version: 66.07.10.p01
glider: 573
mission: 12
dive: 505
start: 11 14 115 12 17 31
data:
$ID,573
$MISSION,12
$DIVE,505
$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,-22572.096
$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,40
$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,504
$GPS1,141115,120751,-4459.664,626.986,70,1.1,70,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-67.3
$GPS2,141115,121711,-4459.696,627.031,18,1.2,18,-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,354.3,7915,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-13.25,0.000,2,0.000,0.000,78,2074,1401,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.1,-2.1,2,119,11.65,2.33,-54.67,0.000,4,0.228,0.064,2930,660,2427,0,0,0,0,0,0
$GC,398,-0.69,-116.8,18.8,-12.7,59,406,0.10,2.25,0.00,0.000,6,0.138,0.042,2954,2050,2428,0,0,0,0,0,0
$GC,457,-0.69,-116.8,25.4,-10.3,68,465,0.00,2.30,0.00,0.000,4,0.000,0.050,2955,651,2428,0,0,0,0,0,0
$GC,486,-0.69,-116.8,28.2,-9.5,72,493,0.00,2.28,0.00,0.000,6,0.000,0.041,2946,2069,2428,0,0,0,0,0,0
$GC,640,-0.69,-116.8,45.3,-11.8,97,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2068,2428,0,0,0,0,0,0
$GC,993,-0.69,-116.8,84.3,-10.7,153,997,0.00,2.28,0.00,0.000,4,0.000,0.062,2935,3463,2429,0,0,0,0,0,0
$GC,1042,-0.69,-116.8,89.9,-10.6,155,1047,0.10,2.22,0.00,0.000,6,0.156,0.040,2962,2060,2429,0,0,0,0,0,0
$GC,1366,-0.69,-116.8,120.7,-9.9,171,1370,0.00,2.30,0.00,0.000,4,0.000,0.063,2953,3463,2428,0,0,0,0,0,0
$GC,1392,-0.69,-116.8,123.8,-10.5,172,1396,0.00,2.22,0.00,0.000,6,0.000,0.040,2953,2057,2429,0,0,0,0,0,0
$GC,1714,-0.69,-116.8,154.6,-9.3,188,1718,0.00,2.25,0.00,0.000,4,0.000,0.055,2953,659,2429,0,0,0,0,0,0
$GC,1757,-0.69,-116.8,159.1,-10.0,190,1762,0.03,2.22,0.00,0.000,6,0.177,0.041,2954,2053,2429,0,0,0,0,0,0
$GC,2085,-0.69,-116.8,191.1,-10.1,206,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2428,0,0,0,0,0,0
$GC,2396,-0.69,-116.8,220.6,-9.3,221,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2428,0,0,0,0,0,0
$GC,2704,-0.69,-116.8,247.3,-8.5,236,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2053,2428,0,0,0,0,0,0
$GC,3015,-0.69,-116.8,273.5,-8.8,251,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2429,0,0,0,0,0,0
$GC,3322,-0.69,-116.8,301.6,-9.1,266,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2429,0,0,0,0,0,0
$GC,3631,-0.69,-116.8,331.1,-9.7,281,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2429,0,0,0,0,0,0
$GC,3939,-0.69,-116.8,359.0,-8.8,296,3943,0.00,2.25,0.00,0.000,4,0.000,0.053,2954,650,2429,0,0,0,0,0,0
$GC,3966,-0.69,-116.8,361.4,-9.2,297,3971,0.05,2.20,0.00,0.000,6,0.220,0.039,2956,2064,2429,0,0,0,0,0,0
$GC,4288,-0.69,-116.8,387.6,-8.2,313,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2064,2429,0,0,0,0,0,0
$GC,4596,-0.69,-116.8,412.3,-7.9,328,4600,0.00,2.28,0.00,0.000,4,0.000,0.066,2947,3463,2429,0,0,0,0,0,0
$GC,4622,-0.69,-116.8,414.6,-8.6,329,4626,0.00,2.22,0.00,0.000,6,0.000,0.042,2947,2060,2429,0,0,0,0,0,0
$GC,4945,-0.69,-116.8,441.1,-8.3,345,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2060,2429,0,0,0,0,0,0
$GC,5252,-0.69,-116.8,467.7,-8.7,360,5256,0.00,2.25,0.00,0.000,4,0.000,0.055,2947,650,2429,0,0,0,0,0,0
