version: 66.07.10.p01
glider: 573
mission: 12
dive: 392
start: 10 19 115 18 52 42
data:
$ID,573
$MISSION,12
$DIVE,392
$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,-22236.154
$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,36
$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,391
$GPS1,191015,184433,-4456.051,636.209,41,1.0,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-62.4
$GPS2,191015,185222,-4456.048,636.291,35,1.2,35,-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,205.9,14732,-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,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.45,0.000,2,0.000,0.000,63,2064,1510,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.3,3,106,11.55,2.38,-37.72,0.000,4,0.225,0.069,2936,657,2427,0,0,0,0,0,0
$GC,383,-0.65,-116.8,35.5,-11.9,57,391,0.12,2.28,0.00,0.000,6,0.136,0.046,2968,2043,2430,0,0,0,0,0,0
$GC,533,-0.65,-116.8,51.7,-10.7,82,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2043,2430,0,0,0,0,0,0
$GC,877,-0.65,-116.8,89.2,-11.1,131,881,0.00,2.38,0.00,0.000,4,0.000,0.067,2957,3471,2430,0,0,0,0,0,0
$GC,903,-0.65,-116.8,92.5,-11.1,132,908,0.00,2.25,0.00,0.000,6,0.000,0.044,2958,2069,2430,0,0,0,0,0,0
$GC,1225,-0.65,-116.8,127.5,-10.7,148,1230,0.05,2.30,0.00,0.000,4,0.218,0.054,2973,647,2430,0,0,0,0,0,0
$GC,1291,-0.65,-116.8,134.9,-10.7,151,1296,0.00,2.28,0.00,0.000,6,0.000,0.042,2964,2076,2430,0,0,0,0,0,0
$GC,1621,-0.65,-116.8,168.2,-10.5,167,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2076,2430,0,0,0,0,0,0
$GC,1928,-0.65,-116.8,200.5,-9.6,182,1932,0.00,2.28,0.00,0.000,4,0.000,0.062,2954,3475,2430,0,0,0,0,0,0
$GC,2075,-0.65,-116.8,212.8,-8.4,188,2079,0.08,2.25,0.00,0.000,6,0.180,0.044,2971,2049,2430,0,0,0,0,0,0
$GC,2397,-0.68,-116.8,236.5,-7.8,204,2401,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,657,2431,0,0,0,0,0,0
$GC,2482,-0.68,-116.8,244.5,-9.8,208,2486,0.00,2.22,0.00,0.000,6,0.000,0.042,2963,2061,2431,0,0,0,0,0,0
$GC,2809,-0.68,-116.8,275.5,-9.6,224,2813,0.00,2.30,0.00,0.000,4,0.000,0.066,2952,3471,2431,0,0,0,0,0,0
$GC,2863,-0.68,-116.8,281.2,-10.1,226,2868,0.00,2.25,0.00,0.000,6,0.000,0.043,2953,2061,2431,0,0,0,0,0,0
$GC,3184,-0.68,-116.8,312.7,-9.8,242,3188,0.00,2.28,0.00,0.000,4,0.000,0.056,2953,656,2431,0,0,0,0,0,0
$GC,3323,-0.68,-116.8,327.6,-10.8,248,3328,0.03,2.28,0.00,0.000,6,0.178,0.046,2954,2060,2431,0,0,0,0,0,0
$GC,3643,-0.68,-116.8,358.8,-9.7,264,3647,0.00,2.33,0.00,0.000,4,0.000,0.065,2944,3474,2431,0,0,0,0,0,0
$GC,3721,-0.68,-116.8,366.7,-10.4,267,3726,0.08,2.22,0.00,0.000,6,0.180,0.044,2961,2059,2431,0,0,0,0,0,0
$GC,4037,-0.68,-116.8,394.8,-9.0,283,4041,0.00,2.28,0.00,0.000,4,0.000,0.056,2961,654,2431,0,0,0,0,0,0
$GC,4142,-0.68,-116.8,405.0,-10.0,287,4147,0.00,2.28,0.00,0.000,6,0.000,0.046,2953,2075,2431,0,0,0,0,0,0
$GC,4458,-0.68,-116.8,434.3,-9.1,303,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2075,2430,0,0,0,0,0,0
$GC,4766,-0.68,-116.8,462.6,-9.3,318,4770,0.00,2.28,0.00,0.000,4,0.000,0.061,2942,3469,2431,0,0,0,0,0,0
$GC,4829,-0.68,-116.8,468.4,-9.2,321,4834,0.08,2.20,0.00,0.000,6,0.177,0.042,2960,2056,2431,0,0,0,0,0,0
$GC,5157,-0.68,-116.8,497.4,-8.5,337,5161,0.00,2.25,0.00,0.000,4,0.000,0.057,2960,660,2431,0,0,0,0,0,0
