version: 66.07.10.p01
glider: 573
mission: 12
dive: 46
start: 8 5 115 16 34 1
data:
$ID,573
$MISSION,12
$DIVE,46
$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,335
$T_MISSION,350
$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,130
$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,-21124.719
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,42
$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,45
$GPS1,050815,162534,-4502.673,629.323,38,1.2,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-74.0
$GPS2,050815,163340,-4502.675,629.455,19,1.0,19,-24.4
$SPEED_LIMITS,0.172,0.243
$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,275.4,7545,-19.6,-9.950
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.83,-126.5,0.0,0.0,0,57,0.00,0.00,-32.25,0.000,2,0.000,0.000,68,2062,1795,0,0,0,0,0,0
$GC,59,-0.83,-126.5,3.1,-3.9,5,105,11.88,2.30,-23.50,0.000,4,0.256,0.076,2903,3453,2469,0,0,0,0,0,0
$GC,217,-0.77,-126.5,20.1,-13.8,30,225,0.08,2.17,0.00,0.000,6,0.160,0.039,2927,2072,2471,0,0,0,0,0,0
$GC,373,-0.73,-126.5,40.2,-12.9,55,379,0.08,2.28,0.00,0.000,4,0.218,0.050,2945,647,2471,0,0,0,0,0,0
$GC,403,-0.68,-126.5,44.4,-13.3,60,411,0.08,2.22,0.00,0.000,6,0.166,0.039,2959,2044,2471,0,0,0,0,0,0
$GC,754,-0.68,-126.5,85.2,-11.7,121,759,0.00,2.28,0.00,0.000,4,0.000,0.060,2949,3470,2472,0,0,0,0,0,0
$GC,807,-0.68,-126.5,91.2,-11.6,130,812,0.00,2.17,0.00,0.000,6,0.000,0.038,2949,2053,2472,0,0,0,0,0,0
$GC,1136,-0.68,-126.5,129.4,-11.4,167,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2053,2472,0,0,0,0,0,0
$GC,1457,-0.68,-126.5,164.5,-10.0,197,1461,0.00,2.28,0.00,0.000,4,0.000,0.059,2940,3471,2471,0,0,0,0,0,0
$GC,1510,-0.68,-126.5,169.9,-10.7,201,1515,0.10,2.17,0.00,0.000,6,0.187,0.038,2964,2049,2472,0,0,0,0,0,0
$GC,1835,-0.71,-126.5,202.0,-9.6,231,1839,0.00,2.17,0.00,0.000,4,0.000,0.050,2964,659,2472,0,0,0,0,0,0
$GC,1865,-0.71,-126.5,205.0,-10.4,233,1869,0.00,2.17,0.00,0.000,6,0.000,0.038,2955,2067,2472,0,0,0,0,0,0
$GC,2189,-0.71,-126.5,238.4,-10.6,263,2193,0.00,2.20,0.00,0.000,4,0.000,0.059,2945,3468,2472,0,0,0,0,0,0
$GC,2242,-0.71,-126.5,244.5,-10.5,267,2249,0.00,2.17,0.00,0.000,6,0.000,0.037,2945,2060,2473,0,0,0,0,0,0
$GC,2568,-0.71,-126.5,280.2,-10.7,298,2572,0.00,2.15,0.00,0.000,4,0.000,0.050,2945,659,2473,0,0,0,0,0,0
$GC,2622,-0.71,-126.5,286.5,-11.4,302,2629,0.03,2.20,0.00,0.000,6,0.190,0.038,2945,2066,2473,0,0,0,0,0,0
$GC,2950,-0.71,-126.5,321.1,-10.6,333,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2066,2473,0,0,0,0,0,0
$GC,3266,-0.71,-126.5,354.4,-10.2,363,3270,0.00,2.20,0.00,0.000,4,0.000,0.060,2935,3463,2473,0,0,0,0,0,0
$GC,3296,-0.71,-126.5,357.4,-10.9,365,3301,0.08,2.12,0.00,0.000,6,0.198,0.036,2952,2058,2473,0,0,0,0,0,0
$GC,3621,-0.71,-126.5,388.2,-9.2,395,3625,0.00,2.17,0.00,0.000,4,0.000,0.051,2952,661,2473,0,0,0,0,0,0
$GC,3650,-0.71,-126.5,390.8,-9.4,397,3655,0.00,2.17,0.00,0.000,6,0.000,0.038,2943,2071,2473,0,0,0,0,0,0
$GC,3969,-0.71,-126.5,422.5,-9.9,416,3973,0.00,2.20,0.00,0.000,4,0.000,0.058,2933,3471,2473,0,0,0,0,0,0
$GC,4012,-0.71,-126.5,427.1,-9.3,418,4017,0.05,2.17,0.00,0.000,6,0.165,0.037,2949,2056,2473,0,0,0,0,0,0
$GC,4339,-0.71,-126.5,457.9,-9.4,434,4343,0.00,2.17,0.00,0.000,4,0.000,0.051,2950,658,2473,0,0,0,0,0,0
$GC,4370,-0.71,-126.5,461.3,-10.6,435,4376,0.00,2.20,0.00,0.000,6,0.000,0.039,2940,2066,2473,0,0,0,0,0,0
