version: 66.07.10.p01
glider: 573
mission: 12
dive: 139
start: 8 25 115 10 15 25
data:
$ID,573
$MISSION,12
$DIVE,139
$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,-21438.223
$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,39
$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,138
$GPS1,250815,100659,-4507.914,629.052,40,1.1,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.6
$GPS2,250815,101505,-4507.999,629.101,14,0.9,15,-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,342.4,9968,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-26.62,0.000,2,0.000,0.000,62,2051,1667,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.2,-2.2,4,106,11.90,2.33,-30.42,0.000,4,0.249,0.076,2921,3445,2428,0,0,0,0,0,0
$GC,145,-0.64,-116.8,7.5,-9.2,18,153,0.15,2.20,0.00,0.000,6,0.154,0.040,2969,2063,2429,0,0,0,0,0,0
$GC,205,-0.60,-116.8,13.6,-10.2,27,212,0.08,0.00,0.00,0.000,6,0.210,0.000,2985,2064,2429,0,0,0,0,0,0
$GC,263,-0.60,-116.8,19.1,-9.5,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2064,2429,0,0,0,0,0,0
$GC,320,-0.60,-116.8,24.4,-9.0,45,327,0.00,2.28,0.00,0.000,4,0.000,0.053,2986,658,2430,0,0,0,0,0,0
$GC,366,-0.60,-116.8,29.0,-10.0,52,373,0.00,2.22,0.00,0.000,6,0.000,0.041,2977,2048,2429,0,0,0,0,0,0
$GC,519,-0.60,-116.8,43.3,-8.9,77,524,0.00,2.30,0.00,0.000,4,0.000,0.059,2966,3477,2429,0,0,0,0,0,0
$GC,549,-0.60,-116.8,46.1,-9.4,82,555,0.08,2.20,0.00,0.000,6,0.195,0.037,2983,2056,2429,0,0,0,0,0,0
$GC,897,-0.60,-116.8,77.4,-9.2,143,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2056,2430,0,0,0,0,0,0
$GC,1243,-0.60,-116.8,109.1,-8.7,196,1247,0.00,2.22,0.00,0.000,4,0.000,0.052,2983,649,2430,0,0,0,0,0,0
$GC,1293,-0.60,-116.8,113.8,-8.7,200,1297,0.00,2.20,0.00,0.000,6,0.000,0.041,2974,2069,2430,0,0,0,0,0,0
$GC,1618,-0.60,-116.8,139.8,-8.3,230,1622,0.00,2.20,0.00,0.000,4,0.000,0.059,2964,3466,2430,0,0,0,0,0,0
$GC,1649,-0.60,-116.8,142.8,-9.4,232,1658,0.05,2.17,0.00,0.000,6,0.163,0.037,2982,2066,2430,0,0,0,0,0,0
$GC,1975,-0.60,-116.8,172.5,-9.7,263,1979,0.00,2.22,0.00,0.000,4,0.000,0.051,2981,650,2430,0,0,0,0,0,0
$GC,2004,-0.60,-116.8,175.3,-9.7,265,2009,0.05,2.20,0.00,0.000,6,0.232,0.037,2984,2072,2430,0,0,0,0,0,0
$GC,2329,-0.64,-116.8,206.6,-9.3,295,2333,0.00,2.17,0.00,0.000,4,0.000,0.058,2973,3467,2430,0,0,0,0,0,0
$GC,2391,-0.67,-116.8,212.6,-10.0,300,2395,0.00,2.17,0.00,0.000,6,0.000,0.037,2973,2045,2430,0,0,0,0,0,0
$GC,2715,-0.67,-116.8,243.2,-9.4,330,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2045,2431,0,0,0,0,0,0
$GC,3035,-0.67,-116.8,272.3,-8.9,360,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2044,2431,0,0,0,0,0,0
$GC,3353,-0.67,-116.8,300.7,-9.0,390,3357,0.00,2.17,0.00,0.000,4,0.000,0.051,2974,659,2431,0,0,0,0,0,0
$GC,3408,-0.67,-116.8,306.2,-9.5,394,3414,0.00,2.20,0.00,0.000,6,0.000,0.037,2965,2062,2431,0,0,0,0,0,0
$GC,3736,-0.67,-116.8,337.4,-9.9,425,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2062,2431,0,0,0,0,0,0
$GC,4053,-0.67,-116.8,367.6,-9.1,455,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2062,2431,0,0,0,0,0,0
$GC,4373,-0.67,-116.8,396.8,-8.8,485,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2062,2431,0,0,0,0,0,0
$GC,4681,-0.67,-116.8,423.4,-8.3,502,4685,0.00,2.20,0.00,0.000,4,0.000,0.062,2954,3463,2431,0,0,0,0,0,0
