version: 66.07.10.p01
glider: 573
mission: 12
dive: 374
start: 10 15 115 17 10 6
data:
$ID,573
$MISSION,12
$DIVE,374
$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,-22189.029
$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,33
$R_STBD_OVSHOOT,49
$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,373
$GPS1,151015,170204,-4503.701,636.289,36,1.0,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-68.7
$GPS2,151015,170946,-4503.731,636.328,17,1.0,17,-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,292.6,16133,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.76,-116.8,0.0,0.0,0,47,0.00,0.00,-19.40,0.000,2,0.000,0.000,82,2080,1518,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.2,-1.2,3,114,11.98,2.33,-44.42,0.000,4,0.243,0.079,2921,3441,2424,0,0,0,0,0,0
$GC,391,-0.66,-116.8,33.6,-11.0,58,398,0.12,2.22,0.00,0.000,6,0.145,0.042,2961,2060,2426,0,0,0,0,0,0
$GC,540,-0.66,-116.8,50.0,-10.9,83,545,0.00,2.30,0.00,0.000,4,0.000,0.060,2952,3454,2426,0,0,0,0,0,0
$GC,588,-0.66,-116.8,55.2,-11.1,91,594,0.08,2.22,0.00,0.000,6,0.190,0.042,2969,2055,2426,0,0,0,0,0,0
$GC,931,-0.66,-116.8,90.8,-10.3,138,935,0.00,2.30,0.00,0.000,4,0.000,0.058,2969,651,2426,0,0,0,0,0,0
$GC,958,-0.66,-116.8,94.1,-11.2,139,963,0.00,2.25,0.00,0.000,6,0.000,0.044,2960,2040,2426,0,0,0,0,0,0
$GC,1288,-0.66,-116.8,129.2,-10.9,155,1292,0.00,2.35,0.00,0.000,4,0.000,0.063,2950,3469,2427,0,0,0,0,0,0
$GC,1331,-0.66,-116.8,133.7,-11.0,157,1336,0.08,2.20,0.00,0.000,6,0.181,0.042,2967,2059,2427,0,0,0,0,0,0
$GC,1659,-0.66,-116.8,166.8,-10.2,173,1663,0.00,2.28,0.00,0.000,4,0.000,0.057,2967,650,2427,0,0,0,0,0,0
$GC,1702,-0.66,-116.8,171.0,-10.0,175,1706,0.00,2.25,0.00,0.000,6,0.000,0.044,2958,2063,2427,0,0,0,0,0,0
$GC,2030,-0.66,-116.8,202.1,-8.9,191,2034,0.00,2.30,0.00,0.000,4,0.000,0.063,2948,3465,2427,0,0,0,0,0,0
$GC,2095,-0.66,-116.8,208.4,-9.0,194,2100,0.05,2.25,0.00,0.000,6,0.151,0.041,2965,2053,2427,0,0,0,0,0,0
$GC,2422,-0.66,-116.8,236.0,-8.6,210,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2052,2427,0,0,0,0,0,0
$GC,2734,-0.66,-116.8,263.5,-9.0,225,2738,0.00,2.28,0.00,0.000,4,0.000,0.057,2965,654,2427,0,0,0,0,0,0
$GC,2783,-0.66,-116.8,268.5,-9.4,227,2787,0.00,2.25,0.00,0.000,6,0.000,0.043,2957,2052,2427,0,0,0,0,0,0
$GC,3107,-0.66,-116.8,298.1,-9.5,243,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2052,2427,0,0,0,0,0,0
$GC,3413,-0.66,-116.8,329.0,-9.9,258,3417,0.00,2.30,0.00,0.000,4,0.000,0.058,2946,3475,2427,0,0,0,0,0,0
$GC,3475,-0.66,-116.8,335.4,-10.5,261,3480,0.10,2.22,0.00,0.000,6,0.164,0.043,2971,2058,2427,0,0,0,0,0,0
$GC,3803,-0.70,-116.8,365.6,-9.1,277,3807,0.00,2.28,0.00,0.000,4,0.000,0.056,2972,655,2427,0,0,0,0,0,0
$GC,3842,-0.70,-116.8,369.6,-9.8,279,3846,0.00,2.25,0.00,0.000,6,0.000,0.044,2963,2072,2427,0,0,0,0,0,0
$GC,4168,-0.70,-116.8,399.1,-9.1,295,4172,0.00,2.25,0.00,0.000,4,0.000,0.061,2953,3461,2427,0,0,0,0,0,0
$GC,4208,-0.70,-116.8,402.8,-8.8,297,4212,0.00,2.20,0.00,0.000,6,0.000,0.041,2953,2056,2428,0,0,0,0,0,0
$GC,4534,-0.70,-116.8,433.2,-9.1,313,4538,0.00,2.28,0.00,0.000,4,0.000,0.058,2953,656,2427,0,0,0,0,0,0
$GC,4577,-0.70,-116.8,437.6,-9.5,315,4582,0.00,2.25,0.00,0.000,6,0.000,0.044,2944,2053,2427,0,0,0,0,0,0
