version: 66.07.10.p01
glider: 573
mission: 12
dive: 242
start: 9 16 115 23 9 0
data:
$ID,573
$MISSION,12
$DIVE,242
$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,-21770.15
$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,42
$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,241
$GPS1,160915,230103,-4456.510,636.728,40,0.9,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.7
$GPS2,160915,230840,-4456.539,636.761,17,1.4,17,-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,339.4,1412,-27.7,-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,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-20.27,0.000,2,0.000,0.000,60,2071,1534,0,0,0,0,0,0
$GC,49,-1.13,-112.0,3.1,-1.4,3,107,11.60,2.30,-40.42,0.000,4,0.249,0.070,2811,661,2403,0,0,0,0,0,0
$GC,135,-0.98,-112.0,6.2,-9.2,16,143,0.20,2.25,0.00,0.000,6,0.176,0.045,2861,2038,2405,0,0,0,0,0,0
$GC,195,-1.02,-112.0,16.0,-16.2,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2406,0,0,0,0,0,0
$GC,252,-1.02,-112.0,24.4,-14.5,34,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2406,0,0,0,0,0,0
$GC,403,-1.02,-112.0,48.0,-15.6,59,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2407,0,0,0,0,0,0
$GC,753,-1.05,-112.0,103.5,-15.9,102,756,0.00,2.35,0.00,0.000,4,0.000,0.066,2850,3477,2407,0,0,0,0,0,0
$GC,823,-1.09,-112.0,114.7,-16.6,105,827,0.00,2.20,0.00,0.000,6,0.000,0.043,2852,2066,2407,0,0,0,0,0,0
$GC,1151,-1.12,-112.0,169.4,-16.4,121,1156,0.08,2.28,0.00,0.000,4,0.125,0.054,2815,650,2408,0,0,0,0,0,0
$GC,1178,-1.06,-112.0,174.7,-18.0,122,1183,0.10,2.25,0.00,0.000,6,0.182,0.041,2850,2064,2407,0,0,0,0,0,0
$GC,1500,-1.10,-112.0,222.2,-14.4,138,1504,0.08,2.25,0.00,0.000,4,0.121,0.064,2799,3463,2408,0,0,0,0,0,0
$GC,1577,-1.06,-112.0,235.0,-16.9,141,1584,0.12,2.22,0.00,0.000,6,0.166,0.041,2837,2051,2408,0,0,0,0,0,0
$GC,1895,-1.06,-112.0,279.8,-14.0,157,1899,0.00,2.30,0.00,0.000,4,0.000,0.060,2827,3469,2408,0,0,0,0,0,0
$GC,1926,-1.06,-112.0,284.8,-14.7,158,1935,0.00,2.22,0.00,0.000,6,0.000,0.041,2828,2054,2408,0,0,0,0,0,0
$GC,2242,-1.06,-112.0,329.1,-14.1,174,2246,0.00,2.30,0.00,0.000,4,0.000,0.061,2818,3472,2408,0,0,0,0,0,0
$GC,2273,-1.06,-112.0,333.9,-14.3,175,2280,0.05,2.22,0.00,0.000,6,0.171,0.042,2834,2063,2409,0,0,0,0,0,0
$GC,2590,-1.06,-112.0,377.1,-13.4,191,2594,0.00,2.28,0.00,0.000,4,0.000,0.060,2825,3468,2408,0,0,0,0,0,0
$GC,2621,-1.06,-112.0,381.6,-13.5,192,2627,0.00,2.22,0.00,0.000,6,0.000,0.042,2825,2055,2408,0,0,0,0,0,0
$GC,2936,-1.06,-112.0,425.2,-14.3,208,2941,0.05,2.30,0.00,0.000,4,0.240,0.063,2826,3464,2408,0,0,0,0,0,0
$GC,2974,-1.06,-112.0,430.6,-14.8,209,2979,0.00,2.20,0.00,0.000,6,0.000,0.042,2826,2066,2408,0,0,0,0,0,0
$GC,3290,-1.06,-112.0,475.5,-14.2,225,3294,0.00,2.25,0.00,0.000,4,0.000,0.057,2817,3468,2408,0,0,0,0,0,0
$GC,3317,-1.06,-112.0,479.7,-14.8,226,3322,0.05,2.20,0.00,0.000,6,0.169,0.041,2833,2063,2408,0,0,0,0,0,0
$GC,3637,-1.06,-112.0,522.8,-13.3,242,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2063,2408,0,0,0,0,0,0
$GC,3948,-1.11,-112.0,563.7,-12.6,257,3952,0.00,2.25,0.00,0.000,4,0.000,0.060,2824,3463,2408,0,0,0,0,0,0
$GC,3975,-1.11,-112.0,567.3,-12.9,258,3979,0.00,2.15,0.00,0.000,6,0.000,0.042,2824,2064,2408,0,0,0,0,0,0
