version: 66.07.10.p01
glider: 573
mission: 12
dive: 267
start: 9 22 115 9 21 26
data:
$ID,573
$MISSION,12
$DIVE,267
$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,-21854.658
$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,32
$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,266
$GPS1,220915,091233,-4459.560,626.042,60,0.9,60,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-74.0
$GPS2,220915,092106,-4459.578,626.067,16,0.8,18,-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,2.2,7159,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-26.00,0.000,2,0.000,0.000,61,2073,1644,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.4,-4.0,4,113,12.00,2.35,-35.40,0.000,4,0.245,0.069,2932,661,2427,0,0,0,0,0,0
$GC,201,-0.62,-116.8,13.7,-12.7,27,209,0.17,2.25,0.00,0.000,6,0.155,0.042,2976,2042,2428,0,0,0,0,0,0
$GC,260,-0.62,-116.8,20.1,-10.4,36,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2042,2429,0,0,0,0,0,0
$GC,415,-0.62,-116.8,35.8,-10.3,61,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2042,2429,0,0,0,0,0,0
$GC,561,-0.62,-116.8,50.7,-9.8,86,566,0.00,2.33,0.00,0.000,4,0.000,0.062,2966,3475,2429,0,0,0,0,0,0
$GC,610,-0.62,-116.8,55.3,-10.4,94,616,0.05,2.22,0.00,0.000,6,0.219,0.041,2977,2058,2429,0,0,0,0,0,0
$GC,960,-0.62,-116.8,90.5,-9.9,142,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2058,2429,0,0,0,0,0,0
$GC,1272,-0.62,-116.8,121.7,-10.3,157,1276,0.00,2.25,0.00,0.000,4,0.000,0.055,2977,649,2430,0,0,0,0,0,0
$GC,1315,-0.62,-116.8,126.9,-11.1,159,1320,0.00,2.28,0.00,0.000,6,0.000,0.041,2968,2071,2430,0,0,0,0,0,0
$GC,1644,-0.62,-116.8,161.8,-10.3,175,1649,0.00,2.25,0.00,0.000,4,0.000,0.058,2957,3470,2430,0,0,0,0,0,0
$GC,1676,-0.62,-116.8,165.7,-11.5,176,1686,0.05,2.22,0.00,0.000,6,0.150,0.039,2975,2053,2430,0,0,0,0,0,0
$GC,1993,-0.62,-116.8,195.4,-8.9,192,1997,0.00,2.25,0.00,0.000,4,0.000,0.055,2974,652,2429,0,0,0,0,0,0
$GC,2109,-0.62,-116.8,206.9,-10.0,197,2114,0.00,2.25,0.00,0.000,6,0.000,0.041,2966,2062,2430,0,0,0,0,0,0
$GC,2433,-0.62,-116.8,236.1,-8.8,213,2438,0.05,2.28,0.00,0.000,4,0.233,0.063,2966,3471,2430,0,0,0,0,0,0
$GC,2476,-0.62,-116.8,240.4,-9.1,215,2481,0.00,2.22,0.00,0.000,6,0.000,0.041,2966,2058,2430,0,0,0,0,0,0
$GC,2806,-0.62,-116.8,268.1,-8.2,231,2808,0.05,0.00,0.00,0.000,6,0.226,0.000,2977,2058,2430,0,0,0,0,0,0
$GC,3114,-0.65,-116.8,292.8,-8.0,246,3118,0.00,2.22,0.00,0.000,4,0.000,0.055,2977,657,2430,0,0,0,0,0,0
$GC,3151,-0.65,-116.8,296.2,-8.7,247,3158,0.00,2.22,0.00,0.000,6,0.000,0.042,2968,2056,2430,0,0,0,0,0,0
$GC,3468,-0.65,-116.8,323.2,-8.4,263,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2055,2430,0,0,0,0,0,0
$GC,3776,-0.65,-116.8,350.1,-8.9,278,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2055,2430,0,0,0,0,0,0
$GC,4087,-0.65,-116.8,377.0,-8.5,293,4091,0.00,2.25,0.00,0.000,4,0.000,0.061,2958,3466,2430,0,0,0,0,0,0
$GC,4129,-0.65,-116.8,381.2,-9.0,295,4134,0.00,2.20,0.00,0.000,6,0.000,0.040,2958,2064,2430,0,0,0,0,0,0
$GC,4457,-0.65,-116.8,410.4,-9.2,311,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2064,2430,0,0,0,0,0,0
$GC,4765,-0.65,-116.8,438.8,-8.8,326,4769,0.00,2.28,0.00,0.000,4,0.000,0.055,2958,655,2430,0,0,0,0,0,0
$GC,4866,-0.65,-116.8,448.3,-9.6,330,4871,0.08,2.20,0.00,0.000,6,0.189,0.042,2966,2065,2430,0,0,0,0,0,0
