version: 66.07.10.p01
glider: 573
mission: 12
dive: 221
start: 9 11 115 22 18 2
data:
$ID,573
$MISSION,12
$DIVE,221
$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,-21699.52
$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,23
$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,220
$GPS1,110915,220903,-4459.653,637.604,38,0.9,38,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-66.4
$GPS2,110915,221741,-4459.729,637.683,15,1.4,16,-24.5
$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,6.8,7249,-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,-8.27,0.000,2,0.000,0.000,61,2061,1302,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.0,-0.0,1,112,11.95,2.30,-55.12,0.000,4,0.245,0.065,2935,669,2425,0,0,0,0,0,0
$GC,188,-0.60,-116.8,11.9,-12.1,25,196,0.17,2.25,0.00,0.000,6,0.148,0.037,2980,2070,2427,0,0,0,0,0,0
$GC,247,-0.60,-116.8,18.4,-9.5,34,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2070,2428,0,0,0,0,0,0
$GC,305,-0.60,-116.8,24.0,-8.8,43,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2070,2428,0,0,0,0,0,0
$GC,459,-0.60,-116.8,37.4,-8.7,68,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2070,2429,0,0,0,0,0,0
$GC,604,-0.60,-116.8,52.2,-10.3,93,611,0.00,2.28,0.00,0.000,4,0.000,0.060,2970,3463,2429,0,0,0,0,0,0
$GC,631,-0.60,-116.8,54.9,-11.5,97,637,0.08,2.17,0.00,0.000,6,0.197,0.039,2986,2058,2429,0,0,0,0,0,0
$GC,992,-0.60,-116.8,87.3,-8.6,149,996,0.00,2.22,0.00,0.000,4,0.000,0.057,2987,659,2429,0,0,0,0,0,0
$GC,1012,-0.60,-116.8,89.7,-9.4,150,1017,0.00,2.22,0.00,0.000,6,0.000,0.040,2978,2057,2429,0,0,0,0,0,0
$GC,1340,-0.60,-116.8,121.0,-9.5,166,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2057,2429,0,0,0,0,0,0
$GC,1651,-0.60,-116.8,150.9,-10.1,181,1655,0.00,2.25,0.00,0.000,4,0.000,0.060,2967,3462,2429,0,0,0,0,0,0
$GC,1683,-0.60,-116.8,154.8,-10.7,182,1692,0.05,2.20,0.00,0.000,6,0.161,0.038,2984,2060,2429,0,0,0,0,0,0
$GC,2000,-0.60,-116.8,187.3,-10.2,198,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2060,2429,0,0,0,0,0,0
$GC,2311,-0.64,-116.8,216.1,-9.2,213,2315,0.00,2.22,0.00,0.000,4,0.000,0.055,2984,646,2429,0,0,0,0,0,0
$GC,2354,-0.64,-116.8,220.1,-9.9,215,2358,0.00,2.20,0.00,0.000,6,0.000,0.038,2975,2062,2430,0,0,0,0,0,0
$GC,2683,-0.64,-116.8,252.0,-9.7,231,2687,0.00,2.25,0.00,0.000,4,0.000,0.062,2964,3465,2430,0,0,0,0,0,0
$GC,2709,-0.64,-116.8,255.0,-10.0,232,2713,0.00,2.20,0.00,0.000,6,0.000,0.039,2965,2057,2429,0,0,0,0,0,0
$GC,3031,-0.64,-116.8,285.8,-9.2,248,3035,0.00,2.22,0.00,0.000,4,0.000,0.055,2965,652,2430,0,0,0,0,0,0
$GC,3115,-0.64,-116.8,293.9,-9.9,252,3120,0.08,2.17,0.00,0.000,6,0.187,0.041,2973,2058,2430,0,0,0,0,0,0
$GC,3441,-0.64,-116.8,319.3,-7.4,268,3445,0.00,2.22,0.00,0.000,4,0.000,0.054,2973,657,2430,0,0,0,0,0,0
$GC,3480,-0.64,-116.8,322.5,-7.8,270,3484,0.00,2.20,0.00,0.000,6,0.000,0.041,2964,2063,2430,0,0,0,0,0,0
$GC,3806,-0.64,-116.8,349.4,-8.2,286,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2063,2429,0,0,0,0,0,0
$GC,4116,-0.64,-116.8,375.8,-8.4,301,4120,0.00,2.25,0.00,0.000,4,0.000,0.063,2954,3470,2429,0,0,0,0,0,0
$GC,4178,-0.64,-116.8,381.5,-9.1,304,4183,0.10,2.15,0.00,0.000,6,0.169,0.041,2979,2061,2430,0,0,0,0,0,0
$GC,4505,-0.68,-116.8,408.8,-8.5,320,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2061,2429,0,0,0,0,0,0
