version: 66.07.10.p01
glider: 573
mission: 12
dive: 592
start: 12 3 115 20 13 45
data:
$ID,573
$MISSION,12
$DIVE,592
$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,-22866.162
$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,40
$R_STBD_OVSHOOT,48
$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,591
$GPS1,031215,195733,-4455.686,627.783,55,0.8,55,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-74.6
$GPS2,031215,201323,-4455.682,627.769,14,1.5,14,-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,117.5,10807,-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,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-18.73,0.000,2,0.000,0.000,61,2053,1499,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.2,-3.3,3,113,12.00,2.28,-45.75,0.000,4,0.232,0.066,2931,657,2424,0,0,0,0,0,0
$GC,360,-0.68,-116.8,31.4,-12.4,53,369,0.10,2.22,0.00,0.000,6,0.137,0.041,2956,2043,2426,0,0,0,0,0,0
$GC,512,-0.68,-116.8,48.3,-10.8,78,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2043,2426,0,0,0,0,0,0
$GC,859,-0.68,-116.8,84.3,-10.3,133,863,0.00,2.30,0.00,0.000,4,0.000,0.062,2946,3468,2427,0,0,0,0,0,0
$GC,908,-0.68,-116.8,89.8,-10.5,135,913,0.08,2.17,0.00,0.000,6,0.177,0.039,2964,2066,2427,0,0,0,0,0,0
$GC,1232,-0.68,-116.8,123.0,-10.7,151,1236,0.00,2.28,0.00,0.000,4,0.000,0.054,2964,648,2427,0,0,0,0,0,0
$GC,1343,-0.68,-116.8,136.4,-11.2,156,1348,0.00,2.20,0.00,0.000,6,0.000,0.035,2955,2067,2427,0,0,0,0,0,0
$GC,1671,-0.68,-116.8,168.5,-8.6,172,1675,0.00,2.28,0.00,0.000,4,0.000,0.052,2956,658,2427,0,0,0,0,0,0
$GC,1716,-0.68,-116.8,172.5,-9.1,174,1721,0.08,2.20,0.00,0.000,6,0.190,0.040,2965,2054,2427,0,0,0,0,0,0
$GC,2045,-0.73,-116.8,200.1,-8.7,190,2049,0.00,2.25,0.00,0.000,4,0.000,0.056,2954,3468,2427,0,0,0,0,0,0
$GC,2137,-0.77,-116.8,208.7,-9.1,194,2142,0.05,2.20,0.00,0.000,6,0.161,0.038,2912,2049,2427,0,0,0,0,0,0
$GC,2466,-0.71,-116.8,245.5,-11.3,210,2470,0.15,2.22,0.00,0.000,4,0.155,0.052,2955,661,2427,0,0,0,0,0,0
$GC,2511,-0.71,-116.8,250.6,-10.7,212,2515,0.00,2.20,0.00,0.000,6,0.000,0.037,2946,2071,2427,0,0,0,0,0,0
$GC,2838,-0.71,-116.8,282.4,-9.3,228,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,2427,0,0,0,0,0,0
$GC,3148,-0.71,-116.8,311.0,-9.3,243,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,2427,0,0,0,0,0,0
$GC,3456,-0.71,-116.8,338.5,-8.5,258,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,2427,0,0,0,0,0,0
$GC,3767,-0.71,-116.8,364.6,-8.4,273,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,2427,0,0,0,0,0,0
$GC,4075,-0.71,-116.8,390.8,-8.3,288,4079,0.00,2.25,0.00,0.000,4,0.000,0.060,2936,3461,2427,0,0,0,0,0,0
$GC,4118,-0.71,-116.8,394.7,-9.1,290,4123,0.05,2.15,0.00,0.000,6,0.206,0.038,2948,2055,2427,0,0,0,0,0,0
$GC,4446,-0.75,-116.8,420.7,-7.9,306,4450,0.00,2.25,0.00,0.000,4,0.000,0.056,2948,651,2427,0,0,0,0,0,0
$GC,4541,-0.75,-116.8,429.1,-8.6,310,4545,0.00,2.22,0.00,0.000,6,0.000,0.042,2940,2057,2427,0,0,0,0,0,0
$GC,4862,-0.75,-116.8,455.1,-8.1,326,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2057,2427,0,0,0,0,0,0
$GC,5172,-0.75,-116.8,480.8,-8.3,341,5177,0.00,2.30,0.00,0.000,4,0.000,0.060,2929,3471,2427,0,0,0,0,0,0
$GC,5228,-0.75,-116.8,485.8,-9.1,343,5232,0.00,2.22,0.00,0.000,6,0.000,0.041,2929,2070,2427,0,0,0,0,0,0
