version: 66.07.10.p01
glider: 573
mission: 12
dive: 405
start: 10 22 115 22 46 49
data:
$ID,573
$MISSION,12
$DIVE,405
$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,-22271.451
$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,31
$R_STBD_OVSHOOT,41
$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,404
$GPS1,221015,223903,-4504.058,624.205,34,1.0,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-71.0
$GPS2,221015,224629,-4504.054,624.225,21,1.6,21,-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,23.3,14919,-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,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.30,0.000,2,0.000,0.000,66,2067,1507,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-1.8,3,113,11.82,2.33,-40.60,0.000,4,0.234,0.067,2933,652,2425,0,0,0,0,0,0
$GC,214,-0.64,-116.8,14.8,-11.1,29,222,0.15,2.30,0.00,0.000,6,0.139,0.045,2971,2051,2427,0,0,0,0,0,0
$GC,273,-0.64,-116.8,21.2,-9.6,38,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2427,0,0,0,0,0,0
$GC,428,-0.64,-116.8,35.9,-9.4,63,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2051,2427,0,0,0,0,0,0
$GC,577,-0.64,-116.8,50.0,-9.4,88,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2427,0,0,0,0,0,0
$GC,925,-0.64,-116.8,84.4,-10.1,144,929,0.00,2.28,0.00,0.000,4,0.000,0.060,2961,3471,2428,0,0,0,0,0,0
$GC,975,-0.64,-116.8,89.7,-10.6,146,979,0.00,2.25,0.00,0.000,6,0.000,0.041,2961,2055,2428,0,0,0,0,0,0
$GC,1297,-0.64,-116.8,122.7,-10.5,162,1299,0.05,0.00,0.00,0.000,6,0.227,0.000,2972,2055,2428,0,0,0,0,0,0
$GC,1608,-0.64,-116.8,152.9,-9.5,177,1612,0.00,2.25,0.00,0.000,4,0.000,0.056,2973,651,2428,0,0,0,0,0,0
$GC,1652,-0.64,-116.8,157.2,-10.8,179,1656,0.00,2.25,0.00,0.000,6,0.000,0.043,2964,2064,2428,0,0,0,0,0,0
$GC,1980,-0.64,-116.8,190.3,-9.8,195,1984,0.00,2.28,0.00,0.000,4,0.000,0.064,2953,3463,2428,0,0,0,0,0,0
$GC,2102,-0.64,-116.8,203.6,-10.8,200,2110,0.05,2.22,0.00,0.000,6,0.150,0.039,2971,2056,2428,0,0,0,0,0,0
$GC,2419,-0.67,-116.8,234.0,-9.0,216,2423,0.00,2.22,0.00,0.000,4,0.000,0.055,2971,659,2428,0,0,0,0,0,0
$GC,2468,-0.67,-116.8,238.7,-9.6,218,2472,0.00,2.25,0.00,0.000,6,0.000,0.041,2962,2063,2429,0,0,0,0,0,0
$GC,2790,-0.67,-116.8,264.4,-7.6,234,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2063,2428,0,0,0,0,0,0
$GC,3102,-0.67,-116.8,287.5,-7.6,249,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2063,2428,0,0,0,0,0,0
$GC,3408,-0.67,-116.8,312.0,-8.2,264,3412,0.00,2.30,0.00,0.000,4,0.000,0.063,2951,3469,2428,0,0,0,0,0,0
$GC,3451,-0.67,-116.8,315.8,-8.7,266,3456,0.03,2.22,0.00,0.000,6,0.175,0.041,2961,2065,2428,0,0,0,0,0,0
$GC,3778,-0.67,-116.8,342.1,-7.8,282,3782,0.00,2.25,0.00,0.000,4,0.000,0.054,2961,653,2428,0,0,0,0,0,0
$GC,3816,-0.67,-116.8,345.2,-8.1,284,3821,0.00,2.22,0.00,0.000,6,0.000,0.041,2952,2066,2428,0,0,0,0,0,0
$GC,4142,-0.67,-116.8,370.2,-7.6,300,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2066,2429,0,0,0,0,0,0
$GC,4453,-0.67,-116.8,395.5,-8.4,315,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2066,2429,0,0,0,0,0,0
$GC,4760,-0.67,-116.8,423.5,-9.3,330,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2066,2429,0,0,0,0,0,0
$GC,5071,-0.67,-116.8,452.4,-9.5,345,5073,0.03,0.00,0.00,0.000,6,0.298,0.000,2961,2066,2428,0,0,0,0,0,0
$GC,5380,-0.70,-116.8,479.8,-8.6,360,5384,0.00,2.28,0.00,0.000,4,0.000,0.055,2961,650,2428,0,0,0,0,0,0
