version: 66.07.10.p01
glider: 573
mission: 12
dive: 548
start: 11 24 115 2 31 41
data:
$ID,573
$MISSION,12
$DIVE,548
$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,-22711.932
$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,41
$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,547
$GPS1,241115,022151,-4502.901,638.035,66,1.1,66,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-71.0
$GPS2,241115,023121,-4502.914,638.092,18,1.1,19,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,258.2,3396,-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,-19.65,0.000,2,0.000,0.000,68,2066,1522,0,0,0,0,0,0
$GC,50,-1.12,-96.4,3.2,-3.2,3,108,11.65,2.30,-40.00,0.000,4,0.237,0.075,2807,3462,2344,0,0,0,0,0,0
$GC,222,-1.12,-96.4,18.3,-14.2,30,229,0.00,2.20,0.00,0.000,6,0.000,0.039,2808,2066,2347,0,0,0,0,0,0
$GC,280,-1.12,-96.4,28.0,-16.6,39,288,0.05,2.30,0.00,0.000,4,0.237,0.050,2818,651,2347,0,0,0,0,0,0
$GC,322,-1.12,-96.4,35.0,-16.5,45,329,0.00,2.25,0.00,0.000,6,0.000,0.042,2809,2055,2347,0,0,0,0,0,0
$GC,471,-1.12,-96.4,58.8,-15.5,70,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2055,2347,0,0,0,0,0,0
$GC,814,-1.12,-96.4,113.9,-16.0,103,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2055,2348,0,0,0,0,0,0
$GC,1118,-1.12,-96.4,162.1,-15.8,118,1122,0.00,2.25,0.00,0.000,4,0.000,0.056,2799,3466,2348,0,0,0,0,0,0
$GC,1235,-1.12,-96.4,180.4,-14.6,123,1240,0.10,2.20,0.00,0.000,6,0.181,0.039,2823,2041,2348,0,0,0,0,0,0
$GC,1560,-1.16,-96.4,224.4,-13.1,139,1564,0.00,2.20,0.00,0.000,4,0.000,0.052,2823,652,2349,0,0,0,0,0,0
$GC,1660,-1.16,-96.4,239.3,-14.1,143,1666,0.00,2.22,0.00,0.000,6,0.000,0.041,2814,2062,2348,0,0,0,0,0,0
$GC,1979,-1.16,-96.4,281.9,-12.9,159,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2061,2349,0,0,0,0,0,0
$GC,2285,-1.16,-96.4,324.7,-13.5,174,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2061,2349,0,0,0,0,0,0
$GC,2595,-1.16,-96.4,367.2,-13.9,189,2599,0.00,2.25,0.00,0.000,4,0.000,0.063,2804,3466,2349,0,0,0,0,0,0
$GC,2622,-1.16,-96.4,371.3,-13.6,190,2626,0.00,2.20,0.00,0.000,6,0.000,0.041,2804,2063,2349,0,0,0,0,0,0
$GC,2948,-1.16,-96.4,417.6,-14.3,206,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2063,2349,0,0,0,0,0,0
$GC,3259,-1.16,-96.4,459.8,-13.3,221,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2063,2349,0,0,0,0,0,0
$GC,3567,-1.16,-96.4,501.2,-13.4,236,3571,0.00,2.25,0.00,0.000,4,0.000,0.058,2795,3460,2349,0,0,0,0,0,0
$GC,3616,-1.16,-96.4,507.8,-13.4,238,3620,0.00,2.20,0.00,0.000,6,0.000,0.041,2795,2050,2348,0,0,0,0,0,0
$GC,3936,-1.16,-96.4,551.8,-13.6,254,3941,0.00,2.30,0.00,0.000,4,0.000,0.058,2786,3468,2348,0,0,0,0,0,0
$GC,3975,-1.16,-96.4,557.2,-14.2,256,3980,0.10,2.20,0.00,0.000,6,0.190,0.042,2809,2054,2348,0,0,0,0,0,0
$GC,4302,-1.20,-96.4,599.4,-12.6,272,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2053,2348,0,0,0,0,0,0
$GC,4612,-1.24,-96.4,636.9,-12.4,287,4613,0.08,0.00,0.00,0.000,6,0.128,0.000,2769,2054,2348,0,0,0,0,0,0
$GC,4919,-1.20,-96.4,681.0,-14.6,302,4924,0.10,2.33,0.00,0.000,4,0.204,0.062,2782,3467,2347,0,0,0,0,0,0
$GC,5049,-1.20,-96.4,699.9,-14.4,308,5053,0.00,2.17,0.00,0.000,6,0.000,0.042,2782,2062,2347,0,0,0,0,0,0
