version: 66.07.10.p01
glider: 573
mission: 12
dive: 399
start: 10 21 115 11 54 6
data:
$ID,573
$MISSION,12
$DIVE,399
$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,-22254.928
$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,43
$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,398
$GPS1,211015,114553,-4504.139,635.961,43,1.1,44,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-70.5
$GPS2,211015,115346,-4504.125,635.967,18,1.1,18,-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,295.2,15655,-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,24,begin dive
$GC,26,-0.76,-116.8,0.0,0.0,0,41,0.00,0.00,-13.52,0.000,2,0.000,0.000,81,2075,1396,0,0,0,0,0,0
$GC,44,-0.76,-116.8,3.0,-1.2,2,120,11.70,2.33,-55.10,0.000,4,0.232,0.078,2929,3445,2427,0,0,0,0,0,0
$GC,209,-0.68,-116.8,5.8,-8.2,28,217,0.10,2.22,0.00,0.000,6,0.140,0.044,2961,2070,2428,0,0,0,0,0,0
$GC,268,-0.68,-116.8,12.0,-10.5,37,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2069,2428,0,0,0,0,0,0
$GC,326,-0.68,-116.8,17.5,-9.4,46,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2069,2428,0,0,0,0,0,0
$GC,384,-0.68,-116.8,23.0,-9.6,55,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2070,2428,0,0,0,0,0,0
$GC,539,-0.68,-116.8,37.4,-9.5,80,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2070,2428,0,0,0,0,0,0
$GC,684,-0.68,-116.8,52.0,-10.1,105,692,0.00,2.33,0.00,0.000,4,0.000,0.055,2961,654,2429,0,0,0,0,0,0
$GC,715,-0.68,-116.8,55.2,-10.1,110,720,0.00,2.22,0.00,0.000,6,0.000,0.041,2952,2048,2429,0,0,0,0,0,0
$GC,1061,-0.68,-116.8,91.1,-10.6,157,1065,0.00,2.30,0.00,0.000,4,0.000,0.060,2942,3465,2428,0,0,0,0,0,0
$GC,1134,-0.65,-116.8,99.7,-11.3,160,1138,0.12,2.22,0.00,0.000,6,0.159,0.040,2974,2047,2429,0,0,0,0,0,0
$GC,1455,-0.65,-116.8,130.6,-9.5,176,1459,0.00,2.22,0.00,0.000,4,0.000,0.054,2975,659,2429,0,0,0,0,0,0
$GC,1482,-0.65,-116.8,133.7,-11.0,177,1486,0.00,2.22,0.00,0.000,6,0.000,0.039,2966,2056,2429,0,0,0,0,0,0
$GC,1806,-0.65,-116.8,164.5,-9.1,193,1810,0.00,2.28,0.00,0.000,4,0.000,0.057,2955,3467,2429,0,0,0,0,0,0
$GC,1855,-0.65,-116.8,169.2,-9.0,195,1860,0.03,2.22,0.00,0.000,6,0.169,0.039,2965,2059,2429,0,0,0,0,0,0
$GC,2179,-0.65,-116.8,196.3,-7.5,211,2183,0.00,2.28,0.00,0.000,4,0.000,0.056,2965,652,2429,0,0,0,0,0,0
$GC,2336,-0.65,-116.8,212.0,-10.3,218,2341,0.05,2.25,0.00,0.000,6,0.221,0.043,2968,2066,2429,0,0,0,0,0,0
$GC,2657,-0.65,-116.8,241.3,-8.6,234,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2066,2429,0,0,0,0,0,0
$GC,2969,-0.68,-116.8,267.4,-8.2,249,2973,0.00,2.28,0.00,0.000,4,0.000,0.063,2958,3463,2429,0,0,0,0,0,0
$GC,3012,-0.68,-116.8,270.9,-8.4,251,3016,0.00,2.20,0.00,0.000,6,0.000,0.038,2958,2048,2429,0,0,0,0,0,0
$GC,3341,-0.68,-116.8,298.7,-8.2,267,3345,0.00,2.22,0.00,0.000,4,0.000,0.053,2958,650,2429,0,0,0,0,0,0
$GC,3374,-0.68,-116.8,302.1,-9.6,268,3380,0.00,2.25,0.00,0.000,6,0.000,0.040,2949,2066,2429,0,0,0,0,0,0
$GC,3689,-0.68,-116.8,330.1,-8.9,284,3693,0.00,2.28,0.00,0.000,4,0.000,0.063,2939,3462,2429,0,0,0,0,0,0
$GC,3727,-0.68,-116.8,333.7,-9.2,286,3732,0.10,2.20,0.00,0.000,6,0.165,0.039,2964,2049,2429,0,0,0,0,0,0
$GC,4060,-0.71,-116.8,359.9,-7.7,302,4064,0.00,2.22,0.00,0.000,4,0.000,0.055,2965,660,2429,0,0,0,0,0,0
$GC,4122,-0.71,-116.8,365.1,-8.3,305,4126,0.00,2.20,0.00,0.000,6,0.000,0.041,2956,2060,2429,0,0,0,0,0,0
