version: 66.07.10.p01
glider: 573
mission: 12
dive: 346
start: 10 9 115 13 13 48
data:
$ID,573
$MISSION,12
$DIVE,346
$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,-22114.906
$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,37
$R_STBD_OVSHOOT,46
$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,345
$GPS1,091015,130603,-4504.201,635.925,34,0.9,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-73.0
$GPS2,091015,131328,-4504.175,635.964,18,1.1,18,-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,295.6,15653,-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,-19.70,0.000,2,0.000,0.000,67,2091,1518,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.3,-3.0,3,107,11.90,0.00,-41.85,0.000,6,0.241,0.000,2930,2087,2426,0,0,0,0,0,0
$GC,160,-0.68,-116.8,8.4,-11.1,20,168,0.12,2.38,0.00,0.000,4,0.177,0.056,2963,668,2429,0,0,0,0,0,0
$GC,195,-0.63,-116.8,12.6,-11.4,25,203,0.05,2.25,0.00,0.000,6,0.168,0.043,2971,2046,2429,0,0,0,0,0,0
$GC,254,-0.63,-116.8,18.7,-10.3,34,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2046,2429,0,0,0,0,0,0
$GC,312,-0.63,-116.8,24.8,-10.5,43,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2046,2429,0,0,0,0,0,0
$GC,467,-0.63,-116.8,40.2,-9.6,68,472,0.00,2.35,0.00,0.000,4,0.000,0.063,2961,3472,2429,0,0,0,0,0,0
$GC,502,-0.63,-116.8,43.9,-10.2,74,507,0.08,2.25,0.00,0.000,6,0.190,0.043,2978,2052,2429,0,0,0,0,0,0
$GC,850,-0.63,-116.8,76.7,-9.9,135,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2052,2429,0,0,0,0,0,0
$GC,1176,-0.63,-116.8,108.1,-10.0,155,1180,0.00,2.28,0.00,0.000,4,0.000,0.057,2978,657,2430,0,0,0,0,0,0
$GC,1218,-0.63,-116.8,112.8,-11.1,157,1222,0.00,2.28,0.00,0.000,6,0.000,0.044,2969,2077,2430,0,0,0,0,0,0
$GC,1548,-0.63,-116.8,147.0,-10.2,173,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2077,2430,0,0,0,0,0,0
$GC,1854,-0.63,-116.8,176.9,-8.8,188,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2077,2430,0,0,0,0,0,0
$GC,2165,-0.63,-116.8,201.5,-8.1,203,2169,0.00,2.25,0.00,0.000,4,0.000,0.060,2958,3466,2430,0,0,0,0,0,0
$GC,2220,-0.63,-116.8,206.4,-8.2,205,2226,0.05,2.22,0.00,0.000,6,0.151,0.040,2976,2058,2430,0,0,0,0,0,0
$GC,2539,-0.67,-116.8,230.8,-8.1,221,2543,0.00,2.25,0.00,0.000,4,0.000,0.056,2976,656,2430,0,0,0,0,0,0
$GC,2588,-0.67,-116.8,235.4,-8.8,223,2592,0.00,2.28,0.00,0.000,6,0.000,0.044,2967,2067,2430,0,0,0,0,0,0
$GC,2912,-0.67,-116.8,262.2,-8.4,239,2916,0.00,2.28,0.00,0.000,4,0.000,0.063,2957,3466,2430,0,0,0,0,0,0
$GC,2944,-0.67,-116.8,265.6,-9.3,240,2952,0.00,2.22,0.00,0.000,6,0.000,0.041,2957,2058,2430,0,0,0,0,0,0
$GC,3260,-0.67,-116.8,295.1,-9.8,256,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2058,2430,0,0,0,0,0,0
$GC,3569,-0.67,-116.8,325.4,-9.4,271,3573,0.00,2.25,0.00,0.000,4,0.000,0.057,2957,657,2430,0,0,0,0,0,0
$GC,3602,-0.67,-116.8,328.8,-10.1,272,3607,0.05,2.25,0.00,0.000,6,0.155,0.044,2965,2059,2430,0,0,0,0,0,0
$GC,3922,-0.67,-116.8,358.0,-9.2,288,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2058,2430,0,0,0,0,0,0
$GC,4233,-0.67,-116.8,387.9,-9.7,303,4237,0.00,2.33,0.00,0.000,4,0.000,0.065,2954,3475,2430,0,0,0,0,0,0
$GC,4310,-0.67,-116.8,395.7,-10.6,306,4316,0.00,2.25,0.00,0.000,6,0.000,0.044,2954,2061,2430,0,0,0,0,0,0
$GC,4625,-0.67,-116.8,425.5,-9.0,322,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2061,2430,0,0,0,0,0,0