$GC,5375,-1.20,-96.4,743.9,-13.1,324,5379,0.00,2.25,0.00,0.000,4,0.000,0.055,2782,658,2347,0,0,0,0,0,0
$GC,5458,-1.17,-96.4,755.5,-13.7,328,5463,0.12,2.20,0.00,0.000,6,0.199,0.043,2803,2056,2347,0,0,0,0,0,0
$GC,5786,-1.20,-96.4,795.5,-12.2,344,5790,0.00,2.28,0.00,0.000,4,0.000,0.057,2793,3474,2347,0,0,0,0,0,0
$GC,5932,-1.20,-96.4,813.6,-11.5,350,5937,0.00,2.20,0.00,0.000,6,0.000,0.044,2793,2062,2347,0,0,0,0,0,0
$GC,6247,-1.20,-96.4,851.4,-12.2,366,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2062,2346,0,0,0,0,0,0
$GC,6557,-1.20,-96.4,889.8,-12.7,381,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2062,2346,0,0,0,0,0,0
$GC,6865,-1.20,-96.4,929.1,-12.5,396,6869,0.00,2.25,0.00,0.000,4,0.000,0.054,2793,654,2346,0,0,0,0,0,0
$GC,6920,-1.20,-96.4,936.2,-13.3,398,6926,0.00,2.25,0.00,0.000,6,0.000,0.044,2784,2065,2346,0,0,0,0,0,0
$GC,7235,-1.20,-96.4,974.6,-12.0,414,7239,0.00,2.28,0.00,0.000,4,0.000,0.065,2774,3463,2345,0,0,0,0,0,0
$GC,7343,-1.20,-96.4,987.6,-12.0,419,7348,0.10,2.17,0.00,0.000,6,0.188,0.041,2796,2057,2345,0,0,0,0,0,0
$STATE,7461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7462,begin apogee
$GC,7468,-0.19,0.0,1001.2,10.9,425,7566,1.10,0.00,93.80,1.258,6,0.159,0.000,3113,1601,1950,0,0,0,0,0,0
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7569,1.12,96.4,1004.5,0.0,430,7671,1.27,0.00,98.28,1.219,6,0.086,0.000,3537,1602,1556,0,0,0,0,0,0
$GC,7979,1.20,96.4,961.5,11.8,450,7984,0.10,2.33,0.00,0.000,4,0.099,0.054,3599,195,1548,0,0,0,0,0,0
$GC,8079,1.15,96.4,947.1,14.5,454,8085,0.17,2.25,0.00,0.000,6,0.165,0.037,3554,1617,1546,0,0,0,0,0,0
$GC,8394,1.19,96.4,907.6,12.5,470,8398,0.00,2.33,0.00,0.000,4,0.000,0.051,3563,189,1546,0,0,0,0,0,0
$GC,8456,1.19,96.4,899.4,13.4,473,8460,0.00,2.22,0.00,0.000,6,0.000,0.037,3564,1609,1545,0,0,0,0,0,0
$GC,8783,1.23,96.4,857.0,13.2,489,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1609,1545,0,0,0,0,0,0
$GC,9091,1.26,96.4,817.4,12.9,504,9093,0.08,0.00,0.00,0.000,6,0.124,0.000,3609,1610,1544,0,0,0,0,0,0
$GC,9402,1.22,96.4,773.1,14.3,519,9404,0.12,0.00,0.00,0.000,6,0.181,0.000,3577,1611,1544,0,0,0,0,0,0
$GC,9710,1.22,96.4,733.3,12.5,534,9714,0.00,2.20,0.00,0.000,4,0.000,0.054,3577,2993,1544,0,0,0,0,0,0
$GC,9731,1.22,96.4,730.7,12.8,535,9735,0.00,2.17,0.00,0.000,6,0.000,0.037,3585,1596,1544,0,0,0,0,0,0
$GC,10059,1.22,96.4,689.2,12.8,551,10063,0.00,2.25,0.00,0.000,4,0.000,0.054,3596,192,1544,0,0,0,0,0,0
$GC,10126,1.17,96.4,679.6,14.3,554,10130,0.12,2.17,0.00,0.000,6,0.179,0.036,3565,1601,1543,0,0,0,0,0,0
$GC,10447,1.21,96.4,638.5,12.8,570,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1601,1544,0,0,0,0,0,0
$GC,10756,1.26,96.4,598.5,12.9,585,10758,0.08,0.00,0.00,0.000,6,0.127,0.000,3612,1600,1543,0,0,0,0,0,0
$GC,11064,1.22,96.4,555.8,13.7,600,11069,0.12,2.22,0.00,0.000,4,0.181,0.054,3580,2999,1543,0,0,0,0,0,0
$GC,11097,1.22,96.4,551.3,14.2,601,11101,0.00,2.17,0.00,0.000,6,0.000,0.035,3588,1597,1543,0,0,0,0,0,0
$GC,11413,1.22,96.4,511.1,12.8,617,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1597,1543,0,0,0,0,0,0
$GC,11721,1.22,96.4,472.7,12.4,632,11725,0.00,2.25,0.00,0.000,4,0.000,0.054,3599,193,1543,0,0,0,0,0,0
