version: 66.07.10.p01
glider: 573
mission: 12
dive: 557
start: 11 26 115 2 22 48
data:
$ID,573
$MISSION,12
$DIVE,557
$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,-22743.367
$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,51
$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,556
$GPS1,261115,021434,-4503.595,624.007,40,0.9,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-73.8
$GPS2,261115,022228,-4503.554,624.032,14,1.4,14,-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,24.2,13989,-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,-6.22,0.000,2,0.000,0.000,60,2083,1250,0,0,0,0,0,0
$GC,38,-0.76,-116.8,3.2,-0.0,1,120,12.18,2.38,-61.05,0.000,4,0.235,0.064,2935,653,2426,0,0,0,0,0,0
$GC,313,-0.69,-116.8,24.4,-12.3,45,321,0.10,2.25,0.00,0.000,6,0.141,0.042,2959,2042,2428,0,0,0,0,0,0
$GC,471,-0.69,-116.8,40.6,-10.4,70,476,0.00,2.33,0.00,0.000,4,0.000,0.063,2948,3466,2429,0,0,0,0,0,0
$GC,525,-0.69,-116.8,46.4,-10.2,79,530,0.00,2.20,0.00,0.000,6,0.000,0.039,2948,2059,2429,0,0,0,0,0,0
$GC,890,-0.69,-116.8,84.7,-10.7,137,894,0.00,2.25,0.00,0.000,4,0.000,0.056,2948,652,2428,0,0,0,0,0,0
$GC,917,-0.66,-116.8,88.1,-11.3,138,922,0.12,2.25,0.00,0.000,6,0.171,0.042,2971,2070,2428,0,0,0,0,0,0
$GC,1235,-0.69,-116.8,119.0,-9.7,153,1239,0.00,2.28,0.00,0.000,4,0.000,0.060,2961,3475,2428,0,0,0,0,0,0
$GC,1301,-0.74,-116.8,126.0,-9.7,156,1305,0.00,2.20,0.00,0.000,6,0.000,0.041,2961,2062,2428,0,0,0,0,0,0
$GC,1623,-0.74,-116.8,156.3,-9.3,172,1627,0.00,2.22,0.00,0.000,4,0.000,0.054,2961,659,2429,0,0,0,0,0,0
$GC,1732,-0.74,-116.8,166.4,-9.5,177,1737,0.00,2.22,0.00,0.000,6,0.000,0.041,2952,2071,2429,0,0,0,0,0,0
$GC,2061,-0.74,-116.8,197.3,-8.9,193,2066,0.00,2.22,0.00,0.000,4,0.000,0.060,2942,3464,2429,0,0,0,0,0,0
$GC,2094,-0.74,-116.8,200.7,-9.5,194,2102,0.00,2.20,0.00,0.000,6,0.000,0.037,2942,2054,2429,0,0,0,0,0,0
$GC,2410,-0.74,-116.8,229.3,-9.4,210,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2054,2429,0,0,0,0,0,0
$GC,2722,-0.74,-116.8,257.6,-9.2,225,2726,0.00,2.25,0.00,0.000,4,0.000,0.054,2942,657,2429,0,0,0,0,0,0
$GC,2765,-0.74,-116.8,261.8,-10.2,227,2769,0.00,2.22,0.00,0.000,6,0.000,0.041,2933,2071,2429,0,0,0,0,0,0
$GC,3094,-0.74,-116.8,293.5,-9.8,243,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2071,2429,0,0,0,0,0,0
$GC,3400,-0.74,-116.8,323.9,-10.0,258,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2071,2430,0,0,0,0,0,0
$GC,3710,-0.74,-116.8,354.6,-10.0,273,3714,0.00,2.25,0.00,0.000,4,0.000,0.059,2922,3468,2429,0,0,0,0,0,0
$GC,3739,-0.74,-116.8,357.6,-10.4,274,3743,0.08,2.17,0.00,0.000,6,0.180,0.038,2941,2050,2429,0,0,0,0,0,0
$GC,4055,-0.74,-116.8,386.5,-9.1,289,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2050,2429,0,0,0,0,0,0
$GC,4363,-0.74,-116.8,414.8,-9.0,304,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2050,2429,0,0,0,0,0,0
$GC,4673,-0.74,-116.8,443.7,-9.5,319,4677,0.00,2.22,0.00,0.000,4,0.000,0.054,2940,654,2429,0,0,0,0,0,0
$GC,4734,-0.74,-116.8,449.8,-9.7,321,4739,0.00,2.22,0.00,0.000,6,0.000,0.041,2932,2074,2429,0,0,0,0,0,0
$GC,5051,-0.74,-116.8,479.7,-9.6,337,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2074,2429,0,0,0,0,0,0
$GC,5358,-0.74,-116.8,507.7,-9.0,352,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2074,2429,0,0,0,0,0,0
