version: 66.07.10.p01
glider: 573
mission: 12
dive: 356
start: 10 11 115 22 59 1
data:
$ID,573
$MISSION,12
$DIVE,356
$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,-22143.393
$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,32
$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,355
$GPS1,111015,224933,-4455.386,629.368,52,1.5,52,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-64.1
$GPS2,111015,225841,-4455.370,629.417,17,1.3,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,122.1,8710,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.50,0.000,2,0.000,0.000,80,2064,1626,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-4.3,4,106,12.32,2.35,-30.77,0.000,4,0.252,0.073,2921,3465,2427,0,0,0,0,0,0
$GC,380,-0.66,-116.8,44.3,-13.6,57,388,0.12,2.25,0.00,0.000,6,0.152,0.041,2961,2056,2430,0,0,0,0,0,0
$GC,732,-0.66,-116.8,80.4,-9.6,118,736,0.00,2.33,0.00,0.000,4,0.000,0.062,2952,3469,2430,0,0,0,0,0,0
$GC,787,-0.66,-116.8,86.2,-10.0,120,792,0.03,2.25,0.00,0.000,6,0.189,0.042,2961,2053,2430,0,0,0,0,0,0
$GC,1109,-0.66,-116.8,116.6,-9.4,136,1113,0.00,2.25,0.00,0.000,4,0.000,0.056,2961,658,2430,0,0,0,0,0,0
$GC,1210,-0.62,-116.8,127.2,-11.0,140,1215,0.10,2.22,0.00,0.000,6,0.184,0.042,2976,2064,2430,0,0,0,0,0,0
$GC,1532,-0.62,-116.8,157.3,-9.5,156,1535,0.00,2.28,0.00,0.000,4,0.000,0.065,2966,3464,2431,0,0,0,0,0,0
$GC,1684,-0.62,-116.8,171.9,-8.5,162,1691,0.00,2.22,0.00,0.000,6,0.000,0.041,2966,2052,2430,0,0,0,0,0,0
$GC,1999,-0.62,-116.8,199.6,-9.1,178,2004,0.05,2.25,0.00,0.000,4,0.228,0.055,2977,660,2430,0,0,0,0,0,0
$GC,2077,-0.62,-116.8,207.2,-9.1,181,2083,0.00,2.22,0.00,0.000,6,0.000,0.041,2969,2056,2430,0,0,0,0,0,0
$GC,2395,-0.62,-116.8,236.1,-9.0,197,2399,0.00,2.30,0.00,0.000,4,0.000,0.059,2957,3487,2430,0,0,0,0,0,0
$GC,2439,-0.62,-116.8,240.6,-10.2,199,2444,0.10,2.25,0.00,0.000,6,0.171,0.041,2983,2039,2430,0,0,0,0,0,0
$GC,2770,-0.68,-116.8,267.3,-7.9,215,2774,0.00,2.20,0.00,0.000,4,0.000,0.055,2983,657,2431,0,0,0,0,0,0
$GC,2833,-0.71,-116.8,272.7,-8.1,218,2838,0.05,2.22,0.00,0.000,6,0.158,0.041,2937,2075,2431,0,0,0,0,0,0
$GC,3161,-0.67,-116.8,301.2,-8.6,234,3165,0.12,2.28,0.00,0.000,4,0.173,0.060,2959,3473,2431,0,0,0,0,0,0
$GC,3199,-0.67,-116.8,304.5,-8.2,236,3203,0.00,2.20,0.00,0.000,6,0.000,0.042,2959,2063,2431,0,0,0,0,0,0
$GC,3524,-0.67,-116.8,330.4,-8.5,252,3528,0.00,2.25,0.00,0.000,4,0.000,0.055,2959,649,2431,0,0,0,0,0,0
