version: 66.07.10.p01
glider: 573
mission: 12
dive: 426
start: 10 27 115 17 15 55
data:
$ID,573
$MISSION,12
$DIVE,426
$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,-22327.441
$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,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,425
$GPS1,271015,170633,-4504.086,633.431,27,1.1,27,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.5
$GPS2,271015,171534,-4504.087,633.414,17,1.0,17,-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,295.1,12316,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.48,0.000,2,0.000,0.000,81,2061,1635,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-3.1,4,113,11.82,2.35,-36.05,0.000,4,0.236,0.073,2925,3469,2428,0,0,0,0,0,0
$GC,299,-0.68,-116.8,24.0,-11.9,43,307,0.10,2.25,0.00,0.000,6,0.142,0.042,2958,2065,2430,0,0,0,0,0,0
$GC,457,-0.68,-116.8,40.1,-10.0,68,462,0.00,2.30,0.00,0.000,4,0.000,0.054,2958,644,2430,0,0,0,0,0,0
$GC,498,-0.64,-116.8,44.8,-10.1,75,506,0.08,2.25,0.00,0.000,6,0.147,0.038,2974,2053,2430,0,0,0,0,0,0
$GC,852,-0.64,-116.8,78.5,-9.5,136,857,0.00,2.30,0.00,0.000,4,0.000,0.057,2963,3472,2431,0,0,0,0,0,0
$GC,907,-0.64,-116.8,84.7,-10.3,141,912,0.00,2.25,0.00,0.000,6,0.000,0.041,2963,2050,2431,0,0,0,0,0,0
$GC,1231,-0.64,-116.8,117.2,-9.9,157,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2050,2430,0,0,0,0,0,0
$GC,1539,-0.64,-116.8,147.5,-9.7,172,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2050,2431,0,0,0,0,0,0
$GC,1850,-0.64,-116.8,177.9,-9.7,187,1854,0.00,2.33,0.00,0.000,4,0.000,0.059,2954,3471,2431,0,0,0,0,0,0
$GC,1876,-0.64,-116.8,180.8,-9.6,188,1881,0.05,2.22,0.00,0.000,6,0.145,0.041,2972,2066,2431,0,0,0,0,0,0
$GC,2200,-0.68,-116.8,206.9,-8.5,204,2204,0.00,2.28,0.00,0.000,4,0.000,0.053,2972,647,2431,0,0,0,0,0,0
$GC,2310,-0.68,-116.8,217.0,-9.0,209,2314,0.00,2.22,0.00,0.000,6,0.000,0.038,2963,2064,2431,0,0,0,0,0,0
$GC,2639,-0.68,-116.8,244.2,-8.0,225,2643,0.00,2.28,0.00,0.000,4,0.000,0.063,2953,3460,2431,0,0,0,0,0,0
$GC,2693,-0.68,-116.8,249.0,-8.3,227,2699,0.00,2.17,0.00,0.000,6,0.000,0.039,2953,2056,2431,0,0,0,0,0,0
$GC,3012,-0.68,-116.8,273.5,-7.4,243,3016,0.00,2.22,0.00,0.000,4,0.000,0.055,2953,663,2431,0,0,0,0,0,0
$GC,3038,-0.68,-116.8,275.9,-8.5,244,3043,0.08,2.20,0.00,0.000,6,0.192,0.037,2961,2068,2431,0,0,0,0,0,0
$GC,3360,-0.68,-116.8,299.9,-7.6,260,3364,0.00,2.28,0.00,0.000,4,0.000,0.061,2951,3468,2431,0,0,0,0,0,0