$GC,5670,-0.74,-116.8,534.4,-8.2,367,5674,0.00,2.22,0.00,0.000,4,0.000,0.058,2921,3471,2429,0,0,0,0,0,0
$GC,5710,-0.74,-116.8,538.0,-8.5,369,5715,0.10,2.17,0.00,0.000,6,0.164,0.041,2947,2063,2429,0,0,0,0,0,0
$GC,6039,-0.78,-116.8,562.6,-7.3,385,6043,0.00,2.22,0.00,0.000,4,0.000,0.054,2948,661,2429,0,0,0,0,0,0
$GC,6110,-0.78,-116.8,568.7,-8.7,388,6115,0.00,2.22,0.00,0.000,6,0.000,0.041,2939,2060,2429,0,0,0,0,0,0
$GC,6431,-0.78,-116.8,595.4,-8.5,404,6435,0.00,2.30,0.00,0.000,4,0.000,0.063,2928,3465,2428,0,0,0,0,0,0
$GC,6463,-0.78,-116.8,598.4,-9.5,405,6468,0.00,2.17,0.00,0.000,6,0.000,0.040,2928,2049,2428,0,0,0,0,0,0
$GC,6779,-0.78,-116.8,625.9,-8.6,421,6783,0.00,2.22,0.00,0.000,4,0.000,0.054,2928,654,2428,0,0,0,0,0,0
$GC,6846,-0.78,-116.8,632.1,-9.2,424,6850,0.00,2.22,0.00,0.000,6,0.000,0.041,2919,2071,2428,0,0,0,0,0,0
$GC,7172,-0.78,-116.8,660.4,-8.6,440,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2071,2428,0,0,0,0,0,0
$GC,7483,-0.78,-116.8,686.4,-8.0,455,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2070,2429,0,0,0,0,0,0
$GC,7791,-0.78,-116.8,712.8,-8.3,470,7795,0.00,2.25,0.00,0.000,4,0.000,0.061,2909,3462,2429,0,0,0,0,0,0
$GC,7840,-0.78,-116.8,717.2,-8.4,472,7845,0.10,2.15,0.00,0.000,6,0.164,0.039,2935,2058,2428,0,0,0,0,0,0
$GC,8156,-0.78,-116.8,744.3,-9.0,487,8160,0.00,2.22,0.00,0.000,4,0.000,0.055,2935,659,2428,0,0,0,0,0,0
$GC,8211,-0.78,-116.8,749.7,-10.5,489,8216,0.00,2.20,0.00,0.000,6,0.000,0.041,2926,2060,2428,0,0,0,0,0,0
$GC,8528,-0.78,-116.8,778.3,-9.1,505,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2060,2428,0,0,0,0,0,0
$GC,8836,-0.78,-116.8,805.4,-8.3,520,8840,0.00,2.25,0.00,0.000,4,0.000,0.055,2926,661,2428,0,0,0,0,0,0
$GC,8886,-0.78,-116.8,809.7,-9.0,522,8890,0.00,2.22,0.00,0.000,6,0.000,0.040,2918,2062,2428,0,0,0,0,0,0
$GC,9207,-0.78,-116.8,835.4,-8.0,538,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2062,2427,0,0,0,0,0,0
$GC,9517,-0.78,-116.8,861.1,-8.7,553,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2062,2427,0,0,0,0,0,0
$GC,9825,-0.78,-116.8,889.4,-9.3,568,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2061,2427,0,0,0,0,0,0
$GC,10136,-0.78,-116.8,918.6,-9.6,583,10140,0.00,2.30,0.00,0.000,4,0.000,0.064,2907,3466,2426,0,0,0,0,0,0
$GC,10168,-0.78,-116.8,922.1,-10.5,584,10174,0.05,2.22,0.00,0.000,6,0.148,0.042,2926,2063,2427,0,0,0,0,0,0
$GC,10483,-0.78,-116.8,951.5,-9.2,600,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2063,2427,0,0,0,0,0,0
$GC,10794,-0.78,-116.8,977.3,-8.0,615,10798,0.00,2.25,0.00,0.000,4,0.000,0.055,2925,655,2426,0,0,0,0,0,0
$GC,10844,-0.78,-116.8,981.6,-8.7,617,10848,0.00,2.22,0.00,0.000,6,0.000,0.041,2918,2068,2426,0,0,0,0,0,0
$STATE,11087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11087,begin apogee
$GC,11093,-0.19,0.0,1000.3,7.7,629,11210,0.68,0.00,113.00,1.252,6,0.138,0.000,3120,1593,1950,0,0,0,0,0,0
$STATE,11210,end apogee,CONTROL_FINISHED_OK
$STATE,11211,begin climb
$GC,11213,0.76,116.8,1002.6,0.0,635,11344,0.93,2.53,119.82,1.209,4,0.085,0.055,3437,202,1472,0,0,0,0,0,0
$GC,11402,0.76,116.8,989.9,9.3,644,11406,0.00,2.38,0.00,0.000,6,0.000,0.035,3437,1619,1468,0,0,0,0,0,0
$GC,11727,0.76,116.8,961.0,9.0,660,11731,0.00,2.22,0.00,0.000,4,0.000,0.055,3436,2990,1464,0,0,0,0,0,0