$GC,5234,-0.68,-116.8,504.9,-9.1,340,5240,0.00,2.25,0.00,0.000,6,0.000,0.043,2951,2058,2431,0,0,0,0,0,0
$GC,5549,-0.68,-116.8,532.8,-8.8,356,5553,0.00,2.33,0.00,0.000,4,0.000,0.063,2941,3477,2431,0,0,0,0,0,0
$GC,5598,-0.68,-116.8,537.3,-9.2,358,5603,0.05,2.25,0.00,0.000,6,0.147,0.043,2958,2066,2431,0,0,0,0,0,0
$GC,5918,-0.68,-116.8,563.8,-8.2,374,5922,0.00,2.28,0.00,0.000,4,0.000,0.055,2959,648,2431,0,0,0,0,0,0
$GC,5989,-0.68,-116.8,570.2,-9.1,377,5994,0.00,2.28,0.00,0.000,6,0.000,0.043,2950,2063,2430,0,0,0,0,0,0
$GC,6311,-0.68,-116.8,596.9,-8.4,393,6315,0.00,2.33,0.00,0.000,4,0.000,0.067,2939,3470,2430,0,0,0,0,0,0
$GC,6373,-0.68,-116.8,602.3,-9.0,396,6378,0.10,2.20,0.00,0.000,6,0.164,0.044,2965,2057,2430,0,0,0,0,0,0
$GC,6701,-0.73,-116.8,627.1,-7.3,412,6705,0.00,2.28,0.00,0.000,4,0.000,0.057,2966,647,2430,0,0,0,0,0,0
$GC,6773,-0.73,-116.8,633.3,-8.2,415,6777,0.00,2.25,0.00,0.000,6,0.000,0.045,2956,2061,2430,0,0,0,0,0,0
$GC,7096,-0.77,-116.8,658.2,-7.9,431,7101,0.05,2.33,0.00,0.000,4,0.165,0.065,2903,3465,2429,0,0,0,0,0,0
$GC,7136,-0.69,-116.8,661.9,-9.5,433,7141,0.20,2.20,0.00,0.000,6,0.144,0.043,2960,2053,2429,0,0,0,0,0,0
$GC,7464,-0.73,-116.8,685.6,-6.9,449,7468,0.00,2.28,0.00,0.000,4,0.000,0.057,2960,659,2429,0,0,0,0,0,0
$GC,7507,-0.73,-116.8,689.1,-7.9,451,7512,0.00,2.22,0.00,0.000,6,0.000,0.044,2951,2062,2430,0,0,0,0,0,0
$GC,7835,-0.73,-116.8,713.2,-7.8,467,7839,0.00,2.30,0.00,0.000,4,0.000,0.067,2941,3463,2429,0,0,0,0,0,0
$GC,7897,-0.73,-116.8,718.2,-8.3,470,7901,0.00,2.22,0.00,0.000,6,0.000,0.042,2941,2049,2429,0,0,0,0,0,0
$GC,8223,-0.73,-116.8,745.4,-8.4,486,8227,0.00,2.25,0.00,0.000,4,0.000,0.056,2941,652,2429,0,0,0,0,0,0
$GC,8286,-0.73,-116.8,750.7,-9.2,489,8290,0.00,2.25,0.00,0.000,6,0.000,0.044,2932,2061,2429,0,0,0,0,0,0
$GC,8613,-0.73,-116.8,778.6,-8.4,505,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2062,2429,0,0,0,0,0,0
$GC,8921,-0.73,-116.8,805.5,-8.6,520,8925,0.00,2.33,0.00,0.000,4,0.000,0.066,2921,3468,2429,0,0,0,0,0,0
$GC,8992,-0.73,-116.8,812.1,-8.7,523,8997,0.05,2.25,0.00,0.000,6,0.152,0.043,2940,2061,2429,0,0,0,0,0,0
$GC,9314,-0.73,-116.8,839.1,-8.4,539,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2061,2429,0,0,0,0,0,0
$GC,9622,-0.73,-116.8,864.8,-8.6,554,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2060,2429,0,0,0,0,0,0
$GC,9932,-0.73,-116.8,891.8,-9.0,569,9936,0.00,2.30,0.00,0.000,4,0.000,0.057,2940,648,2428,0,0,0,0,0,0
$GC,10055,-0.73,-116.8,904.2,-9.9,574,10060,0.00,2.28,0.00,0.000,6,0.000,0.044,2931,2055,2428,0,0,0,0,0,0
$GC,10370,-0.73,-116.8,934.5,-9.7,590,10374,0.05,2.33,0.00,0.000,4,0.229,0.061,2933,3466,2428,0,0,0,0,0,0
$GC,10424,-0.73,-116.8,939.7,-9.5,592,10430,0.00,2.25,0.00,0.000,6,0.000,0.041,2933,2045,2428,0,0,0,0,0,0
$GC,10739,-0.73,-116.8,969.1,-9.3,608,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2045,2428,0,0,0,0,0,0
$GC,11050,-0.73,-116.8,998.1,-9.4,623,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2045,2428,0,0,0,0,0,0
$STATE,11067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11067,begin apogee
$GC,11073,-0.19,0.0,1000.1,9.2,624,11189,0.60,0.00,110.22,1.277,6,0.135,0.000,3117,1590,1949,0,0,0,0,0,0
$STATE,11190,end apogee,CONTROL_FINISHED_OK
$STATE,11190,begin climb
