version: 66.07.10.p01
glider: 573
mission: 12
dive: 412
start: 10 24 115 15 4 50
data:
$ID,573
$MISSION,12
$DIVE,412
$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,-22292.051
$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,45
$R_STBD_OVSHOOT,31
$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,411
$GPS1,241015,145552,-4455.850,629.651,57,0.8,57,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-68.5
$GPS2,241015,150429,-4455.853,629.742,17,0.7,18,-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,116.3,8209,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.55,0.000,2,0.000,0.000,62,2065,1629,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-4.3,4,112,11.65,2.30,-38.60,0.000,4,0.229,0.070,2924,3465,2424,0,0,0,0,0,0
$GC,390,-0.68,-116.8,33.4,-11.4,58,398,0.10,2.20,0.00,0.000,6,0.144,0.039,2957,2072,2427,0,0,0,0,0,0
$GC,540,-0.68,-116.8,49.3,-10.5,83,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2072,2427,0,0,0,0,0,0
$GC,899,-0.68,-116.8,86.1,-9.9,138,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2072,2427,0,0,0,0,0,0
$GC,1210,-0.68,-116.8,117.3,-10.3,153,1214,0.00,2.28,0.00,0.000,4,0.000,0.058,2948,3471,2427,0,0,0,0,0,0
$GC,1276,-0.68,-116.8,124.8,-10.5,156,1280,0.03,2.22,0.00,0.000,6,0.174,0.041,2958,2058,2427,0,0,0,0,0,0
$GC,1603,-0.68,-116.8,157.6,-9.9,172,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2058,2427,0,0,0,0,0,0
$GC,1914,-0.68,-116.8,187.7,-9.4,187,1919,0.00,2.25,0.00,0.000,4,0.000,0.055,2958,651,2428,0,0,0,0,0,0
$GC,1958,-0.68,-116.8,191.7,-10.1,189,1962,0.00,2.22,0.00,0.000,6,0.000,0.043,2950,2061,2427,0,0,0,0,0,0
$GC,2287,-0.68,-116.8,221.2,-8.5,205,2292,0.03,2.30,0.00,0.000,4,0.279,0.065,2949,3471,2427,0,0,0,0,0,0
$GC,2374,-0.68,-116.8,228.0,-7.4,209,2379,0.05,2.20,0.00,0.000,6,0.207,0.041,2961,2052,2427,0,0,0,0,0,0
$GC,2704,-0.68,-116.8,251.9,-7.6,225,2708,0.00,2.20,0.00,0.000,4,0.000,0.054,2961,662,2428,0,0,0,0,0,0
$GC,2758,-0.68,-116.8,257.0,-8.9,227,2764,0.00,2.20,0.00,0.000,6,0.000,0.038,2952,2056,2428,0,0,0,0,0,0
$GC,3077,-0.68,-116.8,283.5,-8.4,243,3081,0.00,2.25,0.00,0.000,4,0.000,0.060,2942,3468,2427,0,0,0,0,0,0
$GC,3166,-0.68,-116.8,292.0,-9.2,247,3171,0.05,2.20,0.00,0.000,6,0.146,0.039,2959,2061,2427,0,0,0,0,0,0
$GC,3494,-0.68,-116.8,319.0,-8.2,263,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2062,2428,0,0,0,0,0,0
$GC,3801,-0.68,-116.8,345.9,-8.8,278,3805,0.00,2.22,0.00,0.000,4,0.000,0.054,2959,655,2428,0,0,0,0,0,0
