version: 66.07.10.p01
glider: 573
mission: 12
dive: 352
start: 10 11 115 1 12 48
data:
$ID,573
$MISSION,12
$DIVE,352
$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,-22132.352
$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,34
$R_STBD_OVSHOOT,48
$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,351
$GPS1,111015,010303,-4500.050,626.720,38,0.9,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-67.7
$GPS2,111015,011228,-4459.968,626.797,19,0.9,19,-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,357.9,8212,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-26.30,0.000,2,0.000,0.000,67,2078,1559,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-4.2,4,113,12.07,2.33,-39.03,0.000,4,0.243,0.064,2931,649,2424,0,0,0,0,0,0
$GC,129,-0.64,-116.8,5.3,-6.2,15,137,0.15,2.25,0.00,0.000,6,0.146,0.040,2969,2044,2426,0,0,0,0,0,0
$GC,189,-0.64,-116.8,11.5,-9.6,24,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2043,2426,0,0,0,0,0,0
$GC,247,-0.64,-116.8,16.1,-7.8,33,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2043,2427,0,0,0,0,0,0
$GC,305,-0.60,-116.8,20.5,-8.6,42,312,0.08,0.00,0.00,0.000,6,0.209,0.000,2986,2043,2427,0,0,0,0,0,0
$GC,462,-0.63,-116.8,34.6,-7.6,67,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2043,2427,0,0,0,0,0,0
$GC,610,-0.67,-116.8,48.5,-9.8,92,615,0.00,2.33,0.00,0.000,4,0.000,0.061,2975,3466,2427,0,0,0,0,0,0
$GC,633,-0.70,-116.8,50.7,-9.3,96,641,0.03,2.22,0.00,0.000,6,0.099,0.042,2940,2069,2427,0,0,0,0,0,0
$GC,981,-0.64,-116.8,90.2,-11.7,146,986,0.12,2.30,0.00,0.000,4,0.171,0.055,2972,652,2427,0,0,0,0,0,0
$GC,1013,-0.64,-116.8,94.2,-11.3,147,1019,0.00,2.25,0.00,0.000,6,0.000,0.041,2964,2064,2427,0,0,0,0,0,0
$GC,1332,-0.64,-116.8,127.2,-10.4,163,1336,0.00,2.28,0.00,0.000,4,0.000,0.063,2953,3472,2427,0,0,0,0,0,0
$GC,1394,-0.64,-116.8,133.9,-10.5,166,1398,0.10,2.20,0.00,0.000,6,0.170,0.043,2978,2054,2427,0,0,0,0,0,0
$GC,1720,-0.64,-116.8,165.5,-9.7,182,1724,0.00,2.22,0.00,0.000,4,0.000,0.056,2978,654,2427,0,0,0,0,0,0
$GC,1759,-0.64,-116.8,169.6,-10.5,184,1763,0.00,2.22,0.00,0.000,6,0.000,0.043,2969,2063,2427,0,0,0,0,0,0
$GC,2086,-0.64,-116.8,203.5,-9.7,200,2090,0.00,2.28,0.00,0.000,4,0.000,0.054,2969,648,2427,0,0,0,0,0,0
$GC,2129,-0.64,-116.8,208.1,-10.3,202,2134,0.00,2.25,0.00,0.000,6,0.000,0.042,2961,2058,2427,0,0,0,0,0,0
$GC,2457,-0.64,-116.8,237.3,-8.6,218,2461,0.05,2.28,0.00,0.000,4,0.233,0.063,2962,3464,2427,0,0,0,0,0,0
$GC,2511,-0.64,-116.8,242.2,-8.3,220,2520,0.03,2.20,0.00,0.000,6,0.175,0.041,2970,2065,2428,0,0,0,0,0,0
$GC,2828,-0.64,-116.8,268.4,-8.4,236,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2065,2428,0,0,0,0,0,0
$GC,3139,-0.64,-116.8,295.1,-8.8,251,3143,0.00,2.25,0.00,0.000,4,0.000,0.056,2971,652,2428,0,0,0,0,0,0
$GC,3187,-0.64,-116.8,300.1,-9.7,253,3192,0.00,2.25,0.00,0.000,6,0.000,0.042,2962,2065,2428,0,0,0,0,0,0
$GC,3509,-0.64,-116.8,330.7,-9.4,269,3511,0.05,0.00,0.00,0.000,6,0.230,0.000,2973,2065,2427,0,0,0,0,0,0
$GC,3818,-0.67,-116.8,360.5,-9.6,284,3822,0.00,2.28,0.00,0.000,4,0.000,0.067,2963,3470,2428,0,0,0,0,0,0
$GC,3844,-0.71,-116.8,363.1,-9.8,285,3848,0.00,2.20,0.00,0.000,6,0.000,0.044,2963,2059,2428,0,0,0,0,0,0
$GC,4166,-0.71,-116.8,396.7,-10.6,301,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2059,2428,0,0,0,0,0,0
