version: 66.07.10.p01
glider: 573
mission: 12
dive: 504
start: 11 14 115 5 52 32
data:
$ID,573
$MISSION,12
$DIVE,504
$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,-22569.113
$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,36
$R_STBD_OVSHOOT,36
$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,503
$GPS1,141115,054304,-4501.728,625.907,44,1.2,44,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-65.8
$GPS2,141115,055211,-4501.658,625.969,15,1.6,15,-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,10.6,10791,-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,-116.8,0.0,0.0,0,46,0.00,0.00,-19.10,0.000,2,0.000,0.000,81,2069,1485,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-1.0,3,119,11.55,2.33,-48.90,0.000,4,0.226,0.060,2931,653,2427,0,0,0,0,0,0
$GC,397,-0.68,-116.8,37.5,-12.7,59,405,0.10,2.28,0.00,0.000,6,0.134,0.043,2957,2058,2428,0,0,0,0,0,0
$GC,545,-0.68,-116.8,55.3,-13.4,84,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2058,2428,0,0,0,0,0,0
$GC,889,-0.68,-116.8,94.1,-10.6,128,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2059,2428,0,0,0,0,0,0
$GC,1200,-0.68,-116.8,124.0,-9.1,143,1204,0.00,2.30,0.00,0.000,4,0.000,0.063,2946,3468,2429,0,0,0,0,0,0
$GC,1347,-0.68,-116.8,137.8,-8.8,149,1353,0.08,2.20,0.00,0.000,6,0.177,0.039,2965,2048,2428,0,0,0,0,0,0
$GC,1665,-0.68,-116.8,163.2,-8.2,165,1669,0.00,2.20,0.00,0.000,4,0.000,0.050,2965,661,2429,0,0,0,0,0,0
$GC,1728,-0.68,-116.8,169.0,-9.0,168,1732,0.00,2.17,0.00,0.000,6,0.000,0.038,2956,2067,2429,0,0,0,0,0,0
$GC,2055,-0.68,-116.8,197.5,-8.5,184,2059,0.00,2.25,0.00,0.000,4,0.000,0.062,2946,3462,2429,0,0,0,0,0,0
$GC,2099,-0.68,-116.8,201.5,-9.0,186,2103,0.03,2.20,0.00,0.000,6,0.168,0.037,2957,2057,2429,0,0,0,0,0,0
$GC,2427,-0.68,-116.8,227.4,-8.2,202,2431,0.00,2.22,0.00,0.000,4,0.000,0.053,2957,652,2429,0,0,0,0,0,0
$GC,2515,-0.68,-116.8,235.7,-9.3,206,2520,0.05,2.25,0.00,0.000,6,0.219,0.041,2960,2059,2429,0,0,0,0,0,0
$GC,2842,-0.68,-116.8,264.3,-8.7,222,2846,0.00,2.25,0.00,0.000,4,0.000,0.050,2960,662,2429,0,0,0,0,0,0
$GC,2880,-0.68,-116.8,267.9,-9.2,223,2886,0.00,2.20,0.00,0.000,6,0.000,0.037,2951,2060,2429,0,0,0,0,0,0
$GC,3199,-0.68,-116.8,297.1,-9.4,239,3203,0.00,2.25,0.00,0.000,4,0.000,0.050,2951,661,2429,0,0,0,0,0,0
$GC,3219,-0.68,-116.8,299.4,-9.3,240,3224,0.05,2.20,0.00,0.000,6,0.151,0.037,2960,2052,2430,0,0,0,0,0,0
$GC,3545,-0.68,-116.8,328.9,-8.9,256,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2052,2429,0,0,0,0,0,0
$GC,3856,-0.68,-116.8,356.0,-8.8,271,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2052,2429,0,0,0,0,0,0
$GC,4165,-0.71,-116.8,382.9,-8.4,286,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2052,2429,0,0,0,0,0,0
$GC,4475,-0.74,-116.8,408.9,-8.4,301,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2052,2429,0,0,0,0,0,0
$GC,4783,-0.78,-116.8,434.9,-8.3,316,4788,0.08,2.28,0.00,0.000,4,0.120,0.059,2903,3471,2429,0,0,0,0,0,0
$GC,4810,-0.73,-116.8,437.6,-10.3,317,4815,0.15,2.17,0.00,0.000,6,0.146,0.039,2946,2052,2429,0,0,0,0,0,0
$GC,5125,-0.73,-116.8,464.7,-8.7,332,5129,0.00,2.22,0.00,0.000,4,0.000,0.053,2946,652,2429,0,0,0,0,0,0
$GC,5180,-0.73,-116.8,469.9,-9.0,334,5185,0.00,2.25,0.00,0.000,6,0.000,0.042,2937,2059,2429,0,0,0,0,0,0
$GC,5495,-0.73,-116.8,498.3,-9.2,350,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2059,2429,0,0,0,0,0,0
