version: 66.07.10.p01
glider: 573
mission: 12
dive: 229
start: 9 14 115 1 22 24
data:
$ID,573
$MISSION,12
$DIVE,229
$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,-21726.922
$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,40
$R_STBD_OVSHOOT,53
$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,228
$GPS1,140915,011351,-4458.721,637.526,36,1.0,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-70.1
$GPS2,140915,012204,-4458.798,637.583,17,1.2,17,-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,2.6,5583,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.58,0.000,2,0.000,0.000,60,2086,1517,0,0,0,0,0,0
$GC,48,-0.76,-116.8,3.2,-3.3,3,112,11.70,2.33,-44.12,0.000,4,0.239,0.063,2935,666,2424,0,0,0,0,0,0
$GC,135,-0.61,-116.8,4.8,-6.4,16,142,0.17,2.20,0.00,0.000,6,0.150,0.037,2980,2034,2426,0,0,0,0,0,0
$GC,193,-0.61,-116.8,11.5,-11.8,25,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2034,2426,0,0,0,0,0,0
$GC,251,-0.61,-116.8,17.2,-8.9,34,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2034,2427,0,0,0,0,0,0
$GC,308,-0.61,-116.8,21.9,-7.9,43,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2034,2426,0,0,0,0,0,0
$GC,463,-0.61,-116.8,35.9,-10.1,68,471,0.00,2.35,0.00,0.000,4,0.000,0.064,2969,3464,2427,0,0,0,0,0,0
$GC,491,-0.61,-116.8,39.4,-12.2,72,499,0.00,2.22,0.00,0.000,6,0.000,0.040,2969,2057,2427,0,0,0,0,0,0
$GC,638,-0.61,-116.8,54.9,-10.2,97,644,0.05,2.25,0.00,0.000,4,0.228,0.055,2981,655,2427,0,0,0,0,0,0
$GC,692,-0.61,-116.8,60.9,-11.1,106,697,0.00,2.25,0.00,0.000,6,0.000,0.044,2972,2067,2427,0,0,0,0,0,0
$GC,1029,-0.61,-116.8,98.1,-10.9,144,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2427,0,0,0,0,0,0
$GC,1340,-0.61,-116.8,132.1,-11.2,159,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2428,0,0,0,0,0,0
$GC,1647,-0.61,-116.8,166.3,-10.9,174,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2428,0,0,0,0,0,0
$GC,1959,-0.61,-116.8,197.4,-9.2,189,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2428,0,0,0,0,0,0
$GC,2266,-0.61,-116.8,224.9,-8.4,204,2270,0.00,2.25,0.00,0.000,4,0.000,0.063,2962,3465,2427,0,0,0,0,0,0
$GC,2293,-0.61,-116.8,227.4,-8.7,205,2299,0.05,2.17,0.00,0.000,6,0.151,0.038,2980,2069,2428,0,0,0,0,0,0
$GC,2618,-0.64,-116.8,252.1,-7.7,221,2622,0.00,2.20,0.00,0.000,4,0.000,0.053,2980,657,2427,0,0,0,0,0,0
$GC,2680,-0.64,-116.8,257.4,-8.1,224,2684,0.00,2.17,0.00,0.000,6,0.000,0.039,2971,2067,2427,0,0,0,0,0,0
$GC,3006,-0.64,-116.8,283.2,-8.2,240,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2067,2428,0,0,0,0,0,0
$GC,3316,-0.64,-116.8,307.0,-7.8,255,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2066,2427,0,0,0,0,0,0
$GC,3625,-0.64,-116.8,330.8,-7.7,270,3629,0.00,2.22,0.00,0.000,4,0.000,0.063,2961,3469,2428,0,0,0,0,0,0
$GC,3668,-0.64,-116.8,334.4,-8.2,272,3672,0.00,2.20,0.00,0.000,6,0.000,0.041,2961,2056,2428,0,0,0,0,0,0
$GC,3994,-0.64,-116.8,361.3,-8.3,288,3998,0.00,2.20,0.00,0.000,4,0.000,0.055,2961,657,2427,0,0,0,0,0,0
$GC,4043,-0.64,-116.8,365.9,-9.2,290,4049,0.05,2.20,0.00,0.000,6,0.161,0.042,2969,2049,2427,0,0,0,0,0,0
$GC,4364,-0.64,-116.8,392.4,-8.5,306,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2049,2427,0,0,0,0,0,0
$GC,4675,-0.64,-116.8,419.8,-9.3,321,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2049,2427,0,0,0,0,0,0
