version: 66.07.10.p01
glider: 573
mission: 12
dive: 579
start: 12 1 115 7 45 30
data:
$ID,573
$MISSION,12
$DIVE,579
$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,-22822.131
$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,39
$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,578
$GPS1,011215,073703,-4455.795,623.255,34,1.0,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-72.5
$GPS2,011215,074510,-4455.749,623.272,19,1.2,19,-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,140.4,1062,-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,-49.9,0.0,0.0,0,41,0.00,0.00,-12.20,0.000,2,0.000,0.000,60,2069,1367,0,0,0,0,0,0
$GC,44,-1.13,-111.1,3.1,-1.5,2,114,11.32,2.30,-52.05,0.000,4,0.226,0.073,2803,3453,2403,0,0,0,0,0,0
$GC,389,-1.13,-111.1,46.1,-17.2,58,395,0.05,2.20,0.00,0.000,6,0.226,0.043,2814,2063,2406,0,0,0,0,0,0
$GC,744,-1.13,-111.1,103.5,-16.2,101,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2063,2406,0,0,0,0,0,0
$GC,1052,-1.13,-111.1,152.9,-15.2,116,1056,0.00,2.25,0.00,0.000,4,0.000,0.054,2814,652,2407,0,0,0,0,0,0
$GC,1119,-1.13,-111.1,163.4,-15.6,119,1123,0.00,2.22,0.00,0.000,6,0.000,0.041,2806,2062,2407,0,0,0,0,0,0
$GC,1448,-1.13,-111.1,209.3,-14.5,135,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2062,2407,0,0,0,0,0,0
$GC,1756,-1.13,-111.1,254.9,-14.8,150,1760,0.00,2.28,0.00,0.000,4,0.000,0.061,2795,3463,2407,0,0,0,0,0,0
$GC,1887,-1.13,-111.1,274.9,-15.0,156,1891,0.10,2.20,0.00,0.000,6,0.180,0.039,2820,2052,2408,0,0,0,0,0,0
$GC,2214,-1.18,-111.1,321.9,-14.4,172,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2051,2408,0,0,0,0,0,0
$GC,2523,-1.23,-111.1,365.5,-14.1,187,2525,0.10,0.00,0.00,0.000,6,0.099,0.000,2765,2052,2407,0,0,0,0,0,0
$GC,2831,-1.18,-111.1,414.8,-15.9,202,2836,0.15,2.30,0.00,0.000,4,0.183,0.060,2795,3463,2407,0,0,0,0,0,0
$GC,2886,-1.18,-111.1,423.2,-14.8,204,2891,0.00,2.22,0.00,0.000,6,0.000,0.041,2794,2051,2408,0,0,0,0,0,0
$GC,3201,-1.18,-111.1,465.7,-13.6,220,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2051,2407,0,0,0,0,0,0
$GC,3511,-1.18,-111.1,506.1,-12.6,235,3516,0.00,2.25,0.00,0.000,4,0.000,0.055,2795,653,2407,0,0,0,0,0,0
$GC,3555,-1.18,-111.1,512.4,-13.2,237,3560,0.08,2.22,0.00,0.000,6,0.216,0.041,2801,2063,2407,0,0,0,0,0,0
$GC,3883,-1.18,-111.1,555.1,-13.5,253,3887,0.00,2.28,0.00,0.000,4,0.000,0.063,2791,3460,2407,0,0,0,0,0,0
$GC,3938,-1.18,-111.1,563.2,-13.8,255,3942,0.00,2.20,0.00,0.000,6,0.000,0.040,2791,2063,2407,0,0,0,0,0,0
$GC,4254,-1.18,-111.1,605.6,-13.4,271,4258,0.00,2.28,0.00,0.000,4,0.000,0.055,2791,652,2407,0,0,0,0,0,0
$GC,4339,-1.18,-111.1,617.6,-13.9,275,4343,0.10,2.22,0.00,0.000,6,0.200,0.043,2805,2059,2407,0,0,0,0,0,0
$GC,4667,-1.22,-111.1,659.3,-12.7,291,4671,0.00,2.28,0.00,0.000,4,0.000,0.063,2795,3461,2406,0,0,0,0,0,0
$GC,4707,-1.22,-111.1,664.7,-13.0,293,4711,0.00,2.20,0.00,0.000,6,0.000,0.041,2796,2054,2406,0,0,0,0,0,0
$GC,5035,-1.25,-111.1,706.5,-12.6,309,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2054,2406,0,0,0,0,0,0
$GC,5343,-1.28,-111.1,746.5,-13.2,324,5348,0.08,2.28,0.00,0.000,4,0.122,0.057,2746,658,2405,0,0,0,0,0,0
$GC,5370,-1.21,-111.1,750.5,-15.2,325,5375,0.20,2.22,0.00,0.000,6,0.181,0.042,2788,2065,2406,0,0,0,0,0,0