$GC,5406,-0.70,-116.8,482.4,-9.7,361,5411,0.00,2.25,0.00,0.000,6,0.000,0.042,2952,2056,2428,0,0,0,0,0,0
$GC,5728,-0.70,-116.8,512.2,-9.4,377,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2428,0,0,0,0,0,0
$GC,6036,-0.70,-116.8,540.3,-9.0,392,6040,0.00,2.28,0.00,0.000,4,0.000,0.059,2942,3463,2428,0,0,0,0,0,0
$GC,6075,-0.70,-116.8,543.9,-9.5,394,6079,0.00,2.20,0.00,0.000,6,0.000,0.040,2942,2052,2428,0,0,0,0,0,0
$GC,6406,-0.70,-116.8,573.5,-9.2,410,6408,0.03,0.00,0.00,0.000,6,0.267,0.000,2951,2052,2428,0,0,0,0,0,0
$GC,6717,-0.70,-116.8,598.6,-8.0,425,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2053,2428,0,0,0,0,0,0
$GC,7025,-0.70,-116.8,623.4,-8.1,440,7029,0.00,2.28,0.00,0.000,4,0.000,0.057,2951,650,2428,0,0,0,0,0,0
$GC,7064,-0.70,-116.8,626.7,-8.9,442,7068,0.00,2.22,0.00,0.000,6,0.000,0.043,2942,2069,2428,0,0,0,0,0,0
$GC,7395,-0.70,-116.8,655.5,-8.9,458,7399,0.00,2.28,0.00,0.000,4,0.000,0.054,2942,659,2428,0,0,0,0,0,0
$GC,7422,-0.70,-116.8,658.0,-9.0,459,7427,0.05,2.25,0.00,0.000,6,0.155,0.042,2951,2055,2427,0,0,0,0,0,0
$GC,7744,-0.70,-116.8,685.1,-8.4,475,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2055,2427,0,0,0,0,0,0
$GC,8051,-0.70,-116.8,711.2,-8.5,490,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2055,2427,0,0,0,0,0,0
$GC,8362,-0.70,-116.8,737.0,-8.5,505,8366,0.00,2.30,0.00,0.000,4,0.000,0.059,2940,3471,2427,0,0,0,0,0,0
$GC,8434,-0.70,-116.8,743.6,-9.2,508,8438,0.00,2.25,0.00,0.000,6,0.000,0.043,2940,2061,2427,0,0,0,0,0,0
$GC,8755,-0.70,-116.8,771.3,-8.7,524,8759,0.05,2.28,0.00,0.000,4,0.217,0.056,2952,653,2426,0,0,0,0,0,0
$GC,8826,-0.70,-116.8,777.7,-9.4,527,8830,0.00,2.28,0.00,0.000,6,0.000,0.043,2944,2064,2427,0,0,0,0,0,0
$GC,9148,-0.70,-116.8,803.8,-8.0,543,9152,0.00,2.30,0.00,0.000,4,0.000,0.065,2933,3466,2426,0,0,0,0,0,0
$GC,9189,-0.70,-116.8,807.1,-8.5,545,9193,0.08,2.20,0.00,0.000,6,0.184,0.041,2952,2056,2426,0,0,0,0,0,0
$GC,9517,-0.75,-116.8,831.3,-7.3,561,9521,0.00,2.25,0.00,0.000,4,0.000,0.056,2953,660,2426,0,0,0,0,0,0
$GC,9549,-0.75,-116.8,834.2,-8.7,562,9555,0.00,2.25,0.00,0.000,6,0.000,0.041,2944,2062,2426,0,0,0,0,0,0
$GC,9864,-0.75,-116.8,858.9,-7.8,578,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2426,0,0,0,0,0,0
$GC,10175,-0.75,-116.8,884.4,-8.7,593,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2425,0,0,0,0,0,0
$GC,10482,-0.75,-116.8,911.1,-8.7,608,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2425,0,0,0,0,0,0
$GC,10794,-0.75,-116.8,938.0,-8.5,623,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2425,0,0,0,0,0,0
$GC,11102,-0.75,-116.8,964.0,-8.2,638,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2425,0,0,0,0,0,0
$GC,11413,-0.78,-116.8,987.6,-7.3,653,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2425,0,0,0,0,0,0
$STATE,11616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11616,begin apogee
$GC,11622,-0.19,0.0,1001.0,6.6,663,11738,0.57,0.00,110.22,1.268,6,0.129,0.000,3122,1591,1948,0,0,0,0,0,0
$STATE,11738,end apogee,CONTROL_FINISHED_OK
$STATE,11739,begin climb
$GC,11740,0.76,116.8,1002.6,0.0,669,11867,0.90,2.60,115.97,1.225,4,0.084,0.057,3434,202,1473,0,0,0,0,0,0
$GC,11908,0.76,116.8,989.9,10.3,677,11912,0.00,2.40,0.00,0.000,6,0.000,0.035,3434,1619,1469,0,0,0,0,0,0
$GC,12234,0.76,116.8,956.4,10.1,693,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1465,0,0,0,0,0,0
