version: 66.07.10.p01
glider: 573
mission: 12
dive: 320
start: 10 3 115 18 37 19
data:
$ID,573
$MISSION,12
$DIVE,320
$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,-22037.008
$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,36
$R_STBD_OVSHOOT,45
$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,319
$GPS1,031015,182951,-4503.771,635.563,40,0.9,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-72.1
$GPS2,031015,183659,-4503.825,635.510,20,0.9,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,293.2,15059,-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,-19.73,0.000,2,0.000,0.000,67,2059,1514,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.7,3,112,12.10,2.33,-43.62,0.000,4,0.249,0.074,2922,3442,2426,0,0,0,0,0,0
$GC,341,-0.66,-116.8,29.8,-12.2,50,349,0.15,2.22,0.00,0.000,6,0.142,0.043,2969,2063,2428,0,0,0,0,0,0
$GC,492,-0.66,-116.8,45.9,-9.7,75,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2063,2428,0,0,0,0,0,0
$GC,853,-0.66,-116.8,82.5,-10.2,135,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2063,2428,0,0,0,0,0,0
$GC,1161,-0.66,-116.8,113.4,-9.8,150,1164,0.00,2.30,0.00,0.000,4,0.000,0.057,2969,645,2429,0,0,0,0,0,0
$GC,1193,-0.66,-116.8,116.9,-10.5,151,1197,0.00,2.25,0.00,0.000,6,0.000,0.038,2960,2054,2429,0,0,0,0,0,0
$GC,1517,-0.66,-116.8,149.9,-10.5,167,1521,0.00,2.30,0.00,0.000,4,0.000,0.058,2950,3474,2429,0,0,0,0,0,0
$GC,1578,-0.66,-116.8,156.9,-11.0,170,1583,0.08,2.25,0.00,0.000,6,0.190,0.044,2966,2051,2429,0,0,0,0,0,0
$GC,1905,-0.66,-116.8,189.8,-9.7,186,1909,0.00,2.33,0.00,0.000,4,0.000,0.063,2957,3462,2428,0,0,0,0,0,0
$GC,1970,-0.66,-116.8,195.7,-9.0,189,1974,0.00,2.20,0.00,0.000,6,0.000,0.041,2957,2058,2429,0,0,0,0,0,0
$GC,2299,-0.66,-116.8,225.9,-9.0,205,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2058,2429,0,0,0,0,0,0
$GC,2606,-0.66,-116.8,254.1,-9.6,220,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2058,2428,0,0,0,0,0,0
$GC,2917,-0.66,-116.8,285.3,-10.4,235,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2058,2429,0,0,0,0,0,0
$GC,3224,-0.66,-116.8,315.6,-9.4,250,3228,0.00,2.28,0.00,0.000,4,0.000,0.057,2957,655,2429,0,0,0,0,0,0
$GC,3255,-0.66,-116.8,318.8,-10.3,251,3262,0.05,2.25,0.00,0.000,6,0.151,0.044,2965,2053,2429,0,0,0,0,0,0
$GC,3572,-0.66,-116.8,347.1,-8.8,267,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2053,2429,0,0,0,0,0,0
$GC,3880,-0.66,-116.8,375.2,-8.9,282,3884,0.00,2.30,0.00,0.000,4,0.000,0.060,2955,3472,2429,0,0,0,0,0,0
$GC,3919,-0.66,-116.8,378.7,-9.4,284,3924,0.05,2.22,0.00,0.000,6,0.216,0.044,2966,2052,2429,0,0,0,0,0,0
$GC,4244,-0.66,-116.8,405.9,-8.2,300,4249,0.00,2.25,0.00,0.000,4,0.000,0.058,2966,657,2429,0,0,0,0,0,0
$GC,4288,-0.66,-116.8,409.8,-8.6,302,4292,0.00,2.25,0.00,0.000,6,0.000,0.044,2957,2060,2429,0,0,0,0,0,0
$GC,4614,-0.66,-116.8,438.6,-8.7,318,4618,0.00,2.30,0.00,0.000,4,0.000,0.065,2946,3463,2429,0,0,0,0,0,0
$GC,4686,-0.66,-116.8,445.3,-9.2,321,4691,0.05,2.22,0.00,0.000,6,0.155,0.042,2963,2058,2429,0,0,0,0,0,0
$GC,5008,-0.66,-116.8,472.4,-9.0,337,5012,0.00,2.30,0.00,0.000,4,0.000,0.058,2964,645,2429,0,0,0,0,0,0
$GC,5056,-0.66,-116.8,477.3,-9.3,339,5062,0.03,2.28,0.00,0.000,6,0.170,0.043,2964,2065,2429,0,0,0,0,0,0
