version: 66.07.10.p01
glider: 573
mission: 12
dive: 429
start: 10 28 115 13 18 51
data:
$ID,573
$MISSION,12
$DIVE,429
$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,-22336.4
$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,32
$R_STBD_OVSHOOT,23
$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,428
$GPS1,281015,130905,-4504.317,628.490,30,1.8,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-62.8
$GPS2,281015,131830,-4504.324,628.645,29,1.7,29,-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,300.0,6105,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-13.20,0.000,2,0.000,0.000,81,2042,1393,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.0,-4.0,2,119,11.62,2.35,-57.25,0.000,4,0.230,0.073,2921,3471,2425,0,0,0,0,0,0
$GC,130,-0.95,-116.8,3.0,-3.1,15,138,0.10,2.28,0.00,0.000,6,0.050,0.042,2856,2056,2426,0,0,0,0,0,0
$GC,189,-0.74,-116.8,10.7,-14.3,24,197,0.28,2.40,0.00,0.000,4,0.166,0.063,2927,3471,2427,0,0,0,0,0,0
$GC,225,-0.64,-116.8,15.4,-12.9,29,233,0.12,2.28,0.00,0.000,6,0.140,0.042,2967,2061,2427,0,0,0,0,0,0
$GC,285,-0.64,-116.8,21.9,-10.1,38,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2427,0,0,0,0,0,0
$GC,440,-0.64,-116.8,34.7,-8.8,63,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,590,-0.64,-116.8,49.2,-10.1,88,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,952,-0.64,-116.8,84.3,-9.3,146,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,1264,-0.64,-116.8,112.7,-9.4,161,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,1571,-0.64,-116.8,142.2,-9.4,176,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,1882,-0.64,-116.8,173.3,-9.9,191,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,2190,-0.64,-116.8,200.5,-9.9,206,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2061,2428,0,0,0,0,0,0
$GC,2502,-0.67,-116.8,227.5,-8.4,221,2506,0.00,2.28,0.00,0.000,4,0.000,0.053,2968,643,2428,0,0,0,0,0,0
$GC,2534,-0.67,-116.8,230.9,-9.6,222,2542,0.00,2.25,0.00,0.000,6,0.000,0.037,2959,2073,2428,0,0,0,0,0,0
$GC,2850,-0.67,-116.8,259.4,-8.9,238,2854,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,3469,2428,0,0,0,0,0,0
$GC,2876,-0.67,-116.8,262.0,-9.0,239,2882,0.03,2.22,0.00,0.000,6,0.168,0.037,2959,2054,2428,0,0,0,0,0,0
$GC,3200,-0.67,-116.8,289.2,-8.4,255,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2055,2428,0,0,0,0,0,0
$GC,3506,-0.67,-116.8,315.4,-8.6,270,3510,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,659,2428,0,0,0,0,0,0
$GC,3549,-0.67,-116.8,319.4,-9.5,272,3553,0.00,2.22,0.00,0.000,6,0.000,0.039,2950,2057,2428,0,0,0,0,0,0
$GC,3875,-0.67,-116.8,348.3,-8.7,288,3880,0.05,2.28,0.00,0.000,4,0.232,0.057,2951,3463,2428,0,0,0,0,0,0
$GC,3919,-0.67,-116.8,352.0,-8.2,290,3923,0.05,2.17,0.00,0.000,6,0.212,0.038,2963,2059,2428,0,0,0,0,0,0
$GC,4247,-0.70,-116.8,376.8,-7.4,306,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2059,2428,0,0,0,0,0,0
$GC,4556,-0.74,-116.8,399.3,-7.4,321,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2059,2428,0,0,0,0,0,0
$GC,4864,-0.77,-116.8,422.6,-7.6,336,4866,0.10,0.00,0.00,0.000,6,0.099,0.000,2907,2059,2428,0,0,0,0,0,0
$GC,5175,-0.69,-116.8,452.5,-9.8,351,5179,0.17,2.33,0.00,0.000,4,0.151,0.063,2947,3462,2428,0,0,0,0,0,0