$GC,4290,-1.11,-112.0,608.0,-12.7,273,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2408,0,0,0,0,0,0
$GC,4598,-1.11,-112.0,647.7,-12.7,288,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2407,0,0,0,0,0,0
$GC,4910,-1.14,-112.0,687.0,-12.4,303,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2407,0,0,0,0,0,0
$GC,5217,-1.14,-112.0,724.6,-12.3,318,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2064,2407,0,0,0,0,0,0
$GC,5528,-1.17,-112.0,764.3,-13.4,333,5532,0.00,2.25,0.00,0.000,4,0.000,0.060,2815,3470,2407,0,0,0,0,0,0
$GC,5622,-1.17,-112.0,777.9,-14.2,337,5627,0.00,2.22,0.00,0.000,6,0.000,0.045,2814,2067,2406,0,0,0,0,0,0
$GC,5950,-1.17,-112.0,823.5,-13.9,353,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2067,2406,0,0,0,0,0,0
$GC,6258,-1.17,-112.0,867.4,-13.9,368,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2067,2406,0,0,0,0,0,0
$GC,6568,-1.17,-112.0,909.1,-13.3,383,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2067,2405,0,0,0,0,0,0
$GC,6876,-1.17,-112.0,949.8,-13.0,398,6880,0.00,2.25,0.00,0.000,4,0.000,0.059,2806,3467,2405,0,0,0,0,0,0
$GC,6921,-1.17,-112.0,955.7,-13.5,400,6925,0.00,2.22,0.00,0.000,6,0.000,0.044,2806,2038,2405,0,0,0,0,0,0
$GC,7252,-1.17,-112.0,997.1,-12.1,416,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2038,2405,0,0,0,0,0,0
$STATE,7293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7293,begin apogee
$GC,7298,-0.19,0.0,1002.0,12.1,418,7405,1.08,0.00,102.60,1.284,6,0.168,0.000,3116,1598,1949,0,0,0,0,0,0
$STATE,7406,end apogee,CONTROL_FINISHED_OK
$STATE,7406,begin climb
$GC,7407,1.13,112.0,1005.8,0.0,423,7524,1.33,2.55,109.00,1.248,4,0.089,0.054,3560,198,1492,0,0,0,0,0,0
$GC,7563,1.13,112.0,990.5,15.7,431,7567,0.00,2.40,0.00,0.000,6,0.000,0.035,3560,1611,1488,0,0,0,0,0,0
$GC,7890,1.13,112.0,941.3,15.2,447,7894,0.00,2.38,0.00,0.000,4,0.000,0.052,3569,190,1484,0,0,0,0,0,0
$GC,7957,1.10,112.0,930.6,15.9,450,7962,0.12,2.28,0.00,0.000,6,0.178,0.035,3539,1604,1483,0,0,0,0,0,0
$GC,8277,1.15,112.0,884.4,14.4,466,8281,0.00,2.25,0.00,0.000,4,0.000,0.055,3539,2992,1483,0,0,0,0,0,0
$GC,8327,1.18,112.0,877.0,15.0,468,8331,0.00,2.20,0.00,0.000,6,0.000,0.037,3547,1596,1483,0,0,0,0,0,0
$GC,8654,1.22,112.0,830.3,14.4,484,8659,0.08,2.28,0.00,0.000,4,0.120,0.054,3596,190,1482,0,0,0,0,0,0
$GC,8754,1.14,112.0,813.9,16.3,488,8760,0.15,2.25,0.00,0.000,6,0.169,0.037,3552,1610,1481,0,0,0,0,0,0
$GC,9068,1.14,112.0,769.6,13.9,504,9072,0.00,2.33,0.00,0.000,4,0.000,0.053,3562,192,1481,0,0,0,0,0,0
$GC,9146,1.14,112.0,757.8,14.6,507,9151,0.03,2.22,0.00,0.000,6,0.197,0.036,3553,1601,1480,0,0,0,0,0,0
$GC,9468,1.18,112.0,712.9,14.0,523,9472,0.00,2.22,0.00,0.000,4,0.000,0.055,3553,2991,1480,0,0,0,0,0,0
$GC,9584,1.18,112.0,695.6,14.9,528,9589,0.00,2.20,0.00,0.000,6,0.000,0.037,3562,1592,1480,0,0,0,0,0,0
$GC,9904,1.18,112.0,651.2,13.9,544,9908,0.00,2.25,0.00,0.000,4,0.000,0.055,3572,185,1480,0,0,0,0,0,0
$GC,10010,1.14,112.0,636.1,13.7,548,10017,0.05,2.22,0.00,0.000,6,0.173,0.037,3557,1597,1480,0,0,0,0,0,0
$GC,10325,1.17,112.0,595.3,12.9,564,10330,0.00,2.28,0.00,0.000,4,0.000,0.053,3566,193,1479,0,0,0,0,0,0
