version: 66.07.10.p01
glider: 573
mission: 12
dive: 568
start: 11 28 115 17 8 25
data:
$ID,573
$MISSION,12
$DIVE,568
$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,-22782.412
$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,31
$R_STBD_OVSHOOT,43
$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,567
$GPS1,281115,165833,-4459.011,637.395,29,0.9,29,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.5
$GPS2,281115,170805,-4459.123,637.422,15,1.9,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,216.0,9221,-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,-19.27,0.000,2,0.000,0.000,67,2074,1508,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.3,-3.3,3,115,12.07,2.28,-46.47,0.000,4,0.238,0.073,2921,3453,2426,0,0,0,0,0,0
$GC,368,-0.70,-116.8,29.4,-11.2,54,376,0.10,2.22,0.00,0.000,6,0.139,0.041,2955,2053,2429,0,0,0,0,0,0
$GC,525,-0.70,-116.8,44.6,-9.6,79,530,0.00,2.25,0.00,0.000,4,0.000,0.054,2955,654,2429,0,0,0,0,0,0
$GC,585,-0.70,-116.8,51.2,-10.7,89,590,0.00,2.22,0.00,0.000,6,0.000,0.042,2946,2054,2429,0,0,0,0,0,0
$GC,944,-0.70,-116.8,88.9,-10.4,141,948,0.00,2.28,0.00,0.000,4,0.000,0.057,2936,3471,2429,0,0,0,0,0,0
$GC,1044,-0.70,-116.8,99.6,-9.6,145,1050,0.05,2.22,0.00,0.000,6,0.149,0.041,2964,2060,2429,0,0,0,0,0,0
$GC,1362,-0.70,-116.8,128.4,-9.0,161,1366,0.00,2.22,0.00,0.000,4,0.000,0.053,2964,658,2429,0,0,0,0,0,0
$GC,1495,-0.70,-116.8,140.6,-8.6,167,1499,0.00,2.20,0.00,0.000,6,0.000,0.041,2955,2063,2430,0,0,0,0,0,0
$GC,1825,-0.70,-116.8,169.4,-8.4,183,1829,0.00,2.25,0.00,0.000,4,0.000,0.062,2945,3460,2430,0,0,0,0,0,0
$GC,1965,-0.70,-116.8,182.2,-9.6,189,1969,0.00,2.17,0.00,0.000,6,0.000,0.037,2945,2051,2430,0,0,0,0,0,0
$GC,2289,-0.70,-116.8,210.6,-8.5,205,2293,0.00,2.22,0.00,0.000,4,0.000,0.053,2945,659,2430,0,0,0,0,0,0
$GC,2384,-0.70,-116.8,220.0,-9.5,209,2389,0.08,2.20,0.00,0.000,6,0.185,0.039,2954,2066,2430,0,0,0,0,0,0
$GC,2708,-0.70,-116.8,247.9,-8.7,225,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2066,2430,0,0,0,0,0,0
$GC,3015,-0.70,-116.8,275.5,-9.1,240,3019,0.00,2.22,0.00,0.000,4,0.000,0.060,2944,3461,2430,0,0,0,0,0,0
$GC,3048,-0.70,-116.8,278.8,-9.8,241,3052,0.00,2.17,0.00,0.000,6,0.000,0.037,2944,2051,2430,0,0,0,0,0,0
$GC,3370,-0.70,-116.8,310.2,-9.8,257,3374,0.00,2.20,0.00,0.000,4,0.000,0.054,2944,665,2430,0,0,0,0,0,0
$GC,3442,-0.70,-116.8,317.9,-10.5,260,3446,0.10,2.17,0.00,0.000,6,0.166,0.037,2961,2061,2430,0,0,0,0,0,0
$GC,3762,-0.75,-116.8,347.8,-9.2,276,3767,0.05,2.28,0.00,0.000,4,0.164,0.060,2908,3460,2430,0,0,0,0,0,0
$GC,3851,-0.70,-116.8,357.6,-11.5,280,3856,0.17,2.17,0.00,0.000,6,0.140,0.038,2958,2054,2430,0,0,0,0,0,0
$GC,4173,-0.75,-116.8,385.3,-8.4,296,4177,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,655,2430,0,0,0,0,0,0
$GC,4222,-0.75,-116.8,390.0,-9.1,298,4226,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2059,2430,0,0,0,0,0,0
$GC,4543,-0.78,-116.8,418.0,-8.6,314,4548,0.05,2.28,0.00,0.000,4,0.163,0.060,2896,3460,2429,0,0,0,0,0,0
$GC,4587,-0.72,-116.8,422.5,-10.3,316,4591,0.17,2.17,0.00,0.000,6,0.145,0.038,2947,2051,2430,0,0,0,0,0,0
$GC,4906,-0.72,-116.8,450.5,-8.6,332,4910,0.00,2.25,0.00,0.000,4,0.000,0.054,2947,655,2430,0,0,0,0,0,0