$GC,4686,-0.71,-126.5,493.0,-10.1,451,4690,0.00,2.20,0.00,0.000,4,0.000,0.060,2930,3463,2473,0,0,0,0,0,0
$GC,4718,-0.71,-126.5,496.5,-11.1,452,4725,0.05,2.15,0.00,0.000,6,0.163,0.037,2947,2058,2473,0,0,0,0,0,0
$GC,5035,-0.71,-126.5,526.5,-9.5,468,5039,0.00,2.17,0.00,0.000,4,0.000,0.052,2947,662,2472,0,0,0,0,0,0
$GC,5061,-0.71,-126.5,529.4,-10.6,469,5066,0.00,2.17,0.00,0.000,6,0.000,0.038,2938,2058,2472,0,0,0,0,0,0
$GC,5383,-0.71,-126.5,560.3,-9.5,485,5387,0.00,2.22,0.00,0.000,4,0.000,0.060,2928,3472,2472,0,0,0,0,0,0
$GC,5437,-0.71,-126.5,565.8,-9.9,487,5444,0.05,2.17,0.00,0.000,6,0.171,0.037,2945,2060,2472,0,0,0,0,0,0
$GC,5754,-0.71,-126.5,595.7,-9.7,503,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2060,2472,0,0,0,0,0,0
$GC,6063,-0.73,-126.5,625.8,-9.8,518,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2059,2471,0,0,0,0,0,0
$GC,6373,-0.76,-126.5,655.4,-9.3,533,6377,0.00,2.20,0.00,0.000,4,0.000,0.052,2946,651,2471,0,0,0,0,0,0
$GC,6427,-0.76,-126.5,660.8,-9.7,535,6433,0.00,2.20,0.00,0.000,6,0.000,0.040,2937,2062,2471,0,0,0,0,0,0
$GC,6743,-0.76,-126.5,688.6,-9.0,551,6747,0.00,2.20,0.00,0.000,4,0.000,0.060,2926,3463,2471,0,0,0,0,0,0
$GC,6798,-0.76,-126.5,693.8,-9.2,553,6804,0.00,2.15,0.00,0.000,6,0.000,0.037,2926,2053,2471,0,0,0,0,0,0
$GC,7115,-0.76,-126.5,722.2,-9.2,569,7118,0.00,2.17,0.00,0.000,4,0.000,0.051,2926,654,2471,0,0,0,0,0,0
$GC,7154,-0.74,-126.5,726.3,-10.5,571,7159,0.10,2.17,0.00,0.000,6,0.192,0.041,2941,2061,2470,0,0,0,0,0,0
$GC,7481,-0.76,-126.5,754.1,-8.4,587,7485,0.00,2.20,0.00,0.000,4,0.000,0.061,2932,3465,2470,0,0,0,0,0,0
$GC,7536,-0.78,-126.5,759.3,-8.8,589,7541,0.00,2.15,0.00,0.000,6,0.000,0.037,2932,2060,2470,0,0,0,0,0,0
$GC,7852,-0.78,-126.5,787.4,-8.7,605,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2060,2470,0,0,0,0,0,0
$GC,8161,-0.78,-126.5,815.6,-9.1,620,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2061,2469,0,0,0,0,0,0
$GC,8471,-0.78,-126.5,844.1,-9.3,635,8474,0.00,2.17,0.00,0.000,4,0.000,0.050,2932,661,2469,0,0,0,0,0,0
$GC,8556,-0.78,-126.5,852.1,-10.0,639,8560,0.00,2.15,0.00,0.000,6,0.000,0.037,2923,2063,2469,0,0,0,0,0,0
$GC,8883,-0.78,-126.5,883.0,-9.4,655,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2063,2468,0,0,0,0,0,0
$GC,9192,-0.78,-126.5,912.3,-9.4,670,9196,0.00,2.20,0.00,0.000,4,0.000,0.060,2912,3462,2469,0,0,0,0,0,0
$GC,9241,-0.78,-126.5,917.3,-9.6,672,9247,0.05,2.12,0.00,0.000,6,0.167,0.037,2929,2069,2468,0,0,0,0,0,0
$GC,9565,-0.78,-126.5,946.5,-9.2,688,9569,0.00,2.17,0.00,0.000,4,0.000,0.050,2929,651,2468,0,0,0,0,0,0
$GC,9614,-0.78,-126.5,951.5,-9.5,690,9618,0.00,2.20,0.00,0.000,6,0.000,0.038,2921,2062,2468,0,0,0,0,0,0
$GC,9936,-0.78,-126.5,981.3,-9.4,706,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2062,2468,0,0,0,0,0,0
$STATE,10140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10140,begin apogee
$GC,10144,-0.19,0.0,1001.2,9.6,716,10263,0.65,0.00,115.07,1.300,6,0.150,0.000,3122,1726,1950,0,0,0,0,0,0
$STATE,10264,end apogee,CONTROL_FINISHED_OK
$STATE,10264,begin climb
$GC,10265,0.83,126.5,1005.0,0.0,722,10392,0.98,2.30,119.22,1.255,4,0.087,0.045,3456,325,1433,0,0,0,0,0,0
$GC,10458,0.83,126.5,990.9,10.2,731,10463,0.00,2.33,0.00,0.000,6,0.000,0.030,3456,1731,1427,0,0,0,0,0,0
$GC,10780,0.83,126.5,957.2,10.6,747,10784,0.00,2.30,0.00,0.000,4,0.000,0.044,3466,325,1424,0,0,0,0,0,0
