version: 66.07.10.p01
glider: 573
mission: 12
dive: 73
start: 8 10 115 23 0 27
data:
$ID,573
$MISSION,12
$DIVE,73
$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,-21244.441
$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,42
$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,72
$GPS1,100815,225321,-4503.762,636.581,36,0.8,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-72.4
$GPS2,100815,230006,-4503.810,636.606,18,1.5,18,-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,293.2,16493,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.83,-126.5,0.0,0.0,0,53,0.00,0.00,-27.62,0.000,2,0.000,0.000,73,2082,1698,0,0,0,0,0,0
$GC,55,-0.83,-126.5,3.3,-3.7,5,105,11.75,2.28,-32.80,0.000,4,0.257,0.061,2912,655,2464,0,0,0,0,0,0
$GC,144,-0.75,-126.5,7.0,-10.8,19,150,0.15,2.20,0.00,0.000,6,0.186,0.038,2942,2046,2466,0,0,0,0,0,0
$GC,201,-0.72,-126.5,14.0,-12.3,28,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2046,2467,0,0,0,0,0,0
$GC,252,-0.70,-126.5,20.8,-12.7,37,258,0.05,0.00,0.00,0.000,6,0.245,0.000,2952,2046,2467,0,0,0,0,0,0
$GC,402,-0.70,-126.5,38.1,-11.4,62,409,0.00,2.30,0.00,0.000,4,0.000,0.060,2942,3465,2467,0,0,0,0,0,0
$GC,445,-0.70,-126.5,42.8,-10.6,69,452,0.05,2.20,0.00,0.000,6,0.168,0.039,2959,2069,2467,0,0,0,0,0,0
$GC,797,-0.70,-126.5,80.1,-10.8,130,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2069,2467,0,0,0,0,0,0
$GC,1138,-0.70,-126.5,116.3,-10.4,178,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2069,2468,0,0,0,0,0,0
$GC,1457,-0.70,-126.5,148.8,-10.1,208,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2069,2468,0,0,0,0,0,0
$GC,1777,-0.70,-126.5,177.9,-8.5,238,1781,0.00,2.22,0.00,0.000,4,0.000,0.057,2950,3469,2468,0,0,0,0,0,0
$GC,1809,-0.70,-126.5,180.8,-8.9,240,1817,0.00,2.20,0.00,0.000,6,0.000,0.038,2950,2050,2468,0,0,0,0,0,0
$GC,2134,-0.70,-126.5,210.4,-9.7,271,2138,0.00,2.25,0.00,0.000,4,0.000,0.057,2941,3463,2469,0,0,0,0,0,0
$GC,2166,-0.70,-126.5,213.6,-9.6,273,2173,0.03,2.17,0.00,0.000,6,0.187,0.037,2950,2059,2469,0,0,0,0,0,0
$GC,2492,-0.70,-126.5,244.6,-9.8,304,2496,0.00,2.17,0.00,0.000,4,0.000,0.053,2950,658,2469,0,0,0,0,0,0
$GC,2512,-0.70,-126.5,247.0,-11.0,305,2519,0.03,2.20,0.00,0.000,6,0.187,0.039,2951,2058,2469,0,0,0,0,0,0
$GC,2838,-0.70,-126.5,281.1,-10.6,336,2842,0.00,2.22,0.00,0.000,4,0.000,0.060,2941,3464,2469,0,0,0,0,0,0
$GC,2870,-0.70,-126.5,285.0,-11.7,338,2877,0.03,2.17,0.00,0.000,6,0.184,0.037,2950,2060,2470,0,0,0,0,0,0
$GC,3196,-0.70,-126.5,319.2,-10.2,369,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2060,2470,0,0,0,0,0,0
$GC,3515,-0.70,-126.5,350.8,-9.6,399,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2060,2470,0,0,0,0,0,0
$GC,3836,-0.70,-126.5,381.2,-9.6,429,3840,0.00,2.17,0.00,0.000,4,0.000,0.051,2950,660,2470,0,0,0,0,0,0
$GC,3890,-0.70,-126.5,386.3,-10.3,433,3895,0.05,2.17,0.00,0.000,6,0.227,0.039,2952,2066,2470,0,0,0,0,0,0
$GC,4210,-0.72,-126.5,416.4,-9.4,455,4214,0.00,2.20,0.00,0.000,4,0.000,0.059,2943,3469,2470,0,0,0,0,0,0
$GC,4235,-0.72,-126.5,419.2,-10.1,456,4241,0.00,2.17,0.00,0.000,6,0.000,0.037,2943,2058,2470,0,0,0,0,0,0
$GC,4557,-0.72,-126.5,451.4,-10.2,472,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2059,2470,0,0,0,0,0,0
$GC,4867,-0.72,-126.5,483.2,-10.5,487,4871,0.00,2.17,0.00,0.000,4,0.000,0.052,2943,650,2469,0,0,0,0,0,0
