version: 66.07.10.p01
glider: 573
mission: 12
dive: 454
start: 11 3 115 8 45 13
data:
$ID,573
$MISSION,12
$DIVE,454
$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,-22415.68
$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,46
$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,453
$GPS1,031115,083603,-4505.079,629.662,26,0.9,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-63.0
$GPS2,031115,084452,-4505.104,629.778,18,0.9,18,-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,309.5,7830,-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,-19.30,0.000,2,0.000,0.000,68,2081,1515,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.0,-2.5,3,119,11.65,2.30,-47.88,0.000,4,0.227,0.073,2924,3444,2428,0,0,0,0,0,0
$GC,312,-0.69,-116.8,22.2,-12.4,45,320,0.10,2.20,0.00,0.000,6,0.138,0.040,2957,2062,2428,0,0,0,0,0,0
$GC,469,-0.69,-116.8,39.2,-10.4,70,477,0.00,2.28,0.00,0.000,4,0.000,0.057,2948,3445,2428,0,0,0,0,0,0
$GC,492,-0.69,-116.8,41.1,-8.3,73,497,0.00,2.17,0.00,0.000,6,0.000,0.038,2948,2054,2428,0,0,0,0,0,0
$GC,841,-0.69,-116.8,75.8,-11.0,134,846,0.00,2.28,0.00,0.000,4,0.000,0.055,2949,655,2428,0,0,0,0,0,0
$GC,876,-0.64,-116.8,79.5,-10.9,140,882,0.12,2.22,0.00,0.000,6,0.171,0.041,2972,2055,2428,0,0,0,0,0,0
$GC,1192,-0.64,-116.8,109.1,-9.5,156,1196,0.00,2.28,0.00,0.000,4,0.000,0.057,2961,3474,2429,0,0,0,0,0,0
$GC,1247,-0.64,-116.8,114.2,-8.5,158,1252,0.05,2.20,0.00,0.000,6,0.213,0.039,2972,2062,2429,0,0,0,0,0,0
$GC,1569,-0.64,-116.8,142.0,-8.6,174,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2062,2429,0,0,0,0,0,0
$GC,1881,-0.67,-116.8,168.7,-8.4,189,1885,0.00,2.25,0.00,0.000,4,0.000,0.054,2973,654,2429,0,0,0,0,0,0
$GC,1913,-0.67,-116.8,172.0,-9.6,190,1921,0.00,2.25,0.00,0.000,6,0.000,0.040,2964,2061,2429,0,0,0,0,0,0
$GC,2229,-0.67,-116.8,198.2,-8.0,206,2233,0.00,2.25,0.00,0.000,4,0.000,0.052,2965,660,2429,0,0,0,0,0,0
$GC,2262,-0.67,-116.8,201.4,-9.3,207,2268,0.00,2.22,0.00,0.000,6,0.000,0.039,2956,2058,2429,0,0,0,0,0,0
$GC,2581,-0.67,-116.8,228.6,-8.4,223,2585,0.00,2.28,0.00,0.000,4,0.000,0.059,2945,3468,2429,0,0,0,0,0,0
$GC,2630,-0.67,-116.8,233.4,-8.7,225,2635,0.05,2.22,0.00,0.000,6,0.143,0.038,2963,2054,2429,0,0,0,0,0,0
$GC,2954,-0.67,-116.8,258.1,-7.4,241,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2053,2429,0,0,0,0,0,0
$GC,3261,-0.67,-116.8,280.9,-7.7,256,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2053,2429,0,0,0,0,0,0
$GC,3571,-0.70,-116.8,305.0,-8.1,271,3575,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,651,2429,0,0,0,0,0,0
$GC,3592,-0.70,-116.8,307.0,-8.4,272,3597,0.00,2.22,0.00,0.000,6,0.000,0.041,2953,2066,2430,0,0,0,0,0,0
$GC,3918,-0.70,-116.8,335.1,-8.6,288,3922,0.00,2.28,0.00,0.000,4,0.000,0.062,2944,3469,2429,0,0,0,0,0,0
$GC,3956,-0.70,-116.8,338.5,-9.0,290,3960,0.00,2.20,0.00,0.000,6,0.000,0.039,2944,2054,2430,0,0,0,0,0,0
$GC,4287,-0.70,-116.8,369.6,-9.5,306,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2054,2429,0,0,0,0,0,0
$GC,4598,-0.70,-116.8,399.0,-9.5,321,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2054,2429,0,0,0,0,0,0
$GC,4906,-0.70,-116.8,428.3,-9.4,336,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2054,2429,0,0,0,0,0,0
$GC,5217,-0.70,-116.8,458.0,-9.7,351,5221,0.00,2.22,0.00,0.000,4,0.000,0.054,2944,662,2429,0,0,0,0,0,0
