version: 66.07.10.p01
glider: 573
mission: 12
dive: 230
start: 9 14 115 7 42 0
data:
$ID,573
$MISSION,12
$DIVE,230
$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,-21730.258
$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,32
$R_STBD_OVSHOOT,37
$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,229
$GPS1,140915,073334,-4458.579,636.911,32,0.9,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.9
$GPS2,140915,074140,-4458.647,636.976,21,1.1,22,-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,9.8,5066,-18.6,-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,-0.78,-108.9,0.0,0.0,0,52,0.00,0.00,-26.23,0.000,2,0.000,0.000,60,2065,1657,0,0,0,0,0,0
$GC,55,-0.78,-116.8,3.5,-4.3,4,112,11.80,2.33,-36.00,0.000,4,0.243,0.067,2922,654,2427,0,0,0,0,0,0
$GC,195,-0.64,-116.8,10.9,-10.9,26,203,0.17,2.28,0.00,0.000,6,0.151,0.044,2967,2052,2429,0,0,0,0,0,0
$GC,254,-0.64,-116.8,17.6,-11.2,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2052,2429,0,0,0,0,0,0
$GC,311,-0.64,-116.8,24.4,-11.4,44,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2052,2429,0,0,0,0,0,0
$GC,464,-0.64,-116.8,40.8,-10.5,69,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2052,2429,0,0,0,0,0,0
$GC,816,-0.64,-116.8,75.5,-10.3,130,821,0.00,2.28,0.00,0.000,4,0.000,0.059,2957,3474,2429,0,0,0,0,0,0
$GC,852,-0.64,-116.8,79.2,-10.4,136,858,0.08,2.20,0.00,0.000,6,0.188,0.041,2973,2057,2429,0,0,0,0,0,0
$GC,1168,-0.64,-116.8,112.2,-10.6,152,1172,0.00,2.25,0.00,0.000,4,0.000,0.055,2974,649,2430,0,0,0,0,0,0
$GC,1194,-0.64,-116.8,115.4,-11.2,153,1199,0.00,2.28,0.00,0.000,6,0.000,0.042,2965,2073,2429,0,0,0,0,0,0
$GC,1518,-0.64,-116.8,151.6,-11.3,169,1522,0.00,2.20,0.00,0.000,4,0.000,0.058,2955,3465,2429,0,0,0,0,0,0
$GC,1539,-0.64,-116.8,154.5,-12.1,170,1544,0.05,2.20,0.00,0.000,6,0.153,0.038,2972,2059,2430,0,0,0,0,0,0
$GC,1866,-0.64,-116.8,188.6,-10.2,186,1870,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,658,2430,0,0,0,0,0,0
$GC,1966,-0.64,-116.8,199.1,-10.0,190,1974,0.00,2.22,0.00,0.000,6,0.000,0.041,2963,2064,2430,0,0,0,0,0,0
$GC,2283,-0.64,-116.8,231.3,-10.5,206,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2064,2429,0,0,0,0,0,0
$GC,2594,-0.64,-116.8,261.8,-9.5,221,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2063,2430,0,0,0,0,0,0
$GC,2902,-0.64,-116.8,289.2,-8.4,236,2906,0.00,2.25,0.00,0.000,4,0.000,0.064,2953,3464,2430,0,0,0,0,0,0
$GC,2967,-0.64,-116.8,294.4,-8.2,239,2972,0.10,2.15,0.00,0.000,6,0.169,0.039,2978,2051,2430,0,0,0,0,0,0
$GC,3295,-0.69,-116.8,318.3,-7.2,255,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2051,2430,0,0,0,0,0,0
$GC,3602,-0.75,-116.8,340.8,-7.4,270,3604,0.10,0.00,0.00,0.000,6,0.103,0.000,2923,2051,2430,0,0,0,0,0,0
$GC,3912,-0.68,-116.8,372.0,-10.2,285,3914,0.15,0.00,0.00,0.000,6,0.163,0.000,2963,2051,2430,0,0,0,0,0,0
$GC,4220,-0.68,-116.8,397.4,-8.3,300,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2051,2430,0,0,0,0,0,0
$GC,4531,-0.68,-116.8,424.1,-8.4,315,4535,0.00,2.20,0.00,0.000,4,0.000,0.055,2963,650,2430,0,0,0,0,0,0
$GC,4557,-0.68,-116.8,426.8,-9.0,316,4562,0.00,2.22,0.00,0.000,6,0.000,0.042,2955,2057,2430,0,0,0,0,0,0
$GC,4878,-0.68,-116.8,454.6,-8.4,332,4882,0.00,2.25,0.00,0.000,4,0.000,0.063,2945,3464,2430,0,0,0,0,0,0
