version: 66.07.10.p01
glider: 573
mission: 12
dive: 570
start: 11 29 115 4 4 6
data:
$ID,573
$MISSION,12
$DIVE,570
$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,-22788.971
$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,55
$R_STBD_OVSHOOT,43
$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,569
$GPS1,291115,035603,-4504.691,636.730,32,0.8,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-70.2
$GPS2,291115,040346,-4504.714,636.704,17,0.8,18,-24.4
$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,349.6,1612,-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,25,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-18.00,0.000,2,0.000,0.000,77,2030,1483,0,0,0,0,0,0
$GC,50,-1.13,-111.0,3.1,-1.5,3,114,11.55,2.22,-47.03,0.000,4,0.236,0.067,2814,679,2402,0,0,0,0,0,0
$GC,175,-1.13,-111.0,10.3,-14.7,22,182,0.00,2.22,0.00,0.000,6,0.000,0.045,2806,2042,2404,0,0,0,0,0,0
$GC,234,-1.13,-111.0,20.3,-16.2,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2043,2405,0,0,0,0,0,0
$GC,385,-1.13,-111.0,46.3,-18.0,56,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2042,2405,0,0,0,0,0,0
$GC,730,-1.13,-111.0,105.1,-17.0,98,734,0.00,2.33,0.00,0.000,4,0.000,0.062,2795,3468,2405,0,0,0,0,0,0
$GC,824,-1.13,-111.0,122.7,-18.3,102,829,0.05,2.20,0.00,0.000,6,0.163,0.043,2812,2090,2406,0,0,0,0,0,0
$GC,1146,-1.13,-111.0,174.8,-15.7,118,1150,0.00,2.20,0.00,0.000,4,0.000,0.054,2803,3471,2406,0,0,0,0,0,0
$GC,1186,-1.13,-111.0,180.8,-15.1,120,1191,0.05,2.20,0.00,0.000,6,0.217,0.041,2814,2051,2406,0,0,0,0,0,0
$GC,1514,-1.16,-111.0,229.7,-14.8,136,1518,0.00,2.22,0.00,0.000,4,0.000,0.054,2815,658,2406,0,0,0,0,0,0
$GC,1547,-1.16,-111.0,235.4,-16.5,137,1552,0.00,2.22,0.00,0.000,6,0.000,0.041,2806,2071,2406,0,0,0,0,0,0
$GC,1871,-1.16,-111.0,284.9,-15.7,153,1875,0.00,2.25,0.00,0.000,4,0.000,0.059,2796,3468,2406,0,0,0,0,0,0
$GC,1898,-1.16,-111.0,290.0,-16.7,154,1903,0.00,2.20,0.00,0.000,6,0.000,0.041,2795,2055,2407,0,0,0,0,0,0
$GC,2221,-1.16,-111.0,340.9,-15.6,170,2225,0.00,2.25,0.00,0.000,4,0.000,0.055,2796,659,2407,0,0,0,0,0,0
$GC,2248,-1.16,-111.0,345.7,-16.5,171,2253,0.05,2.22,0.00,0.000,6,0.181,0.041,2802,2054,2406,0,0,0,0,0,0
$GC,2569,-1.16,-111.0,394.5,-14.6,187,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2055,2406,0,0,0,0,0,0
$GC,2877,-1.16,-111.0,439.6,-14.5,202,2881,0.00,2.28,0.00,0.000,4,0.000,0.057,2793,3471,2406,0,0,0,0,0,0
$GC,2943,-1.16,-111.0,449.4,-14.3,205,2948,0.08,2.20,0.00,0.000,6,0.194,0.042,2809,2054,2406,0,0,0,0,0,0
$GC,3272,-1.20,-111.0,494.3,-13.6,221,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2054,2406,0,0,0,0,0,0
$GC,3579,-1.24,-111.0,534.9,-12.9,236,3584,0.08,2.30,0.00,0.000,4,0.125,0.061,2757,3469,2406,0,0,0,0,0,0
$GC,3618,-1.19,-111.0,540.5,-14.9,238,3623,0.15,2.22,0.00,0.000,6,0.180,0.043,2795,2053,2406,0,0,0,0,0,0
$GC,3943,-1.19,-111.0,584.4,-13.5,254,3947,0.00,2.25,0.00,0.000,4,0.000,0.056,2795,660,2407,0,0,0,0,0,0
$GC,3992,-1.19,-111.0,591.4,-13.8,256,3996,0.00,2.20,0.00,0.000,6,0.000,0.041,2787,2065,2407,0,0,0,0,0,0
