version: 66.07.10.p01
glider: 573
mission: 12
dive: 203
start: 9 7 115 12 5 42
data:
$ID,573
$MISSION,12
$DIVE,203
$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,-21639.475
$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,28
$R_STBD_OVSHOOT,44
$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,202
$GPS1,070915,115604,-4503.093,624.300,28,1.1,28,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-68.2
$GPS2,070915,120522,-4503.138,624.319,15,1.9,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,22.6,13226,-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,-20.25,0.000,2,0.000,0.000,70,2077,1492,0,0,0,0,0,0
$GC,48,-0.76,-116.8,3.1,-3.2,3,112,11.88,2.35,-44.45,0.000,4,0.245,0.067,2934,627,2422,0,0,0,0,0,0
$GC,328,-0.62,-116.8,29.2,-13.9,48,336,0.17,2.30,0.00,0.000,6,0.158,0.045,2979,2036,2425,0,0,0,0,0,0
$GC,481,-0.62,-116.8,46.2,-10.2,73,486,0.00,2.38,0.00,0.000,4,0.000,0.065,2968,3488,2425,0,0,0,0,0,0
$GC,520,-0.62,-116.8,50.5,-10.2,80,527,0.05,2.25,0.00,0.000,6,0.222,0.041,2979,2045,2425,0,0,0,0,0,0
$GC,869,-0.62,-116.8,86.4,-10.5,141,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2045,2425,0,0,0,0,0,0
$GC,1202,-0.62,-116.8,121.6,-10.5,183,1206,0.00,2.22,0.00,0.000,4,0.000,0.054,2979,648,2425,0,0,0,0,0,0
$GC,1223,-0.62,-116.8,124.0,-10.8,184,1232,0.00,2.25,0.00,0.000,6,0.000,0.041,2970,2067,2425,0,0,0,0,0,0
$GC,1549,-0.62,-116.8,159.4,-10.8,215,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2067,2425,0,0,0,0,0,0
$GC,1870,-0.62,-116.8,194.6,-11.5,245,1874,0.00,2.25,0.00,0.000,4,0.000,0.063,2960,3465,2425,0,0,0,0,0,0
$GC,2000,-0.62,-116.8,209.4,-10.6,256,2005,0.10,2.17,0.00,0.000,6,0.182,0.040,2983,2054,2425,0,0,0,0,0,0
$GC,2330,-0.65,-116.8,239.9,-9.0,287,2334,0.00,2.20,0.00,0.000,4,0.000,0.054,2986,652,2425,0,0,0,0,0,0
$GC,2430,-0.65,-116.8,249.4,-9.1,295,2436,0.00,2.22,0.00,0.000,6,0.000,0.043,2977,2055,2425,0,0,0,0,0,0
$GC,2756,-0.65,-116.8,276.9,-7.9,326,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2055,2425,0,0,0,0,0,0
$GC,3076,-0.65,-116.8,301.3,-7.8,356,3080,0.00,2.25,0.00,0.000,4,0.000,0.063,2967,3468,2425,0,0,0,0,0,0
$GC,3097,-0.65,-116.8,303.2,-7.6,357,3103,0.00,2.20,0.00,0.000,6,0.000,0.041,2967,2056,2426,0,0,0,0,0,0
$GC,3422,-0.65,-116.8,329.2,-8.0,388,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2056,2425,0,0,0,0,0,0
$GC,3742,-0.65,-116.8,355.8,-8.5,418,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2056,2425,0,0,0,0,0,0
$GC,4060,-0.65,-116.8,382.5,-8.3,448,4064,0.00,2.22,0.00,0.000,4,0.000,0.055,2967,649,2425,0,0,0,0,0,0
$GC,4111,-0.65,-116.8,386.9,-8.6,452,4115,0.00,2.22,0.00,0.000,6,0.000,0.044,2958,2070,2425,0,0,0,0,0,0
$GC,4431,-0.65,-116.8,414.6,-8.6,474,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2070,2425,0,0,0,0,0,0
$GC,4740,-0.65,-116.8,441.4,-8.5,489,4744,0.00,2.22,0.00,0.000,4,0.000,0.063,2948,3463,2425,0,0,0,0,0,0
$GC,4784,-0.65,-116.8,445.3,-8.8,491,4789,0.05,2.17,0.00,0.000,6,0.159,0.040,2964,2061,2425,0,0,0,0,0,0
$GC,5111,-0.65,-116.8,470.9,-7.7,507,5115,0.00,2.20,0.00,0.000,4,0.000,0.056,2965,652,2425,0,0,0,0,0,0
$GC,5166,-0.65,-116.8,475.6,-8.5,509,5173,0.03,2.22,0.00,0.000,6,0.168,0.044,2965,2058,2425,0,0,0,0,0,0
$GC,5482,-0.65,-116.8,499.5,-7.4,525,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2058,2424,0,0,0,0,0,0
