version: 66.07.10.p01
glider: 573
mission: 12
dive: 300
start: 9 29 115 11 1 55
data:
$ID,573
$MISSION,12
$DIVE,300
$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,-21968.152
$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,47
$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,299
$GPS1,290915,105304,-4501.564,625.524,27,1.9,27,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-67.6
$GPS2,290915,110135,-4501.495,625.528,16,1.7,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,13.3,10371,-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,-116.8,0.0,0.0,0,47,0.00,0.00,-20.15,0.000,2,0.000,0.000,69,2078,1530,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.1,-2.2,3,114,11.95,2.35,-41.38,0.000,4,0.241,0.067,2938,665,2427,0,0,0,0,0,0
$GC,324,-0.66,-116.8,34.2,-14.6,47,332,0.10,2.22,0.00,0.000,6,0.147,0.039,2961,2042,2428,0,0,0,0,0,0
$GC,473,-0.63,-116.8,51.2,-10.2,72,480,0.08,0.00,0.00,0.000,6,0.220,0.000,2977,2042,2429,0,0,0,0,0,0
$GC,827,-0.63,-116.8,88.8,-10.1,123,831,0.00,2.35,0.00,0.000,4,0.000,0.064,2966,3474,2429,0,0,0,0,0,0
$GC,869,-0.63,-116.8,93.1,-10.9,125,873,0.00,2.20,0.00,0.000,6,0.000,0.042,2967,2060,2428,0,0,0,0,0,0
$GC,1198,-0.63,-116.8,126.8,-10.3,141,1202,0.00,2.25,0.00,0.000,4,0.000,0.054,2967,651,2429,0,0,0,0,0,0
$GC,1224,-0.63,-116.8,130.1,-11.3,142,1229,0.05,2.28,0.00,0.000,6,0.158,0.043,2973,2068,2429,0,0,0,0,0,0
$GC,1545,-0.63,-116.8,159.6,-8.7,158,1549,0.00,2.28,0.00,0.000,4,0.000,0.063,2963,3464,2429,0,0,0,0,0,0
$GC,1685,-0.63,-116.8,172.6,-9.1,164,1690,0.03,2.22,0.00,0.000,6,0.190,0.040,2973,2054,2429,0,0,0,0,0,0
$GC,2006,-0.63,-116.8,203.2,-9.2,180,2010,0.00,2.33,0.00,0.000,4,0.000,0.063,2964,3475,2429,0,0,0,0,0,0
$GC,2052,-0.66,-116.8,207.4,-9.3,182,2056,0.00,2.20,0.00,0.000,6,0.000,0.042,2964,2053,2429,0,0,0,0,0,0
$GC,2379,-0.66,-116.8,236.9,-8.8,198,2383,0.00,2.25,0.00,0.000,4,0.000,0.056,2964,657,2429,0,0,0,0,0,0
$GC,2405,-0.66,-116.8,239.6,-10.0,199,2410,0.00,2.25,0.00,0.000,6,0.000,0.044,2955,2064,2429,0,0,0,0,0,0
$GC,2729,-0.66,-116.8,270.3,-9.6,215,2731,0.05,0.00,0.00,0.000,6,0.217,0.000,2966,2064,2429,0,0,0,0,0,0
$GC,3036,-0.66,-116.8,299.2,-9.6,230,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2064,2429,0,0,0,0,0,0
$GC,3346,-0.66,-116.8,327.4,-8.7,245,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2064,2429,0,0,0,0,0,0
$GC,3654,-0.66,-116.8,353.8,-8.1,260,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2064,2429,0,0,0,0,0,0
$GC,3965,-0.66,-116.8,378.4,-8.1,275,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2064,2429,0,0,0,0,0,0
$GC,4272,-0.66,-116.8,402.7,-7.8,290,4277,0.00,2.30,0.00,0.000,4,0.000,0.065,2955,3474,2429,0,0,0,0,0,0
$GC,4339,-0.66,-116.8,408.0,-8.2,293,4343,0.00,2.22,0.00,0.000,6,0.000,0.043,2956,2064,2429,0,0,0,0,0,0
$GC,4666,-0.66,-116.8,435.0,-8.6,309,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2064,2429,0,0,0,0,0,0
$GC,4974,-0.66,-116.8,460.0,-7.6,324,4979,0.05,2.30,0.00,0.000,4,0.226,0.057,2970,648,2429,0,0,0,0,0,0
$GC,5023,-0.66,-116.8,463.9,-7.2,326,5028,0.00,2.20,0.00,0.000,6,0.000,0.041,2961,2064,2429,0,0,0,0,0,0
$GC,5351,-0.66,-116.8,489.3,-8.2,342,5355,0.00,2.30,0.00,0.000,4,0.000,0.066,2951,3470,2429,0,0,0,0,0,0
$GC,5399,-0.66,-116.8,493.9,-9.3,344,5404,0.03,2.25,0.00,0.000,6,0.174,0.043,2961,2051,2429,0,0,0,0,0,0