$GC,10369,1.17,112.0,589.4,13.2,566,10373,0.00,2.22,0.00,0.000,6,0.000,0.037,3566,1605,1479,0,0,0,0,0,0
$GC,10695,1.17,112.0,548.2,12.6,582,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1605,1479,0,0,0,0,0,0
$GC,11006,1.17,112.0,511.5,11.6,597,11010,0.00,2.20,0.00,0.000,4,0.000,0.054,3566,2993,1479,0,0,0,0,0,0
$GC,11071,1.17,112.0,503.0,12.1,600,11076,0.00,2.17,0.00,0.000,6,0.000,0.037,3574,1604,1479,0,0,0,0,0,0
$GC,11397,1.17,112.0,461.9,12.6,616,11401,0.00,2.25,0.00,0.000,4,0.000,0.054,3585,186,1479,0,0,0,0,0,0
$GC,11466,1.12,112.0,452.7,14.2,619,11471,0.15,2.17,0.00,0.000,6,0.181,0.036,3547,1610,1479,0,0,0,0,0,0
$GC,11793,1.18,112.0,412.8,12.7,635,11797,0.00,2.20,0.00,0.000,4,0.000,0.053,3547,2994,1479,0,0,0,0,0,0
$GC,11833,1.22,112.0,407.5,13.1,637,11837,0.00,2.15,0.00,0.000,6,0.000,0.037,3556,1595,1479,0,0,0,0,0,0
$GC,12160,1.26,112.0,363.6,13.6,653,12165,0.10,2.22,0.00,0.000,4,0.102,0.054,3613,192,1479,0,0,0,0,0,0
$GC,12200,1.17,112.0,357.6,15.7,655,12204,0.17,2.17,0.00,0.000,6,0.188,0.036,3567,1602,1479,0,0,0,0,0,0
$GC,12526,1.17,112.0,314.3,12.9,671,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1602,1479,0,0,0,0,0,0
$GC,12835,1.17,112.0,275.0,12.4,686,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1602,1478,0,0,0,0,0,0
$GC,13147,1.17,112.0,237.0,12.3,701,13151,0.00,2.28,0.00,0.000,4,0.000,0.054,3576,190,1479,0,0,0,0,0,0
$GC,13246,1.17,112.0,223.5,12.5,705,13253,0.03,2.20,0.00,0.000,6,0.196,0.037,3568,1595,1479,0,0,0,0,0,0
$GC,13565,1.17,112.0,185.4,12.3,721,13569,0.00,2.22,0.00,0.000,4,0.000,0.054,3567,2996,1479,0,0,0,0,0,0
$GC,13631,1.17,112.0,176.8,12.4,724,13636,0.03,2.17,0.00,0.000,6,0.208,0.036,3567,1598,1478,0,0,0,0,0,0
$GC,13958,1.21,112.0,140.4,11.1,740,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1598,1479,0,0,0,0,0,0
$GC,14269,1.25,112.0,107.0,11.0,755,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1598,1479,0,0,0,0,0,0
$GC,14584,1.28,112.0,70.6,11.5,779,14589,0.10,2.25,0.00,0.000,4,0.104,0.054,3622,189,1479,0,0,0,0,0,0
$GC,14753,1.19,112.0,47.8,13.9,808,14759,0.20,2.17,0.00,0.000,6,0.190,0.034,3570,1608,1478,0,0,0,0,0,0
$STATE,15108,end climb,SURFACE_DEPTH_REACHED
$STATE,15108,begin surface coast
$FINISH,1.9,1.012559
$STATE,15135,end surface coast,CONTROL_FINISHED_OK
$STATE,15135,begin surface
$SM_CCo,15152,41.33,0.055,0,0,1133,200.16
$SM_GC,3.27,0.00,0.00,41.33,0.000,0.000,0.055,77,2057,1133,-9.71,-0.08,200.16
$IRIDIUM_FIX,-4447.43,942.80,130708,080838
$TT8_MAMPS,0.026964
$HUMID,63.66
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,31.111
$10V_AH,9.9,32.909
$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,25.050,122.650,211.600,41.325,0.000,24.863,64.229,246.879,0.000,0.000,20.611,1920.581,10720.659,379.822,2472.321,159.891,0.000,1280.706,0.000,2034.913,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,69.615,1283.670,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.798,1269.739,709.639,425.891,0.000,0.000,0.000,0.000,0.000,0.000
$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,63907,871
$CAP_FILE_SIZE,134185,0
$CFSIZE,2097086464,2060386304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170915,032333,-4456.231,636.019,44,0.9,44,-24.4