version: 66.07.10.p01
glider: 573
mission: 12
dive: 562
start: 11 27 115 6 33 6
data:
$ID,573
$MISSION,12
$DIVE,562
$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,-22761.162
$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,36
$R_STBD_OVSHOOT,53
$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,561
$GPS1,271115,062434,-4456.485,625.050,39,0.9,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-68.0
$GPS2,271115,063246,-4456.534,625.107,17,1.1,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,328.7,1756,-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,-49.9,0.0,0.0,0,35,0.00,0.00,-6.45,0.000,2,0.000,0.000,81,2091,1252,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.0,-0.0,1,114,11.48,2.28,-56.33,0.000,4,0.235,0.074,2804,3435,2423,0,0,0,0,0,0
$GC,264,-1.13,-116.8,30.9,-15.4,37,271,0.03,2.20,0.00,0.000,6,0.208,0.041,2811,2058,2426,0,0,0,0,0,0
$GC,414,-1.13,-116.8,55.8,-16.4,62,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2058,2426,0,0,0,0,0,0
$GC,752,-1.13,-116.8,111.7,-17.0,97,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2058,2426,0,0,0,0,0,0
$GC,1058,-1.13,-116.8,161.1,-15.0,112,1062,0.00,2.28,0.00,0.000,4,0.000,0.056,2811,651,2427,0,0,0,0,0,0
$GC,1077,-1.13,-116.8,163.9,-15.9,113,1082,0.05,2.20,0.00,0.000,6,0.254,0.044,2812,2038,2427,0,0,0,0,0,0
$GC,1406,-1.13,-116.8,213.7,-14.9,129,1410,0.00,2.33,0.00,0.000,4,0.000,0.061,2801,3467,2426,0,0,0,0,0,0
$GC,1477,-1.13,-116.8,225.1,-15.6,132,1482,0.08,2.22,0.00,0.000,6,0.210,0.042,2817,2050,2427,0,0,0,0,0,0
$GC,1799,-1.18,-116.8,271.1,-14.2,148,1803,0.00,2.22,0.00,0.000,4,0.000,0.055,2821,656,2427,0,0,0,0,0,0
$GC,1832,-1.18,-116.8,276.4,-14.8,149,1836,0.00,2.22,0.00,0.000,6,0.000,0.040,2813,2071,2427,0,0,0,0,0,0
$GC,2155,-1.21,-116.8,321.9,-14.0,165,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2070,2427,0,0,0,0,0,0
$GC,2462,-1.25,-116.8,364.3,-13.7,180,2467,0.10,2.25,0.00,0.000,4,0.108,0.058,2755,3465,2428,0,0,0,0,0,0
$GC,2518,-1.19,-116.8,372.7,-15.8,182,2524,0.17,2.20,0.00,0.000,6,0.185,0.040,2800,2048,2427,0,0,0,0,0,0
$GC,2832,-1.19,-116.8,417.0,-14.2,198,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2048,2427,0,0,0,0,0,0
$GC,3143,-1.19,-116.8,459.4,-13.4,213,3147,0.00,2.22,0.00,0.000,4,0.000,0.054,2800,652,2427,0,0,0,0,0,0
$GC,3164,-1.19,-116.8,462.7,-14.1,214,3168,0.00,2.22,0.00,0.000,6,0.000,0.039,2791,2066,2427,0,0,0,0,0,0
$GC,3490,-1.19,-116.8,508.8,-14.4,230,3494,0.00,2.28,0.00,0.000,4,0.000,0.061,2781,3468,2427,0,0,0,0,0,0
$GC,3511,-1.19,-116.8,512.0,-14.6,231,3516,0.08,2.22,0.00,0.000,6,0.213,0.043,2797,2054,2427,0,0,0,0,0,0
$GC,3839,-1.19,-116.8,560.5,-15.2,247,3843,0.00,2.25,0.00,0.000,4,0.000,0.057,2799,652,2427,0,0,0,0,0,0
$GC,3860,-1.19,-116.8,564.2,-15.7,248,3864,0.00,2.25,0.00,0.000,6,0.000,0.044,2790,2051,2427,0,0,0,0,0,0
$GC,4186,-1.19,-116.8,612.6,-14.7,264,4190,0.00,2.28,0.00,0.000,4,0.000,0.058,2780,3472,2427,0,0,0,0,0,0