$GC,4933,-0.68,-116.8,459.3,-8.2,334,4940,0.03,2.17,0.00,0.000,6,0.163,0.039,2955,2067,2429,0,0,0,0,0,0
$GC,5248,-0.68,-116.8,484.9,-8.0,350,5252,0.00,2.22,0.00,0.000,4,0.000,0.054,2955,647,2429,0,0,0,0,0,0
$GC,5297,-0.68,-116.8,489.3,-8.6,352,5302,0.03,2.22,0.00,0.000,6,0.175,0.039,2956,2063,2429,0,0,0,0,0,0
$GC,5618,-0.68,-116.8,512.9,-6.9,368,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2063,2430,0,0,0,0,0,0
$GC,5929,-0.68,-116.8,534.2,-7.2,383,5933,0.00,2.25,0.00,0.000,4,0.000,0.066,2946,3471,2430,0,0,0,0,0,0
$GC,6000,-0.68,-116.8,539.8,-8.1,386,6005,0.03,2.22,0.00,0.000,6,0.164,0.042,2956,2052,2429,0,0,0,0,0,0
$GC,6326,-0.68,-116.8,564.3,-7.5,402,6330,0.00,2.20,0.00,0.000,4,0.000,0.056,2957,653,2429,0,0,0,0,0,0
$GC,6381,-0.68,-116.8,568.8,-8.3,404,6387,0.00,2.22,0.00,0.000,6,0.000,0.044,2947,2057,2429,0,0,0,0,0,0
$GC,6696,-0.68,-116.8,594.9,-8.2,420,6701,0.05,2.28,0.00,0.000,4,0.226,0.054,2959,651,2429,0,0,0,0,0,0
$GC,6728,-0.68,-116.8,597.8,-8.9,421,6733,0.00,2.22,0.00,0.000,6,0.000,0.042,2950,2057,2429,0,0,0,0,0,0
$GC,7044,-0.68,-116.8,624.8,-8.7,437,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2057,2429,0,0,0,0,0,0
$GC,7352,-0.68,-116.8,652.6,-9.2,452,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2057,2429,0,0,0,0,0,0
$GC,7663,-0.68,-116.8,680.7,-9.0,467,7667,0.00,2.28,0.00,0.000,4,0.000,0.063,2940,3475,2429,0,0,0,0,0,0
$GC,7705,-0.68,-116.8,684.8,-9.2,469,7711,0.05,2.22,0.00,0.000,6,0.147,0.042,2957,2053,2429,0,0,0,0,0,0
$GC,8035,-0.72,-116.8,712.5,-8.2,485,8039,0.00,2.22,0.00,0.000,4,0.000,0.057,2958,650,2428,0,0,0,0,0,0
$GC,8074,-0.72,-116.8,716.0,-9.2,487,8078,0.00,2.20,0.00,0.000,6,0.000,0.044,2949,2066,2428,0,0,0,0,0,0
$GC,8400,-0.72,-116.8,743.1,-8.2,503,8404,0.00,2.22,0.00,0.000,4,0.000,0.064,2938,3463,2427,0,0,0,0,0,0
$GC,8432,-0.72,-116.8,745.9,-8.2,504,8438,0.00,2.20,0.00,0.000,6,0.000,0.041,2938,2052,2428,0,0,0,0,0,0
$GC,8747,-0.72,-116.8,771.1,-7.6,520,8751,0.00,2.22,0.00,0.000,4,0.000,0.057,2938,649,2427,0,0,0,0,0,0
$GC,8779,-0.69,-116.8,773.8,-8.2,521,8784,0.12,2.20,0.00,0.000,6,0.168,0.044,2962,2063,2427,0,0,0,0,0,0
$GC,9101,-0.74,-116.8,795.4,-6.6,537,9105,0.00,2.25,0.00,0.000,4,0.000,0.066,2952,3467,2428,0,0,0,0,0,0
$GC,9141,-0.79,-116.8,798.3,-7.0,539,9145,0.08,2.15,0.00,0.000,6,0.124,0.042,2904,2059,2427,0,0,0,0,0,0
$GC,9468,-0.71,-116.8,827.5,-9.2,555,9473,0.17,2.30,0.00,0.000,4,0.160,0.064,2943,3471,2427,0,0,0,0,0,0
$GC,9508,-0.74,-116.8,830.8,-7.7,557,9512,0.00,2.20,0.00,0.000,6,0.000,0.043,2943,2049,2427,0,0,0,0,0,0
$GC,9834,-0.74,-116.8,855.5,-7.4,573,9838,0.00,2.20,0.00,0.000,4,0.000,0.057,2944,648,2427,0,0,0,0,0,0
$GC,9919,-0.74,-116.8,862.3,-7.8,577,9923,0.00,2.20,0.00,0.000,6,0.000,0.044,2934,2063,2427,0,0,0,0,0,0
$GC,10245,-0.74,-116.8,887.3,-7.6,593,10250,0.00,2.28,0.00,0.000,4,0.000,0.067,2924,3470,2427,0,0,0,0,0,0
$GC,10330,-0.74,-116.8,894.1,-7.4,597,10335,0.08,2.17,0.00,0.000,6,0.191,0.043,2942,2050,2426,0,0,0,0,0,0
$GC,10658,-0.74,-116.8,919.5,-7.7,613,10662,0.00,2.20,0.00,0.000,4,0.000,0.057,2942,658,2426,0,0,0,0,0,0
$GC,10706,-0.74,-116.8,923.9,-8.7,615,10711,0.00,2.22,0.00,0.000,6,0.000,0.042,2933,2062,2426,0,0,0,0,0,0
$GC,11028,-0.74,-116.8,950.9,-8.5,631,11033,0.00,2.25,0.00,0.000,4,0.000,0.056,2933,651,2426,0,0,0,0,0,0