$GC,5379,-0.66,-116.8,505.1,-8.7,355,5383,0.00,2.30,0.00,0.000,4,0.000,0.067,2954,3464,2429,0,0,0,0,0,0
$GC,5433,-0.66,-116.8,510.5,-9.1,357,5439,0.03,2.22,0.00,0.000,6,0.177,0.041,2963,2059,2429,0,0,0,0,0,0
$GC,5750,-0.69,-116.8,537.9,-8.5,373,5754,0.00,2.28,0.00,0.000,4,0.000,0.058,2964,652,2429,0,0,0,0,0,0
$GC,5790,-0.69,-116.8,541.5,-8.7,375,5794,0.00,2.25,0.00,0.000,6,0.000,0.045,2955,2066,2429,0,0,0,0,0,0
$GC,6117,-0.69,-116.8,569.1,-8.5,391,6121,0.00,2.30,0.00,0.000,4,0.000,0.064,2944,3471,2429,0,0,0,0,0,0
$GC,6156,-0.69,-116.8,572.7,-8.7,393,6161,0.05,2.22,0.00,0.000,6,0.212,0.043,2956,2054,2429,0,0,0,0,0,0
$GC,6482,-0.69,-116.8,600.7,-9.2,409,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2054,2429,0,0,0,0,0,0
$GC,6791,-0.69,-116.8,629.4,-9.4,424,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2054,2429,0,0,0,0,0,0
$GC,7101,-0.69,-116.8,657.5,-8.8,439,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2054,2429,0,0,0,0,0,0
$GC,7409,-0.69,-116.8,684.4,-8.6,454,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2054,2429,0,0,0,0,0,0
$GC,7720,-0.69,-116.8,708.7,-8.0,469,7724,0.00,2.25,0.00,0.000,4,0.000,0.058,2956,657,2428,0,0,0,0,0,0
$GC,7746,-0.69,-116.8,710.9,-7.7,470,7751,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,2059,2428,0,0,0,0,0,0
$GC,8067,-0.69,-116.8,737.0,-8.2,486,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2059,2428,0,0,0,0,0,0
$GC,8378,-0.69,-116.8,762.2,-8.1,501,8382,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,3462,2428,0,0,0,0,0,0
$GC,8417,-0.69,-116.8,765.6,-8.5,503,8422,0.10,2.20,0.00,0.000,6,0.174,0.043,2962,2060,2428,0,0,0,0,0,0
$GC,8745,-0.74,-116.8,790.0,-7.4,519,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2059,2428,0,0,0,0,0,0
$GC,9054,-0.79,-116.8,812.4,-7.2,534,9056,0.10,0.00,0.00,0.000,6,0.099,0.000,2911,2060,2427,0,0,0,0,0,0
$GC,9362,-0.73,-116.8,841.9,-10.3,549,9367,0.12,2.35,0.00,0.000,4,0.167,0.063,2935,3470,2427,0,0,0,0,0,0
$GC,9447,-0.73,-116.8,850.5,-9.5,553,9451,0.00,2.22,0.00,0.000,6,0.000,0.044,2934,2060,2427,0,0,0,0,0,0
$GC,9773,-0.73,-116.8,882.6,-10.1,569,9777,0.00,2.28,0.00,0.000,4,0.000,0.057,2935,657,2427,0,0,0,0,0,0
$GC,9816,-0.73,-116.8,887.2,-10.3,571,9822,0.05,2.25,0.00,0.000,6,0.153,0.044,2943,2057,2427,0,0,0,0,0,0
$GC,10144,-0.73,-116.8,917.8,-9.4,587,10148,0.00,2.30,0.00,0.000,4,0.000,0.062,2932,3469,2426,0,0,0,0,0,0
$GC,10183,-0.73,-116.8,921.6,-9.9,589,10188,0.05,2.20,0.00,0.000,6,0.213,0.042,2945,2058,2426,0,0,0,0,0,0
$GC,10511,-0.73,-116.8,949.4,-8.4,605,10515,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,657,2426,0,0,0,0,0,0
$GC,10554,-0.73,-116.8,953.3,-8.1,607,10558,0.00,2.25,0.00,0.000,6,0.000,0.043,2940,2066,2426,0,0,0,0,0,0
$GC,10882,-0.73,-116.8,976.7,-6.8,623,10886,0.00,2.30,0.00,0.000,4,0.000,0.065,2929,3466,2426,0,0,0,0,0,0
$GC,10914,-0.73,-116.8,979.0,-7.1,624,10921,0.05,2.22,0.00,0.000,6,0.147,0.041,2946,2060,2426,0,0,0,0,0,0
$STATE,11227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11227,begin apogee
$GC,11233,-0.19,0.0,1000.1,6.8,640,11345,0.55,0.00,108.62,1.282,6,0.144,0.000,3115,1594,1949,0,0,0,0,0,0
$STATE,11346,end apogee,CONTROL_FINISHED_OK
$STATE,11346,begin climb
$GC,11347,0.76,116.8,1002.1,0.0,645,11467,0.95,0.00,115.55,1.240,6,0.093,0.000,3426,1594,1474,0,0,0,0,0,0
