version: 66.07.10.p01
glider: 573
mission: 12
dive: 555
start: 11 25 115 17 55 0
data:
$ID,573
$MISSION,12
$DIVE,555
$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,-22737.002
$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,38
$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,554
$GPS1,251115,174633,-4504.218,622.540,29,1.1,29,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-72.8
$GPS2,251115,175440,-4504.247,622.500,14,2.0,14,-24.3
$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,101.2,2015,-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,-7.65,0.000,2,0.000,0.000,66,2069,1277,0,0,0,0,0,0
$GC,39,-1.13,-116.8,3.1,-0.0,1,121,11.52,2.35,-60.25,0.000,4,0.235,0.077,2801,3456,2427,0,0,0,0,0,0
$GC,283,-1.13,-116.8,30.3,-17.2,40,291,0.03,2.22,0.00,0.000,6,0.221,0.043,2809,2067,2429,0,0,0,0,0,0
$GC,433,-1.13,-116.8,56.4,-17.7,65,438,0.00,2.28,0.00,0.000,4,0.000,0.052,2809,649,2430,0,0,0,0,0,0
$GC,520,-1.10,-116.8,72.6,-18.3,80,525,0.10,2.25,0.00,0.000,6,0.209,0.043,2823,2062,2429,0,0,0,0,0,0
$GC,856,-1.10,-116.8,129.0,-16.5,102,860,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3473,2429,0,0,0,0,0,0
$GC,911,-1.10,-116.8,138.4,-15.9,104,916,0.08,2.22,0.00,0.000,6,0.203,0.043,2829,2056,2429,0,0,0,0,0,0
$GC,1233,-1.15,-116.8,184.7,-14.0,120,1237,0.00,2.25,0.00,0.000,4,0.000,0.056,2829,651,2429,0,0,0,0,0,0
$GC,1272,-1.15,-116.8,190.8,-15.1,121,1277,0.00,2.25,0.00,0.000,6,0.000,0.043,2820,2057,2430,0,0,0,0,0,0
$GC,1590,-1.19,-116.8,235.5,-14.0,137,1592,0.05,0.00,0.00,0.000,6,0.165,0.000,2787,2057,2430,0,0,0,0,0,0
$GC,1897,-1.19,-116.8,282.3,-15.3,152,1901,0.00,2.28,0.00,0.000,4,0.000,0.060,2776,3467,2430,0,0,0,0,0,0
$GC,1938,-1.16,-116.8,288.6,-15.3,154,1943,0.12,2.20,0.00,0.000,6,0.187,0.041,2806,2057,2430,0,0,0,0,0,0
$GC,2264,-1.16,-116.8,337.2,-14.9,170,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2056,2430,0,0,0,0,0,0
$GC,2574,-1.16,-116.8,381.6,-14.3,185,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2056,2430,0,0,0,0,0,0
$GC,2883,-1.19,-116.8,426.1,-14.1,200,2887,0.00,2.22,0.00,0.000,4,0.000,0.055,2808,653,2430,0,0,0,0,0,0
$GC,2937,-1.19,-116.8,434.4,-14.3,202,2943,0.00,2.22,0.00,0.000,6,0.000,0.044,2800,2067,2430,0,0,0,0,0,0
$GC,3252,-1.19,-116.8,480.4,-14.5,218,3256,0.00,2.28,0.00,0.000,4,0.000,0.061,2789,3471,2430,0,0,0,0,0,0
$GC,3291,-1.19,-116.8,486.2,-15.3,220,3295,0.00,2.20,0.00,0.000,6,0.000,0.044,2789,2062,2430,0,0,0,0,0,0
$GC,3617,-1.19,-116.8,533.1,-14.4,236,3621,0.00,2.25,0.00,0.000,4,0.000,0.054,2789,647,2430,0,0,0,0,0,0
$GC,3644,-1.19,-116.8,537.1,-14.9,237,3649,0.10,2.22,0.00,0.000,6,0.210,0.041,2802,2063,2430,0,0,0,0,0,0
$GC,3959,-1.22,-116.8,581.4,-14.1,252,3963,0.00,2.28,0.00,0.000,4,0.000,0.063,2792,3461,2430,0,0,0,0,0,0
$GC,4008,-1.22,-116.8,588.4,-13.8,254,4012,0.00,2.20,0.00,0.000,6,0.000,0.041,2792,2044,2430,0,0,0,0,0,0
$GC,4328,-1.22,-116.8,630.6,-13.0,270,4333,0.00,2.28,0.00,0.000,4,0.000,0.055,2783,3464,2430,0,0,0,0,0,0
$GC,4350,-1.22,-116.8,633.5,-13.1,271,4354,0.00,2.20,0.00,0.000,6,0.000,0.040,2783,2045,2430,0,0,0,0,0,0
