version: 66.07.10.p01
glider: 573
mission: 12
dive: 447
start: 11 1 115 16 58 57
data:
$ID,573
$MISSION,12
$DIVE,447
$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,-22391.926
$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,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,446
$GPS1,011115,164957,-4501.084,639.779,38,1.0,38,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-69.6
$GPS2,011115,165836,-4501.092,639.796,15,0.8,16,-24.5
$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,247.2,7325,-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,22,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.42,0.000,2,0.000,0.000,81,2067,1518,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.2,-2.0,3,106,11.82,2.30,-39.00,0.000,4,0.236,0.072,2922,3463,2424,0,0,0,0,0,0
$GC,178,-0.68,-116.8,10.9,-9.8,23,186,0.12,2.25,0.00,0.000,6,0.146,0.040,2961,2055,2427,0,0,0,0,0,0
$GC,237,-0.68,-116.8,16.6,-9.0,32,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,2427,0,0,0,0,0,0
$GC,295,-0.68,-116.8,22.1,-9.5,41,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,2427,0,0,0,0,0,0
$GC,450,-0.68,-116.8,37.3,-9.7,66,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2054,2427,0,0,0,0,0,0
$GC,598,-0.68,-116.8,51.4,-9.8,91,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,2427,0,0,0,0,0,0
$GC,943,-0.68,-116.8,83.9,-9.2,146,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,2427,0,0,0,0,0,0
$GC,1255,-0.68,-116.8,112.0,-9.1,161,1259,0.00,2.25,0.00,0.000,4,0.000,0.055,2961,659,2428,0,0,0,0,0,0
$GC,1297,-0.68,-116.8,116.0,-9.8,163,1301,0.00,2.20,0.00,0.000,6,0.000,0.039,2952,2056,2428,0,0,0,0,0,0
$GC,1627,-0.68,-116.8,148.6,-10.1,179,1631,0.00,2.28,0.00,0.000,4,0.000,0.056,2941,3473,2428,0,0,0,0,0,0
$GC,1681,-0.68,-116.8,154.9,-10.7,181,1688,0.05,2.22,0.00,0.000,6,0.152,0.040,2959,2063,2428,0,0,0,0,0,0
$GC,2000,-0.68,-116.8,185.0,-9.5,197,2004,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,651,2428,0,0,0,0,0,0
$GC,2088,-0.68,-116.8,194.0,-10.4,201,2093,0.05,2.22,0.00,0.000,6,0.224,0.040,2961,2065,2428,0,0,0,0,0,0
$GC,2416,-0.68,-116.8,226.4,-9.8,217,2420,0.00,2.28,0.00,0.000,4,0.000,0.061,2951,3463,2428,0,0,0,0,0,0
$GC,2466,-0.68,-116.8,232.0,-10.0,219,2470,0.00,2.20,0.00,0.000,6,0.000,0.037,2951,2060,2428,0,0,0,0,0,0
$GC,2790,-0.68,-116.8,263.6,-9.4,235,2794,0.00,2.25,0.00,0.000,4,0.000,0.054,2951,657,2428,0,0,0,0,0,0
$GC,2833,-0.68,-116.8,267.7,-10.3,237,2838,0.10,2.22,0.00,0.000,6,0.176,0.041,2967,2067,2427,0,0,0,0,0,0
$GC,3163,-0.71,-116.8,295.0,-7.9,253,3167,0.00,2.28,0.00,0.000,4,0.000,0.060,2957,3471,2428,0,0,0,0,0,0
$GC,3249,-0.74,-116.8,302.4,-8.2,257,3253,0.00,2.17,0.00,0.000,6,0.000,0.040,2957,2062,2428,0,0,0,0,0,0
$GC,3582,-0.74,-116.8,329.7,-8.1,273,3586,0.00,2.25,0.00,0.000,4,0.000,0.054,2957,650,2428,0,0,0,0,0,0
$GC,3609,-0.74,-116.8,332.3,-8.9,274,3613,0.00,2.25,0.00,0.000,6,0.000,0.039,2948,2067,2428,0,0,0,0,0,0
$GC,3936,-0.74,-116.8,359.9,-8.5,290,3940,0.00,2.25,0.00,0.000,4,0.000,0.059,2938,3468,2428,0,0,0,0,0,0
$GC,3974,-0.74,-116.8,363.4,-9.5,292,3978,0.00,2.20,0.00,0.000,6,0.000,0.038,2938,2051,2428,0,0,0,0,0,0
$GC,4305,-0.74,-116.8,393.2,-9.2,308,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2051,2428,0,0,0,0,0,0
$GC,4616,-0.74,-116.8,421.9,-9.2,323,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2051,2428,0,0,0,0,0,0
