version: 66.07.10.p01
glider: 573
mission: 12
dive: 233
start: 9 15 115 3 1 5
data:
$ID,573
$MISSION,12
$DIVE,233
$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,-21740.156
$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,30
$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,232
$GPS1,150915,025203,-4458.538,637.728,33,0.9,33,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-67.8
$GPS2,150915,030045,-4458.585,637.721,22,1.1,22,-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,359.3,5293,-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,-116.8,0.0,0.0,0,46,0.00,0.00,-19.88,0.000,2,0.000,0.000,62,2051,1519,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.5,3,112,11.70,2.30,-41.30,0.000,4,0.237,0.068,2935,661,2427,0,0,0,0,0,0
$GC,171,-0.63,-116.8,11.0,-12.4,22,178,0.15,2.28,0.00,0.000,6,0.148,0.041,2973,2063,2428,0,0,0,0,0,0
$GC,230,-0.60,-116.8,17.6,-10.9,31,237,0.05,0.00,0.00,0.000,6,0.246,0.000,2984,2063,2428,0,0,0,0,0,0
$GC,288,-0.60,-116.8,23.7,-9.3,40,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2063,2428,0,0,0,0,0,0
$GC,442,-0.60,-116.8,38.9,-8.9,65,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2063,2429,0,0,0,0,0,0
$GC,587,-0.60,-116.8,54.4,-11.0,90,594,0.00,2.33,0.00,0.000,4,0.000,0.066,2973,3463,2429,0,0,0,0,0,0
$GC,618,-0.60,-116.8,57.7,-10.8,95,623,0.00,2.20,0.00,0.000,6,0.000,0.039,2974,2058,2429,0,0,0,0,0,0
$GC,961,-0.60,-116.8,92.7,-9.8,139,963,0.05,0.00,0.00,0.000,6,0.233,0.000,2984,2057,2429,0,0,0,0,0,0
$GC,1269,-0.60,-116.8,120.1,-8.8,154,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2058,2429,0,0,0,0,0,0
$GC,1581,-0.60,-116.8,145.8,-8.1,169,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2058,2430,0,0,0,0,0,0
$GC,1888,-0.60,-116.8,170.0,-7.8,184,1892,0.00,2.25,0.00,0.000,4,0.000,0.054,2984,648,2430,0,0,0,0,0,0
$GC,1914,-0.60,-116.8,172.3,-8.4,185,1919,0.00,2.25,0.00,0.000,6,0.000,0.042,2975,2063,2430,0,0,0,0,0,0
$GC,2238,-0.60,-116.8,198.0,-8.1,201,2243,0.00,2.28,0.00,0.000,4,0.000,0.064,2965,3470,2430,0,0,0,0,0,0
$GC,2327,-0.60,-116.8,205.2,-7.0,205,2333,0.05,2.20,0.00,0.000,6,0.152,0.041,2982,2067,2430,0,0,0,0,0,0
$GC,2658,-0.64,-116.8,229.5,-7.4,221,2662,0.00,2.22,0.00,0.000,4,0.000,0.053,2983,655,2430,0,0,0,0,0,0
$GC,2730,-0.64,-116.8,236.2,-9.0,224,2734,0.00,2.22,0.00,0.000,6,0.000,0.041,2974,2058,2430,0,0,0,0,0,0
$GC,3052,-0.64,-116.8,264.6,-9.2,240,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2058,2430,0,0,0,0,0,0
$GC,3363,-0.64,-116.8,294.0,-9.5,255,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2059,2430,0,0,0,0,0,0
$GC,3669,-0.64,-116.8,322.0,-8.8,270,3673,0.00,2.25,0.00,0.000,4,0.000,0.063,2963,3475,2430,0,0,0,0,0,0
$GC,3696,-0.64,-116.8,324.4,-9.7,271,3701,0.00,2.22,0.00,0.000,6,0.000,0.041,2963,2050,2430,0,0,0,0,0,0
$GC,4024,-0.64,-116.8,351.5,-8.2,287,4028,0.00,2.22,0.00,0.000,4,0.000,0.055,2963,651,2430,0,0,0,0,0,0
$GC,4049,-0.64,-116.8,354.1,-8.8,288,4055,0.05,2.22,0.00,0.000,6,0.155,0.041,2971,2057,2430,0,0,0,0,0,0
$GC,4371,-0.64,-116.8,378.5,-7.5,304,4376,0.00,2.25,0.00,0.000,4,0.000,0.062,2961,3474,2429,0,0,0,0,0,0
$GC,4404,-0.64,-116.8,381.1,-7.9,305,4409,0.00,2.20,0.00,0.000,6,0.000,0.041,2961,2067,2430,0,0,0,0,0,0