$GC,11815,1.18,96.4,460.6,12.2,636,11820,0.12,2.17,0.00,0.000,6,0.179,0.036,3568,1601,1543,0,0,0,0,0,0
$GC,12132,1.24,96.4,424.2,11.7,651,12136,0.00,2.22,0.00,0.000,4,0.000,0.055,3568,2997,1542,0,0,0,0,0,0
$GC,12220,1.24,96.4,413.3,12.1,655,12224,0.00,2.17,0.00,0.000,6,0.000,0.035,3576,1592,1543,0,0,0,0,0,0
$GC,12548,1.27,96.4,376.8,10.9,671,12552,0.00,2.22,0.00,0.000,4,0.000,0.054,3587,199,1543,0,0,0,0,0,0
$GC,12665,1.27,96.4,363.1,11.3,676,12669,0.00,2.20,0.00,0.000,6,0.000,0.037,3586,1604,1543,0,0,0,0,0,0
$GC,12986,1.27,96.4,328.3,11.0,692,12990,0.00,2.20,0.00,0.000,4,0.000,0.054,3587,2990,1542,0,0,0,0,0,0
$GC,13013,1.27,96.4,325.3,11.3,693,13017,0.00,2.15,0.00,0.000,6,0.000,0.035,3595,1604,1542,0,0,0,0,0,0
$GC,13338,1.27,96.4,290.9,10.7,709,13342,0.00,2.25,0.00,0.000,4,0.000,0.053,3606,196,1543,0,0,0,0,0,0
$GC,13394,1.22,96.4,284.1,11.5,711,13400,0.12,2.17,0.00,0.000,6,0.184,0.036,3575,1614,1542,0,0,0,0,0,0
$GC,13713,1.26,96.4,250.9,10.6,727,13717,0.00,2.17,0.00,0.000,4,0.000,0.054,3575,2988,1542,0,0,0,0,0,0
$GC,13824,1.26,96.4,237.8,11.5,732,13828,0.00,2.15,0.00,0.000,6,0.000,0.036,3583,1593,1542,0,0,0,0,0,0
$GC,14152,1.30,96.4,199.7,11.6,748,14156,0.00,2.22,0.00,0.000,4,0.000,0.053,3594,202,1542,0,0,0,0,0,0
$GC,14288,1.30,96.4,184.4,10.3,754,14292,0.00,2.17,0.00,0.000,6,0.000,0.037,3594,1602,1542,0,0,0,0,0,0
$GC,14609,1.30,96.4,150.7,10.5,770,14613,0.00,2.20,0.00,0.000,4,0.000,0.054,3594,2990,1542,0,0,0,0,0,0
$GC,14687,1.30,96.4,141.7,10.8,773,14691,0.00,2.15,0.00,0.000,6,0.000,0.035,3603,1599,1542,0,0,0,0,0,0
$GC,15011,1.30,96.4,103.7,12.1,789,15015,0.00,2.22,0.00,0.000,4,0.000,0.052,3614,202,1542,0,0,0,0,0,0
$GC,15100,1.25,96.4,92.3,13.0,793,15105,0.10,2.17,0.00,0.000,6,0.192,0.035,3590,1612,1542,0,0,0,0,0,0
$GC,15440,1.28,96.4,56.7,10.3,838,15444,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1612,1542,0,0,0,0,0,0
$GC,15804,1.31,96.4,19.6,10.5,899,15812,0.00,2.30,0.00,0.000,4,0.000,0.050,3599,202,1542,0,0,0,0,0,0
$GC,15900,1.31,96.4,8.2,11.6,914,15907,0.00,2.20,0.00,0.000,6,0.000,0.037,3598,1606,1542,0,0,0,0,0,0
$STATE,15944,end climb,SURFACE_DEPTH_REACHED
$STATE,15944,begin surface coast
$FINISH,1.9,1.023393
$STATE,15970,end surface coast,CONTROL_FINISHED_OK
$STATE,15971,begin surface
$SM_CCo,15990,49.25,0.055,0,0,1133,200.16
$SM_GC,3.45,0.00,0.00,49.25,0.000,0.000,0.055,66,2062,1133,-9.75,0.06,200.16
$IRIDIUM_FIX,-4438.33,636.54,190908,090912
$TT8_MAMPS,0.026964
$HUMID,64.45
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,2
$24V_AH,22.0,63.849
$10V_AH,9.7,67.028
$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,25.125,121.400,192.075,49.250,0.000,23.277,42.723,330.651,0.500,0.000,20.895,2043.581,11210.519,356.732,2711.570,274.190,0.000,1326.164,0.000,2217.638,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,74.970,1257.660,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.979,1337.654,746.019,447.537,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,66997,925
$CAP_FILE_SIZE,141659,0
$CFSIZE,2097086464,2020245504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241115,070003,-4504.819,636.845,25,1.1,25,-24.4