version: 66.07.10.p01
glider: 573
mission: 12
dive: 246
start: 9 17 115 21 55 7
data:
$ID,573
$MISSION,12
$DIVE,246
$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,-21783.498
$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,33
$R_STBD_OVSHOOT,47
$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,245
$GPS1,170915,214733,-4505.663,636.698,30,1.3,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-66.8
$GPS2,170915,215446,-4505.743,636.740,16,2.0,17,-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,7.7,3370,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-20.23,0.000,2,0.000,0.000,61,2068,1543,0,0,0,0,0,0
$GC,48,-1.11,-79.8,3.5,-5.1,3,100,11.38,2.33,-33.80,0.000,4,0.243,0.070,2818,654,2277,0,0,0,0,0,0
$GC,373,-1.02,-79.8,45.4,-16.4,56,379,0.17,2.22,0.00,0.000,6,0.190,0.046,2853,2045,2279,0,0,0,0,0,0
$GC,731,-1.02,-79.8,94.1,-13.1,105,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2045,2279,0,0,0,0,0,0
$GC,1037,-1.02,-79.8,134.4,-12.9,120,1041,0.00,2.33,0.00,0.000,4,0.000,0.063,2843,3477,2280,0,0,0,0,0,0
$GC,1092,-1.02,-79.8,141.7,-12.9,122,1100,0.00,2.25,0.00,0.000,6,0.000,0.041,2843,2057,2280,0,0,0,0,0,0
$GC,1408,-1.02,-79.8,181.9,-12.6,138,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2057,2280,0,0,0,0,0,0
$GC,1719,-1.02,-79.8,218.2,-11.4,153,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2057,2280,0,0,0,0,0,0
$GC,2027,-1.02,-79.8,256.1,-12.8,168,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2057,2281,0,0,0,0,0,0
$GC,2338,-1.02,-79.8,295.5,-12.3,183,2342,0.00,2.30,0.00,0.000,4,0.000,0.063,2833,3475,2281,0,0,0,0,0,0
$GC,2381,-1.02,-79.8,301.0,-13.0,185,2386,0.08,2.20,0.00,0.000,6,0.213,0.043,2849,2051,2281,0,0,0,0,0,0
$GC,2709,-1.06,-79.8,341.1,-12.1,201,2713,0.00,2.30,0.00,0.000,4,0.000,0.063,2840,3472,2281,0,0,0,0,0,0
$GC,2748,-1.06,-79.8,346.2,-12.8,203,2752,0.00,2.20,0.00,0.000,6,0.000,0.044,2840,2060,2280,0,0,0,0,0,0
$GC,3075,-1.06,-79.8,385.7,-11.8,219,3079,0.00,2.25,0.00,0.000,4,0.000,0.056,2840,653,2281,0,0,0,0,0,0
$GC,3101,-1.06,-79.8,389.1,-12.1,220,3106,0.00,2.25,0.00,0.000,6,0.000,0.044,2831,2063,2281,0,0,0,0,0,0
$GC,3422,-1.06,-79.8,425.8,-11.2,236,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2063,2281,0,0,0,0,0,0
$GC,3732,-1.06,-79.8,460.4,-11.5,251,3736,0.00,2.28,0.00,0.000,4,0.000,0.066,2820,3463,2281,0,0,0,0,0,0
$GC,3884,-1.06,-79.8,479.6,-12.5,258,3888,0.08,2.17,0.00,0.000,6,0.207,0.042,2836,2049,2280,0,0,0,0,0,0
$GC,4208,-1.06,-79.8,517.7,-11.7,274,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2049,2280,0,0,0,0,0,0
$GC,4519,-1.06,-79.8,552.0,-10.7,289,4523,0.00,2.28,0.00,0.000,4,0.000,0.060,2827,3466,2280,0,0,0,0,0,0
$GC,4562,-1.06,-79.8,557.1,-11.0,291,4566,0.00,2.20,0.00,0.000,6,0.000,0.042,2827,2064,2279,0,0,0,0,0,0
$GC,4889,-1.06,-79.8,593.1,-11.3,307,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2063,2279,0,0,0,0,0,0
$GC,5198,-1.06,-79.8,626.7,-10.7,322,5199,0.03,0.00,0.00,0.000,6,0.285,0.000,2836,2063,2279,0,0,0,0,0,0
$GC,5508,-1.10,-79.8,659.3,-10.5,337,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2063,2279,0,0,0,0,0,0
$GC,5816,-1.13,-79.8,691.6,-10.7,352,5820,0.00,2.28,0.00,0.000,4,0.000,0.061,2827,3469,2278,0,0,0,0,0,0
$GC,5922,-1.13,-79.8,704.0,-12.3,356,5928,0.00,2.22,0.00,0.000,6,0.000,0.044,2827,2060,2278,0,0,0,0,0,0