$GC,4677,-1.22,-116.8,675.4,-12.7,287,4681,0.00,2.20,0.00,0.000,4,0.000,0.052,2783,660,2430,0,0,0,0,0,0
$GC,4739,-1.22,-116.8,684.2,-14.1,290,4743,0.08,2.20,0.00,0.000,6,0.223,0.040,2788,2059,2429,0,0,0,0,0,0
$GC,5064,-1.22,-116.8,727.0,-13.4,306,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2059,2429,0,0,0,0,0,0
$GC,5375,-1.22,-116.8,767.2,-12.9,321,5379,0.00,2.28,0.00,0.000,4,0.000,0.064,2779,3461,2429,0,0,0,0,0,0
$GC,5414,-1.22,-116.8,772.6,-14.2,323,5418,0.00,2.17,0.00,0.000,6,0.000,0.041,2779,2061,2429,0,0,0,0,0,0
$GC,5742,-1.22,-116.8,816.6,-13.8,339,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2061,2429,0,0,0,0,0,0
$GC,6049,-1.22,-116.8,858.9,-14.0,354,6053,0.00,2.25,0.00,0.000,4,0.000,0.055,2779,653,2429,0,0,0,0,0,0
$GC,6076,-1.22,-116.8,862.7,-15.1,355,6081,0.08,2.22,0.00,0.000,6,0.220,0.042,2785,2059,2429,0,0,0,0,0,0
$GC,6398,-1.22,-116.8,905.2,-13.6,371,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2060,2429,0,0,0,0,0,0
$GC,6706,-1.22,-116.8,946.7,-13.1,386,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2060,2429,0,0,0,0,0,0
$GC,7017,-1.22,-116.8,986.7,-12.8,401,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2060,2428,0,0,0,0,0,0
$STATE,7138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7138,begin apogee
$GC,7145,-0.19,0.0,1002.4,12.6,407,7261,1.17,0.00,112.47,1.252,6,0.163,0.000,3120,1604,1949,0,0,0,0,0,0
$STATE,7262,end apogee,CONTROL_FINISHED_OK
$STATE,7262,begin climb
$GC,7264,1.13,116.8,1006.0,0.0,413,7395,1.30,2.55,119.65,1.211,4,0.084,0.052,3554,196,1473,0,0,0,0,0,0
$GC,7412,1.18,116.8,993.1,14.3,420,7416,0.00,2.45,0.00,0.000,6,0.000,0.036,3554,1613,1471,0,0,0,0,0,0
$GC,7728,1.25,116.8,948.9,13.9,435,7730,0.10,0.00,0.00,0.000,6,0.097,0.000,3606,1613,1466,0,0,0,0,0,0
$GC,8036,1.25,116.8,898.6,16.5,450,8037,0.08,0.00,0.00,0.000,6,0.200,0.000,3590,1614,1464,0,0,0,0,0,0
$GC,8346,1.25,116.8,851.2,15.2,465,8350,0.00,2.33,0.00,0.000,4,0.000,0.052,3599,189,1464,0,0,0,0,0,0
$GC,8396,1.22,116.8,843.2,15.9,467,8401,0.10,2.22,0.00,0.000,6,0.184,0.037,3575,1609,1463,0,0,0,0,0,0
$GC,8711,1.25,116.8,798.9,13.8,482,8715,0.00,2.22,0.00,0.000,4,0.000,0.054,3574,2998,1463,0,0,0,0,0,0
$GC,8733,1.25,116.8,795.5,14.8,483,8737,0.00,2.20,0.00,0.000,6,0.000,0.036,3582,1597,1463,0,0,0,0,0,0
$GC,9060,1.25,116.8,749.1,14.4,499,9064,0.00,2.28,0.00,0.000,4,0.000,0.054,3594,190,1463,0,0,0,0,0,0
$GC,9126,1.25,116.8,738.9,15.5,502,9130,0.00,2.20,0.00,0.000,6,0.000,0.035,3593,1605,1462,0,0,0,0,0,0
$GC,9452,1.25,116.8,691.8,14.3,518,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1606,1462,0,0,0,0,0,0
$GC,9763,1.25,116.8,648.1,14.2,533,9767,0.00,2.30,0.00,0.000,4,0.000,0.052,3603,192,1462,0,0,0,0,0,0
$GC,9807,1.22,116.8,641.3,15.5,535,9811,0.10,2.20,0.00,0.000,6,0.185,0.034,3579,1610,1461,0,0,0,0,0,0
$GC,10128,1.25,116.8,598.0,13.6,551,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1610,1461,0,0,0,0,0,0
$GC,10438,1.30,116.8,555.3,13.8,566,10439,0.05,0.00,0.00,0.000,6,0.172,0.000,3616,1610,1461,0,0,0,0,0,0
$GC,10746,1.30,116.8,508.6,15.1,581,10748,0.05,0.00,0.00,0.000,6,0.233,0.000,3606,1610,1461,0,0,0,0,0,0
