version: 66.07.10.p01
glider: 573
mission: 12
dive: 445
start: 11 1 115 3 53 48
data:
$ID,573
$MISSION,12
$DIVE,445
$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,-22384.535
$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,38
$R_STBD_OVSHOOT,43
$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,444
$GPS1,011115,034521,-4455.657,635.989,39,0.9,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-69.3
$GPS2,011115,035328,-4455.675,636.090,15,2.0,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,204.8,15419,-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,-116.8,0.0,0.0,0,36,0.00,0.00,-8.07,0.000,2,0.000,0.000,61,2085,1290,0,0,0,0,0,0
$GC,39,-0.76,-116.8,3.0,-0.0,1,121,11.55,2.30,-61.28,0.000,4,0.223,0.072,2926,3448,2421,0,0,0,0,0,0
$GC,399,-0.69,-116.8,32.6,-11.0,59,407,0.08,2.22,0.00,0.000,6,0.138,0.044,2952,2069,2422,0,0,0,0,0,0
$GC,550,-0.69,-116.8,47.5,-9.9,84,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2069,2423,0,0,0,0,0,0
$GC,897,-0.69,-116.8,82.7,-10.3,142,901,0.00,2.28,0.00,0.000,4,0.000,0.055,2952,651,2423,0,0,0,0,0,0
$GC,988,-0.65,-116.8,92.6,-10.5,146,992,0.10,2.22,0.00,0.000,6,0.177,0.042,2968,2048,2423,0,0,0,0,0,0
$GC,1314,-0.65,-116.8,124.4,-10.1,162,1318,0.00,2.30,0.00,0.000,4,0.000,0.060,2958,3466,2423,0,0,0,0,0,0
$GC,1385,-0.65,-116.8,131.3,-9.8,165,1389,0.00,2.20,0.00,0.000,6,0.000,0.039,2958,2042,2423,0,0,0,0,0,0
$GC,1713,-0.65,-116.8,163.3,-9.5,181,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2042,2423,0,0,0,0,0,0
$GC,2021,-0.65,-116.8,190.4,-8.5,196,2025,0.00,2.30,0.00,0.000,4,0.000,0.056,2949,3466,2423,0,0,0,0,0,0
$GC,2136,-0.65,-116.8,200.3,-8.6,201,2141,0.10,2.20,0.00,0.000,6,0.165,0.038,2974,2050,2423,0,0,0,0,0,0
$GC,2467,-0.71,-116.8,225.0,-7.5,217,2471,0.00,2.22,0.00,0.000,4,0.000,0.055,2975,660,2423,0,0,0,0,0,0
$GC,2625,-0.74,-116.8,238.5,-8.3,224,2630,0.05,2.22,0.00,0.000,6,0.160,0.040,2926,2070,2424,0,0,0,0,0,0
$GC,2948,-0.68,-116.8,271.2,-10.5,240,2952,0.12,2.28,0.00,0.000,4,0.161,0.060,2950,3468,2424,0,0,0,0,0,0
$GC,3019,-0.68,-116.8,278.8,-10.6,243,3024,0.00,2.22,0.00,0.000,6,0.000,0.039,2950,2055,2423,0,0,0,0,0,0
$GC,3347,-0.68,-116.8,310.2,-9.7,259,3351,0.00,2.28,0.00,0.000,4,0.000,0.056,2950,650,2423,0,0,0,0,0,0
$GC,3401,-0.68,-116.8,316.1,-10.8,261,3407,0.05,2.25,0.00,0.000,6,0.150,0.042,2959,2055,2424,0,0,0,0,0,0
$GC,3718,-0.68,-116.8,345.2,-8.9,277,3722,0.00,2.28,0.00,0.000,4,0.000,0.057,2949,3468,2424,0,0,0,0,0,0
