version: 66.07.10.p01
glider: 573
mission: 12
dive: 550
start: 11 24 115 11 38 1
data:
$ID,573
$MISSION,12
$DIVE,550
$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,-22718.168
$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,19
$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,549
$GPS1,241115,113003,-4503.897,636.214,26,1.1,26,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-70.5
$GPS2,241115,113741,-4503.886,636.231,14,1.7,14,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,293.6,15999,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.76,-116.8,0.0,0.0,0,35,0.00,0.00,-6.22,0.000,2,0.000,0.000,68,2046,1251,0,0,0,0,0,0
$GC,38,-0.76,-116.8,3.1,-0.0,1,126,11.70,2.28,-65.28,0.000,4,0.222,0.067,2932,669,2426,0,0,0,0,0,0
$GC,156,-0.69,-116.8,5.4,-7.8,19,164,0.10,2.25,0.00,0.000,6,0.149,0.039,2955,2080,2428,0,0,0,0,0,0
$GC,215,-0.69,-116.8,11.9,-10.4,28,223,0.00,2.33,0.00,0.000,4,0.000,0.052,2955,667,2428,0,0,0,0,0,0
$GC,256,-0.69,-116.8,16.2,-10.3,34,264,0.00,2.22,0.00,0.000,6,0.000,0.040,2946,2055,2428,0,0,0,0,0,0
$GC,315,-0.69,-116.8,22.2,-9.9,43,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2055,2428,0,0,0,0,0,0
$GC,470,-0.69,-116.8,38.3,-10.9,68,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2055,2428,0,0,0,0,0,0
$GC,616,-0.69,-116.8,54.6,-10.7,93,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2055,2429,0,0,0,0,0,0
$GC,970,-0.69,-116.8,91.0,-10.2,141,974,0.00,2.28,0.00,0.000,4,0.000,0.058,2936,3470,2429,0,0,0,0,0,0
$GC,1025,-0.69,-116.8,97.5,-10.3,143,1031,0.05,2.20,0.00,0.000,6,0.148,0.041,2953,2069,2429,0,0,0,0,0,0
$GC,1343,-0.69,-116.8,128.2,-9.6,159,1347,0.00,2.25,0.00,0.000,4,0.000,0.052,2953,655,2429,0,0,0,0,0,0
$GC,1461,-0.69,-116.8,140.7,-10.6,164,1465,0.00,2.25,0.00,0.000,6,0.000,0.043,2944,2081,2429,0,0,0,0,0,0
$GC,1783,-0.69,-116.8,172.8,-9.2,180,1784,0.05,0.00,0.00,0.000,6,0.228,0.000,2956,2081,2429,0,0,0,0,0,0
$GC,2094,-0.69,-116.8,200.4,-8.8,195,2098,0.00,2.22,0.00,0.000,4,0.000,0.062,2946,3471,2430,0,0,0,0,0,0
$GC,2216,-0.69,-116.8,212.1,-9.8,200,2224,0.00,2.22,0.00,0.000,6,0.000,0.041,2946,2053,2430,0,0,0,0,0,0
$GC,2533,-0.69,-116.8,241.6,-9.1,216,2537,0.00,2.22,0.00,0.000,4,0.000,0.054,2946,661,2430,0,0,0,0,0,0
$GC,2618,-0.69,-116.8,250.0,-9.7,220,2623,0.08,2.20,0.00,0.000,6,0.187,0.041,2955,2070,2430,0,0,0,0,0,0
$GC,2947,-0.69,-116.8,277.5,-8.2,236,2951,0.00,2.25,0.00,0.000,4,0.000,0.062,2945,3464,2430,0,0,0,0,0,0
$GC,3008,-0.69,-116.8,283.1,-8.5,238,3015,0.00,2.20,0.00,0.000,6,0.000,0.039,2945,2052,2429,0,0,0,0,0,0
$GC,3323,-0.69,-116.8,310.5,-8.9,254,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2053,2430,0,0,0,0,0,0
$GC,3633,-0.69,-116.8,337.3,-8.7,269,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2053,2430,0,0,0,0,0,0
$GC,3941,-0.69,-116.8,365.2,-9.3,284,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2053,2430,0,0,0,0,0,0
$GC,4252,-0.69,-116.8,392.8,-9.0,299,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2053,2430,0,0,0,0,0,0
$GC,4562,-0.69,-116.8,419.5,-8.2,314,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2053,2430,0,0,0,0,0,0
$GC,4871,-0.69,-116.8,444.6,-7.8,329,4875,0.00,2.20,0.00,0.000,4,0.000,0.055,2945,665,2430,0,0,0,0,0,0