$GC,5805,-0.73,-116.8,526.6,-9.2,365,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2059,2429,0,0,0,0,0,0
$GC,6113,-0.73,-116.8,556.2,-9.5,380,6117,0.00,2.30,0.00,0.000,4,0.000,0.063,2926,3468,2428,0,0,0,0,0,0
$GC,6146,-0.73,-116.8,559.6,-10.6,381,6151,0.05,2.22,0.00,0.000,6,0.141,0.041,2945,2057,2428,0,0,0,0,0,0
$GC,6462,-0.73,-116.8,589.7,-9.6,397,6466,0.00,2.25,0.00,0.000,4,0.000,0.054,2945,659,2428,0,0,0,0,0,0
$GC,6489,-0.73,-116.8,592.6,-10.9,398,6493,0.00,2.25,0.00,0.000,6,0.000,0.041,2936,2071,2428,0,0,0,0,0,0
$GC,6815,-0.73,-116.8,624.2,-9.7,414,6819,0.00,2.25,0.00,0.000,4,0.000,0.063,2925,3468,2427,0,0,0,0,0,0
$GC,6837,-0.73,-116.8,626.5,-10.6,415,6841,0.05,2.22,0.00,0.000,6,0.146,0.039,2952,2057,2427,0,0,0,0,0,0
$GC,7166,-0.77,-116.8,653.8,-8.0,431,7171,0.00,2.25,0.00,0.000,4,0.000,0.055,2952,650,2427,0,0,0,0,0,0
$GC,7188,-0.77,-116.8,655.9,-8.8,432,7192,0.00,2.28,0.00,0.000,6,0.000,0.044,2944,2066,2427,0,0,0,0,0,0
$GC,7514,-0.77,-116.8,683.5,-8.3,448,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2066,2427,0,0,0,0,0,0
$GC,7825,-0.77,-116.8,708.6,-8.0,463,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2066,2427,0,0,0,0,0,0
$GC,8133,-0.77,-116.8,732.2,-7.4,478,8137,0.00,2.30,0.00,0.000,4,0.000,0.066,2933,3471,2426,0,0,0,0,0,0
$GC,8201,-0.77,-116.8,737.3,-7.5,481,8205,0.00,2.20,0.00,0.000,6,0.000,0.042,2933,2056,2426,0,0,0,0,0,0
$GC,8528,-0.77,-116.8,762.4,-7.6,497,8532,0.00,2.25,0.00,0.000,4,0.000,0.055,2933,651,2426,0,0,0,0,0,0
$GC,8582,-0.77,-116.8,767.3,-8.9,499,8587,0.00,2.28,0.00,0.000,6,0.000,0.044,2924,2061,2426,0,0,0,0,0,0
$GC,8899,-0.77,-116.8,794.4,-9.1,515,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2061,2426,0,0,0,0,0,0
$GC,9207,-0.77,-116.8,822.4,-9.1,530,9210,0.00,2.30,0.00,0.000,4,0.000,0.067,2914,3468,2425,0,0,0,0,0,0
$GC,9230,-0.77,-116.8,824.4,-9.4,531,9234,0.08,2.20,0.00,0.000,6,0.171,0.042,2932,2053,2425,0,0,0,0,0,0
$GC,9557,-0.77,-116.8,851.9,-8.2,547,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2053,2426,0,0,0,0,0,0
$GC,9865,-0.77,-116.8,876.6,-7.9,562,9869,0.00,2.25,0.00,0.000,4,0.000,0.056,2932,650,2425,0,0,0,0,0,0
$GC,9892,-0.77,-116.8,878.9,-8.2,563,9896,0.00,2.25,0.00,0.000,6,0.000,0.044,2923,2075,2425,0,0,0,0,0,0
$GC,10214,-0.77,-116.8,903.9,-7.7,579,10218,0.00,2.28,0.00,0.000,4,0.000,0.063,2913,3468,2425,0,0,0,0,0,0
$GC,10230,-0.77,-116.8,905.4,-7.9,580,10235,0.08,2.17,0.00,0.000,6,0.174,0.041,2931,2060,2425,0,0,0,0,0,0
$GC,10557,-0.77,-116.8,929.9,-7.5,596,10561,0.00,2.25,0.00,0.000,4,0.000,0.057,2931,655,2425,0,0,0,0,0,0
$GC,10584,-0.77,-116.8,932.1,-8.3,597,10588,0.00,2.22,0.00,0.000,6,0.000,0.045,2923,2062,2425,0,0,0,0,0,0
$GC,10899,-0.77,-116.8,956.9,-8.0,612,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2061,2425,0,0,0,0,0,0
$GC,11210,-0.77,-116.8,982.0,-8.3,627,11214,0.00,2.33,0.00,0.000,4,0.000,0.067,2913,3468,2425,0,0,0,0,0,0
$GC,11258,-0.77,-116.8,986.6,-9.1,629,11263,0.05,2.25,0.00,0.000,6,0.144,0.042,2930,2059,2425,0,0,0,0,0,0
$STATE,11432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11432,begin apogee
$GC,11439,-0.19,0.0,1001.1,8.3,638,11554,0.60,0.00,111.28,1.262,6,0.135,0.000,3114,1589,1949,0,0,0,0,0,0
$STATE,11555,end apogee,CONTROL_FINISHED_OK
$STATE,11555,begin climb