$GC,3840,-0.68,-116.8,357.2,-9.6,282,3845,0.00,2.22,0.00,0.000,6,0.000,0.039,2949,2056,2424,0,0,0,0,0,0
$GC,4155,-0.68,-116.8,387.1,-9.4,298,4159,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,654,2424,0,0,0,0,0,0
$GC,4204,-0.68,-116.8,391.8,-9.2,300,4209,0.05,2.25,0.00,0.000,6,0.151,0.043,2957,2059,2424,0,0,0,0,0,0
$GC,4524,-0.68,-116.8,418.8,-8.5,316,4528,0.00,2.30,0.00,0.000,4,0.000,0.062,2947,3471,2424,0,0,0,0,0,0
$GC,4608,-0.68,-116.8,426.4,-9.7,320,4612,0.00,2.20,0.00,0.000,6,0.000,0.041,2947,2053,2424,0,0,0,0,0,0
$GC,4933,-0.68,-116.8,456.7,-9.2,336,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2053,2424,0,0,0,0,0,0
$GC,5244,-0.68,-116.8,485.6,-9.5,351,5248,0.00,2.28,0.00,0.000,4,0.000,0.057,2947,651,2424,0,0,0,0,0,0
$GC,5293,-0.68,-116.8,490.8,-10.5,353,5298,0.05,2.28,0.00,0.000,6,0.155,0.043,2956,2065,2424,0,0,0,0,0,0
$GC,5615,-0.68,-116.8,519.9,-8.9,369,5619,0.00,2.30,0.00,0.000,4,0.000,0.064,2946,3466,2423,0,0,0,0,0,0
$GC,5655,-0.68,-116.8,523.4,-8.8,371,5660,0.05,2.17,0.00,0.000,6,0.203,0.041,2957,2059,2424,0,0,0,0,0,0
$GC,5984,-0.72,-116.8,551.1,-8.3,387,5988,0.00,2.25,0.00,0.000,4,0.000,0.057,2957,659,2423,0,0,0,0,0,0
$GC,6015,-0.72,-116.8,554.3,-8.8,388,6021,0.00,2.25,0.00,0.000,6,0.000,0.042,2949,2061,2423,0,0,0,0,0,0
$GC,6331,-0.72,-116.8,581.0,-8.2,404,6335,0.00,2.33,0.00,0.000,4,0.000,0.064,2938,3473,2423,0,0,0,0,0,0
$GC,6425,-0.72,-116.8,588.9,-8.2,408,6429,0.00,2.22,0.00,0.000,6,0.000,0.043,2938,2058,2422,0,0,0,0,0,0
$GC,6746,-0.72,-116.8,614.5,-7.7,424,6750,0.00,2.28,0.00,0.000,4,0.000,0.057,2938,659,2422,0,0,0,0,0,0
$GC,6808,-0.72,-116.8,619.6,-8.7,427,6813,0.08,2.22,0.00,0.000,6,0.185,0.042,2948,2064,2423,0,0,0,0,0,0
$GC,7136,-0.72,-116.8,644.0,-7.6,443,7140,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,3463,2422,0,0,0,0,0,0
$GC,7242,-0.72,-116.8,652.8,-8.4,448,7246,0.00,2.20,0.00,0.000,6,0.000,0.040,2937,2053,2422,0,0,0,0,0,0
$GC,7567,-0.72,-116.8,679.3,-8.3,464,7571,0.00,2.25,0.00,0.000,4,0.000,0.057,2937,660,2422,0,0,0,0,0,0
$GC,7606,-0.72,-116.8,682.7,-9.7,466,7610,0.08,2.22,0.00,0.000,6,0.187,0.041,2947,2067,2423,0,0,0,0,0,0
$GC,7931,-0.72,-116.8,708.3,-8.0,482,7935,0.00,2.30,0.00,0.000,4,0.000,0.063,2936,3469,2422,0,0,0,0,0,0
$GC,8048,-0.72,-116.8,718.3,-8.8,487,8052,0.00,2.20,0.00,0.000,6,0.000,0.041,2936,2051,2422,0,0,0,0,0,0
$GC,8370,-0.72,-116.8,744.9,-8.4,503,8372,0.03,0.00,0.00,0.000,6,0.276,0.000,2946,2050,2421,0,0,0,0,0,0
