version: 66.07.10.p01
glider: 573
mission: 12
dive: 511
start: 11 15 115 18 5 19
data:
$ID,573
$MISSION,12
$DIVE,511
$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,-22590.293
$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,42
$R_STBD_OVSHOOT,18
$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,510
$GPS1,151115,175722,-4456.237,624.123,83,0.9,83,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-66.1
$GPS2,151115,180459,-4456.289,624.201,21,1.2,21,-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,112.4,15479,-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,26,-0.76,-116.8,0.0,0.0,0,47,0.00,0.00,-19.55,0.000,2,0.000,0.000,62,2056,1507,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.0,-2.0,3,114,11.70,2.30,-44.72,0.000,4,0.226,0.067,2935,653,2424,0,0,0,0,0,0
$GC,367,-0.67,-116.8,33.1,-12.5,54,375,0.10,2.30,0.00,0.000,6,0.144,0.046,2959,2063,2426,0,0,0,0,0,0
$GC,521,-0.67,-116.8,48.8,-9.5,79,526,0.00,2.35,0.00,0.000,4,0.000,0.067,2948,3481,2427,0,0,0,0,0,0
$GC,579,-0.67,-116.8,55.3,-10.7,89,585,0.08,2.22,0.00,0.000,6,0.176,0.041,2966,2066,2427,0,0,0,0,0,0
$GC,927,-0.67,-116.8,87.8,-9.6,139,931,0.00,2.25,0.00,0.000,4,0.000,0.054,2967,650,2427,0,0,0,0,0,0
$GC,1000,-0.67,-116.8,95.6,-10.3,142,1004,0.00,2.25,0.00,0.000,6,0.000,0.041,2958,2074,2427,0,0,0,0,0,0
$GC,1328,-0.67,-116.8,127.9,-9.5,158,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2074,2428,0,0,0,0,0,0
$GC,1639,-0.67,-116.8,155.9,-9.3,173,1643,0.00,2.25,0.00,0.000,4,0.000,0.058,2947,3468,2428,0,0,0,0,0,0
$GC,1693,-0.67,-116.8,161.5,-9.4,175,1700,0.05,2.22,0.00,0.000,6,0.151,0.039,2966,2057,2428,0,0,0,0,0,0
$GC,2012,-0.71,-116.8,189.4,-8.9,191,2016,0.00,2.25,0.00,0.000,4,0.000,0.056,2965,650,2428,0,0,0,0,0,0
$GC,2101,-0.71,-116.8,198.5,-10.1,195,2105,0.00,2.22,0.00,0.000,6,0.000,0.043,2957,2056,2428,0,0,0,0,0,0
$GC,2430,-0.71,-116.8,229.3,-9.4,211,2434,0.00,2.28,0.00,0.000,4,0.000,0.061,2947,3465,2428,0,0,0,0,0,0
$GC,2474,-0.71,-116.8,233.4,-10.2,213,2478,0.00,2.17,0.00,0.000,6,0.000,0.039,2947,2053,2428,0,0,0,0,0,0
$GC,2803,-0.71,-116.8,264.4,-9.3,229,2807,0.00,2.22,0.00,0.000,4,0.000,0.055,2946,660,2428,0,0,0,0,0,0
$GC,2875,-0.71,-116.8,271.9,-9.8,232,2879,0.03,2.25,0.00,0.000,6,0.124,0.041,2957,2065,2428,0,0,0,0,0,0
$GC,3197,-0.71,-116.8,299.1,-8.4,248,3201,0.00,2.25,0.00,0.000,4,0.000,0.063,2947,3464,2428,0,0,0,0,0,0