$GC,5182,-0.65,-116.8,476.0,-8.7,345,5186,0.00,2.25,0.00,0.000,4,0.000,0.063,2956,3463,2430,0,0,0,0,0,0
$GC,5214,-0.65,-116.8,479.1,-9.3,346,5219,0.03,2.22,0.00,0.000,6,0.175,0.041,2965,2051,2430,0,0,0,0,0,0
$GC,5534,-0.65,-116.8,505.7,-8.3,362,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2051,2430,0,0,0,0,0,0
$GC,5845,-0.65,-116.8,531.0,-8.2,377,5849,0.00,2.25,0.00,0.000,4,0.000,0.057,2965,652,2430,0,0,0,0,0,0
$GC,5871,-0.65,-116.8,533.6,-9.1,378,5876,0.03,2.22,0.00,0.000,6,0.175,0.043,2965,2052,2430,0,0,0,0,0,0
$GC,6191,-0.65,-116.8,559.0,-7.5,394,6195,0.00,2.25,0.00,0.000,4,0.000,0.060,2955,3468,2430,0,0,0,0,0,0
$GC,6230,-0.65,-116.8,561.9,-7.8,396,6234,0.05,2.17,0.00,0.000,6,0.211,0.041,2966,2055,2429,0,0,0,0,0,0
$GC,6562,-0.68,-116.8,586.0,-7.1,412,6566,0.00,2.25,0.00,0.000,4,0.000,0.057,2966,652,2430,0,0,0,0,0,0
$GC,6600,-0.68,-116.8,589.2,-8.5,414,6604,0.00,2.22,0.00,0.000,6,0.000,0.044,2957,2060,2430,0,0,0,0,0,0
$GC,6931,-0.68,-116.8,614.6,-7.7,430,6935,0.00,2.25,0.00,0.000,4,0.000,0.063,2947,3463,2429,0,0,0,0,0,0
$GC,6964,-0.68,-116.8,617.2,-8.2,431,6968,0.00,2.20,0.00,0.000,6,0.000,0.041,2947,2066,2429,0,0,0,0,0,0
$GC,7280,-0.68,-116.8,642.5,-8.2,447,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2066,2429,0,0,0,0,0,0
$GC,7588,-0.68,-116.8,668.9,-9.0,462,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2065,2428,0,0,0,0,0,0
$GC,7898,-0.68,-116.8,697.5,-9.3,477,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2065,2428,0,0,0,0,0,0
$GC,8206,-0.68,-116.8,725.5,-8.9,492,8210,0.00,2.25,0.00,0.000,4,0.000,0.057,2947,655,2428,0,0,0,0,0,0
$GC,8229,-0.68,-116.8,727.4,-9.5,493,8234,0.10,2.22,0.00,0.000,6,0.181,0.041,2962,2070,2428,0,0,0,0,0,0
$GC,8557,-0.72,-116.8,752.9,-7.8,509,8561,0.00,2.22,0.00,0.000,4,0.000,0.061,2953,3463,2427,0,0,0,0,0,0
$GC,8589,-0.72,-116.8,755.7,-7.8,510,8595,0.00,2.20,0.00,0.000,6,0.000,0.041,2953,2063,2427,0,0,0,0,0,0
$GC,8904,-0.72,-116.8,781.1,-8.0,526,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2063,2427,0,0,0,0,0,0
$GC,9215,-0.72,-116.8,805.4,-7.7,541,9219,0.00,2.25,0.00,0.000,4,0.000,0.056,2953,655,2427,0,0,0,0,0,0
$GC,9269,-0.72,-116.8,810.1,-8.6,543,9274,0.00,2.22,0.00,0.000,6,0.000,0.041,2943,2060,2427,0,0,0,0,0,0
$GC,9586,-0.72,-116.8,835.0,-7.8,559,9590,0.00,2.25,0.00,0.000,4,0.000,0.063,2933,3466,2427,0,0,0,0,0,0
$GC,9635,-0.72,-116.8,839.2,-8.3,561,9639,0.03,2.22,0.00,0.000,6,0.174,0.042,2943,2055,2427,0,0,0,0,0,0
$GC,9957,-0.72,-116.8,865.3,-8.3,577,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2055,2427,0,0,0,0,0,0
$GC,10264,-0.72,-116.8,891.6,-8.7,592,10268,0.00,2.28,0.00,0.000,4,0.000,0.058,2943,629,2427,0,0,0,0,0,0
$GC,10319,-0.72,-116.8,896.8,-9.7,594,10324,0.03,2.28,0.00,0.000,6,0.177,0.044,2944,2050,2427,0,0,0,0,0,0
$GC,10642,-0.72,-116.8,924.6,-8.5,610,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2050,2427,0,0,0,0,0,0
$GC,10951,-0.72,-116.8,949.4,-8.2,625,10955,0.00,2.25,0.00,0.000,4,0.000,0.058,2933,3468,2427,0,0,0,0,0,0
$GC,10983,-0.72,-116.8,952.2,-8.2,626,10989,0.03,2.22,0.00,0.000,6,0.173,0.042,2943,2051,2427,0,0,0,0,0,0
$GC,11298,-0.72,-116.8,977.1,-8.0,642,11302,0.00,2.22,0.00,0.000,4,0.000,0.058,2943,657,2427,0,0,0,0,0,0
$GC,11330,-0.72,-116.8,980.0,-8.5,643,11334,0.00,2.25,0.00,0.000,6,0.000,0.044,2934,2065,2427,0,0,0,0,0,0