$GC,8678,-0.72,-116.8,769.6,-8.3,518,8682,0.00,2.25,0.00,0.000,4,0.000,0.057,2946,654,2421,0,0,0,0,0,0
$GC,8741,-0.72,-116.8,775.0,-9.0,521,8745,0.00,2.25,0.00,0.000,6,0.000,0.043,2937,2069,2421,0,0,0,0,0,0
$GC,9067,-0.72,-116.8,803.4,-8.7,537,9071,0.00,2.28,0.00,0.000,4,0.000,0.061,2926,3463,2421,0,0,0,0,0,0
$GC,9106,-0.72,-116.8,807.0,-8.8,539,9111,0.10,2.20,0.00,0.000,6,0.163,0.040,2953,2054,2421,0,0,0,0,0,0
$GC,9435,-0.77,-116.8,832.8,-7.8,555,9439,0.00,2.25,0.00,0.000,4,0.000,0.057,2953,659,2420,0,0,0,0,0,0
$GC,9512,-0.77,-116.8,839.3,-7.5,558,9518,0.00,2.22,0.00,0.000,6,0.000,0.042,2944,2070,2420,0,0,0,0,0,0
$GC,9828,-0.80,-116.8,863.1,-7.5,574,9832,0.00,2.30,0.00,0.000,4,0.000,0.061,2933,3475,2420,0,0,0,0,0,0
$GC,9890,-0.80,-116.8,868.0,-8.3,577,9894,0.00,2.20,0.00,0.000,6,0.000,0.042,2933,2062,2419,0,0,0,0,0,0
$GC,10217,-0.80,-116.8,891.6,-7.0,593,10221,0.00,2.28,0.00,0.000,4,0.000,0.055,2933,646,2420,0,0,0,0,0,0
$GC,10266,-0.80,-116.8,895.3,-7.4,595,10270,0.00,2.22,0.00,0.000,6,0.000,0.041,2924,2063,2420,0,0,0,0,0,0
$GC,10588,-0.80,-116.8,917.2,-6.6,611,10592,0.00,2.30,0.00,0.000,4,0.000,0.063,2914,3463,2419,0,0,0,0,0,0
$GC,10650,-0.80,-116.8,921.7,-7.7,614,10655,0.00,2.17,0.00,0.000,6,0.000,0.040,2914,2057,2419,0,0,0,0,0,0
$GC,10977,-0.80,-116.8,944.0,-7.0,630,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2057,2419,0,0,0,0,0,0
$GC,11287,-0.80,-116.8,966.5,-7.2,645,11291,0.00,2.28,0.00,0.000,4,0.000,0.057,2914,661,2419,0,0,0,0,0,0
$GC,11331,-0.74,-116.8,970.3,-7.9,647,11336,0.15,2.22,0.00,0.000,6,0.158,0.041,2946,2067,2419,0,0,0,0,0,0
$GC,11654,-0.78,-116.8,991.9,-6.8,663,11658,0.00,2.30,0.00,0.000,4,0.000,0.063,2936,3470,2419,0,0,0,0,0,0
$GC,11717,-0.82,-116.8,996.3,-7.3,666,11721,0.00,2.22,0.00,0.000,6,0.000,0.041,2935,2055,2419,0,0,0,0,0,0
$STATE,11773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11773,begin apogee
$GC,11779,-0.19,0.0,1000.4,7.1,669,11894,0.60,0.00,109.78,1.268,6,0.135,0.000,3118,1599,1949,0,0,0,0,0,0
$STATE,11895,end apogee,CONTROL_FINISHED_OK
$STATE,11895,begin climb
$GC,11897,0.76,116.8,1002.7,0.0,675,12020,0.95,0.00,118.70,1.219,6,0.086,0.000,3428,1599,1473,0,0,0,0,0,0
$GC,12323,0.76,116.8,968.5,9.0,696,12327,0.00,2.38,0.00,0.000,4,0.000,0.057,3438,199,1465,0,0,0,0,0,0
$GC,12378,0.76,116.8,963.0,10.3,698,12384,0.00,2.33,0.00,0.000,6,0.000,0.037,3438,1620,1464,0,0,0,0,0,0
$GC,12693,0.76,116.8,934.2,9.2,714,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1620,1463,0,0,0,0,0,0
