version: 66.07.10.p01
glider: 573
mission: 12
dive: 566
start: 11 28 115 6 5 55
data:
$ID,573
$MISSION,12
$DIVE,566
$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,-22776.025
$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,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,565
$GPS1,281115,055633,-4456.987,636.443,36,0.8,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-72.4
$GPS2,281115,060534,-4457.007,636.528,18,1.6,18,-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,4.0,1990,-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,-19.60,0.000,2,0.000,0.000,61,2069,1517,0,0,0,0,0,0
$GC,50,-1.13,-105.5,3.2,-2.2,3,114,11.60,2.35,-41.92,0.000,4,0.239,0.067,2812,659,2382,0,0,0,0,0,0
$GC,265,-1.08,-105.5,27.1,-17.4,37,273,0.05,2.25,0.00,0.000,6,0.187,0.041,2820,2050,2384,0,0,0,0,0,0
$GC,418,-1.08,-105.5,51.2,-15.1,62,423,0.00,2.25,0.00,0.000,4,0.000,0.050,2820,652,2384,0,0,0,0,0,0
$GC,458,-1.08,-105.5,58.2,-16.3,69,466,0.05,2.28,0.00,0.000,6,0.178,0.041,2826,2067,2384,0,0,0,0,0,0
$GC,792,-1.08,-105.5,108.7,-14.7,103,796,0.00,2.22,0.00,0.000,4,0.000,0.060,2817,3465,2384,0,0,0,0,0,0
$GC,809,-1.08,-105.5,111.6,-14.5,104,814,0.08,2.17,0.00,0.000,6,0.187,0.040,2834,2057,2384,0,0,0,0,0,0
$GC,1138,-1.14,-105.5,155.9,-12.9,120,1142,0.00,2.25,0.00,0.000,4,0.000,0.057,2834,651,2384,0,0,0,0,0,0
$GC,1278,-1.14,-105.5,176.3,-15.4,126,1282,0.00,2.25,0.00,0.000,6,0.000,0.042,2825,2073,2385,0,0,0,0,0,0
$GC,1606,-1.19,-105.5,219.7,-13.4,142,1611,0.08,2.22,0.00,0.000,4,0.125,0.054,2775,3466,2385,0,0,0,0,0,0
$GC,1639,-1.15,-105.5,224.9,-15.3,143,1644,0.15,2.17,0.00,0.000,6,0.174,0.039,2813,2051,2385,0,0,0,0,0,0
$GC,1955,-1.15,-105.5,270.1,-14.6,158,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2051,2385,0,0,0,0,0,0
$GC,2264,-1.18,-105.5,315.0,-14.7,173,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2051,2385,0,0,0,0,0,0
$GC,2572,-1.22,-105.5,359.3,-14.1,188,2577,0.08,2.22,0.00,0.000,4,0.124,0.054,2773,661,2385,0,0,0,0,0,0
$GC,2635,-1.14,-105.5,369.0,-16.6,191,2640,0.20,2.20,0.00,0.000,6,0.185,0.040,2815,2063,2385,0,0,0,0,0,0
$GC,2964,-1.18,-105.5,415.1,-13.9,207,2968,0.00,2.28,0.00,0.000,4,0.000,0.054,2815,652,2385,0,0,0,0,0,0
$GC,3019,-1.18,-105.5,423.9,-15.0,209,3024,0.00,2.25,0.00,0.000,6,0.000,0.043,2807,2059,2385,0,0,0,0,0,0
$GC,3335,-1.18,-105.5,470.3,-15.0,225,3339,0.00,2.25,0.00,0.000,4,0.000,0.062,2796,3463,2385,0,0,0,0,0,0
$GC,3379,-1.18,-105.5,477.2,-15.1,227,3383,0.00,2.22,0.00,0.000,6,0.000,0.042,2796,2045,2385,0,0,0,0,0,0
$GC,3707,-1.18,-105.5,522.1,-13.4,243,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2045,2385,0,0,0,0,0,0
$GC,4015,-1.18,-105.5,562.3,-12.7,258,4019,0.00,2.25,0.00,0.000,4,0.000,0.054,2796,646,2385,0,0,0,0,0,0
$GC,4109,-1.18,-105.5,574.8,-12.8,262,4114,0.05,2.20,0.00,0.000,6,0.246,0.041,2796,2064,2385,0,0,0,0,0,0
$GC,4425,-1.18,-105.5,614.0,-12.8,277,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2064,2385,0,0,0,0,0,0
$GC,4733,-1.18,-105.5,653.4,-12.7,292,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2064,2384,0,0,0,0,0,0