$GC,4969,-0.72,-116.8,455.9,-9.6,335,4974,0.00,2.22,0.00,0.000,6,0.000,0.041,2938,2066,2430,0,0,0,0,0,0
$GC,5297,-0.72,-116.8,484.6,-9.1,351,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2066,2429,0,0,0,0,0,0
$GC,5604,-0.72,-116.8,512.6,-9.2,366,5609,0.00,2.28,0.00,0.000,4,0.000,0.053,2938,652,2429,0,0,0,0,0,0
$GC,5643,-0.72,-116.8,516.4,-9.9,368,5648,0.08,2.22,0.00,0.000,6,0.184,0.041,2948,2063,2429,0,0,0,0,0,0
$GC,5971,-0.75,-116.8,544.1,-8.2,384,5975,0.00,2.28,0.00,0.000,4,0.000,0.063,2938,3462,2429,0,0,0,0,0,0
$GC,5997,-0.75,-116.8,546.6,-9.2,385,6001,0.00,2.17,0.00,0.000,6,0.000,0.038,2938,2060,2430,0,0,0,0,0,0
$GC,6319,-0.75,-116.8,575.3,-9.0,401,6323,0.00,2.25,0.00,0.000,4,0.000,0.054,2938,652,2429,0,0,0,0,0,0
$GC,6459,-0.75,-116.8,589.2,-9.9,407,6463,0.00,2.22,0.00,0.000,6,0.000,0.041,2929,2062,2429,0,0,0,0,0,0
$GC,6774,-0.75,-116.8,618.4,-9.2,422,6778,0.00,2.28,0.00,0.000,4,0.000,0.063,2918,3467,2429,0,0,0,0,0,0
$GC,6823,-0.75,-116.8,623.1,-9.4,424,6828,0.10,2.20,0.00,0.000,6,0.160,0.041,2945,2059,2429,0,0,0,0,0,0
$GC,7145,-0.79,-116.8,650.5,-8.7,440,7149,0.00,2.25,0.00,0.000,4,0.000,0.055,2945,652,2429,0,0,0,0,0,0
$GC,7235,-0.79,-116.8,658.9,-9.3,444,7239,0.00,2.22,0.00,0.000,6,0.000,0.041,2936,2057,2429,0,0,0,0,0,0
$GC,7554,-0.79,-116.8,688.5,-9.2,460,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2057,2429,0,0,0,0,0,0
$GC,7865,-0.79,-116.8,717.3,-9.5,475,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2057,2428,0,0,0,0,0,0
$GC,8173,-0.79,-116.8,745.1,-8.6,490,8177,0.00,2.25,0.00,0.000,4,0.000,0.054,2936,661,2428,0,0,0,0,0,0
$GC,8223,-0.79,-116.8,749.7,-9.4,492,8227,0.00,2.22,0.00,0.000,6,0.000,0.039,2927,2074,2428,0,0,0,0,0,0
$GC,8544,-0.79,-116.8,777.1,-8.5,508,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2074,2427,0,0,0,0,0,0
$GC,8855,-0.79,-116.8,802.2,-8.0,523,8859,0.00,2.28,0.00,0.000,4,0.000,0.051,2927,658,2427,0,0,0,0,0,0
$GC,8944,-0.79,-116.8,809.8,-7.8,527,8948,0.00,2.20,0.00,0.000,6,0.000,0.038,2918,2060,2427,0,0,0,0,0,0
$GC,9265,-0.79,-116.8,835.5,-8.1,543,9269,0.00,2.28,0.00,0.000,4,0.000,0.054,2918,659,2427,0,0,0,0,0,0
$GC,9299,-0.75,-116.8,838.3,-8.4,544,9305,0.12,2.20,0.00,0.000,6,0.161,0.039,2943,2059,2427,0,0,0,0,0,0
$GC,9616,-0.80,-116.8,860.1,-6.7,560,9620,0.00,2.30,0.00,0.000,4,0.000,0.063,2933,3465,2427,0,0,0,0,0,0
$GC,9724,-0.84,-116.8,867.4,-6.7,565,9729,0.05,2.20,0.00,0.000,6,0.161,0.040,2900,2054,2426,0,0,0,0,0,0
$GC,10053,-0.80,-116.8,892.8,-7.7,581,10058,0.10,2.25,0.00,0.000,4,0.171,0.057,2925,661,2426,0,0,0,0,0,0
$GC,10173,-0.80,-116.8,902.1,-7.2,586,10177,0.00,2.22,0.00,0.000,6,0.000,0.041,2917,2065,2426,0,0,0,0,0,0
$GC,10489,-0.80,-116.8,924.3,-7.1,601,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2065,2426,0,0,0,0,0,0
$GC,10797,-0.80,-116.8,947.1,-7.4,616,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2065,2426,0,0,0,0,0,0
$GC,11108,-0.80,-116.8,970.5,-7.8,631,11112,0.00,2.28,0.00,0.000,4,0.000,0.055,2917,661,2426,0,0,0,0,0,0
$GC,11146,-0.80,-116.8,973.8,-7.9,632,11152,0.05,2.22,0.00,0.000,6,0.223,0.041,2920,2070,2426,0,0,0,0,0,0
$GC,11461,-0.80,-116.8,997.6,-7.6,648,11465,0.00,2.28,0.00,0.000,4,0.000,0.062,2910,3465,2425,0,0,0,0,0,0
$STATE,11491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11491,begin apogee