$GC,13004,0.76,116.8,906.4,8.6,729,13008,0.00,2.35,0.00,0.000,4,0.000,0.055,3448,195,1462,0,0,0,0,0,0
$GC,13036,0.76,116.8,903.3,9.6,730,13041,0.05,2.25,0.00,0.000,6,0.137,0.037,3430,1607,1461,0,0,0,0,0,0
$GC,13357,0.77,128.5,877.6,8.0,746,13373,0.00,2.33,11.12,1.059,4,0.000,0.053,3438,195,1424,0,0,0,0,0,0
$GC,13422,0.77,128.5,871.8,8.6,748,13427,0.00,2.25,0.00,0.000,6,0.000,0.037,3438,1606,1423,0,0,0,0,0,0
$GC,13748,0.77,132.5,843.8,8.4,764,13758,0.00,2.33,5.07,0.813,4,0.000,0.053,3448,193,1409,0,0,0,0,0,0
$GC,13797,0.77,132.5,839.1,9.4,766,13802,0.03,2.25,0.00,0.000,6,0.160,0.036,3436,1605,1408,0,0,0,0,0,0
$GC,14118,0.77,136.9,812.3,8.3,782,14126,0.00,0.00,6.15,0.877,6,0.000,0.000,3436,1605,1391,0,0,0,0,0,0
$GC,14428,0.78,145.4,787.2,8.1,797,14443,0.00,2.33,10.05,0.998,4,0.000,0.055,3445,196,1357,0,0,0,0,0,0
$GC,14505,0.78,145.4,780.4,8.9,799,14509,0.00,2.22,0.00,0.000,6,0.000,0.036,3445,1612,1355,0,0,0,0,0,0
$GC,14821,0.78,145.4,752.1,9.2,815,14825,0.00,2.33,0.00,0.000,4,0.000,0.055,3455,192,1354,0,0,0,0,0,0
$GC,14853,0.78,145.4,748.7,10.2,816,14858,0.05,2.22,0.00,0.000,6,0.135,0.036,3436,1596,1354,0,0,0,0,0,0
$GC,15175,0.82,145.4,718.3,9.6,832,15179,0.00,2.30,0.00,0.000,4,0.000,0.054,3445,195,1354,0,0,0,0,0,0
$GC,15224,0.82,145.4,713.2,10.0,834,15228,0.00,2.22,0.00,0.000,6,0.000,0.037,3445,1600,1354,0,0,0,0,0,0
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$STATE,22797,end climb,SURFACE_DEPTH_REACHED
$STATE,22797,begin surface coast
$FINISH,2.1,1.023409
$STATE,22829,end surface coast,CONTROL_FINISHED_OK
$STATE,22829,begin surface
$SM_CCo,22847,11.27,0.055,0,0,1133,200.16
$SM_GC,3.75,0.00,0.00,11.27,0.000,0.000,0.055,66,2034,1133,-9.75,-0.74,200.16
$IRIDIUM_FIX,-4438.33,639.57,270808,121253
$TT8_MAMPS,0.026215
$HUMID,64.21
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,1
$24V_AH,22.0,52.891
$10V_AH,9.6,55.550
$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,23.700,222.100,285.075,11.275,0.000,26.292,42.862,276.274,0.250,0.000,18.089,2888.979,16085.856,456.001,3610.845,302.360,0.000,1856.122,0.000,3112.425,0.000,0.540,0.000
$DEVICE_MAMPS,276.165,71.910,1267.605,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.723,1846.919,999.964,585.609,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,93896,1306
$CAP_FILE_SIZE,208873,0
$CFSIZE,2097086464,2033680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011115,101604,-4458.350,637.714,40,0.9,40,-24.5