version: 66.07.10.p01
glider: 573
mission: 12
dive: 468
start: 11 6 115 18 3 50
data:
$ID,573
$MISSION,12
$DIVE,468
$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,-22460.197
$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,37
$R_STBD_OVSHOOT,34
$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,467
$GPS1,061115,175433,-4458.042,634.394,36,0.9,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-68.9
$GPS2,061115,180329,-4458.124,634.547,13,0.8,14,-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,50.2,4371,-21.9,-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,-0.89,-79.3,0.0,0.0,0,46,0.00,0.00,-19.23,0.000,2,0.000,0.000,80,2066,1509,0,0,0,0,0,0
$GC,49,-0.91,-116.8,3.1,-2.6,3,112,11.50,0.00,-43.40,0.000,6,0.229,0.000,2882,2061,2425,0,0,0,0,0,0
$GC,165,-0.84,-116.8,9.9,-14.5,21,173,0.10,2.33,0.00,0.000,4,0.191,0.053,2908,663,2427,0,0,0,0,0,0
$GC,237,-0.80,-116.8,19.4,-12.3,32,245,0.05,2.22,0.00,0.000,6,0.174,0.036,2916,2058,2427,0,0,0,0,0,0
$GC,296,-0.80,-116.8,26.6,-11.9,41,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2058,2427,0,0,0,0,0,0
$GC,447,-0.80,-116.8,44.6,-11.3,66,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2058,2427,0,0,0,0,0,0
$GC,796,-0.80,-116.8,85.0,-11.4,121,800,0.00,2.28,0.00,0.000,4,0.000,0.051,2916,660,2428,0,0,0,0,0,0
$GC,817,-0.80,-116.8,88.0,-11.8,122,822,0.03,2.22,0.00,0.000,6,0.198,0.037,2916,2060,2428,0,0,0,0,0,0
$GC,1144,-0.80,-116.8,124.9,-11.2,138,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2060,2428,0,0,0,0,0,0
$GC,1456,-0.80,-116.8,159.3,-10.9,153,1460,0.00,2.25,0.00,0.000,4,0.000,0.063,2906,3463,2428,0,0,0,0,0,0
$GC,1499,-0.80,-116.8,164.2,-11.8,155,1504,0.05,2.20,0.00,0.000,6,0.210,0.038,2919,2052,2428,0,0,0,0,0,0
$GC,1829,-0.85,-116.8,199.5,-10.3,171,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2052,2428,0,0,0,0,0,0
$GC,2135,-0.90,-116.8,230.4,-9.9,186,2140,0.08,2.22,0.00,0.000,4,0.126,0.054,2879,662,2428,0,0,0,0,0,0
$GC,2168,-0.85,-116.8,234.6,-12.4,187,2174,0.15,2.20,0.00,0.000,6,0.181,0.037,2908,2072,2428,0,0,0,0,0,0
$GC,2486,-0.85,-116.8,268.6,-10.9,203,2490,0.00,2.22,0.00,0.000,4,0.000,0.057,2898,3468,2428,0,0,0,0,0,0
$GC,2535,-0.85,-116.8,274.6,-11.7,205,2539,0.00,2.22,0.00,0.000,6,0.000,0.038,2898,2058,2428,0,0,0,0,0,0
$GC,2857,-0.85,-116.8,310.1,-11.2,221,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2058,2428,0,0,0,0,0,0
$GC,3165,-0.85,-116.8,344.5,-11.1,236,3169,0.00,2.30,0.00,0.000,4,0.000,0.060,2889,3462,2428,0,0,0,0,0,0
$GC,3249,-0.85,-116.8,354.2,-11.4,240,3253,0.08,2.17,0.00,0.000,6,0.189,0.039,2908,2053,2428,0,0,0,0,0,0
$GC,3580,-0.88,-116.8,388.9,-10.5,256,3584,0.00,2.25,0.00,0.000,4,0.000,0.056,2908,652,2429,0,0,0,0,0,0
$GC,3640,-0.88,-116.8,395.7,-11.3,258,3646,0.00,2.25,0.00,0.000,6,0.000,0.041,2900,2057,2428,0,0,0,0,0,0
$GC,3955,-0.88,-116.8,430.5,-10.8,274,3959,0.00,2.28,0.00,0.000,4,0.000,0.060,2889,3464,2429,0,0,0,0,0,0
$GC,3989,-0.88,-116.8,434.3,-11.6,275,3994,0.00,2.20,0.00,0.000,6,0.000,0.040,2889,2058,2428,0,0,0,0,0,0
$GC,4305,-0.88,-116.8,469.2,-11.0,291,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2057,2428,0,0,0,0,0,0
$GC,4613,-0.88,-116.8,502.5,-10.8,306,4617,0.00,2.28,0.00,0.000,4,0.000,0.056,2889,656,2428,0,0,0,0,0,0