$GC,3550,-0.67,-116.8,333.0,-10.2,253,3555,0.03,2.22,0.00,0.000,6,0.178,0.041,2960,2052,2431,0,0,0,0,0,0
$GC,3872,-0.67,-116.8,362.8,-9.5,269,3876,0.00,2.25,0.00,0.000,4,0.000,0.059,2950,3465,2431,0,0,0,0,0,0
$GC,3960,-0.67,-116.8,371.7,-10.2,273,3965,0.05,2.22,0.00,0.000,6,0.153,0.041,2967,2056,2431,0,0,0,0,0,0
$GC,4287,-0.67,-116.8,401.5,-9.0,289,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2056,2431,0,0,0,0,0,0
$GC,4596,-0.70,-116.8,428.5,-8.3,304,4600,0.00,2.25,0.00,0.000,4,0.000,0.057,2967,650,2431,0,0,0,0,0,0
$GC,4650,-0.70,-116.8,433.2,-8.9,306,4656,0.00,2.25,0.00,0.000,6,0.000,0.044,2957,2058,2431,0,0,0,0,0,0
$GC,4965,-0.70,-116.8,458.8,-8.2,322,4969,0.00,2.30,0.00,0.000,4,0.000,0.063,2948,3471,2430,0,0,0,0,0,0
$GC,5014,-0.70,-116.8,463.4,-8.9,324,5019,0.00,2.22,0.00,0.000,6,0.000,0.043,2948,2064,2430,0,0,0,0,0,0
$GC,5335,-0.70,-116.8,491.5,-8.7,340,5339,0.00,2.25,0.00,0.000,4,0.000,0.056,2948,651,2430,0,0,0,0,0,0
$GC,5407,-0.66,-116.8,498.5,-9.9,343,5412,0.12,2.25,0.00,0.000,6,0.169,0.044,2971,2077,2430,0,0,0,0,0,0
$GC,5736,-0.71,-116.8,525.7,-8.4,359,5740,0.00,2.25,0.00,0.000,4,0.000,0.062,2960,3465,2430,0,0,0,0,0,0
$GC,5791,-0.76,-116.8,530.9,-8.9,361,5796,0.08,2.20,0.00,0.000,6,0.118,0.042,2919,2055,2430,0,0,0,0,0,0
$GC,6107,-0.70,-116.8,563.8,-10.5,377,6112,0.15,2.35,0.00,0.000,4,0.168,0.065,2950,3464,2429,0,0,0,0,0,0
$GC,6150,-0.70,-116.8,568.3,-9.5,379,6155,0.00,2.22,0.00,0.000,6,0.000,0.044,2950,2057,2429,0,0,0,0,0,0
$GC,6478,-0.70,-116.8,596.6,-8.3,395,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2056,2429,0,0,0,0,0,0
$GC,6786,-0.70,-116.8,620.3,-7.3,410,6790,0.00,2.28,0.00,0.000,4,0.000,0.059,2950,647,2429,0,0,0,0,0,0
$GC,6841,-0.70,-116.8,624.8,-8.4,412,6846,0.08,2.25,0.00,0.000,6,0.191,0.044,2958,2068,2429,0,0,0,0,0,0
$GC,7163,-0.73,-116.8,649.2,-7.5,428,7167,0.00,2.28,0.00,0.000,4,0.000,0.065,2948,3463,2429,0,0,0,0,0,0
$GC,7201,-0.73,-116.8,652.3,-8.0,430,7205,0.00,2.17,0.00,0.000,6,0.000,0.041,2948,2059,2429,0,0,0,0,0,0
$GC,7529,-0.73,-116.8,676.3,-7.4,446,7533,0.00,2.28,0.00,0.000,4,0.000,0.057,2948,659,2429,0,0,0,0,0,0
$GC,7572,-0.73,-116.8,679.9,-8.3,448,7577,0.00,2.25,0.00,0.000,6,0.000,0.043,2939,2063,2429,0,0,0,0,0,0
$GC,7899,-0.73,-116.8,704.0,-7.5,464,7903,0.00,2.28,0.00,0.000,4,0.000,0.065,2929,3466,2429,0,0,0,0,0,0
$GC,7970,-0.73,-116.8,710.1,-9.2,467,7976,0.03,2.22,0.00,0.000,6,0.177,0.041,2938,2060,2429,0,0,0,0,0,0
