version: 66.07.10.p01
glider: 573
mission: 12
dive: 461
start: 11 5 115 1 2 55
data:
$ID,573
$MISSION,12
$DIVE,461
$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,-22438.314
$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,34
$R_STBD_OVSHOOT,37
$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,460
$GPS1,051115,005357,-4500.248,628.152,40,0.9,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-71.2
$GPS2,051115,010234,-4500.250,628.149,14,1.8,14,-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,349.7,9567,-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,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.20,0.000,2,0.000,0.000,79,2064,1514,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.3,-3.8,3,113,11.62,2.33,-43.97,0.000,4,0.230,0.063,2930,658,2426,0,0,0,0,0,0
$GC,311,-0.66,-116.8,26.0,-12.5,45,319,0.12,2.25,0.00,0.000,6,0.137,0.039,2962,2051,2428,0,0,0,0,0,0
$GC,469,-0.66,-116.8,41.4,-9.4,70,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2051,2428,0,0,0,0,0,0
$GC,818,-0.66,-116.8,75.1,-10.0,131,823,0.00,2.30,0.00,0.000,4,0.000,0.056,2952,3477,2428,0,0,0,0,0,0
$GC,935,-0.66,-116.8,86.5,-10.5,143,940,0.08,2.20,0.00,0.000,6,0.186,0.040,2970,2057,2428,0,0,0,0,0,0
$GC,1264,-0.66,-116.8,118.0,-9.6,159,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2057,2428,0,0,0,0,0,0
$GC,1571,-0.66,-116.8,147.2,-9.2,174,1575,0.00,2.22,0.00,0.000,4,0.000,0.054,2970,659,2428,0,0,0,0,0,0
$GC,1597,-0.66,-116.8,149.3,-9.2,175,1601,0.00,2.20,0.00,0.000,6,0.000,0.039,2961,2073,2428,0,0,0,0,0,0
$GC,1925,-0.66,-116.8,179.0,-8.6,191,1929,0.00,2.25,0.00,0.000,4,0.000,0.057,2951,3469,2428,0,0,0,0,0,0
$GC,1958,-0.66,-116.8,182.1,-9.0,192,1966,0.05,2.22,0.00,0.000,6,0.151,0.037,2968,2054,2428,0,0,0,0,0,0
$GC,2275,-0.70,-116.8,206.3,-7.6,208,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2053,2428,0,0,0,0,0,0
$GC,2586,-0.73,-116.8,229.4,-7.4,223,2588,0.05,0.00,0.00,0.000,6,0.164,0.000,2929,2053,2429,0,0,0,0,0,0
$GC,2893,-0.69,-116.8,257.8,-9.5,238,2895,0.12,0.00,0.00,0.000,6,0.161,0.000,2963,2053,2429,0,0,0,0,0,0
$GC,3205,-0.69,-116.8,283.5,-8.2,253,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2053,2429,0,0,0,0,0,0
$GC,3510,-0.69,-116.8,309.2,-8.3,268,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2053,2429,0,0,0,0,0,0
$GC,3822,-0.72,-116.8,335.4,-8.5,283,3826,0.00,2.30,0.00,0.000,4,0.000,0.061,2953,3468,2429,0,0,0,0,0,0
$GC,3907,-0.75,-116.8,343.0,-8.9,287,3911,0.00,2.20,0.00,0.000,6,0.000,0.041,2953,2050,2429,0,0,0,0,0,0
$GC,4234,-0.75,-116.8,371.2,-8.3,303,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2050,2429,0,0,0,0,0,0
$GC,4542,-0.75,-116.8,396.3,-7.9,318,4546,0.00,2.25,0.00,0.000,4,0.000,0.054,2953,656,2429,0,0,0,0,0,0
$GC,4608,-0.75,-116.8,402.2,-9.1,321,4612,0.00,2.22,0.00,0.000,6,0.000,0.040,2945,2052,2429,0,0,0,0,0,0
$GC,4935,-0.75,-116.8,430.6,-9.1,337,4939,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,3471,2429,0,0,0,0,0,0
$GC,5002,-0.75,-116.8,437.0,-9.9,340,5006,0.00,2.22,0.00,0.000,6,0.000,0.041,2934,2062,2429,0,0,0,0,0,0
$GC,5328,-0.75,-116.8,468.6,-9.7,356,5332,0.00,2.25,0.00,0.000,4,0.000,0.055,2934,653,2429,0,0,0,0,0,0
$GC,5355,-0.71,-116.8,471.2,-10.1,357,5359,0.10,2.20,0.00,0.000,6,0.177,0.041,2950,2061,2429,0,0,0,0,0,0