$GC,4720,-0.64,-116.8,407.1,-8.5,321,4724,0.00,2.22,0.00,0.000,4,0.000,0.054,2961,652,2430,0,0,0,0,0,0
$GC,4746,-0.64,-116.8,409.6,-8.9,322,4752,0.05,2.22,0.00,0.000,6,0.158,0.041,2969,2061,2430,0,0,0,0,0,0
$GC,5067,-0.64,-116.8,436.1,-8.2,338,5071,0.00,2.22,0.00,0.000,4,0.000,0.064,2959,3463,2430,0,0,0,0,0,0
$GC,5099,-0.64,-116.8,439.0,-9.5,339,5104,0.00,2.20,0.00,0.000,6,0.000,0.041,2959,2057,2430,0,0,0,0,0,0
$GC,5415,-0.64,-116.8,466.7,-9.1,355,5417,0.05,0.00,0.00,0.000,6,0.218,0.000,2970,2057,2430,0,0,0,0,0,0
$GC,5724,-0.68,-116.8,493.1,-8.1,370,5728,0.00,2.22,0.00,0.000,4,0.000,0.056,2971,657,2430,0,0,0,0,0,0
$GC,5795,-0.68,-116.8,499.3,-8.8,373,5800,0.00,2.22,0.00,0.000,6,0.000,0.044,2962,2057,2430,0,0,0,0,0,0
$GC,6116,-0.68,-116.8,526.5,-8.7,389,6120,0.00,2.25,0.00,0.000,4,0.000,0.063,2951,3472,2430,0,0,0,0,0,0
$GC,6159,-0.68,-116.8,530.5,-8.7,391,6164,0.00,2.20,0.00,0.000,6,0.000,0.041,2951,2063,2429,0,0,0,0,0,0
$GC,6488,-0.68,-116.8,558.7,-8.5,407,6492,0.00,2.22,0.00,0.000,4,0.000,0.055,2951,650,2429,0,0,0,0,0,0
$GC,6531,-0.65,-116.8,562.9,-9.5,409,6536,0.08,2.22,0.00,0.000,6,0.148,0.041,2968,2066,2429,0,0,0,0,0,0
$GC,6860,-0.68,-116.8,587.6,-7.4,425,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2065,2429,0,0,0,0,0,0
$GC,7168,-0.71,-116.8,611.2,-7.7,440,7172,0.00,2.22,0.00,0.000,4,0.000,0.063,2958,3463,2429,0,0,0,0,0,0
$GC,7251,-0.75,-116.8,617.9,-8.2,444,7256,0.00,2.15,0.00,0.000,6,0.000,0.040,2958,2056,2428,0,0,0,0,0,0
$GC,7582,-0.75,-116.8,645.5,-8.5,460,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2055,2428,0,0,0,0,0,0
$GC,7893,-0.75,-116.8,672.6,-9.0,475,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2055,2428,0,0,0,0,0,0
$GC,8201,-0.75,-116.8,700.9,-9.7,490,8205,0.00,2.25,0.00,0.000,4,0.000,0.056,2958,658,2428,0,0,0,0,0,0
$GC,8233,-0.75,-116.8,704.3,-10.2,491,8238,0.00,2.22,0.00,0.000,6,0.000,0.041,2949,2067,2428,0,0,0,0,0,0
$GC,8555,-0.75,-116.8,736.3,-10.0,507,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2067,2427,0,0,0,0,0,0
$GC,8864,-0.75,-116.8,765.9,-9.2,522,8868,0.00,2.22,0.00,0.000,4,0.000,0.063,2939,3468,2427,0,0,0,0,0,0
$GC,8918,-0.75,-116.8,771.3,-9.3,524,8924,0.00,2.20,0.00,0.000,6,0.000,0.041,2938,2060,2427,0,0,0,0,0,0
$GC,9233,-0.75,-116.8,800.8,-9.1,540,9237,0.00,2.20,0.00,0.000,4,0.000,0.055,2939,658,2427,0,0,0,0,0,0
$GC,9261,-0.71,-116.8,803.3,-10.1,541,9265,0.10,2.17,0.00,0.000,6,0.177,0.042,2955,2067,2427,0,0,0,0,0,0
$GC,9588,-0.71,-116.8,829.0,-7.6,557,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2067,2427,0,0,0,0,0,0
$GC,9896,-0.71,-116.8,852.7,-7.8,572,9900,0.00,2.20,0.00,0.000,4,0.000,0.063,2945,3465,2427,0,0,0,0,0,0
$GC,9951,-0.71,-116.8,857.1,-8.0,574,9957,0.00,2.20,0.00,0.000,6,0.000,0.040,2945,2053,2427,0,0,0,0,0,0
$GC,10266,-0.71,-116.8,880.6,-7.4,590,10270,0.00,2.20,0.00,0.000,4,0.000,0.056,2945,656,2427,0,0,0,0,0,0
$GC,10304,-0.71,-116.8,884.0,-9.1,592,10309,0.05,2.22,0.00,0.000,6,0.223,0.044,2948,2090,2427,0,0,0,0,0,0
$GC,10636,-0.71,-116.8,908.5,-7.7,608,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2091,2427,0,0,0,0,0,0
$GC,10946,-0.71,-116.8,932.7,-8.1,623,10950,0.00,2.17,0.00,0.000,4,0.000,0.063,2938,3463,2427,0,0,0,0,0,0
$GC,10974,-0.71,-116.8,935.1,-8.9,624,10978,0.00,2.15,0.00,0.000,6,0.000,0.040,2937,2052,2426,0,0,0,0,0,0
