version: 66.07.10.p01
glider: 573
mission: 12
dive: 138
start: 8 25 115 3 48 30
data:
$ID,573
$MISSION,12
$DIVE,138
$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,-21435.172
$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,34
$R_STBD_OVSHOOT,61
$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,137
$GPS1,250815,033934,-4507.962,630.083,36,1.1,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-72.4
$GPS2,250815,034810,-4507.996,630.147,17,1.1,17,-24.4
$SPEED_LIMITS,0.148,0.223
$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,337.0,10928,-17.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-20.27,0.000,2,0.000,0.000,62,2090,1537,0,0,0,0,0,0
$GC,48,-0.76,-116.8,3.0,-2.3,3,112,11.93,2.22,-43.40,0.000,4,0.250,0.071,2922,3435,2425,0,0,0,0,0,0
$GC,164,-0.63,-116.8,7.5,-10.2,21,171,0.15,2.17,0.00,0.000,6,0.155,0.040,2968,2063,2427,0,0,0,0,0,0
$GC,223,-0.60,-116.8,13.9,-10.2,30,230,0.08,0.00,0.00,0.000,6,0.209,0.000,2984,2063,2426,0,0,0,0,0,0
$GC,280,-0.60,-116.8,19.6,-9.2,39,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2063,2427,0,0,0,0,0,0
$GC,338,-0.60,-116.8,24.9,-9.4,48,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2063,2426,0,0,0,0,0,0
$GC,492,-0.60,-116.8,39.3,-9.2,73,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2063,2427,0,0,0,0,0,0
$GC,636,-0.60,-116.8,53.0,-9.5,98,641,0.00,2.22,0.00,0.000,4,0.000,0.052,2985,657,2427,0,0,0,0,0,0
$GC,670,-0.60,-116.8,56.4,-10.0,104,675,0.00,2.15,0.00,0.000,6,0.000,0.041,2976,2034,2427,0,0,0,0,0,0
$GC,1017,-0.60,-116.8,90.6,-10.2,165,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2034,2427,0,0,0,0,0,0
$GC,1349,-0.60,-116.8,123.4,-10.4,204,1353,0.00,2.25,0.00,0.000,4,0.000,0.060,2966,3462,2427,0,0,0,0,0,0
$GC,1382,-0.60,-116.8,127.1,-11.5,206,1388,0.10,2.17,0.00,0.000,6,0.183,0.039,2990,2049,2427,0,0,0,0,0,0
$GC,1709,-0.65,-116.8,156.0,-8.5,237,1713,0.00,2.20,0.00,0.000,4,0.000,0.052,2991,655,2427,0,0,0,0,0,0
$GC,1775,-0.65,-116.8,162.4,-8.7,242,1781,0.00,2.22,0.00,0.000,6,0.000,0.040,2981,2064,2427,0,0,0,0,0,0
$GC,2103,-0.65,-116.8,189.4,-8.4,273,2107,0.00,2.22,0.00,0.000,4,0.000,0.062,2971,3472,2427,0,0,0,0,0,0
$GC,2142,-0.65,-116.8,193.1,-8.5,276,2146,0.00,2.17,0.00,0.000,6,0.000,0.040,2971,2057,2427,0,0,0,0,0,0
$GC,2467,-0.65,-116.8,223.3,-9.3,306,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2057,2428,0,0,0,0,0,0
$GC,2786,-0.65,-116.8,253.0,-9.3,336,2790,0.00,2.20,0.00,0.000,4,0.000,0.053,2971,657,2428,0,0,0,0,0,0
$GC,2813,-0.65,-116.8,255.7,-9.6,338,2817,0.00,2.17,0.00,0.000,6,0.000,0.041,2963,2065,2428,0,0,0,0,0,0
$GC,3146,-0.65,-116.8,286.2,-9.3,369,3150,0.00,2.22,0.00,0.000,4,0.000,0.062,2952,3468,2427,0,0,0,0,0,0
$GC,3188,-0.65,-116.8,290.5,-9.3,372,3197,0.05,2.17,0.00,0.000,6,0.160,0.038,2969,2063,2428,0,0,0,0,0,0
$GC,3514,-0.65,-116.8,319.3,-9.1,403,3518,0.00,2.22,0.00,0.000,4,0.000,0.053,2969,649,2428,0,0,0,0,0,0
$GC,3543,-0.65,-116.8,321.8,-9.8,405,3547,0.00,2.17,0.00,0.000,6,0.000,0.039,2960,2070,2428,0,0,0,0,0,0
$GC,3867,-0.65,-116.8,352.2,-9.0,435,3871,0.00,2.20,0.00,0.000,4,0.000,0.060,2949,3474,2428,0,0,0,0,0,0
$GC,3899,-0.65,-116.8,355.5,-9.8,437,3907,0.05,2.20,0.00,0.000,6,0.160,0.040,2966,2058,2428,0,0,0,0,0,0