$GC,3426,-0.68,-116.8,305.5,-8.1,263,3430,0.00,2.20,0.00,0.000,6,0.000,0.040,2951,2052,2431,0,0,0,0,0,0
$GC,3753,-0.68,-116.8,333.0,-8.7,279,3757,0.00,2.25,0.00,0.000,4,0.000,0.055,2951,658,2431,0,0,0,0,0,0
$GC,3796,-0.68,-116.8,337.3,-9.4,281,3801,0.05,2.22,0.00,0.000,6,0.151,0.040,2960,2057,2431,0,0,0,0,0,0
$GC,4124,-0.68,-116.8,364.3,-8.1,297,4128,0.00,2.30,0.00,0.000,4,0.000,0.060,2950,3471,2431,0,0,0,0,0,0
$GC,4163,-0.68,-116.8,367.6,-8.2,299,4168,0.00,2.22,0.00,0.000,6,0.000,0.041,2949,2049,2431,0,0,0,0,0,0
$GC,4490,-0.68,-116.8,395.7,-8.6,315,4495,0.03,2.35,0.00,0.000,4,0.268,0.060,2951,3472,2431,0,0,0,0,0,0
$GC,4530,-0.68,-116.8,399.2,-9.2,317,4534,0.00,2.22,0.00,0.000,6,0.000,0.041,2951,2049,2431,0,0,0,0,0,0
$GC,4857,-0.68,-116.8,426.3,-8.1,333,4861,0.00,2.22,0.00,0.000,4,0.000,0.055,2950,660,2431,0,0,0,0,0,0
$GC,4889,-0.68,-116.8,429.2,-8.8,334,4895,0.05,2.22,0.00,0.000,6,0.152,0.039,2959,2061,2430,0,0,0,0,0,0
$GC,5204,-0.68,-116.8,453.1,-7.4,350,5208,0.00,2.30,0.00,0.000,4,0.000,0.063,2949,3465,2430,0,0,0,0,0,0
$GC,5289,-0.68,-116.8,459.7,-8.0,354,5293,0.05,2.20,0.00,0.000,6,0.205,0.041,2961,2057,2430,0,0,0,0,0,0
$GC,5615,-0.71,-116.8,484.4,-7.7,370,5619,0.00,2.25,0.00,0.000,4,0.000,0.056,2961,658,2430,0,0,0,0,0,0
$GC,5648,-0.71,-116.8,487.3,-8.7,371,5652,0.00,2.25,0.00,0.000,6,0.000,0.041,2952,2066,2430,0,0,0,0,0,0
$GC,5970,-0.71,-116.8,513.4,-8.2,387,5974,0.00,2.30,0.00,0.000,4,0.000,0.063,2942,3470,2430,0,0,0,0,0,0
$GC,6019,-0.71,-116.8,517.7,-8.9,389,6023,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2063,2429,0,0,0,0,0,0
$GC,6341,-0.71,-116.8,544.9,-8.6,405,6345,0.00,2.28,0.00,0.000,4,0.000,0.054,2942,654,2430,0,0,0,0,0,0
$GC,6380,-0.71,-116.8,548.4,-9.0,407,6385,0.08,2.22,0.00,0.000,6,0.188,0.041,2950,2067,2430,0,0,0,0,0,0
$GC,6707,-0.71,-116.8,575.9,-8.4,423,6711,0.00,2.28,0.00,0.000,4,0.000,0.061,2941,3463,2430,0,0,0,0,0,0
$GC,6778,-0.71,-116.8,582.5,-9.0,426,6782,0.00,2.22,0.00,0.000,6,0.000,0.039,2941,2053,2430,0,0,0,0,0,0
$GC,7099,-0.71,-116.8,610.2,-8.5,442,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2053,2430,0,0,0,0,0,0
$GC,7410,-0.71,-116.8,635.2,-7.7,457,7414,0.00,2.28,0.00,0.000,4,0.000,0.057,2941,651,2430,0,0,0,0,0,0
$GC,7437,-0.71,-116.8,637.5,-8.1,458,7441,0.08,2.25,0.00,0.000,6,0.187,0.042,2949,2070,2430,0,0,0,0,0,0
$GC,7757,-0.71,-116.8,662.5,-7.8,474,7761,0.00,2.28,0.00,0.000,4,0.000,0.062,2939,3463,2429,0,0,0,0,0,0
$GC,7813,-0.71,-116.8,667.1,-8.2,476,7818,0.00,2.17,0.00,0.000,6,0.000,0.040,2939,2060,2429,0,0,0,0,0,0