$GC,4914,-0.69,-116.8,448.7,-8.8,331,4919,0.08,2.20,0.00,0.000,6,0.185,0.039,2954,2060,2429,0,0,0,0,0,0
$GC,5244,-0.73,-116.8,474.8,-8.2,347,5248,0.00,2.28,0.00,0.000,4,0.000,0.063,2944,3469,2430,0,0,0,0,0,0
$GC,5299,-0.77,-116.8,479.7,-8.4,349,5304,0.00,2.17,0.00,0.000,6,0.000,0.041,2944,2061,2430,0,0,0,0,0,0
$GC,5616,-0.77,-116.8,505.8,-8.3,365,5620,0.00,2.25,0.00,0.000,4,0.000,0.054,2944,657,2429,0,0,0,0,0,0
$GC,5656,-0.77,-116.8,509.4,-9.1,367,5660,0.00,2.20,0.00,0.000,6,0.000,0.041,2935,2061,2429,0,0,0,0,0,0
$GC,5983,-0.77,-116.8,538.8,-9.0,383,5987,0.00,2.30,0.00,0.000,4,0.000,0.064,2924,3472,2429,0,0,0,0,0,0
$GC,6077,-0.77,-116.8,547.9,-9.7,387,6081,0.00,2.20,0.00,0.000,6,0.000,0.043,2924,2060,2429,0,0,0,0,0,0
$GC,6399,-0.77,-116.8,576.6,-9.1,403,6403,0.00,2.22,0.00,0.000,4,0.000,0.054,2925,661,2429,0,0,0,0,0,0
$GC,6494,-0.73,-116.8,585.9,-9.5,407,6498,0.12,2.20,0.00,0.000,6,0.159,0.041,2949,2066,2429,0,0,0,0,0,0
$GC,6810,-0.77,-116.8,610.1,-7.6,422,6814,0.00,2.28,0.00,0.000,4,0.000,0.064,2939,3464,2429,0,0,0,0,0,0
$GC,6905,-0.81,-116.8,618.2,-9.5,426,6909,0.00,2.17,0.00,0.000,6,0.000,0.039,2939,2053,2429,0,0,0,0,0,0
$GC,7222,-0.81,-116.8,644.5,-8.3,441,7226,0.00,2.22,0.00,0.000,4,0.000,0.056,2939,652,2428,0,0,0,0,0,0
$GC,7248,-0.81,-116.8,647.3,-9.6,442,7253,0.00,2.22,0.00,0.000,6,0.000,0.043,2930,2056,2428,0,0,0,0,0,0
$GC,7569,-0.81,-116.8,675.8,-9.2,458,7573,0.00,2.28,0.00,0.000,4,0.000,0.059,2920,3470,2428,0,0,0,0,0,0
$GC,7618,-0.81,-116.8,680.5,-9.9,460,7622,0.00,2.20,0.00,0.000,6,0.000,0.041,2920,2068,2428,0,0,0,0,0,0
$GC,7939,-0.81,-116.8,710.1,-9.3,476,7943,0.00,2.25,0.00,0.000,4,0.000,0.054,2920,661,2428,0,0,0,0,0,0
$GC,8034,-0.77,-116.8,719.8,-10.3,480,8038,0.10,2.20,0.00,0.000,6,0.170,0.041,2937,2066,2428,0,0,0,0,0,0
$GC,8349,-0.77,-116.8,748.1,-9.0,495,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2066,2427,0,0,0,0,0,0
$GC,8658,-0.77,-116.8,776.4,-9.2,510,8662,0.00,2.28,0.00,0.000,4,0.000,0.065,2926,3465,2427,0,0,0,0,0,0
$GC,8713,-0.77,-116.8,781.8,-10.6,512,8718,0.00,2.20,0.00,0.000,6,0.000,0.041,2926,2061,2427,0,0,0,0,0,0
$GC,9028,-0.77,-116.8,811.9,-9.3,528,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2061,2427,0,0,0,0,0,0
$GC,9338,-0.77,-116.8,839.4,-8.7,543,9343,0.00,2.25,0.00,0.000,4,0.000,0.054,2926,661,2426,0,0,0,0,0,0
$GC,9371,-0.77,-116.8,842.5,-9.0,544,9378,0.03,2.22,0.00,0.000,6,0.176,0.042,2928,2058,2426,0,0,0,0,0,0
$GC,9686,-0.77,-116.8,867.7,-7.7,560,9690,0.00,2.28,0.00,0.000,4,0.000,0.061,2918,3465,2426,0,0,0,0,0,0
$GC,9753,-0.77,-116.8,873.3,-8.7,563,9757,0.08,2.20,0.00,0.000,6,0.179,0.040,2937,2057,2426,0,0,0,0,0,0
$GC,10083,-0.80,-116.8,897.6,-7.3,579,10087,0.00,2.25,0.00,0.000,4,0.000,0.057,2936,660,2427,0,0,0,0,0,0
$GC,10146,-0.80,-116.8,902.6,-8.3,582,10150,0.00,2.20,0.00,0.000,6,0.000,0.042,2928,2063,2426,0,0,0,0,0,0
$GC,10471,-0.80,-116.8,927.3,-7.7,598,10476,0.00,2.28,0.00,0.000,4,0.000,0.064,2917,3466,2426,0,0,0,0,0,0
$GC,10544,-0.80,-116.8,933.1,-7.0,601,10548,0.00,2.17,0.00,0.000,6,0.000,0.040,2918,2057,2426,0,0,0,0,0,0
$GC,10866,-0.80,-116.8,956.4,-7.2,617,10870,0.00,2.25,0.00,0.000,4,0.000,0.056,2918,661,2426,0,0,0,0,0,0
$GC,10938,-0.80,-116.8,962.0,-7.7,620,10942,0.05,2.20,0.00,0.000,6,0.220,0.042,2920,2059,2426,0,0,0,0,0,0
