version: 66.07.10.p01
glider: 573
mission: 12
dive: 344
start: 10 9 115 2 27 7
data:
$ID,573
$MISSION,12
$DIVE,344
$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,-22109.262
$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,35
$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,343
$GPS1,091015,021804,-4500.932,637.482,33,0.9,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-70.6
$GPS2,091015,022646,-4500.926,637.471,20,0.9,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,223.1,6010,-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,-116.8,0.0,0.0,0,34,0.00,0.00,-8.23,0.000,2,0.000,0.000,62,2055,1299,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.1,-0.0,1,118,11.80,2.38,-60.88,0.000,4,0.237,0.078,2925,3456,2426,0,0,0,0,0,0
$GC,219,-0.66,-116.8,8.3,-10.3,30,227,0.12,2.25,0.00,0.000,6,0.144,0.044,2965,2070,2427,0,0,0,0,0,0
$GC,278,-0.66,-116.8,15.1,-11.6,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2070,2427,0,0,0,0,0,0
$GC,336,-0.66,-116.8,20.7,-9.1,48,344,0.00,2.35,0.00,0.000,4,0.000,0.056,2965,649,2427,0,0,0,0,0,0
$GC,365,-0.66,-116.8,23.2,-9.0,52,372,0.00,2.30,0.00,0.000,6,0.000,0.044,2956,2061,2427,0,0,0,0,0,0
$GC,521,-0.62,-116.8,38.4,-9.6,77,529,0.10,2.38,0.00,0.000,4,0.179,0.069,2970,3463,2427,0,0,0,0,0,0
$GC,573,-0.62,-116.8,43.6,-9.8,85,578,0.00,2.25,0.00,0.000,6,0.000,0.042,2970,2044,2427,0,0,0,0,0,0
$GC,922,-0.62,-116.8,80.1,-9.3,146,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2044,2427,0,0,0,0,0,0
$GC,1234,-0.62,-116.8,110.0,-10.0,161,1238,0.00,2.22,0.00,0.000,4,0.000,0.054,2970,657,2427,0,0,0,0,0,0
$GC,1300,-0.62,-116.8,117.3,-9.8,164,1305,0.05,2.25,0.00,0.000,6,0.157,0.041,2978,2058,2427,0,0,0,0,0,0
$GC,1627,-0.62,-116.8,147.8,-9.4,180,1631,0.00,2.33,0.00,0.000,4,0.000,0.064,2967,3471,2427,0,0,0,0,0,0
$GC,1694,-0.62,-116.8,154.5,-10.1,183,1698,0.00,2.25,0.00,0.000,6,0.000,0.042,2967,2053,2427,0,0,0,0,0,0
$GC,2023,-0.62,-116.8,184.2,-8.7,199,2028,0.05,2.28,0.00,0.000,4,0.222,0.057,2979,658,2427,0,0,0,0,0,0
$GC,2130,-0.62,-116.8,194.0,-9.0,204,2134,0.00,2.22,0.00,0.000,6,0.000,0.041,2970,2061,2427,0,0,0,0,0,0
$GC,2457,-0.62,-116.8,223.3,-9.0,220,2461,0.00,2.30,0.00,0.000,4,0.000,0.067,2960,3463,2427,0,0,0,0,0,0
$GC,2572,-0.62,-116.8,232.9,-8.1,225,2577,0.08,2.20,0.00,0.000,6,0.184,0.040,2977,2053,2427,0,0,0,0,0,0
$GC,2902,-0.67,-116.8,257.2,-7.2,241,2906,0.00,2.22,0.00,0.000,4,0.000,0.055,2978,662,2427,0,0,0,0,0,0
