version: 66.07.10.p01
glider: 573
mission: 12
dive: 554
start: 11 25 115 13 24 20
data:
$ID,573
$MISSION,12
$DIVE,554
$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,-22733.83
$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,553
$GPS1,251115,131504,-4504.104,625.182,40,0.8,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-70.2
$GPS2,251115,132359,-4504.057,625.138,15,0.8,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,298.4,1492,-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,25,-1.09,-49.9,0.0,0.0,0,41,0.00,0.00,-13.88,0.000,2,0.000,0.000,74,2068,1405,0,0,0,0,0,0
$GC,44,-1.13,-103.2,3.2,-2.4,2,114,11.75,2.33,-48.75,0.000,4,0.245,0.067,2815,661,2372,0,0,0,0,0,0
$GC,390,-1.09,-103.2,47.0,-17.1,58,395,0.10,2.22,0.00,0.000,6,0.202,0.038,2829,2070,2374,0,0,0,0,0,0
$GC,742,-1.09,-103.2,102.9,-15.8,101,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2070,2375,0,0,0,0,0,0
$GC,1050,-1.13,-103.2,149.6,-14.3,116,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2070,2375,0,0,0,0,0,0
$GC,1361,-1.17,-103.2,194.8,-14.3,131,1366,0.08,2.25,0.00,0.000,4,0.125,0.050,2794,663,2375,0,0,0,0,0,0
$GC,1424,-1.13,-103.2,204.6,-15.6,134,1429,0.12,2.20,0.00,0.000,6,0.194,0.038,2817,2069,2375,0,0,0,0,0,0
$GC,1751,-1.13,-103.2,251.5,-14.1,150,1755,0.00,2.25,0.00,0.000,4,0.000,0.058,2806,3469,2376,0,0,0,0,0,0
$GC,1791,-1.13,-103.2,256.9,-13.8,152,1795,0.00,2.20,0.00,0.000,6,0.000,0.041,2808,2054,2375,0,0,0,0,0,0
$GC,2116,-1.13,-103.2,303.0,-13.9,168,2120,0.00,2.22,0.00,0.000,4,0.000,0.054,2808,653,2375,0,0,0,0,0,0
$GC,2155,-1.13,-103.2,308.5,-14.0,170,2160,0.08,2.22,0.00,0.000,6,0.223,0.042,2815,2066,2375,0,0,0,0,0,0
$GC,2482,-1.16,-103.2,353.0,-13.6,186,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2066,2375,0,0,0,0,0,0
$GC,2791,-1.20,-103.2,394.2,-12.9,201,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2066,2375,0,0,0,0,0,0
$GC,3099,-1.23,-103.2,435.3,-13.4,216,3101,0.08,0.00,0.00,0.000,6,0.124,0.000,2775,2066,2375,0,0,0,0,0,0
$GC,3410,-1.20,-103.2,481.3,-15.4,231,3412,0.08,0.00,0.00,0.000,6,0.218,0.000,2790,2066,2375,0,0,0,0,0,0
$GC,3718,-1.20,-103.2,526.5,-14.4,246,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2066,2375,0,0,0,0,0,0
$GC,4028,-1.20,-103.2,570.3,-14.8,261,4032,0.00,2.28,0.00,0.000,4,0.000,0.063,2781,3464,2375,0,0,0,0,0,0
$GC,4072,-1.20,-103.2,577.3,-14.9,263,4076,0.00,2.20,0.00,0.000,6,0.000,0.041,2781,2049,2375,0,0,0,0,0,0
$GC,4400,-1.20,-103.2,624.1,-14.3,279,4405,0.05,2.25,0.00,0.000,4,0.243,0.054,2795,658,2376,0,0,0,0,0,0
$GC,4426,-1.20,-103.2,628.2,-15.2,280,4431,0.00,2.22,0.00,0.000,6,0.000,0.040,2787,2056,2375,0,0,0,0,0,0
$GC,4747,-1.20,-103.2,675.3,-14.8,296,4751,0.00,2.28,0.00,0.000,4,0.000,0.060,2776,3465,2375,0,0,0,0,0,0
$GC,4801,-1.20,-103.2,683.6,-15.1,298,4808,0.05,2.22,0.00,0.000,6,0.181,0.041,2791,2060,2375,0,0,0,0,0,0
$GC,5117,-1.20,-103.2,729.0,-14.1,314,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2060,2374,0,0,0,0,0,0
$GC,5427,-1.20,-103.2,770.9,-13.5,329,5431,0.00,2.22,0.00,0.000,4,0.000,0.055,2795,659,2374,0,0,0,0,0,0
$GC,5465,-1.20,-103.2,776.6,-14.3,330,5471,0.00,2.25,0.00,0.000,6,0.000,0.044,2787,2065,2374,0,0,0,0,0,0