$GC,5544,-0.75,-116.8,513.3,-9.1,359,5548,0.00,2.28,0.00,0.000,4,0.000,0.054,2929,656,2427,0,0,0,0,0,0
$GC,5650,-0.72,-116.8,523.5,-9.8,364,5655,0.12,2.22,0.00,0.000,6,0.157,0.041,2955,2068,2427,0,0,0,0,0,0
$GC,5978,-0.77,-116.8,550.2,-8.1,380,5982,0.00,2.28,0.00,0.000,4,0.000,0.063,2944,3461,2426,0,0,0,0,0,0
$GC,6033,-0.82,-116.8,554.9,-8.5,382,6039,0.08,2.20,0.00,0.000,6,0.120,0.039,2897,2049,2426,0,0,0,0,0,0
$GC,6348,-0.75,-116.8,586.9,-10.2,398,6353,0.15,2.25,0.00,0.000,4,0.155,0.054,2939,646,2426,0,0,0,0,0,0
$GC,6397,-0.75,-116.8,591.8,-9.7,400,6401,0.00,2.22,0.00,0.000,6,0.000,0.037,2931,2072,2426,0,0,0,0,0,0
$GC,6718,-0.75,-116.8,619.8,-8.4,416,6723,0.00,2.25,0.00,0.000,4,0.000,0.061,2921,3460,2425,0,0,0,0,0,0
$GC,6745,-0.75,-116.8,622.1,-8.9,417,6750,0.08,2.20,0.00,0.000,6,0.177,0.040,2938,2056,2425,0,0,0,0,0,0
$GC,7067,-0.75,-116.8,648.7,-8.4,433,7071,0.00,2.25,0.00,0.000,4,0.000,0.057,2939,658,2425,0,0,0,0,0,0
$GC,7190,-0.75,-116.8,660.4,-9.7,438,7196,0.00,2.25,0.00,0.000,6,0.000,0.043,2930,2060,2425,0,0,0,0,0,0
$GC,7505,-0.75,-116.8,690.2,-9.6,454,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2060,2425,0,0,0,0,0,0
$GC,7816,-0.75,-116.8,719.2,-9.0,469,7820,0.00,2.30,0.00,0.000,4,0.000,0.065,2920,3467,2424,0,0,0,0,0,0
$GC,7859,-0.75,-116.8,723.3,-9.6,471,7864,0.08,2.22,0.00,0.000,6,0.175,0.042,2938,2058,2424,0,0,0,0,0,0
$GC,8189,-0.79,-116.8,749.5,-7.7,487,8193,0.00,2.28,0.00,0.000,4,0.000,0.057,2938,658,2424,0,0,0,0,0,0
$GC,8300,-0.79,-116.8,758.7,-7.6,492,8304,0.00,2.22,0.00,0.000,6,0.000,0.042,2929,2065,2424,0,0,0,0,0,0
$GC,8621,-0.79,-116.8,782.2,-7.8,508,8625,0.00,2.30,0.00,0.000,4,0.000,0.065,2919,3465,2424,0,0,0,0,0,0
$GC,8676,-0.79,-116.8,786.9,-8.5,510,8681,0.00,2.20,0.00,0.000,6,0.000,0.041,2919,2056,2425,0,0,0,0,0,0
$GC,8991,-0.79,-116.8,811.2,-7.5,526,8995,0.00,2.25,0.00,0.000,4,0.000,0.057,2919,656,2424,0,0,0,0,0,0
$GC,9068,-0.79,-116.8,817.4,-8.9,529,9073,0.08,2.22,0.00,0.000,6,0.181,0.043,2928,2060,2424,0,0,0,0,0,0
$GC,9385,-0.79,-116.8,839.6,-7.0,545,9389,0.00,2.30,0.00,0.000,4,0.000,0.064,2918,3469,2423,0,0,0,0,0,0
$GC,9412,-0.79,-116.8,841.6,-7.1,546,9416,0.00,2.22,0.00,0.000,6,0.000,0.043,2918,2058,2424,0,0,0,0,0,0
$GC,9728,-0.79,-116.8,863.9,-7.0,561,9732,0.00,2.25,0.00,0.000,4,0.000,0.057,2918,659,2423,0,0,0,0,0,0
$GC,9830,-0.79,-116.8,871.6,-7.4,565,9835,0.08,2.22,0.00,0.000,6,0.181,0.041,2927,2064,2423,0,0,0,0,0,0
$GC,10145,-0.79,-116.8,894.2,-7.3,580,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2064,2423,0,0,0,0,0,0
$GC,10456,-0.79,-116.8,916.9,-7.5,595,10460,0.00,2.30,0.00,0.000,4,0.000,0.065,2918,3463,2423,0,0,0,0,0,0
$GC,10483,-0.79,-116.8,919.1,-8.7,596,10487,0.00,2.20,0.00,0.000,6,0.000,0.041,2918,2058,2423,0,0,0,0,0,0
$GC,10804,-0.79,-116.8,941.2,-6.7,612,10808,0.00,2.28,0.00,0.000,4,0.000,0.057,2917,657,2423,0,0,0,0,0,0
$GC,10904,-0.79,-116.8,948.8,-7.6,616,10910,0.08,2.22,0.00,0.000,6,0.182,0.044,2927,2065,2423,0,0,0,0,0,0
$GC,11219,-0.79,-116.8,971.2,-7.3,632,11223,0.00,2.30,0.00,0.000,4,0.000,0.065,2918,3465,2422,0,0,0,0,0,0
$GC,11258,-0.79,-116.8,974.3,-8.5,634,11262,0.00,2.20,0.00,0.000,6,0.000,0.040,2918,2057,2422,0,0,0,0,0,0
$STATE,11581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11582,begin apogee