$GC,2990,-0.67,-116.8,264.2,-7.9,245,2994,0.00,2.20,0.00,0.000,6,0.000,0.041,2969,2061,2427,0,0,0,0,0,0
$GC,3318,-0.67,-116.8,291.0,-8.7,261,3322,0.00,2.30,0.00,0.000,4,0.000,0.066,2958,3469,2427,0,0,0,0,0,0
$GC,3396,-0.70,-116.8,299.6,-10.2,264,3404,0.00,2.22,0.00,0.000,6,0.000,0.042,2958,2066,2427,0,0,0,0,0,0
$GC,3711,-0.70,-116.8,329.6,-9.6,280,3715,0.00,2.28,0.00,0.000,4,0.000,0.054,2959,648,2427,0,0,0,0,0,0
$GC,3755,-0.70,-116.8,334.0,-10.9,282,3759,0.00,2.22,0.00,0.000,6,0.000,0.041,2950,2060,2427,0,0,0,0,0,0
$GC,4086,-0.70,-116.8,368.0,-10.3,298,4090,0.00,2.30,0.00,0.000,4,0.000,0.065,2939,3466,2427,0,0,0,0,0,0
$GC,4136,-0.70,-116.8,373.6,-11.6,300,4141,0.03,2.22,0.00,0.000,6,0.157,0.041,2950,2064,2427,0,0,0,0,0,0
$GC,4456,-0.70,-116.8,407.4,-10.3,316,4460,0.00,2.25,0.00,0.000,4,0.000,0.055,2950,653,2427,0,0,0,0,0,0
$GC,4528,-0.70,-116.8,415.1,-10.4,319,4533,0.00,2.25,0.00,0.000,6,0.000,0.042,2941,2057,2427,0,0,0,0,0,0
$GC,4856,-0.70,-116.8,446.2,-9.0,335,4861,0.05,2.33,0.00,0.000,4,0.218,0.064,2942,3469,2427,0,0,0,0,0,0
$GC,4934,-0.70,-116.8,453.6,-9.2,338,4940,0.05,2.20,0.00,0.000,6,0.205,0.042,2953,2057,2427,0,0,0,0,0,0
$GC,5248,-0.70,-116.8,480.4,-8.3,354,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2057,2427,0,0,0,0,0,0
$GC,5559,-0.70,-116.8,505.4,-8.1,369,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2057,2427,0,0,0,0,0,0
$GC,5867,-0.70,-116.8,530.4,-7.9,384,5871,0.00,2.25,0.00,0.000,4,0.000,0.057,2954,652,2427,0,0,0,0,0,0
$GC,5930,-0.70,-116.8,535.7,-8.6,387,5934,0.00,2.25,0.00,0.000,6,0.000,0.044,2946,2069,2427,0,0,0,0,0,0
$GC,6256,-0.70,-116.8,562.6,-8.6,403,6260,0.00,2.30,0.00,0.000,4,0.000,0.065,2935,3472,2427,0,0,0,0,0,0
$GC,6341,-0.70,-116.8,569.8,-8.7,407,6346,0.08,2.22,0.00,0.000,6,0.183,0.044,2953,2060,2427,0,0,0,0,0,0
$GC,6668,-0.70,-116.8,594.9,-7.7,423,6672,0.00,2.25,0.00,0.000,4,0.000,0.057,2953,655,2427,0,0,0,0,0,0
$GC,6728,-0.70,-116.8,600.1,-8.6,426,6732,0.00,2.25,0.00,0.000,6,0.000,0.046,2945,2066,2427,0,0,0,0,0,0
$GC,7060,-0.70,-116.8,625.7,-7.7,442,7064,0.00,2.30,0.00,0.000,4,0.000,0.067,2933,3463,2427,0,0,0,0,0,0
$GC,7131,-0.70,-116.8,631.9,-8.7,445,7136,0.05,2.22,0.00,0.000,6,0.154,0.041,2951,2063,2426,0,0,0,0,0,0
$GC,7453,-0.70,-116.8,656.7,-8.0,461,7457,0.00,2.28,0.00,0.000,4,0.000,0.056,2951,655,2426,0,0,0,0,0,0
$GC,7492,-0.70,-116.8,659.9,-8.7,463,7496,0.00,2.22,0.00,0.000,6,0.000,0.044,2943,2060,2426,0,0,0,0,0,0
$GC,7819,-0.70,-116.8,685.9,-7.8,479,7823,0.00,2.30,0.00,0.000,4,0.000,0.067,2932,3463,2426,0,0,0,0,0,0
