version: 66.07.10.p01
glider: 573
mission: 12
dive: 427
start: 10 28 115 0 2 18
data:
$ID,573
$MISSION,12
$DIVE,427
$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,-22330.139
$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,35
$R_STBD_OVSHOOT,50
$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,426
$GPS1,271015,234534,-4504.128,631.785,38,0.9,39,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-68.9
$GPS2,281015,000158,-4504.172,632.034,15,1.4,15,-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,296.1,10513,-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,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-25.30,0.000,2,0.000,0.000,61,2073,1633,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.2,-2.4,4,113,11.95,2.33,-35.15,0.000,4,0.236,0.074,2920,3449,2427,0,0,0,0,0,0
$GC,245,-0.66,-116.8,18.8,-11.4,34,253,0.12,2.22,0.00,0.000,6,0.135,0.041,2961,2069,2429,0,0,0,0,0,0
$GC,304,-0.66,-116.8,25.2,-10.0,43,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2070,2429,0,0,0,0,0,0
$GC,459,-0.66,-116.8,39.8,-9.7,68,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2070,2429,0,0,0,0,0,0
$GC,604,-0.66,-116.8,53.7,-9.0,93,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2070,2429,0,0,0,0,0,0
$GC,964,-0.66,-116.8,85.8,-8.9,148,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2069,2429,0,0,0,0,0,0
$GC,1275,-0.66,-116.8,113.2,-8.8,163,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2069,2430,0,0,0,0,0,0
$GC,1582,-0.66,-116.8,140.9,-9.1,178,1586,0.00,2.25,0.00,0.000,4,0.000,0.057,2952,3457,2429,0,0,0,0,0,0
$GC,1615,-0.66,-116.8,144.2,-9.6,179,1620,0.03,2.22,0.00,0.000,6,0.176,0.038,2962,2046,2429,0,0,0,0,0,0
$GC,1938,-0.66,-116.8,171.8,-8.6,195,1942,0.00,2.25,0.00,0.000,4,0.000,0.053,2962,645,2429,0,0,0,0,0,0
$GC,2004,-0.66,-116.8,178.2,-9.4,198,2009,0.00,2.20,0.00,0.000,6,0.000,0.035,2953,2043,2429,0,0,0,0,0,0
$GC,2332,-0.66,-116.8,206.2,-9.0,214,2337,0.05,2.33,0.00,0.000,4,0.233,0.061,2954,3467,2429,0,0,0,0,0,0
$GC,2386,-0.66,-116.8,211.1,-8.7,216,2395,0.00,2.22,0.00,0.000,6,0.000,0.038,2954,2054,2430,0,0,0,0,0,0
$GC,2703,-0.66,-116.8,238.5,-9.0,232,2707,0.00,2.25,0.00,0.000,4,0.000,0.055,2954,658,2430,0,0,0,0,0,0
$GC,2746,-0.66,-116.8,242.9,-9.7,234,2751,0.05,2.22,0.00,0.000,6,0.151,0.039,2962,2060,2430,0,0,0,0,0,0
$GC,3073,-0.66,-116.8,272.2,-8.7,250,3077,0.00,2.28,0.00,0.000,4,0.000,0.061,2952,3463,2430,0,0,0,0,0,0
$GC,3138,-0.66,-116.8,278.0,-9.0,253,3143,0.05,2.20,0.00,0.000,6,0.210,0.039,2964,2047,2430,0,0,0,0,0,0
$GC,3465,-0.66,-116.8,307.5,-8.9,269,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2047,2430,0,0,0,0,0,0
$GC,3773,-0.66,-116.8,335.3,-8.9,284,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2047,2430,0,0,0,0,0,0
$GC,4084,-0.70,-116.8,361.1,-8.1,299,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2047,2430,0,0,0,0,0,0
$GC,4393,-0.73,-116.8,386.0,-7.8,314,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2047,2430,0,0,0,0,0,0
$GC,4703,-0.76,-116.8,410.9,-8.3,329,4705,0.08,0.00,0.00,0.000,6,0.122,0.000,2919,2047,2430,0,0,0,0,0,0
$GC,5011,-0.70,-116.8,441.8,-10.4,344,5013,0.12,0.00,0.00,0.000,6,0.162,0.000,2954,2047,2429,0,0,0,0,0,0
$GC,5321,-0.70,-116.8,467.9,-7.9,359,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2047,2430,0,0,0,0,0,0