$GC,11055,1.30,116.8,463.9,14.4,596,11059,0.00,2.30,0.00,0.000,4,0.000,0.053,3615,195,1461,0,0,0,0,0,0
$GC,11094,1.25,116.8,458.1,14.6,598,11099,0.10,2.17,0.00,0.000,6,0.188,0.035,3590,1603,1461,0,0,0,0,0,0
$GC,11420,1.25,116.8,413.6,13.7,614,11424,0.00,2.30,0.00,0.000,4,0.000,0.052,3599,186,1460,0,0,0,0,0,0
$GC,11458,1.25,116.8,408.0,15.1,616,11463,0.03,2.20,0.00,0.000,6,0.267,0.035,3589,1606,1460,0,0,0,0,0,0
$GC,11783,1.25,116.8,365.7,12.4,632,11787,0.00,2.28,0.00,0.000,4,0.000,0.051,3598,195,1460,0,0,0,0,0,0
$GC,11822,1.25,116.8,360.6,13.3,633,11827,0.03,2.20,0.00,0.000,6,0.186,0.034,3590,1599,1460,0,0,0,0,0,0
$GC,12138,1.28,116.8,321.0,12.4,649,12143,0.00,2.28,0.00,0.000,4,0.000,0.052,3598,193,1460,0,0,0,0,0,0
$GC,12194,1.28,116.8,313.2,13.6,651,12198,0.00,2.22,0.00,0.000,6,0.000,0.037,3597,1605,1460,0,0,0,0,0,0
$GC,12512,1.28,116.8,271.9,13.2,667,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1606,1460,0,0,0,0,0,0
$GC,12819,1.28,116.8,230.4,13.6,682,12823,0.00,2.30,0.00,0.000,4,0.000,0.051,3606,190,1460,0,0,0,0,0,0
$GC,12847,1.28,116.8,226.5,12.8,683,12851,0.00,2.22,0.00,0.000,6,0.000,0.034,3606,1625,1460,0,0,0,0,0,0
$GC,13171,1.28,116.8,183.0,13.6,699,13175,0.00,2.33,0.00,0.000,4,0.000,0.051,3615,193,1460,0,0,0,0,0,0
$GC,13215,1.24,116.8,176.4,14.0,701,13220,0.12,2.17,0.00,0.000,6,0.176,0.034,3583,1602,1460,0,0,0,0,0,0
$GC,13540,1.29,116.8,136.5,12.2,717,13544,0.00,2.30,0.00,0.000,4,0.000,0.052,3592,187,1460,0,0,0,0,0,0
$GC,13583,1.29,116.8,130.9,12.4,719,13588,0.00,2.20,0.00,0.000,6,0.000,0.035,3592,1606,1460,0,0,0,0,0,0
$GC,13913,1.33,116.8,91.4,11.9,735,13915,0.05,0.00,0.00,0.000,6,0.170,0.000,3620,1607,1460,0,0,0,0,0,0
$GC,14243,1.33,116.8,49.1,13.0,780,14251,0.00,2.33,0.00,0.000,4,0.000,0.052,3630,193,1460,0,0,0,0,0,0
$GC,14341,1.28,116.8,36.1,13.8,796,14349,0.08,2.20,0.00,0.000,6,0.153,0.034,3604,1596,1460,0,0,0,0,0,0
$GC,14499,1.28,116.8,16.2,12.0,821,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1596,1460,0,0,0,0,0,0
$GC,14558,1.28,116.8,8.9,13.0,830,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1597,1460,0,0,0,0,0,0
$STATE,14601,end climb,SURFACE_DEPTH_REACHED
$STATE,14601,begin surface coast
$FINISH,2.2,1.003501
$STATE,14627,end surface coast,CONTROL_FINISHED_OK
$STATE,14627,begin surface
$SM_CCo,14647,39.53,0.055,0,0,1133,200.16
$SM_GC,3.56,0.00,0.00,39.53,0.000,0.000,0.055,73,2074,1133,-9.72,0.40,200.16
$IRIDIUM_FIX,-4444.39,621.76,210908,020253
$TT8_MAMPS,0.028462
$HUMID,65.71
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.8,64.623
$10V_AH,9.7,67.842
$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,24.775,118.650,232.125,39.525,0.000,24.218,42.711,271.159,0.000,0.000,17.453,1824.137,10425.123,370.114,2306.155,245.413,0.000,1228.183,0.000,1878.791,0.000,0.539,0.000
$DEVICE_MAMPS,266.985,77.265,1251.540,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.128,1218.155,673.516,402.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,60498,841
$CAP_FILE_SIZE,128152,0
$CFSIZE,2097086464,2019393536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251115,220104,-4504.344,625.739,39,0.8,39,-24.4