$GC,11500,-0.19,0.0,1000.2,8.1,649,11616,0.65,0.00,112.65,1.253,6,0.135,0.000,3112,1597,1950,0,0,0,0,0,0
$STATE,11616,end apogee,CONTROL_FINISHED_OK
$STATE,11616,begin climb
$GC,11619,0.76,116.8,1002.8,0.0,655,11745,0.98,0.00,120.95,1.210,6,0.084,0.000,3429,1597,1473,0,0,0,0,0,0
$GC,12056,0.79,121.2,969.4,8.3,677,12066,0.00,2.38,4.55,0.757,4,0.000,0.057,3440,193,1454,0,0,0,0,0,0
$GC,12133,0.79,121.2,962.4,8.9,680,12138,0.00,2.28,0.00,0.000,6,0.000,0.037,3440,1615,1454,0,0,0,0,0,0
$GC,12454,0.79,121.2,934.7,8.8,696,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1615,1453,0,0,0,0,0,0
$GC,12765,0.79,121.2,907.5,8.6,711,12769,0.00,2.33,0.00,0.000,4,0.000,0.054,3449,190,1453,0,0,0,0,0,0
$GC,12831,0.79,121.2,901.1,9.2,714,12835,0.00,2.20,0.00,0.000,6,0.000,0.035,3449,1603,1452,0,0,0,0,0,0
$GC,13157,0.79,121.2,869.6,9.7,730,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1603,1452,0,0,0,0,0,0
$GC,13467,0.79,121.2,839.9,9.3,745,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1603,1451,0,0,0,0,0,0
$GC,13775,0.79,121.2,811.4,9.2,760,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1603,1451,0,0,0,0,0,0
$GC,14086,0.79,121.2,783.6,8.9,775,14090,0.00,2.30,0.00,0.000,4,0.000,0.054,3459,199,1451,0,0,0,0,0,0
$GC,14107,0.79,121.2,781.5,9.8,776,14111,0.08,2.20,0.00,0.000,6,0.174,0.036,3439,1612,1450,0,0,0,0,0,0
$GC,14433,0.80,127.0,754.6,8.3,792,14441,0.00,0.00,6.47,0.869,6,0.000,0.000,3439,1612,1432,0,0,0,0,0,0
$GC,14743,0.80,129.5,728.5,8.4,807,14752,0.00,2.33,4.30,0.691,4,0.000,0.055,3448,198,1421,0,0,0,0,0,0
$GC,14811,0.80,129.5,722.4,9.3,810,14815,0.00,2.17,0.00,0.000,6,0.000,0.036,3448,1597,1420,0,0,0,0,0,0
$GC,15137,0.80,139.5,694.9,8.1,826,15153,0.00,2.25,11.40,0.968,4,0.000,0.054,3448,2995,1382,0,0,0,0,0,0
$GC,15170,0.82,161.1,692.0,7.5,826,15200,0.00,2.17,23.20,1.041,6,0.000,0.036,3458,1594,1293,0,0,0,0,0,0
$GC,15527,0.82,161.1,659.2,9.2,844,15531,0.00,2.30,0.00,0.000,4,0.000,0.057,3468,188,1289,0,0,0,0,0,0
$GC,15582,0.82,161.1,653.6,10.4,846,15588,0.08,2.25,0.00,0.000,6,0.170,0.036,3448,1599,1288,0,0,0,0,0,0
$GC,15897,0.86,161.1,625.4,9.2,862,15901,0.00,2.22,0.00,0.000,4,0.000,0.054,3448,2990,1288,0,0,0,0,0,0
$GC,15924,0.86,161.1,622.8,10.6,863,15928,0.00,2.17,0.00,0.000,6,0.000,0.036,3457,1593,1288,0,0,0,0,0,0
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$STATE,22359,end climb,SURFACE_DEPTH_REACHED
$STATE,22359,begin surface coast
$FINISH,2.5,1.023336
$STATE,22367,end surface coast,CONTROL_FINISHED_OK
$STATE,22367,begin surface
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$SM_GC,4.44,0.00,0.00,9.68,0.000,0.000,0.056,73,2060,1132,-9.73,0.00,200.16
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$TT8_MAMPS,0.026964
$HUMID,64.92
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.8,66.073
$10V_AH,9.7,69.362
$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
$DEVICE_SECS,24.500,196.475,303.575,9.675,0.000,28.162,44.782,324.501,0.000,0.000,19.238,2760.582,15904.814,461.207,3469.098,358.791,0.000,1776.520,0.000,2937.751,0.000,0.539,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,90616,1261
$CAP_FILE_SIZE,196886,0
$CFSIZE,2097086464,2017558528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281115,232258,-4502.806,637.626,38,0.8,38,-24.4