$GC,3834,-0.68,-116.8,349.0,-9.6,279,3839,0.00,2.25,0.00,0.000,6,0.000,0.044,2951,2063,2428,0,0,0,0,0,0
$GC,4151,-0.68,-116.8,376.3,-8.3,295,4155,0.00,2.30,0.00,0.000,4,0.000,0.064,2940,3469,2428,0,0,0,0,0,0
$GC,4205,-0.68,-116.8,381.4,-9.2,297,4211,0.05,2.20,0.00,0.000,6,0.145,0.041,2958,2067,2428,0,0,0,0,0,0
$GC,4522,-0.68,-116.8,405.6,-7.8,313,4526,0.00,2.25,0.00,0.000,4,0.000,0.054,2958,658,2428,0,0,0,0,0,0
$GC,4563,-0.68,-116.8,408.9,-8.2,315,4567,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2064,2428,0,0,0,0,0,0
$GC,4890,-0.68,-116.8,435.6,-8.1,331,4894,0.00,2.30,0.00,0.000,4,0.000,0.066,2939,3467,2428,0,0,0,0,0,0
$GC,4995,-0.68,-116.8,444.6,-8.5,336,5000,0.10,2.20,0.00,0.000,6,0.164,0.041,2965,2051,2427,0,0,0,0,0,0
$GC,5322,-0.71,-116.8,469.8,-7.9,352,5327,0.00,2.22,0.00,0.000,4,0.000,0.055,2966,654,2427,0,0,0,0,0,0
$GC,5355,-0.71,-116.8,472.8,-8.9,353,5360,0.00,2.25,0.00,0.000,6,0.000,0.043,2956,2062,2427,0,0,0,0,0,0
$GC,5672,-0.71,-116.8,498.3,-8.1,369,5676,0.00,2.28,0.00,0.000,4,0.000,0.065,2946,3472,2427,0,0,0,0,0,0
$GC,5783,-0.71,-116.8,508.1,-9.1,374,5787,0.00,2.22,0.00,0.000,6,0.000,0.043,2947,2062,2427,0,0,0,0,0,0
$GC,6109,-0.71,-116.8,536.3,-8.7,390,6113,0.00,2.30,0.00,0.000,4,0.000,0.063,2937,3465,2427,0,0,0,0,0,0
$GC,6147,-0.71,-116.8,539.9,-9.7,392,6151,0.00,2.20,0.00,0.000,6,0.000,0.041,2938,2047,2427,0,0,0,0,0,0
$GC,6478,-0.71,-116.8,569.8,-9.0,408,6480,0.05,0.00,0.00,0.000,6,0.222,0.000,2949,2047,2427,0,0,0,0,0,0
$GC,6789,-0.71,-116.8,595.1,-8.1,423,6793,0.00,2.20,0.00,0.000,4,0.000,0.054,2949,659,2427,0,0,0,0,0,0
$GC,6830,-0.71,-116.8,598.5,-8.5,425,6834,0.00,2.20,0.00,0.000,6,0.000,0.041,2940,2061,2427,0,0,0,0,0,0
$GC,7157,-0.71,-116.8,624.4,-7.7,441,7161,0.00,2.28,0.00,0.000,4,0.000,0.065,2930,3463,2426,0,0,0,0,0,0
$GC,7223,-0.71,-116.8,629.8,-7.9,444,7227,0.08,2.17,0.00,0.000,6,0.178,0.041,2948,2061,2426,0,0,0,0,0,0
$GC,7548,-0.71,-116.8,655.0,-8.2,460,7552,0.00,2.25,0.00,0.000,4,0.000,0.055,2949,652,2426,0,0,0,0,0,0
$GC,7587,-0.71,-116.8,658.2,-8.4,462,7591,0.00,2.22,0.00,0.000,6,0.000,0.043,2939,2061,2426,0,0,0,0,0,0
$GC,7913,-0.71,-116.8,687.7,-9.5,478,7917,0.00,2.30,0.00,0.000,4,0.000,0.065,2929,3464,2425,0,0,0,0,0,0
$GC,7962,-0.71,-116.8,692.6,-9.6,480,7967,0.08,2.20,0.00,0.000,6,0.138,0.041,2955,2065,2425,0,0,0,0,0,0
$GC,8284,-0.75,-116.8,718.6,-7.8,496,8288,0.00,2.25,0.00,0.000,4,0.000,0.054,2955,649,2425,0,0,0,0,0,0
