version: 66.07.10.p01
glider: 573
mission: 12
dive: 576
start: 11 30 115 15 45 6
data:
$ID,573
$MISSION,12
$DIVE,576
$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,-22811.414
$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,41
$R_STBD_OVSHOOT,37
$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,575
$GPS1,301115,153534,-4500.931,626.179,59,1.4,59,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-67.1
$GPS2,301115,154445,-4500.831,626.197,18,1.2,19,-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,6.6,9398,-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,-19.45,0.000,2,0.000,0.000,61,2069,1511,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.2,-4.1,3,108,11.75,2.30,-39.58,0.000,4,0.228,0.065,2931,654,2426,0,0,0,0,0,0
$GC,337,-0.67,-116.8,32.6,-12.3,49,345,0.12,2.25,0.00,0.000,6,0.130,0.041,2964,2050,2428,0,0,0,0,0,0
$GC,490,-0.67,-116.8,47.3,-9.4,74,495,0.00,2.28,0.00,0.000,4,0.000,0.056,2953,3466,2428,0,0,0,0,0,0
$GC,565,-0.67,-116.8,55.0,-9.7,87,572,0.00,2.20,0.00,0.000,6,0.000,0.038,2953,2067,2429,0,0,0,0,0,0
$GC,919,-0.67,-116.8,91.0,-10.4,135,923,0.00,2.25,0.00,0.000,4,0.000,0.051,2954,659,2429,0,0,0,0,0,0
$GC,974,-0.67,-116.8,97.5,-11.0,137,980,0.05,2.22,0.00,0.000,6,0.150,0.037,2972,2065,2429,0,0,0,0,0,0
$GC,1293,-0.71,-116.8,126.2,-8.8,153,1295,0.05,0.00,0.00,0.000,6,0.161,0.000,2929,2065,2429,0,0,0,0,0,0
$GC,1600,-0.67,-116.8,160.2,-11.2,168,1602,0.12,0.00,0.00,0.000,6,0.160,0.000,2963,2065,2429,0,0,0,0,0,0
$GC,1911,-0.71,-116.8,188.9,-9.3,183,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2065,2429,0,0,0,0,0,0
$GC,2219,-0.75,-116.8,217.7,-9.5,198,2223,0.08,2.25,0.00,0.000,4,0.123,0.062,2904,3462,2429,0,0,0,0,0,0
$GC,2263,-0.69,-116.8,223.1,-12.0,200,2268,0.20,2.15,0.00,0.000,6,0.136,0.037,2963,2058,2429,0,0,0,0,0,0
$GC,2586,-0.74,-116.8,254.1,-9.5,216,2590,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,654,2429,0,0,0,0,0,0
$GC,2677,-0.74,-116.8,263.2,-9.4,220,2681,0.00,2.20,0.00,0.000,6,0.000,0.041,2954,2066,2429,0,0,0,0,0,0
$GC,3003,-0.74,-116.8,294.0,-9.2,236,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2066,2429,0,0,0,0,0,0
$GC,3313,-0.77,-116.8,321.6,-8.7,251,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2066,2429,0,0,0,0,0,0
$GC,3621,-0.80,-116.8,346.7,-7.8,266,3623,0.10,0.00,0.00,0.000,6,0.095,0.000,2892,2066,2429,0,0,0,0,0,0
$GC,3932,-0.71,-116.8,377.6,-10.1,281,3934,0.20,0.00,0.00,0.000,6,0.150,0.000,2950,2066,2429,0,0,0,0,0,0
$GC,4240,-0.74,-116.8,401.6,-7.7,296,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2429,0,0,0,0,0,0
$GC,4551,-0.77,-116.8,425.9,-8.1,311,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2429,0,0,0,0,0,0
$GC,4858,-0.81,-116.8,452.3,-8.8,326,4863,0.08,2.30,0.00,0.000,4,0.123,0.053,2900,652,2429,0,0,0,0,0,0
$GC,4885,-0.73,-116.8,455.2,-11.1,327,4890,0.20,2.20,0.00,0.000,6,0.148,0.042,2948,2062,2429,0,0,0,0,0,0
$GC,5200,-0.73,-116.8,484.2,-9.1,342,5204,0.00,2.28,0.00,0.000,4,0.000,0.062,2937,3470,2429,0,0,0,0,0,0
$GC,5232,-0.73,-116.8,487.1,-9.0,343,5237,0.00,2.17,0.00,0.000,6,0.000,0.041,2937,2063,2429,0,0,0,0,0,0
$GC,5548,-0.73,-116.8,515.2,-8.7,359,5552,0.00,2.25,0.00,0.000,4,0.000,0.054,2938,648,2429,0,0,0,0,0,0
$GC,5589,-0.73,-116.8,518.9,-8.7,361,5593,0.08,2.22,0.00,0.000,6,0.187,0.038,2947,2069,2429,0,0,0,0,0,0