$GC,4924,-0.74,-116.8,450.4,-9.6,338,4928,0.00,2.30,0.00,0.000,4,0.000,0.058,2928,3467,2428,0,0,0,0,0,0
$GC,5008,-0.74,-116.8,458.8,-10.2,342,5012,0.00,2.17,0.00,0.000,6,0.000,0.038,2928,2061,2428,0,0,0,0,0,0
$GC,5340,-0.71,-116.8,492.1,-10.0,358,5344,0.10,2.28,0.00,0.000,4,0.178,0.056,2954,661,2428,0,0,0,0,0,0
$GC,5366,-0.71,-116.8,494.8,-10.2,359,5370,0.00,2.22,0.00,0.000,6,0.000,0.040,2946,2064,2428,0,0,0,0,0,0
$GC,5688,-0.71,-116.8,525.1,-9.7,375,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2064,2427,0,0,0,0,0,0
$GC,5996,-0.71,-116.8,555.7,-10.0,390,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2064,2428,0,0,0,0,0,0
$GC,6307,-0.71,-116.8,586.7,-10.0,405,6311,0.00,2.30,0.00,0.000,4,0.000,0.062,2934,3472,2427,0,0,0,0,0,0
$GC,6401,-0.71,-116.8,596.5,-10.8,409,6406,0.03,2.22,0.00,0.000,6,0.175,0.041,2945,2069,2427,0,0,0,0,0,0
$GC,6723,-0.71,-116.8,626.0,-8.8,425,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2069,2428,0,0,0,0,0,0
$GC,7031,-0.71,-116.8,651.3,-7.9,440,7035,0.00,2.30,0.00,0.000,4,0.000,0.055,2945,647,2427,0,0,0,0,0,0
$GC,7086,-0.71,-116.8,656.0,-8.4,442,7092,0.08,2.22,0.00,0.000,6,0.190,0.039,2954,2070,2427,0,0,0,0,0,0
$GC,7402,-0.75,-116.8,678.7,-6.9,458,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2070,2427,0,0,0,0,0,0
$GC,7712,-0.79,-116.8,700.8,-7.0,473,7717,0.08,2.28,0.00,0.000,4,0.120,0.060,2896,3464,2427,0,0,0,0,0,0
$GC,7778,-0.72,-116.8,706.8,-9.0,476,7783,0.20,2.20,0.00,0.000,6,0.144,0.041,2953,2057,2426,0,0,0,0,0,0
$GC,8100,-0.76,-116.8,728.8,-6.7,492,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2057,2426,0,0,0,0,0,0
$GC,8409,-0.81,-116.8,750.3,-7.4,507,8411,0.10,0.00,0.00,0.000,6,0.099,0.000,2897,2057,2426,0,0,0,0,0,0
$GC,8717,-0.73,-116.8,779.5,-9.7,522,8719,0.17,0.00,0.00,0.000,6,0.158,0.000,2947,2057,2425,0,0,0,0,0,0
$GC,9028,-0.76,-116.8,804.3,-7.8,537,9032,0.00,2.28,0.00,0.000,4,0.000,0.056,2947,657,2425,0,0,0,0,0,0
$GC,9068,-0.76,-116.8,807.5,-8.3,539,9072,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,2064,2425,0,0,0,0,0,0
$GC,9394,-0.76,-116.8,833.7,-7.9,555,9399,0.00,2.28,0.00,0.000,4,0.000,0.062,2927,3463,2424,0,0,0,0,0,0
$GC,9461,-0.76,-116.8,839.6,-9.2,558,9465,0.00,2.22,0.00,0.000,6,0.000,0.040,2927,2059,2424,0,0,0,0,0,0
$GC,9787,-0.76,-116.8,867.2,-8.2,574,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2059,2424,0,0,0,0,0,0
$GC,10098,-0.76,-116.8,892.4,-8.2,589,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2059,2424,0,0,0,0,0,0
$GC,10406,-0.76,-116.8,918.3,-8.4,604,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2059,2424,0,0,0,0,0,0
$GC,10717,-0.76,-116.8,944.1,-8.2,619,10721,0.00,2.28,0.00,0.000,4,0.000,0.056,2927,658,2424,0,0,0,0,0,0
$GC,10789,-0.76,-116.8,950.5,-8.4,622,10793,0.08,2.22,0.00,0.000,6,0.193,0.041,2936,2060,2424,0,0,0,0,0,0
$GC,11109,-0.76,-116.8,976.8,-8.3,638,11113,0.00,2.30,0.00,0.000,4,0.000,0.061,2926,3468,2424,0,0,0,0,0,0
$GC,11152,-0.76,-116.8,980.6,-9.4,640,11156,0.00,2.22,0.00,0.000,6,0.000,0.041,2926,2066,2424,0,0,0,0,0,0
$STATE,11394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11394,begin apogee
$GC,11400,-0.19,0.0,1001.3,8.3,652,11516,0.65,0.00,110.47,1.264,6,0.141,0.000,3121,1593,1949,0,0,0,0,0,0
$STATE,11516,end apogee,CONTROL_FINISHED_OK
$STATE,11516,begin climb