$GC,8327,-0.75,-116.8,722.3,-8.4,498,8331,0.00,2.22,0.00,0.000,6,0.000,0.042,2946,2063,2425,0,0,0,0,0,0
$GC,8654,-0.75,-116.8,746.5,-7.1,514,8658,0.00,2.28,0.00,0.000,4,0.000,0.066,2935,3469,2424,0,0,0,0,0,0
$GC,8737,-0.75,-116.8,752.7,-7.7,518,8742,0.00,2.22,0.00,0.000,6,0.000,0.042,2936,2042,2425,0,0,0,0,0,0
$GC,9063,-0.75,-116.8,776.5,-7.2,534,9067,0.00,2.20,0.00,0.000,4,0.000,0.054,2935,658,2424,0,0,0,0,0,0
$GC,9096,-0.72,-116.8,778.9,-8.3,535,9100,0.10,2.22,0.00,0.000,6,0.173,0.041,2952,2072,2424,0,0,0,0,0,0
$GC,9412,-0.75,-116.8,801.6,-7.3,551,9416,0.00,2.28,0.00,0.000,4,0.000,0.064,2942,3464,2424,0,0,0,0,0,0
$GC,9483,-0.75,-116.8,807.4,-7.9,554,9488,0.00,2.17,0.00,0.000,6,0.000,0.041,2942,2053,2424,0,0,0,0,0,0
$GC,9809,-0.75,-116.8,835.3,-9.2,570,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2052,2424,0,0,0,0,0,0
$GC,10120,-0.75,-116.8,863.4,-8.9,585,10124,0.00,2.22,0.00,0.000,4,0.000,0.057,2942,664,2424,0,0,0,0,0,0
$GC,10152,-0.75,-116.8,866.5,-9.4,586,10156,0.00,2.22,0.00,0.000,6,0.000,0.041,2933,2060,2424,0,0,0,0,0,0
$GC,10473,-0.75,-116.8,893.8,-8.4,602,10477,0.00,2.28,0.00,0.000,4,0.000,0.064,2922,3463,2424,0,0,0,0,0,0
$GC,10561,-0.75,-116.8,901.3,-8.6,606,10566,0.05,2.20,0.00,0.000,6,0.153,0.041,2940,2069,2424,0,0,0,0,0,0
$GC,10888,-0.75,-116.8,924.0,-6.7,622,10892,0.00,2.25,0.00,0.000,4,0.000,0.054,2941,656,2423,0,0,0,0,0,0
$GC,10971,-0.75,-116.8,929.9,-7.3,626,10975,0.00,2.22,0.00,0.000,6,0.000,0.041,2932,2067,2423,0,0,0,0,0,0
$GC,11297,-0.75,-116.8,951.3,-6.7,642,11301,0.00,2.30,0.00,0.000,4,0.000,0.066,2921,3469,2423,0,0,0,0,0,0
$GC,11371,-0.75,-116.8,956.6,-6.9,645,11376,0.08,2.22,0.00,0.000,6,0.182,0.042,2939,2047,2423,0,0,0,0,0,0
$GC,11685,-0.75,-116.8,978.0,-6.7,660,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2047,2423,0,0,0,0,0,0
$GC,11996,-0.75,-116.8,999.8,-7.2,675,12000,0.00,2.12,0.00,0.000,3,0.000,0.059,2931,3346,2423,0,0,0,0,0,0
$STATE,12001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12001,begin apogee
$GC,12009,-0.19,0.0,1000.3,7.1,675,12125,0.57,0.00,108.90,1.268,6,0.136,0.000,3111,1592,1949,0,0,0,0,0,0
$STATE,12125,end apogee,CONTROL_FINISHED_OK
$STATE,12125,begin climb
$GC,12127,0.76,116.8,1003.3,0.0,681,12254,0.95,2.58,116.28,1.220,4,0.090,0.055,3435,199,1473,0,0,0,0,0,0
$GC,12295,0.76,116.8,992.9,9.4,689,12299,0.00,2.42,0.00,0.000,6,0.000,0.036,3435,1619,1469,0,0,0,0,0,0
$GC,12621,0.76,116.8,962.7,9.4,705,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1618,1465,0,0,0,0,0,0