$GC,11762,0.76,116.8,969.4,8.5,666,11766,0.00,2.38,0.00,0.000,4,0.000,0.057,3436,199,1466,0,0,0,0,0,0
$GC,11845,0.72,116.8,961.6,9.6,670,11850,0.08,2.30,0.00,0.000,6,0.173,0.037,3418,1616,1465,0,0,0,0,0,0
$GC,12171,0.73,133.4,935.3,7.7,686,12192,0.00,2.38,16.10,1.135,4,0.000,0.054,3428,199,1405,0,0,0,0,0,0
$GC,12231,0.73,136.2,930.2,8.4,688,12241,0.00,2.28,4.03,0.698,6,0.000,0.038,3427,1597,1394,0,0,0,0,0,0
$GC,12570,0.73,138.0,902.5,8.5,705,12574,0.00,2.35,0.00,0.000,4,0.000,0.056,3437,190,1394,0,0,0,0,0,0
$GC,12636,0.73,138.0,896.3,9.5,708,12641,0.03,2.28,0.00,0.000,6,0.166,0.037,3426,1604,1392,0,0,0,0,0,0
$GC,12962,0.74,147.4,870.3,8.1,724,12976,0.00,0.00,12.18,1.081,6,0.000,0.000,3426,1604,1348,0,0,0,0,0,0
$GC,13272,0.74,147.4,843.9,8.8,739,13276,0.00,2.35,0.00,0.000,4,0.000,0.056,3435,189,1347,0,0,0,0,0,0
$GC,13320,0.74,147.4,839.2,9.6,741,13325,0.00,2.25,0.00,0.000,6,0.000,0.036,3435,1604,1346,0,0,0,0,0,0
$GC,13642,0.74,147.4,809.4,10.3,757,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1604,1346,0,0,0,0,0,0
$GC,13950,0.74,147.4,779.2,10.4,772,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1604,1346,0,0,0,0,0,0
$GC,14261,0.74,147.4,747.5,10.0,787,14265,0.00,2.33,0.00,0.000,4,0.000,0.055,3445,193,1346,0,0,0,0,0,0
$GC,14300,0.74,147.4,743.3,11.4,789,14305,0.08,2.20,0.00,0.000,6,0.176,0.036,3425,1600,1345,0,0,0,0,0,0
$GC,14626,0.74,147.4,712.1,9.5,805,14630,0.00,2.33,0.00,0.000,4,0.000,0.055,3434,188,1345,0,0,0,0,0,0
$GC,14698,0.74,147.4,704.4,11.1,808,14703,0.00,2.22,0.00,0.000,6,0.000,0.036,3434,1614,1345,0,0,0,0,0,0
$GC,15014,0.74,147.4,672.2,10.1,823,15018,0.00,2.33,0.00,0.000,4,0.000,0.055,3443,198,1345,0,0,0,0,0,0
$GC,15063,0.74,147.4,666.8,11.2,825,15068,0.05,2.20,0.00,0.000,6,0.134,0.037,3424,1589,1345,0,0,0,0,0,0
$GC,15385,0.77,147.4,635.5,9.6,841,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1589,1345,0,0,0,0,0,0
$GC,15694,0.81,147.4,606.4,9.5,856,15696,0.05,0.00,0.00,0.000,6,0.171,0.000,3460,1589,1345,0,0,0,0,0,0
$GC,16003,0.77,147.4,574.2,10.3,871,16008,0.10,2.30,0.00,0.000,4,0.159,0.057,3442,197,1345,0,0,0,0,0,0
$GC,16046,0.77,147.4,569.8,9.0,873,16051,0.00,2.22,0.00,0.000,6,0.000,0.037,3442,1608,1345,0,0,0,0,0,0
$GC,16374,0.77,147.4,539.6,9.1,889,16375,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1608,1344,0,0,0,0,0,0
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$STATE,21947,end climb,SURFACE_DEPTH_REACHED
$STATE,21947,begin surface coast
$FINISH,1.7,1.011916
$STATE,21985,end surface coast,CONTROL_FINISHED_OK
$STATE,21985,begin surface
$SM_CCo,22002,9.52,0.057,0,0,1133,200.16
$SM_GC,4.51,0.00,0.00,9.52,0.000,0.000,0.057,75,2065,1133,-9.72,0.14,200.16
$IRIDIUM_FIX,-4447.43,634.22,300708,030310
$TT8_MAMPS,0.027713
$HUMID,63.58
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,22.4,39.407
$10V_AH,9.8,41.377
$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
$DEVICE_SECS,24.900,173.775,289.300,9.525,0.000,26.243,29.991,240.753,0.250,0.000,22.411,2747.100,15677.562,442.974,3334.955,237.978,0.000,1714.642,0.000,2887.518,0.000,0.542,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,90528,1262
$CAP_FILE_SIZE,189634,0
$CFSIZE,2097086464,2050097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041015,004528,-4504.697,631.924,41,1.2,41,-24.4