$GC,5241,-0.69,-116.8,458.4,-8.5,354,5245,0.00,2.17,0.00,0.000,6,0.000,0.039,2948,2060,2428,0,0,0,0,0,0
$GC,5567,-0.69,-116.8,485.5,-8.7,370,5571,0.00,2.22,0.00,0.000,4,0.000,0.054,2947,660,2428,0,0,0,0,0,0
$GC,5610,-0.69,-116.8,489.5,-9.2,372,5615,0.05,2.22,0.00,0.000,6,0.155,0.040,2956,2058,2428,0,0,0,0,0,0
$GC,5937,-0.69,-116.8,517.6,-8.7,388,5941,0.00,2.30,0.00,0.000,4,0.000,0.060,2946,3474,2428,0,0,0,0,0,0
$GC,5980,-0.69,-116.8,521.7,-9.2,390,5985,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2065,2427,0,0,0,0,0,0
$GC,6307,-0.69,-116.8,551.8,-9.1,406,6311,0.05,2.28,0.00,0.000,4,0.222,0.054,2957,648,2428,0,0,0,0,0,0
$GC,6379,-0.69,-116.8,558.3,-9.4,409,6384,0.00,2.22,0.00,0.000,6,0.000,0.038,2949,2065,2427,0,0,0,0,0,0
$GC,6694,-0.69,-116.8,585.7,-8.7,424,6698,0.00,2.30,0.00,0.000,4,0.000,0.063,2938,3472,2427,0,0,0,0,0,0
$GC,6771,-0.69,-116.8,593.0,-9.8,427,6776,0.05,2.22,0.00,0.000,6,0.152,0.041,2955,2069,2427,0,0,0,0,0,0
$GC,7087,-0.72,-116.8,621.0,-8.9,443,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2069,2427,0,0,0,0,0,0
$GC,7395,-0.76,-116.8,648.2,-8.7,458,7399,0.00,2.28,0.00,0.000,4,0.000,0.054,2956,645,2426,0,0,0,0,0,0
$GC,7458,-0.76,-116.8,653.9,-9.6,461,7462,0.00,2.22,0.00,0.000,6,0.000,0.039,2947,2059,2426,0,0,0,0,0,0
$GC,7785,-0.76,-116.8,682.7,-8.2,477,7789,0.00,2.30,0.00,0.000,4,0.000,0.062,2936,3465,2426,0,0,0,0,0,0
$GC,7840,-0.76,-116.8,687.6,-8.5,479,7844,0.00,2.20,0.00,0.000,6,0.000,0.040,2936,2051,2426,0,0,0,0,0,0
$GC,8156,-0.76,-116.8,712.8,-7.7,495,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2050,2426,0,0,0,0,0,0
$GC,8464,-0.76,-116.8,736.0,-7.1,510,8468,0.00,2.25,0.00,0.000,4,0.000,0.056,2936,661,2425,0,0,0,0,0,0
$GC,8507,-0.76,-116.8,739.4,-7.0,512,8512,0.00,2.20,0.00,0.000,6,0.000,0.037,2927,2068,2425,0,0,0,0,0,0
$GC,8834,-0.76,-116.8,762.5,-7.0,528,8838,0.00,2.28,0.00,0.000,4,0.000,0.061,2917,3459,2425,0,0,0,0,0,0
$GC,8877,-0.76,-116.8,765.7,-8.3,530,8882,0.08,2.20,0.00,0.000,6,0.178,0.041,2935,2053,2425,0,0,0,0,0,0
$GC,9203,-0.76,-116.8,787.3,-6.5,546,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2053,2425,0,0,0,0,0,0
$GC,9514,-0.76,-116.8,809.8,-7.7,561,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2053,2425,0,0,0,0,0,0
$GC,9821,-0.76,-116.8,834.6,-8.1,576,9825,0.00,2.25,0.00,0.000,4,0.000,0.057,2935,657,2425,0,0,0,0,0,0
$GC,9854,-0.76,-116.8,837.4,-9.0,577,9859,0.00,2.22,0.00,0.000,6,0.000,0.041,2926,2052,2425,0,0,0,0,0,0
$GC,10170,-0.76,-116.8,865.2,-8.9,593,10174,0.00,2.30,0.00,0.000,4,0.000,0.057,2916,3474,2425,0,0,0,0,0,0
$GC,10199,-0.76,-116.8,867.8,-9.4,594,10203,0.10,2.22,0.00,0.000,6,0.164,0.042,2942,2056,2424,0,0,0,0,0,0
$GC,10514,-0.76,-116.8,895.4,-9.0,609,10518,0.00,2.25,0.00,0.000,4,0.000,0.056,2942,660,2425,0,0,0,0,0,0
$GC,10552,-0.76,-116.8,899.3,-10.2,610,10558,0.00,2.25,0.00,0.000,6,0.000,0.040,2933,2067,2424,0,0,0,0,0,0
$GC,10867,-0.76,-116.8,930.3,-9.9,626,10871,0.00,2.30,0.00,0.000,4,0.000,0.061,2923,3474,2424,0,0,0,0,0,0
$GC,10911,-0.76,-116.8,934.6,-10.0,628,10915,0.00,2.25,0.00,0.000,6,0.000,0.042,2923,2061,2424,0,0,0,0,0,0
$GC,11237,-0.76,-116.8,966.1,-9.8,644,11239,0.05,0.00,0.00,0.000,6,0.224,0.000,2935,2061,2424,0,0,0,0,0,0
$GC,11548,-0.76,-116.8,993.7,-8.3,659,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2061,2424,0,0,0,0,0,0