$GC,11289,-0.71,-116.8,962.7,-9.0,639,11293,0.00,2.20,0.00,0.000,4,0.000,0.056,2938,659,2427,0,0,0,0,0,0
$GC,11316,-0.71,-116.8,965.4,-10.3,640,11321,0.05,2.20,0.00,0.000,6,0.154,0.041,2947,2053,2427,0,0,0,0,0,0
$GC,11636,-0.71,-116.8,993.6,-8.7,656,11640,0.00,2.22,0.00,0.000,4,0.000,0.060,2937,3465,2426,0,0,0,0,0,0
$GC,11668,-0.71,-116.8,996.6,-9.4,657,11674,0.03,2.17,0.00,0.000,6,0.175,0.039,2946,2066,2426,0,0,0,0,0,0
$STATE,11719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11719,begin apogee
$GC,11725,-0.19,0.0,1001.3,9.0,660,11835,0.55,0.00,107.22,1.286,6,0.136,0.000,3117,1588,1950,0,0,0,0,0,0
$STATE,11836,end apogee,CONTROL_FINISHED_OK
$STATE,11836,begin climb
$GC,11837,0.76,116.8,1005.4,0.0,665,11960,0.93,2.53,112.35,1.248,4,0.089,0.055,3435,206,1473,0,0,0,0,0,0
$GC,12010,0.76,116.8,996.3,8.6,673,12015,0.00,2.40,0.00,0.000,6,0.000,0.036,3435,1607,1469,0,0,0,0,0,0
$GC,12337,0.76,124.8,969.7,8.2,689,12347,0.00,0.00,7.95,1.003,6,0.000,0.000,3435,1608,1440,0,0,0,0,0,0
$GC,12645,0.76,124.8,941.2,9.9,704,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1608,1438,0,0,0,0,0,0
$GC,12955,0.76,124.8,908.2,10.9,719,12959,0.00,2.30,0.00,0.000,4,0.000,0.054,3444,202,1437,0,0,0,0,0,0
$GC,13033,0.72,124.8,899.1,11.5,722,13038,0.08,2.25,0.00,0.000,6,0.129,0.037,3418,1606,1436,0,0,0,0,0,0
$GC,13352,0.72,124.8,865.2,10.8,738,13354,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1606,1437,0,0,0,0,0,0
$GC,13663,0.72,124.8,832.2,10.4,753,13667,0.00,2.28,0.00,0.000,4,0.000,0.053,3427,195,1435,0,0,0,0,0,0
$GC,13729,0.72,124.8,824.7,11.0,756,13734,0.00,2.22,0.00,0.000,6,0.000,0.036,3427,1633,1435,0,0,0,0,0,0
$GC,14061,0.72,124.8,790.5,10.0,772,14062,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1634,1435,0,0,0,0,0,0
$GC,14372,0.72,124.8,760.0,9.7,787,14376,0.00,2.33,0.00,0.000,4,0.000,0.054,3437,200,1435,0,0,0,0,0,0
$GC,14434,0.72,124.8,754.0,9.4,790,14438,0.08,2.17,0.00,0.000,6,0.173,0.037,3417,1601,1435,0,0,0,0,0,0
$GC,14760,0.76,128.1,726.2,8.4,806,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1601,1435,0,0,0,0,0,0
$GC,15070,0.79,132.3,700.1,8.3,821,15080,0.05,0.00,7.75,0.926,6,0.164,0.000,3458,1602,1410,0,0,0,0,0,0
$GC,15377,0.74,132.3,668.7,10.3,836,15379,0.12,0.00,0.00,0.000,6,0.151,0.000,3422,1602,1409,0,0,0,0,0,0
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$STATE,22582,end climb,SURFACE_DEPTH_REACHED
$STATE,22582,begin surface coast
$FINISH,1.8,1.011828
$STATE,22621,end surface coast,CONTROL_FINISHED_OK
$STATE,22621,begin surface
$SM_CCo,22637,5.35,0.057,0,0,1133,200.16
$SM_GC,3.95,0.00,0.00,5.35,0.000,0.000,0.057,61,2073,1133,-9.76,0.37,200.16
$IRIDIUM_FIX,-4441.36,636.54,110708,090942
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.8,30.238
$10V_AH,9.9,32.014
$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
$DEVICE_SECS,24.075,179.925,297.525,5.350,0.000,24.778,48.840,305.114,0.000,0.000,24.646,2789.615,16224.396,438.533,3481.279,221.972,0.000,1766.328,0.000,2950.716,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,94024,1281
$CAP_FILE_SIZE,195964,0
$CFSIZE,2097086464,2061500416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150915,091933,-4458.307,636.838,30,1.3,30,-24.4