version: 66.07.10.p01
glider: 573
mission: 12
dive: 222
start: 9 12 115 4 50 30
data:
$ID,573
$MISSION,12
$DIVE,222
$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,-21703.076
$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,35
$R_STBD_OVSHOOT,43
$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,221
$GPS1,120915,044203,-4459.022,637.603,25,1.1,25,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-70.3
$GPS2,120915,045010,-4459.064,637.656,17,1.1,18,-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,3.6,6077,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-13.85,0.000,2,0.000,0.000,62,2068,1413,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.0,-3.7,2,112,12.07,2.35,-48.00,0.000,4,0.249,0.070,2935,651,2427,0,0,0,0,0,0
$GC,304,-0.63,-116.8,27.1,-13.3,44,312,0.15,2.25,0.00,0.000,6,0.148,0.043,2973,2037,2428,0,0,0,0,0,0
$GC,457,-0.63,-116.8,43.1,-11.2,69,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2037,2429,0,0,0,0,0,0
$GC,810,-0.63,-116.8,78.5,-9.8,130,815,0.00,2.33,0.00,0.000,4,0.000,0.065,2962,3474,2429,0,0,0,0,0,0
$GC,859,-0.63,-116.8,83.9,-10.2,135,864,0.03,2.22,0.00,0.000,6,0.182,0.042,2972,2061,2429,0,0,0,0,0,0
$GC,1188,-0.63,-116.8,114.9,-9.4,151,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2061,2429,0,0,0,0,0,0
$GC,1495,-0.63,-116.8,142.5,-8.9,166,1499,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,657,2429,0,0,0,0,0,0
$GC,1579,-0.60,-116.8,150.6,-9.4,169,1585,0.05,2.25,0.00,0.000,6,0.166,0.043,2981,2066,2429,0,0,0,0,0,0
$GC,1897,-0.60,-116.8,175.6,-7.8,185,1901,0.00,2.22,0.00,0.000,4,0.000,0.062,2970,3465,2429,0,0,0,0,0,0
$GC,1923,-0.60,-116.8,177.9,-8.1,186,1928,0.03,2.20,0.00,0.000,6,0.197,0.039,2980,2054,2430,0,0,0,0,0,0
$GC,2245,-0.60,-116.8,204.6,-8.4,202,2249,0.00,2.22,0.00,0.000,4,0.000,0.054,2981,651,2430,0,0,0,0,0,0
$GC,2367,-0.60,-116.8,216.7,-9.7,207,2374,0.03,2.25,0.00,0.000,6,0.193,0.042,2981,2063,2430,0,0,0,0,0,0
$GC,2686,-0.63,-116.8,246.8,-9.3,223,2690,0.00,2.22,0.00,0.000,4,0.000,0.064,2971,3465,2430,0,0,0,0,0,0
$GC,2718,-0.66,-116.8,250.2,-9.5,224,2726,0.00,2.20,0.00,0.000,6,0.000,0.039,2971,2055,2430,0,0,0,0,0,0
$GC,3034,-0.66,-116.8,277.6,-8.5,240,3038,0.00,2.20,0.00,0.000,4,0.000,0.054,2971,661,2429,0,0,0,0,0,0
$GC,3077,-0.66,-116.8,281.8,-8.8,242,3082,0.00,2.22,0.00,0.000,6,0.000,0.041,2962,2069,2430,0,0,0,0,0,0
$GC,3403,-0.66,-116.8,310.9,-9.0,258,3407,0.00,2.22,0.00,0.000,4,0.000,0.052,2962,661,2430,0,0,0,0,0,0
