version: 66.07.10.p01
glider: 573
mission: 12
dive: 596
start: 12 4 115 21 49 43
data:
$ID,573
$MISSION,12
$DIVE,596
$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,-22881.395
$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,36
$R_STBD_OVSHOOT,54
$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,595
$GPS1,041215,213933,-4501.767,637.618,30,0.9,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-66.1
$GPS2,041215,214923,-4501.791,637.671,19,1.1,20,-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,232.5,4638,-20.5,-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,-0.84,-89.9,0.0,0.0,0,47,0.00,0.00,-19.17,0.000,2,0.000,0.000,70,2090,1506,0,0,0,0,0,0
$GC,50,-0.86,-116.8,3.0,-0.2,3,114,11.80,2.22,-46.42,0.000,4,0.233,0.074,2892,3442,2422,0,0,0,0,0,0
$GC,392,-0.81,-116.8,37.5,-12.3,58,400,0.08,2.20,0.00,0.000,6,0.142,0.040,2918,2059,2425,0,0,0,0,0,0
$GC,542,-0.81,-116.8,52.7,-10.0,83,547,0.00,2.28,0.00,0.000,4,0.000,0.063,2910,3444,2425,0,0,0,0,0,0
$GC,590,-0.81,-116.8,58.0,-10.8,91,595,0.00,2.17,0.00,0.000,6,0.000,0.040,2910,2056,2425,0,0,0,0,0,0
$GC,929,-0.81,-116.8,97.4,-11.8,132,933,0.00,2.28,0.00,0.000,4,0.000,0.056,2910,649,2426,0,0,0,0,0,0
$GC,1007,-0.77,-116.8,107.5,-12.7,135,1013,0.12,2.20,0.00,0.000,6,0.168,0.042,2933,2045,2426,0,0,0,0,0,0
$GC,1326,-0.81,-116.8,141.7,-10.9,151,1330,0.00,2.30,0.00,0.000,4,0.000,0.060,2923,3465,2426,0,0,0,0,0,0
$GC,1393,-0.84,-116.8,149.4,-10.5,154,1397,0.00,2.20,0.00,0.000,6,0.000,0.037,2923,2046,2426,0,0,0,0,0,0
$GC,1714,-0.84,-116.8,183.8,-10.8,170,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2046,2426,0,0,0,0,0,0
$GC,2026,-0.88,-116.8,215.2,-9.9,185,2028,0.08,0.00,0.00,0.000,6,0.126,0.000,2874,2046,2426,0,0,0,0,0,0
$GC,2333,-0.81,-116.8,249.9,-10.9,200,2335,0.17,0.00,0.00,0.000,6,0.161,0.000,2924,2046,2427,0,0,0,0,0,0
$GC,2645,-0.86,-116.8,276.9,-8.9,215,2649,0.00,2.22,0.00,0.000,4,0.000,0.052,2923,650,2426,0,0,0,0,0,0
$GC,2689,-0.86,-116.8,281.6,-9.6,217,2693,0.00,2.20,0.00,0.000,6,0.000,0.038,2915,2063,2426,0,0,0,0,0,0
$GC,3010,-0.86,-116.8,312.5,-9.9,233,3014,0.00,2.28,0.00,0.000,4,0.000,0.063,2905,3462,2427,0,0,0,0,0,0
$GC,3050,-0.86,-116.8,316.8,-10.5,235,3054,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,2060,2426,0,0,0,0,0,0
$GC,3377,-0.86,-116.8,352.6,-11.2,251,3381,0.00,2.22,0.00,0.000,4,0.000,0.056,2905,660,2426,0,0,0,0,0,0
$GC,3483,-0.86,-116.8,365.2,-12.3,256,3487,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,2057,2426,0,0,0,0,0,0
$GC,3808,-0.86,-116.8,400.2,-10.5,272,3812,0.00,2.28,0.00,0.000,4,0.000,0.058,2884,3471,2426,0,0,0,0,0,0
$GC,3847,-0.86,-116.8,404.2,-10.6,274,3852,0.10,2.20,0.00,0.000,6,0.171,0.041,2910,2062,2426,0,0,0,0,0,0
$GC,4172,-0.86,-116.8,433.0,-8.8,290,4176,0.00,2.22,0.00,0.000,4,0.000,0.054,2910,657,2426,0,0,0,0,0,0
$GC,4238,-0.86,-116.8,439.1,-8.6,293,4242,0.00,2.22,0.00,0.000,6,0.000,0.041,2903,2054,2426,0,0,0,0,0,0
$GC,4566,-0.86,-116.8,468.1,-9.4,309,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2054,2426,0,0,0,0,0,0
$GC,4874,-0.86,-116.8,498.0,-10.3,324,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2054,2426,0,0,0,0,0,0
$GC,5184,-0.86,-116.8,528.8,-9.7,339,5188,0.00,2.25,0.00,0.000,4,0.000,0.057,2891,3464,2426,0,0,0,0,0,0