$GC,4474,-0.71,-116.8,429.3,-10.4,316,4477,0.00,2.25,0.00,0.000,4,0.000,0.056,2963,646,2428,0,0,0,0,0,0
$GC,4529,-0.71,-116.8,435.1,-10.1,318,4533,0.00,2.25,0.00,0.000,6,0.000,0.041,2954,2065,2427,0,0,0,0,0,0
$GC,4849,-0.71,-116.8,467.4,-9.7,334,4853,0.00,2.25,0.00,0.000,4,0.000,0.064,2944,3467,2428,0,0,0,0,0,0
$GC,4887,-0.71,-116.8,471.2,-10.1,335,4892,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2051,2428,0,0,0,0,0,0
$GC,5204,-0.71,-116.8,500.6,-9.1,351,5208,0.00,2.22,0.00,0.000,4,0.000,0.057,2944,657,2428,0,0,0,0,0,0
$GC,5224,-0.71,-116.8,502.8,-9.9,352,5229,0.03,2.22,0.00,0.000,6,0.179,0.041,2944,2060,2428,0,0,0,0,0,0
$GC,5550,-0.71,-116.8,532.5,-9.4,368,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2060,2428,0,0,0,0,0,0
$GC,5860,-0.71,-116.8,561.2,-9.6,383,5865,0.00,2.30,0.00,0.000,4,0.000,0.065,2934,3471,2427,0,0,0,0,0,0
$GC,5923,-0.71,-116.8,567.3,-9.5,386,5928,0.08,2.20,0.00,0.000,6,0.184,0.043,2952,2051,2427,0,0,0,0,0,0
$GC,6248,-0.71,-116.8,596.4,-8.9,402,6252,0.00,2.25,0.00,0.000,4,0.000,0.058,2952,647,2426,0,0,0,0,0,0
$GC,6280,-0.71,-116.8,599.5,-9.8,403,6285,0.00,2.25,0.00,0.000,6,0.000,0.045,2944,2054,2427,0,0,0,0,0,0
$GC,6596,-0.71,-116.8,628.3,-9.1,419,6600,0.00,2.28,0.00,0.000,4,0.000,0.061,2932,3473,2427,0,0,0,0,0,0
$GC,6639,-0.71,-116.8,632.5,-9.3,421,6644,0.05,2.25,0.00,0.000,6,0.145,0.044,2950,2053,2426,0,0,0,0,0,0
$GC,6966,-0.71,-116.8,661.5,-9.0,437,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2053,2426,0,0,0,0,0,0
$GC,7274,-0.71,-116.8,689.1,-8.7,452,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2053,2426,0,0,0,0,0,0
$GC,7585,-0.71,-116.8,715.1,-8.3,467,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2053,2426,0,0,0,0,0,0
$GC,7893,-0.71,-116.8,739.9,-7.9,482,7897,0.00,2.25,0.00,0.000,4,0.000,0.058,2951,651,2426,0,0,0,0,0,0
$GC,7958,-0.71,-116.8,745.6,-9.0,485,7963,0.00,2.25,0.00,0.000,6,0.000,0.044,2942,2059,2425,0,0,0,0,0,0
$GC,8287,-0.71,-116.8,771.4,-7.6,501,8291,0.00,2.30,0.00,0.000,4,0.000,0.065,2931,3466,2425,0,0,0,0,0,0
$GC,8330,-0.71,-116.8,775.1,-8.2,503,8335,0.08,2.20,0.00,0.000,6,0.178,0.044,2949,2045,2425,0,0,0,0,0,0
$GC,8657,-0.71,-116.8,798.7,-7.2,519,8661,0.00,2.22,0.00,0.000,4,0.000,0.059,2950,657,2425,0,0,0,0,0,0
$GC,8690,-0.71,-116.8,801.3,-7.8,520,8696,0.00,2.25,0.00,0.000,6,0.000,0.043,2940,2065,2425,0,0,0,0,0,0
$GC,9005,-0.71,-116.8,823.2,-6.7,536,9009,0.00,2.28,0.00,0.000,4,0.000,0.067,2930,3466,2424,0,0,0,0,0,0
$GC,9037,-0.71,-116.8,825.6,-8.0,537,9042,0.10,2.20,0.00,0.000,6,0.165,0.044,2956,2060,2425,0,0,0,0,0,0
$GC,9354,-0.75,-116.8,845.9,-6.5,553,9358,0.00,2.25,0.00,0.000,4,0.000,0.058,2956,656,2425,0,0,0,0,0,0
$GC,9399,-0.75,-116.8,849.0,-7.0,555,9403,0.00,2.22,0.00,0.000,6,0.000,0.046,2948,2066,2425,0,0,0,0,0,0
$GC,9731,-0.75,-116.8,873.5,-7.6,571,9735,0.00,2.30,0.00,0.000,4,0.000,0.057,2947,657,2424,0,0,0,0,0,0
$GC,9764,-0.75,-116.8,876.2,-8.3,572,9768,0.00,2.25,0.00,0.000,6,0.000,0.046,2939,2079,2424,0,0,0,0,0,0
$GC,10084,-0.75,-116.8,902.0,-8.1,588,10088,0.00,2.28,0.00,0.000,4,0.000,0.064,2928,3473,2424,0,0,0,0,0,0
$GC,10128,-0.75,-116.8,905.9,-9.2,590,10132,0.00,2.25,0.00,0.000,6,0.000,0.044,2928,2059,2424,0,0,0,0,0,0
$GC,10454,-0.75,-116.8,933.7,-8.4,606,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2059,2424,0,0,0,0,0,0