$GC,5277,-0.70,-116.8,464.4,-10.9,354,5282,0.08,2.20,0.00,0.000,6,0.190,0.038,2952,2059,2429,0,0,0,0,0,0
$GC,5602,-0.70,-116.8,493.8,-8.9,370,5606,0.00,2.30,0.00,0.000,4,0.000,0.061,2942,3470,2429,0,0,0,0,0,0
$GC,5686,-0.70,-116.8,501.1,-9.6,374,5690,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,2060,2429,0,0,0,0,0,0
$GC,6012,-0.70,-116.8,529.7,-8.7,390,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2060,2429,0,0,0,0,0,0
$GC,6323,-0.70,-116.8,555.6,-8.4,405,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2060,2428,0,0,0,0,0,0
$GC,6630,-0.70,-116.8,582.8,-8.8,420,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2060,2428,0,0,0,0,0,0
$GC,6941,-0.70,-116.8,609.5,-8.8,435,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2060,2427,0,0,0,0,0,0
$GC,7249,-0.70,-116.8,637.0,-8.6,450,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2060,2427,0,0,0,0,0,0
$GC,7560,-0.70,-116.8,662.7,-8.2,465,7564,0.00,2.25,0.00,0.000,4,0.000,0.055,2942,660,2427,0,0,0,0,0,0
$GC,7632,-0.70,-116.8,669.2,-8.9,468,7637,0.05,2.25,0.00,0.000,6,0.151,0.041,2951,2060,2427,0,0,0,0,0,0
$GC,7960,-0.74,-116.8,695.3,-8.1,484,7964,0.00,2.30,0.00,0.000,4,0.000,0.062,2940,3474,2426,0,0,0,0,0,0
$GC,8037,-0.74,-116.8,701.7,-8.5,487,8042,0.00,2.22,0.00,0.000,6,0.000,0.042,2941,2057,2426,0,0,0,0,0,0
$GC,8354,-0.74,-116.8,726.5,-8.0,503,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2057,2427,0,0,0,0,0,0
$GC,8662,-0.74,-116.8,750.9,-7.8,518,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2057,2426,0,0,0,0,0,0
$GC,8972,-0.74,-116.8,775.1,-7.8,533,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2057,2426,0,0,0,0,0,0
$GC,9280,-0.74,-116.8,798.2,-7.3,548,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2057,2426,0,0,0,0,0,0
$GC,9591,-0.74,-116.8,821.0,-7.4,563,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2057,2426,0,0,0,0,0,0
$GC,9899,-0.74,-116.8,843.6,-7.1,578,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2057,2426,0,0,0,0,0,0
$GC,10210,-0.74,-116.8,865.3,-6.7,593,10214,0.00,2.28,0.00,0.000,4,0.000,0.056,2940,661,2425,0,0,0,0,0,0
$GC,10250,-0.74,-116.8,868.5,-8.5,595,10254,0.00,2.22,0.00,0.000,6,0.000,0.041,2931,2065,2425,0,0,0,0,0,0
$GC,10577,-0.74,-116.8,892.7,-7.4,611,10581,0.00,2.30,0.00,0.000,4,0.000,0.063,2921,3463,2425,0,0,0,0,0,0
$GC,10662,-0.74,-116.8,899.5,-7.3,615,10666,0.10,2.20,0.00,0.000,6,0.164,0.040,2947,2055,2425,0,0,0,0,0,0
$GC,10990,-0.78,-116.8,921.6,-6.6,631,10994,0.00,2.25,0.00,0.000,4,0.000,0.057,2948,661,2424,0,0,0,0,0,0
$GC,11067,-0.78,-116.8,927.3,-7.2,634,11073,0.00,2.22,0.00,0.000,6,0.000,0.041,2938,2067,2425,0,0,0,0,0,0
$GC,11382,-0.78,-116.8,948.3,-6.6,650,11386,0.00,2.30,0.00,0.000,4,0.000,0.062,2927,3469,2424,0,0,0,0,0,0
$GC,11414,-0.78,-116.8,950.6,-7.8,651,11419,0.00,2.22,0.00,0.000,6,0.000,0.041,2928,2052,2424,0,0,0,0,0,0
$GC,11731,-0.78,-116.8,972.3,-6.9,667,11735,0.00,2.28,0.00,0.000,4,0.000,0.057,2928,658,2424,0,0,0,0,0,0
$GC,11764,-0.78,-116.8,974.8,-7.9,668,11770,0.00,2.22,0.00,0.000,6,0.000,0.041,2919,2067,2424,0,0,0,0,0,0
$GC,12079,-0.78,-116.8,997.2,-7.4,684,12083,0.00,2.28,0.00,0.000,4,0.000,0.062,2909,3463,2424,0,0,0,0,0,0
$STATE,12115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12115,begin apogee
$GC,12123,-0.19,0.0,1000.1,8.0,685,12237,0.68,0.00,110.85,1.267,6,0.141,0.000,3114,1592,1949,0,0,0,0,0,0