$GC,5211,-0.86,-116.8,531.9,-10.2,340,5216,0.05,2.20,0.00,0.000,6,0.211,0.039,2902,2053,2426,0,0,0,0,0,0
$GC,5537,-0.86,-116.8,565.3,-10.6,356,5541,0.00,2.25,0.00,0.000,4,0.000,0.056,2902,661,2425,0,0,0,0,0,0
$GC,5603,-0.86,-116.8,572.7,-11.1,359,5607,0.00,2.20,0.00,0.000,6,0.000,0.040,2895,2064,2425,0,0,0,0,0,0
$GC,5931,-0.86,-116.8,609.1,-11.2,375,5935,0.00,2.30,0.00,0.000,4,0.000,0.055,2895,655,2425,0,0,0,0,0,0
$GC,5986,-0.86,-116.8,615.8,-11.4,377,5991,0.08,2.22,0.00,0.000,6,0.200,0.043,2903,2058,2425,0,0,0,0,0,0
$GC,6302,-0.86,-116.8,650.6,-11.2,393,6306,0.00,2.30,0.00,0.000,4,0.000,0.063,2893,3466,2425,0,0,0,0,0,0
$GC,6380,-0.86,-116.8,659.3,-10.8,396,6386,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,2053,2424,0,0,0,0,0,0
$GC,6695,-0.86,-116.8,693.0,-10.3,412,6699,0.00,2.25,0.00,0.000,4,0.000,0.056,2893,649,2424,0,0,0,0,0,0
$GC,6749,-0.86,-116.8,698.9,-11.2,414,6754,0.10,2.25,0.00,0.000,6,0.186,0.041,2908,2076,2424,0,0,0,0,0,0
$GC,7070,-0.90,-116.8,727.7,-8.7,430,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2077,2424,0,0,0,0,0,0
$GC,7381,-0.95,-116.8,754.4,-8.7,445,7383,0.10,0.00,0.00,0.000,6,0.099,0.000,2851,2076,2424,0,0,0,0,0,0
$GC,7689,-0.87,-116.8,787.7,-11.2,460,7694,0.17,2.25,0.00,0.000,4,0.168,0.059,2889,3460,2424,0,0,0,0,0,0
$GC,7738,-0.87,-116.8,792.9,-10.0,462,7742,0.00,2.20,0.00,0.000,6,0.000,0.040,2889,2053,2424,0,0,0,0,0,0
$GC,8059,-0.87,-116.8,823.1,-9.4,478,8063,0.00,2.25,0.00,0.000,4,0.000,0.057,2889,657,2423,0,0,0,0,0,0
$GC,8153,-0.87,-116.8,832.8,-10.3,482,8157,0.08,2.22,0.00,0.000,6,0.203,0.043,2896,2060,2423,0,0,0,0,0,0
$GC,8473,-0.91,-116.8,861.9,-9.0,498,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2060,2423,0,0,0,0,0,0
$GC,8784,-0.95,-116.8,888.5,-8.5,513,8788,0.00,2.28,0.00,0.000,4,0.000,0.056,2897,658,2423,0,0,0,0,0,0
$GC,8845,-0.95,-116.8,894.3,-9.5,515,8850,0.00,2.22,0.00,0.000,6,0.000,0.042,2888,2068,2422,0,0,0,0,0,0
$GC,9161,-0.95,-116.8,921.9,-8.7,531,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2067,2423,0,0,0,0,0,0
$GC,9470,-0.95,-116.8,947.8,-8.2,546,9474,0.00,2.28,0.00,0.000,4,0.000,0.063,2877,3462,2422,0,0,0,0,0,0
$GC,9508,-0.95,-116.8,951.1,-8.5,548,9512,0.00,2.20,0.00,0.000,6,0.000,0.040,2878,2053,2422,0,0,0,0,0,0
$GC,9834,-0.95,-116.8,981.5,-9.8,564,9838,0.00,2.25,0.00,0.000,4,0.000,0.056,2877,652,2422,0,0,0,0,0,0
$GC,9917,-0.95,-116.8,990.2,-10.4,568,9922,0.00,2.22,0.00,0.000,6,0.000,0.042,2869,2057,2422,0,0,0,0,0,0
$STATE,10035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10035,begin apogee
$GC,10041,-0.19,0.0,1002.1,10.1,574,10157,0.82,0.00,111.90,1.246,6,0.140,0.000,3118,1595,1950,0,0,0,0,0,0
$STATE,10158,end apogee,CONTROL_FINISHED_OK
$STATE,10158,begin climb
$GC,10160,0.86,116.8,1005.3,0.0,580,10284,1.02,0.00,119.80,1.209,6,0.085,0.000,3459,1596,1474,0,0,0,0,0,0
$GC,10592,0.90,116.8,969.1,9.4,601,10596,0.00,2.35,0.00,0.000,4,0.000,0.057,3470,196,1466,0,0,0,0,0,0
$GC,10659,0.90,116.8,962.5,9.6,604,10663,0.00,2.28,0.00,0.000,6,0.000,0.037,3470,1622,1465,0,0,0,0,0,0
$GC,10979,0.90,116.8,930.0,10.1,620,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1622,1464,0,0,0,0,0,0
$GC,11290,0.90,116.8,897.6,10.3,635,11294,0.00,2.33,0.00,0.000,4,0.000,0.054,3479,199,1463,0,0,0,0,0,0
$GC,11333,0.90,116.8,892.5,12.0,637,11338,0.00,2.20,0.00,0.000,6,0.000,0.037,3479,1608,1463,0,0,0,0,0,0