$GC,7913,-0.70,-116.8,694.0,-9.1,483,7918,0.05,2.22,0.00,0.000,6,0.148,0.042,2950,2061,2426,0,0,0,0,0,0
$GC,8235,-0.70,-116.8,720.0,-8.2,499,8239,0.00,2.28,0.00,0.000,4,0.000,0.057,2951,654,2425,0,0,0,0,0,0
$GC,8262,-0.70,-116.8,722.6,-9.0,500,8267,0.05,2.25,0.00,0.000,6,0.215,0.043,2953,2072,2426,0,0,0,0,0,0
$GC,8578,-0.70,-116.8,750.5,-9.2,515,8582,0.00,2.28,0.00,0.000,4,0.000,0.065,2943,3465,2426,0,0,0,0,0,0
$GC,8637,-0.70,-116.8,756.5,-9.9,517,8643,0.00,2.22,0.00,0.000,6,0.000,0.041,2943,2058,2426,0,0,0,0,0,0
$GC,8954,-0.70,-116.8,784.9,-8.6,533,8958,0.00,2.25,0.00,0.000,4,0.000,0.057,2943,659,2425,0,0,0,0,0,0
$GC,9019,-0.70,-116.8,791.0,-9.4,536,9024,0.05,2.25,0.00,0.000,6,0.151,0.044,2952,2056,2426,0,0,0,0,0,0
$GC,9347,-0.73,-116.8,817.2,-7.9,552,9351,0.00,2.30,0.00,0.000,4,0.000,0.062,2942,3475,2425,0,0,0,0,0,0
$GC,9431,-0.77,-116.8,824.2,-8.9,556,9435,0.00,2.22,0.00,0.000,6,0.000,0.044,2942,2061,2425,0,0,0,0,0,0
$GC,9756,-0.77,-116.8,848.9,-7.1,572,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2061,2426,0,0,0,0,0,0
$GC,10067,-0.77,-116.8,870.1,-6.8,587,10071,0.00,2.25,0.00,0.000,4,0.000,0.056,2942,649,2426,0,0,0,0,0,0
$GC,10138,-0.77,-116.8,875.5,-6.9,590,10142,0.00,2.25,0.00,0.000,6,0.000,0.044,2932,2062,2425,0,0,0,0,0,0
$GC,10459,-0.77,-116.8,898.3,-6.9,606,10463,0.00,2.33,0.00,0.000,4,0.000,0.067,2922,3472,2425,0,0,0,0,0,0
$GC,10582,-0.77,-116.8,907.7,-7.3,611,10586,0.00,2.22,0.00,0.000,6,0.000,0.044,2922,2061,2425,0,0,0,0,0,0
$GC,10898,-0.77,-116.8,933.3,-8.2,627,10902,0.00,2.28,0.00,0.000,4,0.000,0.057,2922,656,2425,0,0,0,0,0,0
$GC,10930,-0.72,-116.8,936.5,-9.7,628,10936,0.12,2.25,0.00,0.000,6,0.165,0.046,2946,2053,2425,0,0,0,0,0,0
$GC,11246,-0.75,-116.8,960.8,-7.8,644,11250,0.00,2.30,0.00,0.000,4,0.000,0.062,2936,3470,2425,0,0,0,0,0,0
$GC,11296,-0.75,-116.8,965.0,-7.4,646,11300,0.00,2.25,0.00,0.000,6,0.000,0.042,2935,2052,2425,0,0,0,0,0,0
$GC,11616,-0.75,-116.8,992.8,-9.0,662,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2053,2425,0,0,0,0,0,0
$STATE,11698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11698,begin apogee
$GC,11704,-0.19,0.0,1000.1,8.9,666,11819,0.60,0.00,109.25,1.280,6,0.139,0.000,3117,1601,1950,0,0,0,0,0,0
$STATE,11820,end apogee,CONTROL_FINISHED_OK
$STATE,11820,begin climb
$GC,11822,0.76,116.8,1004.3,0.0,672,11942,0.93,0.00,115.95,1.235,6,0.087,0.000,3424,1601,1474,0,0,0,0,0,0
$GC,12252,0.76,116.8,971.5,9.1,693,12257,0.00,2.40,0.00,0.000,4,0.000,0.056,3435,192,1467,0,0,0,0,0,0