$GC,11588,-0.19,0.0,1001.0,8.5,650,11703,0.65,0.00,111.70,1.248,6,0.130,0.000,3118,1600,1950,0,0,0,0,0,0
$STATE,11704,end apogee,CONTROL_FINISHED_OK
$STATE,11704,begin climb
$GC,11706,0.76,116.8,1004.3,0.0,656,11834,0.90,2.45,118.97,1.209,4,0.083,0.050,3420,2998,1475,0,0,0,0,0,0
$GC,11856,0.78,144.5,996.9,7.2,663,11892,0.00,2.40,31.08,1.153,6,0.000,0.036,3429,1601,1360,0,0,0,0,0,0
$GC,12201,0.83,144.5,966.4,9.1,680,12206,0.05,2.35,0.00,0.000,4,0.161,0.057,3477,192,1353,0,0,0,0,0,0
$GC,12268,0.77,144.5,959.0,11.8,683,12273,0.15,2.28,0.00,0.000,6,0.135,0.036,3433,1613,1352,0,0,0,0,0,0
$GC,12591,0.81,147.0,930.4,8.4,699,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1612,1351,0,0,0,0,0,0
$GC,12898,0.86,151.7,903.9,8.3,714,12907,0.08,0.00,6.80,0.926,6,0.120,0.000,3478,1613,1330,0,0,0,0,0,0
$GC,13208,0.82,151.7,870.9,11.2,729,13213,0.10,2.35,0.00,0.000,4,0.155,0.056,3460,192,1330,0,0,0,0,0,0
$GC,13258,0.82,151.7,865.3,11.4,731,13262,0.00,2.22,0.00,0.000,6,0.000,0.037,3460,1616,1329,0,0,0,0,0,0
$GC,13580,0.82,151.7,832.0,10.4,747,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1616,1329,0,0,0,0,0,0
$GC,13888,0.82,151.7,799.3,10.8,762,13892,0.00,2.35,0.00,0.000,4,0.000,0.055,3469,183,1329,0,0,0,0,0,0
$GC,13914,0.82,151.7,796.2,11.9,763,13919,0.05,2.22,0.00,0.000,6,0.136,0.037,3450,1595,1328,0,0,0,0,0,0
$GC,14236,0.82,151.7,761.3,11.2,779,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1594,1328,0,0,0,0,0,0
$GC,14544,0.82,151.7,727.8,10.6,794,14548,0.00,2.30,0.00,0.000,4,0.000,0.056,3459,186,1328,0,0,0,0,0,0
$GC,14582,0.82,151.7,723.9,10.3,796,14586,0.00,2.20,0.00,0.000,6,0.000,0.036,3459,1604,1328,0,0,0,0,0,0
$GC,14907,0.82,151.7,691.5,9.8,812,14911,0.00,2.22,0.00,0.000,4,0.000,0.054,3459,2993,1328,0,0,0,0,0,0
$GC,14935,0.82,151.7,688.7,9.8,813,14939,0.08,2.17,0.00,0.000,6,0.184,0.037,3449,1590,1328,0,0,0,0,0,0
$GC,15251,0.85,151.7,660.0,9.1,828,15255,0.00,2.28,0.00,0.000,4,0.000,0.057,3460,191,1328,0,0,0,0,0,0
$GC,15340,0.85,151.7,651.5,9.6,832,15344,0.00,2.20,0.00,0.000,6,0.000,0.037,3460,1606,1328,0,0,0,0,0,0
$GC,15666,0.85,154.2,622.7,8.4,848,15667,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1607,1328,0,0,0,0,0,0
$GC,15976,0.85,154.2,595.3,9.1,863,15980,0.00,2.30,0.00,0.000,4,0.000,0.055,3469,196,1327,0,0,0,0,0,0
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$STATE,22258,end climb,SURFACE_DEPTH_REACHED
$STATE,22258,begin surface coast
$FINISH,1.8,1.011491
$STATE,22296,end surface coast,CONTROL_FINISHED_OK
$STATE,22296,begin surface
$SM_CCo,22315,18.98,0.056,0,0,1133,200.16
$SM_GC,3.79,0.00,0.00,18.98,0.000,0.000,0.056,62,2078,1133,-9.76,0.51,200.16
$IRIDIUM_FIX,-4435.30,623.77,290908,090931
$TT8_MAMPS,0.026964
$HUMID,65.00
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,1
$24V_AH,21.7,68.541
$10V_AH,9.7,71.954
$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
$DEVICE_SECS,24.675,176.800,279.775,18.975,0.000,87.534,129.015,421.009,0.250,0.000,18.765,2766.852,16007.081,412.817,3712.357,374.974,0.000,1726.106,0.000,2937.247,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,93898,1272
$CAP_FILE_SIZE,196694,0
$CFSIZE,2097086464,2014412800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041215,022704,-4455.922,631.564,26,1.0,26,-24.4