$GC,5781,-1.20,-103.2,817.9,-12.7,346,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2065,2374,0,0,0,0,0,0
$GC,6091,-1.20,-103.2,855.6,-12.3,361,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2064,2374,0,0,0,0,0,0
$GC,6399,-1.20,-103.2,893.8,-12.1,376,6403,0.00,2.30,0.00,0.000,4,0.000,0.057,2787,657,2374,0,0,0,0,0,0
$GC,6494,-1.20,-103.2,906.1,-12.8,380,6498,0.08,2.22,0.00,0.000,6,0.222,0.043,2792,2062,2373,0,0,0,0,0,0
$GC,6814,-1.20,-103.2,943.7,-11.5,396,6818,0.00,2.30,0.00,0.000,4,0.000,0.065,2783,3468,2373,0,0,0,0,0,0
$GC,6857,-1.20,-103.2,949.0,-12.2,398,6862,0.00,2.22,0.00,0.000,6,0.000,0.044,2782,2053,2373,0,0,0,0,0,0
$GC,7184,-1.20,-103.2,987.4,-11.6,414,7188,0.00,2.25,0.00,0.000,4,0.000,0.057,2783,652,2373,0,0,0,0,0,0
$GC,7216,-1.17,-103.2,991.4,-12.0,415,7221,0.12,2.25,0.00,0.000,6,0.201,0.044,2802,2066,2373,0,0,0,0,0,0
$STATE,7302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7302,begin apogee
$GC,7308,-0.19,0.0,1001.2,11.0,420,7412,1.10,0.00,100.00,1.251,6,0.164,0.000,3115,1593,1950,0,0,0,0,0,0
$STATE,7413,end apogee,CONTROL_FINISHED_OK
$STATE,7413,begin climb
$GC,7415,1.13,103.2,1003.3,0.0,425,7524,1.27,0.00,105.15,1.212,6,0.086,0.000,3539,1593,1529,0,0,0,0,0,0
$GC,7827,1.21,103.2,956.1,12.6,445,7832,0.10,2.33,0.00,0.000,4,0.097,0.054,3603,198,1521,0,0,0,0,0,0
$GC,7882,1.16,103.2,947.6,15.5,447,7887,0.17,2.28,0.00,0.000,6,0.164,0.037,3557,1619,1520,0,0,0,0,0,0
$GC,8198,1.21,103.2,903.1,14.2,463,8202,0.00,2.22,0.00,0.000,4,0.000,0.056,3557,2993,1519,0,0,0,0,0,0
$GC,8239,1.24,103.2,897.2,14.7,465,8243,0.00,2.17,0.00,0.000,6,0.000,0.035,3566,1597,1519,0,0,0,0,0,0
$GC,8566,1.28,103.2,851.6,14.0,481,8571,0.08,2.25,0.00,0.000,4,0.125,0.054,3620,199,1518,0,0,0,0,0,0
$GC,8643,1.19,103.2,838.7,17.1,484,8649,0.20,2.20,0.00,0.000,6,0.168,0.037,3566,1608,1517,0,0,0,0,0,0
$GC,8959,1.23,103.2,795.3,13.4,500,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1609,1517,0,0,0,0,0,0
$GC,9269,1.27,103.2,754.7,12.6,515,9271,0.08,0.00,0.00,0.000,6,0.125,0.000,3610,1609,1517,0,0,0,0,0,0
$GC,9577,1.24,103.2,710.7,14.3,530,9582,0.10,2.20,0.00,0.000,4,0.187,0.052,3586,2994,1517,0,0,0,0,0,0
$GC,9667,1.24,103.2,698.3,13.6,534,9671,0.00,2.15,0.00,0.000,6,0.000,0.037,3593,1596,1517,0,0,0,0,0,0
$GC,9987,1.24,103.2,657.1,12.6,550,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1597,1516,0,0,0,0,0,0
$GC,10298,1.24,103.2,617.2,12.7,565,10302,0.00,2.25,0.00,0.000,4,0.000,0.054,3605,199,1516,0,0,0,0,0,0
$GC,10331,1.19,103.2,612.6,13.4,566,10337,0.15,2.17,0.00,0.000,6,0.174,0.037,3566,1605,1516,0,0,0,0,0,0
$GC,10646,1.24,103.2,575.0,11.5,582,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1606,1516,0,0,0,0,0,0
$GC,10956,1.29,103.2,539.7,11.2,597,10961,0.10,2.28,0.00,0.000,4,0.099,0.052,3627,199,1516,0,0,0,0,0,0
$GC,11011,1.20,103.2,532.1,13.5,599,11017,0.20,2.17,0.00,0.000,6,0.173,0.037,3573,1608,1516,0,0,0,0,0,0
$GC,11328,1.25,103.2,495.5,11.6,615,11332,0.00,2.28,0.00,0.000,4,0.000,0.053,3582,202,1516,0,0,0,0,0,0
$GC,11382,1.25,103.2,488.5,12.4,617,11387,0.00,2.20,0.00,0.000,6,0.000,0.035,3582,1606,1515,0,0,0,0,0,0