$GC,5720,-0.66,-116.8,523.3,-9.5,360,5724,0.00,2.25,0.00,0.000,4,0.000,0.057,2961,648,2429,0,0,0,0,0,0
$GC,5748,-0.66,-116.8,526.1,-10.3,361,5753,0.08,2.22,0.00,0.000,6,0.194,0.044,2969,2065,2429,0,0,0,0,0,0
$GC,6070,-0.70,-116.8,555.4,-8.8,377,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2066,2429,0,0,0,0,0,0
$GC,6377,-0.74,-116.8,583.0,-9.0,392,6382,0.08,2.30,0.00,0.000,4,0.123,0.066,2908,3469,2428,0,0,0,0,0,0
$GC,6409,-0.67,-116.8,586.5,-10.8,393,6415,0.15,2.22,0.00,0.000,6,0.141,0.043,2964,2061,2428,0,0,0,0,0,0
$GC,6726,-0.70,-116.8,613.5,-8.5,409,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2059,2428,0,0,0,0,0,0
$GC,7034,-0.74,-116.8,637.5,-7.6,424,7036,0.05,0.00,0.00,0.000,6,0.167,0.000,2926,2060,2428,0,0,0,0,0,0
$GC,7344,-0.69,-116.8,664.3,-8.6,439,7349,0.12,2.28,0.00,0.000,4,0.174,0.057,2963,649,2428,0,0,0,0,0,0
$GC,7384,-0.69,-116.8,667.4,-7.1,441,7388,0.00,2.22,0.00,0.000,6,0.000,0.043,2954,2071,2428,0,0,0,0,0,0
$GC,7710,-0.69,-116.8,692.6,-8.1,457,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2071,2428,0,0,0,0,0,0
$GC,8018,-0.69,-116.8,718.8,-8.4,472,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2071,2428,0,0,0,0,0,0
$GC,8329,-0.69,-116.8,744.8,-8.2,487,8333,0.00,2.28,0.00,0.000,4,0.000,0.063,2943,3467,2427,0,0,0,0,0,0
$GC,8372,-0.69,-116.8,748.8,-9.3,489,8377,0.03,2.22,0.00,0.000,6,0.174,0.041,2952,2060,2427,0,0,0,0,0,0
$GC,8699,-0.69,-116.8,775.8,-8.2,505,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2060,2427,0,0,0,0,0,0
$GC,9007,-0.69,-116.8,801.1,-7.9,520,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2060,2427,0,0,0,0,0,0
$GC,9318,-0.72,-116.8,825.2,-7.8,535,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2059,2427,0,0,0,0,0,0
$GC,9626,-0.76,-116.8,848.9,-7.6,550,9630,0.00,2.25,0.00,0.000,4,0.000,0.057,2959,655,2427,0,0,0,0,0,0
$GC,9689,-0.76,-116.8,853.8,-7.1,553,9693,0.00,2.25,0.00,0.000,6,0.000,0.045,2950,2071,2427,0,0,0,0,0,0
$GC,10015,-0.76,-116.8,879.2,-7.8,569,10019,0.00,2.28,0.00,0.000,4,0.000,0.063,2940,3466,2426,0,0,0,0,0,0
$GC,10064,-0.76,-116.8,883.3,-8.7,571,10069,0.00,2.22,0.00,0.000,6,0.000,0.042,2940,2060,2426,0,0,0,0,0,0
$GC,10387,-0.76,-116.8,908.2,-7.8,587,10391,0.00,2.25,0.00,0.000,4,0.000,0.057,2940,647,2426,0,0,0,0,0,0
$GC,10426,-0.76,-116.8,911.4,-8.1,589,10430,0.00,2.20,0.00,0.000,6,0.000,0.041,2930,2061,2426,0,0,0,0,0,0
$GC,10753,-0.76,-116.8,937.8,-8.1,605,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2062,2426,0,0,0,0,0,0
$GC,11061,-0.76,-116.8,962.1,-7.8,620,11065,0.00,2.30,0.00,0.000,4,0.000,0.066,2920,3468,2426,0,0,0,0,0,0
$GC,11116,-0.76,-116.8,966.8,-8.8,622,11123,0.03,2.22,0.00,0.000,6,0.162,0.043,2929,2064,2426,0,0,0,0,0,0
$GC,11431,-0.76,-116.8,992.9,-8.3,638,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2064,2426,0,0,0,0,0,0
$STATE,11512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11512,begin apogee
$GC,11517,-0.19,0.0,1000.0,8.7,642,11629,0.62,0.00,108.40,1.286,6,0.147,0.000,3117,1594,1950,0,0,0,0,0,0
$STATE,11630,end apogee,CONTROL_FINISHED_OK
$STATE,11630,begin climb
$GC,11632,0.76,116.8,1003.1,0.0,647,11755,0.93,2.55,114.10,1.243,4,0.090,0.056,3432,200,1473,0,0,0,0,0,0
$GC,11794,0.72,125.8,994.6,8.1,654,11810,0.05,2.40,10.55,1.069,6,0.194,0.037,3422,1607,1436,0,0,0,0,0,0
