version: 66.07.10.p01
glider: 573
mission: 12
dive: 140
start: 8 25 115 16 42 59
data:
$ID,573
$MISSION,12
$DIVE,140
$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,-21441.182
$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,43
$R_STBD_OVSHOOT,50
$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,139
$GPS1,250815,163404,-4507.807,627.552,33,0.9,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-68.7
$GPS2,250815,164239,-4507.861,627.568,21,0.9,21,-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,351.3,8539,-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,-20.52,0.000,2,0.000,0.000,64,2045,1537,0,0,0,0,0,0
$GC,48,-0.76,-116.8,3.0,-3.1,3,106,11.80,2.30,-39.83,0.000,4,0.246,0.073,2924,3447,2425,0,0,0,0,0,0
$GC,140,-0.61,-116.8,7.1,-10.9,17,148,0.17,2.22,0.00,0.000,6,0.157,0.041,2976,2057,2427,0,0,0,0,0,0
$GC,198,-0.61,-116.8,12.9,-9.7,26,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2428,0,0,0,0,0,0
$GC,256,-0.61,-116.8,18.7,-10.6,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2427,0,0,0,0,0,0
$GC,313,-0.61,-116.8,24.4,-10.0,44,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2428,0,0,0,0,0,0
$GC,467,-0.61,-116.8,38.9,-9.2,69,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2428,0,0,0,0,0,0
$GC,613,-0.61,-116.8,52.4,-9.1,94,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2427,0,0,0,0,0,0
$GC,959,-0.61,-116.8,86.4,-10.2,155,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2428,0,0,0,0,0,0
$GC,1297,-0.61,-116.8,119.9,-9.6,198,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2057,2428,0,0,0,0,0,0
$GC,1616,-0.61,-116.8,148.9,-8.7,228,1620,0.00,2.25,0.00,0.000,4,0.000,0.060,2968,3445,2428,0,0,0,0,0,0
$GC,1771,-0.61,-116.8,162.8,-9.3,241,1775,0.05,2.15,0.00,0.000,6,0.217,0.039,2980,2049,2428,0,0,0,0,0,0
$GC,2095,-0.61,-116.8,190.8,-8.5,271,2099,0.00,2.17,0.00,0.000,4,0.000,0.051,2980,652,2428,0,0,0,0,0,0
$GC,2125,-0.61,-116.8,193.4,-9.0,273,2129,0.00,2.15,0.00,0.000,6,0.000,0.040,2971,2048,2428,0,0,0,0,0,0
$GC,2450,-0.61,-116.8,221.0,-8.5,303,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2048,2428,0,0,0,0,0,0
$GC,2771,-0.61,-116.8,249.0,-8.8,333,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2048,2429,0,0,0,0,0,0
$GC,3087,-0.61,-116.8,278.8,-10.0,363,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2048,2429,0,0,0,0,0,0
$GC,3408,-0.61,-116.8,311.3,-10.4,393,3412,0.00,2.22,0.00,0.000,4,0.000,0.059,2961,3467,2428,0,0,0,0,0,0
$GC,3436,-0.61,-116.8,314.4,-10.6,395,3441,0.10,2.15,0.00,0.000,6,0.184,0.039,2986,2058,2429,0,0,0,0,0,0
$GC,3763,-0.66,-116.8,344.8,-9.2,425,3767,0.00,2.17,0.00,0.000,4,0.000,0.053,2986,661,2428,0,0,0,0,0,0
$GC,3794,-0.66,-116.8,348.2,-9.8,427,3801,0.00,2.20,0.00,0.000,6,0.000,0.039,2977,2062,2428,0,0,0,0,0,0
$GC,4120,-0.66,-116.8,376.4,-8.3,458,4124,0.00,2.22,0.00,0.000,4,0.000,0.063,2966,3475,2429,0,0,0,0,0,0
$GC,4171,-0.66,-116.8,381.0,-9.3,462,4175,0.00,2.15,0.00,0.000,6,0.000,0.040,2966,2054,2428,0,0,0,0,0,0
$GC,4504,-0.66,-116.8,408.7,-8.1,488,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2054,2428,0,0,0,0,0,0
$GC,4812,-0.66,-116.8,432.7,-7.7,503,4816,0.00,2.20,0.00,0.000,4,0.000,0.054,2966,654,2428,0,0,0,0,0,0
$GC,4867,-0.66,-116.8,437.4,-8.5,505,4873,0.00,2.20,0.00,0.000,6,0.000,0.042,2958,2055,2428,0,0,0,0,0,0