$GC,10828,0.79,126.5,951.6,11.7,749,10834,0.08,2.25,0.00,0.000,6,0.142,0.031,3440,1732,1423,0,0,0,0,0,0
$GC,11151,0.79,126.5,919.3,10.1,765,11155,0.00,2.28,0.00,0.000,4,0.000,0.044,3450,320,1422,0,0,0,0,0,0
$GC,11211,0.79,126.5,912.7,10.1,768,11216,0.00,2.20,0.00,0.000,6,0.000,0.031,3449,1728,1422,0,0,0,0,0,0
$GC,11538,0.79,126.5,878.7,10.4,784,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1729,1422,0,0,0,0,0,0
$GC,11847,0.79,126.5,846.7,10.4,799,11851,0.00,2.25,0.00,0.000,4,0.000,0.044,3459,317,1421,0,0,0,0,0,0
$GC,11934,0.77,126.5,836.9,10.5,803,11940,0.08,2.20,0.00,0.000,6,0.139,0.030,3432,1736,1421,0,0,0,0,0,0
$GC,12262,0.79,129.4,804.8,9.8,819,12266,0.00,2.22,0.00,0.000,4,0.000,0.044,3442,327,1421,0,0,0,0,0,0
$GC,12317,0.79,129.4,798.8,10.5,821,12323,0.00,2.17,0.00,0.000,6,0.000,0.030,3442,1724,1420,0,0,0,0,0,0
$GC,12633,0.79,129.4,766.6,10.2,837,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1724,1420,0,0,0,0,0,0
$GC,12943,0.80,143.4,736.8,9.2,852,12962,0.00,0.00,14.43,1.068,6,0.000,0.000,3442,1724,1366,0,0,0,0,0,0
$GC,13272,0.81,154.9,705.5,9.3,868,13286,0.00,0.00,12.52,1.026,6,0.000,0.000,3442,1724,1318,0,0,0,0,0,0
$GC,13582,0.84,158.1,676.4,9.8,883,13591,0.00,2.28,4.22,0.687,4,0.000,0.045,3451,325,1304,0,0,0,0,0,0
$GC,13634,0.84,158.1,670.7,10.3,885,13640,0.00,2.20,0.00,0.000,6,0.000,0.029,3451,1729,1304,0,0,0,0,0,0
$GC,13956,0.86,158.1,637.8,10.6,901,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1729,1304,0,0,0,0,0,0
$GC,14266,0.88,158.1,605.7,10.4,916,14270,0.00,2.22,0.00,0.000,4,0.000,0.044,3461,326,1304,0,0,0,0,0,0
$GC,14319,0.88,158.1,599.6,11.8,918,14326,0.00,2.17,0.00,0.000,6,0.000,0.028,3461,1726,1303,0,0,0,0,0,0
$GC,14635,0.88,158.1,565.5,10.6,934,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1726,1303,0,0,0,0,0,0
$GC,14945,0.88,158.1,532.2,10.7,949,14949,0.00,2.22,0.00,0.000,4,0.000,0.044,3470,319,1303,0,0,0,0,0,0
$GC,14999,0.88,158.1,525.8,11.3,951,15005,0.00,2.17,0.00,0.000,6,0.000,0.029,3470,1722,1303,0,0,0,0,0,0
$GC,15315,0.88,158.1,491.7,10.4,967,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1722,1303,0,0,0,0,0,0
$GC,15625,0.88,158.1,458.1,10.4,982,15629,0.00,2.20,0.00,0.000,4,0.000,0.044,3480,326,1302,0,0,0,0,0,0
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$STATE,19955,end climb,SURFACE_DEPTH_REACHED
$STATE,19955,begin surface coast
$FINISH,1.6,1.023369
$STATE,19963,end surface coast,CONTROL_FINISHED_OK
$STATE,19963,begin surface
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$SM_GC,3.80,0.00,0.00,9.95,0.000,0.000,0.060,86,2072,1133,-9.69,0.37,200.16
$IRIDIUM_FIX,-4441.36,627.47,010608,000018
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.3,10.899
$10V_AH,10.2,7.983
$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
$DEVICE_SECS,23.425,172.425,289.075,9.950,0.000,25.787,47.118,293.540,0.000,0.000,21.645,3536.524,12690.136,442.213,3657.283,141.327,0.000,1777.621,0.000,3078.927,0.000,0.540,0.000
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$SENSOR_SECS,994.033,2602.949,1008.826,532.798,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353352
$DATA_FILE_SIZE,97094,1427
$CAP_FILE_SIZE,190729,0
$CFSIZE,2097086464,2086076416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050815,220921,-4504.139,627.211,95,0.9,95,-24.4