version: 66.07.10.p01
glider: 573
mission: 12
dive: 271
start: 9 23 115 6 8 1
data:
$ID,573
$MISSION,12
$DIVE,271
$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,378.00113
$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,-21868.504
$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,45
$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,270
$GPS1,230915,054903,-4456.870,626.069,76,1.2,76,-24.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-68.5
$GPS2,230915,060741,-4456.711,626.478,17,1.8,18,-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,316.5,3506,-27.3,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.08,-51.0,0.0,0.0,0,36,0.00,0.00,-8.05,0.000,2,0.000,0.000,80,2046,1293,0,0,0,0,0,0
$GC,39,-1.12,-116.8,3.1,-0.0,1,115,11.12,2.28,-58.53,0.000,4,0.236,0.070,2814,665,2426,0,0,0,0,0,0
$GC,137,-1.16,-116.8,5.4,-9.8,16,144,0.00,2.25,0.00,0.000,6,0.000,0.043,2805,2040,2428,0,0,0,0,0,0
$GC,195,-1.16,-116.8,14.9,-18.6,25,202,0.00,2.28,0.00,0.000,4,0.000,0.054,2805,671,2428,0,0,0,0,0,0
$GC,211,-1.08,-116.8,18.2,-18.1,27,219,0.12,2.28,0.00,0.000,6,0.169,0.043,2833,2070,2428,0,0,0,0,0,0
$GC,270,-1.08,-116.8,30.7,-20.1,36,278,0.00,2.33,0.00,0.000,4,0.000,0.053,2833,668,2428,0,0,0,0,0,0
$GC,317,-1.05,-116.8,39.7,-19.6,43,325,0.03,2.25,0.00,0.000,6,0.207,0.042,2833,2052,2428,0,0,0,0,0,0
$GC,464,-1.00,-116.8,61.2,-14.5,68,469,0.10,0.00,0.00,0.000,6,0.200,0.000,2856,2052,2428,0,0,0,0,0,0
$GC,800,-1.04,-116.8,121.3,-17.1,98,804,0.00,2.28,0.00,0.000,4,0.000,0.052,2856,659,2428,0,0,0,0,0,0
$GC,855,-1.04,-116.8,131.6,-18.2,100,863,0.00,2.25,0.00,0.000,6,0.000,0.042,2847,2054,2428,0,0,0,0,0,0
$GC,1172,-1.04,-116.8,182.9,-15.0,116,1176,0.00,2.30,0.00,0.000,4,0.000,0.058,2836,3477,2429,0,0,0,0,0,0
$GC,1221,-1.04,-116.8,191.2,-16.9,118,1226,0.00,2.22,0.00,0.000,6,0.000,0.041,2836,2071,2429,0,0,0,0,0,0
$GC,1545,-1.04,-116.8,240.3,-14.9,134,1549,0.00,2.28,0.00,0.000,4,0.000,0.057,2827,3471,2429,0,0,0,0,0,0
$GC,1584,-1.04,-116.8,246.1,-14.7,136,1589,0.08,2.22,0.00,0.000,6,0.205,0.042,2843,2049,2429,0,0,0,0,0,0
$GC,1910,-1.04,-116.8,292.1,-14.1,152,1914,0.00,2.25,0.00,0.000,4,0.000,0.054,2844,648,2429,0,0,0,0,0,0
$GC,1930,-1.04,-116.8,295.3,-14.1,153,1935,0.00,2.28,0.00,0.000,6,0.000,0.044,2835,2066,2429,0,0,0,0,0,0
$GC,2258,-1.04,-116.8,341.7,-14.1,169,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2065,2429,0,0,0,0,0,0
$GC,2566,-1.04,-116.8,389.3,-15.2,184,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2065,2429,0,0,0,0,0,0
$GC,2876,-1.04,-116.8,433.0,-13.7,199,2881,0.00,2.30,0.00,0.000,4,0.000,0.066,2823,3472,2430,0,0,0,0,0,0
$GC,2920,-1.04,-116.8,439.1,-13.3,201,2925,0.05,2.22,0.00,0.000,6,0.169,0.042,2840,2067,2430,0,0,0,0,0,0
$GC,3248,-1.08,-116.8,481.6,-12.9,217,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2067,2430,0,0,0,0,0,0
$GC,3555,-1.12,-116.8,523.0,-13.6,232,3559,0.00,2.28,0.00,0.000,4,0.000,0.054,2840,649,2430,0,0,0,0,0,0
$GC,3627,-1.12,-116.8,533.4,-14.9,235,3631,0.00,2.25,0.00,0.000,6,0.000,0.044,2831,2055,2429,0,0,0,0,0,0
$GC,3949,-1.12,-116.8,579.6,-14.5,251,3953,0.00,2.28,0.00,0.000,4,0.000,0.061,2820,3465,2430,0,0,0,0,0,0