$GC,11661,0.90,116.8,858.3,10.3,653,11665,0.00,2.30,0.00,0.000,4,0.000,0.054,3489,199,1462,0,0,0,0,0,0
$GC,11728,0.90,116.8,850.7,11.2,656,11732,0.05,2.17,0.00,0.000,6,0.210,0.037,3476,1596,1463,0,0,0,0,0,0
$GC,12054,0.90,116.8,817.6,9.8,672,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1596,1462,0,0,0,0,0,0
$GC,12364,0.90,116.8,788.5,9.3,687,12368,0.00,2.28,0.00,0.000,4,0.000,0.054,3485,199,1462,0,0,0,0,0,0
$GC,12391,0.90,116.8,785.5,10.8,688,12395,0.00,2.17,0.00,0.000,6,0.000,0.037,3485,1604,1462,0,0,0,0,0,0
$GC,12711,0.90,116.8,752.6,10.3,704,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1603,1462,0,0,0,0,0,0
$GC,13022,0.90,116.8,721.5,9.8,719,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1604,1462,0,0,0,0,0,0
$GC,13330,0.90,116.8,690.7,9.9,734,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1603,1461,0,0,0,0,0,0
$GC,13641,0.90,116.8,660.6,9.9,749,13645,0.00,2.28,0.00,0.000,4,0.000,0.054,3495,198,1461,0,0,0,0,0,0
$GC,13668,0.90,116.8,657.6,11.2,750,13673,0.08,2.17,0.00,0.000,6,0.177,0.037,3476,1597,1461,0,0,0,0,0,0
$GC,13994,0.90,116.8,627.7,9.1,766,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1597,1461,0,0,0,0,0,0
$GC,14305,0.93,116.8,599.1,9.8,781,14309,0.00,2.28,0.00,0.000,4,0.000,0.054,3485,199,1461,0,0,0,0,0,0
$GC,14367,0.93,116.8,592.8,9.6,784,14371,0.00,2.17,0.00,0.000,6,0.000,0.037,3485,1603,1460,0,0,0,0,0,0
$GC,14692,0.93,116.8,561.6,9.4,800,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1603,1460,0,0,0,0,0,0
$GC,15003,0.94,121.1,535.1,8.3,815,15007,0.00,2.28,0.00,0.000,4,0.000,0.054,3495,199,1461,0,0,0,0,0,0
$GC,15047,0.94,121.1,531.2,8.7,817,15051,0.00,2.17,0.00,0.000,6,0.000,0.037,3495,1605,1460,0,0,0,0,0,0
$GC,15375,0.94,132.5,503.9,7.8,833,15392,0.00,0.00,14.48,0.893,6,0.000,0.000,3495,1606,1409,0,0,0,0,0,0
$GC,15704,0.94,132.5,475.1,9.2,849,15709,0.00,2.33,0.00,0.000,4,0.000,0.054,3504,192,1407,0,0,0,0,0,0
$GC,15732,0.94,132.5,472.4,10.6,850,15736,0.05,2.20,0.00,0.000,6,0.205,0.035,3491,1608,1407,0,0,0,0,0,0
$GC,16052,0.94,132.5,442.1,9.7,866,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1608,1407,0,0,0,0,0,0
$GC,16362,0.94,132.5,411.1,10.1,881,16366,0.00,2.20,0.00,0.000,4,0.000,0.054,3491,2985,1406,0,0,0,0,0,0
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$STATE,20717,end climb,SURFACE_DEPTH_REACHED
$STATE,20717,begin surface coast
$FINISH,1.9,1.023045
$STATE,20755,end surface coast,CONTROL_FINISHED_OK
$STATE,20755,begin surface
$SM_CCo,20774,14.27,0.056,0,0,1132,200.16
$SM_GC,4.53,0.00,0.00,14.27,0.000,0.000,0.056,65,2066,1132,-9.75,0.17,200.16
$IRIDIUM_FIX,-4441.36,633.52,300908,040402
$TT8_MAMPS,0.026964
$HUMID,64.76
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,21.7,69.018
$10V_AH,9.7,72.478
$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
$DEVICE_SECS,24.600,157.675,266.325,14.275,0.000,24.075,46.551,337.179,0.250,0.000,22.317,2590.152,14800.460,394.053,3250.426,330.551,0.000,1587.472,0.000,2720.677,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.923,1724.635,954.743,566.422,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353272
$DATA_FILE_SIZE,87045,1200
$CAP_FILE_SIZE,175958,0
$CFSIZE,2097086464,2013921280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051215,033728,-4504.494,637.070,38,0.8,38,-24.4