$GC,5918,-0.76,-116.8,545.6,-8.1,377,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2069,2429,0,0,0,0,0,0
$GC,6224,-0.80,-116.8,570.3,-7.9,392,6229,0.05,2.28,0.00,0.000,4,0.165,0.052,2905,658,2429,0,0,0,0,0,0
$GC,6251,-0.73,-116.8,573.0,-9.9,393,6256,0.17,2.20,0.00,0.000,6,0.150,0.040,2946,2062,2429,0,0,0,0,0,0
$GC,6573,-0.77,-116.8,599.1,-8.2,409,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2062,2428,0,0,0,0,0,0
$GC,6881,-0.81,-116.8,624.8,-8.4,424,6883,0.08,0.00,0.00,0.000,6,0.119,0.000,2898,2062,2428,0,0,0,0,0,0
$GC,7191,-0.75,-116.8,656.8,-10.5,439,7193,0.15,0.00,0.00,0.000,6,0.158,0.000,2941,2061,2428,0,0,0,0,0,0
$GC,7500,-0.78,-116.8,683.6,-8.3,454,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2062,2428,0,0,0,0,0,0
$GC,7811,-0.81,-116.8,708.4,-7.6,469,7815,0.05,2.30,0.00,0.000,4,0.164,0.054,2899,656,2427,0,0,0,0,0,0
$GC,7837,-0.75,-116.8,711.0,-9.7,470,7842,0.17,2.22,0.00,0.000,6,0.151,0.042,2939,2063,2427,0,0,0,0,0,0
$GC,8159,-0.78,-116.8,735.8,-7.7,486,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2063,2427,0,0,0,0,0,0
$GC,8469,-0.81,-116.8,760.8,-8.2,501,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2063,2427,0,0,0,0,0,0
$GC,8777,-0.85,-116.8,786.1,-8.5,516,8781,0.10,2.30,0.00,0.000,4,0.099,0.063,2872,3463,2426,0,0,0,0,0,0
$GC,8821,-0.76,-116.8,790.5,-10.3,518,8825,0.22,2.17,0.00,0.000,6,0.141,0.041,2939,2060,2426,0,0,0,0,0,0
$GC,9142,-0.81,-116.8,816.6,-8.3,534,9146,0.00,2.28,0.00,0.000,4,0.000,0.055,2940,652,2426,0,0,0,0,0,0
$GC,9220,-0.81,-116.8,823.5,-8.9,537,9225,0.00,2.22,0.00,0.000,6,0.000,0.042,2931,2058,2426,0,0,0,0,0,0
$GC,9537,-0.81,-116.8,849.6,-8.2,553,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2058,2426,0,0,0,0,0,0
$GC,9845,-0.81,-116.8,874.6,-8.0,568,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2058,2426,0,0,0,0,0,0
$GC,10156,-0.81,-116.8,898.5,-7.5,583,10160,0.00,2.30,0.00,0.000,4,0.000,0.062,2920,3465,2425,0,0,0,0,0,0
$GC,10183,-0.81,-116.8,900.9,-8.2,584,10187,0.00,2.20,0.00,0.000,6,0.000,0.041,2920,2050,2425,0,0,0,0,0,0
$GC,10503,-0.81,-116.8,925.2,-7.4,600,10507,0.00,2.22,0.00,0.000,4,0.000,0.054,2920,658,2425,0,0,0,0,0,0
$GC,10542,-0.81,-116.8,928.2,-7.8,602,10546,0.00,2.20,0.00,0.000,6,0.000,0.039,2911,2072,2425,0,0,0,0,0,0
$GC,10868,-0.81,-116.8,952.8,-7.4,618,10872,0.00,2.28,0.00,0.000,4,0.000,0.060,2900,3469,2425,0,0,0,0,0,0
$GC,10906,-0.81,-116.8,955.7,-7.9,620,10911,0.10,2.22,0.00,0.000,6,0.161,0.040,2926,2048,2425,0,0,0,0,0,0
$GC,11233,-0.81,-116.8,980.0,-7.5,636,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2048,2425,0,0,0,0,0,0
$STATE,11499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11499,begin apogee
$GC,11505,-0.19,0.0,1000.3,7.6,649,11621,0.62,0.00,112.50,1.247,6,0.127,0.000,3122,1588,1950,0,0,0,0,0,0
$STATE,11622,end apogee,CONTROL_FINISHED_OK
$STATE,11622,begin climb
$GC,11625,0.76,116.8,1003.3,0.0,655,11749,0.93,0.00,120.57,1.209,6,0.080,0.000,3427,1588,1474,0,0,0,0,0,0
$GC,12050,0.81,132.8,973.2,7.8,676,12071,0.00,2.35,16.23,1.121,4,0.000,0.055,3437,202,1409,0,0,0,0,0,0
$GC,12128,0.81,133.6,966.5,8.5,679,12133,0.00,2.28,0.00,0.000,6,0.000,0.036,3437,1616,1406,0,0,0,0,0,0
$GC,12443,0.81,133.6,938.9,8.8,694,12447,0.00,2.20,0.00,0.000,4,0.000,0.054,3437,2990,1404,0,0,0,0,0,0