$GC,4905,-0.70,-116.8,468.5,-9.4,331,4909,0.00,2.30,0.00,0.000,4,0.000,0.058,2933,3478,2428,0,0,0,0,0,0
$GC,4976,-0.70,-116.8,475.9,-10.6,334,4981,0.05,2.25,0.00,0.000,6,0.151,0.042,2952,2065,2427,0,0,0,0,0,0
$GC,5296,-0.70,-116.8,506.8,-10.0,350,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2065,2427,0,0,0,0,0,0
$GC,5607,-0.70,-116.8,537.7,-9.6,365,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2065,2427,0,0,0,0,0,0
$GC,5916,-0.70,-116.8,566.7,-9.3,380,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2065,2427,0,0,0,0,0,0
$GC,6225,-0.70,-116.8,594.8,-8.9,395,6229,0.00,2.28,0.00,0.000,4,0.000,0.056,2952,650,2427,0,0,0,0,0,0
$GC,6269,-0.70,-116.8,599.2,-9.7,397,6273,0.00,2.25,0.00,0.000,6,0.000,0.041,2943,2058,2427,0,0,0,0,0,0
$GC,6597,-0.70,-116.8,629.1,-8.7,413,6598,0.05,0.00,0.00,0.000,6,0.226,0.000,2954,2058,2427,0,0,0,0,0,0
$GC,6905,-0.70,-116.8,653.9,-7.7,428,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2058,2427,0,0,0,0,0,0
$GC,7215,-0.70,-116.8,676.9,-7.5,443,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2058,2427,0,0,0,0,0,0
$GC,7524,-0.70,-116.8,699.6,-7.3,458,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2058,2427,0,0,0,0,0,0
$GC,7834,-0.70,-116.8,722.2,-7.2,473,7838,0.00,2.30,0.00,0.000,4,0.000,0.062,2944,3463,2427,0,0,0,0,0,0
$GC,7905,-0.70,-116.8,727.5,-7.1,476,7910,0.00,2.22,0.00,0.000,6,0.000,0.042,2944,2049,2426,0,0,0,0,0,0
$GC,8226,-0.70,-116.8,750.9,-7.2,492,8230,0.00,2.28,0.00,0.000,4,0.000,0.057,2944,655,2426,0,0,0,0,0,0
$GC,8265,-0.70,-116.8,753.9,-8.1,494,8270,0.10,2.22,0.00,0.000,6,0.173,0.041,2960,2061,2426,0,0,0,0,0,0
$GC,8592,-0.74,-116.8,775.6,-6.4,510,8596,0.00,2.30,0.00,0.000,4,0.000,0.063,2950,3467,2426,0,0,0,0,0,0
$GC,8626,-0.78,-116.8,777.9,-7.0,511,8630,0.05,2.22,0.00,0.000,6,0.162,0.042,2913,2054,2426,0,0,0,0,0,0
$GC,8942,-0.73,-116.8,803.5,-8.2,527,8944,0.12,0.00,0.00,0.000,6,0.167,0.000,2947,2054,2426,0,0,0,0,0,0
$GC,9249,-0.73,-116.8,826.5,-7.5,542,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2054,2425,0,0,0,0,0,0
$GC,9560,-0.73,-116.8,850.3,-7.9,557,9564,0.00,2.35,0.00,0.000,4,0.000,0.065,2937,3466,2425,0,0,0,0,0,0
$GC,9600,-0.73,-116.8,853.5,-8.1,559,9604,0.00,2.22,0.00,0.000,6,0.000,0.043,2937,2053,2425,0,0,0,0,0,0
$GC,9927,-0.73,-116.8,879.9,-8.2,575,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2053,2425,0,0,0,0,0,0
$GC,10236,-0.73,-116.8,905.1,-8.1,590,10240,0.00,2.30,0.00,0.000,4,0.000,0.059,2937,651,2425,0,0,0,0,0,0
$GC,10290,-0.73,-116.8,910.0,-9.5,592,10297,0.03,2.28,0.00,0.000,6,0.178,0.044,2938,2057,2425,0,0,0,0,0,0
$GC,10605,-0.73,-116.8,937.7,-9.2,608,10609,0.00,2.30,0.00,0.000,4,0.000,0.063,2928,3468,2424,0,0,0,0,0,0
$GC,10649,-0.73,-116.8,941.9,-9.8,610,10654,0.05,2.25,0.00,0.000,6,0.151,0.043,2945,2060,2424,0,0,0,0,0,0
$GC,10977,-0.76,-116.8,970.5,-8.4,626,10981,0.00,2.30,0.00,0.000,4,0.000,0.057,2946,647,2424,0,0,0,0,0,0
$GC,11044,-0.76,-116.8,976.6,-8.6,629,11048,0.00,2.25,0.00,0.000,6,0.000,0.043,2937,2064,2425,0,0,0,0,0,0
$STATE,11341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11341,begin apogee
$GC,11347,-0.19,0.0,1001.7,8.2,644,11456,0.60,0.00,106.38,1.282,6,0.135,0.000,3120,1595,1949,0,0,0,0,0,0
$STATE,11457,end apogee,CONTROL_FINISHED_OK
$STATE,11457,begin climb