$GC,8128,-0.71,-116.8,691.2,-7.7,492,8132,0.00,2.28,0.00,0.000,4,0.000,0.055,2939,653,2429,0,0,0,0,0,0
$GC,8171,-0.71,-116.8,694.9,-8.0,494,8176,0.10,2.25,0.00,0.000,6,0.172,0.043,2956,2071,2429,0,0,0,0,0,0
$GC,8499,-0.75,-116.8,717.7,-6.9,510,8503,0.00,2.28,0.00,0.000,4,0.000,0.062,2946,3465,2429,0,0,0,0,0,0
$GC,8593,-0.79,-116.8,725.0,-8.2,514,8597,0.00,2.20,0.00,0.000,6,0.000,0.039,2946,2054,2429,0,0,0,0,0,0
$GC,8909,-0.79,-116.8,748.2,-7.3,529,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2054,2429,0,0,0,0,0,0
$GC,9217,-0.79,-116.8,770.1,-6.9,544,9221,0.00,2.25,0.00,0.000,4,0.000,0.057,2946,658,2429,0,0,0,0,0,0
$GC,9244,-0.79,-116.8,772.0,-7.2,545,9247,0.00,2.22,0.00,0.000,6,0.000,0.040,2937,2069,2428,0,0,0,0,0,0
$GC,9566,-0.79,-116.8,795.5,-7.2,561,9570,0.00,2.28,0.00,0.000,4,0.000,0.061,2926,3463,2429,0,0,0,0,0,0
$GC,9606,-0.79,-116.8,798.6,-7.4,563,9610,0.00,2.20,0.00,0.000,6,0.000,0.040,2926,2052,2428,0,0,0,0,0,0
$GC,9933,-0.79,-116.8,822.5,-7.5,579,9937,0.00,2.28,0.00,0.000,4,0.000,0.057,2926,654,2428,0,0,0,0,0,0
$GC,9966,-0.74,-116.8,825.4,-8.8,580,9972,0.10,2.22,0.00,0.000,6,0.174,0.042,2943,2059,2428,0,0,0,0,0,0
$GC,10280,-0.74,-116.8,850.6,-7.9,596,10284,0.00,2.30,0.00,0.000,4,0.000,0.063,2932,3471,2428,0,0,0,0,0,0
$GC,10387,-0.74,-116.8,859.4,-8.4,600,10392,0.00,2.20,0.00,0.000,6,0.000,0.042,2932,2062,2427,0,0,0,0,0,0
$GC,10701,-0.74,-116.8,883.7,-7.8,616,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2061,2427,0,0,0,0,0,0
$GC,11012,-0.74,-116.8,908.2,-7.7,631,11016,0.00,2.28,0.00,0.000,4,0.000,0.055,2932,657,2427,0,0,0,0,0,0
$GC,11061,-0.74,-116.8,912.3,-8.9,633,11066,0.05,2.25,0.00,0.000,6,0.154,0.041,2941,2060,2427,0,0,0,0,0,0
$GC,11383,-0.74,-116.8,933.9,-6.6,649,11387,0.00,2.30,0.00,0.000,4,0.000,0.063,2931,3463,2427,0,0,0,0,0,0
$GC,11455,-0.74,-116.8,939.1,-6.9,652,11459,0.00,2.20,0.00,0.000,6,0.000,0.041,2931,2058,2427,0,0,0,0,0,0
$GC,11776,-0.74,-116.8,961.6,-7.0,668,11780,0.00,2.28,0.00,0.000,4,0.000,0.057,2930,659,2427,0,0,0,0,0,0
$GC,11848,-0.74,-116.8,967.2,-7.5,671,11852,0.08,2.22,0.00,0.000,6,0.190,0.041,2940,2063,2427,0,0,0,0,0,0
$GC,12170,-0.74,-116.8,989.8,-7.1,687,12174,0.00,2.30,0.00,0.000,4,0.000,0.063,2929,3463,2427,0,0,0,0,0,0
$GC,12219,-0.74,-116.8,993.5,-7.4,689,12223,0.00,2.20,0.00,0.000,6,0.000,0.041,2929,2056,2427,0,0,0,0,0,0
$STATE,12310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12310,begin apogee