$GC,4935,-0.67,-116.8,454.4,-9.5,337,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2061,2430,0,0,0,0,0,0
$GC,5243,-0.67,-116.8,484.4,-9.9,352,5247,0.00,2.30,0.00,0.000,4,0.000,0.062,2945,3465,2430,0,0,0,0,0,0
$GC,5282,-0.67,-116.8,488.4,-10.4,354,5287,0.08,2.20,0.00,0.000,6,0.176,0.041,2963,2052,2430,0,0,0,0,0,0
$GC,5615,-0.71,-116.8,517.7,-8.4,370,5619,0.00,2.25,0.00,0.000,4,0.000,0.057,2964,651,2430,0,0,0,0,0,0
$GC,5681,-0.71,-116.8,523.6,-8.3,373,5685,0.00,2.25,0.00,0.000,6,0.000,0.044,2955,2066,2430,0,0,0,0,0,0
$GC,6008,-0.71,-116.8,550.6,-8.0,389,6012,0.00,2.30,0.00,0.000,4,0.000,0.067,2944,3463,2430,0,0,0,0,0,0
$GC,6034,-0.71,-116.8,553.0,-8.3,390,6039,0.00,2.22,0.00,0.000,6,0.000,0.042,2945,2057,2431,0,0,0,0,0,0
$GC,6355,-0.71,-116.8,578.7,-8.1,406,6359,0.00,2.28,0.00,0.000,4,0.000,0.057,2944,653,2430,0,0,0,0,0,0
$GC,6398,-0.71,-116.8,582.7,-9.1,408,6403,0.05,2.28,0.00,0.000,6,0.151,0.045,2953,2063,2430,0,0,0,0,0,0
$GC,6724,-0.71,-116.8,608.1,-7.7,424,6728,0.00,2.33,0.00,0.000,4,0.000,0.066,2943,3474,2429,0,0,0,0,0,0
$GC,6750,-0.71,-116.8,610.2,-8.2,425,6755,0.00,2.25,0.00,0.000,6,0.000,0.044,2943,2065,2430,0,0,0,0,0,0
$GC,7072,-0.71,-116.8,638.0,-8.6,441,7076,0.00,2.25,0.00,0.000,4,0.000,0.055,2942,655,2430,0,0,0,0,0,0
$GC,7116,-0.71,-116.8,642.3,-9.9,443,7121,0.05,2.25,0.00,0.000,6,0.155,0.041,2951,2059,2430,0,0,0,0,0,0
$GC,7443,-0.71,-116.8,668.4,-7.9,459,7447,0.00,2.33,0.00,0.000,4,0.000,0.066,2941,3473,2430,0,0,0,0,0,0
$GC,7483,-0.71,-116.8,671.7,-7.8,461,7487,0.00,2.25,0.00,0.000,6,0.000,0.044,2941,2046,2430,0,0,0,0,0,0
$GC,7809,-0.71,-116.8,698.3,-8.2,477,7811,0.03,0.00,0.00,0.000,6,0.265,0.000,2950,2046,2430,0,0,0,0,0,0
$GC,8117,-0.71,-116.8,721.6,-7.3,492,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2046,2430,0,0,0,0,0,0
$GC,8428,-0.71,-116.8,744.0,-7.4,507,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2046,2429,0,0,0,0,0,0
$GC,8736,-0.71,-116.8,769.0,-8.0,522,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2046,2429,0,0,0,0,0,0
$GC,9046,-0.71,-116.8,793.2,-7.6,537,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2046,2429,0,0,0,0,0,0
$GC,9354,-0.71,-116.8,817.6,-8.0,552,9358,0.00,2.22,0.00,0.000,4,0.000,0.055,2950,658,2429,0,0,0,0,0,0
$GC,9403,-0.71,-116.8,821.8,-8.6,554,9408,0.00,2.25,0.00,0.000,6,0.000,0.041,2942,2060,2429,0,0,0,0,0,0
$GC,9724,-0.71,-116.8,848.2,-8.5,570,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2060,2429,0,0,0,0,0,0
$GC,10035,-0.71,-116.8,874.2,-7.9,585,10039,0.00,2.30,0.00,0.000,4,0.000,0.066,2931,3462,2429,0,0,0,0,0,0
$GC,10100,-0.71,-116.8,879.8,-8.6,588,10106,0.05,2.22,0.00,0.000,6,0.139,0.042,2949,2067,2429,0,0,0,0,0,0
$GC,10428,-0.74,-116.8,905.5,-8.1,604,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2067,2429,0,0,0,0,0,0
$GC,10738,-0.78,-116.8,930.3,-8.3,619,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2064,2428,0,0,0,0,0,0
$GC,11046,-0.82,-116.8,955.5,-8.0,634,11051,0.10,2.28,0.00,0.000,4,0.098,0.054,2896,650,2428,0,0,0,0,0,0
$GC,11085,-0.71,-116.8,959.3,-10.1,636,11089,0.22,2.25,0.00,0.000,6,0.158,0.043,2949,2069,2428,0,0,0,0,0,0
$GC,11411,-0.75,-116.8,984.6,-7.7,652,11415,0.00,2.30,0.00,0.000,4,0.000,0.064,2939,3471,2428,0,0,0,0,0,0
$GC,11461,-0.78,-116.8,988.9,-8.9,654,11465,0.00,2.22,0.00,0.000,6,0.000,0.042,2939,2052,2428,0,0,0,0,0,0
