version: 66.07.10.p01
glider: 573
mission: 12
dive: 218
start: 9 11 115 3 3 42
data:
$ID,573
$MISSION,12
$DIVE,218
$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,-21688.982
$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,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,217
$GPS1,110915,025351,-4500.161,636.211,42,1.0,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-70.0
$GPS2,110915,030322,-4500.278,636.256,24,1.1,24,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,22.0,7930,-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,-116.8,0.0,0.0,0,34,0.00,0.00,-8.30,0.000,2,0.000,0.000,71,2080,1231,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.1,-0.0,1,113,11.73,2.35,-52.92,0.000,4,0.239,0.067,2934,659,2427,0,0,0,0,0,0
$GC,195,-0.63,-116.8,14.2,-13.7,26,203,0.15,2.25,0.00,0.000,6,0.158,0.042,2972,2044,2428,0,0,0,0,0,0
$GC,254,-0.63,-116.8,23.1,-14.2,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2044,2429,0,0,0,0,0,0
$GC,410,-0.63,-116.8,38.9,-8.5,60,417,0.00,2.28,0.00,0.000,4,0.000,0.052,2972,662,2428,0,0,0,0,0,0
$GC,456,-0.60,-116.8,42.3,-7.5,67,462,0.10,2.22,0.00,0.000,6,0.185,0.041,2987,2074,2429,0,0,0,0,0,0
$GC,804,-0.60,-116.8,72.8,-8.1,128,809,0.00,2.22,0.00,0.000,4,0.000,0.060,2977,3465,2428,0,0,0,0,0,0
$GC,835,-0.60,-116.8,75.1,-8.0,133,840,0.00,2.17,0.00,0.000,6,0.000,0.038,2977,2050,2429,0,0,0,0,0,0
$GC,1183,-0.60,-116.8,105.0,-8.8,190,1187,0.00,2.20,0.00,0.000,4,0.000,0.052,2977,653,2429,0,0,0,0,0,0
$GC,1212,-0.60,-116.8,107.9,-10.2,192,1216,0.08,2.20,0.00,0.000,6,0.201,0.041,2984,2061,2429,0,0,0,0,0,0
$GC,1541,-0.60,-116.8,139.0,-9.4,223,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2061,2429,0,0,0,0,0,0
$GC,1863,-0.60,-116.8,167.4,-8.7,253,1867,0.00,2.28,0.00,0.000,4,0.000,0.063,2974,3474,2429,0,0,0,0,0,0
$GC,1895,-0.64,-116.8,170.7,-8.6,255,1900,0.00,2.20,0.00,0.000,6,0.000,0.039,2974,2066,2429,0,0,0,0,0,0
$GC,2220,-0.64,-116.8,199.2,-9.4,286,2224,0.00,2.20,0.00,0.000,4,0.000,0.052,2974,655,2430,0,0,0,0,0,0
$GC,2270,-0.64,-116.8,204.2,-9.8,290,2274,0.00,2.20,0.00,0.000,6,0.000,0.039,2965,2072,2429,0,0,0,0,0,0
$GC,2595,-0.64,-116.8,238.1,-10.7,320,2599,0.00,2.22,0.00,0.000,4,0.000,0.060,2955,3471,2430,0,0,0,0,0,0
$GC,2668,-0.64,-116.8,246.7,-11.6,326,2673,0.08,2.15,0.00,0.000,6,0.186,0.040,2972,2057,2430,0,0,0,0,0,0
$GC,2992,-0.64,-116.8,282.8,-10.8,356,2996,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,651,2429,0,0,0,0,0,0
$GC,3021,-0.64,-116.8,286.1,-11.9,358,3025,0.00,2.17,0.00,0.000,6,0.000,0.041,2963,2058,2430,0,0,0,0,0,0
$GC,3353,-0.64,-116.8,321.1,-10.2,389,3357,0.00,2.22,0.00,0.000,4,0.000,0.053,2963,651,2429,0,0,0,0,0,0
$GC,3409,-0.64,-116.8,327.3,-10.5,393,3414,0.10,2.20,0.00,0.000,6,0.180,0.042,2979,2066,2429,0,0,0,0,0,0
$GC,3734,-0.67,-116.8,355.5,-8.5,424,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2066,2429,0,0,0,0,0,0
$GC,4054,-0.71,-116.8,380.2,-7.4,454,4055,0.08,0.00,0.00,0.000,6,0.123,0.000,2933,2066,2430,0,0,0,0,0,0
$GC,4368,-0.65,-116.8,410.5,-10.0,479,4373,0.15,2.25,0.00,0.000,4,0.168,0.065,2962,3462,2430,0,0,0,0,0,0
$GC,4407,-0.65,-116.8,414.1,-8.6,481,4411,0.00,2.15,0.00,0.000,6,0.000,0.039,2962,2061,2430,0,0,0,0,0,0
$GC,4733,-0.65,-116.8,440.7,-8.0,497,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2061,2430,0,0,0,0,0,0