$GC,6237,-1.13,-79.8,739.6,-10.8,372,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2060,2278,0,0,0,0,0,0
$GC,6547,-1.13,-79.8,771.7,-10.1,387,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2060,2278,0,0,0,0,0,0
$GC,6855,-1.13,-79.8,802.8,-10.0,402,6860,0.00,2.30,0.00,0.000,4,0.000,0.062,2817,3462,2277,0,0,0,0,0,0
$GC,6927,-1.13,-79.8,810.5,-10.2,405,6932,0.00,2.20,0.00,0.000,6,0.000,0.043,2817,2058,2277,0,0,0,0,0,0
$GC,7255,-1.13,-79.8,844.8,-10.3,421,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2058,2277,0,0,0,0,0,0
$GC,7563,-1.13,-79.8,877.0,-10.4,436,7567,0.00,2.30,0.00,0.000,4,0.000,0.063,2808,3459,2277,0,0,0,0,0,0
$GC,7590,-1.13,-79.8,879.9,-11.0,437,7594,0.00,2.20,0.00,0.000,6,0.000,0.043,2809,2059,2277,0,0,0,0,0,0
$GC,7917,-1.13,-79.8,916.6,-11.3,453,7921,0.00,2.28,0.00,0.000,4,0.000,0.062,2799,3472,2277,0,0,0,0,0,0
$GC,7960,-1.13,-79.8,921.7,-11.6,455,7966,0.05,2.22,0.00,0.000,6,0.178,0.045,2815,2064,2277,0,0,0,0,0,0
$GC,8288,-1.13,-79.8,956.3,-10.7,471,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2064,2277,0,0,0,0,0,0
$GC,8596,-1.13,-79.8,988.4,-10.4,486,8600,0.00,2.25,0.00,0.000,4,0.000,0.056,2815,652,2276,0,0,0,0,0,0
$GC,8657,-1.13,-79.8,995.0,-11.3,489,8662,0.00,2.20,0.00,0.000,6,0.000,0.045,2807,2061,2276,0,0,0,0,0,0
$STATE,8713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8713,begin apogee
$GC,8718,-0.19,0.0,1001.2,10.7,492,8797,1.08,0.00,75.18,1.284,6,0.168,0.000,3117,1588,1950,0,0,0,0,0,0
$STATE,8798,end apogee,CONTROL_FINISHED_OK
$STATE,8798,begin climb
$GC,8800,1.11,79.8,1003.8,0.0,496,8886,1.25,2.47,77.20,1.253,4,0.093,0.054,3543,198,1623,0,0,0,0,0,0
$GC,8925,1.11,79.8,994.6,10.9,502,8929,0.00,2.33,0.00,0.000,6,0.000,0.038,3543,1605,1620,0,0,0,0,0,0
$GC,9250,1.11,79.8,959.2,10.5,518,9254,0.00,2.38,0.00,0.000,4,0.000,0.051,3552,190,1615,0,0,0,0,0,0
$GC,9334,1.11,79.8,949.6,12.3,521,9339,0.00,2.30,0.00,0.000,6,0.000,0.036,3552,1607,1614,0,0,0,0,0,0
$GC,9650,1.11,79.8,914.8,11.0,537,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1607,1613,0,0,0,0,0,0
$GC,9958,1.11,79.8,879.2,11.9,552,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1607,1613,0,0,0,0,0,0
$GC,10269,1.11,79.8,840.9,12.7,567,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1607,1612,0,0,0,0,0,0
$GC,10577,1.11,79.8,803.0,12.3,582,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1607,1612,0,0,0,0,0,0
$GC,10887,1.11,79.8,764.6,12.6,597,10891,0.00,2.22,0.00,0.000,4,0.000,0.056,3551,3006,1611,0,0,0,0,0,0
$GC,10959,1.11,79.8,754.9,14.6,600,10964,0.05,2.20,0.00,0.000,6,0.181,0.037,3546,1597,1611,0,0,0,0,0,0
$GC,11279,1.11,79.8,716.2,11.8,616,11283,0.00,2.25,0.00,0.000,4,0.000,0.055,3555,199,1611,0,0,0,0,0,0
$GC,11407,1.11,79.8,700.2,11.9,621,11413,0.03,2.22,0.00,0.000,6,0.200,0.039,3547,1599,1610,0,0,0,0,0,0
$GC,11723,1.11,79.8,664.6,11.0,637,11727,0.00,2.22,0.00,0.000,4,0.000,0.057,3547,2999,1610,0,0,0,0,0,0
$GC,11817,1.11,79.8,653.7,11.0,641,11822,0.00,2.17,0.00,0.000,6,0.000,0.036,3556,1606,1610,0,0,0,0,0,0
$GC,12141,1.11,79.8,619.6,10.5,657,12145,0.00,2.28,0.00,0.000,4,0.000,0.054,3566,192,1610,0,0,0,0,0,0
$GC,12297,1.07,79.8,602.1,11.0,664,12302,0.12,2.20,0.00,0.000,6,0.182,0.038,3535,1610,1609,0,0,0,0,0,0
$GC,12617,1.13,79.8,571.4,9.3,680,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1611,1609,0,0,0,0,0,0