$GC,11770,0.76,116.8,956.8,9.1,662,11775,0.08,2.20,0.00,0.000,6,0.187,0.037,3428,1599,1464,0,0,0,0,0,0
$GC,12098,0.80,132.7,931.0,7.8,678,12119,0.00,2.33,15.23,1.105,4,0.000,0.056,3438,192,1409,0,0,0,0,0,0
$GC,12191,0.80,132.7,922.8,8.6,682,12196,0.00,2.22,0.00,0.000,6,0.000,0.035,3438,1611,1407,0,0,0,0,0,0
$GC,12518,0.81,141.0,895.4,8.1,698,12533,0.00,2.20,9.68,1.018,4,0.000,0.054,3438,2990,1374,0,0,0,0,0,0
$GC,12590,0.81,141.0,889.1,9.3,700,12594,0.00,2.17,0.00,0.000,6,0.000,0.037,3447,1599,1374,0,0,0,0,0,0
$GC,12906,0.81,141.0,861.5,8.7,715,12910,0.00,2.28,0.00,0.000,4,0.000,0.057,3459,196,1373,0,0,0,0,0,0
$GC,13000,0.81,141.0,852.2,9.1,719,13005,0.03,2.20,0.00,0.000,6,0.164,0.036,3447,1594,1372,0,0,0,0,0,0
$GC,13327,0.81,141.0,822.5,9.1,735,13328,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1594,1372,0,0,0,0,0,0
$GC,13635,0.81,141.0,793.5,9.7,750,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1594,1372,0,0,0,0,0,0
$GC,13946,0.81,141.0,763.7,9.7,765,13950,0.00,2.28,0.00,0.000,4,0.000,0.054,3457,196,1372,0,0,0,0,0,0
$GC,14000,0.81,141.0,758.1,10.3,767,14005,0.00,2.20,0.00,0.000,6,0.000,0.036,3457,1629,1371,0,0,0,0,0,0
$GC,14322,0.81,141.0,726.8,9.7,783,14326,0.00,2.17,0.00,0.000,4,0.000,0.054,3457,2996,1371,0,0,0,0,0,0
$GC,14366,0.81,141.0,722.0,10.0,785,14371,0.05,2.17,0.00,0.000,6,0.145,0.037,3438,1604,1371,0,0,0,0,0,0
$GC,14694,0.84,141.0,692.5,9.0,801,14698,0.00,2.28,0.00,0.000,4,0.000,0.057,3448,199,1371,0,0,0,0,0,0
$GC,14788,0.84,141.0,683.1,10.8,805,14792,0.00,2.17,0.00,0.000,6,0.000,0.036,3449,1619,1370,0,0,0,0,0,0
$GC,15110,0.84,141.0,653.3,9.2,821,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1620,1370,0,0,0,0,0,0
$GC,15418,0.84,141.0,625.0,9.0,836,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1620,1370,0,0,0,0,0,0
$GC,15729,0.84,142.3,598.2,8.5,851,15733,0.00,2.33,0.00,0.000,4,0.000,0.054,3459,193,1370,0,0,0,0,0,0
$GC,15795,0.84,142.3,591.9,8.8,854,15799,0.00,2.20,0.00,0.000,6,0.000,0.036,3458,1596,1370,0,0,0,0,0,0
$GC,16121,0.84,142.3,562.0,9.3,870,16122,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1596,1370,0,0,0,0,0,0
$GC,16432,0.84,142.3,532.8,9.5,885,16433,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1596,1370,0,0,0,0,0,0
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$STATE,22215,end climb,SURFACE_DEPTH_REACHED
$STATE,22215,begin surface coast
$FINISH,2.1,1.016085
$STATE,22247,end surface coast,CONTROL_FINISHED_OK
$STATE,22247,begin surface
$SM_CCo,22268,16.17,0.057,0,0,1133,200.16
$SM_GC,4.27,0.00,0.00,16.17,0.000,0.000,0.057,60,2058,1133,-9.76,-0.06,200.16
$IRIDIUM_FIX,-4447.43,624.79,210908,111129
$TT8_MAMPS,0.026964
$HUMID,65.23
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,21.8,64.837
$10V_AH,9.7,68.063
$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
$DEVICE_SECS,23.750,149.200,284.525,16.175,0.000,25.037,39.894,260.238,0.250,0.000,16.795,2694.708,16042.942,398.818,3304.672,316.235,0.000,1641.615,0.000,2848.033,0.000,0.539,0.000
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$SENSOR_SECS,617.352,1820.359,996.683,594.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,90429,1263
$CAP_FILE_SIZE,174925,0
$CFSIZE,2097086464,2019033088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261115,083527,-4501.225,624.947,36,0.8,36,-24.4