$GC,4815,-0.72,-116.8,433.0,-7.7,335,4819,0.08,2.22,0.00,0.000,4,0.123,0.055,2932,650,2428,0,0,0,0,0,0
$GC,4841,-0.66,-116.8,435.8,-10.0,336,4846,0.12,2.22,0.00,0.000,6,0.142,0.042,2964,2057,2429,0,0,0,0,0,0
$GC,5161,-0.66,-116.8,462.5,-8.4,352,5165,0.00,2.25,0.00,0.000,4,0.000,0.062,2954,3466,2429,0,0,0,0,0,0
$GC,5188,-0.66,-116.8,464.8,-8.5,353,5193,0.05,2.20,0.00,0.000,6,0.215,0.040,2966,2027,2429,0,0,0,0,0,0
$GC,5510,-0.66,-116.8,489.4,-7.5,369,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2027,2428,0,0,0,0,0,0
$GC,5818,-0.66,-116.8,513.4,-8.1,384,5822,0.00,2.15,0.00,0.000,4,0.000,0.056,2966,659,2428,0,0,0,0,0,0
$GC,5880,-0.66,-116.8,518.7,-8.9,387,5884,0.00,2.17,0.00,0.000,6,0.000,0.041,2957,2069,2428,0,0,0,0,0,0
$GC,6206,-0.66,-116.8,546.8,-8.7,403,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2068,2428,0,0,0,0,0,0
$GC,6513,-0.66,-116.8,574.7,-9.0,418,6518,0.00,2.25,0.00,0.000,4,0.000,0.062,2947,3460,2428,0,0,0,0,0,0
$GC,6607,-0.66,-116.8,583.6,-9.3,422,6613,0.05,2.17,0.00,0.000,6,0.154,0.039,2965,2063,2428,0,0,0,0,0,0
$GC,6933,-0.66,-116.8,611.6,-8.3,438,6937,0.00,2.25,0.00,0.000,4,0.000,0.055,2965,647,2427,0,0,0,0,0,0
$GC,7005,-0.66,-116.8,618.1,-9.5,441,7009,0.00,2.22,0.00,0.000,6,0.000,0.039,2956,2060,2427,0,0,0,0,0,0
$GC,7333,-0.66,-116.8,646.9,-8.9,457,7334,0.05,0.00,0.00,0.000,6,0.225,0.000,2967,2060,2427,0,0,0,0,0,0
$GC,7641,-0.69,-116.8,672.7,-8.4,472,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2059,2426,0,0,0,0,0,0
$GC,7952,-0.72,-116.8,698.7,-8.3,487,7956,0.00,2.25,0.00,0.000,4,0.000,0.063,2957,3461,2426,0,0,0,0,0,0
$GC,8001,-0.76,-116.8,703.1,-8.5,489,8005,0.00,2.15,0.00,0.000,6,0.000,0.040,2957,2055,2426,0,0,0,0,0,0
$GC,8322,-0.76,-116.8,732.0,-9.1,505,8326,0.00,2.22,0.00,0.000,4,0.000,0.057,2957,660,2426,0,0,0,0,0,0
$GC,8377,-0.76,-116.8,737.4,-10.2,507,8382,0.00,2.20,0.00,0.000,6,0.000,0.041,2948,2052,2426,0,0,0,0,0,0
$GC,8693,-0.76,-116.8,766.2,-9.1,523,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2053,2425,0,0,0,0,0,0
$GC,9001,-0.76,-116.8,794.3,-9.0,538,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2053,2426,0,0,0,0,0,0
$GC,9313,-0.76,-116.8,821.2,-8.5,553,9317,0.00,2.22,0.00,0.000,4,0.000,0.058,2937,3468,2425,0,0,0,0,0,0
$GC,9406,-0.76,-116.8,829.8,-10.2,557,9411,0.00,2.20,0.00,0.000,6,0.000,0.041,2937,2061,2425,0,0,0,0,0,0
$GC,9728,-0.76,-116.8,858.7,-9.1,573,9732,0.00,2.22,0.00,0.000,4,0.000,0.057,2937,651,2425,0,0,0,0,0,0
$GC,9794,-0.71,-116.8,865.1,-9.8,576,9800,0.05,2.22,0.00,0.000,6,0.156,0.042,2947,2060,2425,0,0,0,0,0,0
$GC,10121,-0.71,-116.8,891.5,-8.1,592,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2059,2425,0,0,0,0,0,0
$GC,10432,-0.71,-116.8,915.9,-7.8,607,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2060,2424,0,0,0,0,0,0
$GC,10739,-0.71,-116.8,939.3,-7.5,622,10743,0.00,2.25,0.00,0.000,4,0.000,0.063,2936,3468,2424,0,0,0,0,0,0
$GC,10772,-0.71,-116.8,941.8,-7.8,623,10777,0.03,2.20,0.00,0.000,6,0.177,0.041,2947,2062,2424,0,0,0,0,0,0
$GC,11093,-0.71,-116.8,963.6,-6.9,639,11097,0.00,2.22,0.00,0.000,4,0.000,0.056,2947,651,2424,0,0,0,0,0,0
$GC,11120,-0.71,-116.8,965.7,-7.9,640,11125,0.00,2.22,0.00,0.000,6,0.000,0.041,2938,2061,2424,0,0,0,0,0,0
$GC,11441,-0.71,-116.8,989.1,-7.4,656,11445,0.05,2.25,0.00,0.000,4,0.227,0.064,2939,3463,2424,0,0,0,0,0,0