$GC,4225,-0.65,-116.8,382.9,-8.3,468,4229,0.00,2.20,0.00,0.000,4,0.000,0.054,2966,660,2428,0,0,0,0,0,0
$GC,4269,-0.65,-116.8,386.8,-8.4,471,4276,0.03,2.20,0.00,0.000,6,0.179,0.041,2967,2059,2428,0,0,0,0,0,0
$GC,4591,-0.65,-116.8,411.6,-7.9,495,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2060,2428,0,0,0,0,0,0
$GC,4900,-0.65,-116.8,436.0,-8.0,510,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2060,2428,0,0,0,0,0,0
$GC,5209,-0.65,-116.8,463.0,-8.8,525,5213,0.00,2.22,0.00,0.000,4,0.000,0.063,2957,3470,2428,0,0,0,0,0,0
$GC,5235,-0.65,-116.8,465.8,-9.9,526,5241,0.03,2.20,0.00,0.000,6,0.187,0.040,2966,2053,2428,0,0,0,0,0,0
$GC,5557,-0.65,-116.8,492.9,-8.2,542,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2053,2428,0,0,0,0,0,0
$GC,5867,-0.65,-116.8,518.7,-8.2,557,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2052,2427,0,0,0,0,0,0
$GC,6176,-0.65,-116.8,543.2,-7.9,572,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2053,2428,0,0,0,0,0,0
$GC,6485,-0.65,-116.8,567.3,-7.9,587,6489,0.00,2.20,0.00,0.000,4,0.000,0.055,2966,654,2426,0,0,0,0,0,0
$GC,6556,-0.65,-116.8,573.6,-8.9,590,6562,0.03,2.20,0.00,0.000,6,0.180,0.042,2966,2054,2426,0,0,0,0,0,0
$GC,6878,-0.65,-116.8,598.3,-7.5,606,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2054,2426,0,0,0,0,0,0
$GC,7188,-0.65,-116.8,621.2,-7.4,621,7192,0.00,2.20,0.00,0.000,4,0.000,0.060,2956,3463,2426,0,0,0,0,0,0
$GC,7214,-0.65,-116.8,623.4,-8.0,622,7219,0.03,2.17,0.00,0.000,6,0.186,0.040,2965,2061,2426,0,0,0,0,0,0
$GC,7536,-0.65,-116.8,646.9,-7.5,638,7540,0.00,2.22,0.00,0.000,4,0.000,0.054,2966,648,2426,0,0,0,0,0,0
$GC,7584,-0.65,-116.8,651.0,-8.0,640,7590,0.03,2.20,0.00,0.000,6,0.175,0.041,2966,2054,2426,0,0,0,0,0,0
$GC,7908,-0.68,-116.8,674.4,-7.2,656,7912,0.00,2.20,0.00,0.000,4,0.000,0.059,2956,3463,2426,0,0,0,0,0,0
$GC,7954,-0.68,-116.8,678.1,-7.9,658,7959,0.00,2.15,0.00,0.000,6,0.000,0.039,2956,2055,2426,0,0,0,0,0,0
$GC,8281,-0.68,-116.8,704.7,-8.3,674,8285,0.00,2.20,0.00,0.000,4,0.000,0.054,2956,655,2426,0,0,0,0,0,0
$GC,8323,-0.68,-116.8,708.7,-9.6,676,8329,0.03,2.20,0.00,0.000,6,0.175,0.042,2957,2052,2425,0,0,0,0,0,0
$GC,8653,-0.68,-116.8,736.0,-8.5,692,8657,0.00,2.22,0.00,0.000,4,0.000,0.060,2946,3475,2426,0,0,0,0,0,0
$GC,8692,-0.68,-116.8,739.7,-8.8,694,8697,0.05,2.17,0.00,0.000,6,0.216,0.041,2958,2055,2425,0,0,0,0,0,0
$GC,9018,-0.68,-116.8,767.7,-8.7,710,9021,0.00,2.20,0.00,0.000,4,0.000,0.055,2961,659,2425,0,0,0,0,0,0
$GC,9038,-0.68,-116.8,769.8,-9.6,711,9043,0.00,2.20,0.00,0.000,6,0.000,0.040,2952,2067,2425,0,0,0,0,0,0
$GC,9366,-0.68,-116.8,799.2,-9.0,727,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2067,2425,0,0,0,0,0,0
$GC,9675,-0.68,-116.8,826.2,-8.6,742,9679,0.00,2.22,0.00,0.000,4,0.000,0.052,2952,653,2425,0,0,0,0,0,0
$GC,9701,-0.68,-116.8,828.7,-9.1,743,9706,0.03,2.20,0.00,0.000,6,0.176,0.041,2953,2057,2424,0,0,0,0,0,0
$GC,10022,-0.68,-116.8,854.3,-7.9,759,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2056,2424,0,0,0,0,0,0
$GC,10332,-0.68,-116.8,878.4,-7.5,774,10336,0.00,2.25,0.00,0.000,4,0.000,0.061,2942,3474,2424,0,0,0,0,0,0
$GC,10380,-0.68,-116.8,882.5,-8.0,776,10386,0.05,2.20,0.00,0.000,6,0.164,0.041,2959,2054,2424,0,0,0,0,0,0