$GC,3430,-0.66,-116.8,313.7,-10.4,259,3435,0.00,2.22,0.00,0.000,6,0.000,0.041,2953,2064,2430,0,0,0,0,0,0
$GC,3758,-0.66,-116.8,343.1,-8.7,275,3762,0.05,2.28,0.00,0.000,4,0.228,0.064,2954,3469,2430,0,0,0,0,0,0
$GC,3857,-0.66,-116.8,351.9,-8.9,279,3862,0.00,2.20,0.00,0.000,6,0.000,0.041,2954,2062,2430,0,0,0,0,0,0
$GC,4173,-0.66,-116.8,380.1,-9.1,295,4177,0.00,2.22,0.00,0.000,4,0.000,0.055,2954,645,2430,0,0,0,0,0,0
$GC,4234,-0.62,-116.8,385.9,-9.4,298,4239,0.12,2.20,0.00,0.000,6,0.168,0.039,2978,2076,2429,0,0,0,0,0,0
$GC,4560,-0.66,-116.8,411.7,-7.6,314,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2076,2430,0,0,0,0,0,0
$GC,4870,-0.70,-116.8,435.4,-7.8,329,4872,0.05,0.00,0.00,0.000,6,0.168,0.000,2938,2076,2430,0,0,0,0,0,0
$GC,5177,-0.65,-116.8,465.2,-9.7,344,5179,0.12,0.00,0.00,0.000,6,0.168,0.000,2971,2076,2430,0,0,0,0,0,0
$GC,5488,-0.65,-116.8,491.6,-8.4,359,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2076,2430,0,0,0,0,0,0
$GC,5796,-0.65,-116.8,517.1,-8.1,374,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2076,2429,0,0,0,0,0,0
$GC,6107,-0.69,-116.8,541.7,-8.0,389,6111,0.00,2.20,0.00,0.000,4,0.000,0.060,2961,3470,2428,0,0,0,0,0,0
$GC,6173,-0.73,-116.8,547.5,-8.8,392,6178,0.00,2.20,0.00,0.000,6,0.000,0.041,2961,2060,2429,0,0,0,0,0,0
$GC,6500,-0.73,-116.8,574.7,-8.2,408,6504,0.00,2.22,0.00,0.000,4,0.000,0.056,2961,656,2428,0,0,0,0,0,0
$GC,6571,-0.73,-116.8,581.1,-9.6,411,6576,0.00,2.22,0.00,0.000,6,0.000,0.044,2952,2055,2428,0,0,0,0,0,0
$GC,6893,-0.73,-116.8,608.7,-8.6,427,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2056,2428,0,0,0,0,0,0
$GC,7201,-0.73,-116.8,634.4,-8.2,442,7205,0.00,2.22,0.00,0.000,4,0.000,0.054,2951,651,2428,0,0,0,0,0,0
$GC,7264,-0.73,-116.8,639.5,-7.8,445,7268,0.00,2.20,0.00,0.000,6,0.000,0.042,2943,2074,2428,0,0,0,0,0,0
$GC,7591,-0.73,-116.8,666.3,-8.1,461,7595,0.00,2.20,0.00,0.000,4,0.000,0.060,2932,3469,2427,0,0,0,0,0,0
$GC,7611,-0.73,-116.8,668.2,-8.3,462,7617,0.03,2.20,0.00,0.000,6,0.171,0.041,2943,2063,2427,0,0,0,0,0,0
$GC,7938,-0.73,-116.8,694.8,-8.2,478,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2063,2427,0,0,0,0,0,0
$GC,8248,-0.73,-116.8,720.2,-8.4,493,8252,0.00,2.22,0.00,0.000,4,0.000,0.057,2943,653,2426,0,0,0,0,0,0
$GC,8298,-0.69,-116.8,724.9,-9.2,495,8303,0.08,2.22,0.00,0.000,6,0.151,0.041,2959,2066,2427,0,0,0,0,0,0
$GC,8620,-0.69,-116.8,749.5,-7.5,511,8624,0.00,2.25,0.00,0.000,4,0.000,0.064,2949,3466,2426,0,0,0,0,0,0