$GC,5044,-1.18,-105.5,692.2,-12.6,307,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2064,2384,0,0,0,0,0,0
$GC,5352,-1.18,-105.5,731.1,-12.4,322,5356,0.00,2.30,0.00,0.000,4,0.000,0.056,2797,657,2383,0,0,0,0,0,0
$GC,5401,-1.18,-105.5,737.7,-13.4,324,5405,0.00,2.22,0.00,0.000,6,0.000,0.044,2788,2059,2383,0,0,0,0,0,0
$GC,5721,-1.18,-105.5,778.4,-12.5,340,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2058,2383,0,0,0,0,0,0
$GC,6032,-1.18,-105.5,817.1,-12.7,355,6036,0.00,2.30,0.00,0.000,4,0.000,0.057,2788,651,2383,0,0,0,0,0,0
$GC,6070,-1.18,-105.5,822.2,-13.4,356,6076,0.05,2.25,0.00,0.000,6,0.185,0.044,2794,2048,2382,0,0,0,0,0,0
$GC,6385,-1.21,-105.5,863.0,-13.2,372,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2048,2382,0,0,0,0,0,0
$GC,6696,-1.25,-105.5,904.3,-13.3,387,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2048,2382,0,0,0,0,0,0
$GC,7004,-1.28,-105.5,945.5,-13.5,402,7009,0.08,2.28,0.00,0.000,4,0.120,0.057,2740,3471,2382,0,0,0,0,0,0
$GC,7043,-1.22,-105.5,951.1,-15.7,404,7048,0.20,2.20,0.00,0.000,6,0.176,0.044,2791,2062,2382,0,0,0,0,0,0
$GC,7370,-1.25,-105.5,992.7,-12.3,420,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2061,2382,0,0,0,0,0,0
$STATE,7448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7448,begin apogee
$GC,7455,-0.19,0.0,1002.2,11.5,424,7561,1.12,0.00,102.43,1.252,6,0.161,0.000,3113,1594,1950,0,0,0,0,0,0
$STATE,7562,end apogee,CONTROL_FINISHED_OK
$STATE,7562,begin climb
$GC,7564,1.13,105.5,1004.7,0.0,429,7677,1.33,0.00,108.40,1.214,6,0.086,0.000,3546,1594,1520,0,0,0,0,0,0
$GC,7982,1.20,105.5,952.8,14.5,450,7987,0.08,2.33,0.00,0.000,4,0.119,0.054,3601,196,1513,0,0,0,0,0,0
$GC,8026,1.14,105.5,945.4,16.5,452,8031,0.17,2.25,0.00,0.000,6,0.164,0.035,3557,1616,1512,0,0,0,0,0,0
$GC,8348,1.20,105.5,898.7,14.6,468,8352,0.00,2.22,0.00,0.000,4,0.000,0.056,3557,3000,1510,0,0,0,0,0,0
$GC,8397,1.24,105.5,891.2,15.2,470,8402,0.00,2.17,0.00,0.000,6,0.000,0.035,3565,1590,1510,0,0,0,0,0,0
$GC,8714,1.28,105.5,846.3,14.2,485,8719,0.10,2.22,0.00,0.000,4,0.103,0.054,3626,202,1509,0,0,0,0,0,0
$GC,8763,1.19,105.5,838.0,16.5,487,8768,0.20,2.17,0.00,0.000,6,0.173,0.037,3573,1600,1508,0,0,0,0,0,0
$GC,9078,1.19,105.5,792.9,14.0,502,9082,0.00,2.25,0.00,0.000,4,0.000,0.055,3573,3000,1508,0,0,0,0,0,0
$GC,9156,1.19,105.5,781.8,13.9,505,9160,0.00,2.17,0.00,0.000,6,0.000,0.035,3580,1595,1508,0,0,0,0,0,0
$GC,9472,1.19,105.5,738.8,13.5,521,9476,0.00,2.22,0.00,0.000,4,0.000,0.054,3591,201,1508,0,0,0,0,0,0
$GC,9578,1.19,105.5,723.4,13.9,526,9583,0.10,2.17,0.00,0.000,6,0.186,0.037,3568,1604,1507,0,0,0,0,0,0
$GC,9904,1.23,105.5,683.0,12.1,542,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1604,1507,0,0,0,0,0,0
$GC,10215,1.28,105.5,647.9,11.0,557,10217,0.08,0.00,0.00,0.000,6,0.126,0.000,3613,1604,1507,0,0,0,0,0,0
$GC,10523,1.24,105.5,609.3,12.8,572,10525,0.12,0.00,0.00,0.000,6,0.181,0.000,3582,1605,1507,0,0,0,0,0,0
$GC,10833,1.24,105.5,573.5,12.0,587,10837,0.00,2.28,0.00,0.000,4,0.000,0.054,3592,196,1507,0,0,0,0,0,0
$GC,10904,1.24,105.5,564.6,12.6,590,10909,0.00,2.17,0.00,0.000,6,0.000,0.036,3592,1605,1506,0,0,0,0,0,0
$GC,11225,1.24,105.5,526.7,11.9,606,11229,0.00,2.20,0.00,0.000,4,0.000,0.053,3592,2999,1507,0,0,0,0,0,0