$GC,11459,0.76,116.8,1004.7,0.0,649,11586,0.90,2.62,116.00,1.237,4,0.086,0.057,3431,196,1474,0,0,0,0,0,0
$GC,11693,0.76,116.8,989.1,9.3,660,11698,0.00,2.38,0.00,0.000,6,0.000,0.036,3431,1614,1469,0,0,0,0,0,0
$GC,12024,0.76,116.8,958.1,9.5,676,12029,0.00,2.28,0.00,0.000,4,0.000,0.054,3431,2998,1466,0,0,0,0,0,0
$GC,12051,0.76,116.8,955.3,9.4,677,12056,0.00,2.28,0.00,0.000,6,0.000,0.037,3439,1597,1466,0,0,0,0,0,0
$GC,12379,0.76,116.8,924.5,9.0,693,12383,0.00,2.33,0.00,0.000,4,0.000,0.056,3450,194,1465,0,0,0,0,0,0
$GC,12445,0.70,123.5,918.7,8.2,696,12457,0.15,2.25,6.28,0.916,6,0.148,0.037,3408,1606,1445,0,0,0,0,0,0
$GC,12768,0.77,140.5,894.6,7.7,711,12789,0.08,0.00,18.42,1.157,6,0.117,0.000,3453,1606,1376,0,0,0,0,0,0
$GC,13096,0.74,140.5,863.0,9.6,727,13101,0.12,2.35,0.00,0.000,4,0.151,0.055,3429,185,1374,0,0,0,0,0,0
$GC,13247,0.75,153.0,849.8,7.9,734,13268,0.00,2.25,13.20,1.079,6,0.000,0.037,3429,1616,1326,0,0,0,0,0,0
$GC,13577,0.79,153.0,820.7,8.7,750,13581,0.00,2.22,0.00,0.000,4,0.000,0.054,3429,2992,1324,0,0,0,0,0,0
$GC,13616,0.79,153.0,817.0,8.8,752,13620,0.00,2.20,0.00,0.000,6,0.000,0.037,3437,1594,1323,0,0,0,0,0,0
$GC,13947,0.79,153.0,785.6,9.6,768,13951,0.00,2.30,0.00,0.000,4,0.000,0.057,3448,183,1323,0,0,0,0,0,0
$GC,14036,0.79,153.0,775.9,11.0,772,14041,0.03,2.25,0.00,0.000,6,0.164,0.037,3437,1599,1322,0,0,0,0,0,0
$GC,14362,0.79,153.0,744.4,9.4,788,14366,0.00,2.30,0.00,0.000,4,0.000,0.054,3447,193,1322,0,0,0,0,0,0
$GC,14423,0.79,153.0,738.2,10.2,791,14428,0.00,2.22,0.00,0.000,6,0.000,0.037,3446,1612,1322,0,0,0,0,0,0
$GC,14750,0.79,153.0,706.0,9.8,807,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1613,1322,0,0,0,0,0,0
$GC,15058,0.79,153.0,676.0,9.4,822,15062,0.00,2.33,0.00,0.000,4,0.000,0.054,3457,193,1321,0,0,0,0,0,0
$GC,15102,0.79,153.0,671.5,9.8,824,15107,0.08,2.22,0.00,0.000,6,0.177,0.036,3437,1602,1321,0,0,0,0,0,0
$GC,15433,0.79,153.0,641.2,9.2,840,15437,0.00,2.30,0.00,0.000,4,0.000,0.054,3446,193,1322,0,0,0,0,0,0
$GC,15539,0.79,153.0,630.5,10.5,844,15545,0.00,2.22,0.00,0.000,6,0.000,0.037,3446,1597,1321,0,0,0,0,0,0
$GC,15854,0.79,153.0,600.6,9.4,860,15855,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1597,1321,0,0,0,0,0,0
$GC,16164,0.79,153.0,572.5,9.1,875,16166,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1597,1321,0,0,0,0,0,0
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$STATE,22035,end climb,SURFACE_DEPTH_REACHED
$STATE,22035,begin surface coast
$FINISH,2.1,1.023475
$STATE,22049,end surface coast,CONTROL_FINISHED_OK
$STATE,22049,begin surface
$SM_CCo,22068,13.27,0.056,0,0,1133,200.16
$SM_GC,4.54,0.00,0.00,13.27,0.000,0.000,0.056,63,2037,1133,-9.76,-0.65,200.16
$IRIDIUM_FIX,-4444.39,637.25,110808,020252
$TT8_MAMPS,0.026964
$HUMID,64.05
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,22.2,45.152
$10V_AH,9.7,47.365
$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
$DEVICE_SECS,24.175,177.250,281.400,13.275,0.000,27.471,40.908,258.207,0.250,0.000,20.103,2712.680,15818.776,415.341,3344.682,251.008,0.000,1708.707,0.000,2874.689,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,90489,1246
$CAP_FILE_SIZE,187652,0
$CFSIZE,2097086464,2043019264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151015,231928,-4503.928,633.365,41,1.0,43,-24.4