$GC,10703,-0.71,-116.8,906.0,-7.2,792,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2055,2424,0,0,0,0,0,0
$GC,11012,-0.75,-116.8,928.2,-7.2,807,11016,0.00,2.17,0.00,0.000,4,0.000,0.054,2961,661,2424,0,0,0,0,0,0
$GC,11038,-0.75,-116.8,930.5,-8.7,808,11043,0.00,2.20,0.00,0.000,6,0.000,0.040,2952,2064,2424,0,0,0,0,0,0
$GC,11360,-0.75,-116.8,954.7,-7.6,824,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2064,2424,0,0,0,0,0,0
$GC,11669,-0.75,-116.8,978.2,-7.6,839,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2064,2424,0,0,0,0,0,0
$STATE,11956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11956,begin apogee
$GC,11961,-0.19,0.0,1000.3,7.6,853,12070,0.55,0.00,105.70,1.293,6,0.144,0.000,3122,1598,1950,0,0,0,0,0,0
$STATE,12071,end apogee,CONTROL_FINISHED_OK
$STATE,12071,begin climb
$GC,12072,0.76,116.8,1003.1,0.0,858,12195,0.90,2.53,110.90,1.252,4,0.090,0.053,3432,199,1472,0,0,0,0,0,0
$GC,12263,0.73,116.8,989.7,9.6,867,12268,0.00,2.35,0.00,0.000,6,0.000,0.035,3432,1614,1467,0,0,0,0,0,0
$GC,12590,0.73,116.8,957.2,9.9,883,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1614,1464,0,0,0,0,0,0
$GC,12899,0.73,116.8,925.8,10.2,898,12903,0.00,2.25,0.00,0.000,4,0.000,0.054,3432,3002,1463,0,0,0,0,0,0
$GC,12947,0.68,116.8,920.5,10.3,900,12953,0.10,2.22,0.00,0.000,6,0.139,0.034,3409,1596,1462,0,0,0,0,0,0
$GC,13269,0.71,116.8,892.4,8.7,916,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1596,1462,0,0,0,0,0,0
$GC,13579,0.75,128.1,867.3,8.0,931,13591,0.00,0.00,10.05,1.060,6,0.000,0.000,3409,1596,1427,0,0,0,0,0,0
$GC,13888,0.80,143.7,842.6,7.8,946,13908,0.10,0.00,16.52,1.123,6,0.096,0.000,3460,1596,1364,0,0,0,0,0,0
$GC,14218,0.74,143.7,807.8,10.8,962,14222,0.12,2.25,0.00,0.000,4,0.149,0.053,3434,200,1360,0,0,0,0,0,0
$GC,14288,0.74,143.7,800.2,10.5,965,14293,0.00,2.22,0.00,0.000,6,0.000,0.036,3434,1607,1359,0,0,0,0,0,0
$GC,14610,0.74,143.7,767.5,10.4,981,14614,0.00,2.20,0.00,0.000,4,0.000,0.052,3434,2990,1359,0,0,0,0,0,0
$GC,14665,0.74,143.7,761.5,10.5,983,14672,0.05,2.17,0.00,0.000,6,0.154,0.034,3425,1598,1359,0,0,0,0,0,0
$GC,14981,0.74,143.7,731.1,9.7,999,14985,0.00,2.25,0.00,0.000,4,0.000,0.052,3435,196,1359,0,0,0,0,0,0
$GC,15030,0.74,143.7,725.8,10.3,1001,15035,0.03,2.20,0.00,0.000,6,0.160,0.034,3425,1599,1358,0,0,0,0,0,0
$GC,15352,0.74,143.7,694.9,9.7,1017,15356,0.00,2.22,0.00,0.000,4,0.000,0.054,3425,3000,1359,0,0,0,0,0,0
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$STATE,22550,end climb,SURFACE_DEPTH_REACHED
$STATE,22550,begin surface coast
$FINISH,1.7,1.001509
$STATE,22594,end surface coast,CONTROL_FINISHED_OK
$STATE,22594,begin surface
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$IRIDIUM_FIX,-4450.47,637.60,200608,101045
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.3,20.288
$10V_AH,10.1,19.714
$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
$DEVICE_SECS,23.575,155.600,246.150,23.525,0.000,25.722,26.975,327.124,0.000,0.000,19.878,4032.976,14431.654,414.286,4055.271,200.466,0.000,1871.004,0.000,3445.334,0.000,0.539,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353184
$DATA_FILE_SIZE,113718,1642
$CAP_FILE_SIZE,205206,0
$CFSIZE,2097086464,2073919488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250815,100659,-4507.914,629.052,40,1.1,40,-24.4