$GC,3291,-0.71,-116.8,307.4,-8.5,252,3295,0.00,2.20,0.00,0.000,6,0.000,0.039,2947,2053,2427,0,0,0,0,0,0
$GC,3618,-0.71,-116.8,334.4,-8.1,268,3622,0.00,2.25,0.00,0.000,4,0.000,0.055,2947,658,2428,0,0,0,0,0,0
$GC,3689,-0.71,-116.8,340.7,-9.0,271,3695,0.03,2.25,0.00,0.000,6,0.180,0.042,2948,2060,2428,0,0,0,0,0,0
$GC,4011,-0.71,-116.8,365.9,-8.0,287,4015,0.00,2.30,0.00,0.000,4,0.000,0.063,2938,3468,2428,0,0,0,0,0,0
$GC,4055,-0.71,-116.8,369.7,-8.8,289,4060,0.05,2.22,0.00,0.000,6,0.214,0.042,2950,2046,2428,0,0,0,0,0,0
$GC,4383,-0.71,-116.8,395.2,-7.8,305,4387,0.00,2.22,0.00,0.000,4,0.000,0.055,2950,654,2428,0,0,0,0,0,0
$GC,4415,-0.71,-116.8,398.2,-8.6,306,4421,0.00,2.25,0.00,0.000,6,0.000,0.043,2941,2059,2428,0,0,0,0,0,0
$GC,4730,-0.71,-116.8,425.8,-9.0,322,4734,0.00,2.30,0.00,0.000,4,0.000,0.063,2930,3468,2428,0,0,0,0,0,0
$GC,4785,-0.71,-116.8,431.0,-9.2,324,4792,0.05,2.22,0.00,0.000,6,0.136,0.041,2949,2065,2428,0,0,0,0,0,0
$GC,5100,-0.71,-116.8,458.4,-8.8,340,5104,0.00,2.25,0.00,0.000,4,0.000,0.054,2949,653,2428,0,0,0,0,0,0
$GC,5208,-0.71,-116.8,468.7,-9.8,345,5212,0.00,2.25,0.00,0.000,6,0.000,0.043,2940,2073,2428,0,0,0,0,0,0
$GC,5534,-0.71,-116.8,500.0,-9.2,361,5538,0.00,2.25,0.00,0.000,4,0.000,0.059,2930,3464,2428,0,0,0,0,0,0
$GC,5589,-0.71,-116.8,505.6,-10.0,363,5595,0.05,2.22,0.00,0.000,6,0.139,0.040,2949,2056,2428,0,0,0,0,0,0
$GC,5906,-0.71,-116.8,532.8,-8.2,379,5910,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,655,2428,0,0,0,0,0,0
$GC,5956,-0.71,-116.8,537.4,-9.7,381,5960,0.00,2.25,0.00,0.000,6,0.000,0.044,2940,2069,2428,0,0,0,0,0,0
$GC,6278,-0.71,-116.8,564.2,-8.4,397,6282,0.00,2.28,0.00,0.000,4,0.000,0.063,2929,3461,2428,0,0,0,0,0,0
$GC,6322,-0.71,-116.8,568.2,-8.4,399,6326,0.10,2.20,0.00,0.000,6,0.156,0.041,2956,2058,2428,0,0,0,0,0,0
$GC,6645,-0.76,-116.8,592.3,-7.8,415,6649,0.00,2.25,0.00,0.000,4,0.000,0.057,2957,658,2427,0,0,0,0,0,0
$GC,6738,-0.76,-116.8,600.7,-9.1,419,6743,0.00,2.25,0.00,0.000,6,0.000,0.043,2948,2059,2427,0,0,0,0,0,0
$GC,7061,-0.79,-116.8,628.8,-8.9,435,7063,0.05,0.00,0.00,0.000,6,0.168,0.000,2909,2059,2427,0,0,0,0,0,0
$GC,7369,-0.74,-116.8,660.2,-10.2,450,7374,0.12,2.33,0.00,0.000,4,0.164,0.064,2932,3468,2427,0,0,0,0,0,0
$GC,7446,-0.74,-116.8,667.5,-9.6,453,7451,0.00,2.25,0.00,0.000,6,0.000,0.043,2933,2057,2427,0,0,0,0,0,0
$GC,7762,-0.74,-116.8,695.4,-8.7,469,7767,0.00,2.28,0.00,0.000,4,0.000,0.057,2933,659,2426,0,0,0,0,0,0
