version: 66.07.10.p01
glider: 573
mission: 12
dive: 467
start: 11 6 115 11 35 43
data:
$ID,573
$MISSION,12
$DIVE,467
$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,-22456.4
$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,33
$R_STBD_OVSHOOT,25
$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,466
$GPS1,061115,112127,-4456.884,629.115,40,0.8,44,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-72.0
$GPS2,061115,113522,-4457.041,629.067,28,0.9,28,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,102.4,9292,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,53,0.00,0.00,-25.90,0.000,2,0.000,0.000,67,2051,1650,0,0,0,0,0,0
$GC,56,-0.76,-116.8,3.4,-3.6,4,108,11.80,2.28,-33.90,0.000,4,0.231,0.063,2935,654,2425,0,0,0,0,0,0
$GC,294,-0.67,-116.8,23.5,-11.8,42,302,0.10,2.28,0.00,0.000,6,0.138,0.042,2960,2059,2427,0,0,0,0,0,0
$GC,451,-0.67,-116.8,39.1,-9.8,67,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2059,2428,0,0,0,0,0,0
$GC,597,-0.67,-116.8,53.5,-9.3,92,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2059,2428,0,0,0,0,0,0
$GC,953,-0.67,-116.8,88.9,-10.1,144,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2059,2428,0,0,0,0,0,0
$GC,1264,-0.67,-116.8,120.0,-9.9,159,1268,0.00,2.30,0.00,0.000,4,0.000,0.062,2950,3470,2428,0,0,0,0,0,0
$GC,1308,-0.67,-116.8,124.7,-9.6,161,1313,0.08,2.20,0.00,0.000,6,0.181,0.040,2968,2058,2428,0,0,0,0,0,0
$GC,1637,-0.67,-116.8,154.1,-9.3,177,1641,0.00,2.22,0.00,0.000,4,0.000,0.054,2969,655,2428,0,0,0,0,0,0
$GC,1681,-0.67,-116.8,158.7,-9.8,179,1685,0.00,2.22,0.00,0.000,6,0.000,0.041,2960,2064,2428,0,0,0,0,0,0
$GC,2011,-0.67,-116.8,189.7,-9.4,195,2015,0.00,2.28,0.00,0.000,4,0.000,0.053,2960,659,2428,0,0,0,0,0,0
$GC,2054,-0.67,-116.8,193.6,-9.4,197,2059,0.05,2.20,0.00,0.000,6,0.229,0.040,2963,2059,2429,0,0,0,0,0,0
$GC,2383,-0.67,-116.8,222.2,-8.4,213,2387,0.00,2.28,0.00,0.000,4,0.000,0.060,2952,3463,2428,0,0,0,0,0,0
$GC,2477,-0.67,-116.8,230.8,-9.1,217,2481,0.00,2.20,0.00,0.000,6,0.000,0.037,2952,2062,2428,0,0,0,0,0,0
$GC,2801,-0.67,-116.8,258.7,-8.7,233,2806,0.05,2.28,0.00,0.000,4,0.223,0.054,2965,659,2428,0,0,0,0,0,0
$GC,2845,-0.67,-116.8,262.8,-8.4,235,2849,0.00,2.20,0.00,0.000,6,0.000,0.040,2956,2060,2428,0,0,0,0,0,0
$GC,3169,-0.67,-116.8,288.6,-8.0,251,3173,0.00,2.28,0.00,0.000,4,0.000,0.061,2945,3469,2428,0,0,0,0,0,0
$GC,3231,-0.67,-116.8,294.1,-8.8,254,3236,0.08,2.20,0.00,0.000,6,0.176,0.041,2964,2061,2428,0,0,0,0,0,0
$GC,3559,-0.70,-116.8,319.8,-8.1,270,3563,0.00,2.25,0.00,0.000,4,0.000,0.055,2964,654,2428,0,0,0,0,0,0
$GC,3637,-0.70,-116.8,327.1,-8.7,273,3642,0.00,2.25,0.00,0.000,6,0.000,0.041,2955,2056,2428,0,0,0,0,0,0
$GC,3954,-0.70,-116.8,353.8,-8.5,289,3958,0.00,2.30,0.00,0.000,4,0.000,0.060,2945,3475,2428,0,0,0,0,0,0
$GC,3980,-0.70,-116.8,356.3,-9.4,290,3984,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2067,2429,0,0,0,0,0,0
$GC,4301,-0.70,-116.8,385.8,-9.4,306,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2067,2428,0,0,0,0,0,0
$GC,4611,-0.70,-116.8,414.3,-9.4,321,4615,0.00,2.25,0.00,0.000,4,0.000,0.054,2945,655,2428,0,0,0,0,0,0
$GC,4657,-0.70,-116.8,418.9,-10.0,323,4662,0.08,2.20,0.00,0.000,6,0.190,0.039,2955,2067,2428,0,0,0,0,0,0
$GC,4989,-0.70,-116.8,450.3,-9.4,339,4993,0.00,2.28,0.00,0.000,4,0.000,0.060,2944,3471,2428,0,0,0,0,0,0