$GC,12337,0.76,116.8,963.4,10.4,697,12342,0.00,2.33,0.00,0.000,6,0.000,0.036,3435,1621,1466,0,0,0,0,0,0
$GC,12664,0.76,116.8,933.7,8.9,713,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1622,1464,0,0,0,0,0,0
$GC,12972,0.76,116.8,906.0,9.1,728,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1622,1464,0,0,0,0,0,0
$GC,13283,0.76,116.8,878.6,9.0,743,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1622,1463,0,0,0,0,0,0
$GC,13590,0.76,116.8,851.2,8.8,758,13594,0.00,2.35,0.00,0.000,4,0.000,0.054,3445,199,1463,0,0,0,0,0,0
$GC,13618,0.72,116.8,848.5,9.2,759,13623,0.10,2.22,0.00,0.000,6,0.161,0.038,3417,1608,1462,0,0,0,0,0,0
$GC,13945,0.72,127.9,822.4,8.0,775,13957,0.00,0.00,10.23,1.032,6,0.000,0.000,3417,1609,1427,0,0,0,0,0,0
$GC,14253,0.75,127.9,795.6,8.7,790,14255,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1609,1426,0,0,0,0,0,0
$GC,14564,0.75,129.9,768.6,8.4,805,14568,0.00,2.33,0.00,0.000,4,0.000,0.054,3426,198,1426,0,0,0,0,0,0
$GC,14613,0.75,129.9,764.2,8.9,807,14623,0.00,2.22,3.42,0.563,6,0.000,0.037,3426,1601,1419,0,0,0,0,0,0
$GC,14934,0.75,129.9,736.1,9.2,823,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1601,1419,0,0,0,0,0,0
$GC,15242,0.75,129.9,706.5,9.8,838,15243,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1601,1419,0,0,0,0,0,0
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$STATE,22620,end climb,SURFACE_DEPTH_REACHED
$STATE,22620,begin surface coast
$FINISH,1.9,1.018333
$STATE,22658,end surface coast,CONTROL_FINISHED_OK
$STATE,22658,begin surface
$SM_CCo,22676,11.95,0.055,0,0,1133,200.16
$SM_GC,4.64,0.00,0.00,11.95,0.000,0.000,0.055,62,2057,1133,-9.76,-0.08,200.16
$IRIDIUM_FIX,-4438.33,633.52,040808,090948
$TT8_MAMPS,0.026964
$HUMID,64.29
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.20
$XPDR_PINGS,1
$24V_AH,22.4,41.969
$10V_AH,9.7,44.071
$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,23.625,195.575,290.250,11.950,0.000,27.938,39.645,301.944,0.250,0.000,23.838,2840.931,16045.384,466.261,3589.108,258.197,0.000,1846.775,0.000,3067.308,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,78.030,1279.845,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.843,1848.541,1010.147,606.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,93735,1298
$CAP_FILE_SIZE,202030,0
$CFSIZE,2097086464,2046918656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091015,084634,-4503.466,637.716,42,0.9,42,-24.4