version: 66.07.10.p01
glider: 573
mission: 12
dive: 276
start: 9 24 115 10 15 1
data:
$ID,573
$MISSION,12
$DIVE,276
$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,-21885.271
$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,35
$R_STBD_OVSHOOT,43
$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,275
$GPS1,240915,100603,-4457.081,637.085,59,0.8,59,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-70.2
$GPS2,240915,101440,-4457.143,637.126,20,1.1,20,-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,349.5,2580,-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,-19.75,0.000,2,0.000,0.000,75,2067,1516,0,0,0,0,0,0
$GC,48,-1.13,-103.3,3.0,-2.4,3,106,11.55,2.33,-38.70,0.000,4,0.248,0.066,2812,657,2369,0,0,0,0,0,0
$GC,146,-1.04,-103.3,9.0,-14.1,18,154,0.12,2.25,0.00,0.000,6,0.168,0.040,2841,2045,2370,0,0,0,0,0,0
$GC,205,-1.04,-103.3,19.2,-16.7,27,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2045,2371,0,0,0,0,0,0
$GC,263,-1.04,-103.3,29.2,-17.6,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2045,2371,0,0,0,0,0,0
$GC,412,-1.04,-103.3,55.4,-17.1,61,417,0.00,2.30,0.00,0.000,4,0.000,0.059,2830,3475,2371,0,0,0,0,0,0
$GC,423,-1.04,-103.3,57.7,-17.1,63,431,0.03,2.25,0.00,0.000,6,0.207,0.040,2839,2061,2371,0,0,0,0,0,0
$GC,764,-1.04,-103.3,115.2,-16.4,96,768,0.00,2.28,0.00,0.000,4,0.000,0.057,2830,3472,2371,0,0,0,0,0,0
$GC,812,-1.04,-103.3,123.6,-16.1,98,818,0.03,2.25,0.00,0.000,6,0.204,0.041,2838,2056,2371,0,0,0,0,0,0
$GC,1134,-1.04,-103.3,175.7,-16.7,114,1138,0.00,2.25,0.00,0.000,4,0.000,0.054,2838,655,2372,0,0,0,0,0,0
$GC,1165,-1.04,-103.3,181.5,-17.5,115,1172,0.05,2.28,0.00,0.000,6,0.184,0.043,2845,2067,2372,0,0,0,0,0,0
$GC,1485,-1.07,-103.3,228.6,-14.3,131,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2067,2372,0,0,0,0,0,0
$GC,1791,-1.07,-103.3,272.9,-14.1,146,1795,0.00,2.22,0.00,0.000,4,0.000,0.060,2834,3469,2372,0,0,0,0,0,0
$GC,1882,-1.07,-103.3,286.4,-14.6,150,1886,0.00,2.17,0.00,0.000,6,0.000,0.041,2834,2057,2372,0,0,0,0,0,0
$GC,2207,-1.07,-103.3,335.0,-14.8,166,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2373,0,0,0,0,0,0
$GC,2517,-1.07,-103.3,380.9,-15.1,181,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2373,0,0,0,0,0,0
$GC,2825,-1.07,-103.3,428.1,-15.3,196,2829,0.00,2.28,0.00,0.000,4,0.000,0.061,2825,3468,2372,0,0,0,0,0,0
$GC,2858,-1.07,-103.3,433.3,-16.3,197,2862,0.00,2.22,0.00,0.000,6,0.000,0.041,2825,2059,2372,0,0,0,0,0,0
$GC,3180,-1.07,-103.3,482.5,-15.2,213,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2059,2373,0,0,0,0,0,0
$GC,3488,-1.07,-103.3,528.8,-14.8,228,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2059,2373,0,0,0,0,0,0
$GC,3798,-1.07,-103.3,572.9,-14.5,243,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2373,0,0,0,0,0,0
$GC,4106,-1.07,-103.3,615.9,-13.8,258,4111,0.00,2.30,0.00,0.000,4,0.000,0.060,2816,3462,2372,0,0,0,0,0,0
$GC,4139,-1.07,-103.3,620.6,-14.1,259,4144,0.05,2.20,0.00,0.000,6,0.174,0.041,2832,2061,2372,0,0,0,0,0,0