$GC,11473,-0.71,-116.8,991.5,-7.6,657,11477,0.00,2.20,0.00,0.000,6,0.000,0.041,2938,2053,2424,0,0,0,0,0,0
$STATE,11606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11606,begin apogee
$GC,11611,-0.19,0.0,1001.4,7.3,664,11719,0.57,0.00,104.68,1.289,6,0.142,0.000,3115,1595,1950,0,0,0,0,0,0
$STATE,11720,end apogee,CONTROL_FINISHED_OK
$STATE,11720,begin climb
$GC,11722,0.76,116.8,1003.6,0.0,669,11839,0.93,0.00,111.85,1.250,6,0.089,0.000,3422,1595,1474,0,0,0,0,0,0
$GC,12134,0.76,116.8,970.0,9.1,689,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1595,1466,0,0,0,0,0,0
$GC,12442,0.76,123.4,944.2,8.2,704,12453,0.00,2.33,6.30,0.921,4,0.000,0.054,3433,198,1445,0,0,0,0,0,0
$GC,12530,0.76,123.4,936.4,9.0,708,12535,0.00,2.28,0.00,0.000,6,0.000,0.035,3433,1608,1445,0,0,0,0,0,0
$GC,12857,0.76,124.9,908.9,8.5,724,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1610,1444,0,0,0,0,0,0
$GC,13167,0.76,124.9,881.6,9.4,739,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1610,1444,0,0,0,0,0,0
$GC,13475,0.76,124.9,853.8,9.1,754,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1609,1444,0,0,0,0,0,0
$GC,13786,0.76,124.9,824.4,9.5,769,13790,0.00,2.20,0.00,0.000,4,0.000,0.054,3433,2990,1444,0,0,0,0,0,0
$GC,13835,0.72,124.9,819.3,10.9,771,13840,0.05,2.17,0.00,0.000,6,0.158,0.037,3423,1604,1443,0,0,0,0,0,0
$GC,14156,0.72,124.9,789.2,9.4,787,14160,0.00,2.28,0.00,0.000,4,0.000,0.056,3434,196,1443,0,0,0,0,0,0
$GC,14262,0.72,124.9,778.8,9.8,792,14267,0.05,2.22,0.00,0.000,6,0.141,0.037,3415,1609,1443,0,0,0,0,0,0
$GC,14593,0.72,124.9,749.4,9.0,808,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1610,1443,0,0,0,0,0,0
$GC,14904,0.72,124.9,721.2,9.0,823,14908,0.00,2.17,0.00,0.000,4,0.000,0.054,3415,3001,1443,0,0,0,0,0,0
$GC,14981,0.72,124.9,713.8,9.6,826,14988,0.00,2.17,0.00,0.000,6,0.000,0.035,3423,1601,1443,0,0,0,0,0,0
$GC,15296,0.72,124.9,685.0,9.1,842,15300,0.00,2.28,0.00,0.000,4,0.000,0.056,3434,187,1443,0,0,0,0,0,0
$GC,15340,0.72,124.9,680.6,9.4,844,15345,0.05,2.22,0.00,0.000,6,0.142,0.036,3416,1608,1442,0,0,0,0,0,0
$GC,15672,0.73,132.0,652.2,8.2,860,15687,0.00,2.22,8.82,0.921,4,0.000,0.053,3416,2987,1411,0,0,0,0,0,0
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$STATE,22922,end climb,SURFACE_DEPTH_REACHED
$STATE,22922,begin surface coast
$FINISH,1.9,1.012929
$STATE,22954,end surface coast,CONTROL_FINISHED_OK
$STATE,22954,begin surface
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$SM_GC,4.42,0.00,0.00,10.02,0.000,0.000,0.056,62,2068,1133,-9.76,0.23,200.16
$IRIDIUM_FIX,-4444.39,636.90,080708,050530
$TT8_MAMPS,0.026964
$HUMID,63.19
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.9,28.834
$10V_AH,10.0,30.469
$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
$DEVICE_SECS,23.450,174.650,282.625,10.025,0.000,27.320,41.267,317.047,0.000,0.000,18.903,2839.677,16466.582,428.733,3549.294,208.540,0.000,1783.133,0.000,3021.407,0.000,0.540,0.000
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$SENSOR_SECS,638.127,1850.747,1002.795,584.829,0.000,0.000,0.000,0.000,0.000,0.000
$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,94039,1311
$CAP_FILE_SIZE,195252,0
$CFSIZE,2097086464,2063073280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120915,044203,-4459.022,637.603,25,1.1,25,-24.4