version: 66.07.10.p01
glider: 573
mission: 12
dive: 433
start: 10 29 115 9 13 12
data:
$ID,573
$MISSION,12
$DIVE,433
$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,-22348.387
$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,432
$GPS1,291015,085633,-4504.395,624.045,36,0.9,36,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.6
$GPS2,291015,091252,-4504.452,624.253,20,1.1,20,-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,23.2,15657,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.76,-116.8,0.0,0.0,0,42,0.00,0.00,-13.88,0.000,2,0.000,0.000,80,2065,1406,0,0,0,0,0,0
$GC,45,-0.76,-116.8,3.1,-2.4,2,121,11.52,2.35,-55.40,0.000,4,0.225,0.067,2930,656,2427,0,0,0,0,0,0
$GC,400,-0.66,-116.8,29.6,-12.0,59,408,0.12,2.25,0.00,0.000,6,0.137,0.042,2962,2042,2428,0,0,0,0,0,0
$GC,552,-0.66,-116.8,45.4,-10.0,84,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2042,2428,0,0,0,0,0,0
$GC,905,-0.66,-116.8,80.1,-10.0,145,910,0.00,2.35,0.00,0.000,4,0.000,0.063,2951,3477,2428,0,0,0,0,0,0
$GC,968,-0.66,-116.8,86.4,-9.7,148,973,0.05,2.22,0.00,0.000,6,0.213,0.041,2963,2048,2428,0,0,0,0,0,0
$GC,1295,-0.66,-116.8,114.1,-8.6,164,1299,0.00,2.28,0.00,0.000,4,0.000,0.056,2964,647,2429,0,0,0,0,0,0
$GC,1389,-0.66,-116.8,123.1,-9.4,168,1393,0.00,2.28,0.00,0.000,6,0.000,0.041,2955,2065,2429,0,0,0,0,0,0
$GC,1711,-0.66,-116.8,152.3,-9.1,184,1715,0.00,2.30,0.00,0.000,4,0.000,0.063,2944,3474,2429,0,0,0,0,0,0
$GC,1760,-0.66,-116.8,157.5,-10.3,186,1765,0.05,2.25,0.00,0.000,6,0.148,0.041,2962,2057,2429,0,0,0,0,0,0
$GC,2087,-0.66,-116.8,191.3,-10.8,202,2091,0.00,2.33,0.00,0.000,4,0.000,0.062,2953,3475,2428,0,0,0,0,0,0
$GC,2113,-0.66,-116.8,193.7,-10.6,203,2118,0.05,2.22,0.00,0.000,6,0.208,0.041,2965,2055,2429,0,0,0,0,0,0
$GC,2441,-0.66,-116.8,224.8,-9.0,219,2445,0.00,2.25,0.00,0.000,4,0.000,0.056,2965,649,2429,0,0,0,0,0,0
$GC,2519,-0.66,-116.8,231.9,-8.5,222,2527,0.00,2.25,0.00,0.000,6,0.000,0.041,2957,2058,2428,0,0,0,0,0,0
$GC,2835,-0.66,-116.8,257.0,-7.7,238,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2058,2429,0,0,0,0,0,0
$GC,3147,-0.66,-116.8,282.4,-8.5,253,3151,0.00,2.30,0.00,0.000,4,0.000,0.061,2946,3471,2429,0,0,0,0,0,0
$GC,3281,-0.66,-116.8,295.3,-9.4,259,3286,0.05,2.22,0.00,0.000,6,0.138,0.042,2964,2067,2429,0,0,0,0,0,0
$GC,3610,-0.70,-116.8,322.6,-8.4,275,3614,0.00,2.25,0.00,0.000,4,0.000,0.054,2964,649,2429,0,0,0,0,0,0
$GC,3637,-0.70,-116.8,325.4,-9.4,276,3641,0.00,2.25,0.00,0.000,6,0.000,0.039,2955,2067,2429,0,0,0,0,0,0
$GC,3959,-0.70,-116.8,354.2,-8.9,292,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2067,2429,0,0,0,0,0,0
$GC,4269,-0.70,-116.8,379.9,-8.2,307,4273,0.00,2.28,0.00,0.000,4,0.000,0.062,2944,3463,2429,0,0,0,0,0,0
$GC,4323,-0.70,-116.8,384.7,-8.7,309,4328,0.00,2.22,0.00,0.000,6,0.000,0.040,2945,2055,2429,0,0,0,0,0,0
$GC,4640,-0.70,-116.8,410.2,-8.0,325,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2055,2429,0,0,0,0,0,0
$GC,4949,-0.70,-116.8,433.0,-7.2,340,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2055,2429,0,0,0,0,0,0
$GC,5258,-0.70,-116.8,457.4,-8.6,355,5262,0.00,2.25,0.00,0.000,4,0.000,0.057,2945,659,2429,0,0,0,0,0,0
$GC,5307,-0.70,-116.8,462.2,-9.2,357,5312,0.05,2.25,0.00,0.000,6,0.154,0.042,2953,2062,2429,0,0,0,0,0,0
