version: 66.07.10.p01
glider: 573
mission: 12
dive: 207
start: 9 8 115 14 21 43
data:
$ID,573
$MISSION,12
$DIVE,207
$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,-21653.176
$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,38
$R_STBD_OVSHOOT,52
$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,206
$GPS1,080915,140834,-4459.981,626.527,92,0.9,92,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-56.0
$GPS2,080915,142122,-4459.919,626.688,18,1.7,18,-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,358.5,8069,-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,-116.8,0.0,0.0,0,71,0.00,0.00,-44.67,0.000,2,0.000,0.000,80,2066,1411,0,0,0,0,0,0
$GC,73,-0.76,-116.8,3.0,-2.2,7,143,11.90,2.35,-47.72,0.000,4,0.245,0.070,2934,657,2426,0,0,0,0,0,0
$GC,390,-0.61,-116.8,42.9,-18.5,58,396,0.20,2.20,0.00,0.000,6,0.168,0.044,2979,2034,2427,0,0,0,0,0,0
$GC,738,-0.61,-116.8,76.8,-11.2,119,743,0.00,2.22,0.00,0.000,4,0.000,0.052,2980,661,2427,0,0,0,0,0,0
$GC,752,-0.61,-116.8,77.9,-10.9,121,757,0.00,2.20,0.00,0.000,6,0.000,0.040,2971,2068,2427,0,0,0,0,0,0
$GC,1094,-0.58,-116.8,108.2,-7.6,173,1099,0.10,2.25,0.00,0.000,4,0.197,0.063,2985,3469,2427,0,0,0,0,0,0
$GC,1133,-0.58,-116.8,111.6,-8.8,176,1140,0.00,2.22,0.00,0.000,6,0.000,0.041,2985,2054,2428,0,0,0,0,0,0
$GC,1457,-0.58,-116.8,141.0,-8.8,207,1461,0.00,2.20,0.00,0.000,4,0.000,0.054,2985,655,2428,0,0,0,0,0,0
$GC,1534,-0.58,-116.8,147.1,-8.1,213,1539,0.08,2.20,0.00,0.000,6,0.207,0.043,2992,2068,2428,0,0,0,0,0,0
$GC,1860,-0.61,-116.8,168.6,-6.7,243,1864,0.00,2.20,0.00,0.000,4,0.000,0.062,2982,3463,2427,0,0,0,0,0,0
$GC,1915,-0.65,-116.8,173.0,-7.8,247,1921,0.00,2.20,0.00,0.000,6,0.000,0.039,2982,2034,2427,0,0,0,0,0,0
$GC,2240,-0.65,-116.8,200.1,-8.1,278,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2034,2427,0,0,0,0,0,0
$GC,2559,-0.65,-116.8,228.4,-9.4,308,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2034,2427,0,0,0,0,0,0
$GC,2878,-0.65,-116.8,260.8,-10.2,338,2882,0.00,2.17,0.00,0.000,4,0.000,0.054,2982,646,2427,0,0,0,0,0,0
$GC,2943,-0.65,-116.8,268.4,-11.2,343,2949,0.00,2.22,0.00,0.000,6,0.000,0.041,2973,2055,2428,0,0,0,0,0,0
$GC,3269,-0.65,-116.8,302.9,-10.3,374,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2055,2428,0,0,0,0,0,0
$GC,3588,-0.65,-116.8,334.7,-10.2,404,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2055,2427,0,0,0,0,0,0
$GC,3907,-0.65,-116.8,365.2,-9.4,434,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2055,2428,0,0,0,0,0,0
$GC,4226,-0.65,-116.8,392.7,-8.1,464,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2055,2427,0,0,0,0,0,0
$GC,4548,-0.65,-116.8,418.9,-8.0,484,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2055,2427,0,0,0,0,0,0
$GC,4857,-0.65,-116.8,444.2,-8.3,499,4861,0.00,2.22,0.00,0.000,4,0.000,0.060,2962,3469,2427,0,0,0,0,0,0
$GC,4905,-0.65,-116.8,448.7,-9.1,501,4910,0.00,2.20,0.00,0.000,6,0.000,0.040,2963,2051,2427,0,0,0,0,0,0
$GC,5227,-0.65,-116.8,477.8,-9.1,517,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2051,2427,0,0,0,0,0,0
$GC,5537,-0.65,-116.8,505.9,-8.7,532,5540,0.00,2.20,0.00,0.000,4,0.000,0.054,2963,658,2427,0,0,0,0,0,0
$GC,5563,-0.65,-116.8,508.6,-9.9,533,5568,0.05,2.20,0.00,0.000,6,0.158,0.039,2970,2061,2427,0,0,0,0,0,0
$GC,5885,-0.65,-116.8,535.5,-8.0,549,5889,0.00,2.25,0.00,0.000,4,0.000,0.063,2960,3469,2426,0,0,0,0,0,0