$GC,5291,-0.69,-116.8,471.1,-9.0,362,5296,0.08,2.22,0.00,0.000,6,0.191,0.044,2956,2064,2429,0,0,0,0,0,0
$GC,5618,-0.73,-116.8,497.9,-8.1,378,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2065,2428,0,0,0,0,0,0
$GC,5928,-0.77,-116.8,522.9,-8.4,393,5932,0.05,2.28,0.00,0.000,4,0.166,0.054,2915,658,2428,0,0,0,0,0,0
$GC,5960,-0.69,-116.8,526.2,-10.1,394,5966,0.20,2.22,0.00,0.000,6,0.151,0.042,2962,2069,2427,0,0,0,0,0,0
$GC,6277,-0.74,-116.8,550.9,-8.0,410,6281,0.00,2.28,0.00,0.000,4,0.000,0.053,2962,654,2427,0,0,0,0,0,0
$GC,6317,-0.78,-116.8,554.4,-8.5,412,6322,0.05,2.20,0.00,0.000,6,0.160,0.041,2914,2064,2427,0,0,0,0,0,0
$GC,6644,-0.73,-116.8,585.4,-9.9,428,6645,0.12,0.00,0.00,0.000,6,0.161,0.000,2948,2064,2427,0,0,0,0,0,0
$GC,6953,-0.73,-116.8,612.3,-8.6,443,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2064,2427,0,0,0,0,0,0
$GC,7261,-0.76,-116.8,638.8,-8.5,458,7265,0.00,2.28,0.00,0.000,4,0.000,0.067,2938,3462,2427,0,0,0,0,0,0
$GC,7317,-0.79,-116.8,643.7,-8.7,460,7322,0.00,2.17,0.00,0.000,6,0.000,0.041,2938,2058,2427,0,0,0,0,0,0
$GC,7631,-0.79,-116.8,671.3,-9.0,476,7635,0.00,2.25,0.00,0.000,4,0.000,0.057,2938,657,2427,0,0,0,0,0,0
$GC,7664,-0.79,-116.8,674.5,-10.4,477,7669,0.00,2.25,0.00,0.000,6,0.000,0.043,2929,2090,2427,0,0,0,0,0,0
$GC,7980,-0.79,-116.8,704.4,-9.6,493,7984,0.00,2.30,0.00,0.000,4,0.000,0.054,2929,661,2426,0,0,0,0,0,0
$GC,8021,-0.76,-116.8,708.3,-9.3,495,8026,0.08,2.22,0.00,0.000,6,0.189,0.042,2939,2065,2426,0,0,0,0,0,0
$GC,8348,-0.76,-116.8,736.8,-8.6,511,8352,0.00,2.28,0.00,0.000,4,0.000,0.065,2928,3471,2426,0,0,0,0,0,0
$GC,8382,-0.76,-116.8,739.8,-8.8,512,8387,0.00,2.22,0.00,0.000,6,0.000,0.042,2928,2053,2426,0,0,0,0,0,0
$GC,8696,-0.76,-116.8,767.2,-8.5,528,8700,0.00,2.25,0.00,0.000,4,0.000,0.057,2928,660,2426,0,0,0,0,0,0
$GC,8720,-0.76,-116.8,769.2,-9.1,529,8724,0.08,2.20,0.00,0.000,6,0.190,0.041,2937,2071,2426,0,0,0,0,0,0
$GC,9046,-0.76,-116.8,797.4,-8.7,545,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2071,2425,0,0,0,0,0,0
$GC,9354,-0.76,-116.8,824.1,-8.7,560,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2071,2425,0,0,0,0,0,0
$GC,9665,-0.76,-116.8,849.4,-8.0,575,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2071,2425,0,0,0,0,0,0
$GC,9975,-0.76,-116.8,873.6,-7.5,590,9979,0.00,2.25,0.00,0.000,4,0.000,0.063,2927,3460,2425,0,0,0,0,0,0
$GC,10001,-0.76,-116.8,875.9,-8.0,591,10006,0.00,2.22,0.00,0.000,6,0.000,0.041,2927,2058,2425,0,0,0,0,0,0
$GC,10324,-0.76,-116.8,899.9,-7.5,607,10328,0.00,2.28,0.00,0.000,4,0.000,0.057,2927,660,2425,0,0,0,0,0,0
$GC,10351,-0.76,-116.8,902.2,-8.4,608,10356,0.08,2.20,0.00,0.000,6,0.190,0.044,2936,2057,2425,0,0,0,0,0,0
$GC,10667,-0.76,-116.8,924.4,-6.8,623,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2057,2424,0,0,0,0,0,0
$GC,10976,-0.79,-116.8,945.1,-6.5,638,10980,0.00,2.30,0.00,0.000,4,0.000,0.064,2926,3469,2424,0,0,0,0,0,0
$GC,11053,-0.79,-116.8,950.5,-6.9,641,11058,0.00,2.20,0.00,0.000,6,0.000,0.044,2926,2061,2424,0,0,0,0,0,0
$GC,11370,-0.79,-116.8,973.0,-7.1,657,11374,0.00,2.25,0.00,0.000,4,0.000,0.055,2926,656,2424,0,0,0,0,0,0
$GC,11410,-0.79,-116.8,976.1,-7.8,659,11414,0.00,2.22,0.00,0.000,6,0.000,0.044,2917,2065,2424,0,0,0,0,0,0
$STATE,11735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11735,begin apogee