$GC,11056,-0.74,-116.8,953.5,-10.5,632,11061,0.08,2.20,0.00,0.000,6,0.202,0.045,2942,2061,2426,0,0,0,0,0,0
$GC,11372,-0.74,-116.8,980.1,-8.5,647,11376,0.00,2.28,0.00,0.000,4,0.000,0.067,2931,3469,2426,0,0,0,0,0,0
$GC,11417,-0.74,-116.8,983.9,-8.6,649,11420,0.00,2.20,0.00,0.000,6,0.000,0.044,2931,2049,2426,0,0,0,0,0,0
$STATE,11623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11623,begin apogee
$GC,11628,-0.19,0.0,1001.3,8.3,659,11739,0.60,0.00,107.05,1.286,6,0.141,0.000,3115,1591,1950,0,0,0,0,0,0
$STATE,11740,end apogee,CONTROL_FINISHED_OK
$STATE,11740,begin climb
$GC,11741,0.78,116.8,1004.1,0.0,664,11863,0.95,2.53,112.47,1.249,4,0.090,0.055,3441,198,1474,0,0,0,0,0,0
$GC,11913,0.75,116.8,991.6,9.7,672,11918,0.03,2.40,0.00,0.000,6,0.166,0.036,3433,1602,1469,0,0,0,0,0,0
$GC,12238,0.75,116.8,956.7,11.2,688,12242,0.00,2.33,0.00,0.000,4,0.000,0.055,3433,2987,1465,0,0,0,0,0,0
$GC,12288,0.75,116.8,950.8,11.2,690,12293,0.03,2.25,0.00,0.000,6,0.183,0.035,3432,1594,1464,0,0,0,0,0,0
$GC,12614,0.75,116.8,913.2,11.5,706,12618,0.00,2.30,0.00,0.000,4,0.000,0.056,3442,196,1463,0,0,0,0,0,0
$GC,12743,0.72,116.8,897.9,11.4,712,12748,0.10,2.22,0.00,0.000,6,0.163,0.037,3416,1617,1462,0,0,0,0,0,0
$GC,13069,0.75,116.8,862.6,10.6,728,13073,0.00,2.20,0.00,0.000,4,0.000,0.056,3416,2995,1462,0,0,0,0,0,0
$GC,13140,0.75,116.8,854.5,10.6,731,13144,0.00,2.20,0.00,0.000,6,0.000,0.036,3424,1598,1462,0,0,0,0,0,0
$GC,13462,0.75,116.8,821.4,9.7,747,13466,0.00,2.28,0.00,0.000,4,0.000,0.055,3435,193,1461,0,0,0,0,0,0
$GC,13591,0.75,116.8,808.2,9.4,753,13595,0.00,2.20,0.00,0.000,6,0.000,0.037,3435,1604,1460,0,0,0,0,0,0
$GC,13917,0.75,116.8,777.7,9.0,769,13921,0.00,2.20,0.00,0.000,4,0.000,0.054,3435,2987,1460,0,0,0,0,0,0
$GC,13960,0.75,116.8,773.8,9.0,771,13965,0.05,2.17,0.00,0.000,6,0.153,0.036,3426,1593,1460,0,0,0,0,0,0
$GC,14287,0.76,135.4,748.4,7.6,787,14310,0.00,2.28,16.73,1.077,4,0.000,0.054,3436,195,1397,0,0,0,0,0,0
$GC,14350,0.77,151.0,743.0,7.7,790,14371,0.00,2.17,15.93,1.052,6,0.000,0.036,3436,1600,1333,0,0,0,0,0,0
$GC,14680,0.77,151.0,714.5,8.6,806,14681,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1600,1330,0,0,0,0,0,0
$GC,14990,0.77,151.0,688.3,8.6,821,14994,0.00,2.30,0.00,0.000,4,0.000,0.053,3446,193,1330,0,0,0,0,0,0
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$STATE,22166,end climb,SURFACE_DEPTH_REACHED
$STATE,22166,begin surface coast
$FINISH,1.7,1.002317
$STATE,22205,end surface coast,CONTROL_FINISHED_OK
$STATE,22205,begin surface
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$SM_GC,2.82,0.00,0.00,22.12,0.000,0.000,0.055,62,2078,1132,-9.76,0.48,200.16
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$HUMID,63.50
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.8,29.889
$10V_AH,9.9,31.621
$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
$DEVICE_SECS,23.850,175.175,256.075,22.125,0.000,25.928,18.498,302.141,0.000,0.000,23.858,2755.184,15912.888,415.002,3426.600,212.138,0.000,1731.130,0.000,2930.509,0.000,0.540,0.000
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$SENSOR_SECS,621.191,1800.501,976.844,570.379,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,93840,1273
$CAP_FILE_SIZE,191102,0
$CFSIZE,2097086464,2061893632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140915,135358,-4458.752,637.233,38,1.2,38,-24.4