$GC,11268,1.24,105.5,521.2,13.1,608,11273,0.08,2.17,0.00,0.000,6,0.218,0.036,3585,1602,1506,0,0,0,0,0,0
$GC,11594,1.24,105.5,481.8,12.2,624,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1602,1506,0,0,0,0,0,0
$GC,11905,1.24,105.5,443.1,12.7,639,11909,0.00,2.25,0.00,0.000,4,0.000,0.054,3595,198,1507,0,0,0,0,0,0
$GC,11982,1.24,105.5,432.3,13.7,642,11987,0.00,2.20,0.00,0.000,6,0.000,0.037,3594,1595,1506,0,0,0,0,0,0
$GC,12297,1.24,105.5,390.3,13.4,658,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1595,1506,0,0,0,0,0,0
$GC,12607,1.24,105.5,350.1,12.9,673,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1594,1506,0,0,0,0,0,0
$GC,12915,1.24,105.5,310.8,12.8,688,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1595,1506,0,0,0,0,0,0
$GC,13228,1.24,105.5,273.0,11.8,703,13232,0.00,2.25,0.00,0.000,4,0.000,0.051,3603,199,1506,0,0,0,0,0,0
$GC,13295,1.21,105.5,263.7,12.6,706,13300,0.12,2.20,0.00,0.000,6,0.181,0.037,3572,1606,1506,0,0,0,0,0,0
$GC,13617,1.27,105.5,226.6,11.6,722,13621,0.05,2.28,0.00,0.000,4,0.166,0.052,3616,193,1506,0,0,0,0,0,0
$GC,13683,1.22,105.5,218.1,14.3,725,13688,0.15,2.17,0.00,0.000,6,0.178,0.035,3576,1608,1506,0,0,0,0,0,0
$GC,14013,1.28,105.5,178.9,11.5,741,14018,0.00,2.30,0.00,0.000,4,0.000,0.053,3586,199,1506,0,0,0,0,0,0
$GC,14155,1.28,105.5,161.3,11.8,747,14159,0.00,2.20,0.00,0.000,6,0.000,0.037,3584,1605,1506,0,0,0,0,0,0
$GC,14471,1.32,105.5,128.4,9.9,762,14476,0.08,2.20,0.00,0.000,4,0.129,0.051,3620,2992,1506,0,0,0,0,0,0
$GC,14585,1.28,105.5,114.8,12.4,767,14590,0.12,2.15,0.00,0.000,6,0.191,0.036,3599,1597,1506,0,0,0,0,0,0
$GC,14908,1.28,105.5,77.6,12.0,783,14916,0.00,2.28,0.00,0.000,4,0.000,0.054,3609,208,1506,0,0,0,0,0,0
$GC,14987,1.28,105.5,67.6,12.7,796,14993,0.00,2.17,0.00,0.000,6,0.000,0.034,3607,1619,1506,0,0,0,0,0,0
$GC,15345,1.28,105.5,25.7,11.6,857,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1620,1506,0,0,0,0,0,0
$GC,15500,1.28,105.5,7.8,12.0,882,15508,0.00,2.20,0.00,0.000,4,0.000,0.054,3607,2984,1506,0,0,0,0,0,0
$STATE,15539,end climb,SURFACE_DEPTH_REACHED
$STATE,15539,begin surface coast
$FINISH,2.0,1.023304
$STATE,15547,end surface coast,CONTROL_FINISHED_OK
$STATE,15547,begin surface
$SM_CCo,15567,45.00,0.055,0,0,1134,200.16
$SM_GC,3.60,0.00,0.00,45.00,0.000,0.000,0.055,65,2067,1134,-9.75,0.20,200.16
$IRIDIUM_FIX,-4438.33,633.17,230908,131316
$TT8_MAMPS,0.026964
$HUMID,64.76
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,1
$24V_AH,21.9,65.834
$10V_AH,9.7,69.095
$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,25.875,115.900,210.825,45.000,0.000,24.130,18.561,323.564,0.250,0.000,21.769,1947.569,11039.304,371.569,2514.736,269.155,0.000,1275.239,0.000,2056.906,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,66.555,1251.540,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.252,1294.135,719.498,419.772,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353220
$DATA_FILE_SIZE,63699,889
$CAP_FILE_SIZE,135414,0
$CFSIZE,2097086464,2017918976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281115,102726,-4455.840,636.215,38,1.5,41,-24.4