$STATE,11581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11581,begin apogee
$GC,11586,-0.19,0.0,1001.0,8.3,656,11698,0.60,0.00,108.22,1.291,6,0.142,0.000,3116,1591,1950,0,0,0,0,0,0
$STATE,11699,end apogee,CONTROL_FINISHED_OK
$STATE,11699,begin climb
$GC,11700,0.76,116.8,1003.8,0.0,661,11823,0.93,2.55,113.07,1.252,4,0.090,0.056,3433,198,1473,0,0,0,0,0,0
$GC,11869,0.73,116.8,993.0,9.9,669,11874,0.00,2.38,0.00,0.000,6,0.000,0.036,3433,1612,1468,0,0,0,0,0,0
$GC,12196,0.73,116.8,961.6,9.8,685,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1613,1464,0,0,0,0,0,0
$GC,12504,0.73,116.8,931.7,9.4,700,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1613,1464,0,0,0,0,0,0
$GC,12815,0.73,116.8,902.3,9.1,715,12819,0.00,2.35,0.00,0.000,4,0.000,0.054,3442,198,1463,0,0,0,0,0,0
$GC,12864,0.68,116.8,897.3,9.6,717,12869,0.10,2.25,0.00,0.000,6,0.130,0.037,3393,1604,1462,0,0,0,0,0,0
$GC,13186,0.76,141.5,873.7,7.3,733,13212,0.10,0.00,22.92,1.167,6,0.094,0.000,3449,1605,1373,0,0,0,0,0,0
$GC,13515,0.73,141.5,842.1,9.6,749,13516,0.10,0.00,0.00,0.000,6,0.158,0.000,3422,1607,1369,0,0,0,0,0,0
$GC,13824,0.73,143.9,815.7,8.4,764,13828,0.00,2.33,0.00,0.000,4,0.000,0.056,3433,196,1368,0,0,0,0,0,0
$GC,13885,0.73,143.9,810.0,9.3,767,13890,0.00,2.22,0.00,0.000,6,0.000,0.037,3433,1613,1368,0,0,0,0,0,0
$GC,14212,0.73,144.2,781.7,8.5,783,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1613,1368,0,0,0,0,0,0
$GC,14520,0.73,144.2,753.8,9.4,798,14524,0.00,2.35,0.00,0.000,4,0.000,0.054,3442,176,1368,0,0,0,0,0,0
$GC,14588,0.73,144.2,747.1,9.7,801,14593,0.08,2.20,0.00,0.000,6,0.175,0.037,3423,1602,1367,0,0,0,0,0,0
$GC,14915,0.76,144.2,718.0,8.7,817,14919,0.00,2.20,0.00,0.000,4,0.000,0.053,3423,2992,1368,0,0,0,0,0,0
$GC,14959,0.76,145.7,713.8,8.5,819,14969,0.00,2.17,4.57,0.738,6,0.000,0.037,3431,1610,1355,0,0,0,0,0,0
$GC,15285,0.76,145.7,683.5,9.3,835,15289,0.00,2.30,0.00,0.000,4,0.000,0.057,3442,187,1355,0,0,0,0,0,0
$GC,15407,0.76,145.7,671.3,9.2,840,15413,0.00,2.20,0.00,0.000,6,0.000,0.036,3442,1589,1355,0,0,0,0,0,0
$GC,15721,0.76,145.7,641.2,9.5,856,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1589,1355,0,0,0,0,0,0
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$GC,18759,0.81,153.6,370.8,10.3,1003,18764,0.10,2.28,0.00,0.000,4,0.158,0.055,3450,189,1323,0,0,0,0,0,0
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$STATE,22691,end climb,SURFACE_DEPTH_REACHED
$STATE,22691,begin surface coast
$FINISH,1.6,1.023215
$STATE,22729,end surface coast,CONTROL_FINISHED_OK
$STATE,22729,begin surface
$SM_CCo,22746,12.18,0.055,0,0,1132,200.16
$SM_GC,3.76,0.00,0.00,12.18,0.000,0.000,0.055,67,2052,1132,-9.74,-0.23,200.16
$IRIDIUM_FIX,-4441.36,658.06,180708,161629
$TT8_MAMPS,0.026964
$HUMID,63.62
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.6,33.706
$10V_AH,9.9,35.652
$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,23.850,167.825,282.325,12.175,0.000,27.469,42.151,302.599,0.000,0.000,20.234,2770.812,16417.410,426.006,3423.898,223.924,0.000,1725.678,0.000,2914.001,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,68.850,1290.555,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,93993,1287
$CAP_FILE_SIZE,189789,0
$CFSIZE,2097086464,2057043968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220915,154204,-4457.749,625.726,44,0.9,44,-24.4