$GC,4893,-0.72,-126.5,486.2,-11.2,488,4898,0.03,2.20,0.00,0.000,6,0.189,0.040,2943,2055,2470,0,0,0,0,0,0
$GC,5214,-0.72,-126.5,519.5,-10.2,504,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2055,2470,0,0,0,0,0,0
$GC,5523,-0.72,-126.5,551.3,-10.5,519,5527,0.00,2.22,0.00,0.000,4,0.000,0.059,2932,3468,2469,0,0,0,0,0,0
$GC,5566,-0.72,-126.5,556.1,-10.6,521,5572,0.03,2.17,0.00,0.000,6,0.185,0.037,2942,2056,2469,0,0,0,0,0,0
$GC,5894,-0.72,-126.5,587.3,-9.4,537,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2056,2470,0,0,0,0,0,0
$GC,6203,-0.72,-126.5,616.2,-9.6,552,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2056,2469,0,0,0,0,0,0
$GC,6512,-0.72,-126.5,646.4,-9.7,567,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2056,2469,0,0,0,0,0,0
$GC,6822,-0.72,-126.5,676.1,-9.8,582,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2056,2469,0,0,0,0,0,0
$GC,7131,-0.72,-126.5,705.5,-9.4,597,7135,0.00,2.20,0.00,0.000,4,0.000,0.053,2942,648,2468,0,0,0,0,0,0
$GC,7162,-0.72,-126.5,708.8,-10.3,598,7169,0.03,2.22,0.00,0.000,6,0.188,0.041,2943,2067,2468,0,0,0,0,0,0
$GC,7480,-0.74,-126.5,738.4,-9.1,614,7484,0.00,2.20,0.00,0.000,4,0.000,0.060,2933,3466,2468,0,0,0,0,0,0
$GC,7534,-0.76,-126.5,743.7,-9.2,616,7540,0.00,2.17,0.00,0.000,6,0.000,0.039,2933,2055,2468,0,0,0,0,0,0
$GC,7850,-0.76,-126.5,772.3,-8.9,632,7854,0.00,2.20,0.00,0.000,4,0.000,0.053,2933,650,2468,0,0,0,0,0,0
$GC,7890,-0.76,-126.5,776.0,-9.2,634,7894,0.00,2.20,0.00,0.000,6,0.000,0.041,2924,2072,2468,0,0,0,0,0,0
$GC,8216,-0.76,-126.5,805.2,-8.8,650,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2071,2468,0,0,0,0,0,0
$GC,8525,-0.76,-126.5,831.5,-8.5,665,8529,0.00,2.20,0.00,0.000,4,0.000,0.058,2913,3469,2467,0,0,0,0,0,0
$GC,8580,-0.76,-126.5,836.7,-9.1,667,8587,0.05,2.17,0.00,0.000,6,0.159,0.039,2930,2060,2467,0,0,0,0,0,0
$GC,8896,-0.76,-126.5,862.9,-8.4,683,8900,0.00,2.20,0.00,0.000,4,0.000,0.053,2930,651,2467,0,0,0,0,0,0
$GC,8973,-0.76,-126.5,870.3,-9.5,686,8980,0.00,2.20,0.00,0.000,6,0.000,0.041,2922,2052,2467,0,0,0,0,0,0
$GC,9290,-0.76,-126.5,898.7,-9.3,702,9294,0.03,2.25,0.00,0.000,4,0.284,0.058,2921,3477,2466,0,0,0,0,0,0
$GC,9355,-0.76,-126.5,904.9,-8.4,705,9360,0.00,2.17,0.00,0.000,6,0.000,0.038,2921,2060,2466,0,0,0,0,0,0
$GC,9683,-0.76,-126.5,935.7,-9.6,721,9685,0.05,0.00,0.00,0.000,6,0.231,0.000,2931,2060,2465,0,0,0,0,0,0
$GC,9992,-0.76,-126.5,962.9,-8.3,736,9996,0.00,2.17,0.00,0.000,4,0.000,0.052,2931,652,2466,0,0,0,0,0,0
$GC,10018,-0.76,-126.5,965.5,-9.3,737,10023,0.00,2.22,0.00,0.000,6,0.000,0.040,2923,2074,2465,0,0,0,0,0,0
$GC,10340,-0.76,-126.5,994.9,-9.3,753,10344,0.00,2.17,0.00,0.000,4,0.000,0.058,2912,3463,2464,0,0,0,0,0,0
$STATE,10392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10392,begin apogee
$GC,10399,-0.19,0.0,1000.1,9.7,755,10517,0.62,0.00,115.00,1.293,6,0.151,0.000,3111,1725,1950,0,0,0,0,0,0
$STATE,10518,end apogee,CONTROL_FINISHED_OK
$STATE,10518,begin climb
$GC,10519,0.83,126.5,1004.0,0.0,761,10647,1.02,2.33,119.85,1.252,4,0.095,0.047,3458,325,1433,0,0,0,0,0,0
$GC,10681,0.80,126.5,992.6,10.8,769,10686,0.05,2.35,0.00,0.000,6,0.196,0.034,3446,1737,1428,0,0,0,0,0,0
$GC,11008,0.80,126.5,959.0,10.4,785,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1737,1423,0,0,0,0,0,0