$GC,8292,-0.73,-116.8,738.5,-9.5,483,8296,0.00,2.25,0.00,0.000,4,0.000,0.057,2938,651,2429,0,0,0,0,0,0
$GC,8369,-0.70,-116.8,746.9,-10.4,486,8376,0.10,2.28,0.00,0.000,6,0.173,0.044,2955,2065,2429,0,0,0,0,0,0
$GC,8685,-0.73,-116.8,775.1,-8.7,502,8689,0.00,2.28,0.00,0.000,4,0.000,0.066,2945,3466,2428,0,0,0,0,0,0
$GC,8756,-0.73,-116.8,781.5,-8.8,505,8760,0.00,2.22,0.00,0.000,6,0.000,0.042,2945,2057,2428,0,0,0,0,0,0
$GC,9078,-0.73,-116.8,808.6,-8.0,521,9082,0.00,2.28,0.00,0.000,4,0.000,0.058,2945,652,2428,0,0,0,0,0,0
$GC,9111,-0.73,-116.8,811.5,-8.0,522,9117,0.00,2.25,0.00,0.000,6,0.000,0.045,2936,2054,2428,0,0,0,0,0,0
$GC,9426,-0.73,-116.8,835.2,-7.2,538,9430,0.00,2.28,0.00,0.000,4,0.000,0.062,2925,3469,2428,0,0,0,0,0,0
$GC,9504,-0.73,-116.8,841.0,-6.9,541,9509,0.03,2.22,0.00,0.000,6,0.132,0.042,2944,2065,2427,0,0,0,0,0,0
$GC,9820,-0.73,-116.8,862.7,-7.3,557,9824,0.00,2.28,0.00,0.000,4,0.000,0.057,2946,655,2427,0,0,0,0,0,0
$GC,9881,-0.73,-116.8,867.6,-7.9,560,9886,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,2064,2427,0,0,0,0,0,0
$GC,10207,-0.73,-116.8,892.2,-7.6,576,10211,0.00,2.28,0.00,0.000,4,0.000,0.065,2926,3467,2427,0,0,0,0,0,0
$GC,10285,-0.73,-116.8,898.5,-8.4,579,10290,0.08,2.22,0.00,0.000,6,0.185,0.042,2944,2060,2427,0,0,0,0,0,0
$GC,10601,-0.73,-116.8,921.5,-7.0,595,10605,0.00,2.25,0.00,0.000,4,0.000,0.057,2945,655,2427,0,0,0,0,0,0
$GC,10673,-0.73,-116.8,927.1,-7.9,598,10677,0.00,2.25,0.00,0.000,6,0.000,0.044,2935,2073,2427,0,0,0,0,0,0
$GC,10994,-0.73,-116.8,949.5,-7.0,614,10998,0.00,2.28,0.00,0.000,4,0.000,0.063,2925,3468,2427,0,0,0,0,0,0
$GC,11043,-0.73,-116.8,953.1,-6.8,616,11048,0.10,2.22,0.00,0.000,6,0.172,0.041,2951,2037,2427,0,0,0,0,0,0
$GC,11365,-0.77,-116.8,972.9,-5.9,632,11369,0.00,2.22,0.00,0.000,4,0.000,0.057,2951,659,2426,0,0,0,0,0,0
$GC,11431,-0.77,-116.8,977.2,-6.5,635,11435,0.00,2.22,0.00,0.000,6,0.000,0.043,2942,2064,2427,0,0,0,0,0,0
$GC,11759,-0.77,-116.8,996.7,-6.2,651,11763,0.00,2.30,0.00,0.000,4,0.000,0.065,2932,3468,2426,0,0,0,0,0,0
$STATE,11806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11806,begin apogee
$GC,11814,-0.19,0.0,1000.0,6.7,653,11927,0.57,0.00,109.65,1.284,6,0.140,0.000,3110,1604,1949,0,0,0,0,0,0
$STATE,11928,end apogee,CONTROL_FINISHED_OK
$STATE,11928,begin climb
$GC,11930,0.76,116.8,1001.4,0.0,659,12056,0.95,2.62,115.47,1.239,4,0.092,0.056,3432,195,1472,0,0,0,0,0,0