$GC,5676,-0.71,-116.8,499.3,-8.8,373,5680,0.00,2.28,0.00,0.000,4,0.000,0.062,2940,3472,2429,0,0,0,0,0,0
$GC,5704,-0.71,-116.8,501.9,-9.8,374,5709,0.05,2.20,0.00,0.000,6,0.203,0.041,2952,2054,2429,0,0,0,0,0,0
$GC,6020,-0.71,-116.8,528.7,-8.4,389,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2429,0,0,0,0,0,0
$GC,6328,-0.71,-116.8,555.0,-8.4,404,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2428,0,0,0,0,0,0
$GC,6639,-0.71,-116.8,579.6,-7.9,419,6643,0.00,2.28,0.00,0.000,4,0.000,0.056,2952,649,2428,0,0,0,0,0,0
$GC,6666,-0.71,-116.8,581.9,-8.4,420,6670,0.00,2.22,0.00,0.000,6,0.000,0.042,2943,2060,2428,0,0,0,0,0,0
$GC,6992,-0.71,-116.8,607.6,-7.8,436,6996,0.00,2.28,0.00,0.000,4,0.000,0.063,2933,3471,2427,0,0,0,0,0,0
$GC,7030,-0.71,-116.8,610.7,-8.7,438,7035,0.08,2.20,0.00,0.000,6,0.177,0.041,2951,2061,2427,0,0,0,0,0,0
$GC,7356,-0.71,-116.8,635.5,-7.7,454,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2061,2427,0,0,0,0,0,0
$GC,7667,-0.74,-116.8,659.5,-7.9,469,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2061,2427,0,0,0,0,0,0
$GC,7975,-0.77,-116.8,683.6,-8.0,484,7979,0.00,2.28,0.00,0.000,4,0.000,0.056,2951,659,2427,0,0,0,0,0,0
$GC,8008,-0.77,-116.8,686.3,-8.5,485,8013,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2063,2427,0,0,0,0,0,0
$GC,8325,-0.77,-116.8,711.9,-8.0,501,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2063,2427,0,0,0,0,0,0
$GC,8633,-0.77,-116.8,735.1,-7.3,516,8637,0.00,2.30,0.00,0.000,4,0.000,0.063,2932,3463,2426,0,0,0,0,0,0
$GC,8688,-0.77,-116.8,739.5,-7.9,518,8693,0.00,2.20,0.00,0.000,6,0.000,0.040,2932,2049,2426,0,0,0,0,0,0
$GC,9003,-0.77,-116.8,762.6,-7.3,534,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2049,2426,0,0,0,0,0,0
$GC,9314,-0.77,-116.8,784.6,-7.2,549,9318,0.00,2.25,0.00,0.000,4,0.000,0.054,2932,660,2426,0,0,0,0,0,0
$GC,9354,-0.77,-116.8,787.8,-7.6,551,9358,0.00,2.20,0.00,0.000,6,0.000,0.040,2923,2069,2426,0,0,0,0,0,0
$GC,9681,-0.77,-116.8,813.9,-7.9,567,9685,0.00,2.28,0.00,0.000,4,0.000,0.062,2913,3463,2425,0,0,0,0,0,0
$GC,9781,-0.77,-116.8,822.3,-8.5,571,9786,0.08,2.20,0.00,0.000,6,0.177,0.040,2931,2058,2425,0,0,0,0,0,0
$GC,10097,-0.77,-116.8,845.2,-7.0,587,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2058,2425,0,0,0,0,0,0
$GC,10405,-0.77,-116.8,865.8,-6.4,602,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2058,2425,0,0,0,0,0,0
$GC,10716,-0.77,-116.8,884.9,-6.4,617,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2058,2425,0,0,0,0,0,0
$GC,11024,-0.77,-116.8,906.5,-7.3,632,11028,0.00,2.33,0.00,0.000,4,0.000,0.060,2922,3468,2424,0,0,0,0,0,0
$GC,11068,-0.77,-116.8,909.9,-8.1,634,11071,0.00,2.20,0.00,0.000,6,0.000,0.041,2922,2056,2425,0,0,0,0,0,0
$GC,11394,-0.77,-116.8,935.7,-8.3,650,11398,0.00,2.28,0.00,0.000,4,0.000,0.057,2922,658,2425,0,0,0,0,0,0
$GC,11437,-0.74,-116.8,939.8,-9.6,652,11442,0.12,2.20,0.00,0.000,6,0.159,0.041,2947,2060,2425,0,0,0,0,0,0
$GC,11759,-0.79,-116.8,964.3,-7.5,668,11763,0.00,2.30,0.00,0.000,4,0.000,0.063,2937,3472,2425,0,0,0,0,0,0
$GC,11825,-0.83,-116.8,969.9,-7.9,671,11830,0.05,2.20,0.00,0.000,6,0.160,0.043,2899,2062,2425,0,0,0,0,0,0
$GC,12148,-0.78,-116.8,999.0,-9.2,687,12150,0.12,0.00,0.00,0.000,6,0.168,0.000,2933,2062,2425,0,0,0,0,0,0
$STATE,12164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12164,begin apogee