$GC,8674,-0.69,-116.8,754.2,-8.6,513,8679,0.00,2.20,0.00,0.000,6,0.000,0.041,2949,2058,2426,0,0,0,0,0,0
$GC,8991,-0.69,-116.8,780.0,-8.4,529,8995,0.00,2.25,0.00,0.000,4,0.000,0.058,2949,651,2426,0,0,0,0,0,0
$GC,9075,-0.69,-116.8,787.5,-9.0,533,9079,0.08,2.20,0.00,0.000,6,0.192,0.044,2958,2055,2426,0,0,0,0,0,0
$GC,9407,-0.69,-116.8,814.4,-8.3,549,9411,0.00,2.25,0.00,0.000,4,0.000,0.062,2947,3473,2426,0,0,0,0,0,0
$GC,9445,-0.69,-116.8,817.8,-8.1,550,9450,0.00,2.22,0.00,0.000,6,0.000,0.042,2947,2058,2426,0,0,0,0,0,0
$GC,9760,-0.69,-116.8,842.8,-7.7,566,9764,0.00,2.25,0.00,0.000,4,0.000,0.057,2948,645,2426,0,0,0,0,0,0
$GC,9838,-0.69,-116.8,849.2,-8.2,569,9843,0.08,2.20,0.00,0.000,6,0.197,0.042,2956,2063,2426,0,0,0,0,0,0
$GC,10154,-0.69,-116.8,872.0,-7.2,585,10158,0.00,2.25,0.00,0.000,4,0.000,0.066,2947,3462,2426,0,0,0,0,0,0
$GC,10208,-0.69,-116.8,876.2,-7.8,587,10213,0.00,2.20,0.00,0.000,6,0.000,0.041,2946,2054,2425,0,0,0,0,0,0
$GC,10525,-0.69,-116.8,899.5,-7.4,603,10526,0.05,0.00,0.00,0.000,6,0.215,0.000,2958,2054,2426,0,0,0,0,0,0
$GC,10833,-0.73,-116.8,921.1,-6.8,618,10837,0.00,2.22,0.00,0.000,4,0.000,0.057,2959,647,2425,0,0,0,0,0,0
$GC,10928,-0.73,-116.8,928.2,-7.8,622,10932,0.00,2.20,0.00,0.000,6,0.000,0.043,2949,2066,2425,0,0,0,0,0,0
$GC,11248,-0.73,-116.8,951.7,-7.7,638,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2066,2425,0,0,0,0,0,0
$GC,11559,-0.73,-116.8,974.6,-7.4,653,11563,0.00,2.25,0.00,0.000,4,0.000,0.065,2938,3470,2425,0,0,0,0,0,0
$GC,11607,-0.73,-116.8,978.6,-8.0,655,11612,0.00,2.20,0.00,0.000,6,0.000,0.042,2938,2064,2425,0,0,0,0,0,0
$STATE,11886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11886,begin apogee
$GC,11892,-0.19,0.0,1000.8,8.0,669,12001,0.57,0.00,106.55,1.286,6,0.140,0.000,3115,1588,1950,0,0,0,0,0,0
$STATE,12002,end apogee,CONTROL_FINISHED_OK
$STATE,12002,begin climb
$GC,12004,0.76,116.8,1003.6,0.0,674,12120,0.93,0.00,112.82,1.252,6,0.089,0.000,3423,1588,1473,0,0,0,0,0,0
$GC,12420,0.76,121.8,972.0,8.3,695,12429,0.00,2.38,4.72,0.796,4,0.000,0.057,3433,193,1453,0,0,0,0,0,0
$GC,12486,0.73,125.1,966.0,8.4,698,12497,0.00,2.30,5.43,0.859,6,0.000,0.037,3433,1618,1438,0,0,0,0,0,0
$GC,12807,0.73,125.1,938.3,8.6,713,12811,0.00,2.25,0.00,0.000,4,0.000,0.056,3433,2992,1436,0,0,0,0,0,0
$GC,12850,0.68,125.1,934.1,9.0,715,12855,0.10,2.22,0.00,0.000,6,0.142,0.036,3409,1601,1436,0,0,0,0,0,0
$GC,13177,0.69,142.4,908.0,7.7,731,13201,0.00,2.35,17.73,1.147,4,0.000,0.057,3420,206,1368,0,0,0,0,0,0