$GC,5629,-0.70,-116.8,493.4,-8.5,374,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2047,2429,0,0,0,0,0,0
$GC,5940,-0.70,-116.8,518.2,-7.6,389,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2047,2429,0,0,0,0,0,0
$GC,6248,-0.70,-116.8,541.0,-7.0,404,6252,0.00,2.33,0.00,0.000,4,0.000,0.060,2944,3465,2429,0,0,0,0,0,0
$GC,6282,-0.70,-116.8,543.5,-7.8,405,6286,0.00,2.20,0.00,0.000,6,0.000,0.041,2944,2060,2429,0,0,0,0,0,0
$GC,6598,-0.70,-116.8,566.1,-7.1,421,6602,0.00,2.28,0.00,0.000,4,0.000,0.056,2944,649,2429,0,0,0,0,0,0
$GC,6636,-0.70,-116.8,569.4,-8.3,422,6642,0.08,2.22,0.00,0.000,6,0.192,0.041,2953,2059,2429,0,0,0,0,0,0
$GC,6951,-0.70,-116.8,593.1,-7.6,438,6955,0.00,2.28,0.00,0.000,4,0.000,0.061,2943,3462,2429,0,0,0,0,0,0
$GC,6983,-0.70,-116.8,595.7,-8.2,439,6988,0.00,2.20,0.00,0.000,6,0.000,0.040,2942,2051,2429,0,0,0,0,0,0
$GC,7300,-0.70,-116.8,620.7,-7.9,455,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2051,2429,0,0,0,0,0,0
$GC,7607,-0.70,-116.8,647.1,-8.6,470,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2051,2428,0,0,0,0,0,0
$GC,7918,-0.70,-116.8,672.4,-8.1,485,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2051,2428,0,0,0,0,0,0
$GC,8226,-0.70,-116.8,697.0,-8.1,500,8230,0.00,2.25,0.00,0.000,4,0.000,0.056,2942,652,2428,0,0,0,0,0,0
$GC,8258,-0.70,-116.8,699.8,-9.4,501,8263,0.05,2.25,0.00,0.000,6,0.155,0.042,2951,2056,2428,0,0,0,0,0,0
$GC,8575,-0.73,-116.8,725.2,-8.1,517,8579,0.00,2.28,0.00,0.000,4,0.000,0.058,2940,3465,2427,0,0,0,0,0,0
$GC,8615,-0.73,-116.8,728.4,-8.4,519,8620,0.00,2.20,0.00,0.000,6,0.000,0.041,2940,2060,2427,0,0,0,0,0,0
$GC,8943,-0.73,-116.8,754.1,-7.6,535,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2060,2427,0,0,0,0,0,0
$GC,9251,-0.73,-116.8,777.3,-7.4,550,9255,0.00,2.25,0.00,0.000,4,0.000,0.054,2941,657,2427,0,0,0,0,0,0
$GC,9294,-0.73,-116.8,780.9,-8.2,552,9299,0.05,2.22,0.00,0.000,6,0.221,0.042,2943,2061,2427,0,0,0,0,0,0
$GC,9620,-0.73,-116.8,804.8,-7.3,568,9624,0.00,2.30,0.00,0.000,4,0.000,0.062,2932,3465,2427,0,0,0,0,0,0
$GC,9664,-0.73,-116.8,808.3,-8.2,570,9668,0.00,2.20,0.00,0.000,6,0.000,0.040,2933,2054,2427,0,0,0,0,0,0
$GC,9990,-0.73,-116.8,833.2,-7.9,586,9994,0.00,2.28,0.00,0.000,4,0.000,0.057,2933,656,2426,0,0,0,0,0,0
$GC,10062,-0.73,-116.8,839.3,-8.8,589,10067,0.05,2.25,0.00,0.000,6,0.153,0.041,2942,2057,2426,0,0,0,0,0,0
$GC,10384,-0.73,-116.8,863.5,-7.5,605,10388,0.00,2.30,0.00,0.000,4,0.000,0.060,2931,3469,2426,0,0,0,0,0,0
$GC,10477,-0.73,-116.8,871.0,-8.1,609,10482,0.05,2.22,0.00,0.000,6,0.207,0.041,2944,2053,2426,0,0,0,0,0,0
$GC,10800,-0.76,-116.8,894.6,-7.2,625,10804,0.00,2.22,0.00,0.000,4,0.000,0.056,2944,658,2426,0,0,0,0,0,0
$GC,10833,-0.76,-116.8,897.4,-7.7,626,10839,0.00,2.22,0.00,0.000,6,0.000,0.040,2935,2074,2426,0,0,0,0,0,0
$GC,11148,-0.76,-116.8,920.6,-7.3,642,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2074,2426,0,0,0,0,0,0
$GC,11459,-0.76,-116.8,944.0,-7.6,657,11463,0.00,2.25,0.00,0.000,4,0.000,0.059,2924,3463,2425,0,0,0,0,0,0
$GC,11520,-0.76,-116.8,949.1,-7.7,660,11524,0.00,2.20,0.00,0.000,6,0.000,0.040,2924,2048,2426,0,0,0,0,0,0
$GC,11851,-0.76,-116.8,975.9,-8.1,676,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2048,2425,0,0,0,0,0,0
$STATE,12137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12138,begin apogee
$GC,12144,-0.19,0.0,1000.6,8.9,690,12260,0.62,0.00,110.07,1.269,6,0.133,0.000,3115,1591,1950,0,0,0,0,0,0