$GC,3988,-1.12,-116.8,585.4,-15.1,253,3992,0.00,2.20,0.00,0.000,6,0.000,0.041,2820,2051,2429,0,0,0,0,0,0
$GC,4314,-1.12,-116.8,634.1,-14.9,269,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2051,2429,0,0,0,0,0,0
$GC,4622,-1.12,-116.8,679.6,-14.4,284,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2051,2429,0,0,0,0,0,0
$GC,4932,-1.12,-116.8,722.4,-13.3,299,4936,0.00,2.33,0.00,0.000,4,0.000,0.064,2811,3465,2428,0,0,0,0,0,0
$GC,4959,-1.12,-116.8,726.4,-14.4,300,4964,0.00,2.22,0.00,0.000,6,0.000,0.044,2811,2061,2428,0,0,0,0,0,0
$GC,5279,-1.12,-116.8,770.4,-13.9,316,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2428,0,0,0,0,0,0
$GC,5590,-1.12,-116.8,812.5,-13.6,331,5594,0.00,2.30,0.00,0.000,4,0.000,0.063,2802,3465,2428,0,0,0,0,0,0
$GC,5629,-1.12,-116.8,817.7,-13.1,333,5634,0.08,2.20,0.00,0.000,6,0.204,0.043,2818,2056,2427,0,0,0,0,0,0
$GC,5955,-1.12,-116.8,860.1,-12.9,349,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2056,2427,0,0,0,0,0,0
$GC,6263,-1.12,-116.8,899.2,-12.8,364,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2056,2427,0,0,0,0,0,0
$GC,6574,-1.12,-116.8,938.1,-12.6,379,6578,0.00,2.33,0.00,0.000,4,0.000,0.066,2809,3466,2427,0,0,0,0,0,0
$GC,6628,-1.12,-116.8,945.4,-12.7,381,6633,0.00,2.22,0.00,0.000,6,0.000,0.044,2809,2066,2426,0,0,0,0,0,0
$GC,6944,-1.12,-116.8,986.0,-12.6,397,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2066,2426,0,0,0,0,0,0
$STATE,7066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7066,begin apogee
$GC,7072,-0.19,0.0,1002.2,13.1,403,7187,1.05,0.00,108.43,1.289,6,0.166,0.000,3113,1594,1949,0,0,0,0,0,0
$STATE,7188,end apogee,CONTROL_FINISHED_OK
$STATE,7188,begin climb
$GC,7190,1.12,116.8,1006.5,0.0,409,7313,1.30,2.53,113.90,1.251,4,0.090,0.054,3553,202,1474,0,0,0,0,0,0
$GC,7374,1.12,116.8,987.5,15.4,417,7379,0.00,2.42,0.00,0.000,6,0.000,0.037,3553,1604,1470,0,0,0,0,0,0
$GC,7690,1.12,116.8,941.5,14.7,433,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1604,1466,0,0,0,0,0,0
$GC,7998,1.12,116.8,896.9,14.5,448,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1604,1465,0,0,0,0,0,0
$GC,8309,1.12,116.8,852.7,14.3,463,8313,0.00,2.33,0.00,0.000,4,0.000,0.054,3562,199,1464,0,0,0,0,0,0
$GC,8357,1.12,116.8,845.3,14.3,465,8363,0.03,2.28,0.00,0.000,6,0.192,0.038,3553,1608,1463,0,0,0,0,0,0
$GC,8679,1.12,116.8,799.4,14.3,481,8683,0.00,2.30,0.00,0.000,4,0.000,0.053,3562,197,1463,0,0,0,0,0,0
$GC,8745,1.12,116.8,789.0,14.8,484,8751,0.05,2.25,0.00,0.000,6,0.175,0.037,3546,1602,1463,0,0,0,0,0,0
$GC,9071,1.16,116.8,742.6,14.4,500,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1602,1462,0,0,0,0,0,0
$GC,9382,1.21,116.8,699.4,13.6,515,9387,0.08,2.30,0.00,0.000,4,0.125,0.054,3594,198,1462,0,0,0,0,0,0
$GC,9436,1.13,116.8,690.7,16.5,517,9442,0.17,2.25,0.00,0.000,6,0.174,0.038,3549,1605,1462,0,0,0,0,0,0
$GC,9753,1.17,116.8,647.3,13.8,533,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1605,1462,0,0,0,0,0,0
$GC,10061,1.21,116.8,605.2,13.8,548,10065,0.08,2.30,0.00,0.000,4,0.125,0.054,3599,189,1462,0,0,0,0,0,0
$GC,10149,1.13,116.8,590.6,18.0,552,10154,0.17,2.22,0.00,0.000,6,0.175,0.036,3554,1610,1461,0,0,0,0,0,0
$GC,10476,1.16,116.8,547.2,12.8,568,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1610,1461,0,0,0,0,0,0