$GC,5043,-0.65,-116.8,463.9,-7.5,512,5047,0.00,2.22,0.00,0.000,4,0.000,0.055,2962,656,2429,0,0,0,0,0,0
$GC,5092,-0.65,-116.8,468.1,-8.3,514,5097,0.03,2.22,0.00,0.000,6,0.176,0.044,2963,2061,2429,0,0,0,0,0,0
$GC,5413,-0.65,-116.8,491.4,-7.2,530,5417,0.00,2.25,0.00,0.000,4,0.000,0.063,2953,3464,2429,0,0,0,0,0,0
$GC,5453,-0.65,-116.8,494.3,-7.7,532,5458,0.08,2.15,0.00,0.000,6,0.190,0.040,2970,2052,2429,0,0,0,0,0,0
$GC,5781,-0.68,-116.8,517.5,-7.0,548,5785,0.00,2.22,0.00,0.000,4,0.000,0.055,2970,651,2429,0,0,0,0,0,0
$GC,5824,-0.68,-116.8,521.1,-7.9,550,5829,0.00,2.22,0.00,0.000,6,0.000,0.043,2962,2057,2429,0,0,0,0,0,0
$GC,6152,-0.68,-116.8,546.2,-7.8,566,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2429,0,0,0,0,0,0
$GC,6461,-0.68,-116.8,570.9,-8.0,581,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2429,0,0,0,0,0,0
$GC,6771,-0.68,-116.8,595.4,-7.6,596,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2428,0,0,0,0,0,0
$GC,7080,-0.68,-116.8,618.5,-7.4,611,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2428,0,0,0,0,0,0
$GC,7389,-0.68,-116.8,641.6,-7.7,626,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2057,2428,0,0,0,0,0,0
$GC,7699,-0.68,-116.8,665.7,-7.8,641,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2057,2428,0,0,0,0,0,0
$GC,8008,-0.68,-116.8,689.3,-7.8,656,8012,0.00,2.25,0.00,0.000,4,0.000,0.062,2951,3465,2427,0,0,0,0,0,0
$GC,8102,-0.68,-116.8,697.1,-8.2,660,8106,0.00,2.17,0.00,0.000,6,0.000,0.040,2951,2067,2427,0,0,0,0,0,0
$GC,8424,-0.68,-116.8,722.2,-7.8,676,8428,0.00,2.22,0.00,0.000,4,0.000,0.054,2951,650,2426,0,0,0,0,0,0
$GC,8472,-0.68,-116.8,726.5,-8.6,678,8477,0.05,2.22,0.00,0.000,6,0.156,0.041,2959,2063,2426,0,0,0,0,0,0
$GC,8796,-0.68,-116.8,751.8,-8.0,694,8800,0.00,2.25,0.00,0.000,4,0.000,0.065,2949,3465,2426,0,0,0,0,0,0
$GC,8828,-0.68,-116.8,754.5,-7.9,695,8833,0.00,2.17,0.00,0.000,6,0.000,0.041,2949,2064,2426,0,0,0,0,0,0
$GC,9144,-0.68,-116.8,781.6,-8.8,711,9148,0.00,2.22,0.00,0.000,4,0.000,0.054,2949,647,2426,0,0,0,0,0,0
$GC,9183,-0.65,-116.8,785.4,-10.2,713,9188,0.12,2.20,0.00,0.000,6,0.171,0.039,2972,2065,2426,0,0,0,0,0,0
$GC,9511,-0.71,-116.8,812.8,-8.5,729,9515,0.00,2.25,0.00,0.000,4,0.000,0.064,2962,3468,2426,0,0,0,0,0,0
$GC,9550,-0.76,-116.8,816.6,-8.9,731,9555,0.08,2.15,0.00,0.000,6,0.122,0.041,2919,2058,2426,0,0,0,0,0,0
$GC,9878,-0.71,-116.8,850.6,-10.5,747,9880,0.12,0.00,0.00,0.000,6,0.171,0.000,2952,2058,2425,0,0,0,0,0,0
$GC,10186,-0.71,-116.8,878.2,-8.8,762,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2058,2426,0,0,0,0,0,0
$GC,10496,-0.71,-116.8,904.1,-8.3,777,10500,0.00,2.20,0.00,0.000,4,0.000,0.056,2953,658,2425,0,0,0,0,0,0
$GC,10529,-0.71,-116.8,907.0,-9.0,778,10534,0.00,2.20,0.00,0.000,6,0.000,0.044,2944,2065,2425,0,0,0,0,0,0
$GC,10845,-0.71,-116.8,933.1,-8.3,794,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2065,2425,0,0,0,0,0,0
$GC,11154,-0.71,-116.8,957.3,-7.6,809,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2065,2425,0,0,0,0,0,0
$GC,11463,-0.71,-116.8,979.2,-7.0,824,11467,0.00,2.25,0.00,0.000,4,0.000,0.064,2933,3466,2425,0,0,0,0,0,0
$GC,11495,-0.71,-116.8,981.7,-8.0,825,11502,0.05,2.20,0.00,0.000,6,0.155,0.041,2951,2055,2425,0,0,0,0,0,0