$GC,11254,-0.80,-116.8,984.6,-7.0,635,11258,0.00,2.28,0.00,0.000,4,0.000,0.062,2911,3463,2426,0,0,0,0,0,0
$GC,11331,-0.80,-116.8,990.5,-7.8,638,11335,0.00,2.17,0.00,0.000,6,0.000,0.039,2911,2055,2425,0,0,0,0,0,0
$STATE,11485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11485,begin apogee
$GC,11491,-0.19,0.0,1001.4,6.9,646,11608,0.68,0.00,112.93,1.256,6,0.137,0.000,3115,1596,1950,0,0,0,0,0,0
$STATE,11608,end apogee,CONTROL_FINISHED_OK
$STATE,11609,begin climb
$GC,11611,0.76,116.8,1003.5,0.0,652,11735,0.98,0.00,120.57,1.213,6,0.087,0.000,3430,1596,1474,0,0,0,0,0,0
$GC,12038,0.76,116.8,968.5,9.2,673,12042,0.00,2.33,0.00,0.000,4,0.000,0.057,3440,201,1467,0,0,0,0,0,0
$GC,12115,0.76,116.8,961.2,9.3,676,12120,0.00,2.28,0.00,0.000,6,0.000,0.037,3441,1617,1465,0,0,0,0,0,0
$GC,12430,0.76,116.8,933.3,8.8,692,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1617,1464,0,0,0,0,0,0
$GC,12740,0.76,116.8,906.1,8.9,707,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1617,1463,0,0,0,0,0,0
$GC,13050,0.76,116.8,879.2,8.8,722,13054,0.00,2.33,0.00,0.000,4,0.000,0.054,3451,192,1463,0,0,0,0,0,0
$GC,13157,0.76,116.8,869.1,9.1,727,13162,0.08,2.20,0.00,0.000,6,0.175,0.036,3430,1610,1461,0,0,0,0,0,0
$GC,13486,0.80,130.5,842.4,7.9,743,13501,0.00,0.00,12.88,1.061,6,0.000,0.000,3430,1610,1417,0,0,0,0,0,0
$GC,13814,0.85,147.9,816.1,7.7,759,13839,0.08,2.38,18.83,1.091,4,0.123,0.056,3485,198,1346,0,0,0,0,0,0
$GC,13872,0.78,147.9,810.2,10.7,761,13877,0.17,2.20,0.00,0.000,6,0.142,0.037,3434,1602,1344,0,0,0,0,0,0
$GC,14190,0.83,161.8,784.4,7.9,777,14210,0.00,2.22,15.00,1.047,4,0.000,0.052,3433,2995,1289,0,0,0,0,0,0
$GC,14238,0.87,171.6,780.3,8.1,779,14255,0.08,2.20,11.52,0.992,6,0.121,0.037,3487,1593,1249,0,0,0,0,0,0
$GC,14582,0.83,171.6,744.1,10.9,796,14587,0.12,2.28,0.00,0.000,4,0.153,0.057,3462,186,1246,0,0,0,0,0,0
$GC,14717,0.83,171.6,730.0,11.1,802,14721,0.00,2.20,0.00,0.000,6,0.000,0.036,3462,1599,1245,0,0,0,0,0,0
$GC,15036,0.83,171.6,697.3,10.3,818,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1600,1245,0,0,0,0,0,0
$GC,15347,0.83,171.6,665.9,10.0,833,15351,0.00,2.20,0.00,0.000,4,0.000,0.054,3462,2991,1245,0,0,0,0,0,0
$GC,15373,0.83,171.6,662.9,10.5,834,15378,0.05,2.17,0.00,0.000,6,0.140,0.037,3442,1595,1244,0,0,0,0,0,0
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$STATE,22025,end climb,SURFACE_DEPTH_REACHED
$STATE,22025,begin surface coast
$FINISH,1.9,1.023161
$STATE,22058,end surface coast,CONTROL_FINISHED_OK
$STATE,22059,begin surface
$SM_CCo,22078,6.10,0.057,0,0,1133,200.16
$SM_GC,4.26,0.00,0.00,6.10,0.000,0.000,0.057,62,2057,1133,-9.76,-0.08,200.16
$IRIDIUM_FIX,-4447.43,634.57,190908,202038
$TT8_MAMPS,0.026964
$HUMID,64.92
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,21.8,64.065
$10V_AH,9.7,67.256
$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
$DEVICE_SECS,24.550,166.575,308.650,6.100,0.000,24.915,19.592,262.614,0.250,0.000,17.331,2721.260,15687.280,457.528,3345.148,327.467,0.000,1753.788,0.000,2909.026,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353296
$DATA_FILE_SIZE,90552,1246
$CAP_FILE_SIZE,190628,0
$CFSIZE,2097086464,2019950592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241115,174733,-4504.801,633.407,50,1.0,50,-24.4