$GC,13241,0.70,148.8,902.6,8.2,734,13256,0.00,2.22,7.50,0.969,6,0.000,0.037,3420,1603,1343,0,0,0,0,0,0
$GC,13572,0.70,148.8,874.3,8.7,750,13576,0.00,2.25,0.00,0.000,4,0.000,0.053,3420,2998,1341,0,0,0,0,0,0
$GC,13620,0.70,148.8,869.6,9.7,752,13626,0.05,2.20,0.00,0.000,6,0.154,0.036,3411,1607,1340,0,0,0,0,0,0
$GC,13942,0.74,153.1,842.5,8.3,768,13952,0.00,2.28,5.40,0.845,4,0.000,0.055,3421,199,1324,0,0,0,0,0,0
$GC,14018,0.74,153.1,835.6,9.5,771,14023,0.00,2.22,0.00,0.000,6,0.000,0.037,3422,1600,1324,0,0,0,0,0,0
$GC,14335,0.75,153.8,808.4,8.5,787,14336,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1600,1324,0,0,0,0,0,0
$GC,14642,0.75,153.8,781.4,9.0,802,14644,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1600,1323,0,0,0,0,0,0
$GC,14954,0.78,153.8,752.8,9.7,817,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1601,1323,0,0,0,0,0,0
$GC,15261,0.81,153.8,722.0,10.2,832,15263,0.08,0.00,0.00,0.000,6,0.125,0.000,3462,1600,1323,0,0,0,0,0,0
$GC,15572,0.76,153.8,686.5,11.5,847,15577,0.12,2.30,0.00,0.000,4,0.150,0.055,3436,189,1323,0,0,0,0,0,0
$GC,15677,0.76,153.8,674.9,11.1,852,15682,0.00,2.22,0.00,0.000,6,0.000,0.035,3436,1611,1323,0,0,0,0,0,0
$GC,16009,0.76,153.8,642.1,9.8,868,16013,0.00,2.17,0.00,0.000,4,0.000,0.053,3436,2990,1322,0,0,0,0,0,0
$GC,16092,0.76,153.8,634.0,8.8,871,16098,0.03,2.17,0.00,0.000,6,0.178,0.037,3435,1595,1323,0,0,0,0,0,0
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$STATE,22889,end climb,SURFACE_DEPTH_REACHED
$STATE,22889,begin surface coast
$FINISH,2.0,1.011493
$STATE,22927,end surface coast,CONTROL_FINISHED_OK
$STATE,22927,begin surface
$SM_CCo,22943,9.50,0.057,0,0,1132,200.16
$SM_GC,4.32,0.00,0.00,9.50,0.000,0.000,0.057,61,2066,1132,-9.76,0.17,200.16
$IRIDIUM_FIX,-4441.36,633.52,080708,111116
$TT8_MAMPS,0.026964
$HUMID,63.74
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.8,28.954
$10V_AH,10.0,30.600
$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
$DEVICE_SECS,23.900,170.775,290.025,9.500,0.000,26.077,17.931,306.908,0.000,0.000,20.844,2824.060,16461.473,447.216,3488.854,209.262,0.000,1758.190,0.000,2997.681,0.000,0.539,0.000
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$SENSOR_SECS,630.010,1825.061,973.166,557.609,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353336
$DATA_FILE_SIZE,93835,1300
$CAP_FILE_SIZE,194094,0
$CFSIZE,2097086464,2062942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120915,111403,-4459.216,637.028,25,1.0,25,-24.4