$GC,5792,-0.65,-116.8,522.2,-7.4,540,5796,0.00,2.25,0.00,0.000,4,0.000,0.064,2954,3465,2424,0,0,0,0,0,0
$GC,5813,-0.65,-116.8,523.9,-7.3,541,5818,0.03,2.20,0.00,0.000,6,0.181,0.041,2964,2053,2424,0,0,0,0,0,0
$GC,6140,-0.65,-116.8,547.1,-6.9,557,6144,0.00,2.20,0.00,0.000,4,0.000,0.056,2964,650,2424,0,0,0,0,0,0
$GC,6167,-0.65,-116.8,549.3,-7.7,558,6172,0.03,2.22,0.00,0.000,6,0.181,0.044,2964,2055,2424,0,0,0,0,0,0
$GC,6488,-0.65,-116.8,572.1,-7.4,574,6493,0.00,2.28,0.00,0.000,4,0.000,0.063,2954,3474,2423,0,0,0,0,0,0
$GC,6543,-0.65,-116.8,576.6,-8.1,576,6550,0.03,2.20,0.00,0.000,6,0.184,0.042,2963,2069,2423,0,0,0,0,0,0
$GC,6860,-0.65,-116.8,601.2,-8.0,592,6864,0.00,2.25,0.00,0.000,4,0.000,0.060,2954,3469,2423,0,0,0,0,0,0
$GC,6886,-0.65,-116.8,603.5,-8.2,593,6891,0.03,2.20,0.00,0.000,6,0.185,0.041,2963,2053,2424,0,0,0,0,0,0
$GC,7207,-0.65,-116.8,628.8,-7.9,609,7211,0.00,2.20,0.00,0.000,4,0.000,0.056,2964,653,2423,0,0,0,0,0,0
$GC,7279,-0.65,-116.8,634.9,-8.9,612,7284,0.00,2.22,0.00,0.000,6,0.000,0.044,2955,2055,2423,0,0,0,0,0,0
$GC,7601,-0.65,-116.8,661.0,-8.3,628,7606,0.05,2.28,0.00,0.000,4,0.219,0.064,2955,3466,2423,0,0,0,0,0,0
$GC,7640,-0.65,-116.8,664.1,-8.1,630,7645,0.05,2.15,0.00,0.000,6,0.220,0.041,2966,2054,2423,0,0,0,0,0,0
$GC,7968,-0.69,-116.8,691.3,-8.5,646,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2054,2423,0,0,0,0,0,0
$GC,8277,-0.72,-116.8,716.4,-7.9,661,8281,0.00,2.20,0.00,0.000,4,0.000,0.056,2969,654,2423,0,0,0,0,0,0
$GC,8320,-0.72,-116.8,720.6,-9.3,663,8324,0.00,2.22,0.00,0.000,6,0.000,0.044,2960,2060,2422,0,0,0,0,0,0
$GC,8648,-0.72,-116.8,748.6,-9.0,679,8652,0.00,2.28,0.00,0.000,4,0.000,0.066,2950,3474,2422,0,0,0,0,0,0
$GC,8674,-0.72,-116.8,751.3,-9.3,680,8679,0.00,2.20,0.00,0.000,6,0.000,0.042,2950,2067,2423,0,0,0,0,0,0
$GC,8995,-0.72,-116.8,781.4,-9.3,696,8999,0.00,2.22,0.00,0.000,4,0.000,0.054,2949,649,2422,0,0,0,0,0,0
$GC,9038,-0.72,-116.8,785.9,-10.5,698,9043,0.00,2.22,0.00,0.000,6,0.000,0.042,2940,2055,2422,0,0,0,0,0,0
$GC,9366,-0.72,-116.8,816.3,-9.1,714,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2055,2422,0,0,0,0,0,0
$GC,9675,-0.72,-116.8,843.2,-8.6,729,9679,0.00,2.25,0.00,0.000,4,0.000,0.062,2930,3465,2422,0,0,0,0,0,0
$GC,9730,-0.72,-116.8,848.2,-8.9,731,9737,0.05,2.20,0.00,0.000,6,0.164,0.041,2946,2049,2422,0,0,0,0,0,0
$GC,10047,-0.72,-116.8,873.2,-7.6,747,10051,0.00,2.20,0.00,0.000,4,0.000,0.056,2948,662,2422,0,0,0,0,0,0
$GC,10073,-0.72,-116.8,875.6,-8.5,748,10078,0.00,2.20,0.00,0.000,6,0.000,0.039,2939,2065,2422,0,0,0,0,0,0
$GC,10395,-0.72,-116.8,900.4,-7.7,764,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2066,2421,0,0,0,0,0,0
$GC,10705,-0.72,-116.8,923.8,-7.8,779,10709,0.00,2.25,0.00,0.000,4,0.000,0.064,2928,3467,2421,0,0,0,0,0,0
$GC,10736,-0.72,-116.8,926.3,-7.5,780,10743,0.05,2.17,0.00,0.000,6,0.164,0.041,2945,2069,2421,0,0,0,0,0,0
$GC,11053,-0.72,-116.8,948.5,-7.1,796,11057,0.00,2.22,0.00,0.000,4,0.000,0.055,2945,652,2421,0,0,0,0,0,0
$GC,11073,-0.72,-116.8,950.1,-6.9,797,11078,0.00,2.22,0.00,0.000,6,0.000,0.043,2937,2064,2421,0,0,0,0,0,0
$GC,11401,-0.72,-116.8,973.0,-6.8,813,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2064,2421,0,0,0,0,0,0
$GC,11710,-0.72,-116.8,995.4,-7.1,828,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2064,2421,0,0,0,0,0,0
