version: 66.07.10.p01
glider: 573
mission: 12
dive: 228
start: 9 13 115 19 6 49
data:
$ID,573
$MISSION,12
$DIVE,228
$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,-21723.311
$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,31
$R_STBD_OVSHOOT,41
$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,227
$GPS1,130915,185834,-4458.578,636.358,74,0.9,74,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-71.2
$GPS2,130915,190628,-4458.679,636.375,15,1.9,16,-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,18.7,4986,-18.9,-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,-0.79,-105.1,0.0,0.0,0,46,0.00,0.00,-20.02,0.000,2,0.000,0.000,61,2087,1529,0,0,0,0,0,0
$GC,49,-0.80,-116.8,3.1,-3.0,3,106,11.88,2.30,-38.83,0.000,4,0.244,0.062,2921,654,2427,0,0,0,0,0,0
$GC,225,-0.67,-116.8,20.5,-16.6,31,233,0.15,2.25,0.00,0.000,6,0.153,0.044,2959,2040,2428,0,0,0,0,0,0
$GC,382,-0.67,-116.8,38.4,-10.0,56,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2040,2428,0,0,0,0,0,0
$GC,527,-0.67,-116.8,53.0,-10.4,81,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2040,2428,0,0,0,0,0,0
$GC,868,-0.67,-116.8,89.3,-10.8,130,872,0.00,2.33,0.00,0.000,4,0.000,0.066,2948,3474,2429,0,0,0,0,0,0
$GC,905,-0.67,-116.8,93.7,-11.4,131,912,0.03,2.25,0.00,0.000,6,0.184,0.041,2958,2055,2429,0,0,0,0,0,0
$GC,1224,-0.67,-116.8,127.3,-10.7,147,1228,0.00,2.22,0.00,0.000,4,0.000,0.055,2958,651,2429,0,0,0,0,0,0
$GC,1256,-0.63,-116.8,131.2,-11.6,148,1265,0.08,2.28,0.00,0.000,6,0.158,0.044,2973,2070,2429,0,0,0,0,0,0
$GC,1572,-0.63,-116.8,161.9,-9.7,164,1576,0.00,2.25,0.00,0.000,4,0.000,0.063,2963,3466,2429,0,0,0,0,0,0
$GC,1609,-0.67,-116.8,165.7,-10.0,165,1615,0.00,2.20,0.00,0.000,6,0.000,0.039,2963,2061,2429,0,0,0,0,0,0
$GC,1927,-0.67,-116.8,195.0,-8.9,181,1931,0.00,2.22,0.00,0.000,4,0.000,0.054,2963,657,2429,0,0,0,0,0,0
$GC,1989,-0.67,-116.8,201.1,-9.7,184,1994,0.00,2.22,0.00,0.000,6,0.000,0.043,2954,2069,2429,0,0,0,0,0,0
$GC,2316,-0.67,-116.8,233.6,-10.2,200,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2069,2429,0,0,0,0,0,0
$GC,2627,-0.67,-116.8,265.4,-10.3,215,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2069,2429,0,0,0,0,0,0
$GC,2935,-0.67,-116.8,295.8,-9.7,230,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2069,2429,0,0,0,0,0,0
$GC,3244,-0.67,-116.8,324.9,-9.3,245,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2069,2429,0,0,0,0,0,0
$GC,3552,-0.67,-116.8,353.0,-9.2,260,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2068,2429,0,0,0,0,0,0
$GC,3863,-0.67,-116.8,380.5,-8.7,275,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2069,2429,0,0,0,0,0,0
$GC,4170,-0.67,-116.8,407.0,-8.8,290,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2068,2430,0,0,0,0,0,0
$GC,4481,-0.67,-116.8,435.4,-9.1,305,4485,0.00,2.25,0.00,0.000,4,0.000,0.053,2954,649,2429,0,0,0,0,0,0
$GC,4530,-0.67,-116.8,440.6,-10.2,307,4535,0.05,2.22,0.00,0.000,6,0.157,0.041,2962,2060,2429,0,0,0,0,0,0
$GC,4853,-0.71,-116.8,470.5,-9.5,323,4857,0.00,2.28,0.00,0.000,4,0.000,0.065,2951,3470,2429,0,0,0,0,0,0
$GC,4914,-0.75,-116.8,476.7,-9.3,326,4918,0.00,2.17,0.00,0.000,6,0.000,0.041,2951,2048,2429,0,0,0,0,0,0
$GC,5245,-0.75,-116.8,509.6,-9.9,342,5249,0.00,2.20,0.00,0.000,4,0.000,0.054,2952,656,2429,0,0,0,0,0,0