$GC,5911,-0.65,-116.8,537.8,-8.3,550,5916,0.00,2.17,0.00,0.000,6,0.000,0.040,2960,2066,2426,0,0,0,0,0,0
$GC,6234,-0.65,-116.8,563.7,-8.1,566,6238,0.00,2.20,0.00,0.000,4,0.000,0.054,2960,653,2426,0,0,0,0,0,0
$GC,6251,-0.65,-116.8,565.1,-8.1,567,6256,0.08,2.17,0.00,0.000,6,0.196,0.040,2968,2072,2426,0,0,0,0,0,0
$GC,6577,-0.65,-116.8,589.9,-7.6,583,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2071,2426,0,0,0,0,0,0
$GC,6886,-0.65,-116.8,613.5,-7.9,598,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2071,2426,0,0,0,0,0,0
$GC,7196,-0.65,-116.8,638.5,-8.2,613,7200,0.00,2.22,0.00,0.000,4,0.000,0.060,2958,3470,2425,0,0,0,0,0,0
$GC,7262,-0.65,-116.8,644.1,-8.3,616,7266,0.00,2.20,0.00,0.000,6,0.000,0.041,2958,2053,2425,0,0,0,0,0,0
$GC,7589,-0.65,-116.8,670.9,-8.2,632,7591,0.05,0.00,0.00,0.000,6,0.229,0.000,2969,2053,2425,0,0,0,0,0,0
$GC,7899,-0.65,-116.8,696.7,-8.4,647,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2053,2425,0,0,0,0,0,0
$GC,8208,-0.65,-116.8,722.1,-7.9,662,8212,0.00,2.20,0.00,0.000,4,0.000,0.054,2969,660,2425,0,0,0,0,0,0
$GC,8256,-0.65,-116.8,726.3,-8.7,664,8261,0.00,2.20,0.00,0.000,6,0.000,0.040,2960,2058,2424,0,0,0,0,0,0
$GC,8579,-0.65,-116.8,752.6,-8.3,680,8583,0.00,2.22,0.00,0.000,4,0.000,0.052,2960,650,2424,0,0,0,0,0,0
$GC,8627,-0.65,-116.8,757.0,-9.2,682,8633,0.05,2.22,0.00,0.000,6,0.159,0.041,2968,2059,2424,0,0,0,0,0,0
$GC,8950,-0.68,-116.8,781.9,-7.8,698,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2058,2424,0,0,0,0,0,0
$GC,9260,-0.72,-116.8,806.9,-8.2,713,9264,0.00,2.25,0.00,0.000,4,0.000,0.062,2958,3467,2423,0,0,0,0,0,0
$GC,9286,-0.72,-116.8,809.2,-8.5,714,9290,0.00,2.17,0.00,0.000,6,0.000,0.040,2958,2063,2423,0,0,0,0,0,0
$GC,9608,-0.72,-116.8,835.7,-8.3,730,9612,0.00,2.20,0.00,0.000,4,0.000,0.053,2958,655,2423,0,0,0,0,0,0
$GC,9657,-0.72,-116.8,840.3,-8.7,732,9662,0.00,2.20,0.00,0.000,6,0.000,0.040,2949,2056,2424,0,0,0,0,0,0
$GC,9979,-0.72,-116.8,867.9,-8.2,748,9983,0.00,2.22,0.00,0.000,4,0.000,0.060,2938,3472,2423,0,0,0,0,0,0
$GC,10019,-0.72,-116.8,871.1,-8.5,750,10023,0.00,2.17,0.00,0.000,6,0.000,0.041,2939,2056,2423,0,0,0,0,0,0
$GC,10346,-0.72,-116.8,898.3,-8.0,766,10350,0.00,2.22,0.00,0.000,4,0.000,0.056,2939,654,2423,0,0,0,0,0,0
$GC,10423,-0.67,-116.8,905.0,-8.1,769,10429,0.12,2.20,0.00,0.000,6,0.170,0.043,2962,2066,2423,0,0,0,0,0,0
$GC,10740,-0.71,-116.8,926.6,-6.9,785,10744,0.00,2.22,0.00,0.000,4,0.000,0.064,2952,3469,2423,0,0,0,0,0,0
$GC,10780,-0.71,-116.8,929.4,-7.3,787,10784,0.00,2.15,0.00,0.000,6,0.000,0.041,2953,2055,2423,0,0,0,0,0,0
$GC,11107,-0.71,-116.8,954.5,-8.0,803,11111,0.00,2.20,0.00,0.000,4,0.000,0.055,2952,651,2423,0,0,0,0,0,0
$GC,11133,-0.71,-116.8,957.2,-9.1,804,11138,0.00,2.22,0.00,0.000,6,0.000,0.043,2943,2060,2423,0,0,0,0,0,0
$GC,11454,-0.71,-116.8,985.5,-8.7,820,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2060,2423,0,0,0,0,0,0
$STATE,11639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11639,begin apogee
$GC,11644,-0.19,0.0,1001.1,8.3,829,11750,0.57,0.00,102.95,1.220,6,0.140,0.000,3121,1593,1950,0,0,0,0,0,0
$STATE,11751,end apogee,CONTROL_FINISHED_OK
$STATE,11751,begin climb
$GC,11752,0.76,116.8,1004.7,0.0,834,11875,0.90,2.53,110.75,1.255,4,0.086,0.053,3434,203,1474,0,0,0,0,0,0
$GC,11908,0.71,124.5,996.8,8.2,841,11924,0.08,2.35,9.20,1.047,6,0.168,0.033,3417,1617,1440,0,0,0,0,0,0