$GC,7824,-0.74,-116.8,701.2,-10.3,472,7828,0.08,2.22,0.00,0.000,6,0.192,0.042,2942,2071,2426,0,0,0,0,0,0
$GC,8156,-0.74,-116.8,726.8,-7.2,488,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2072,2426,0,0,0,0,0,0
$GC,8466,-0.74,-116.8,748.6,-7.1,503,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2072,2426,0,0,0,0,0,0
$GC,8775,-0.74,-116.8,770.7,-7.3,518,8779,0.00,2.28,0.00,0.000,4,0.000,0.063,2932,3462,2426,0,0,0,0,0,0
$GC,8818,-0.74,-116.8,774.0,-7.3,520,8822,0.00,2.20,0.00,0.000,6,0.000,0.040,2932,2060,2425,0,0,0,0,0,0
$GC,9146,-0.74,-116.8,797.8,-7.0,536,9150,0.00,2.28,0.00,0.000,4,0.000,0.057,2932,653,2425,0,0,0,0,0,0
$GC,9218,-0.74,-116.8,803.4,-7.8,539,9223,0.08,2.25,0.00,0.000,6,0.187,0.044,2942,2064,2425,0,0,0,0,0,0
$GC,9542,-0.77,-116.8,825.0,-7.0,555,9546,0.00,2.30,0.00,0.000,4,0.000,0.065,2931,3462,2424,0,0,0,0,0,0
$GC,9574,-0.77,-116.8,827.7,-7.1,556,9580,0.00,2.20,0.00,0.000,6,0.000,0.040,2931,2054,2425,0,0,0,0,0,0
$GC,9889,-0.77,-116.8,851.2,-7.6,572,9893,0.00,2.25,0.00,0.000,4,0.000,0.057,2931,660,2425,0,0,0,0,0,0
$GC,9944,-0.77,-116.8,855.9,-9.4,574,9950,0.00,2.25,0.00,0.000,6,0.000,0.042,2923,2060,2425,0,0,0,0,0,0
$GC,10259,-0.77,-116.8,882.7,-8.8,590,10263,0.00,2.30,0.00,0.000,4,0.000,0.065,2912,3463,2424,0,0,0,0,0,0
$GC,10314,-0.77,-116.8,888.0,-9.8,592,10321,0.05,2.22,0.00,0.000,6,0.147,0.041,2930,2064,2424,0,0,0,0,0,0
$GC,10630,-0.77,-116.8,915.2,-8.3,608,10634,0.00,2.30,0.00,0.000,4,0.000,0.055,2930,646,2424,0,0,0,0,0,0
$GC,10679,-0.77,-116.8,919.7,-9.4,610,10683,0.00,2.25,0.00,0.000,6,0.000,0.039,2921,2078,2424,0,0,0,0,0,0
$GC,11000,-0.77,-116.8,947.6,-8.5,626,11004,0.00,2.25,0.00,0.000,4,0.000,0.059,2911,3466,2424,0,0,0,0,0,0
$GC,11049,-0.77,-116.8,952.0,-9.1,628,11054,0.08,2.22,0.00,0.000,6,0.177,0.040,2929,2044,2424,0,0,0,0,0,0
$GC,11370,-0.77,-116.8,978.0,-8.2,644,11374,0.00,2.22,0.00,0.000,4,0.000,0.054,2930,653,2424,0,0,0,0,0,0
$GC,11413,-0.77,-116.8,982.0,-8.7,646,11418,0.00,2.25,0.00,0.000,6,0.000,0.041,2921,2058,2424,0,0,0,0,0,0
$STATE,11636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11636,begin apogee
$GC,11642,-0.19,0.0,1000.6,8.4,657,11757,0.65,0.00,111.18,1.262,6,0.138,0.000,3117,1599,1950,0,0,0,0,0,0
$STATE,11758,end apogee,CONTROL_FINISHED_OK
$STATE,11758,begin climb
$GC,11760,0.76,116.8,1003.6,0.0,663,11888,0.93,2.50,118.40,1.215,4,0.089,0.057,3433,204,1473,0,0,0,0,0,0
$GC,11950,0.76,116.8,991.1,9.2,672,11954,0.00,2.40,0.00,0.000,6,0.000,0.037,3433,1613,1467,0,0,0,0,0,0