$GC,4224,-1.19,-116.8,618.3,-14.4,265,4230,0.05,2.25,0.00,0.000,6,0.184,0.044,2797,2062,2427,0,0,0,0,0,0
$GC,4541,-1.22,-116.8,663.0,-14.4,281,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2062,2427,0,0,0,0,0,0
$GC,4849,-1.25,-116.8,704.9,-13.4,296,4853,0.00,2.25,0.00,0.000,4,0.000,0.056,2799,656,2427,0,0,0,0,0,0
$GC,4872,-1.25,-116.8,708.1,-14.1,297,4876,0.00,2.22,0.00,0.000,6,0.000,0.042,2790,2064,2427,0,0,0,0,0,0
$GC,5194,-1.25,-116.8,753.0,-14.0,313,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2064,2427,0,0,0,0,0,0
$GC,5502,-1.25,-116.8,793.9,-13.1,328,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2064,2427,0,0,0,0,0,0
$GC,5813,-1.28,-116.8,833.8,-13.0,343,5817,0.05,2.30,0.00,0.000,4,0.164,0.064,2746,3465,2427,0,0,0,0,0,0
$GC,5862,-1.24,-116.8,841.3,-14.6,345,5867,0.15,2.22,0.00,0.000,6,0.187,0.043,2783,2052,2426,0,0,0,0,0,0
$GC,6183,-1.24,-116.8,883.1,-13.2,361,6187,0.00,2.28,0.00,0.000,4,0.000,0.058,2784,648,2426,0,0,0,0,0,0
$GC,6216,-1.24,-116.8,887.9,-14.0,362,6220,0.00,2.25,0.00,0.000,6,0.000,0.044,2776,2064,2426,0,0,0,0,0,0
$GC,6537,-1.24,-116.8,930.4,-13.1,378,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2064,2426,0,0,0,0,0,0
$GC,6847,-1.24,-116.8,970.8,-12.8,393,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2064,2425,0,0,0,0,0,0
$STATE,7093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7093,begin apogee
$GC,7099,-0.19,0.0,1001.0,12.0,405,7215,1.20,0.00,112.40,1.255,6,0.164,0.000,3115,1600,1950,0,0,0,0,0,0
$STATE,7216,end apogee,CONTROL_FINISHED_OK
$STATE,7216,begin climb
$GC,7219,1.13,116.8,1003.6,0.0,411,7343,1.33,0.00,120.12,1.209,6,0.084,0.000,3548,1599,1474,0,0,0,0,0,0
$GC,7645,1.22,116.8,950.8,13.6,432,7650,0.08,2.38,0.00,0.000,4,0.118,0.056,3601,191,1466,0,0,0,0,0,0
$GC,7729,1.18,116.8,937.4,16.6,436,7734,0.12,2.28,0.00,0.000,6,0.171,0.036,3569,1611,1465,0,0,0,0,0,0
$GC,8056,1.23,116.8,891.9,13.4,452,8060,0.00,2.33,0.00,0.000,4,0.000,0.053,3578,186,1464,0,0,0,0,0,0
$GC,8095,1.23,116.8,886.2,14.0,454,8099,0.00,2.22,0.00,0.000,6,0.000,0.036,3577,1602,1463,0,0,0,0,0,0
$GC,8420,1.23,116.8,842.3,13.5,470,8424,0.00,2.28,0.00,0.000,4,0.000,0.052,3587,195,1463,0,0,0,0,0,0
$GC,8448,1.23,116.8,838.4,13.6,471,8451,0.00,2.20,0.00,0.000,6,0.000,0.036,3587,1603,1463,0,0,0,0,0,0
$GC,8769,1.23,116.8,792.1,14.8,487,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1603,1463,0,0,0,0,0,0
$GC,9077,1.23,116.8,746.3,14.7,502,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1602,1462,0,0,0,0,0,0
$GC,9388,1.23,116.8,701.3,14.5,517,9392,0.00,2.28,0.00,0.000,4,0.000,0.053,3596,195,1462,0,0,0,0,0,0
$GC,9482,1.23,116.8,686.5,15.7,521,9487,0.08,2.20,0.00,0.000,6,0.197,0.036,3580,1605,1462,0,0,0,0,0,0
$GC,9804,1.26,116.8,640.4,14.2,537,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1606,1462,0,0,0,0,0,0
$GC,10113,1.30,116.8,596.6,14.2,552,10114,0.08,0.00,0.00,0.000,6,0.125,0.000,3619,1606,1462,0,0,0,0,0,0
$GC,10423,1.27,116.8,548.9,15.5,567,10425,0.10,0.00,0.00,0.000,6,0.187,0.000,3595,1607,1462,0,0,0,0,0,0