$GC,5055,-0.70,-116.8,456.9,-9.7,342,5059,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2053,2428,0,0,0,0,0,0
$GC,5381,-0.70,-116.8,486.4,-8.8,358,5385,0.00,2.28,0.00,0.000,4,0.000,0.057,2944,652,2428,0,0,0,0,0,0
$GC,5443,-0.70,-116.8,492.0,-9.0,361,5448,0.08,2.22,0.00,0.000,6,0.186,0.042,2954,2057,2428,0,0,0,0,0,0
$GC,5771,-0.70,-116.8,518.0,-7.7,377,5775,0.00,2.30,0.00,0.000,4,0.000,0.061,2944,3468,2428,0,0,0,0,0,0
$GC,5815,-0.70,-116.8,521.7,-8.3,379,5819,0.00,2.20,0.00,0.000,6,0.000,0.041,2944,2049,2428,0,0,0,0,0,0
$GC,6142,-0.70,-116.8,546.4,-7.7,395,6146,0.00,2.28,0.00,0.000,4,0.000,0.057,2944,650,2428,0,0,0,0,0,0
$GC,6210,-0.70,-116.8,551.9,-7.9,398,6215,0.08,2.25,0.00,0.000,6,0.188,0.041,2953,2069,2428,0,0,0,0,0,0
$GC,6532,-0.73,-116.8,576.8,-7.8,414,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2069,2427,0,0,0,0,0,0
$GC,6841,-0.76,-116.8,601.7,-8.1,429,6845,0.00,2.28,0.00,0.000,4,0.000,0.062,2943,3465,2426,0,0,0,0,0,0
$GC,6881,-0.76,-116.8,605.2,-8.8,431,6885,0.00,2.17,0.00,0.000,6,0.000,0.040,2943,2058,2427,0,0,0,0,0,0
$GC,7209,-0.76,-116.8,632.6,-8.1,447,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2058,2427,0,0,0,0,0,0
$GC,7516,-0.76,-116.8,657.4,-8.1,462,7520,0.00,2.28,0.00,0.000,4,0.000,0.057,2943,651,2426,0,0,0,0,0,0
$GC,7585,-0.76,-116.8,662.8,-8.4,465,7589,0.00,2.25,0.00,0.000,6,0.000,0.043,2934,2066,2426,0,0,0,0,0,0
$GC,7912,-0.76,-116.8,689.2,-8.2,481,7916,0.00,2.30,0.00,0.000,4,0.000,0.063,2924,3471,2426,0,0,0,0,0,0
$GC,7973,-0.76,-116.8,694.5,-8.5,484,7977,0.00,2.22,0.00,0.000,6,0.000,0.043,2923,2055,2426,0,0,0,0,0,0
$GC,8304,-0.76,-116.8,722.6,-8.3,500,8308,0.00,2.28,0.00,0.000,4,0.000,0.057,2923,652,2425,0,0,0,0,0,0
$GC,8398,-0.71,-116.8,731.1,-8.7,504,8403,0.15,2.25,0.00,0.000,6,0.155,0.043,2956,2076,2425,0,0,0,0,0,0
$GC,8725,-0.76,-116.8,754.7,-7.3,520,8730,0.05,2.28,0.00,0.000,4,0.164,0.060,2907,3471,2425,0,0,0,0,0,0
$GC,8819,-0.73,-116.8,763.0,-9.4,524,8824,0.15,2.25,0.00,0.000,6,0.142,0.043,2951,2061,2425,0,0,0,0,0,0
$GC,9147,-0.77,-116.8,788.3,-8.2,540,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2061,2425,0,0,0,0,0,0
$GC,9456,-0.82,-116.8,813.1,-8.2,555,9458,0.10,0.00,0.00,0.000,6,0.099,0.000,2900,2062,2425,0,0,0,0,0,0
$GC,9764,-0.76,-116.8,843.9,-9.9,570,9769,0.15,2.30,0.00,0.000,4,0.156,0.057,2943,647,2425,0,0,0,0,0,0
$GC,9813,-0.76,-116.8,848.6,-9.2,572,9817,0.00,2.25,0.00,0.000,6,0.000,0.040,2934,2071,2425,0,0,0,0,0,0
$GC,10134,-0.76,-116.8,875.3,-7.9,588,10138,0.00,2.28,0.00,0.000,4,0.000,0.060,2924,3471,2424,0,0,0,0,0,0
$GC,10178,-0.76,-116.8,879.0,-8.0,590,10183,0.05,2.22,0.00,0.000,6,0.207,0.042,2936,2049,2424,0,0,0,0,0,0
$GC,10509,-0.76,-116.8,903.0,-6.9,606,10513,0.00,2.28,0.00,0.000,4,0.000,0.057,2936,647,2424,0,0,0,0,0,0
$GC,10548,-0.76,-116.8,906.0,-7.8,607,10553,0.00,2.25,0.00,0.000,6,0.000,0.040,2927,2054,2424,0,0,0,0,0,0
$GC,10864,-0.76,-116.8,927.1,-6.7,623,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2054,2424,0,0,0,0,0,0
$GC,11172,-0.76,-116.8,947.8,-6.6,638,11177,0.00,2.30,0.00,0.000,4,0.000,0.058,2917,3471,2424,0,0,0,0,0,0
$GC,11245,-0.76,-116.8,953.1,-7.8,641,11249,0.08,2.22,0.00,0.000,6,0.171,0.043,2935,2060,2424,0,0,0,0,0,0
$GC,11566,-0.76,-116.8,975.7,-7.2,657,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2060,2424,0,0,0,0,0,0