$GC,4651,-0.88,-116.8,506.7,-11.2,308,4656,0.08,2.25,0.00,0.000,6,0.207,0.043,2896,2067,2428,0,0,0,0,0,0
$GC,4976,-0.88,-116.8,539.1,-9.8,324,4980,0.00,2.28,0.00,0.000,4,0.000,0.061,2886,3463,2428,0,0,0,0,0,0
$GC,5003,-0.88,-116.8,541.7,-9.9,325,5007,0.00,2.22,0.00,0.000,6,0.000,0.040,2886,2061,2428,0,0,0,0,0,0
$GC,5325,-0.88,-116.8,574.6,-10.1,341,5329,0.00,2.28,0.00,0.000,4,0.000,0.057,2886,654,2428,0,0,0,0,0,0
$GC,5352,-0.88,-116.8,577.6,-10.7,342,5357,0.05,2.25,0.00,0.000,6,0.176,0.041,2893,2057,2428,0,0,0,0,0,0
$GC,5672,-0.88,-116.8,608.6,-9.6,358,5676,0.00,2.30,0.00,0.000,4,0.000,0.061,2883,3466,2428,0,0,0,0,0,0
$GC,5711,-0.88,-116.8,612.4,-10.0,360,5716,0.05,2.20,0.00,0.000,6,0.216,0.041,2893,2057,2428,0,0,0,0,0,0
$GC,6036,-0.88,-116.8,642.8,-9.0,376,6040,0.00,2.25,0.00,0.000,4,0.000,0.057,2894,659,2427,0,0,0,0,0,0
$GC,6079,-0.88,-116.8,647.3,-10.2,378,6083,0.00,2.25,0.00,0.000,6,0.000,0.041,2886,2061,2427,0,0,0,0,0,0
$GC,6405,-0.88,-116.8,678.7,-9.8,394,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2062,2427,0,0,0,0,0,0
$GC,6716,-0.88,-116.8,711.0,-10.4,409,6720,0.00,2.30,0.00,0.000,4,0.000,0.063,2875,3476,2426,0,0,0,0,0,0
$GC,6756,-0.88,-116.8,715.4,-11.4,411,6761,0.10,2.25,0.00,0.000,6,0.179,0.044,2899,2053,2426,0,0,0,0,0,0
$GC,7084,-0.93,-116.8,747.9,-9.5,427,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2053,2426,0,0,0,0,0,0
$GC,7391,-0.98,-116.8,776.3,-8.7,442,7396,0.10,2.28,0.00,0.000,4,0.106,0.058,2845,654,2425,0,0,0,0,0,0
$GC,7429,-0.88,-116.8,780.5,-11.4,444,7434,0.22,2.25,0.00,0.000,6,0.164,0.044,2897,2062,2426,0,0,0,0,0,0
$GC,7757,-0.93,-116.8,808.1,-8.2,460,7761,0.00,2.33,0.00,0.000,4,0.000,0.063,2886,3474,2425,0,0,0,0,0,0
$GC,7779,-0.97,-116.8,810.1,-8.2,461,7783,0.00,2.25,0.00,0.000,6,0.000,0.044,2887,2054,2425,0,0,0,0,0,0
$GC,8100,-0.97,-116.8,837.8,-9.0,477,8104,0.00,2.28,0.00,0.000,4,0.000,0.057,2887,650,2425,0,0,0,0,0,0
$GC,8120,-0.97,-116.8,839.9,-9.5,478,8125,0.00,2.28,0.00,0.000,6,0.000,0.044,2878,2061,2425,0,0,0,0,0,0
$GC,8446,-0.97,-116.8,870.4,-9.5,494,8450,0.00,2.28,0.00,0.000,4,0.000,0.063,2867,3465,2425,0,0,0,0,0,0
$GC,8484,-0.97,-116.8,874.2,-10.3,495,8489,0.00,2.25,0.00,0.000,6,0.000,0.043,2867,2060,2425,0,0,0,0,0,0
$GC,8801,-0.97,-116.8,905.3,-10.0,511,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2061,2425,0,0,0,0,0,0
$GC,9109,-0.97,-116.8,934.8,-9.5,526,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2061,2425,0,0,0,0,0,0
$GC,9419,-0.97,-116.8,962.9,-9.0,541,9423,0.00,2.30,0.00,0.000,4,0.000,0.057,2867,649,2424,0,0,0,0,0,0
$GC,9469,-0.93,-116.8,967.9,-9.2,543,9474,0.10,2.25,0.00,0.000,6,0.188,0.042,2882,2064,2424,0,0,0,0,0,0
$GC,9784,-0.93,-116.8,994.0,-8.4,558,9788,0.00,2.30,0.00,0.000,4,0.000,0.063,2872,3462,2424,0,0,0,0,0,0
$GC,9822,-0.93,-116.8,997.5,-9.2,560,9826,0.00,2.22,0.00,0.000,6,0.000,0.041,2871,2049,2424,0,0,0,0,0,0
$STATE,9857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9857,begin apogee
$GC,9864,-0.19,0.0,1000.9,9.4,562,9979,0.82,0.00,111.10,1.259,6,0.143,0.000,3118,1592,1950,0,0,0,0,0,0
$STATE,9980,end apogee,CONTROL_FINISHED_OK
$STATE,9980,begin climb
$GC,9982,0.91,116.8,1003.4,0.0,568,10109,1.05,2.58,117.95,1.214,4,0.083,0.057,3481,200,1473,0,0,0,0,0,0
$GC,10167,0.91,116.8,988.4,11.5,577,10171,0.00,2.40,0.00,0.000,6,0.000,0.037,3481,1606,1468,0,0,0,0,0,0