$GC,12275,0.76,116.8,961.2,9.2,688,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1614,1464,0,0,0,0,0,0
$GC,12585,0.76,116.8,932.5,9.1,703,12589,0.00,2.35,0.00,0.000,4,0.000,0.055,3442,198,1464,0,0,0,0,0,0
$GC,12648,0.76,116.8,926.8,8.9,706,12652,0.00,2.22,0.00,0.000,6,0.000,0.037,3442,1612,1462,0,0,0,0,0,0
$GC,12973,0.76,116.8,896.6,9.0,722,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1612,1462,0,0,0,0,0,0
$GC,13284,0.76,116.8,868.7,8.9,737,13288,0.00,2.33,0.00,0.000,4,0.000,0.055,3452,198,1462,0,0,0,0,0,0
$GC,13327,0.76,118.8,864.6,8.4,739,13332,0.08,2.20,0.00,0.000,6,0.178,0.037,3431,1603,1462,0,0,0,0,0,0
$GC,13654,0.77,133.2,838.3,7.8,755,13672,0.00,0.00,15.27,1.091,6,0.000,0.000,3431,1603,1407,0,0,0,0,0,0
$GC,13984,0.81,143.3,811.6,8.0,771,13998,0.00,0.00,11.60,1.032,6,0.000,0.000,3432,1603,1365,0,0,0,0,0,0
$GC,14292,0.86,143.3,785.3,8.9,786,14297,0.10,2.35,0.00,0.000,4,0.099,0.055,3494,191,1362,0,0,0,0,0,0
$GC,14355,0.77,143.3,778.5,12.5,789,14360,0.20,2.22,0.00,0.000,6,0.138,0.037,3434,1605,1362,0,0,0,0,0,0
$GC,14684,0.81,143.3,748.2,9.1,805,14688,0.00,2.33,0.00,0.000,4,0.000,0.055,3444,190,1362,0,0,0,0,0,0
$GC,14716,0.81,143.3,744.7,10.0,806,14722,0.00,2.22,0.00,0.000,6,0.000,0.037,3443,1599,1361,0,0,0,0,0,0
$GC,15031,0.81,143.3,714.5,9.3,822,15035,0.00,2.28,0.00,0.000,4,0.000,0.054,3453,199,1361,0,0,0,0,0,0
$GC,15080,0.81,143.3,709.8,9.8,824,15084,0.00,2.20,0.00,0.000,6,0.000,0.037,3454,1593,1361,0,0,0,0,0,0
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$STATE,22626,end climb,SURFACE_DEPTH_REACHED
$STATE,22626,begin surface coast
$FINISH,1.7,1.022326
$STATE,22660,end surface coast,CONTROL_FINISHED_OK
$STATE,22660,begin surface
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$HUMID,64.60
$INTERNAL_PRESSURE,9.25506
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,21.9,59.837
$10V_AH,9.7,62.848
$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
$DEVICE_SECS,24.175,213.100,323.050,0.000,0.000,25.854,20.939,259.578,0.250,0.000,24.249,2805.560,16155.479,444.697,3464.310,322.645,0.000,1832.489,0.000,3006.839,0.000,0.540,0.000
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$MEM,353236
$DATA_FILE_SIZE,93791,1288
$CAP_FILE_SIZE,202313,0
$CFSIZE,2097086464,2025029632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161115,002603,-4457.154,628.845,70,0.8,70,-24.4