$GC,5313,-0.75,-116.8,516.7,-10.8,345,5317,0.00,2.17,0.00,0.000,6,0.000,0.043,2943,2060,2429,0,0,0,0,0,0
$GC,5639,-0.75,-116.8,548.6,-9.2,361,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2060,2429,0,0,0,0,0,0
$GC,5947,-0.75,-116.8,578.6,-9.7,376,5951,0.00,2.28,0.00,0.000,4,0.000,0.066,2932,3462,2429,0,0,0,0,0,0
$GC,5974,-0.75,-116.8,581.4,-10.8,377,5979,0.00,2.17,0.00,0.000,6,0.000,0.041,2932,2061,2428,0,0,0,0,0,0
$GC,6302,-0.75,-116.8,614.3,-9.7,393,6306,0.00,2.22,0.00,0.000,4,0.000,0.056,2932,648,2428,0,0,0,0,0,0
$GC,6367,-0.70,-116.8,621.2,-10.7,396,6373,0.08,2.22,0.00,0.000,6,0.153,0.042,2949,2057,2428,0,0,0,0,0,0
$GC,6693,-0.70,-116.8,651.4,-9.3,412,6697,0.00,2.28,0.00,0.000,4,0.000,0.063,2939,3460,2428,0,0,0,0,0,0
$GC,6730,-0.70,-116.8,655.0,-9.7,413,6736,0.03,2.17,0.00,0.000,6,0.172,0.041,2949,2060,2428,0,0,0,0,0,0
$GC,7046,-0.70,-116.8,683.1,-9.0,429,7050,0.00,2.22,0.00,0.000,4,0.000,0.056,2948,655,2427,0,0,0,0,0,0
$GC,7095,-0.70,-116.8,688.0,-9.5,431,7101,0.03,2.22,0.00,0.000,6,0.178,0.042,2949,2063,2427,0,0,0,0,0,0
$GC,7418,-0.70,-116.8,715.3,-8.4,447,7422,0.00,2.25,0.00,0.000,4,0.000,0.066,2939,3469,2427,0,0,0,0,0,0
$GC,7450,-0.70,-116.8,718.3,-9.0,448,7456,0.03,2.20,0.00,0.000,6,0.170,0.042,2949,2063,2427,0,0,0,0,0,0
$GC,7765,-0.73,-116.8,743.9,-8.0,464,7769,0.00,2.22,0.00,0.000,4,0.000,0.054,2949,652,2427,0,0,0,0,0,0
$GC,7798,-0.73,-116.8,746.7,-8.5,465,7802,0.00,2.22,0.00,0.000,6,0.000,0.041,2940,2061,2427,0,0,0,0,0,0
$GC,8120,-0.73,-116.8,773.2,-8.1,481,8124,0.00,2.28,0.00,0.000,4,0.000,0.065,2930,3471,2426,0,0,0,0,0,0
$GC,8145,-0.73,-116.8,775.6,-8.7,482,8151,0.03,2.20,0.00,0.000,6,0.166,0.042,2940,2061,2426,0,0,0,0,0,0
$GC,8467,-0.73,-116.8,801.1,-8.1,498,8471,0.00,2.22,0.00,0.000,4,0.000,0.056,2940,650,2426,0,0,0,0,0,0
$GC,8511,-0.73,-116.8,805.1,-9.0,500,8515,0.00,2.22,0.00,0.000,6,0.000,0.041,2931,2061,2426,0,0,0,0,0,0
$GC,8837,-0.73,-116.8,830.8,-7.7,516,8839,0.05,0.00,0.00,0.000,6,0.226,0.000,2943,2061,2426,0,0,0,0,0,0
$GC,9148,-0.73,-116.8,852.8,-7.1,531,9152,0.00,2.28,0.00,0.000,4,0.000,0.066,2932,3471,2426,0,0,0,0,0,0
$GC,9187,-0.73,-116.8,855.7,-6.6,533,9191,0.00,2.17,0.00,0.000,6,0.000,0.043,2932,2051,2425,0,0,0,0,0,0
$GC,9514,-0.73,-116.8,879.5,-7.1,549,9519,0.03,2.22,0.00,0.000,4,0.270,0.057,2941,652,2426,0,0,0,0,0,0
$GC,9540,-0.73,-116.8,881.7,-7.8,550,9545,0.00,2.22,0.00,0.000,6,0.000,0.044,2932,2055,2426,0,0,0,0,0,0
$GC,9863,-0.73,-116.8,905.0,-7.4,566,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2055,2426,0,0,0,0,0,0
$GC,10172,-0.73,-116.8,928.6,-7.8,581,10176,0.00,2.25,0.00,0.000,4,0.000,0.061,2922,3465,2425,0,0,0,0,0,0
$GC,10198,-0.73,-116.8,930.9,-8.4,582,10203,0.05,2.20,0.00,0.000,6,0.153,0.041,2939,2054,2425,0,0,0,0,0,0
$GC,10518,-0.73,-116.8,955.8,-7.9,598,10522,0.00,2.20,0.00,0.000,4,0.000,0.057,2940,659,2425,0,0,0,0,0,0
$GC,10625,-0.73,-116.8,964.6,-7.7,603,10630,0.05,2.20,0.00,0.000,6,0.222,0.042,2942,2063,2425,0,0,0,0,0,0
$GC,10953,-0.77,-116.8,988.6,-7.2,619,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2063,2425,0,0,0,0,0,0
$STATE,11114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11115,begin apogee
$GC,11120,-0.19,0.0,1000.7,7.5,627,11230,0.57,0.00,106.85,1.288,6,0.138,0.000,3121,1602,1950,0,0,0,0,0,0