$GC,10493,0.91,116.8,952.1,11.0,593,10497,0.00,2.30,0.00,0.000,4,0.000,0.054,3481,2998,1465,0,0,0,0,0,0
$GC,10537,0.91,116.8,947.0,11.4,595,10541,0.00,2.25,0.00,0.000,6,0.000,0.037,3490,1611,1465,0,0,0,0,0,0
$GC,10865,0.91,116.8,910.7,11.2,611,10869,0.00,2.35,0.00,0.000,4,0.000,0.057,3501,186,1463,0,0,0,0,0,0
$GC,10958,0.91,116.8,899.2,12.2,615,10963,0.05,2.28,0.00,0.000,6,0.145,0.037,3483,1601,1463,0,0,0,0,0,0
$GC,11280,0.94,116.8,864.6,10.8,631,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,1602,1462,0,0,0,0,0,0
$GC,11588,0.94,116.8,832.7,10.2,646,11592,0.00,2.30,0.00,0.000,4,0.000,0.054,3492,190,1462,0,0,0,0,0,0
$GC,11631,0.94,116.8,828.0,10.6,648,11635,0.00,2.25,0.00,0.000,6,0.000,0.037,3492,1603,1462,0,0,0,0,0,0
$GC,11957,0.94,116.8,792.7,10.9,664,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1603,1462,0,0,0,0,0,0
$GC,12268,0.94,116.8,759.7,11.0,679,12272,0.00,2.33,0.00,0.000,4,0.000,0.054,3502,189,1461,0,0,0,0,0,0
$GC,12333,0.94,116.8,752.1,11.3,682,12338,0.03,2.25,0.00,0.000,6,0.180,0.036,3491,1608,1461,0,0,0,0,0,0
$GC,12660,0.94,116.8,717.6,10.4,698,12664,0.00,2.22,0.00,0.000,4,0.000,0.054,3492,2996,1461,0,0,0,0,0,0
$GC,12686,0.94,116.8,714.6,10.7,699,12690,0.00,2.22,0.00,0.000,6,0.000,0.037,3500,1591,1461,0,0,0,0,0,0
$GC,13008,0.94,116.8,680.5,10.5,715,13012,0.00,2.28,0.00,0.000,4,0.000,0.057,3511,196,1461,0,0,0,0,0,0
$GC,13119,0.91,116.8,667.7,10.9,720,13124,0.12,2.22,0.00,0.000,6,0.161,0.037,3477,1616,1460,0,0,0,0,0,0
$GC,13440,0.96,116.8,636.9,9.6,736,13444,0.00,2.33,0.00,0.000,4,0.000,0.054,3487,193,1460,0,0,0,0,0,0
$GC,13495,0.96,116.8,630.9,11.0,738,13501,0.00,2.22,0.00,0.000,6,0.000,0.037,3487,1602,1460,0,0,0,0,0,0
$GC,13811,1.00,116.8,597.9,10.7,754,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1603,1460,0,0,0,0,0,0
$GC,14121,1.04,116.8,565.8,10.4,769,14126,0.10,2.30,0.00,0.000,4,0.102,0.054,3550,196,1460,0,0,0,0,0,0
$GC,14169,0.93,116.8,560.4,12.5,771,14174,0.22,2.20,0.00,0.000,6,0.151,0.037,3486,1608,1460,0,0,0,0,0,0
$GC,14497,0.97,116.8,526.7,10.2,787,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1608,1460,0,0,0,0,0,0
$GC,14804,1.02,116.8,495.6,10.0,802,14809,0.08,2.33,0.00,0.000,4,0.125,0.055,3539,190,1460,0,0,0,0,0,0
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$STATE,19864,end climb,SURFACE_DEPTH_REACHED
$STATE,19864,begin surface coast
$FINISH,1.9,1.023376
$STATE,19896,end surface coast,CONTROL_FINISHED_OK
$STATE,19896,begin surface
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$SM_GC,3.18,0.00,0.00,39.47,0.000,0.000,0.054,72,2060,1132,-9.73,0.00,200.16
$IRIDIUM_FIX,-4438.33,627.13,020908,000052
$TT8_MAMPS,0.026964
$HUMID,64.64
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,22.0,55.436
$10V_AH,9.6,58.280
$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
$DEVICE_SECS,24.800,182.150,229.050,39.475,0.000,25.906,34.606,316.159,0.250,0.000,17.497,2509.389,14113.345,400.687,3164.912,291.433,0.000,1615.457,0.000,2666.308,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353156
$DATA_FILE_SIZE,83801,1143
$CAP_FILE_SIZE,179737,0
$CFSIZE,2097086464,2030698496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061115,233733,-4456.923,638.069,31,0.8,31,-24.5