version: 66.07.10.p01
glider: 573
mission: 12
dive: 543
start: 11 23 115 0 32 49
data:
$ID,573
$MISSION,12
$DIVE,543
$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,-22696.311
$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,27
$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,542
$GPS1,231115,002121,-4455.527,635.351,41,1.0,41,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-66.7
$GPS2,231115,003229,-4455.542,635.369,20,1.2,20,-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,160.1,1185,-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,-49.9,0.0,0.0,0,36,0.00,0.00,-7.57,0.000,2,0.000,0.000,72,2060,1279,0,0,0,0,0,0
$GC,39,-1.13,-116.8,3.0,-0.0,1,115,11.32,2.38,-55.85,0.000,4,0.229,0.072,2804,3465,2426,0,0,0,0,0,0
$GC,392,-1.10,-116.8,46.3,-16.2,58,398,0.10,2.22,0.00,0.000,6,0.189,0.040,2827,2050,2428,0,0,0,0,0,0
$GC,737,-1.10,-116.8,104.1,-16.3,100,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2050,2429,0,0,0,0,0,0
$GC,1049,-1.14,-116.8,154.7,-15.8,115,1053,0.00,2.25,0.00,0.000,4,0.000,0.053,2827,652,2429,0,0,0,0,0,0
$GC,1075,-1.14,-116.8,159.4,-15.5,116,1080,0.00,2.22,0.00,0.000,6,0.000,0.042,2819,2068,2429,0,0,0,0,0,0
$GC,1397,-1.14,-116.8,207.1,-14.9,132,1401,0.00,2.25,0.00,0.000,4,0.000,0.053,2818,662,2429,0,0,0,0,0,0
$GC,1430,-1.14,-116.8,212.6,-16.0,133,1436,0.00,2.25,0.00,0.000,6,0.000,0.042,2810,2065,2429,0,0,0,0,0,0
$GC,1749,-1.14,-116.8,259.2,-14.3,149,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2064,2429,0,0,0,0,0,0
$GC,2054,-1.14,-116.8,305.1,-14.7,164,2058,0.00,2.28,0.00,0.000,4,0.000,0.064,2799,3464,2429,0,0,0,0,0,0
$GC,2183,-1.14,-116.8,324.8,-14.9,169,2188,0.08,2.20,0.00,0.000,6,0.197,0.041,2815,2051,2429,0,0,0,0,0,0
$GC,2499,-1.17,-116.8,371.4,-14.3,185,2503,0.00,2.25,0.00,0.000,4,0.000,0.055,2815,658,2429,0,0,0,0,0,0
$GC,2527,-1.17,-116.8,375.8,-16.0,186,2531,0.00,2.22,0.00,0.000,6,0.000,0.041,2807,2062,2429,0,0,0,0,0,0
$GC,2847,-1.17,-116.8,422.1,-14.5,202,2851,0.00,2.30,0.00,0.000,4,0.000,0.066,2796,3466,2430,0,0,0,0,0,0
$GC,2924,-1.17,-116.8,434.0,-15.8,205,2928,0.00,2.22,0.00,0.000,6,0.000,0.041,2796,2047,2430,0,0,0,0,0,0
$GC,3246,-1.17,-116.8,481.3,-15.0,221,3250,0.00,2.22,0.00,0.000,4,0.000,0.053,2796,659,2429,0,0,0,0,0,0
$GC,3312,-1.17,-116.8,491.5,-14.8,224,3317,0.08,2.20,0.00,0.000,6,0.224,0.042,2802,2066,2429,0,0,0,0,0,0
$GC,3633,-1.17,-116.8,538.3,-14.6,240,3637,0.00,2.28,0.00,0.000,4,0.000,0.065,2792,3466,2429,0,0,0,0,0,0
$GC,3698,-1.17,-116.8,548.6,-16.0,243,3703,0.00,2.22,0.00,0.000,6,0.000,0.041,2792,2061,2429,0,0,0,0,0,0
$GC,4026,-1.17,-116.8,596.8,-14.5,259,4030,0.00,2.28,0.00,0.000,4,0.000,0.054,2792,652,2429,0,0,0,0,0,0
$GC,4069,-1.17,-116.8,603.8,-16.0,261,4074,0.10,2.25,0.00,0.000,6,0.207,0.041,2805,2089,2429,0,0,0,0,0,0
$GC,4397,-1.20,-116.8,651.2,-15.2,277,4401,0.00,2.28,0.00,0.000,4,0.000,0.066,2795,3469,2428,0,0,0,0,0,0
$GC,4581,-1.20,-116.8,679.6,-14.5,285,4585,0.00,2.25,0.00,0.000,6,0.000,0.044,2796,2041,2429,0,0,0,0,0,0
$GC,4903,-1.20,-116.8,725.4,-14.3,301,4907,0.00,2.22,0.00,0.000,4,0.000,0.054,2796,660,2428,0,0,0,0,0,0
$GC,4936,-1.20,-116.8,730.7,-15.1,302,4941,0.00,2.22,0.00,0.000,6,0.000,0.043,2787,2066,2428,0,0,0,0,0,0