$GC,4313,-1.19,-111.0,637.1,-14.4,272,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2066,2406,0,0,0,0,0,0
$GC,4623,-1.19,-111.0,681.4,-14.2,287,4627,0.00,2.28,0.00,0.000,4,0.000,0.062,2777,3468,2406,0,0,0,0,0,0
$GC,4645,-1.19,-111.0,684.9,-14.9,288,4650,0.10,2.20,0.00,0.000,6,0.190,0.043,2800,2052,2406,0,0,0,0,0,0
$GC,4972,-1.23,-111.0,730.6,-13.8,304,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2052,2406,0,0,0,0,0,0
$GC,5282,-1.28,-111.0,772.6,-13.4,319,5287,0.08,2.25,0.00,0.000,4,0.129,0.057,2761,655,2405,0,0,0,0,0,0
$GC,5309,-1.23,-111.0,777.0,-15.5,320,5314,0.12,2.22,0.00,0.000,6,0.195,0.044,2781,2060,2405,0,0,0,0,0,0
$GC,5628,-1.23,-111.0,821.0,-13.5,336,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2060,2405,0,0,0,0,0,0
$GC,5939,-1.23,-111.0,863.4,-13.9,351,5943,0.00,2.28,0.00,0.000,4,0.000,0.064,2771,3465,2404,0,0,0,0,0,0
$GC,5988,-1.23,-111.0,870.4,-14.5,353,5993,0.05,2.20,0.00,0.000,6,0.219,0.044,2782,2057,2404,0,0,0,0,0,0
$GC,6309,-1.23,-111.0,911.7,-12.7,369,6314,0.00,2.28,0.00,0.000,4,0.000,0.057,2782,654,2404,0,0,0,0,0,0
$GC,6371,-1.23,-111.0,920.1,-14.0,372,6375,0.00,2.22,0.00,0.000,6,0.000,0.045,2774,2062,2404,0,0,0,0,0,0
$GC,6696,-1.23,-111.0,962.1,-12.6,388,6700,0.00,2.28,0.00,0.000,4,0.000,0.063,2763,3465,2404,0,0,0,0,0,0
$GC,6722,-1.23,-111.0,965.6,-13.4,389,6727,0.10,2.20,0.00,0.000,6,0.194,0.044,2786,2058,2404,0,0,0,0,0,0
$STATE,7021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7021,begin apogee
$GC,7028,-0.19,0.0,1001.0,11.8,404,7142,1.12,0.00,107.80,1.251,6,0.155,0.000,3114,1593,1949,0,0,0,0,0,0
$STATE,7142,end apogee,CONTROL_FINISHED_OK
$STATE,7143,begin climb
$GC,7145,1.13,111.0,1004.2,0.0,410,7264,1.33,0.00,114.88,1.213,6,0.080,0.000,3550,1594,1497,0,0,0,0,0,0
$GC,7575,1.20,111.0,951.8,13.8,431,7579,0.05,2.33,0.00,0.000,4,0.161,0.055,3594,196,1489,0,0,0,0,0,0
$GC,7642,1.17,111.0,940.8,16.7,434,7647,0.12,2.25,0.00,0.000,6,0.173,0.036,3563,1613,1488,0,0,0,0,0,0
$GC,7966,1.22,111.0,894.9,13.8,450,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1613,1487,0,0,0,0,0,0
$GC,8273,1.27,111.0,851.9,13.7,465,8278,0.10,2.33,0.00,0.000,4,0.101,0.052,3624,189,1486,0,0,0,0,0,0
$GC,8340,1.19,111.0,841.1,16.8,468,8345,0.20,2.22,0.00,0.000,6,0.168,0.037,3571,1603,1485,0,0,0,0,0,0
$GC,8662,1.23,111.0,796.7,13.9,484,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1603,1486,0,0,0,0,0,0
$GC,8971,1.27,111.0,753.4,14.1,499,8973,0.08,0.00,0.00,0.000,6,0.125,0.000,3611,1603,1485,0,0,0,0,0,0
$GC,9280,1.24,111.0,705.6,15.3,514,9282,0.10,0.00,0.00,0.000,6,0.188,0.000,3587,1604,1485,0,0,0,0,0,0
$GC,9589,1.24,111.0,663.0,13.6,529,9593,0.00,2.28,0.00,0.000,4,0.000,0.054,3596,195,1484,0,0,0,0,0,0
$GC,9667,1.24,111.0,651.7,14.4,532,9673,0.00,2.22,0.00,0.000,6,0.000,0.037,3597,1603,1484,0,0,0,0,0,0
$GC,9982,1.24,111.0,610.6,12.8,548,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1603,1484,0,0,0,0,0,0
$GC,10293,1.24,111.0,571.7,12.9,563,10297,0.00,2.30,0.00,0.000,4,0.000,0.051,3606,189,1484,0,0,0,0,0,0
$GC,10343,1.20,111.0,564.8,13.8,565,10347,0.12,2.20,0.00,0.000,6,0.180,0.035,3574,1601,1484,0,0,0,0,0,0