$GC,12170,-0.19,0.0,1000.6,9.1,688,12285,0.60,0.00,110.32,1.265,6,0.136,0.000,3116,1596,1949,0,0,0,0,0,0
$STATE,12286,end apogee,CONTROL_FINISHED_OK
$STATE,12286,begin climb
$GC,12288,0.76,116.8,1004.1,0.0,694,12410,0.95,0.00,118.35,1.220,6,0.085,0.000,3426,1596,1474,0,0,0,0,0,0
$GC,12717,0.77,131.4,974.6,7.8,715,12737,0.00,2.38,15.07,1.120,4,0.000,0.057,3436,199,1413,0,0,0,0,0,0
$GC,12822,0.77,131.4,965.6,9.0,720,12827,0.00,2.28,0.00,0.000,6,0.000,0.037,3436,1613,1410,0,0,0,0,0,0
$GC,13148,0.77,131.4,937.8,8.7,736,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1614,1408,0,0,0,0,0,0
$GC,13459,0.77,131.4,911.4,8.6,751,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1613,1408,0,0,0,0,0,0
$GC,13767,0.77,131.4,883.1,9.4,766,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1613,1407,0,0,0,0,0,0
$GC,14077,0.77,131.4,854.5,9.0,781,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1614,1407,0,0,0,0,0,0
$GC,14385,0.77,131.4,826.3,9.1,796,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1613,1406,0,0,0,0,0,0
$GC,14696,0.77,131.4,798.5,9.0,811,14700,0.00,2.30,0.00,0.000,4,0.000,0.055,3446,199,1406,0,0,0,0,0,0
$GC,14756,0.77,131.4,792.7,9.4,814,14761,0.05,2.17,0.00,0.000,6,0.205,0.037,3433,1603,1405,0,0,0,0,0,0
$GC,15084,0.80,132.4,764.5,8.5,830,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1604,1406,0,0,0,0,0,0
$GC,15393,0.84,143.6,739.3,8.0,845,15413,0.08,2.38,11.98,1.009,4,0.119,0.054,3488,190,1364,0,0,0,0,0,0
$GC,15493,0.76,143.6,728.7,11.6,849,15497,0.20,2.20,0.00,0.000,6,0.134,0.037,3426,1600,1363,0,0,0,0,0,0
$GC,15807,0.82,143.6,701.8,8.6,864,15809,0.05,0.00,0.00,0.000,6,0.164,0.000,3465,1600,1362,0,0,0,0,0,0
$GC,16118,0.82,143.6,670.1,10.4,879,16119,0.08,0.00,0.00,0.000,6,0.169,0.000,3444,1601,1362,0,0,0,0,0,0
$GC,16426,0.82,143.6,639.5,9.7,894,16430,0.00,2.30,0.00,0.000,4,0.000,0.056,3454,195,1362,0,0,0,0,0,0
$GC,16504,0.82,143.6,631.4,9.9,897,16508,0.00,2.20,0.00,0.000,6,0.000,0.037,3454,1602,1361,0,0,0,0,0,0
$GC,16820,0.82,143.6,599.8,10.1,913,16821,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1603,1361,0,0,0,0,0,0
$GC,17127,0.82,143.6,568.7,10.1,928,17132,0.00,2.30,0.00,0.000,4,0.000,0.054,3464,197,1361,0,0,0,0,0,0
$GC,17182,0.82,143.6,562.9,9.5,930,17189,0.03,2.22,0.00,0.000,6,0.155,0.037,3451,1604,1361,0,0,0,0,0,0
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$STATE,23096,end climb,SURFACE_DEPTH_REACHED
$STATE,23096,begin surface coast
$FINISH,2.0,1.022039
$STATE,23128,end surface coast,CONTROL_FINISHED_OK
$STATE,23128,begin surface
$SM_CCo,23146,18.77,0.056,0,0,1134,200.16
$SM_GC,3.43,0.00,0.00,18.77,0.000,0.000,0.056,66,2093,1134,-9.75,0.93,200.16
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$TT8_MAMPS,0.026964
$HUMID,64.64
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,22.0,54.672
$10V_AH,9.7,57.447
$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
$DEVICE_SECS,23.875,145.225,275.500,18.775,0.000,28.372,22.457,305.813,0.250,0.000,17.666,2800.802,16766.027,424.907,3374.983,306.347,0.000,1674.874,0.000,2881.120,0.000,0.540,0.000
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$MEM,353304
$DATA_FILE_SIZE,93819,1314
$CAP_FILE_SIZE,185258,0
$CFSIZE,2097086464,2031616000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051115,073004,-4458.347,628.181,27,1.3,27,-24.4