$GC,5629,-0.70,-116.8,489.2,-8.1,373,5633,0.00,2.30,0.00,0.000,4,0.000,0.064,2943,3466,2428,0,0,0,0,0,0
$GC,5707,-0.70,-116.8,496.1,-8.3,376,5712,0.00,2.20,0.00,0.000,6,0.000,0.041,2943,2054,2428,0,0,0,0,0,0
$GC,6022,-0.70,-116.8,522.2,-8.4,392,6026,0.00,2.28,0.00,0.000,4,0.000,0.058,2943,654,2428,0,0,0,0,0,0
$GC,6054,-0.70,-116.8,525.3,-9.7,393,6059,0.05,2.28,0.00,0.000,6,0.156,0.044,2951,2065,2428,0,0,0,0,0,0
$GC,6376,-0.70,-116.8,550.7,-8.2,409,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2065,2428,0,0,0,0,0,0
$GC,6685,-0.70,-116.8,574.4,-7.4,424,6690,0.00,2.30,0.00,0.000,4,0.000,0.063,2941,3466,2427,0,0,0,0,0,0
$GC,6776,-0.70,-116.8,581.1,-7.6,428,6781,0.05,2.20,0.00,0.000,6,0.207,0.041,2953,2060,2428,0,0,0,0,0,0
$GC,7097,-0.73,-116.8,604.3,-7.2,444,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2060,2427,0,0,0,0,0,0
$GC,7407,-0.76,-116.8,627.8,-7.7,459,7411,0.00,2.25,0.00,0.000,4,0.000,0.056,2953,657,2427,0,0,0,0,0,0
$GC,7446,-0.76,-116.8,631.2,-8.3,461,7451,0.00,2.25,0.00,0.000,6,0.000,0.043,2944,2072,2427,0,0,0,0,0,0
$GC,7774,-0.76,-116.8,658.3,-8.4,477,7778,0.00,2.28,0.00,0.000,4,0.000,0.062,2934,3463,2426,0,0,0,0,0,0
$GC,7805,-0.76,-116.8,661.3,-8.8,478,7811,0.00,2.22,0.00,0.000,6,0.000,0.040,2934,2054,2426,0,0,0,0,0,0
$GC,8121,-0.76,-116.8,688.5,-8.5,494,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2054,2426,0,0,0,0,0,0
$GC,8432,-0.76,-116.8,714.1,-8.0,509,8436,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,660,2426,0,0,0,0,0,0
$GC,8458,-0.76,-116.8,716.7,-8.9,510,8463,0.00,2.25,0.00,0.000,6,0.000,0.041,2925,2065,2426,0,0,0,0,0,0
$GC,8779,-0.76,-116.8,742.9,-8.1,526,8783,0.00,2.30,0.00,0.000,4,0.000,0.065,2914,3462,2425,0,0,0,0,0,0
$GC,8818,-0.73,-116.8,746.3,-9.0,528,8823,0.12,2.17,0.00,0.000,6,0.158,0.041,2948,2058,2426,0,0,0,0,0,0
$GC,9145,-0.76,-116.8,771.2,-7.9,544,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2059,2425,0,0,0,0,0,0
$GC,9455,-0.79,-116.8,795.2,-7.5,559,9457,0.05,0.00,0.00,0.000,6,0.168,0.000,2905,2058,2425,0,0,0,0,0,0
$GC,9763,-0.74,-116.8,821.8,-8.4,574,9765,0.15,0.00,0.00,0.000,6,0.160,0.000,2947,2058,2425,0,0,0,0,0,0
$GC,10074,-0.78,-116.8,842.8,-6.5,589,10078,0.00,2.33,0.00,0.000,4,0.000,0.063,2938,3466,2425,0,0,0,0,0,0
$GC,10135,-0.81,-116.8,847.5,-7.2,591,10139,0.00,2.22,0.00,0.000,6,0.000,0.041,2938,2051,2425,0,0,0,0,0,0
$GC,10451,-0.81,-116.8,871.3,-7.7,607,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2051,2425,0,0,0,0,0,0
$GC,10759,-0.81,-116.8,896.4,-8.3,622,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2051,2424,0,0,0,0,0,0
$GC,11069,-0.81,-116.8,921.0,-8.0,637,11073,0.00,2.28,0.00,0.000,4,0.000,0.058,2938,659,2424,0,0,0,0,0,0
$GC,11124,-0.81,-116.8,925.7,-8.7,639,11129,0.00,2.25,0.00,0.000,6,0.000,0.042,2929,2061,2424,0,0,0,0,0,0
$GC,11441,-0.81,-116.8,949.3,-7.1,655,11445,0.00,2.33,0.00,0.000,4,0.000,0.064,2918,3469,2424,0,0,0,0,0,0
$GC,11484,-0.81,-116.8,952.7,-7.4,657,11489,0.00,2.22,0.00,0.000,6,0.000,0.043,2918,2058,2424,0,0,0,0,0,0
$GC,11812,-0.81,-116.8,976.9,-7.8,673,11816,0.00,2.28,0.00,0.000,4,0.000,0.057,2918,647,2424,0,0,0,0,0,0
$GC,11852,-0.76,-116.8,980.1,-8.2,675,11857,0.10,2.25,0.00,0.000,6,0.177,0.044,2934,2062,2424,0,0,0,0,0,0