$GC,10658,1.25,111.0,525.0,12.9,580,10662,0.00,2.22,0.00,0.000,4,0.000,0.054,3574,2991,1484,0,0,0,0,0,0
$GC,10730,1.25,111.0,514.9,14.1,583,10734,0.00,2.17,0.00,0.000,6,0.000,0.036,3582,1595,1483,0,0,0,0,0,0
$GC,11051,1.29,111.0,470.6,14.1,599,11055,0.00,2.22,0.00,0.000,4,0.000,0.054,3593,201,1484,0,0,0,0,0,0
$GC,11101,1.29,111.0,463.0,14.9,601,11105,0.00,2.20,0.00,0.000,6,0.000,0.036,3593,1610,1483,0,0,0,0,0,0
$GC,11423,1.29,111.0,416.1,14.7,617,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1610,1483,0,0,0,0,0,0
$GC,11731,1.29,111.0,371.4,14.4,632,11735,0.00,2.30,0.00,0.000,4,0.000,0.051,3602,195,1483,0,0,0,0,0,0
$GC,11807,1.29,111.0,360.2,14.5,635,11811,0.00,2.17,0.00,0.000,6,0.000,0.037,3602,1605,1483,0,0,0,0,0,0
$GC,12129,1.29,111.0,317.0,13.0,651,12133,0.00,2.20,0.00,0.000,4,0.000,0.054,3602,2995,1483,0,0,0,0,0,0
$GC,12173,1.29,111.0,310.8,13.8,653,12177,0.00,2.17,0.00,0.000,6,0.000,0.036,3611,1604,1483,0,0,0,0,0,0
$GC,12504,1.29,111.0,267.2,13.3,669,12508,0.00,2.25,0.00,0.000,4,0.000,0.054,3622,197,1483,0,0,0,0,0,0
$GC,12592,1.24,111.0,254.6,14.4,673,12597,0.15,2.17,0.00,0.000,6,0.178,0.036,3583,1603,1483,0,0,0,0,0,0
$GC,12928,1.28,111.0,212.8,12.2,689,12932,0.00,2.28,0.00,0.000,4,0.000,0.051,3592,190,1483,0,0,0,0,0,0
$GC,12990,1.28,111.0,204.4,12.9,692,12994,0.00,2.17,0.00,0.000,6,0.000,0.035,3592,1602,1483,0,0,0,0,0,0
$GC,13317,1.32,111.0,166.2,11.1,708,13321,0.00,2.28,0.00,0.000,4,0.000,0.050,3601,187,1483,0,0,0,0,0,0
$GC,13383,1.32,111.0,158.6,12.1,711,13387,0.00,2.17,0.00,0.000,6,0.000,0.035,3601,1600,1483,0,0,0,0,0,0
$GC,13712,1.32,111.0,118.7,12.4,727,13716,0.00,2.22,0.00,0.000,4,0.000,0.054,3601,2990,1483,0,0,0,0,0,0
$GC,13789,1.32,111.0,108.3,13.1,730,13797,0.00,2.17,0.00,0.000,6,0.000,0.035,3609,1597,1483,0,0,0,0,0,0
$GC,14117,1.32,111.0,67.4,12.6,758,14122,0.00,2.22,0.00,0.000,4,0.000,0.053,3621,198,1483,0,0,0,0,0,0
$GC,14183,1.29,111.0,58.5,13.7,769,14189,0.10,2.20,0.00,0.000,6,0.184,0.037,3596,1607,1483,0,0,0,0,0,0
$GC,14547,1.33,111.0,16.4,11.4,830,14555,0.00,2.30,0.00,0.000,4,0.000,0.050,3605,203,1483,0,0,0,0,0,0
$STATE,14658,end climb,SURFACE_DEPTH_REACHED
$STATE,14659,begin surface coast
$FINISH,1.9,1.022858
$STATE,14694,end surface coast,CONTROL_FINISHED_OK
$STATE,14694,begin surface
$SM_CCo,14715,42.33,0.055,0,0,1132,200.16
$SM_GC,3.37,0.00,0.00,42.33,0.000,0.000,0.055,61,2072,1132,-9.76,0.34,200.16
$IRIDIUM_FIX,-4444.39,636.90,240908,121251
$TT8_MAMPS,0.026964
$HUMID,64.80
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.8,66.267
$10V_AH,9.7,69.551
$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,25.200,126.525,222.675,42.325,0.000,24.261,19.583,265.141,0.000,0.000,20.316,1888.493,10311.995,382.476,2379.178,255.803,0.000,1260.700,0.000,1980.028,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,67.320,1250.775,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.805,1248.213,703.086,437.308,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,60504,853
$CAP_FILE_SIZE,130678,0
$CFSIZE,2097086464,2017427456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291115,081121,-4503.574,635.607,39,0.9,39,-24.4