$STATE,11231,end apogee,CONTROL_FINISHED_OK
$STATE,11231,begin climb
$GC,11232,0.80,116.8,1003.0,0.0,632,11354,0.95,2.58,112.07,1.250,4,0.090,0.056,3445,196,1473,0,0,0,0,0,0
$GC,11403,0.80,116.8,990.1,11.5,640,11409,0.00,2.40,0.00,0.000,6,0.000,0.036,3446,1597,1469,0,0,0,0,0,0
$GC,11730,0.80,116.8,954.9,10.7,656,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1597,1465,0,0,0,0,0,0
$GC,12040,0.80,116.8,922.6,10.3,671,12044,0.00,2.33,0.00,0.000,4,0.000,0.054,3455,198,1464,0,0,0,0,0,0
$GC,12090,0.74,116.8,917.0,10.4,673,12094,0.08,2.28,0.00,0.000,6,0.135,0.037,3428,1604,1463,0,0,0,0,0,0
$GC,12411,0.74,116.8,885.8,9.9,689,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1604,1463,0,0,0,0,0,0
$GC,12719,0.74,116.8,855.9,9.5,704,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1604,1462,0,0,0,0,0,0
$GC,13030,0.74,116.8,827.2,9.4,719,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1604,1462,0,0,0,0,0,0
$GC,13338,0.74,116.8,799.1,9.2,734,13342,0.00,2.33,0.00,0.000,4,0.000,0.054,3437,192,1461,0,0,0,0,0,0
$GC,13398,0.74,116.8,793.0,9.8,736,13405,0.03,2.25,0.00,0.000,6,0.172,0.037,3427,1613,1460,0,0,0,0,0,0
$GC,13715,0.74,116.8,763.7,9.4,752,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1613,1460,0,0,0,0,0,0
$GC,14024,0.74,116.8,734.6,9.2,767,14025,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1613,1460,0,0,0,0,0,0
$GC,14332,0.74,116.8,706.9,8.9,782,14336,0.00,2.30,0.00,0.000,4,0.000,0.053,3436,196,1460,0,0,0,0,0,0
$GC,14409,0.74,116.8,699.5,9.1,785,14415,0.00,2.22,0.00,0.000,6,0.000,0.037,3436,1608,1460,0,0,0,0,0,0
$GC,14726,0.75,120.8,671.9,8.3,801,14730,0.00,2.20,0.00,0.000,4,0.000,0.057,3436,2990,1459,0,0,0,0,0,0
$GC,14799,0.75,120.8,665.2,9.0,804,14804,0.08,2.12,0.00,0.000,6,0.193,0.037,3427,1595,1460,0,0,0,0,0,0
$GC,15114,0.75,130.5,639.6,8.0,819,15133,0.00,2.30,11.62,0.981,4,0.000,0.055,3437,200,1417,0,0,0,0,0,0
$GC,15216,0.75,130.5,630.4,8.7,823,15222,0.00,2.20,0.00,0.000,6,0.000,0.037,3437,1597,1416,0,0,0,0,0,0
$GC,15533,0.76,136.1,603.9,8.2,839,15547,0.00,2.30,7.03,0.848,4,0.000,0.057,3437,2997,1394,0,0,0,0,0,0
$GC,15586,0.76,143.4,599.2,8.1,841,15601,0.03,2.20,8.60,0.890,6,0.181,0.035,3437,1596,1365,0,0,0,0,0,0
$GC,15927,0.76,143.4,569.2,9.0,858,15931,0.00,2.28,0.00,0.000,4,0.000,0.055,3447,196,1363,0,0,0,0,0,0
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$STATE,21863,end climb,SURFACE_DEPTH_REACHED
$STATE,21864,begin surface coast
$FINISH,1.9,1.002482
$STATE,21908,end surface coast,CONTROL_FINISHED_OK
$STATE,21908,begin surface
$SM_CCo,21925,25.92,0.057,0,0,1133,200.16
$SM_GC,2.33,0.00,0.00,25.92,0.000,0.000,0.057,60,2086,1133,-9.76,0.76,200.16
$IRIDIUM_FIX,-4441.36,639.57,100708,010133
$TT8_MAMPS,0.026964
$HUMID,63.38
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.8,29.659
$10V_AH,10.0,31.362
$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,23.550,158.000,250.600,25.925,0.000,26.769,25.938,288.550,0.000,0.000,18.937,2693.022,15808.684,403.155,3312.805,199.369,0.000,1660.511,0.000,2830.361,0.000,0.540,0.000
$DEVICE_MAMPS,270.045,65.790,1288.260,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,90577,1248
$CAP_FILE_SIZE,182274,0
$CFSIZE,2097086464,2062155776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140915,011351,-4458.721,637.526,36,1.0,36,-24.4