$GC,11741,-0.19,0.0,1000.6,7.6,675,11856,0.68,0.00,111.38,1.262,6,0.135,0.000,3122,1592,1950,0,0,0,0,0,0
$STATE,11857,end apogee,CONTROL_FINISHED_OK
$STATE,11857,begin climb
$GC,11859,0.76,116.8,1003.3,0.0,681,11987,0.90,2.53,118.72,1.216,4,0.086,0.055,3432,204,1474,0,0,0,0,0,0
$GC,12054,0.76,116.8,990.5,8.7,690,12058,0.00,2.40,0.00,0.000,6,0.000,0.037,3432,1613,1470,0,0,0,0,0,0
$GC,12375,0.76,116.8,963.1,8.7,706,12379,0.00,2.25,0.00,0.000,4,0.000,0.057,3432,2993,1467,0,0,0,0,0,0
$GC,12418,0.76,116.8,959.2,9.0,708,12422,0.00,2.22,0.00,0.000,6,0.000,0.037,3441,1591,1466,0,0,0,0,0,0
$GC,12744,0.76,116.8,930.0,8.9,724,12749,0.00,2.30,0.00,0.000,4,0.000,0.057,3453,191,1465,0,0,0,0,0,0
$GC,12811,0.76,116.8,923.5,9.4,727,12816,0.05,2.25,0.00,0.000,6,0.135,0.037,3418,1597,1464,0,0,0,0,0,0
$GC,13140,0.82,143.5,898.6,7.2,743,13169,0.10,0.00,26.10,1.159,6,0.099,0.000,3469,1597,1365,0,0,0,0,0,0
$GC,13468,0.78,143.5,866.1,9.9,759,13473,0.12,2.35,0.00,0.000,4,0.148,0.055,3443,189,1362,0,0,0,0,0,0
$GC,13517,0.78,143.5,861.5,8.7,761,13522,0.00,2.25,0.00,0.000,6,0.000,0.037,3442,1616,1360,0,0,0,0,0,0
$GC,13840,0.78,144.6,834.3,8.5,777,13844,0.00,2.22,0.00,0.000,4,0.000,0.056,3443,2997,1360,0,0,0,0,0,0
$GC,13895,0.78,146.9,829.1,8.4,779,13905,0.03,2.20,3.83,0.651,6,0.181,0.037,3442,1598,1352,0,0,0,0,0,0
$GC,14231,0.78,146.9,799.9,8.8,796,14235,0.00,2.28,0.00,0.000,4,0.000,0.057,3452,201,1352,0,0,0,0,0,0
$GC,14331,0.78,146.9,790.0,10.1,800,14338,0.03,2.22,0.00,0.000,6,0.168,0.037,3441,1602,1351,0,0,0,0,0,0
$GC,14646,0.78,146.9,761.7,8.8,816,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1601,1351,0,0,0,0,0,0
$GC,14957,0.78,146.9,733.8,8.9,831,14958,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1602,1351,0,0,0,0,0,0
$GC,15265,0.78,146.9,706.4,8.6,846,15269,0.00,2.28,0.00,0.000,4,0.000,0.054,3450,198,1351,0,0,0,0,0,0
$GC,15314,0.78,146.9,701.9,8.9,848,15318,0.00,2.20,0.00,0.000,6,0.000,0.037,3450,1596,1350,0,0,0,0,0,0
$GC,15635,0.78,146.9,673.6,9.0,864,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1597,1351,0,0,0,0,0,0
$GC,15945,0.78,146.9,645.4,9.4,879,15949,0.00,2.22,0.00,0.000,4,0.000,0.055,3450,2990,1351,0,0,0,0,0,0
$GC,15994,0.78,146.9,640.3,10.1,881,15999,0.08,2.15,0.00,0.000,6,0.184,0.037,3441,1588,1350,0,0,0,0,0,0
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$STATE,22273,end climb,SURFACE_DEPTH_REACHED
$STATE,22273,begin surface coast
$FINISH,2.2,1.022765
$STATE,22305,end surface coast,CONTROL_FINISHED_OK
$STATE,22305,begin surface
$SM_CCo,22326,3.00,0.059,0,0,1133,200.16
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$TT8_MAMPS,0.026964
$HUMID,65.23
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,21.9,59.223
$10V_AH,9.7,62.216
$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
$DEVICE_SECS,24.050,185.550,308.400,3.000,0.000,27.702,47.206,318.152,0.250,0.000,21.090,2753.202,15903.193,430.832,3466.142,324.963,0.000,1746.773,0.000,2932.434,0.000,0.540,0.000
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$MEM,353256
$DATA_FILE_SIZE,93867,1277
$CAP_FILE_SIZE,193506,0
$CFSIZE,2097086464,2025848832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141115,183057,-4457.598,626.596,39,1.0,39,-24.4