$GC,4455,-0.71,-116.8,392.1,-8.1,321,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2060,2429,0,0,0,0,0,0
$GC,4763,-0.71,-116.8,416.3,-7.6,336,4767,0.00,2.33,0.00,0.000,4,0.000,0.063,2946,3474,2430,0,0,0,0,0,0
$GC,4825,-0.71,-116.8,421.1,-8.5,339,4829,0.00,2.22,0.00,0.000,6,0.000,0.042,2946,2054,2429,0,0,0,0,0,0
$GC,5151,-0.71,-116.8,448.8,-8.9,355,5155,0.00,2.25,0.00,0.000,4,0.000,0.056,2945,650,2429,0,0,0,0,0,0
$GC,5172,-0.71,-116.8,451.0,-9.2,356,5177,0.03,2.25,0.00,0.000,6,0.180,0.043,2946,2053,2429,0,0,0,0,0,0
$GC,5498,-0.71,-116.8,482.2,-10.1,372,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2053,2429,0,0,0,0,0,0
$GC,5809,-0.71,-116.8,511.1,-9.1,387,5813,0.00,2.30,0.00,0.000,4,0.000,0.059,2936,3474,2429,0,0,0,0,0,0
$GC,5871,-0.71,-116.8,516.5,-8.8,390,5875,0.05,2.22,0.00,0.000,6,0.207,0.042,2948,2053,2429,0,0,0,0,0,0
$GC,6196,-0.71,-116.8,545.2,-8.8,406,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2053,2429,0,0,0,0,0,0
$GC,6506,-0.71,-116.8,572.2,-8.8,421,6510,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,656,2429,0,0,0,0,0,0
$GC,6546,-0.71,-116.8,575.8,-9.6,423,6550,0.00,2.22,0.00,0.000,6,0.000,0.043,2940,2059,2429,0,0,0,0,0,0
$GC,6873,-0.71,-116.8,604.4,-8.5,439,6877,0.00,2.30,0.00,0.000,4,0.000,0.063,2929,3472,2428,0,0,0,0,0,0
$GC,6921,-0.71,-116.8,608.9,-8.8,441,6926,0.05,2.25,0.00,0.000,6,0.148,0.042,2947,2058,2428,0,0,0,0,0,0
$GC,7244,-0.71,-116.8,634.3,-7.3,457,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2058,2428,0,0,0,0,0,0
$GC,7552,-0.71,-116.8,656.5,-7.1,472,7556,0.00,2.28,0.00,0.000,4,0.000,0.057,2947,657,2428,0,0,0,0,0,0
$GC,7623,-0.71,-116.8,662.3,-8.1,475,7628,0.00,2.25,0.00,0.000,6,0.000,0.044,2939,2064,2428,0,0,0,0,0,0
$GC,7945,-0.71,-116.8,685.4,-7.1,491,7949,0.00,2.30,0.00,0.000,4,0.000,0.063,2927,3465,2428,0,0,0,0,0,0
$GC,7978,-0.71,-116.8,688.1,-8.1,492,7984,0.10,2.20,0.00,0.000,6,0.170,0.041,2953,2054,2427,0,0,0,0,0,0
$GC,8295,-0.75,-116.8,709.5,-6.7,508,8299,0.00,2.28,0.00,0.000,4,0.000,0.057,2954,658,2427,0,0,0,0,0,0
$GC,8384,-0.75,-116.8,715.6,-6.8,512,8388,0.00,2.22,0.00,0.000,6,0.000,0.042,2945,2062,2427,0,0,0,0,0,0
$GC,8710,-0.75,-116.8,737.8,-7.1,528,8714,0.00,2.30,0.00,0.000,4,0.000,0.063,2934,3467,2427,0,0,0,0,0,0
$GC,8742,-0.75,-116.8,740.1,-7.0,529,8746,0.00,2.22,0.00,0.000,6,0.000,0.042,2934,2050,2427,0,0,0,0,0,0
$GC,9058,-0.75,-116.8,762.1,-6.7,545,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2050,2427,0,0,0,0,0,0
$GC,9366,-0.75,-116.8,782.3,-6.1,560,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2051,2427,0,0,0,0,0,0
$GC,9677,-0.75,-116.8,802.4,-6.7,575,9681,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,660,2426,0,0,0,0,0,0
$GC,9722,-0.75,-116.8,805.7,-7.6,577,9727,0.05,2.22,0.00,0.000,6,0.224,0.042,2937,2067,2426,0,0,0,0,0,0
$GC,10055,-0.75,-116.8,829.2,-7.3,593,10059,0.00,2.30,0.00,0.000,4,0.000,0.064,2927,3466,2426,0,0,0,0,0,0
$GC,10087,-0.75,-116.8,831.9,-8.1,594,10091,0.00,2.20,0.00,0.000,6,0.000,0.041,2927,2058,2426,0,0,0,0,0,0
$GC,10407,-0.75,-116.8,858.3,-8.7,610,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2058,2426,0,0,0,0,0,0
$GC,10718,-0.75,-116.8,885.9,-9.1,625,10722,0.00,2.28,0.00,0.000,4,0.000,0.055,2927,657,2426,0,0,0,0,0,0