$GC,4461,-1.10,-103.3,665.2,-14.3,275,4465,0.00,2.25,0.00,0.000,4,0.000,0.060,2823,3469,2372,0,0,0,0,0,0
$GC,4515,-1.10,-103.3,673.2,-14.1,277,4520,0.00,2.22,0.00,0.000,6,0.000,0.043,2824,2063,2372,0,0,0,0,0,0
$GC,4831,-1.10,-103.3,716.2,-13.9,293,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2063,2372,0,0,0,0,0,0
$GC,5139,-1.10,-103.3,759.1,-13.8,308,5143,0.00,2.30,0.00,0.000,4,0.000,0.059,2816,3467,2371,0,0,0,0,0,0
$GC,5194,-1.10,-103.3,767.0,-14.2,310,5199,0.00,2.22,0.00,0.000,6,0.000,0.042,2816,2060,2371,0,0,0,0,0,0
$GC,5516,-1.10,-103.3,810.7,-13.3,326,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2060,2371,0,0,0,0,0,0
$GC,5825,-1.10,-103.3,854.1,-14.2,341,5829,0.00,2.30,0.00,0.000,4,0.000,0.060,2806,3475,2371,0,0,0,0,0,0
$GC,5902,-1.10,-103.3,865.4,-14.5,344,5909,0.05,2.25,0.00,0.000,6,0.172,0.045,2823,2057,2371,0,0,0,0,0,0
$GC,6218,-1.14,-103.3,906.2,-12.9,360,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2057,2371,0,0,0,0,0,0
$GC,6529,-1.18,-103.3,946.3,-13.4,375,6533,0.00,2.33,0.00,0.000,4,0.000,0.063,2813,3476,2371,0,0,0,0,0,0
$GC,6658,-1.18,-103.3,964.3,-13.8,381,6662,0.00,2.20,0.00,0.000,6,0.000,0.045,2814,2060,2371,0,0,0,0,0,0
$STATE,6942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6942,begin apogee
$GC,6947,-0.19,0.0,1002.2,13.3,395,7046,1.02,0.00,94.65,1.293,6,0.163,0.000,3113,1591,1950,0,0,0,0,0,0
$STATE,7046,end apogee,CONTROL_FINISHED_OK
$STATE,7046,begin climb
$GC,7048,1.13,103.3,1006.4,0.0,400,7158,1.27,2.47,99.50,1.256,4,0.086,0.053,3550,200,1527,0,0,0,0,0,0
$GC,7247,1.13,103.3,989.3,12.5,409,7252,0.00,2.40,0.00,0.000,6,0.000,0.037,3550,1611,1524,0,0,0,0,0,0
$GC,7569,1.13,103.3,950.6,11.9,425,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1612,1521,0,0,0,0,0,0
$GC,7877,1.13,103.3,912.5,12.6,440,7881,0.00,2.30,0.00,0.000,4,0.000,0.055,3550,3003,1520,0,0,0,0,0,0
$GC,7960,1.13,103.3,901.6,13.3,443,7965,0.00,2.25,0.00,0.000,6,0.000,0.035,3558,1594,1520,0,0,0,0,0,0
$GC,8277,1.13,103.3,862.4,12.1,459,8281,0.00,2.30,0.00,0.000,4,0.000,0.055,3569,188,1519,0,0,0,0,0,0
$GC,8500,1.07,103.3,833.8,12.6,469,8505,0.12,2.25,0.00,0.000,6,0.161,0.037,3531,1601,1518,0,0,0,0,0,0
$GC,8827,1.12,103.3,800.2,10.4,485,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1601,1518,0,0,0,0,0,0
$GC,9135,1.17,103.3,768.7,10.1,500,9137,0.08,0.00,0.00,0.000,6,0.127,0.000,3573,1601,1517,0,0,0,0,0,0
$GC,9446,1.13,103.3,732.6,11.9,515,9448,0.10,0.00,0.00,0.000,6,0.191,0.000,3550,1604,1517,0,0,0,0,0,0
$GC,9753,1.13,103.3,696.0,11.9,530,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1517,0,0,0,0,0,0
$GC,10064,1.13,103.3,660.6,11.1,545,10068,0.00,2.30,0.00,0.000,4,0.000,0.054,3560,189,1517,0,0,0,0,0,0
$GC,10187,1.10,103.3,646.0,12.3,550,10193,0.08,2.20,0.00,0.000,6,0.207,0.037,3543,1605,1517,0,0,0,0,0,0
$GC,10501,1.13,103.3,612.5,10.4,566,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1605,1517,0,0,0,0,0,0