$GC,12083,0.76,116.8,990.7,9.2,666,12088,0.00,2.45,0.00,0.000,6,0.000,0.036,3432,1608,1469,0,0,0,0,0,0
$GC,12404,0.76,117.3,961.4,8.5,682,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1609,1465,0,0,0,0,0,0
$GC,12715,0.77,142.4,936.8,7.3,697,12745,0.00,2.40,24.77,1.179,4,0.000,0.056,3442,187,1368,0,0,0,0,0,0
$GC,12800,0.77,142.4,929.9,8.8,701,12804,0.00,2.30,0.00,0.000,6,0.000,0.037,3442,1616,1365,0,0,0,0,0,0
$GC,13128,0.78,145.5,903.0,8.4,717,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1616,1363,0,0,0,0,0,0
$GC,13435,0.78,145.5,874.8,9.6,732,13440,0.00,2.35,0.00,0.000,4,0.000,0.056,3451,190,1362,0,0,0,0,0,0
$GC,13462,0.78,145.5,871.9,9.6,733,13467,0.03,2.25,0.00,0.000,6,0.168,0.037,3441,1597,1362,0,0,0,0,0,0
$GC,13784,0.78,145.5,839.8,10.1,749,13789,0.00,2.33,0.00,0.000,4,0.000,0.055,3450,188,1362,0,0,0,0,0,0
$GC,13805,0.78,145.5,837.4,10.3,750,13811,0.03,2.25,0.00,0.000,6,0.168,0.037,3439,1601,1361,0,0,0,0,0,0
$GC,14131,0.78,145.5,805.3,9.8,766,14135,0.00,2.33,0.00,0.000,4,0.000,0.055,3448,186,1362,0,0,0,0,0,0
$GC,14158,0.78,145.5,802.5,9.5,767,14163,0.03,2.25,0.00,0.000,6,0.164,0.037,3438,1604,1361,0,0,0,0,0,0
$GC,14485,0.78,147.0,774.0,8.5,783,14495,0.00,2.33,4.53,0.753,4,0.000,0.056,3447,186,1349,0,0,0,0,0,0
$GC,14511,0.78,154.2,771.6,8.2,784,14528,0.00,2.22,8.70,0.972,6,0.000,0.037,3447,1596,1321,0,0,0,0,0,0
$GC,14837,0.78,154.2,742.1,9.5,800,14841,0.00,2.33,0.00,0.000,4,0.000,0.055,3457,185,1321,0,0,0,0,0,0
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$STATE,22421,end climb,SURFACE_DEPTH_REACHED
$STATE,22421,begin surface coast
$FINISH,1.7,1.012787
$STATE,22448,end surface coast,CONTROL_FINISHED_OK
$STATE,22448,begin surface
$SM_CCo,22526,0.00,0.000,0,0,893,259.03
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$IRIDIUM_FIX,-4438.33,614.70,070808,050514
$TT8_MAMPS,0.026964
$HUMID,63.62
$INTERNAL_PRESSURE,9.2453
$TCM_TEMP,11.50
$XPDR_PINGS,1
$24V_AH,22.3,43.315
$10V_AH,9.7,45.481
$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
$DEVICE_SECS,25.150,232.750,329.575,0.000,0.000,22.174,22.545,345.860,0.250,0.000,18.999,2767.363,16054.484,449.778,3521.689,267.273,0.000,1857.601,0.000,2976.797,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,90532,1254
$CAP_FILE_SIZE,210348,0
$CFSIZE,2097086464,2045345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121015,051533,-4455.210,633.841,32,0.9,32,-24.4