$GC,4983,-0.64,-116.8,449.4,-9.9,336,4987,0.00,2.25,0.00,0.000,4,0.000,0.062,2959,3472,2427,0,0,0,0,0,0
$GC,5006,-0.64,-116.8,451.6,-10.1,337,5010,0.05,2.17,0.00,0.000,6,0.207,0.041,2971,2049,2428,0,0,0,0,0,0
$GC,5337,-0.64,-116.8,483.8,-9.6,353,5341,0.00,2.20,0.00,0.000,4,0.000,0.054,2971,658,2427,0,0,0,0,0,0
$GC,5369,-0.64,-116.8,487.2,-10.6,354,5374,0.00,2.22,0.00,0.000,6,0.000,0.040,2962,2070,2428,0,0,0,0,0,0
$GC,5690,-0.64,-116.8,516.9,-9.1,370,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2070,2427,0,0,0,0,0,0
$GC,6001,-0.64,-116.8,542.9,-8.2,385,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2070,2427,0,0,0,0,0,0
$GC,6309,-0.64,-116.8,568.2,-8.4,400,6313,0.00,2.22,0.00,0.000,4,0.000,0.062,2952,3465,2426,0,0,0,0,0,0
$GC,6374,-0.64,-116.8,574.1,-9.5,403,6379,0.05,2.17,0.00,0.000,6,0.149,0.039,2969,2067,2426,0,0,0,0,0,0
$GC,6703,-0.68,-116.8,600.8,-8.3,419,6707,0.00,2.20,0.00,0.000,4,0.000,0.054,2970,656,2426,0,0,0,0,0,0
$GC,6730,-0.68,-116.8,603.4,-9.3,420,6735,0.00,2.20,0.00,0.000,6,0.000,0.039,2961,2061,2426,0,0,0,0,0,0
$GC,7050,-0.68,-116.8,631.5,-8.7,436,7054,0.00,2.22,0.00,0.000,4,0.000,0.065,2950,3467,2426,0,0,0,0,0,0
$GC,7088,-0.68,-116.8,635.1,-9.7,437,7093,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2053,2426,0,0,0,0,0,0
$GC,7405,-0.68,-116.8,665.0,-9.8,453,7409,0.00,2.20,0.00,0.000,4,0.000,0.057,2950,652,2425,0,0,0,0,0,0
$GC,7444,-0.65,-116.8,669.2,-10.7,455,7449,0.12,2.17,0.00,0.000,6,0.169,0.044,2974,2057,2425,0,0,0,0,0,0
$GC,7772,-0.70,-116.8,698.9,-9.1,471,7776,0.00,2.25,0.00,0.000,4,0.000,0.064,2964,3463,2425,0,0,0,0,0,0
$GC,7804,-0.75,-116.8,702.1,-9.3,472,7810,0.03,2.17,0.00,0.000,6,0.105,0.041,2928,2062,2425,0,0,0,0,0,0
$GC,8119,-0.70,-116.8,734.1,-10.1,488,8121,0.10,0.00,0.00,0.000,6,0.178,0.000,2954,2062,2425,0,0,0,0,0,0
$GC,8430,-0.70,-116.8,761.3,-8.5,503,8434,0.00,2.22,0.00,0.000,4,0.000,0.055,2954,645,2425,0,0,0,0,0,0
$GC,8495,-0.70,-116.8,767.5,-9.0,506,8500,0.00,2.22,0.00,0.000,6,0.000,0.040,2945,2067,2425,0,0,0,0,0,0
$GC,8822,-0.70,-116.8,795.7,-8.5,522,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2067,2425,0,0,0,0,0,0
$GC,9132,-0.70,-116.8,821.1,-8.3,537,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2067,2425,0,0,0,0,0,0
$GC,9442,-0.70,-116.8,844.2,-7.2,552,9446,0.00,2.22,0.00,0.000,4,0.000,0.064,2935,3471,2424,0,0,0,0,0,0
$GC,9475,-0.70,-116.8,846.5,-7.3,553,9480,0.08,2.17,0.00,0.000,6,0.185,0.043,2952,2049,2424,0,0,0,0,0,0
$GC,9791,-0.70,-116.8,868.5,-7.0,569,9795,0.00,2.20,0.00,0.000,4,0.000,0.056,2953,654,2424,0,0,0,0,0,0
$GC,9862,-0.70,-116.8,874.0,-8.2,572,9867,0.00,2.22,0.00,0.000,6,0.000,0.044,2944,2063,2424,0,0,0,0,0,0
$GC,10189,-0.70,-116.8,898.7,-7.6,588,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2063,2424,0,0,0,0,0,0
$GC,10499,-0.70,-116.8,922.0,-7.5,603,10503,0.00,2.25,0.00,0.000,4,0.000,0.066,2933,3463,2424,0,0,0,0,0,0
$GC,10560,-0.70,-116.8,926.9,-7.6,605,10565,0.05,2.17,0.00,0.000,6,0.150,0.041,2951,2064,2424,0,0,0,0,0,0
$GC,10876,-0.70,-116.8,950.6,-7.4,621,10880,0.00,2.20,0.00,0.000,4,0.000,0.055,2951,658,2424,0,0,0,0,0,0
$GC,10936,-0.70,-116.8,955.8,-8.8,624,10940,0.00,2.20,0.00,0.000,6,0.000,0.042,2943,2054,2424,0,0,0,0,0,0
$GC,11268,-0.70,-116.8,983.0,-8.4,640,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2054,2423,0,0,0,0,0,0