$GC,12929,0.76,116.8,932.5,9.8,720,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1619,1463,0,0,0,0,0,0
$GC,13240,0.76,116.8,904.0,8.9,735,13244,0.00,2.35,0.00,0.000,4,0.000,0.055,3445,195,1462,0,0,0,0,0,0
$GC,13289,0.73,116.8,899.4,9.8,737,13294,0.10,2.22,0.00,0.000,6,0.157,0.037,3417,1610,1461,0,0,0,0,0,0
$GC,13612,0.78,141.5,875.4,7.3,753,13640,0.00,2.35,23.12,1.147,4,0.000,0.054,3426,186,1374,0,0,0,0,0,0
$GC,13657,0.85,184.3,871.9,6.4,755,13708,0.10,2.22,43.28,1.162,6,0.100,0.037,3476,1597,1197,0,0,0,0,0,0
$GC,14018,0.85,184.3,832.3,11.8,773,14022,0.08,2.35,0.00,0.000,4,0.174,0.054,3466,185,1191,0,0,0,0,0,0
$GC,14072,0.85,184.3,825.8,11.2,775,14077,0.00,2.28,0.00,0.000,6,0.000,0.037,3466,1611,1190,0,0,0,0,0,0
$GC,14389,0.85,184.3,789.7,11.5,791,14393,0.00,2.33,0.00,0.000,4,0.000,0.054,3476,195,1189,0,0,0,0,0,0
$GC,14428,0.81,184.3,784.8,12.6,793,14433,0.10,2.20,0.00,0.000,6,0.155,0.037,3447,1598,1189,0,0,0,0,0,0
$GC,14755,0.81,184.3,750.3,10.7,809,14759,0.00,2.28,0.00,0.000,4,0.000,0.054,3457,193,1188,0,0,0,0,0,0
$GC,14839,0.81,184.3,740.6,11.5,813,14843,0.00,2.20,0.00,0.000,6,0.000,0.037,3457,1599,1188,0,0,0,0,0,0
$GC,15166,0.81,184.3,705.7,10.6,829,15170,0.00,2.30,0.00,0.000,4,0.000,0.055,3467,192,1187,0,0,0,0,0,0
$GC,15210,0.81,184.3,700.6,11.9,831,15215,0.05,2.22,0.00,0.000,6,0.130,0.037,3447,1598,1187,0,0,0,0,0,0
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$STATE,21876,end climb,SURFACE_DEPTH_REACHED
$STATE,21876,begin surface coast
$FINISH,1.9,1.023400
$STATE,21890,end surface coast,CONTROL_FINISHED_OK
$STATE,21890,begin surface
$SM_CCo,21911,0.00,0.000,0,0,1134,200.16
$SM_GC,3.70,0.00,0.00,0.00,0.000,0.000,0.000,69,2081,1134,-9.74,0.59,200.16
$IRIDIUM_FIX,-4438.33,621.08,190808,212119
$TT8_MAMPS,0.026964
$HUMID,64.96
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,22.2,49.353
$10V_AH,9.7,51.788
$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,23.875,230.700,300.275,0.000,0.000,27.233,20.633,310.411,0.250,0.000,22.160,2750.659,15444.543,438.034,3491.153,292.536,0.000,1818.737,0.000,2989.312,0.000,0.540,0.000
$DEVICE_MAMPS,279.225,70.380,1268.370,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.779,1729.676,914.070,519.752,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,90573,1239
$CAP_FILE_SIZE,204965,0
$CFSIZE,2097086464,2038005760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241015,211127,-4456.118,634.501,45,0.8,50,-24.4