$GC,12542,0.76,116.8,925.4,10.0,708,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1464,0,0,0,0,0,0
$GC,12852,0.76,116.8,895.5,9.3,723,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1463,0,0,0,0,0,0
$GC,13161,0.76,117.4,869.1,8.5,738,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1462,0,0,0,0,0,0
$GC,13471,0.76,124.9,843.7,8.2,753,13485,0.00,2.40,7.18,0.946,4,0.000,0.055,3444,190,1440,0,0,0,0,0,0
$GC,13561,0.76,124.9,835.6,9.0,757,13565,0.00,2.20,0.00,0.000,6,0.000,0.037,3443,1605,1439,0,0,0,0,0,0
$GC,13887,0.76,124.9,805.6,9.3,773,13891,0.00,2.22,0.00,0.000,4,0.000,0.054,3443,2999,1439,0,0,0,0,0,0
$GC,13943,0.73,124.9,799.8,10.5,775,13948,0.12,2.17,0.00,0.000,6,0.160,0.037,3418,1599,1439,0,0,0,0,0,0
$GC,14259,0.78,124.9,771.8,8.9,791,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1598,1438,0,0,0,0,0,0
$GC,14567,0.82,124.9,744.5,8.9,806,14572,0.10,2.30,0.00,0.000,4,0.099,0.057,3482,199,1438,0,0,0,0,0,0
$GC,14630,0.74,124.9,737.7,12.0,809,14635,0.20,2.20,0.00,0.000,6,0.142,0.037,3423,1605,1437,0,0,0,0,0,0
$GC,14958,0.78,129.8,709.5,8.3,825,14966,0.00,0.00,6.15,0.848,6,0.000,0.000,3423,1605,1420,0,0,0,0,0,0
$GC,15265,0.83,131.8,683.4,8.4,840,15267,0.08,0.00,0.00,0.000,6,0.121,0.000,3466,1605,1419,0,0,0,0,0,0
$GC,15575,0.79,131.8,653.2,9.9,855,15580,0.10,2.33,0.00,0.000,4,0.159,0.055,3449,195,1419,0,0,0,0,0,0
$GC,15641,0.79,131.8,646.8,9.6,858,15646,0.00,2.20,0.00,0.000,6,0.000,0.037,3449,1621,1419,0,0,0,0,0,0
$GC,15967,0.79,131.8,617.2,9.4,874,15968,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1621,1419,0,0,0,0,0,0
$GC,16278,0.79,131.8,586.9,9.9,889,16282,0.00,2.33,0.00,0.000,4,0.000,0.054,3459,198,1419,0,0,0,0,0,0
$GC,16355,0.79,131.8,578.8,11.0,892,16361,0.05,2.20,0.00,0.000,6,0.137,0.037,3438,1586,1418,0,0,0,0,0,0
$GC,16670,0.79,131.8,550.5,8.7,908,16674,0.00,2.25,0.00,0.000,4,0.000,0.053,3439,3004,1418,0,0,0,0,0,0
$GC,16752,0.79,131.8,542.9,8.6,911,16757,0.00,2.20,0.00,0.000,6,0.000,0.037,3447,1605,1418,0,0,0,0,0,0
$GC,17069,0.79,142.5,516.3,8.0,927,17086,0.00,0.00,14.02,0.916,6,0.000,0.000,3447,1605,1368,0,0,0,0,0,0
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$GC,17919,0.87,167.3,445.7,8.4,967,17924,0.00,2.22,0.00,0.000,6,0.000,0.036,3447,1611,1275,0,0,0,0,0,0
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$STATE,22488,end climb,SURFACE_DEPTH_REACHED
$STATE,22488,begin surface coast
$FINISH,1.9,1.012898
$STATE,22520,end surface coast,CONTROL_FINISHED_OK
$STATE,22520,begin surface
$SM_CCo,22541,14.73,0.055,0,0,1133,200.16
$SM_GC,3.51,0.00,0.00,14.73,0.000,0.000,0.055,77,2075,1133,-9.71,0.42,200.16
$IRIDIUM_FIX,-4444.39,624.79,180808,070750
$TT8_MAMPS,0.026964
$HUMID,64.17
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.2,48.602
$10V_AH,9.7,50.966
$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
$DEVICE_SECS,24.100,132.950,283.425,14.725,0.000,28.153,20.571,256.746,0.000,0.000,24.127,2742.096,16277.097,407.276,3316.608,260.186,0.000,1651.384,0.000,2871.417,0.000,0.540,0.000
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$SENSOR_SECS,628.262,1828.650,993.585,585.095,0.000,0.000,0.000,0.000,0.000,0.000
$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,94190,1291
$CAP_FILE_SIZE,177915,0
$CFSIZE,2097086464,2038956032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231015,050403,-4500.910,626.691,41,0.9,41,-24.4