$GC,11557,0.76,116.8,1004.9,0.0,644,11680,0.98,0.00,118.68,1.219,6,0.086,0.000,3431,1589,1474,0,0,0,0,0,0
$GC,11986,0.77,129.2,975.5,7.9,665,12005,0.00,2.40,12.68,1.078,4,0.000,0.056,3442,202,1423,0,0,0,0,0,0
$GC,12113,0.77,129.2,964.1,8.7,670,12118,0.00,2.28,0.00,0.000,6,0.000,0.037,3442,1617,1420,0,0,0,0,0,0
$GC,12427,0.77,129.2,934.7,9.3,686,12431,0.00,2.33,0.00,0.000,4,0.000,0.054,3452,198,1419,0,0,0,0,0,0
$GC,12481,0.77,129.2,929.0,10.5,688,12488,0.05,2.25,0.00,0.000,6,0.138,0.037,3433,1603,1418,0,0,0,0,0,0
$GC,12796,0.77,129.2,899.9,9.3,704,12800,0.00,2.33,0.00,0.000,4,0.000,0.054,3441,189,1418,0,0,0,0,0,0
$GC,12851,0.77,129.2,894.1,10.4,706,12857,0.00,2.25,0.00,0.000,6,0.000,0.037,3441,1608,1417,0,0,0,0,0,0
$GC,13166,0.77,129.2,862.9,10.0,722,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1608,1417,0,0,0,0,0,0
$GC,13477,0.77,129.2,834.6,8.8,737,13481,0.00,2.33,0.00,0.000,4,0.000,0.054,3451,190,1417,0,0,0,0,0,0
$GC,13576,0.77,129.2,825.2,8.9,741,13582,0.05,2.22,0.00,0.000,6,0.138,0.037,3432,1594,1417,0,0,0,0,0,0
$GC,13895,0.81,141.2,800.1,8.0,757,13915,0.00,2.35,12.40,1.040,4,0.000,0.054,3440,195,1374,0,0,0,0,0,0
$GC,14016,0.81,141.2,789.1,9.0,762,14020,0.00,2.22,0.00,0.000,6,0.000,0.037,3440,1616,1372,0,0,0,0,0,0
$GC,14336,0.81,141.2,760.2,8.9,778,14340,0.00,2.30,0.00,0.000,4,0.000,0.054,3450,198,1372,0,0,0,0,0,0
$GC,14408,0.81,141.2,753.3,10.0,781,14412,0.00,2.20,0.00,0.000,6,0.000,0.037,3450,1594,1372,0,0,0,0,0,0
$GC,14730,0.81,141.2,723.5,9.3,797,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1594,1372,0,0,0,0,0,0
$GC,15038,0.81,141.2,695.1,9.0,812,15042,0.00,2.28,0.00,0.000,4,0.000,0.054,3460,198,1371,0,0,0,0,0,0
$GC,15101,0.81,141.2,689.1,10.8,815,15106,0.05,2.17,0.00,0.000,6,0.206,0.037,3446,1606,1371,0,0,0,0,0,0
$GC,15428,0.81,141.2,660.7,8.6,831,15432,0.00,2.30,0.00,0.000,4,0.000,0.054,3455,193,1371,0,0,0,0,0,0
$GC,15527,0.81,141.2,651.0,9.2,835,15532,0.00,2.22,0.00,0.000,6,0.000,0.036,3455,1603,1371,0,0,0,0,0,0
$GC,15844,0.81,141.2,621.3,9.7,851,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1603,1371,0,0,0,0,0,0
$GC,16152,0.81,141.2,590.5,10.4,866,16156,0.00,2.30,0.00,0.000,4,0.000,0.054,3465,198,1371,0,0,0,0,0,0
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$STATE,22350,end climb,SURFACE_DEPTH_REACHED
$STATE,22351,begin surface coast
$FINISH,1.9,1.011459
$STATE,22383,end surface coast,CONTROL_FINISHED_OK
$STATE,22383,begin surface
$SM_CCo,22402,9.65,0.057,0,0,1133,200.16
$SM_GC,4.07,0.00,0.00,9.65,0.000,0.000,0.057,79,2075,1133,-9.71,0.42,200.16
$IRIDIUM_FIX,-4444.39,621.76,090908,121238
$TT8_MAMPS,0.026964
$HUMID,64.21
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.9,59.096
$10V_AH,9.6,62.083
$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,24.000,176.575,295.575,9.650,0.000,26.477,40.882,316.563,0.000,0.000,18.592,2701.901,16081.285,451.905,3398.739,315.276,0.000,1737.352,0.000,2880.671,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,66.555,1262.250,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.205,1766.312,937.128,519.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353220
$DATA_FILE_SIZE,90639,1254
$CAP_FILE_SIZE,188199,0
$CFSIZE,2097086464,2025979904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141115,120751,-4459.664,626.986,70,1.1,70,-24.4