$STATE,12114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12114,begin apogee
$GC,12120,-0.19,0.0,1000.4,7.9,688,12236,0.60,0.00,110.38,1.268,6,0.134,0.000,3118,1592,1949,0,0,0,0,0,0
$STATE,12236,end apogee,CONTROL_FINISHED_OK
$STATE,12237,begin climb
$GC,12239,0.76,116.8,1003.7,0.0,694,12365,0.95,2.62,117.70,1.224,4,0.083,0.057,3440,195,1473,0,0,0,0,0,0
$GC,12400,0.77,128.6,994.4,8.0,702,12421,0.00,2.40,13.38,1.089,6,0.000,0.036,3440,1612,1425,0,0,0,0,0,0
$GC,12731,0.77,128.6,963.9,9.5,718,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1611,1418,0,0,0,0,0,0
$GC,13042,0.77,128.6,933.4,9.9,733,13046,0.00,2.38,0.00,0.000,4,0.000,0.056,3450,193,1418,0,0,0,0,0,0
$GC,13130,0.77,128.6,923.7,11.1,737,13135,0.08,2.25,0.00,0.000,6,0.173,0.037,3430,1613,1417,0,0,0,0,0,0
$GC,13457,0.77,128.6,893.4,9.3,753,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1613,1417,0,0,0,0,0,0
$GC,13765,0.77,128.6,866.1,8.6,768,13769,0.00,2.35,0.00,0.000,4,0.000,0.055,3440,190,1416,0,0,0,0,0,0
$GC,13819,0.77,128.6,860.9,10.1,770,13825,0.00,2.25,0.00,0.000,6,0.000,0.037,3439,1607,1416,0,0,0,0,0,0
$GC,14134,0.77,128.6,831.0,9.9,786,14138,0.00,2.20,0.00,0.000,4,0.000,0.055,3440,2990,1416,0,0,0,0,0,0
$GC,14189,0.77,128.6,825.4,10.1,788,14196,0.03,2.20,0.00,0.000,6,0.182,0.037,3438,1599,1416,0,0,0,0,0,0
$GC,14504,0.77,128.6,794.6,9.7,804,14508,0.00,2.30,0.00,0.000,4,0.000,0.058,3449,198,1416,0,0,0,0,0,0
$GC,14604,0.77,128.6,784.3,10.0,808,14611,0.03,2.22,0.00,0.000,6,0.168,0.037,3437,1604,1415,0,0,0,0,0,0
$GC,14919,0.77,128.6,755.6,8.8,824,14923,0.00,2.33,0.00,0.000,4,0.000,0.055,3446,194,1415,0,0,0,0,0,0
$GC,14974,0.77,128.6,750.4,9.3,826,14981,0.03,2.22,0.00,0.000,6,0.164,0.037,3435,1604,1415,0,0,0,0,0,0
$GC,15289,0.77,128.6,723.3,8.6,842,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1604,1415,0,0,0,0,0,0
$GC,15600,0.77,130.7,696.8,8.4,857,15605,0.00,2.30,0.00,0.000,4,0.000,0.055,3444,193,1415,0,0,0,0,0,0
$GC,15667,0.77,130.7,690.9,8.8,860,15671,0.00,2.17,0.00,0.000,6,0.000,0.037,3445,1606,1414,0,0,0,0,0,0
$GC,15993,0.77,132.1,663.7,8.5,876,15997,0.00,2.20,0.00,0.000,4,0.000,0.053,3445,2987,1414,0,0,0,0,0,0
$GC,16037,0.77,132.1,659.7,8.8,878,16042,0.08,2.17,0.00,0.000,6,0.186,0.037,3435,1579,1414,0,0,0,0,0,0
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$STATE,22887,end climb,SURFACE_DEPTH_REACHED
$STATE,22887,begin surface coast
$FINISH,1.9,1.023441
$STATE,22919,end surface coast,CONTROL_FINISHED_OK
$STATE,22919,begin surface
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$IRIDIUM_FIX,-4447.43,622.10,240808,222228
$TT8_MAMPS,0.026964
$HUMID,64.41
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$TCM_TEMP,12.10
$XPDR_PINGS,1
$24V_AH,22.1,51.621
$10V_AH,9.6,54.159
$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,23.800,182.875,294.350,9.375,0.000,77.765,120.870,471.365,0.250,0.000,22.536,2821.751,16477.928,450.396,3859.121,317.479,0.000,1796.800,0.000,3025.544,0.000,0.540,0.000
$DEVICE_MAMPS,224.910,67.320,1268.370,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,93910,1303
$CAP_FILE_SIZE,201015,0
$CFSIZE,2097086464,2035253248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291015,153651,-4501.821,627.519,35,0.9,35,-24.4