$GC,5183,-0.66,-116.8,463.3,-8.6,521,5187,0.00,2.22,0.00,0.000,4,0.000,0.060,2948,3475,2428,0,0,0,0,0,0
$GC,5225,-0.66,-116.8,467.3,-9.1,523,5231,0.05,2.20,0.00,0.000,6,0.159,0.040,2964,2062,2428,0,0,0,0,0,0
$GC,5553,-0.66,-116.8,495.3,-8.7,539,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2062,2428,0,0,0,0,0,0
$GC,5862,-0.66,-116.8,522.4,-8.6,554,5866,0.00,2.20,0.00,0.000,4,0.000,0.053,2965,658,2428,0,0,0,0,0,0
$GC,5905,-0.66,-116.8,526.7,-9.7,556,5910,0.00,2.20,0.00,0.000,6,0.000,0.041,2956,2062,2428,0,0,0,0,0,0
$GC,6233,-0.66,-116.8,555.4,-8.7,572,6237,0.00,2.22,0.00,0.000,4,0.000,0.063,2945,3472,2427,0,0,0,0,0,0
$GC,6264,-0.66,-116.8,558.5,-9.1,573,6271,0.05,2.20,0.00,0.000,6,0.155,0.040,2963,2053,2427,0,0,0,0,0,0
$GC,6581,-0.66,-116.8,584.8,-8.4,589,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2053,2427,0,0,0,0,0,0
$GC,6890,-0.66,-116.8,610.2,-8.0,604,6894,0.00,2.20,0.00,0.000,4,0.000,0.054,2963,656,2427,0,0,0,0,0,0
$GC,6951,-0.66,-116.8,615.6,-9.0,607,6956,0.05,2.17,0.00,0.000,6,0.217,0.042,2966,2067,2427,0,0,0,0,0,0
$GC,7278,-0.66,-116.8,639.4,-7.2,623,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2067,2426,0,0,0,0,0,0
$GC,7587,-0.66,-116.8,661.6,-7.2,638,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2067,2426,0,0,0,0,0,0
$GC,7896,-0.66,-116.8,684.2,-7.3,653,7900,0.00,2.22,0.00,0.000,4,0.000,0.063,2955,3463,2425,0,0,0,0,0,0
$GC,7922,-0.66,-116.8,686.3,-8.0,654,7927,0.00,2.17,0.00,0.000,6,0.000,0.039,2955,2057,2426,0,0,0,0,0,0
$GC,8244,-0.66,-116.8,711.6,-7.8,670,8248,0.00,2.20,0.00,0.000,4,0.000,0.054,2956,658,2425,0,0,0,0,0,0
$GC,8298,-0.66,-116.8,716.4,-9.1,672,8306,0.05,2.20,0.00,0.000,6,0.157,0.041,2964,2055,2425,0,0,0,0,0,0
$GC,8615,-0.66,-116.8,739.7,-7.4,688,8619,0.00,2.22,0.00,0.000,4,0.000,0.060,2954,3475,2425,0,0,0,0,0,0
$GC,8659,-0.66,-116.8,743.1,-7.9,690,8664,0.03,2.20,0.00,0.000,6,0.183,0.040,2963,2060,2425,0,0,0,0,0,0
$GC,8987,-0.70,-116.8,766.5,-7.1,706,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2060,2425,0,0,0,0,0,0
$GC,9296,-0.73,-116.8,789.3,-7.2,721,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2060,2425,0,0,0,0,0,0
$GC,9605,-0.77,-116.8,812.2,-7.7,736,9610,0.08,2.22,0.00,0.000,4,0.125,0.053,2923,648,2424,0,0,0,0,0,0
$GC,9648,-0.68,-116.8,816.5,-10.0,738,9653,0.12,2.22,0.00,0.000,6,0.144,0.041,2955,2063,2425,0,0,0,0,0,0
$GC,9975,-0.68,-116.8,843.2,-8.3,754,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2063,2424,0,0,0,0,0,0
$GC,10285,-0.68,-116.8,869.2,-8.5,769,10289,0.00,2.22,0.00,0.000,4,0.000,0.064,2945,3472,2424,0,0,0,0,0,0
$GC,10328,-0.68,-116.8,873.2,-9.0,771,10333,0.03,2.17,0.00,0.000,6,0.175,0.040,2955,2067,2424,0,0,0,0,0,0
$GC,10655,-0.68,-116.8,901.9,-9.1,787,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2067,2424,0,0,0,0,0,0
$GC,10964,-0.68,-116.8,928.6,-8.2,802,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2067,2424,0,0,0,0,0,0
$GC,11274,-0.71,-116.8,952.1,-7.5,817,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2067,2424,0,0,0,0,0,0
$GC,11583,-0.71,-116.8,973.9,-6.8,832,11587,0.00,2.20,0.00,0.000,4,0.000,0.054,2955,657,2424,0,0,0,0,0,0
$GC,11609,-0.71,-116.8,976.1,-7.9,833,11614,0.00,2.20,0.00,0.000,6,0.000,0.040,2946,2063,2424,0,0,0,0,0,0