$STATE,11769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11769,begin apogee
$GC,11774,-0.19,0.0,1000.8,7.0,839,11883,0.55,0.00,106.00,1.285,6,0.142,0.000,3120,1598,1950,0,0,0,0,0,0
$STATE,11884,end apogee,CONTROL_FINISHED_OK
$STATE,11884,begin climb
$GC,11886,0.76,116.8,1003.1,0.0,844,12001,0.90,0.00,111.95,1.245,6,0.090,0.000,3419,1598,1473,0,0,0,0,0,0
$GC,12301,0.76,116.8,968.6,9.5,865,12305,0.00,2.35,0.00,0.000,4,0.000,0.054,3430,201,1466,0,0,0,0,0,0
$GC,12350,0.76,116.8,963.5,10.1,867,12355,0.00,2.30,0.00,0.000,6,0.000,0.036,3430,1602,1464,0,0,0,0,0,0
$GC,12672,0.76,116.8,933.4,9.0,883,12676,0.00,2.25,0.00,0.000,4,0.000,0.054,3430,2995,1464,0,0,0,0,0,0
$GC,12726,0.71,116.8,928.0,9.8,885,12733,0.08,2.22,0.00,0.000,6,0.143,0.035,3414,1598,1464,0,0,0,0,0,0
$GC,13043,0.72,123.4,901.9,8.2,901,13053,0.00,2.28,5.32,0.857,4,0.000,0.054,3424,192,1448,0,0,0,0,0,0
$GC,13127,0.72,135.2,894.6,8.0,905,13148,0.00,2.20,13.80,1.105,6,0.000,0.036,3424,1611,1398,0,0,0,0,0,0
$GC,13458,0.72,135.2,866.0,8.6,921,13462,0.00,2.22,0.00,0.000,4,0.000,0.054,3424,2996,1395,0,0,0,0,0,0
$GC,13495,0.72,135.2,862.2,9.4,922,13502,0.03,2.20,0.00,0.000,6,0.177,0.036,3423,1602,1395,0,0,0,0,0,0
$GC,13812,0.73,140.3,835.6,8.3,938,13823,0.00,2.28,5.75,0.870,4,0.000,0.054,3433,193,1376,0,0,0,0,0,0
$GC,13866,0.73,140.3,830.5,9.1,940,13873,0.00,2.22,0.00,0.000,6,0.000,0.035,3433,1596,1377,0,0,0,0,0,0
$GC,14183,0.73,140.3,802.4,9.0,956,14188,0.05,2.22,0.00,0.000,4,0.210,0.054,3420,2991,1376,0,0,0,0,0,0
$GC,14254,0.73,140.3,795.8,8.9,959,14259,0.00,2.17,0.00,0.000,6,0.000,0.035,3429,1610,1376,0,0,0,0,0,0
$GC,14577,0.73,140.3,765.8,9.8,975,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1610,1376,0,0,0,0,0,0
$GC,14885,0.73,140.3,736.4,9.9,990,14889,0.00,2.28,0.00,0.000,4,0.000,0.054,3440,192,1376,0,0,0,0,0,0
$GC,14957,0.73,140.3,728.7,10.6,993,14962,0.05,2.20,0.00,0.000,6,0.145,0.036,3421,1592,1375,0,0,0,0,0,0
$GC,15280,0.73,140.3,697.8,9.4,1009,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1592,1375,0,0,0,0,0,0
$GC,15588,0.73,140.3,667.1,10.2,1024,15592,0.00,2.20,0.00,0.000,4,0.000,0.053,3421,2994,1375,0,0,0,0,0,0
$GC,15631,0.73,140.3,662.4,10.7,1026,15636,0.00,2.17,0.00,0.000,6,0.000,0.035,3430,1599,1375,0,0,0,0,0,0
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$STATE,22271,end climb,SURFACE_DEPTH_REACHED
$STATE,22271,begin surface coast
$FINISH,2.0,1.023426
$STATE,22303,end surface coast,CONTROL_FINISHED_OK
$STATE,22303,begin surface
$SM_CCo,22320,12.50,0.056,0,0,1133,200.16
$SM_GC,3.94,0.00,0.00,12.50,0.000,0.000,0.056,60,2076,1133,-9.76,0.45,200.16
$IRIDIUM_FIX,-4441.36,630.50,070708,090953
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.9,28.465
$10V_AH,9.9,30.051
$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
$DEVICE_SECS,23.725,183.075,278.425,12.500,0.000,25.414,44.507,342.711,0.000,0.000,26.820,3951.937,14174.895,454.464,4068.336,238.889,0.000,1926.148,0.000,3422.783,0.000,0.539,0.000
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$SENSOR_SECS,1115.426,2891.041,1128.002,612.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,110264,1600
$CAP_FILE_SIZE,208804,0
$CFSIZE,2097086464,2063400960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110915,091703,-4500.029,637.330,33,1.5,33,-24.4