$GC,10790,-0.72,-116.8,893.4,-10.1,628,10795,0.12,2.25,0.00,0.000,6,0.162,0.043,2951,2069,2426,0,0,0,0,0,0
$GC,11112,-0.76,-116.8,920.1,-8.1,644,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2069,2426,0,0,0,0,0,0
$GC,11421,-0.81,-116.8,944.8,-8.2,659,11423,0.10,0.00,0.00,0.000,6,0.100,0.000,2897,2070,2426,0,0,0,0,0,0
$GC,11729,-0.74,-116.8,975.9,-10.3,674,11734,0.15,2.30,0.00,0.000,4,0.161,0.063,2929,3465,2426,0,0,0,0,0,0
$GC,11784,-0.74,-116.8,981.0,-8.4,676,11789,0.00,2.22,0.00,0.000,6,0.000,0.041,2929,2060,2426,0,0,0,0,0,0
$STATE,12014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12015,begin apogee
$GC,12020,-0.19,0.0,1001.6,8.7,688,12136,0.62,0.00,110.00,1.273,6,0.134,0.000,3120,1590,1949,0,0,0,0,0,0
$STATE,12137,end apogee,CONTROL_FINISHED_OK
$STATE,12137,begin climb
$GC,12139,0.76,116.8,1005.6,0.0,694,12260,0.90,0.00,116.82,1.226,6,0.086,0.000,3419,1590,1474,0,0,0,0,0,0
$GC,12570,0.76,116.8,973.9,8.6,715,12574,0.00,2.38,0.00,0.000,4,0.000,0.057,3430,200,1465,0,0,0,0,0,0
$GC,12618,0.76,116.8,969.2,9.7,717,12623,0.00,2.33,0.00,0.000,6,0.000,0.037,3430,1614,1465,0,0,0,0,0,0
$GC,12940,0.76,116.8,940.3,8.8,733,12944,0.00,2.28,0.00,0.000,4,0.000,0.054,3430,3004,1464,0,0,0,0,0,0
$GC,12984,0.76,116.8,936.2,10.1,735,12988,0.00,2.25,0.00,0.000,6,0.000,0.036,3439,1600,1464,0,0,0,0,0,0
$GC,13312,0.76,119.2,908.1,8.4,751,13316,0.00,2.30,0.00,0.000,4,0.000,0.057,3450,192,1463,0,0,0,0,0,0
$GC,13457,0.72,119.2,894.1,9.9,757,13462,0.12,2.25,0.00,0.000,6,0.148,0.037,3415,1616,1462,0,0,0,0,0,0
$GC,13775,0.78,148.7,870.5,7.1,773,13808,0.05,0.00,30.73,1.168,6,0.166,0.000,3451,1616,1342,0,0,0,0,0,0
$GC,14103,0.78,148.7,839.1,9.5,789,14108,0.05,2.38,0.00,0.000,4,0.207,0.055,3449,193,1337,0,0,0,0,0,0
$GC,14171,0.78,148.7,832.6,9.8,792,14175,0.00,2.22,0.00,0.000,6,0.000,0.036,3449,1601,1337,0,0,0,0,0,0
$GC,14490,0.78,148.7,802.5,9.3,808,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1601,1337,0,0,0,0,0,0
$GC,14801,0.78,148.7,774.2,9.2,823,14805,0.00,2.33,0.00,0.000,4,0.000,0.054,3458,189,1336,0,0,0,0,0,0
$GC,14850,0.78,148.7,769.3,10.1,825,14855,0.05,2.25,0.00,0.000,6,0.136,0.037,3440,1599,1336,0,0,0,0,0,0
$GC,15172,0.78,148.7,741.6,8.8,841,15176,0.00,2.33,0.00,0.000,4,0.000,0.054,3449,186,1336,0,0,0,0,0,0
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$STATE,23022,end climb,SURFACE_DEPTH_REACHED
$STATE,23022,begin surface coast
$FINISH,2.1,1.023438
$STATE,23036,end surface coast,CONTROL_FINISHED_OK
$STATE,23036,begin surface
$SM_CCo,23056,6.85,0.057,0,0,1132,200.16
$SM_GC,4.36,0.00,0.00,6.85,0.000,0.000,0.057,81,2046,1132,-9.70,-0.40,200.16
$IRIDIUM_FIX,-4447.43,637.25,160808,212147
$TT8_MAMPS,0.026964
$HUMID,64.13
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.2,47.919
$10V_AH,9.7,50.255
$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,23.900,200.350,294.925,6.850,0.000,26.607,46.190,258.716,0.000,0.000,20.466,2862.129,16374.615,470.087,3553.798,276.143,0.000,1840.872,0.000,3067.887,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,78.030,1272.960,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.006,1846.859,993.292,594.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,97050,1311
$CAP_FILE_SIZE,202300,0
$CFSIZE,2097086464,2039709696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211015,181933,-4503.524,633.239,26,0.9,26,-24.4