$GC,12316,-0.19,0.0,1000.7,7.7,694,12432,0.62,0.00,110.95,1.265,6,0.132,0.000,3121,1600,1948,0,0,0,0,0,0
$STATE,12433,end apogee,CONTROL_FINISHED_OK
$STATE,12433,begin climb
$GC,12435,0.76,116.8,1003.4,0.0,700,12557,0.95,0.00,117.88,1.220,6,0.083,0.000,3432,1600,1474,0,0,0,0,0,0
$GC,12863,0.76,116.8,969.4,9.2,721,12867,0.00,2.40,0.00,0.000,4,0.000,0.057,3442,192,1465,0,0,0,0,0,0
$GC,12993,0.76,116.8,956.5,9.7,727,12997,0.00,2.30,0.00,0.000,6,0.000,0.037,3442,1622,1464,0,0,0,0,0,0
$GC,13319,0.76,116.8,924.1,9.7,743,13324,0.00,2.38,0.00,0.000,4,0.000,0.054,3452,193,1463,0,0,0,0,0,0
$GC,13360,0.72,116.8,919.5,11.3,745,13365,0.12,2.22,0.00,0.000,6,0.147,0.037,3417,1601,1462,0,0,0,0,0,0
$GC,13688,0.75,116.8,888.4,9.8,761,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1601,1462,0,0,0,0,0,0
$GC,13995,0.79,116.8,856.6,10.5,776,14000,0.08,2.33,0.00,0.000,4,0.120,0.056,3471,193,1461,0,0,0,0,0,0
$GC,14061,0.72,116.8,848.2,13.2,779,14066,0.17,2.22,0.00,0.000,6,0.136,0.037,3419,1606,1461,0,0,0,0,0,0
$GC,14383,0.75,116.8,815.4,9.7,795,14385,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1606,1461,0,0,0,0,0,0
$GC,14691,0.80,125.6,788.4,8.1,810,14705,0.08,2.38,7.60,0.939,4,0.122,0.056,3472,192,1437,0,0,0,0,0,0
$GC,14773,0.72,125.6,780.1,10.9,813,14778,0.17,2.22,0.00,0.000,6,0.136,0.036,3420,1611,1437,0,0,0,0,0,0
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$STATE,23246,end climb,SURFACE_DEPTH_REACHED
$STATE,23246,begin surface coast
$FINISH,1.8,1.023359
$STATE,23279,end surface coast,CONTROL_FINISHED_OK
$STATE,23279,begin surface
$SM_CCo,23297,5.82,0.055,0,0,1133,200.16
$SM_GC,3.99,0.00,0.00,5.82,0.000,0.000,0.055,62,2073,1133,-9.76,0.37,200.16
$IRIDIUM_FIX,-4444.39,630.84,230808,000028
$TT8_MAMPS,0.026964
$HUMID,64.56
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,1
$24V_AH,22.1,50.818
$10V_AH,9.6,53.343
$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,24.625,199.850,286.675,5.825,0.000,24.398,43.067,314.973,0.250,0.000,21.102,2902.041,16570.779,450.307,3601.407,309.003,0.000,1814.099,0.000,3076.391,0.000,0.540,0.000
$DEVICE_MAMPS,267.750,73.440,1264.545,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.839,1872.683,1006.775,567.819,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,96989,1327
$CAP_FILE_SIZE,206417,0
$CFSIZE,2097086464,2036170752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271015,234534,-4504.128,631.785,38,0.9,39,-24.4