$GC,5250,-1.20,-116.8,776.8,-14.4,318,5254,0.00,2.28,0.00,0.000,4,0.000,0.066,2777,3463,2428,0,0,0,0,0,0
$GC,5340,-1.20,-116.8,789.9,-14.7,322,5344,0.08,2.20,0.00,0.000,6,0.203,0.041,2792,2056,2428,0,0,0,0,0,0
$GC,5667,-1.23,-116.8,835.4,-13.9,338,5671,0.00,2.25,0.00,0.000,4,0.000,0.057,2792,662,2428,0,0,0,0,0,0
$GC,5738,-1.23,-116.8,845.8,-13.8,341,5743,0.00,2.20,0.00,0.000,6,0.000,0.042,2784,2063,2428,0,0,0,0,0,0
$GC,6061,-1.23,-116.8,889.0,-13.0,357,6065,0.00,2.30,0.00,0.000,4,0.000,0.067,2774,3462,2428,0,0,0,0,0,0
$GC,6177,-1.23,-116.8,904.9,-13.0,362,6182,0.00,2.20,0.00,0.000,6,0.000,0.042,2774,2059,2428,0,0,0,0,0,0
$GC,6498,-1.23,-116.8,947.4,-13.3,378,6502,0.00,2.28,0.00,0.000,4,0.000,0.057,2774,661,2428,0,0,0,0,0,0
$GC,6576,-1.20,-116.8,958.0,-13.8,381,6580,0.12,2.20,0.00,0.000,6,0.198,0.043,2794,2060,2428,0,0,0,0,0,0
$GC,6892,-1.24,-116.8,996.3,-11.9,397,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2060,2427,0,0,0,0,0,0
$STATE,6931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6931,begin apogee
$GC,6937,-0.19,0.0,1001.3,12.2,399,7053,1.12,0.00,112.53,1.261,6,0.162,0.000,3115,1591,1949,0,0,0,0,0,0
$STATE,7054,end apogee,CONTROL_FINISHED_OK
$STATE,7054,begin climb
$GC,7057,1.13,116.8,1004.1,0.0,405,7185,1.30,2.55,118.93,1.216,4,0.086,0.054,3552,193,1473,0,0,0,0,0,0
$GC,7225,1.18,116.8,987.6,14.7,413,7229,0.00,2.42,0.00,0.000,6,0.000,0.036,3552,1617,1469,0,0,0,0,0,0
$GC,7546,1.25,116.8,942.8,13.9,429,7551,0.10,2.35,0.00,0.000,4,0.101,0.051,3611,198,1465,0,0,0,0,0,0
$GC,7618,1.18,116.8,930.9,16.6,432,7623,0.17,2.25,0.00,0.000,6,0.166,0.038,3566,1610,1464,0,0,0,0,0,0
$GC,7935,1.22,116.8,887.4,13.6,447,7939,0.00,2.33,0.00,0.000,4,0.000,0.053,3575,187,1463,0,0,0,0,0,0
$GC,7980,1.22,116.8,880.7,15.6,449,7984,0.00,2.22,0.00,0.000,6,0.000,0.037,3575,1609,1463,0,0,0,0,0,0
$GC,8312,1.22,116.8,836.1,13.4,465,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1609,1462,0,0,0,0,0,0
$GC,8620,1.22,116.8,795.6,13.4,480,8624,0.00,2.28,0.00,0.000,4,0.000,0.052,3585,196,1462,0,0,0,0,0,0
$GC,8663,1.22,116.8,789.5,14.0,482,8667,0.00,2.20,0.00,0.000,6,0.000,0.037,3585,1612,1461,0,0,0,0,0,0
$GC,8990,1.22,116.8,745.6,13.4,498,8994,0.00,2.30,0.00,0.000,4,0.000,0.052,3593,189,1461,0,0,0,0,0,0
$GC,9016,1.22,116.8,741.6,14.5,499,9021,0.08,2.20,0.00,0.000,6,0.198,0.037,3577,1610,1461,0,0,0,0,0,0
$GC,9338,1.22,116.8,699.3,13.2,515,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1611,1461,0,0,0,0,0,0
$GC,9646,1.25,116.8,658.3,12.8,530,9650,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,196,1461,0,0,0,0,0,0
$GC,9717,1.25,116.8,648.5,14.5,533,9721,0.00,2.20,0.00,0.000,6,0.000,0.037,3586,1612,1461,0,0,0,0,0,0
$GC,10039,1.25,116.8,605.7,13.4,549,10043,0.00,2.22,0.00,0.000,4,0.000,0.057,3586,2992,1460,0,0,0,0,0,0
$GC,10074,1.25,116.8,601.2,14.3,550,10079,0.00,2.15,0.00,0.000,6,0.000,0.037,3595,1598,1460,0,0,0,0,0,0
$GC,10388,1.25,116.8,557.2,14.1,566,10392,0.00,2.28,0.00,0.000,4,0.000,0.054,3605,186,1460,0,0,0,0,0,0
$GC,10494,1.21,116.8,541.5,15.0,570,10500,0.12,2.20,0.00,0.000,6,0.174,0.037,3574,1598,1460,0,0,0,0,0,0
$GC,10809,1.26,116.8,499.8,13.1,586,10813,0.00,2.28,0.00,0.000,4,0.000,0.053,3583,195,1460,0,0,0,0,0,0