$STATE,11494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11494,begin apogee
$GC,11499,-0.19,0.0,1001.5,8.1,651,11609,0.57,0.00,106.38,1.288,6,0.138,0.000,3121,1588,1950,0,0,0,0,0,0
$STATE,11610,end apogee,CONTROL_FINISHED_OK
$STATE,11610,begin climb
$GC,11612,0.76,116.8,1004.8,0.0,656,11728,0.90,0.00,112.32,1.248,6,0.087,0.000,3422,1588,1474,0,0,0,0,0,0
$GC,12022,0.76,116.8,972.9,8.9,676,12026,0.00,2.35,0.00,0.000,4,0.000,0.055,3432,193,1466,0,0,0,0,0,0
$GC,12116,0.73,116.8,963.5,9.5,680,12122,0.03,2.30,0.00,0.000,6,0.162,0.037,3423,1605,1465,0,0,0,0,0,0
$GC,12442,0.73,116.8,933.0,9.5,696,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1606,1463,0,0,0,0,0,0
$GC,12753,0.73,116.8,904.8,9.0,711,12757,0.00,2.22,0.00,0.000,4,0.000,0.054,3422,2992,1463,0,0,0,0,0,0
$GC,12824,0.73,116.8,897.6,10.2,714,12829,0.00,2.20,0.00,0.000,6,0.000,0.037,3431,1600,1463,0,0,0,0,0,0
$GC,13146,0.73,116.8,867.8,9.2,730,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1599,1463,0,0,0,0,0,0
$GC,13455,0.73,116.8,839.9,8.7,745,13459,0.00,2.28,0.00,0.000,4,0.000,0.056,3442,191,1462,0,0,0,0,0,0
$GC,13526,0.67,116.8,833.3,9.6,748,13531,0.15,2.17,0.00,0.000,6,0.150,0.036,3399,1602,1461,0,0,0,0,0,0
$GC,13847,0.75,150.5,809.9,6.9,764,13884,0.08,2.25,30.98,1.151,4,0.120,0.053,3444,2992,1335,0,0,0,0,0,0
$GC,13923,0.70,150.5,803.1,10.8,766,13929,0.15,2.20,0.00,0.000,6,0.151,0.036,3412,1592,1333,0,0,0,0,0,0
$GC,14238,0.75,164.1,778.1,7.9,782,14259,0.00,2.33,13.90,1.053,4,0.000,0.057,3422,203,1280,0,0,0,0,0,0
$GC,14320,0.79,164.1,770.8,9.0,785,14325,0.00,2.20,0.00,0.000,6,0.000,0.037,3422,1610,1278,0,0,0,0,0,0
$GC,14636,0.83,164.1,743.3,8.7,801,14638,0.08,0.00,0.00,0.000,6,0.120,0.000,3465,1609,1276,0,0,0,0,0,0
$GC,14944,0.78,164.1,710.6,10.6,816,14946,0.10,0.00,0.00,0.000,6,0.158,0.000,3438,1610,1276,0,0,0,0,0,0
$GC,15254,0.78,164.1,679.9,10.1,831,15258,0.00,2.30,0.00,0.000,4,0.000,0.055,3448,188,1275,0,0,0,0,0,0
$GC,15309,0.78,164.1,673.8,10.7,833,15314,0.00,2.22,0.00,0.000,6,0.000,0.037,3448,1601,1274,0,0,0,0,0,0
$GC,15631,0.78,164.1,639.7,10.8,849,15635,0.00,2.20,0.00,0.000,4,0.000,0.054,3448,3000,1274,0,0,0,0,0,0
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$STATE,22151,end climb,SURFACE_DEPTH_REACHED
$STATE,22151,begin surface coast
$FINISH,1.8,1.015528
$STATE,22183,end surface coast,CONTROL_FINISHED_OK
$STATE,22183,begin surface
$SM_CCo,22200,2.90,0.059,0,0,1133,200.16
$SM_GC,3.74,0.00,0.00,2.90,0.000,0.000,0.059,61,2064,1133,-9.76,0.11,200.16
$IRIDIUM_FIX,-4441.36,639.57,100708,010133
$TT8_MAMPS,0.026964
$HUMID,63.62
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.8,29.777
$10V_AH,9.9,31.492
$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,23.750,174.500,280.575,2.900,0.000,26.578,26.854,304.572,0.000,0.000,20.907,2753.070,15844.254,427.745,3455.029,208.838,0.000,1756.139,0.000,2951.025,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,65.790,1288.260,58.905,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,619.207,1820.711,1003.252,595.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,90615,1270
$CAP_FILE_SIZE,192067,0
$CFSIZE,2097086464,2062024704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140915,073334,-4458.579,636.911,32,0.9,32,-24.4