$GC,10731,1.27,116.8,503.9,14.4,582,10735,0.00,2.28,0.00,0.000,4,0.000,0.054,3605,195,1461,0,0,0,0,0,0
$GC,10802,1.27,116.8,492.6,16.1,585,10806,0.00,2.22,0.00,0.000,6,0.000,0.035,3605,1625,1460,0,0,0,0,0,0
$GC,11124,1.27,116.8,445.3,14.6,601,11128,0.00,2.33,0.00,0.000,4,0.000,0.052,3614,193,1461,0,0,0,0,0,0
$GC,11209,1.23,116.8,432.5,14.7,605,11214,0.12,2.20,0.00,0.000,6,0.177,0.036,3582,1607,1460,0,0,0,0,0,0
$GC,11538,1.27,116.8,388.8,13.0,621,11542,0.00,2.20,0.00,0.000,4,0.000,0.054,3581,3001,1460,0,0,0,0,0,0
$GC,11581,1.27,116.8,382.5,13.8,623,11585,0.00,2.20,0.00,0.000,6,0.000,0.036,3590,1596,1460,0,0,0,0,0,0
$GC,11909,1.27,116.8,340.7,12.6,639,11913,0.00,2.25,0.00,0.000,4,0.000,0.054,3601,192,1460,0,0,0,0,0,0
$GC,11976,1.27,116.8,331.7,13.1,642,11980,0.00,2.20,0.00,0.000,6,0.000,0.036,3601,1601,1460,0,0,0,0,0,0
$GC,12297,1.27,116.8,289.9,13.2,658,12301,0.00,2.22,0.00,0.000,4,0.000,0.054,3601,2992,1460,0,0,0,0,0,0
$GC,12369,1.27,116.8,279.9,13.3,661,12374,0.08,2.17,0.00,0.000,6,0.216,0.036,3594,1581,1460,0,0,0,0,0,0
$GC,12693,1.27,116.8,239.3,12.3,677,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1580,1460,0,0,0,0,0,0
$GC,13000,1.27,116.8,200.8,12.6,692,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1580,1460,0,0,0,0,0,0
$GC,13312,1.30,116.8,163.1,11.9,707,13316,0.00,2.28,0.00,0.000,4,0.000,0.050,3593,3002,1460,0,0,0,0,0,0
$GC,13429,1.30,116.8,146.7,12.9,712,13433,0.00,2.17,0.00,0.000,6,0.000,0.035,3602,1603,1460,0,0,0,0,0,0
$GC,13751,1.30,116.8,106.1,12.6,728,13755,0.00,2.28,0.00,0.000,4,0.000,0.054,3613,195,1460,0,0,0,0,0,0
$GC,13893,1.30,116.8,86.7,14.6,734,13897,0.00,2.20,0.00,0.000,6,0.000,0.036,3607,1614,1460,0,0,0,0,0,0
$GC,14238,1.30,116.8,43.0,11.2,788,14243,0.00,2.30,0.00,0.000,4,0.000,0.050,3616,196,1460,0,0,0,0,0,0
$GC,14412,1.30,116.8,22.1,13.5,816,14420,0.00,2.20,0.00,0.000,6,0.000,0.036,3612,1593,1460,0,0,0,0,0,0
$STATE,14542,end climb,SURFACE_DEPTH_REACHED
$STATE,14542,begin surface coast
$FINISH,1.9,1.006134
$STATE,14563,end surface coast,CONTROL_FINISHED_OK
$STATE,14563,begin surface
$SM_CCo,14583,40.08,0.054,0,0,1133,200.16
$SM_GC,3.16,0.00,0.00,40.08,0.000,0.000,0.054,63,2066,1133,-9.76,0.17,200.16
$IRIDIUM_FIX,-4438.33,618.06,220908,151527
$TT8_MAMPS,0.026964
$HUMID,65.47
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.8,65.378
$10V_AH,9.7,68.605
$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,24.700,109.200,232.525,40.075,0.000,27.846,47.090,265.519,0.000,0.000,20.123,1836.788,10320.344,372.961,2339.897,244.032,0.000,1212.795,0.000,1908.831,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,74.205,1254.600,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.624,1209.429,666.650,391.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353296
$DATA_FILE_SIZE,60399,840
$CAP_FILE_SIZE,123972,0
$CFSIZE,2097086464,2018476032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271115,103821,-4455.531,623.555,54,1.0,54,-24.4