$STATE,12238,end apogee,CONTROL_FINISHED_OK
$STATE,12238,begin climb
$GC,12240,0.76,116.8,1001.3,0.0,691,12367,0.93,2.60,117.43,1.222,4,0.090,0.057,3431,201,1473,0,0,0,0,0,0
$GC,12407,0.76,116.8,989.6,10.9,699,12412,0.00,2.42,0.00,0.000,6,0.000,0.036,3431,1617,1469,0,0,0,0,0,0
$GC,12734,0.76,116.8,957.3,10.0,715,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1617,1465,0,0,0,0,0,0
$GC,13042,0.76,116.8,928.4,9.1,730,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1617,1464,0,0,0,0,0,0
$GC,13352,0.76,116.8,900.6,8.7,745,13357,0.00,2.35,0.00,0.000,4,0.000,0.055,3441,194,1462,0,0,0,0,0,0
$GC,13437,0.76,116.8,892.6,9.2,749,13442,0.00,2.22,0.00,0.000,6,0.000,0.037,3441,1610,1461,0,0,0,0,0,0
$GC,13765,0.76,117.6,863.7,8.5,765,13769,0.00,2.22,0.00,0.000,4,0.000,0.054,3440,2992,1461,0,0,0,0,0,0
$GC,13808,0.76,117.6,859.6,9.1,767,13813,0.05,2.20,0.00,0.000,6,0.153,0.037,3432,1599,1461,0,0,0,0,0,0
$GC,14136,0.77,136.2,834.3,7.6,783,14160,0.00,2.35,18.30,1.112,4,0.000,0.058,3442,198,1393,0,0,0,0,0,0
$GC,14261,0.77,136.2,823.3,9.4,788,14267,0.00,2.25,0.00,0.000,6,0.000,0.037,3442,1604,1391,0,0,0,0,0,0
$GC,14576,0.77,136.2,795.3,9.2,804,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1604,1391,0,0,0,0,0,0
$GC,14886,0.77,136.2,766.0,9.6,819,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1604,1390,0,0,0,0,0,0
$GC,15194,0.77,136.2,736.7,9.4,834,15196,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1604,1390,0,0,0,0,0,0
$GC,15505,0.77,136.2,707.6,9.3,849,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1604,1390,0,0,0,0,0,0
$GC,15813,0.77,136.2,678.7,9.3,864,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1604,1389,0,0,0,0,0,0
$GC,16124,0.77,136.2,649.9,9.4,879,16128,0.00,2.30,0.00,0.000,4,0.000,0.055,3452,190,1389,0,0,0,0,0,0
$GC,16223,0.77,136.2,639.4,10.1,883,16228,0.05,2.22,0.00,0.000,6,0.135,0.037,3432,1594,1389,0,0,0,0,0,0
$GC,16540,0.81,136.2,609.9,9.3,899,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1594,1389,0,0,0,0,0,0
$GC,16848,0.86,136.2,581.3,9.0,914,16853,0.10,2.30,0.00,0.000,4,0.102,0.055,3493,199,1389,0,0,0,0,0,0
$GC,16914,0.78,136.2,574.0,11.5,917,16919,0.20,2.22,0.00,0.000,6,0.135,0.037,3433,1613,1388,0,0,0,0,0,0
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$STATE,23120,end climb,SURFACE_DEPTH_REACHED
$STATE,23121,begin surface coast
$FINISH,1.9,1.022372
$STATE,23153,end surface coast,CONTROL_FINISHED_OK
$STATE,23153,begin surface
$SM_CCo,23171,20.95,0.054,0,0,1132,200.16
$SM_GC,2.69,0.00,0.00,20.95,0.000,0.000,0.054,83,2060,1132,-9.69,0.03,200.16
$IRIDIUM_FIX,-4447.43,628.16,290808,151540
$TT8_MAMPS,0.027713
$HUMID,64.68
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,2
$24V_AH,22.0,53.899
$10V_AH,9.7,56.634
$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,23.550,150.525,270.600,20.950,0.000,27.520,20.181,317.081,0.500,0.000,22.048,2806.845,16748.398,404.157,3456.240,296.352,0.000,1700.631,0.000,2942.751,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,72.675,1266.840,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.930,1862.484,1003.203,580.706,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353272
$DATA_FILE_SIZE,97246,1316
$CAP_FILE_SIZE,187679,0
$CFSIZE,2097086464,2032533504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031115,151303,-4505.346,628.321,40,0.9,40,-24.4