$GC,10786,1.20,116.8,507.9,12.7,583,10790,0.00,2.30,0.00,0.000,4,0.000,0.054,3562,198,1461,0,0,0,0,0,0
$GC,10851,1.20,116.8,498.7,13.1,586,10856,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1600,1461,0,0,0,0,0,0
$GC,11178,1.20,116.8,454.8,13.8,602,11181,0.00,2.30,0.00,0.000,4,0.000,0.054,3571,194,1461,0,0,0,0,0,0
$GC,11216,1.20,116.8,449.2,14.5,603,11221,0.00,2.22,0.00,0.000,6,0.000,0.037,3571,1597,1461,0,0,0,0,0,0
$GC,11532,1.20,116.8,405.1,13.6,619,11536,0.00,2.30,0.00,0.000,4,0.000,0.054,3579,187,1461,0,0,0,0,0,0
$GC,11581,1.17,116.8,398.1,14.0,621,11586,0.05,2.25,0.00,0.000,6,0.174,0.037,3555,1605,1461,0,0,0,0,0,0
$GC,11904,1.21,116.8,357.4,12.5,637,11908,0.00,2.30,0.00,0.000,4,0.000,0.053,3565,193,1461,0,0,0,0,0,0
$GC,11964,1.21,116.8,349.2,12.5,640,11968,0.00,2.22,0.00,0.000,6,0.000,0.036,3565,1601,1461,0,0,0,0,0,0
$GC,12295,1.21,116.8,306.9,12.9,656,12299,0.00,2.33,0.00,0.000,4,0.000,0.053,3574,190,1460,0,0,0,0,0,0
$GC,12363,1.21,116.8,297.7,13.3,659,12368,0.00,2.22,0.00,0.000,6,0.000,0.036,3574,1613,1461,0,0,0,0,0,0
$GC,12692,1.21,116.8,253.0,13.3,675,12696,0.00,2.30,0.00,0.000,4,0.000,0.053,3583,198,1461,0,0,0,0,0,0
$GC,12735,1.18,116.8,247.5,13.7,677,12739,0.08,2.20,0.00,0.000,6,0.210,0.038,3567,1602,1461,0,0,0,0,0,0
$GC,13063,1.18,116.8,202.0,14.9,693,13067,0.00,2.30,0.00,0.000,4,0.000,0.053,3576,188,1461,0,0,0,0,0,0
$GC,13195,1.18,116.8,181.7,14.3,699,13199,0.00,2.20,0.00,0.000,6,0.000,0.036,3575,1598,1461,0,0,0,0,0,0
$GC,13523,1.18,116.8,142.3,10.8,715,13527,0.00,2.25,0.00,0.000,4,0.000,0.057,3575,3000,1461,0,0,0,0,0,0
$GC,13645,1.18,116.8,128.0,12.3,720,13653,0.05,2.17,0.00,0.000,6,0.193,0.035,3569,1605,1461,0,0,0,0,0,0
$GC,13961,1.18,116.8,92.7,10.8,736,13965,0.00,2.28,0.00,0.000,4,0.000,0.054,3579,192,1461,0,0,0,0,0,0
$GC,14097,1.18,116.8,76.6,11.6,746,14103,0.05,2.20,0.00,0.000,6,0.232,0.037,3568,1602,1461,0,0,0,0,0,0
$GC,14453,1.21,116.8,32.0,14.7,807,14460,0.00,2.30,0.00,0.000,4,0.000,0.053,3576,201,1461,0,0,0,0,0,0
$GC,14499,1.21,116.8,24.6,15.1,814,14507,0.00,2.20,0.00,0.000,6,0.000,0.037,3576,1596,1461,0,0,0,0,0,0
$STATE,14641,end climb,SURFACE_DEPTH_REACHED
$STATE,14641,begin surface coast
$FINISH,1.6,1.023360
$STATE,14662,end surface coast,CONTROL_FINISHED_OK
$STATE,14662,begin surface
$SM_CCo,14679,142.48,0.050,0,0,409,378.00
$SM_GC,2.55,0.00,0.00,142.48,0.000,0.000,0.050,60,2068,409,-9.76,0.23,378.00
$IRIDIUM_FIX,-4438.33,624.11,190708,191917
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.19647
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.6,34.116
$10V_AH,9.8,36.048
$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,23.775,128.525,222.325,142.475,0.000,141.299,313.201,264.442,0.000,0.000,20.310,1844.529,10652.617,471.041,2797.122,175.590,0.000,1386.461,0.000,1960.088,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,69.615,1289.025,50.490,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.150,1181.910,640.119,366.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,60760,840
$CAP_FILE_SIZE,135280,0
$CFSIZE,2097086464,2056617984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230915,101621,-4455.963,624.346,43,0.9,43,-24.4