$GC,12927,1.17,79.8,543.0,8.9,695,12932,0.08,2.28,0.00,0.000,4,0.126,0.053,3589,188,1609,0,0,0,0,0,0
$GC,13000,1.09,79.8,535.3,10.4,698,13005,0.20,2.20,0.00,0.000,6,0.175,0.037,3536,1617,1610,0,0,0,0,0,0
$GC,13316,1.14,79.8,505.5,9.4,713,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1618,1609,0,0,0,0,0,0
$GC,13624,1.20,79.8,477.0,9.3,728,13625,0.10,0.00,0.00,0.000,6,0.103,0.000,3590,1617,1610,0,0,0,0,0,0
$GC,13934,1.15,79.8,443.6,10.4,743,13936,0.12,0.00,0.00,0.000,6,0.185,0.000,3559,1623,1610,0,0,0,0,0,0
$GC,14242,1.15,79.8,413.4,9.6,758,14246,0.00,2.30,0.00,0.000,4,0.000,0.054,3568,193,1609,0,0,0,0,0,0
$GC,14500,1.12,79.8,385.8,10.9,769,14505,0.08,2.20,0.00,0.000,6,0.169,0.037,3530,1593,1610,0,0,0,0,0,0
$GC,14822,1.19,79.8,354.9,9.7,785,14824,0.10,0.00,0.00,0.000,6,0.106,0.000,3582,1593,1609,0,0,0,0,0,0
$GC,15129,1.19,79.8,319.7,11.3,800,15134,0.08,2.22,0.00,0.000,4,0.207,0.052,3576,192,1609,0,0,0,0,0,0
$GC,15198,1.14,79.8,311.5,12.5,803,15203,0.10,2.20,0.00,0.000,6,0.195,0.038,3552,1618,1609,0,0,0,0,0,0
$GC,15527,1.17,79.8,276.7,10.3,819,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1619,1609,0,0,0,0,0,0
$GC,15834,1.20,79.8,245.7,10.0,834,15835,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1619,1609,0,0,0,0,0,0
$GC,16145,1.24,79.8,214.6,10.0,849,16150,0.10,2.30,0.00,0.000,4,0.102,0.051,3611,190,1609,0,0,0,0,0,0
$GC,16268,1.13,79.8,199.9,12.0,854,16276,0.20,2.22,0.00,0.000,6,0.173,0.037,3553,1605,1609,0,0,0,0,0,0
$GC,16584,1.16,79.8,168.3,10.2,870,16585,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1605,1609,0,0,0,0,0,0
$GC,16896,1.20,79.8,135.6,10.2,885,16900,0.00,2.28,0.00,0.000,4,0.000,0.053,3562,192,1609,0,0,0,0,0,0
$GC,17073,1.20,79.8,117.1,10.0,893,17077,0.00,2.20,0.00,0.000,6,0.000,0.037,3562,1611,1609,0,0,0,0,0,0
$GC,17402,1.20,79.8,85.4,9.1,909,17404,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1611,1609,0,0,0,0,0,0
$GC,17735,1.20,79.8,54.5,9.5,960,17742,0.00,2.20,0.00,0.000,4,0.000,0.054,3561,2984,1609,0,0,0,0,0,0
$GC,17788,1.20,79.8,49.1,10.1,969,17795,0.00,2.15,0.00,0.000,6,0.000,0.036,3570,1597,1609,0,0,0,0,0,0
$GC,18157,1.20,79.8,14.6,10.9,1030,18164,0.00,2.25,0.00,0.000,4,0.000,0.054,3581,202,1609,0,0,0,0,0,0
$STATE,18281,end climb,SURFACE_DEPTH_REACHED
$STATE,18281,begin surface coast
$FINISH,1.9,1.014482
$STATE,18314,end surface coast,CONTROL_FINISHED_OK
$STATE,18314,begin surface
$SM_CCo,18334,56.53,0.055,0,0,1132,200.16
$SM_GC,3.35,0.00,0.00,56.53,0.000,0.000,0.055,67,2066,1132,-9.74,0.14,200.16
$IRIDIUM_FIX,-4447.43,634.22,140708,050550
$TT8_MAMPS,0.026964
$HUMID,61.85
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.3,31.520
$10V_AH,9.9,33.394
$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,24.800,113.950,152.375,56.525,0.000,25.015,20.811,259.376,0.000,0.000,18.939,2293.800,13130.855,314.134,2900.870,182.096,0.000,1368.256,0.000,2477.478,0.000,0.541,0.000
$DEVICE_MAMPS,284.580,70.380,1284.435,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.485,1520.650,845.065,503.775,0.000,0.000,0.000,0.000,0.000,0.000
$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,77492,1055
$CAP_FILE_SIZE,147120,0
$CFSIZE,2097086464,2059829248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,180915,030256,-4505.559,637.675,40,1.3,43,-24.4