$GC,12251,0.72,142.5,969.7,7.7,858,12274,0.00,2.33,17.83,1.166,4,0.000,0.054,3416,2985,1368,0,0,0,0,0,0
$GC,12315,0.73,158.1,964.6,7.8,861,12338,0.00,2.20,16.65,1.129,6,0.000,0.034,3425,1604,1305,0,0,0,0,0,0
$GC,12665,0.73,158.1,931.8,9.6,878,12670,0.00,2.33,0.00,0.000,4,0.000,0.054,3435,192,1302,0,0,0,0,0,0
$GC,12731,0.73,158.1,925.0,10.2,881,12737,0.03,2.25,0.00,0.000,6,0.164,0.033,3425,1599,1301,0,0,0,0,0,0
$GC,13059,0.73,158.1,893.8,9.6,897,13063,0.00,2.30,0.00,0.000,4,0.000,0.051,3434,195,1301,0,0,0,0,0,0
$GC,13113,0.73,158.1,888.2,9.6,899,13120,0.05,2.22,0.00,0.000,6,0.140,0.034,3416,1600,1300,0,0,0,0,0,0
$GC,13430,0.73,158.1,859.5,9.2,915,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1600,1299,0,0,0,0,0,0
$GC,13739,0.73,158.1,830.3,9.5,930,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1600,1299,0,0,0,0,0,0
$GC,14048,0.73,158.1,800.3,9.7,945,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1600,1300,0,0,0,0,0,0
$GC,14358,0.76,158.1,771.5,9.1,960,14362,0.00,2.25,0.00,0.000,4,0.000,0.051,3426,192,1299,0,0,0,0,0,0
$GC,14429,0.76,158.1,764.4,9.4,963,14434,0.00,2.20,0.00,0.000,6,0.000,0.034,3425,1598,1299,0,0,0,0,0,0
$GC,14751,0.76,158.1,736.1,8.7,979,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1598,1299,0,0,0,0,0,0
$GC,15060,0.76,158.1,709.6,8.7,994,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1598,1299,0,0,0,0,0,0
$GC,15370,0.76,158.1,682.4,8.8,1009,15371,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1598,1299,0,0,0,0,0,0
$GC,15679,0.76,158.1,655.0,9.1,1024,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1598,1299,0,0,0,0,0,0
$GC,15988,0.76,158.1,627.0,9.2,1039,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1598,1299,0,0,0,0,0,0
$GC,16298,0.76,158.1,598.4,8.9,1054,16299,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1598,1299,0,0,0,0,0,0
$GC,16607,0.76,158.1,570.9,8.7,1069,16611,0.00,2.20,0.00,0.000,4,0.000,0.053,3425,2992,1299,0,0,0,0,0,0
$GC,16646,0.76,158.1,567.2,9.6,1071,16650,0.00,2.12,0.00,0.000,6,0.000,0.034,3434,1596,1299,0,0,0,0,0,0
$GC,16972,0.77,160.3,538.1,8.4,1087,16976,0.00,2.22,0.00,0.000,4,0.000,0.054,3445,201,1299,0,0,0,0,0,0
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$STATE,22760,end climb,SURFACE_DEPTH_REACHED
$STATE,22760,begin surface coast
$FINISH,1.6,1.023399
$STATE,22786,end surface coast,CONTROL_FINISHED_OK
$STATE,22786,begin surface
$SM_CCo,22864,0.00,0.000,0,0,827,274.98
$SM_GC,2.77,9.15,0.00,0.00,0.040,0.000,0.000,80,2093,827,-9.61,0.93,274.98
$IRIDIUM_FIX,-4444.39,624.45,040708,212102
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.2453
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,23.0,27.215
$10V_AH,9.9,28.533
$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,24.125,165.425,356.300,0.000,0.000,22.158,22.559,539.329,0.250,0.000,21.503,3973.366,14631.141,462.781,4275.892,254.557,0.000,1988.744,0.000,3469.529,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,69.615,1254.600,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1135.593,2952.369,1124.481,562.626,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353184
$DATA_FILE_SIZE,113656,1630
$CAP_FILE_SIZE,212794,0
$CFSIZE,2097086464,2064875520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080915,204400,-4458.839,625.833,40,0.9,40,-24.4