$GC,11192,0.76,116.8,1004.6,0.0,630,11319,0.93,2.60,116.30,1.229,4,0.086,0.057,3436,202,1472,0,0,0,0,0,0
$GC,11340,0.77,127.6,997.6,8.0,637,11360,0.00,2.45,12.40,1.084,6,0.000,0.036,3436,1614,1429,0,0,0,0,0,0
$GC,11687,0.77,127.6,966.6,9.5,654,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1615,1423,0,0,0,0,0,0
$GC,11997,0.77,127.6,936.1,10.0,669,12001,0.00,2.28,0.00,0.000,4,0.000,0.057,3436,2996,1422,0,0,0,0,0,0
$GC,12030,0.77,127.6,932.4,10.8,670,12036,0.03,2.20,0.00,0.000,6,0.273,0.036,3435,1602,1422,0,0,0,0,0,0
$GC,12344,0.77,127.6,899.9,10.2,686,12348,0.00,2.30,0.00,0.000,4,0.000,0.057,3445,199,1421,0,0,0,0,0,0
$GC,12450,0.77,127.6,888.6,11.1,690,12457,0.03,2.25,0.00,0.000,6,0.167,0.037,3434,1599,1420,0,0,0,0,0,0
$GC,12765,0.77,127.6,857.1,10.0,706,12769,0.00,2.30,0.00,0.000,4,0.000,0.055,3444,198,1420,0,0,0,0,0,0
$GC,12781,0.77,127.6,855.4,9.9,706,12787,0.00,2.25,0.00,0.000,6,0.000,0.038,3444,1607,1419,0,0,0,0,0,0
$GC,13096,0.77,127.6,823.4,9.9,722,13100,0.00,2.22,0.00,0.000,4,0.000,0.057,3444,2993,1419,0,0,0,0,0,0
$GC,13113,0.77,127.6,821.7,9.7,723,13118,0.08,2.17,0.00,0.000,6,0.194,0.037,3434,1593,1419,0,0,0,0,0,0
$GC,13445,0.77,127.6,791.6,8.9,739,13449,0.00,2.30,0.00,0.000,4,0.000,0.057,3445,190,1419,0,0,0,0,0,0
$GC,13539,0.77,127.6,782.4,10.4,743,13544,0.03,2.25,0.00,0.000,6,0.164,0.037,3434,1602,1419,0,0,0,0,0,0
$GC,13866,0.77,127.6,753.8,8.8,759,13870,0.00,2.30,0.00,0.000,4,0.000,0.054,3443,201,1419,0,0,0,0,0,0
$GC,13926,0.77,127.6,748.1,9.5,761,13931,0.00,2.22,0.00,0.000,6,0.000,0.037,3443,1600,1418,0,0,0,0,0,0
$GC,14243,0.77,127.6,719.1,9.1,777,14247,0.00,2.33,0.00,0.000,4,0.000,0.054,3453,192,1419,0,0,0,0,0,0
$GC,14277,0.73,127.6,716.0,9.7,778,14283,0.12,2.22,0.00,0.000,6,0.149,0.037,3418,1612,1418,0,0,0,0,0,0
$GC,14593,0.80,147.8,690.9,7.6,794,14614,0.08,0.00,18.92,1.046,6,0.122,0.000,3461,1612,1346,0,0,0,0,0,0
$GC,14920,0.80,147.8,659.0,9.8,810,14925,0.08,2.35,0.00,0.000,4,0.173,0.056,3452,201,1344,0,0,0,0,0,0
$GC,14969,0.80,147.8,654.2,9.8,812,14973,0.00,2.22,0.00,0.000,6,0.000,0.037,3452,1594,1344,0,0,0,0,0,0
$GC,15290,0.80,147.8,623.1,9.8,828,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1594,1344,0,0,0,0,0,0
$GC,15600,0.80,147.8,592.0,10.1,843,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1594,1344,0,0,0,0,0,0
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$STATE,21875,end climb,SURFACE_DEPTH_REACHED
$STATE,21876,begin surface coast
$FINISH,1.7,1.011758
$STATE,21908,end surface coast,CONTROL_FINISHED_OK
$STATE,21908,begin surface
$SM_CCo,21926,7.80,0.055,0,0,1133,200.16
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$TT8_MAMPS,0.027713
$HUMID,63.74
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.2,47.079
$10V_AH,9.7,49.400
$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
$DEVICE_SECS,23.850,209.900,289.025,7.800,0.000,24.715,20.928,268.786,0.000,0.000,37.756,2750.193,15461.280,434.693,3482.521,274.080,0.000,1799.470,0.000,3001.612,0.000,0.541,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353124
$DATA_FILE_SIZE,90399,1247
$CAP_FILE_SIZE,198847,0
$CFSIZE,2097086464,2040627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201015,005933,-4457.261,637.494,40,0.8,40,-24.4