$GC,4707,-0.67,-116.8,426.0,-8.8,503,4712,0.00,2.17,0.00,0.000,6,0.000,0.038,2954,2054,2431,0,0,0,0,0,0
$GC,5029,-0.67,-116.8,453.4,-8.6,519,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2431,0,0,0,0,0,0
$GC,5338,-0.67,-116.8,480.1,-8.5,534,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2054,2431,0,0,0,0,0,0
$GC,5648,-0.67,-116.8,506.0,-8.0,549,5652,0.00,2.17,0.00,0.000,4,0.000,0.054,2954,667,2431,0,0,0,0,0,0
$GC,5697,-0.63,-116.8,510.6,-8.9,551,5702,0.08,2.17,0.00,0.000,6,0.148,0.041,2971,2052,2431,0,0,0,0,0,0
$GC,6018,-0.63,-116.8,535.1,-7.8,567,6022,0.00,2.22,0.00,0.000,4,0.000,0.058,2961,3463,2431,0,0,0,0,0,0
$GC,6050,-0.63,-116.8,537.9,-8.6,568,6057,0.03,2.15,0.00,0.000,6,0.187,0.038,2971,2070,2431,0,0,0,0,0,0
$GC,6368,-0.67,-116.8,563.0,-8.1,584,6372,0.00,2.20,0.00,0.000,4,0.000,0.053,2971,648,2431,0,0,0,0,0,0
$GC,6394,-0.67,-116.8,565.6,-8.9,585,6399,0.00,2.20,0.00,0.000,6,0.000,0.038,2963,2057,2430,0,0,0,0,0,0
$GC,6716,-0.67,-116.8,592.8,-8.3,601,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2430,0,0,0,0,0,0
$GC,7026,-0.67,-116.8,618.4,-8.3,616,7030,0.00,2.22,0.00,0.000,4,0.000,0.061,2952,3473,2430,0,0,0,0,0,0
$GC,7046,-0.67,-116.8,620.5,-8.9,617,7051,0.00,2.20,0.00,0.000,6,0.000,0.040,2952,2051,2430,0,0,0,0,0,0
$GC,7374,-0.67,-116.8,648.8,-8.6,633,7378,0.05,2.20,0.00,0.000,4,0.228,0.054,2963,661,2430,0,0,0,0,0,0
$GC,7413,-0.67,-116.8,652.1,-8.8,635,7417,0.00,2.15,0.00,0.000,6,0.000,0.040,2954,2067,2430,0,0,0,0,0,0
$GC,7740,-0.67,-116.8,679.1,-8.3,651,7744,0.00,2.20,0.00,0.000,4,0.000,0.061,2944,3467,2429,0,0,0,0,0,0
$GC,7783,-0.67,-116.8,683.1,-8.2,653,7788,0.05,2.17,0.00,0.000,6,0.156,0.040,2961,2062,2429,0,0,0,0,0,0
$GC,8110,-0.67,-116.8,709.0,-8.1,669,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2062,2429,0,0,0,0,0,0
$GC,8419,-0.67,-116.8,734.4,-8.2,684,8423,0.00,2.22,0.00,0.000,4,0.000,0.053,2962,648,2428,0,0,0,0,0,0
$GC,8445,-0.67,-116.8,737.0,-8.7,685,8451,0.03,2.20,0.00,0.000,6,0.176,0.039,2962,2053,2428,0,0,0,0,0,0
$GC,8767,-0.67,-116.8,762.3,-7.5,701,8771,0.00,2.22,0.00,0.000,4,0.000,0.052,2963,652,2428,0,0,0,0,0,0
$GC,8793,-0.67,-116.8,764.6,-8.7,702,8798,0.00,2.20,0.00,0.000,6,0.000,0.039,2954,2058,2428,0,0,0,0,0,0
$GC,9116,-0.67,-116.8,789.8,-7.9,718,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2058,2428,0,0,0,0,0,0
$GC,9425,-0.67,-116.8,815.9,-8.6,733,9429,0.00,2.22,0.00,0.000,4,0.000,0.061,2943,3463,2427,0,0,0,0,0,0
$GC,9464,-0.67,-116.8,819.4,-8.5,735,9469,0.10,2.12,0.00,0.000,6,0.177,0.039,2968,2057,2427,0,0,0,0,0,0
$GC,9792,-0.72,-116.8,845.4,-7.7,751,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2056,2427,0,0,0,0,0,0
$GC,10100,-0.77,-116.8,869.8,-7.9,766,10105,0.10,2.17,0.00,0.000,4,0.100,0.053,2919,661,2427,0,0,0,0,0,0
$GC,10126,-0.71,-116.8,872.4,-9.7,767,10132,0.12,2.20,0.00,0.000,6,0.144,0.040,2951,2065,2427,0,0,0,0,0,0
$GC,10448,-0.71,-116.8,898.9,-7.8,783,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2065,2427,0,0,0,0,0,0
$GC,10757,-0.71,-116.8,923.5,-7.7,798,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2065,2427,0,0,0,0,0,0
$GC,11066,-0.71,-116.8,947.8,-7.6,813,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2065,2426,0,0,0,0,0,0