$GC,11518,0.76,116.8,1004.7,0.0,658,11645,0.95,2.55,117.25,1.219,4,0.086,0.050,3430,3005,1473,0,0,0,0,0,0
$GC,11661,0.76,126.0,996.9,8.1,665,11677,0.00,2.40,10.93,1.054,6,0.000,0.034,3439,1609,1435,0,0,0,0,0,0
$GC,12004,0.76,126.0,964.5,9.6,682,12008,0.00,2.40,0.00,0.000,4,0.000,0.057,3450,187,1429,0,0,0,0,0,0
$GC,12132,0.76,126.0,950.9,9.4,688,12137,0.08,2.30,0.00,0.000,6,0.173,0.037,3431,1623,1428,0,0,0,0,0,0
$GC,12458,0.76,126.0,920.1,9.4,704,12462,0.00,2.38,0.00,0.000,4,0.000,0.054,3441,190,1427,0,0,0,0,0,0
$GC,12506,0.76,126.0,915.1,10.0,706,12511,0.00,2.25,0.00,0.000,6,0.000,0.036,3441,1603,1426,0,0,0,0,0,0
$GC,12827,0.76,126.0,883.3,10.2,722,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1603,1425,0,0,0,0,0,0
$GC,13138,0.76,126.0,851.8,10.0,737,13142,0.00,2.22,0.00,0.000,4,0.000,0.054,3440,2995,1425,0,0,0,0,0,0
$GC,13175,0.76,126.0,847.6,10.1,738,13182,0.05,2.20,0.00,0.000,6,0.149,0.035,3431,1589,1425,0,0,0,0,0,0
$GC,13490,0.76,126.0,817.9,9.1,754,13494,0.00,2.25,0.00,0.000,4,0.000,0.056,3441,201,1425,0,0,0,0,0,0
$GC,13574,0.76,126.0,809.7,9.9,758,13578,0.00,2.17,0.00,0.000,6,0.000,0.036,3441,1607,1424,0,0,0,0,0,0
$GC,13905,0.76,126.0,779.0,9.1,774,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1608,1424,0,0,0,0,0,0
$GC,14216,0.76,126.0,749.2,10.1,789,14220,0.00,2.30,0.00,0.000,4,0.000,0.054,3451,200,1424,0,0,0,0,0,0
$GC,14248,0.76,126.0,745.7,11.1,790,14254,0.05,2.20,0.00,0.000,6,0.138,0.036,3432,1595,1423,0,0,0,0,0,0
$GC,14563,0.80,126.0,716.2,8.9,806,14568,0.00,2.28,0.00,0.000,4,0.000,0.054,3441,201,1424,0,0,0,0,0,0
$GC,14607,0.80,126.0,712.0,8.6,808,14611,0.00,2.20,0.00,0.000,6,0.000,0.036,3441,1602,1423,0,0,0,0,0,0
$GC,14933,0.80,126.0,682.1,8.9,824,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1602,1423,0,0,0,0,0,0
$GC,15244,0.80,126.0,655.0,8.6,839,15248,0.00,2.28,0.00,0.000,4,0.000,0.054,3451,200,1423,0,0,0,0,0,0
$GC,15315,0.80,126.0,648.2,9.2,842,15320,0.00,2.20,0.00,0.000,6,0.000,0.036,3451,1600,1422,0,0,0,0,0,0
$GC,15642,0.80,126.0,618.6,9.0,858,15646,0.00,2.30,0.00,0.000,4,0.000,0.053,3461,193,1423,0,0,0,0,0,0
$GC,15691,0.77,126.0,614.0,10.4,860,15696,0.10,2.20,0.00,0.000,6,0.155,0.035,3432,1606,1422,0,0,0,0,0,0
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$STATE,22268,end climb,SURFACE_DEPTH_REACHED
$STATE,22268,begin surface coast
$FINISH,2.0,1.023388
$STATE,22300,end surface coast,CONTROL_FINISHED_OK
$STATE,22300,begin surface
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$SM_GC,3.95,0.00,0.00,9.85,0.000,0.000,0.056,65,2037,1134,-9.75,-0.65,200.16
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$TT8_MAMPS,0.026964
$HUMID,64.84
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.1,53.127
$10V_AH,9.7,55.816
$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
$DEVICE_SECS,23.950,176.825,281.225,9.850,0.000,27.977,19.931,311.224,0.000,0.000,19.504,2787.724,15854.645,413.815,3479.697,300.155,0.000,1746.079,0.000,2980.115,0.000,0.540,0.000
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$SENSOR_SECS,627.887,1818.485,993.554,585.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353292
$DATA_FILE_SIZE,94089,1283
$CAP_FILE_SIZE,194753,0
$CFSIZE,2097086464,2033451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011115,231221,-4503.179,638.852,38,0.9,38,-24.5