$GC,10881,1.26,116.8,489.4,14.2,589,10885,0.00,2.20,0.00,0.000,6,0.000,0.038,3583,1609,1460,0,0,0,0,0,0
$GC,11208,1.26,116.8,443.7,13.8,605,11212,0.00,2.30,0.00,0.000,4,0.000,0.052,3592,196,1460,0,0,0,0,0,0
$GC,11271,1.26,116.8,434.7,14.7,608,11275,0.00,2.20,0.00,0.000,6,0.000,0.037,3592,1602,1460,0,0,0,0,0,0
$GC,11596,1.26,116.8,389.4,13.6,624,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1602,1460,0,0,0,0,0,0
$GC,11907,1.26,116.8,348.5,13.0,639,11911,0.00,2.25,0.00,0.000,4,0.000,0.058,3592,2993,1460,0,0,0,0,0,0
$GC,11946,1.26,116.8,343.0,14.4,641,11951,0.00,2.15,0.00,0.000,6,0.000,0.036,3601,1584,1460,0,0,0,0,0,0
$GC,12273,1.26,116.8,298.0,13.9,657,12278,0.00,2.22,0.00,0.000,4,0.000,0.054,3612,200,1460,0,0,0,0,0,0
$GC,12295,1.26,116.8,294.7,13.1,658,12300,0.10,2.20,0.00,0.000,6,0.187,0.037,3588,1595,1460,0,0,0,0,0,0
$GC,12623,1.26,116.8,252.0,13.4,674,12627,0.00,2.25,0.00,0.000,4,0.000,0.056,3588,2993,1460,0,0,0,0,0,0
$GC,12689,1.26,116.8,243.3,14.7,677,12693,0.00,2.12,0.00,0.000,6,0.000,0.035,3596,1598,1460,0,0,0,0,0,0
$GC,13018,1.26,116.8,197.6,13.2,693,13022,0.00,2.25,0.00,0.000,4,0.000,0.054,3606,202,1460,0,0,0,0,0,0
$GC,13126,1.22,116.8,182.3,13.7,698,13131,0.10,2.17,0.00,0.000,6,0.186,0.037,3583,1607,1460,0,0,0,0,0,0
$GC,13454,1.28,116.8,146.8,10.1,714,13458,0.00,2.28,0.00,0.000,4,0.000,0.052,3591,201,1460,0,0,0,0,0,0
$GC,13549,1.28,116.8,135.4,12.6,718,13553,0.00,2.20,0.00,0.000,6,0.000,0.036,3592,1629,1460,0,0,0,0,0,0
$GC,13877,1.31,116.8,97.9,12.3,734,13881,0.00,2.33,0.00,0.000,4,0.000,0.050,3601,192,1460,0,0,0,0,0,0
$GC,13972,1.31,116.8,84.1,14.6,738,13977,0.00,2.22,0.00,0.000,6,0.000,0.034,3601,1639,1459,0,0,0,0,0,0
$GC,14322,1.31,116.8,39.4,11.5,794,14330,0.00,2.20,0.00,0.000,4,0.000,0.057,3601,2990,1460,0,0,0,0,0,0
$GC,14369,1.31,116.8,33.8,11.7,801,14376,0.00,2.15,0.00,0.000,6,0.000,0.034,3609,1608,1460,0,0,0,0,0,0
$GC,14528,1.31,116.8,13.6,12.4,826,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1607,1460,0,0,0,0,0,0
$GC,14586,1.31,116.8,8.3,8.7,835,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,1608,1460,0,0,0,0,0,0
$STATE,14643,end climb,SURFACE_DEPTH_REACHED
$STATE,14643,begin surface coast
$FINISH,1.9,1.023362
$STATE,14675,end surface coast,CONTROL_FINISHED_OK
$STATE,14675,begin surface
$SM_CCo,14695,39.90,0.057,0,0,1132,200.16
$SM_GC,2.61,0.00,0.00,39.90,0.000,0.000,0.057,73,2055,1132,-9.72,-0.14,200.16
$IRIDIUM_FIX,-4438.33,636.19,180908,131347
$TT8_MAMPS,0.026964
$HUMID,64.53
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.8,63.312
$10V_AH,9.7,66.467
$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,24.225,145.250,231.450,39.900,0.000,48.495,36.431,344.794,0.000,0.000,23.248,1909.244,10163.491,366.909,2697.850,263.406,0.000,1344.315,0.000,2146.424,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,71.910,1261.485,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.362,1252.636,709.880,446.522,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353180
$DATA_FILE_SIZE,60471,849
$CAP_FILE_SIZE,140476,0
$CFSIZE,2097086464,2020933632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231115,043933,-4457.643,637.218,31,1.0,31,-24.4