$STATE,12260,end apogee,CONTROL_FINISHED_OK
$STATE,12261,begin climb
$GC,12262,0.76,116.8,1004.4,0.0,696,12385,0.93,0.00,116.95,1.222,6,0.086,0.000,3424,1591,1474,0,0,0,0,0,0
$GC,12694,0.77,133.9,976.7,7.7,717,12718,0.00,2.45,17.20,1.124,4,0.000,0.057,3434,193,1404,0,0,0,0,0,0
$GC,12781,0.77,133.9,969.2,8.8,721,12786,0.00,2.33,0.00,0.000,6,0.000,0.036,3434,1622,1401,0,0,0,0,0,0
$GC,13109,0.77,137.9,941.6,8.4,737,13115,0.00,0.00,5.15,0.832,6,0.000,0.000,3434,1623,1387,0,0,0,0,0,0
$GC,13416,0.78,144.2,915.1,8.2,752,13426,0.00,0.00,7.80,0.983,6,0.000,0.000,3434,1623,1361,0,0,0,0,0,0
$GC,13727,0.78,144.2,888.8,8.7,767,13731,0.00,2.35,0.00,0.000,4,0.000,0.054,3444,192,1359,0,0,0,0,0,0
$GC,13770,0.78,144.2,884.5,9.7,769,13774,0.00,2.25,0.00,0.000,6,0.000,0.036,3444,1605,1359,0,0,0,0,0,0
$GC,14098,0.78,144.2,853.3,9.9,785,14099,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1605,1359,0,0,0,0,0,0
$GC,14405,0.78,144.2,823.0,9.9,800,14409,0.00,2.20,0.00,0.000,4,0.000,0.053,3444,2986,1358,0,0,0,0,0,0
$GC,14438,0.78,144.2,819.5,10.0,801,14443,0.05,2.17,0.00,0.000,6,0.150,0.036,3435,1602,1358,0,0,0,0,0,0
$GC,14759,0.78,144.2,789.5,9.0,817,14764,0.00,2.28,0.00,0.000,4,0.000,0.057,3445,198,1358,0,0,0,0,0,0
$GC,14854,0.78,144.2,780.4,10.5,821,14858,0.00,2.20,0.00,0.000,6,0.000,0.037,3445,1590,1358,0,0,0,0,0,0
$GC,15176,0.78,144.2,751.3,8.8,837,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1590,1358,0,0,0,0,0,0
$GC,15484,0.78,149.2,725.9,8.3,852,15492,0.00,0.00,5.90,0.838,6,0.000,0.000,3445,1590,1341,0,0,0,0,0,0
$GC,15795,0.78,149.2,700.0,8.7,867,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1590,1341,0,0,0,0,0,0
$GC,16103,0.78,149.2,672.3,9.4,882,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1590,1340,0,0,0,0,0,0
$GC,16413,0.78,149.2,643.0,9.5,897,16414,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1590,1340,0,0,0,0,0,0
$GC,16721,0.78,149.2,612.3,10.1,912,16722,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1590,1340,0,0,0,0,0,0
$GC,17032,0.78,149.2,582.5,9.5,927,17036,0.00,2.30,0.00,0.000,4,0.000,0.056,3455,190,1340,0,0,0,0,0,0
$GC,17103,0.78,149.2,575.2,9.8,930,17108,0.05,2.22,0.00,0.000,6,0.136,0.036,3435,1603,1340,0,0,0,0,0,0
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$STATE,23043,end climb,SURFACE_DEPTH_REACHED
$STATE,23043,begin surface coast
$FINISH,1.9,1.023362
$STATE,23075,end surface coast,CONTROL_FINISHED_OK
$STATE,23075,begin surface
$SM_CCo,23093,10.85,0.054,0,0,1132,200.16
$SM_GC,3.97,0.00,0.00,10.85,0.000,0.000,0.054,80,2058,1132,-9.70,-0.06,200.16
$IRIDIUM_FIX,-4444.39,631.19,230808,131311
$TT8_MAMPS,0.026964
$HUMID,64.56
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,2
$24V_AH,22.1,50.952
$10V_AH,9.6,53.476
$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,23.900,145.600,294.450,10.850,0.000,91.274,136.540,450.564,0.500,0.000,17.706,2787.036,16881.154,419.961,3696.125,292.332,0.000,1693.456,0.000,2867.181,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,74.205,1269.135,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.168,1819.560,967.032,543.360,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,93988,1310
$CAP_FILE_SIZE,191246,0
$CFSIZE,2097086464,2036072448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281015,062834,-4504.034,629.552,34,0.9,34,-24.4