$STATE,11791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11791,begin apogee
$GC,11796,-0.19,0.0,1001.3,7.1,832,11905,0.60,0.00,106.00,1.294,6,0.149,0.000,3118,1588,1950,0,0,0,0,0,0
$STATE,11906,end apogee,CONTROL_FINISHED_OK
$STATE,11906,begin climb
$GC,11908,0.76,116.8,1003.2,0.0,837,12030,0.93,2.53,111.75,1.255,4,0.094,0.054,3432,202,1472,0,0,0,0,0,0
$GC,12063,0.72,116.8,992.1,9.6,844,12068,0.03,2.40,0.00,0.000,6,0.155,0.036,3422,1601,1469,0,0,0,0,0,0
$GC,12384,0.72,120.9,963.8,8.3,860,12388,0.00,2.35,0.00,0.000,4,0.000,0.052,3432,192,1465,0,0,0,0,0,0
$GC,12434,0.69,120.9,959.4,8.7,862,12439,0.10,2.28,0.00,0.000,6,0.157,0.036,3406,1617,1464,0,0,0,0,0,0
$GC,12761,0.70,134.6,933.5,7.9,878,12780,0.00,0.00,16.95,1.154,6,0.000,0.000,3406,1617,1400,0,0,0,0,0,0
$GC,13090,0.75,145.3,907.1,8.0,894,13111,0.05,2.42,11.43,1.088,4,0.162,0.053,3450,192,1356,0,0,0,0,0,0
$GC,13172,0.70,145.3,898.8,10.6,897,13178,0.15,2.25,0.00,0.000,6,0.145,0.036,3409,1606,1355,0,0,0,0,0,0
$GC,13488,0.74,147.2,871.7,8.5,913,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1606,1353,0,0,0,0,0,0
$GC,13797,0.79,147.2,845.0,8.7,928,13802,0.10,2.30,0.00,0.000,4,0.096,0.054,3469,193,1353,0,0,0,0,0,0
$GC,13874,0.70,147.2,836.3,11.3,931,13881,0.17,2.22,0.00,0.000,6,0.125,0.035,3410,1599,1352,0,0,0,0,0,0
$GC,14191,0.74,147.2,807.7,9.1,947,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1599,1352,0,0,0,0,0,0
$GC,14500,0.79,147.2,779.8,9.3,962,14505,0.08,2.30,0.00,0.000,4,0.118,0.054,3464,189,1352,0,0,0,0,0,0
$GC,14543,0.71,147.2,774.8,11.4,964,14548,0.15,2.22,0.00,0.000,6,0.124,0.036,3413,1604,1351,0,0,0,0,0,0
$GC,14871,0.75,147.2,744.5,9.5,980,14875,0.00,2.25,0.00,0.000,4,0.000,0.053,3422,198,1351,0,0,0,0,0,0
$GC,14933,0.75,147.2,738.3,10.6,983,14937,0.00,2.17,0.00,0.000,6,0.000,0.036,3422,1616,1351,0,0,0,0,0,0
$GC,15261,0.75,147.2,707.9,9.4,999,15262,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1617,1351,0,0,0,0,0,0
$GC,15569,0.75,147.2,677.3,10.4,1014,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1617,1351,0,0,0,0,0,0
$GC,15878,0.75,147.2,645.1,10.6,1029,15879,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1617,1351,0,0,0,0,0,0
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$STATE,22718,end climb,SURFACE_DEPTH_REACHED
$STATE,22718,begin surface coast
$FINISH,1.8,1.023405
$STATE,22750,end surface coast,CONTROL_FINISHED_OK
$STATE,22750,begin surface
$SM_CCo,22827,0.00,0.000,0,0,1010,230.58
$SM_GC,2.86,8.85,0.00,0.00,0.029,0.000,0.000,64,2068,1010,-9.61,0.23,230.58
$IRIDIUM_FIX,-4444.39,621.76,030708,191941
$TT8_MAMPS,0.026215
$HUMID,62.87
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.9,26.673
$10V_AH,9.9,27.891
$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,24.575,180.250,314.100,0.000,0.000,24.459,42.412,348.948,0.000,0.000,17.933,3997.687,14566.263,444.080,4134.534,224.926,0.000,1961.014,0.000,3488.083,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,66.555,1293.615,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.594,2956.236,1141.067,593.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,110438,1624
$CAP_FILE_SIZE,212835,0
$CFSIZE,2097086464,2065399808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070915,182721,-4502.447,625.953,39,0.9,39,-24.4