$STATE,11873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11873,begin apogee
$GC,11879,-0.19,0.0,1000.0,8.1,672,11994,0.60,0.00,110.47,1.261,6,0.132,0.000,3120,1592,1950,0,0,0,0,0,0
$STATE,11994,end apogee,CONTROL_FINISHED_OK
$STATE,11995,begin climb
$GC,11997,0.76,116.8,1003.3,0.0,678,12123,0.90,2.58,117.97,1.215,4,0.086,0.057,3431,200,1473,0,0,0,0,0,0
$GC,12142,0.78,145.3,996.0,7.1,685,12178,0.00,2.45,30.88,1.158,6,0.000,0.036,3431,1614,1357,0,0,0,0,0,0
$GC,12488,0.81,145.3,965.0,9.2,701,12489,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1614,1350,0,0,0,0,0,0
$GC,12796,0.84,145.3,935.6,9.8,716,12798,0.08,0.00,0.00,0.000,6,0.121,0.000,3479,1614,1348,0,0,0,0,0,0
$GC,13107,0.78,145.3,898.7,12.1,731,13112,0.15,2.35,0.00,0.000,4,0.144,0.056,3445,193,1348,0,0,0,0,0,0
$GC,13167,0.78,145.3,891.5,10.4,734,13172,0.00,2.22,0.00,0.000,6,0.000,0.037,3445,1614,1347,0,0,0,0,0,0
$GC,13499,0.78,145.3,857.0,10.3,750,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1614,1347,0,0,0,0,0,0
$GC,13810,0.78,145.3,825.1,10.2,765,13814,0.00,2.35,0.00,0.000,4,0.000,0.055,3455,188,1346,0,0,0,0,0,0
$GC,13859,0.78,145.3,819.5,10.7,767,13864,0.05,2.22,0.00,0.000,6,0.134,0.037,3434,1586,1346,0,0,0,0,0,0
$GC,14183,0.82,145.3,789.6,8.8,783,14187,0.00,2.30,0.00,0.000,4,0.000,0.056,3443,190,1346,0,0,0,0,0,0
$GC,14204,0.82,145.3,787.2,9.2,784,14208,0.00,2.25,0.00,0.000,6,0.000,0.037,3443,1620,1346,0,0,0,0,0,0
$GC,14530,0.82,145.3,757.3,9.1,800,14531,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1620,1346,0,0,0,0,0,0
$GC,14841,0.82,147.2,730.3,8.5,815,14845,0.00,2.33,0.00,0.000,4,0.000,0.055,3453,192,1346,0,0,0,0,0,0
$GC,14873,0.82,147.2,727.3,9.0,816,14877,0.00,2.22,0.00,0.000,6,0.000,0.037,3453,1596,1345,0,0,0,0,0,0
$GC,15193,0.82,147.2,699.1,8.7,832,15195,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1596,1345,0,0,0,0,0,0
$GC,15504,0.82,147.2,671.2,8.9,847,15508,0.00,2.30,0.00,0.000,4,0.000,0.055,3463,198,1345,0,0,0,0,0,0
$GC,15603,0.82,147.2,661.2,9.9,851,15609,0.03,2.22,0.00,0.000,6,0.159,0.037,3451,1601,1344,0,0,0,0,0,0
$GC,15920,0.82,147.2,631.3,9.5,867,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1601,1344,0,0,0,0,0,0
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$STATE,22586,end climb,SURFACE_DEPTH_REACHED
$STATE,22587,begin surface coast
$FINISH,1.9,1.012834
$STATE,22619,end surface coast,CONTROL_FINISHED_OK
$STATE,22619,begin surface
$SM_CCo,22637,19.88,0.054,0,0,1133,200.16
$SM_GC,3.00,0.00,0.00,19.88,0.000,0.000,0.054,80,2066,1133,-9.70,0.17,200.16
$IRIDIUM_FIX,-4441.36,627.47,020908,000010
$TT8_MAMPS,0.026964
$HUMID,64.37
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.0,55.332
$10V_AH,9.7,58.161
$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,24.150,191.450,271.850,19.875,0.000,52.549,40.995,482.011,0.000,0.000,31.361,2828.704,16178.763,412.957,3728.742,330.432,0.000,1760.279,0.000,2991.769,0.000,0.539,0.000
$DEVICE_MAMPS,231.030,63.495,1260.720,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.553,1835.141,1000.299,574.652,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,93889,1294
$CAP_FILE_SIZE,201324,0
$CFSIZE,2097086464,2030796800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061115,175433,-4458.042,634.394,36,0.9,36,-24.4