$STATE,11614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11614,begin apogee
$GC,11620,-0.19,0.0,1001.4,8.3,662,11736,0.57,0.00,110.28,1.280,6,0.138,0.000,3114,1594,1949,0,0,0,0,0,0
$STATE,11737,end apogee,CONTROL_FINISHED_OK
$STATE,11737,begin climb
$GC,11739,0.76,116.8,1004.6,0.0,668,11859,0.95,0.00,116.65,1.232,6,0.087,0.000,3424,1593,1474,0,0,0,0,0,0
$GC,12167,0.76,116.8,972.1,8.7,689,12171,0.00,2.38,0.00,0.000,4,0.000,0.055,3434,200,1467,0,0,0,0,0,0
$GC,12238,0.76,116.8,965.2,10.0,692,12242,0.00,2.30,0.00,0.000,6,0.000,0.036,3434,1605,1465,0,0,0,0,0,0
$GC,12558,0.76,116.8,934.4,10.0,708,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1604,1464,0,0,0,0,0,0
$GC,12869,0.76,116.8,903.5,9.6,723,12873,0.00,2.25,0.00,0.000,4,0.000,0.053,3434,2993,1464,0,0,0,0,0,0
$GC,12912,0.72,116.8,899.1,10.6,725,12917,0.10,2.20,0.00,0.000,6,0.172,0.035,3417,1604,1464,0,0,0,0,0,0
$GC,13239,0.72,116.8,869.1,9.1,741,13243,0.00,2.30,0.00,0.000,4,0.000,0.054,3427,199,1463,0,0,0,0,0,0
$GC,13316,0.72,116.8,861.3,9.7,744,13322,0.00,2.25,0.00,0.000,6,0.000,0.037,3427,1614,1462,0,0,0,0,0,0
$GC,13631,0.72,116.8,832.5,9.1,760,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1614,1462,0,0,0,0,0,0
$GC,13941,0.72,116.8,804.8,8.8,775,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1614,1462,0,0,0,0,0,0
$GC,14249,0.72,122.7,779.0,8.3,790,14256,0.00,0.00,4.88,0.782,6,0.000,0.000,3428,1614,1449,0,0,0,0,0,0
$GC,14560,0.73,140.5,754.6,7.7,805,14581,0.00,0.00,19.02,1.081,6,0.000,0.000,3427,1614,1376,0,0,0,0,0,0
$GC,14890,0.74,148.6,728.9,8.1,821,14904,0.00,2.22,9.05,0.951,4,0.000,0.051,3427,2981,1344,0,0,0,0,0,0
$GC,14937,0.74,148.6,724.6,8.6,823,14942,0.03,2.17,0.00,0.000,6,0.171,0.034,3426,1602,1344,0,0,0,0,0,0
$GC,15266,0.78,161.1,698.3,7.9,839,15286,0.00,2.33,13.80,1.009,4,0.000,0.055,3436,205,1293,0,0,0,0,0,0
$GC,15376,0.78,164.3,688.7,8.4,844,15385,0.00,2.20,4.32,0.674,6,0.000,0.036,3436,1601,1280,0,0,0,0,0,0
$GC,15708,0.80,190.6,662.7,7.3,860,15736,0.00,0.00,26.80,1.044,6,0.000,0.000,3436,1601,1172,0,0,0,0,0,0
$GC,16036,0.85,190.6,635.2,8.8,876,16041,0.08,2.33,0.00,0.000,4,0.124,0.053,3490,199,1168,0,0,0,0,0,0
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$STATE,22177,end climb,SURFACE_DEPTH_REACHED
$STATE,22177,begin surface coast
$FINISH,1.9,1.023478
$STATE,22203,end surface coast,CONTROL_FINISHED_OK
$STATE,22203,begin surface
$SM_CCo,22220,3.83,0.059,0,0,1133,200.16
$SM_GC,3.99,0.00,0.00,3.83,0.000,0.000,0.059,60,2066,1133,-9.76,0.17,200.16
$IRIDIUM_FIX,-4447.43,637.25,040808,222205
$TT8_MAMPS,0.026964
$HUMID,64.01
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.50
$XPDR_PINGS,2
$24V_AH,22.4,42.192
$10V_AH,9.7,44.291
$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,24.125,173.225,304.800,3.825,0.000,27.818,41.002,245.085,0.500,0.000,20.597,2746.264,15912.684,465.196,3300.459,245.332,0.000,1732.085,0.000,2849.976,0.000,0.541,0.000
$DEVICE_MAMPS,264.690,66.555,1279.845,58.905,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.550,1780.241,957.224,540.297,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,90685,1267
$CAP_FILE_SIZE,189838,0
$CFSIZE,2097086464,2046689280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091015,192528,-4504.494,633.004,39,0.8,39,-24.4