.22,0.00,0.000,4,0.000,0.054,3608,202,1471,0,0,0,0,0,0
$GC,12336,1.23,114.2,308.7,13.4,657,12340,0.10,2.20,0.00,0.000,6,0.189,0.038,3584,1603,1471,0,0,0,0,0,0
$GC,12655,1.27,114.2,270.0,12.1,673,12659,0.00,2.25,0.00,0.000,4,0.000,0.057,3584,2996,1471,0,0,0,0,0,0
$GC,12699,1.27,114.2,264.1,12.6,675,12704,0.00,2.17,0.00,0.000,6,0.000,0.035,3592,1605,1471,0,0,0,0,0,0
$GC,13030,1.30,114.2,227.1,11.1,691,13034,0.00,2.25,0.00,0.000,4,0.000,0.054,3603,198,1471,0,0,0,0,0,0
$GC,13092,1.30,114.2,219.5,11.8,694,13096,0.00,2.20,0.00,0.000,6,0.000,0.037,3602,1603,1470,0,0,0,0,0,0
$GC,13420,1.30,114.2,179.8,11.4,710,13424,0.00,2.22,0.00,0.000,4,0.000,0.056,3603,2997,1471,0,0,0,0,0,0
$GC,13624,1.30,114.2,156.4,11.0,719,13628,0.00,2.17,0.00,0.000,6,0.000,0.035,3611,1598,1471,0,0,0,0,0,0
$GC,13955,1.30,114.2,121.9,10.3,735,13959,0.00,2.25,0.00,0.000,4,0.000,0.052,3622,192,1471,0,0,0,0,0,0
$GC,14033,1.25,114.2,112.6,12.1,738,14040,0.10,2.22,0.00,0.000,6,0.167,0.035,3591,1602,1470,0,0,0,0,0,0
$GC,14349,1.29,114.2,81.2,10.7,754,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1602,1471,0,0,0,0,0,0
$GC,14694,1.33,114.2,43.4,10.9,811,14699,0.00,2.22,0.00,0.000,4,0.000,0.054,3591,2993,1470,0,0,0,0,0,0
$GC,14756,1.33,114.2,35.6,12.5,821,14763,0.00,2.17,0.00,0.000,6,0.000,0.034,3599,1598,1470,0,0,0,0,0,0
$GC,14913,1.33,114.2,16.9,10.3,846,14921,0.00,2.28,0.00,0.000,4,0.000,0.051,3610,200,1471,0,0,0,0,0,0
$STATE,15031,end climb,SURFACE_DEPTH_REACHED
$STATE,15032,begin surface coast
$FINISH,2.1,1.007315
$STATE,15059,end surface coast,CONTROL_FINISHED_OK
$STATE,15059,begin surface
$SM_CCo,15080,40.92,0.055,0,0,1133,200.16
$SM_GC,3.17,0.00,0.00,40.92,0.000,0.000,0.055,72,2060,1133,-9.73,0.00,200.16
$IRIDIUM_FIX,-4438.33,636.54,180908,050506
$TT8_MAMPS,0.026964
$HUMID,64.84
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,21.9,63.205
$10V_AH,9.7,66.369
$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,24.825,117.575,227.825,40.925,0.000,26.629,45.405,262.957,0.250,0.000,20.459,1920.589,10541.527,382.796,2499.971,260.122,0.000,1294.945,0.000,2071.461,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,67.320,1263.015,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.412,1275.578,719.758,423.921,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,63849,869
$CAP_FILE_SIZE,130723,0
$CFSIZE,2097086464,2021097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231115,002121,-4455.527,635.351,41,1.0,41,-24.4