$GC,11376,-0.71,-116.8,970.9,-7.4,828,11380,0.00,2.20,0.00,0.000,4,0.000,0.063,2940,3462,2426,0,0,0,0,0,0
$GC,11402,-0.71,-116.8,973.0,-8.0,829,11407,0.03,2.17,0.00,0.000,6,0.181,0.039,2950,2057,2425,0,0,0,0,0,0
$GC,11724,-0.71,-116.8,994.6,-6.7,845,11728,0.00,2.20,0.00,0.000,4,0.000,0.054,2950,660,2426,0,0,0,0,0,0
$GC,11786,-0.71,-116.8,998.9,-6.9,848,11790,0.00,2.17,0.00,0.000,6,0.000,0.041,2941,2063,2426,0,0,0,0,0,0
$STATE,11801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11801,begin apogee
$GC,11806,-0.19,0.0,1000.0,6.8,849,11915,0.57,0.00,106.57,1.291,6,0.145,0.000,3118,1593,1950,0,0,0,0,0,0
$STATE,11916,end apogee,CONTROL_FINISHED_OK
$STATE,11916,begin climb
$GC,11918,0.76,116.8,1001.6,0.0,854,12034,0.93,0.00,111.10,1.250,6,0.092,0.000,3425,1592,1473,0,0,0,0,0,0
$GC,12343,0.76,116.8,961.5,10.0,874,12347,0.00,2.30,0.00,0.000,4,0.000,0.053,3435,200,1465,0,0,0,0,0,0
$GC,12392,0.72,116.8,956.2,10.7,876,12398,0.05,2.30,0.00,0.000,6,0.136,0.036,3417,1613,1464,0,0,0,0,0,0
$GC,12713,0.72,116.8,925.6,9.5,892,12717,0.00,2.22,0.00,0.000,4,0.000,0.051,3417,2993,1462,0,0,0,0,0,0
$GC,12768,0.72,116.8,920.1,9.7,894,12774,0.00,2.20,0.00,0.000,6,0.000,0.034,3426,1604,1462,0,0,0,0,0,0
$GC,13084,0.72,116.8,891.5,8.7,910,13088,0.00,2.28,0.00,0.000,4,0.000,0.054,3437,185,1461,0,0,0,0,0,0
$GC,13168,0.68,118.5,883.5,8.5,914,13173,0.10,2.22,0.00,0.000,6,0.162,0.035,3409,1607,1461,0,0,0,0,0,0
$GC,13496,0.73,140.1,858.1,7.5,930,13522,0.00,2.25,21.50,1.153,4,0.000,0.050,3409,2994,1377,0,0,0,0,0,0
$GC,13583,0.73,140.1,850.6,8.6,934,13588,0.00,2.22,0.00,0.000,6,0.000,0.034,3417,1597,1375,0,0,0,0,0,0
$GC,13911,0.76,140.1,822.3,8.8,950,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1598,1373,0,0,0,0,0,0
$GC,14220,0.80,140.1,793.9,9.4,965,14225,0.08,2.25,0.00,0.000,4,0.122,0.052,3471,189,1373,0,0,0,0,0,0
$GC,14263,0.71,140.1,788.9,11.5,967,14268,0.15,2.22,0.00,0.000,6,0.125,0.035,3420,1604,1372,0,0,0,0,0,0
$GC,14591,0.74,140.1,757.7,9.6,983,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1605,1372,0,0,0,0,0,0
$GC,14900,0.77,140.1,728.2,9.5,998,14901,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1605,1372,0,0,0,0,0,0
$GC,15209,0.81,140.1,699.0,9.3,1013,15211,0.08,0.00,0.00,0.000,6,0.120,0.000,3465,1605,1371,0,0,0,0,0,0
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$STATE,22596,end climb,SURFACE_DEPTH_REACHED
$STATE,22596,begin surface coast
$FINISH,1.8,1.023353
$STATE,22622,end surface coast,CONTROL_FINISHED_OK
$STATE,22622,begin surface
$SM_CCo,22639,12.55,0.056,0,0,1132,200.16
$SM_GC,3.68,0.00,0.00,12.55,0.000,0.000,0.056,65,2045,1132,-9.75,-0.45,200.16
$IRIDIUM_FIX,-4450.47,631.53,200608,171754
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.3,20.403
$10V_AH,10.1,19.875
$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
$DEVICE_SECS,24.025,180.250,272.225,12.550,0.000,25.322,20.359,308.251,0.000,0.000,17.676,4049.117,14352.771,432.416,4088.070,200.463,0.000,1934.554,0.000,3505.229,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.863,2989.994,1197.333,655.364,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,113968,1639
$CAP_FILE_SIZE,214907,0
$CFSIZE,2097086464,2073788416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250815,163404,-4507.807,627.552,33,0.9,33,-24.4