$GC,11931,-0.71,-116.8,998.2,-6.7,849,11935,0.00,2.22,0.00,0.000,4,0.000,0.063,2936,3474,2423,0,0,0,0,0,0
$STATE,11955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11956,begin apogee
$GC,11962,-0.19,0.0,1000.2,7.5,850,12073,0.55,0.00,105.95,1.293,6,0.144,0.000,3111,1590,1949,0,0,0,0,0,0
$STATE,12074,end apogee,CONTROL_FINISHED_OK
$STATE,12074,begin climb
$GC,12075,0.76,116.8,1002.4,0.0,856,12198,0.95,2.50,110.80,1.254,4,0.093,0.053,3436,201,1473,0,0,0,0,0,0
$GC,12236,0.72,116.8,990.4,10.3,863,12243,0.05,2.38,0.00,0.000,6,0.137,0.035,3420,1605,1468,0,0,0,0,0,0
$GC,12552,0.72,116.8,960.8,9.2,879,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1605,1464,0,0,0,0,0,0
$GC,12862,0.72,116.8,932.6,8.9,894,12866,0.00,2.25,0.00,0.000,4,0.000,0.053,3419,2998,1462,0,0,0,0,0,0
$GC,12901,0.72,116.8,928.8,9.6,896,12905,0.00,2.20,0.00,0.000,6,0.000,0.034,3428,1598,1462,0,0,0,0,0,0
$GC,13227,0.72,116.8,897.6,9.6,912,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1598,1461,0,0,0,0,0,0
$GC,13536,0.72,116.8,867.4,9.6,927,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1598,1461,0,0,0,0,0,0
$GC,13846,0.72,116.8,838.1,9.1,942,13850,0.00,2.25,0.00,0.000,4,0.000,0.053,3439,196,1460,0,0,0,0,0,0
$GC,13932,0.66,116.8,830.3,9.4,946,13937,0.15,2.20,0.00,0.000,6,0.149,0.036,3396,1609,1460,0,0,0,0,0,0
$GC,14259,0.74,135.2,804.6,7.6,962,14281,0.08,2.22,16.33,1.107,4,0.119,0.051,3441,2994,1399,0,0,0,0,0,0
$GC,14314,0.69,135.2,799.2,10.4,964,14319,0.12,2.20,0.00,0.000,6,0.137,0.035,3408,1596,1398,0,0,0,0,0,0
$GC,14637,0.74,142.5,773.0,8.2,980,14651,0.00,2.30,8.27,0.972,4,0.000,0.054,3419,205,1369,0,0,0,0,0,0
$GC,14690,0.74,142.5,768.0,8.9,982,14695,0.00,2.22,0.00,0.000,6,0.000,0.035,3419,1602,1367,0,0,0,0,0,0
$GC,15014,0.77,142.5,740.2,8.5,998,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1603,1367,0,0,0,0,0,0
$GC,15322,0.81,142.5,711.5,9.4,1013,15323,0.08,0.00,0.00,0.000,6,0.122,0.000,3463,1603,1366,0,0,0,0,0,0
$GC,15631,0.77,142.5,677.1,11.2,1028,15633,0.10,0.00,0.00,0.000,6,0.158,0.000,3435,1604,1366,0,0,0,0,0,0
$GC,15940,0.77,142.5,645.2,10.3,1043,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1603,1366,0,0,0,0,0,0
$GC,16249,0.77,142.5,612.9,10.4,1058,16253,0.00,2.25,0.00,0.000,4,0.000,0.051,3445,202,1365,0,0,0,0,0,0
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$STATE,22847,end climb,SURFACE_DEPTH_REACHED
$STATE,22847,begin surface coast
$FINISH,1.7,1.016924
$STATE,22880,end surface coast,CONTROL_FINISHED_OK
$STATE,22880,begin surface
$SM_CCo,22896,14.05,0.056,0,0,1133,200.16
$SM_GC,3.55,0.00,0.00,14.05,0.000,0.000,0.056,66,2062,1133,-9.75,0.06,200.16
$IRIDIUM_FIX,-4450.47,628.50,200608,232314
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.3,20.518
$10V_AH,10.1,20.035
$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,24.025,142.750,274.600,14.050,0.000,27.461,18.767,325.478,0.000,0.000,24.273,4037.056,14691.719,412.651,4069.696,198.022,0.000,1873.561,0.000,3462.412,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,72.675,1292.850,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353268
$DATA_FILE_SIZE,113796,1650
$CAP_FILE_SIZE,204750,0
$CFSIZE,2097086464,2073657344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250815,230604,-4507.295,627.173,40,0.8,40,-24.4