$GC,5691,-1.21,-111.1,794.4,-13.4,341,5695,0.00,2.28,0.00,0.000,4,0.000,0.063,2779,3470,2405,0,0,0,0,0,0
$GC,5803,-1.21,-111.1,809.9,-13.5,346,5808,0.03,2.25,0.00,0.000,6,0.182,0.044,2787,2065,2405,0,0,0,0,0,0
$GC,6129,-1.21,-111.1,850.3,-11.7,362,6133,0.00,2.28,0.00,0.000,4,0.000,0.054,2787,653,2405,0,0,0,0,0,0
$GC,6152,-1.21,-111.1,852.9,-11.9,363,6157,0.05,2.22,0.00,0.000,6,0.247,0.040,2788,2065,2405,0,0,0,0,0,0
$GC,6478,-1.21,-111.1,889.8,-11.0,379,6483,0.00,2.30,0.00,0.000,4,0.000,0.063,2779,3471,2405,0,0,0,0,0,0
$GC,6642,-1.21,-111.1,908.4,-12.1,386,6647,0.05,2.25,0.00,0.000,6,0.220,0.045,2789,2054,2404,0,0,0,0,0,0
$GC,6958,-1.25,-111.1,942.5,-10.6,401,6962,0.00,2.25,0.00,0.000,4,0.000,0.057,2789,648,2404,0,0,0,0,0,0
$GC,7030,-1.25,-111.1,950.9,-11.7,404,7034,0.00,2.25,0.00,0.000,6,0.000,0.044,2781,2058,2404,0,0,0,0,0,0
$GC,7351,-1.25,-111.1,986.7,-11.4,420,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2058,2404,0,0,0,0,0,0
$STATE,7472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7472,begin apogee
$GC,7479,-0.19,0.0,1000.6,11.2,426,7591,1.15,0.00,108.03,1.247,6,0.149,0.000,3118,1592,1950,0,0,0,0,0,0
$STATE,7591,end apogee,CONTROL_FINISHED_OK
$STATE,7591,begin climb
$GC,7594,1.13,111.1,1003.0,0.0,431,7717,1.27,2.55,113.85,1.206,4,0.080,0.054,3555,198,1496,0,0,0,0,0,0
$GC,7768,1.18,111.1,984.5,15.4,439,7772,0.00,2.42,0.00,0.000,6,0.000,0.037,3555,1614,1492,0,0,0,0,0,0
$GC,8095,1.24,111.1,938.0,14.2,455,8100,0.08,2.38,0.00,0.000,4,0.122,0.052,3603,185,1488,0,0,0,0,0,0
$GC,8167,1.20,111.1,925.9,16.6,458,8172,0.12,2.28,0.00,0.000,6,0.168,0.037,3571,1611,1487,0,0,0,0,0,0
$GC,8484,1.23,111.1,879.7,14.6,473,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1611,1487,0,0,0,0,0,0
$GC,8792,1.27,111.1,835.7,14.5,488,8796,0.08,2.22,0.00,0.000,4,0.126,0.055,3611,2992,1486,0,0,0,0,0,0
$GC,8830,1.22,111.1,829.5,16.3,490,8835,0.17,2.17,0.00,0.000,6,0.181,0.037,3575,1589,1486,0,0,0,0,0,0
$GC,9158,1.25,111.1,782.3,14.3,506,9162,0.00,2.22,0.00,0.000,4,0.000,0.054,3585,203,1485,0,0,0,0,0,0
$GC,9230,1.25,111.1,771.5,14.6,509,9234,0.00,2.20,0.00,0.000,6,0.000,0.038,3585,1606,1484,0,0,0,0,0,0
$GC,9552,1.25,111.1,726.5,13.9,525,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1606,1484,0,0,0,0,0,0
$GC,9860,1.25,111.1,682.0,14.6,540,9864,0.00,2.22,0.00,0.000,4,0.000,0.054,3585,3001,1484,0,0,0,0,0,0
$GC,9892,1.25,111.1,677.0,15.3,541,9897,0.00,2.17,0.00,0.000,6,0.000,0.036,3594,1596,1484,0,0,0,0,0,0
$GC,10209,1.25,111.1,629.7,14.9,557,10213,0.00,2.25,0.00,0.000,4,0.000,0.054,3605,202,1484,0,0,0,0,0,0
$GC,10237,1.25,111.1,625.2,16.3,558,10242,0.08,2.20,0.00,0.000,6,0.202,0.037,3589,1610,1484,0,0,0,0,0,0
$GC,10553,1.25,111.1,579.8,14.2,573,10557,0.00,2.28,0.00,0.000,4,0.000,0.053,3598,202,1484,0,0,0,0,0,0
$GC,10568,1.25,111.1,577.3,14.4,573,10573,0.00,2.17,0.00,0.000,6,0.000,0.037,3598,1599,1484,0,0,0,0,0,0
$GC,10885,1.25,111.1,533.4,13.7,589,10889,0.00,2.25,0.00,0.000,4,0.000,0.055,3597,3000,1483,0,0,0,0,0,0
$GC,10894,1.25,111.1,531.8,13.5,589,10900,0.08,2.17,0.00,0.000,6,0.216,0.036,3591,1590,1484,0,0,0,0,0,0
$GC,11211,1.25,111.1,490.2,13.1,605,11215,0.00,2.25,0.00,0.000,4,0.000,0.055,3601,201,1484,0,0,0,0,0,0