$GC,12126,0.74,143.4,968.5,7.7,671,12150,0.00,2.38,17.90,1.143,4,0.000,0.054,3422,2993,1365,0,0,0,0,0,0
$GC,12190,0.74,143.4,963.2,8.6,674,12194,0.00,2.25,0.00,0.000,6,0.000,0.037,3429,1600,1364,0,0,0,0,0,0
$GC,12522,0.74,151.6,935.7,8.1,690,12536,0.00,2.38,9.25,1.034,4,0.000,0.057,3441,196,1330,0,0,0,0,0,0
$GC,12649,0.74,151.6,923.8,8.9,695,12654,0.08,2.25,0.00,0.000,6,0.177,0.037,3423,1604,1329,0,0,0,0,0,0
$GC,12964,0.74,151.6,895.8,9.0,711,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1605,1328,0,0,0,0,0,0
$GC,13272,0.74,151.6,868.5,9.2,726,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1605,1328,0,0,0,0,0,0
$GC,13583,0.74,151.6,840.1,9.2,741,13587,0.00,2.33,0.00,0.000,4,0.000,0.056,3431,189,1328,0,0,0,0,0,0
$GC,13659,0.74,151.6,832.1,10.8,744,13665,0.00,2.25,0.00,0.000,6,0.000,0.036,3432,1610,1327,0,0,0,0,0,0
$GC,13974,0.74,151.6,799.8,10.3,760,13979,0.00,2.20,0.00,0.000,4,0.000,0.054,3431,2996,1328,0,0,0,0,0,0
$GC,14013,0.74,151.6,795.6,10.8,762,14018,0.08,2.17,0.00,0.000,6,0.189,0.037,3423,1590,1328,0,0,0,0,0,0
$GC,14340,0.74,151.6,764.8,9.0,778,14344,0.00,2.28,0.00,0.000,4,0.000,0.058,3433,192,1328,0,0,0,0,0,0
$GC,14439,0.74,151.6,755.1,9.2,782,14445,0.00,2.22,0.00,0.000,6,0.000,0.037,3433,1596,1327,0,0,0,0,0,0
$GC,14754,0.74,151.6,727.0,9.0,798,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1596,1327,0,0,0,0,0,0
$GC,15065,0.74,151.6,699.7,8.6,813,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1596,1327,0,0,0,0,0,0
$GC,15373,0.74,151.6,672.4,8.9,828,15377,0.00,2.30,0.00,0.000,4,0.000,0.056,3443,189,1327,0,0,0,0,0,0
$GC,15450,0.74,151.6,664.8,9.4,831,15456,0.05,2.22,0.00,0.000,6,0.142,0.037,3424,1600,1326,0,0,0,0,0,0
$GC,15773,0.78,151.6,635.5,9.2,847,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1601,1326,0,0,0,0,0,0
$GC,16081,0.82,151.6,607.9,8.8,862,16083,0.08,0.00,0.00,0.000,6,0.125,0.000,3467,1601,1326,0,0,0,0,0,0
$GC,16391,0.76,151.6,575.7,10.5,877,16393,0.12,0.00,0.00,0.000,6,0.150,0.000,3431,1602,1326,0,0,0,0,0,0
$GC,16700,0.76,151.6,548.2,8.7,892,16704,0.00,2.30,0.00,0.000,4,0.000,0.056,3440,190,1326,0,0,0,0,0,0
$GC,16790,0.76,151.6,540.2,8.7,896,16794,0.00,2.20,0.00,0.000,6,0.000,0.037,3440,1602,1326,0,0,0,0,0,0
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$STATE,22829,end climb,SURFACE_DEPTH_REACHED
$STATE,22829,begin surface coast
$FINISH,1.7,1.013114
$STATE,22861,end surface coast,CONTROL_FINISHED_OK
$STATE,22861,begin surface
$SM_CCo,22939,0.00,0.000,0,0,1033,224.94
$SM_GC,2.76,8.98,0.00,0.00,0.037,0.000,0.000,61,2091,1033,-9.61,0.88,224.94
$IRIDIUM_FIX,-4444.39,621.76,250708,181837
$TT8_MAMPS,0.026964
$HUMID,63.62
$INTERNAL_PRESSURE,9.25506
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.5,37.301
$10V_AH,9.8,39.204
$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,24.075,163.600,313.725,0.000,0.000,25.435,23.285,317.538,0.000,0.000,18.832,2770.517,16556.078,410.872,3469.779,232.169,0.000,1755.181,0.000,2961.024,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,67.320,1285.965,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.763,1784.296,937.337,517.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,93888,1290
$CAP_FILE_SIZE,191606,0
$CFSIZE,2097086464,2052718592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290915,172527,-4458.765,626.583,40,1.1,40,-24.4