$GC,12486,0.81,133.6,934.8,9.3,696,12490,0.00,2.20,0.00,0.000,6,0.000,0.036,3446,1592,1404,0,0,0,0,0,0
$GC,12812,0.81,133.6,903.3,9.7,712,12817,0.00,2.28,0.00,0.000,4,0.000,0.056,3458,196,1403,0,0,0,0,0,0
$GC,12920,0.81,133.6,892.2,11.4,717,12924,0.00,2.20,0.00,0.000,6,0.000,0.037,3457,1605,1402,0,0,0,0,0,0
$GC,13252,0.81,133.6,858.9,10.2,733,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1605,1402,0,0,0,0,0,0
$GC,13560,0.81,133.6,829.3,9.0,748,13561,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1606,1402,0,0,0,0,0,0
$GC,13871,0.81,133.6,801.1,9.0,763,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1605,1402,0,0,0,0,0,0
$GC,14179,0.81,133.6,772.9,8.9,778,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1605,1401,0,0,0,0,0,0
$GC,14490,0.81,134.0,746.2,8.5,793,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1605,1402,0,0,0,0,0,0
$GC,14798,0.81,134.0,719.3,8.8,808,14802,0.00,2.33,0.00,0.000,4,0.000,0.055,3467,190,1401,0,0,0,0,0,0
$GC,14853,0.81,134.0,714.0,9.7,810,14859,0.05,2.22,0.00,0.000,6,0.130,0.036,3436,1602,1401,0,0,0,0,0,0
$GC,15170,0.86,139.8,688.7,8.3,826,15180,0.08,0.00,7.25,0.870,6,0.122,0.000,3480,1602,1380,0,0,0,0,0,0
$GC,15479,0.82,139.8,658.2,9.8,841,15481,0.10,0.00,0.00,0.000,6,0.153,0.000,3452,1604,1379,0,0,0,0,0,0
$GC,15788,0.83,153.3,632.7,7.9,856,15806,0.00,0.00,15.15,0.968,6,0.000,0.000,3452,1603,1324,0,0,0,0,0,0
$GC,16116,0.83,156.7,605.6,8.4,872,16125,0.00,2.30,4.50,0.664,4,0.000,0.055,3462,195,1311,0,0,0,0,0,0
$GC,16159,0.83,156.7,601.6,8.9,874,16163,0.00,2.17,0.00,0.000,6,0.000,0.035,3462,1610,1311,0,0,0,0,0,0
$GC,16485,0.83,156.7,570.7,9.7,890,16489,0.00,2.17,0.00,0.000,4,0.000,0.053,3462,2987,1311,0,0,0,0,0,0
$GC,16539,0.83,156.7,565.1,11.1,892,16546,0.05,2.17,0.00,0.000,6,0.142,0.037,3452,1600,1311,0,0,0,0,0,0
$GC,16855,0.87,156.7,534.9,9.4,908,16859,0.00,2.28,0.00,0.000,4,0.000,0.057,3463,199,1310,0,0,0,0,0,0
$GC,16926,0.87,156.7,527.6,8.9,911,16931,0.00,2.17,0.00,0.000,6,0.000,0.036,3462,1602,1310,0,0,0,0,0,0
$GC,17248,0.87,156.7,496.5,9.8,927,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1602,1310,0,0,0,0,0,0
$GC,17556,0.87,156.7,466.9,9.7,942,17560,0.00,2.17,0.00,0.000,4,0.000,0.052,3463,2990,1310,0,0,0,0,0,0
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$STATE,22415,end climb,SURFACE_DEPTH_REACHED
$STATE,22415,begin surface coast
$FINISH,1.9,1.023324
$STATE,22453,end surface coast,CONTROL_FINISHED_OK
$STATE,22453,begin surface
$SM_CCo,22472,11.85,0.055,0,0,1132,200.16
$SM_GC,3.99,0.00,0.00,11.85,0.000,0.000,0.055,65,2079,1132,-9.75,0.54,200.16
$IRIDIUM_FIX,-4447.43,621.76,250908,222233
$TT8_MAMPS,0.026964
$HUMID,65.94
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.8,66.965
$10V_AH,9.7,70.318
$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,25.275,135.050,296.150,11.850,0.000,25.813,21.649,325.536,0.000,0.000,22.304,2721.971,16279.918,429.079,3257.372,334.054,0.000,1618.641,0.000,2755.617,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,65.025,1246.950,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,616.474,1771.674,940.796,546.586,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,93880,1279
$CAP_FILE_SIZE,181831,0
$CFSIZE,2097086464,2016542720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301115,220103,-4457.800,625.842,35,0.8,35,-24.4