$GC,10765,-0.75,-116.8,957.7,-7.7,621,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2057,2424,0,0,0,0,0,0
$GC,11073,-0.75,-116.8,982.0,-7.8,636,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2057,2424,0,0,0,0,0,0
$STATE,11318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11319,begin apogee
$GC,11324,-0.19,0.0,1000.9,7.8,648,11436,0.62,0.00,109.05,1.288,6,0.138,0.000,3118,1590,1950,0,0,0,0,0,0
$STATE,11437,end apogee,CONTROL_FINISHED_OK
$STATE,11437,begin climb
$GC,11439,0.76,116.8,1003.0,0.0,653,11559,0.93,0.00,116.55,1.247,6,0.088,0.000,3422,1591,1473,0,0,0,0,0,0
$GC,11853,0.76,119.5,971.6,8.4,674,11858,0.00,2.38,0.00,0.000,4,0.000,0.060,3433,192,1466,0,0,0,0,0,0
$GC,11908,0.76,123.1,966.8,8.4,676,11920,0.00,2.35,6.45,0.928,6,0.000,0.041,3433,1613,1446,0,0,0,0,0,0
$GC,12242,0.76,123.1,937.1,9.2,693,12246,0.00,2.28,0.00,0.000,4,0.000,0.057,3433,3000,1445,0,0,0,0,0,0
$GC,12310,0.76,123.1,930.8,9.7,696,12314,0.00,2.20,0.00,0.000,6,0.000,0.040,3442,1601,1445,0,0,0,0,0,0
$GC,12629,0.76,123.1,900.6,9.7,712,12633,0.00,2.30,0.00,0.000,4,0.000,0.059,3453,196,1445,0,0,0,0,0,0
$GC,12684,0.71,123.1,894.7,9.6,714,12689,0.12,2.22,0.00,0.000,6,0.149,0.041,3418,1610,1443,0,0,0,0,0,0
$GC,13004,0.71,123.1,865.9,8.9,730,13008,0.00,2.35,0.00,0.000,4,0.000,0.057,3427,188,1443,0,0,0,0,0,0
$GC,13070,0.71,123.1,859.7,9.4,733,13075,0.00,2.28,0.00,0.000,6,0.000,0.041,3427,1601,1443,0,0,0,0,0,0
$GC,13398,0.71,123.1,830.0,9.1,749,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1601,1443,0,0,0,0,0,0
$GC,13706,0.72,133.8,803.6,8.0,764,13720,0.00,0.00,11.40,1.049,6,0.000,0.000,3427,1601,1403,0,0,0,0,0,0
$GC,14017,0.74,160.6,780.4,7.2,779,14046,0.00,0.00,27.10,1.123,6,0.000,0.000,3427,1601,1295,0,0,0,0,0,0
$GC,14347,0.79,178.5,755.8,7.7,795,14367,0.00,0.00,18.27,1.073,6,0.000,0.000,3427,1601,1222,0,0,0,0,0,0
$GC,14676,0.84,178.5,727.1,9.7,811,14680,0.08,2.33,0.00,0.000,4,0.122,0.059,3482,196,1218,0,0,0,0,0,0
$GC,14748,0.78,178.5,717.9,12.6,814,14752,0.15,2.25,0.00,0.000,6,0.138,0.041,3438,1604,1218,0,0,0,0,0,0
$GC,15064,0.81,178.5,682.8,11.6,829,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1604,1217,0,0,0,0,0,0
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$STATE,21828,end climb,SURFACE_DEPTH_REACHED
$STATE,21828,begin surface coast
$FINISH,1.8,1.023458
$STATE,21848,end surface coast,CONTROL_FINISHED_OK
$STATE,21848,begin surface
$SM_CCo,21868,10.02,0.057,0,0,1133,200.16
$SM_GC,3.52,0.00,0.00,10.02,0.000,0.000,0.057,64,2057,1133,-9.75,-0.08,200.16
$IRIDIUM_FIX,-4447.43,416.44,060808,080838
$TT8_MAMPS,0.027713
$HUMID,63.93
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,1
$24V_AH,22.3,42.885
$10V_AH,9.6,45.027
$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,24.025,177.825,288.825,10.025,0.000,34.194,56.117,316.775,0.250,0.000,21.906,2702.768,15642.501,466.950,3369.884,250.236,0.000,1711.253,0.000,2817.878,0.000,0.540,0.000
$DEVICE_MAMPS,243.270,66.555,1288.260,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.119,1782.293,973.857,580.497,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,90470,1255
$CAP_FILE_SIZE,185516,0
$CFSIZE,2097086464,2045902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111015,071833,-4456.317,626.416,30,1.4,30,-24.4