$GC,11283,1.25,111.1,479.9,14.9,608,11288,0.03,2.20,0.00,0.000,6,0.267,0.037,3592,1607,1483,0,0,0,0,0,0
$GC,11599,1.25,111.1,439.7,12.4,623,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1607,1483,0,0,0,0,0,0
$GC,11907,1.25,111.1,399.7,13.0,638,11911,0.00,2.22,0.00,0.000,4,0.000,0.053,3591,3001,1483,0,0,0,0,0,0
$GC,11951,1.25,111.1,393.7,12.8,640,11955,0.00,2.15,0.00,0.000,6,0.000,0.035,3600,1604,1483,0,0,0,0,0,0
$GC,12277,1.25,111.1,351.4,12.8,656,12281,0.00,2.25,0.00,0.000,4,0.000,0.054,3611,198,1482,0,0,0,0,0,0
$GC,12371,1.22,111.1,338.5,14.0,660,12376,0.12,2.17,0.00,0.000,6,0.179,0.037,3579,1602,1483,0,0,0,0,0,0
$GC,12688,1.27,111.1,299.3,12.4,675,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1602,1483,0,0,0,0,0,0
$GC,12997,1.32,111.1,260.0,12.6,690,13001,0.10,2.28,0.00,0.000,4,0.100,0.054,3640,201,1483,0,0,0,0,0,0
$GC,13029,1.23,111.1,255.2,15.4,691,13034,0.20,2.20,0.00,0.000,6,0.172,0.037,3586,1612,1483,0,0,0,0,0,0
$GC,13347,1.27,111.1,213.4,13.3,706,13351,0.00,2.30,0.00,0.000,4,0.000,0.052,3596,194,1482,0,0,0,0,0,0
$GC,13425,1.27,111.1,201.8,14.6,709,13430,0.00,2.20,0.00,0.000,6,0.000,0.036,3594,1614,1483,0,0,0,0,0,0
$GC,13750,1.30,111.1,159.8,12.2,725,13754,0.00,2.17,0.00,0.000,4,0.000,0.054,3595,2988,1483,0,0,0,0,0,0
$GC,13844,1.30,111.1,148.5,10.6,729,13849,0.00,2.15,0.00,0.000,6,0.000,0.035,3603,1593,1483,0,0,0,0,0,0
$GC,14168,1.30,111.1,112.6,11.3,745,14172,0.00,2.25,0.00,0.000,4,0.000,0.054,3614,200,1483,0,0,0,0,0,0
$GC,14258,1.30,111.1,101.0,12.7,749,14262,0.00,2.17,0.00,0.000,6,0.000,0.036,3610,1596,1483,0,0,0,0,0,0
$GC,14592,1.30,111.1,61.3,11.7,784,14597,0.00,2.28,0.00,0.000,4,0.000,0.050,3619,196,1482,0,0,0,0,0,0
$GC,14779,1.27,111.1,37.0,13.5,816,14787,0.05,2.20,0.00,0.000,6,0.160,0.037,3601,1599,1482,0,0,0,0,0,0
$GC,14939,1.31,111.1,17.6,11.9,841,14946,0.00,2.28,0.00,0.000,4,0.000,0.050,3610,208,1483,0,0,0,0,0,0
$GC,14992,1.31,111.1,10.6,13.0,849,15000,0.00,2.20,0.00,0.000,6,0.000,0.035,3609,1619,1483,0,0,0,0,0,0
$GC,15052,1.31,111.1,3.3,11.9,858,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1629,1481,0,0,0,0,0,0
$STATE,15067,end climb,SURFACE_DEPTH_REACHED
$STATE,15067,begin surface coast
$FINISH,2.1,1.009252
$STATE,15099,end surface coast,CONTROL_FINISHED_OK
$STATE,15099,begin surface
$SM_CCo,15118,42.12,0.055,0,0,1133,200.16
$SM_GC,3.46,0.00,0.00,42.12,0.000,0.000,0.055,62,2051,1133,-9.76,-0.25,200.16
$IRIDIUM_FIX,-4438.33,621.08,260908,161655
$TT8_MAMPS,0.026964
$HUMID,64.96
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.8,67.265
$10V_AH,9.7,70.617
$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,25.225,135.975,221.875,42.125,0.000,28.184,40.096,262.201,0.000,0.000,21.654,1928.918,10572.492,357.627,2521.502,264.786,0.000,1306.265,0.000,2093.984,0.000,0.540,0.000
$DEVICE_MAMPS,266.985,72.675,1246.950,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.556,1259.500,703.070,428.115,0.000,0.000,0.000,0.000,0.000,0.000
$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,63842,865
$CAP_FILE_SIZE,138893,0
$CFSIZE,2097086464,2016215040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011215,115927,-4456.530,625.670,38,0.9,38,-24.4