$GC,11317,0.80,126.5,926.4,10.4,800,11321,0.00,2.30,0.00,0.000,4,0.000,0.047,3456,320,1422,0,0,0,0,0,0
$GC,11382,0.80,126.5,919.0,11.1,803,11387,0.03,2.25,0.00,0.000,6,0.171,0.031,3445,1734,1422,0,0,0,0,0,0
$GC,11709,0.80,126.5,883.3,10.9,819,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1735,1421,0,0,0,0,0,0
$GC,12018,0.80,126.5,850.3,10.5,834,12022,0.00,2.28,0.00,0.000,4,0.000,0.047,3456,317,1420,0,0,0,0,0,0
$GC,12080,0.80,126.5,843.5,11.2,837,12084,0.00,2.20,0.00,0.000,6,0.000,0.032,3456,1733,1420,0,0,0,0,0,0
$GC,12407,0.80,126.5,807.8,10.6,853,12411,0.00,2.28,0.00,0.000,4,0.000,0.046,3465,312,1420,0,0,0,0,0,0
$GC,12439,0.77,126.5,803.8,11.7,854,12446,0.08,2.22,0.00,0.000,6,0.138,0.033,3438,1738,1419,0,0,0,0,0,0
$GC,12756,0.78,139.8,774.0,9.2,870,12772,0.00,2.28,11.07,1.045,4,0.000,0.045,3448,312,1380,0,0,0,0,0,0
$GC,12798,0.78,141.4,769.6,9.9,871,12803,0.00,2.22,0.00,0.000,6,0.000,0.031,3448,1726,1379,0,0,0,0,0,0
$GC,13126,0.78,150.5,738.1,9.5,887,13139,0.00,0.00,11.68,1.028,6,0.000,0.000,3448,1726,1336,0,0,0,0,0,0
$GC,13435,0.79,154.4,707.6,9.7,902,13444,0.00,2.25,5.00,0.782,4,0.000,0.047,3458,321,1320,0,0,0,0,0,0
$GC,13493,0.79,154.4,701.2,11.1,904,13500,0.05,2.22,0.00,0.000,6,0.148,0.032,3439,1736,1319,0,0,0,0,0,0
$GC,13811,0.82,158.3,670.9,9.7,920,13821,0.00,2.28,5.50,0.809,4,0.000,0.046,3449,321,1303,0,0,0,0,0,0
$GC,13864,0.82,158.3,665.2,10.0,922,13871,0.00,2.20,0.00,0.000,6,0.000,0.031,3449,1724,1303,0,0,0,0,0,0
$GC,14181,0.82,158.3,633.7,10.1,938,14185,0.00,2.25,0.00,0.000,4,0.000,0.045,3458,312,1302,0,0,0,0,0,0
$GC,14223,0.82,158.3,629.1,10.8,940,14228,0.00,2.22,0.00,0.000,6,0.000,0.031,3459,1733,1302,0,0,0,0,0,0
$GC,14551,0.82,158.3,595.6,10.4,956,14555,0.00,2.25,0.00,0.000,4,0.000,0.046,3468,320,1302,0,0,0,0,0,0
$GC,14590,0.82,158.3,591.2,11.0,958,14594,0.08,2.20,0.00,0.000,6,0.181,0.031,3449,1750,1301,0,0,0,0,0,0
$GC,14916,0.85,158.3,558.9,10.0,974,14920,0.00,2.28,0.00,0.000,4,0.000,0.047,3459,320,1302,0,0,0,0,0,0
$GC,14956,0.85,158.3,554.6,10.7,976,14960,0.00,2.17,0.00,0.000,6,0.000,0.031,3459,1731,1301,0,0,0,0,0,0
$GC,15282,0.85,158.3,522.0,10.0,992,15283,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1731,1302,0,0,0,0,0,0
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$STATE,20163,end climb,SURFACE_DEPTH_REACHED
$STATE,20163,begin surface coast
$FINISH,1.6,1.023380
$STATE,20170,end surface coast,CONTROL_FINISHED_OK
$STATE,20170,begin surface
$SM_CCo,20188,17.00,0.057,0,0,1133,200.16
$SM_GC,3.45,0.00,0.00,17.00,0.000,0.000,0.057,72,2062,1133,-9.73,0.06,200.16
$IRIDIUM_FIX,-4447.43,637.25,060608,080815
$TT8_MAMPS,0.028462
$HUMID,62.67
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.3,13.840
$10V_AH,10.2,11.177
$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,23.500,165.125,276.650,17.000,0.000,25.881,19.949,247.640,0.000,0.000,21.062,3612.305,12833.780,449.131,3562.188,152.824,0.000,1787.180,0.000,3050.482,0.000,0.539,0.000
$DEVICE_MAMPS,283.815,61.200,1292.850,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1020.405,2602.186,983.260,516.548,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353320
$DATA_FILE_SIZE,100384,1465
$CAP_FILE_SIZE,196216,0
$CFSIZE,2097086464,2082504704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110815,043821,-4504.718,634.643,35,0.9,35,-24.4