$GC,11699,1.25,103.2,450.1,12.2,633,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1606,1515,0,0,0,0,0,0
$GC,12007,1.25,103.2,412.2,12.5,648,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1606,1515,0,0,0,0,0,0
$GC,12318,1.28,103.2,374.0,12.3,663,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1606,1515,0,0,0,0,0,0
$GC,12626,1.31,103.2,337.0,11.8,678,12631,0.08,2.28,0.00,0.000,4,0.124,0.051,3631,202,1515,0,0,0,0,0,0
$GC,12704,1.23,103.2,326.4,13.4,681,12709,0.17,2.17,0.00,0.000,6,0.172,0.035,3584,1602,1515,0,0,0,0,0,0
$GC,13022,1.23,103.2,290.9,10.8,697,13026,0.00,2.28,0.00,0.000,4,0.000,0.052,3593,200,1515,0,0,0,0,0,0
$GC,13077,1.23,103.2,284.2,10.8,699,13082,0.00,2.20,0.00,0.000,6,0.000,0.037,3593,1600,1515,0,0,0,0,0,0
$GC,13395,1.23,103.2,249.8,11.0,715,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1600,1515,0,0,0,0,0,0
$GC,13702,1.23,103.2,214.0,12.1,730,13706,0.00,2.22,0.00,0.000,4,0.000,0.054,3593,3001,1514,0,0,0,0,0,0
$GC,13818,1.23,103.2,199.5,12.2,735,13823,0.08,2.15,0.00,0.000,6,0.213,0.035,3585,1596,1515,0,0,0,0,0,0
$GC,14149,1.27,103.2,164.0,10.8,751,14153,0.00,2.25,0.00,0.000,4,0.000,0.054,3594,203,1515,0,0,0,0,0,0
$GC,14204,1.27,103.2,157.2,11.6,753,14209,0.00,2.20,0.00,0.000,6,0.000,0.034,3594,1609,1514,0,0,0,0,0,0
$GC,14522,1.27,103.2,122.8,11.0,769,14526,0.00,2.28,0.00,0.000,4,0.000,0.050,3604,205,1515,0,0,0,0,0,0
$GC,14588,1.27,103.2,114.4,11.9,772,14592,0.00,2.17,0.00,0.000,6,0.000,0.034,3603,1599,1515,0,0,0,0,0,0
$GC,14906,1.27,103.2,77.6,11.4,789,14913,0.00,2.25,0.00,0.000,4,0.000,0.054,3603,2992,1515,0,0,0,0,0,0
$GC,14988,1.27,103.2,67.7,11.8,803,14994,0.08,2.12,0.00,0.000,6,0.213,0.035,3596,1602,1515,0,0,0,0,0,0
$GC,15350,1.30,103.2,27.1,11.1,864,15357,0.00,2.25,0.00,0.000,4,0.000,0.050,3595,2995,1515,0,0,0,0,0,0
$GC,15433,1.30,103.2,17.1,11.5,877,15440,0.00,2.15,0.00,0.000,6,0.000,0.034,3603,1607,1515,0,0,0,0,0,0
$GC,15492,1.30,103.2,10.5,10.6,886,15498,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1608,1515,0,0,0,0,0,0
$GC,15551,1.33,103.2,4.8,10.1,895,15558,0.00,2.28,0.00,0.000,4,0.000,0.054,3614,205,1515,0,0,0,0,0,0
$STATE,15565,end climb,SURFACE_DEPTH_REACHED
$STATE,15565,begin surface coast
$FINISH,2.1,1.007112
$STATE,15597,end surface coast,CONTROL_FINISHED_OK
$STATE,15597,begin surface
$SM_CCo,15619,46.50,0.057,0,0,1132,200.16
$SM_GC,3.75,0.00,0.00,46.50,0.000,0.000,0.057,66,2069,1132,-9.75,0.25,200.16
$IRIDIUM_FIX,-4447.43,628.16,200908,202036
$TT8_MAMPS,0.026964
$HUMID,64.80
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,1
$24V_AH,21.9,64.521
$10V_AH,9.7,67.753
$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,25.900,117.500,205.150,46.500,0.000,24.702,21.265,318.286,0.250,0.000,19.933,1959.969,11091.835,362.881,2509.513,265.119,0.000,1266.070,0.000,2051.354,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,66.555,1250.775,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.844,1321.583,742.668,447.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,63822,902
$CAP_FILE_SIZE,136285,0
$CFSIZE,2097086464,2019491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251115,174633,-4504.218,622.540,29,1.1,29,-24.3