$STATE,11630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11630,begin apogee
$GC,11636,-0.19,0.0,1000.2,8.0,663,11750,0.60,0.00,109.68,1.265,6,0.130,0.000,3120,1591,1949,0,0,0,0,0,0
$STATE,11751,end apogee,CONTROL_FINISHED_OK
$STATE,11751,begin climb
$GC,11753,0.76,116.8,1003.6,0.0,669,11875,0.93,0.00,117.88,1.218,6,0.083,0.000,3424,1591,1474,0,0,0,0,0,0
$GC,12179,0.76,118.6,971.9,8.5,690,12183,0.00,2.38,0.00,0.000,4,0.000,0.057,3435,192,1466,0,0,0,0,0,0
$GC,12246,0.76,118.6,965.7,9.2,693,12250,0.00,2.30,0.00,0.000,6,0.000,0.036,3435,1618,1464,0,0,0,0,0,0
$GC,12567,0.76,118.6,937.1,8.9,709,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1619,1463,0,0,0,0,0,0
$GC,12874,0.76,118.6,909.4,9.4,724,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1462,0,0,0,0,0,0
$GC,13185,0.76,118.6,881.8,9.0,739,13189,0.00,2.33,0.00,0.000,4,0.000,0.054,3445,198,1461,0,0,0,0,0,0
$GC,13223,0.76,118.6,878.0,9.5,740,13230,0.03,2.22,0.00,0.000,6,0.165,0.037,3434,1602,1461,0,0,0,0,0,0
$GC,13538,0.76,118.6,849.1,9.1,756,13542,0.00,2.30,0.00,0.000,4,0.000,0.054,3443,198,1461,0,0,0,0,0,0
$GC,13616,0.76,118.6,841.4,9.8,759,13621,0.03,2.22,0.00,0.000,6,0.259,0.037,3431,1620,1461,0,0,0,0,0,0
$GC,13932,0.76,118.6,812.5,8.8,775,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1620,1461,0,0,0,0,0,0
$GC,14240,0.76,118.6,785.8,8.5,790,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1620,1461,0,0,0,0,0,0
$GC,14551,0.77,129.1,760.0,8.0,805,14564,0.00,0.00,11.12,1.011,6,0.000,0.000,3432,1620,1423,0,0,0,0,0,0
$GC,14858,0.77,137.7,734.3,8.1,820,14874,0.00,2.35,10.38,0.980,4,0.000,0.053,3441,192,1387,0,0,0,0,0,0
$GC,14918,0.77,137.7,729.1,8.7,822,14922,0.00,2.22,0.00,0.000,6,0.000,0.036,3441,1607,1386,0,0,0,0,0,0
$GC,15250,0.77,137.7,700.2,9.0,838,15251,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1608,1385,0,0,0,0,0,0
$GC,15560,0.77,137.7,672.3,8.6,853,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1608,1384,0,0,0,0,0,0
$GC,15869,0.78,147.4,646.8,8.1,868,15884,0.00,2.30,10.25,0.936,4,0.000,0.053,3450,198,1349,0,0,0,0,0,0
$GC,15928,0.78,147.4,641.7,9.0,870,15933,0.05,2.20,0.00,0.000,6,0.207,0.036,3437,1600,1348,0,0,0,0,0,0
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$STATE,22456,end climb,SURFACE_DEPTH_REACHED
$STATE,22456,begin surface coast
$FINISH,1.8,1.023406
$STATE,22488,end surface coast,CONTROL_FINISHED_OK
$STATE,22488,begin surface
$SM_CCo,22507,11.88,0.054,0,0,1133,200.16
$SM_GC,3.92,0.00,0.00,11.88,0.000,0.000,0.054,82,2053,1133,-9.70,-0.17,200.16
$IRIDIUM_FIX,-4444.39,627.81,230808,191908
$TT8_MAMPS,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,22.1,51.195
$10V_AH,9.7,53.737
$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,24.550,158.000,289.050,11.875,0.000,24.895,44.236,323.097,0.250,0.000,32.785,2750.587,16173.553,455.367,3407.630,286.934,0.000,1716.716,0.000,2863.115,0.000,0.541,0.000
$DEVICE_MAMPS,259.335,72.675,1265.310,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,621.915,1807.823,976.875,570.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,93788,1281
$CAP_FILE_SIZE,187601,0
$CFSIZE,2097086464,2035810304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281015,193527,-4503.799,626.553,40,0.8,40,-24.4