$GC,10812,1.13,103.3,580.6,10.3,581,10816,0.00,2.30,0.00,0.000,4,0.000,0.053,3553,189,1517,0,0,0,0,0,0
$GC,10889,1.13,103.3,571.8,11.4,584,10895,0.00,2.22,0.00,0.000,6,0.000,0.035,3553,1601,1517,0,0,0,0,0,0
$GC,11204,1.13,103.3,537.6,10.7,600,11208,0.00,2.22,0.00,0.000,4,0.000,0.053,3553,2996,1517,0,0,0,0,0,0
$GC,11266,1.13,103.3,530.6,11.4,602,11271,0.00,2.15,0.00,0.000,6,0.000,0.036,3561,1597,1517,0,0,0,0,0,0
$GC,11580,1.13,103.3,496.1,11.0,618,11584,0.00,2.28,0.00,0.000,4,0.000,0.054,3572,201,1517,0,0,0,0,0,0
$GC,11739,1.09,103.3,477.1,11.8,625,11744,0.12,2.17,0.00,0.000,6,0.183,0.037,3541,1601,1517,0,0,0,0,0,0
$GC,12066,1.13,103.3,441.1,10.7,641,12070,0.00,2.25,0.00,0.000,4,0.000,0.053,3549,198,1517,0,0,0,0,0,0
$GC,12121,1.13,103.3,434.8,11.2,643,12126,0.00,2.20,0.00,0.000,6,0.000,0.037,3549,1597,1517,0,0,0,0,0,0
$GC,12437,1.13,103.3,400.5,10.6,659,12441,0.00,2.25,0.00,0.000,4,0.000,0.051,3558,194,1516,0,0,0,0,0,0
$GC,12543,1.13,103.3,388.3,11.0,664,12547,0.00,2.20,0.00,0.000,6,0.000,0.037,3557,1606,1516,0,0,0,0,0,0
$GC,12874,1.13,103.3,354.6,9.7,680,12878,0.00,2.28,0.00,0.000,4,0.000,0.051,3566,193,1516,0,0,0,0,0,0
$GC,12952,1.10,103.3,346.5,10.4,683,12957,0.10,2.20,0.00,0.000,6,0.194,0.035,3543,1612,1516,0,0,0,0,0,0
$GC,13275,1.15,105.9,318.4,8.2,699,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1612,1516,0,0,0,0,0,0
$GC,13583,1.19,105.9,292.2,8.9,714,13585,0.08,0.00,0.00,0.000,6,0.129,0.000,3585,1612,1517,0,0,0,0,0,0
$GC,13894,1.16,105.9,258.3,11.4,729,13896,0.10,0.00,0.00,0.000,6,0.192,0.000,3562,1615,1517,0,0,0,0,0,0
$GC,14201,1.16,105.9,223.4,11.2,744,14205,0.00,2.28,0.00,0.000,4,0.000,0.054,3571,199,1516,0,0,0,0,0,0
$GC,14352,1.16,105.9,205.1,12.2,750,14360,0.03,2.20,0.00,0.000,6,0.199,0.037,3562,1597,1517,0,0,0,0,0,0
$GC,14668,1.16,105.9,171.4,10.2,766,14672,0.00,2.22,0.00,0.000,4,0.000,0.054,3563,2994,1516,0,0,0,0,0,0
$GC,14824,1.16,105.9,156.6,9.2,773,14828,0.00,2.15,0.00,0.000,6,0.000,0.036,3570,1595,1516,0,0,0,0,0,0
$GC,15152,1.16,105.9,127.7,8.6,789,15156,0.00,2.25,0.00,0.000,4,0.000,0.054,3581,195,1516,0,0,0,0,0,0
$GC,15410,1.12,105.9,104.8,8.8,800,15419,0.10,2.20,0.00,0.000,6,0.164,0.035,3550,1598,1516,0,0,0,0,0,0
$GC,15726,1.17,105.9,78.5,8.7,816,15734,0.00,2.28,0.00,0.000,4,0.000,0.051,3560,199,1516,0,0,0,0,0,0
$GC,15976,1.17,105.9,54.6,9.7,859,15981,0.00,2.17,0.00,0.000,6,0.000,0.037,3559,1607,1516,0,0,0,0,0,0
$GC,16341,1.21,114.8,21.6,7.5,920,16355,0.00,2.30,5.30,0.525,4,0.000,0.050,3568,198,1480,0,0,0,0,0,0
$STATE,16539,end climb,SURFACE_DEPTH_REACHED
$STATE,16539,begin surface coast
$FINISH,1.7,1.023385
$STATE,16553,end surface coast,CONTROL_FINISHED_OK
$STATE,16553,begin surface
$SM_CCo,16573,42.53,0.055,0,0,1133,200.16
$SM_GC,2.08,0.00,0.00,42.53,0.000,0.000,0.055,81,2076,1133,-9.70,0.45,200.16
$IRIDIUM_FIX,-4441.36,508.08,200708,181804
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,34.696
$10V_AH,9.9,36.636
$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,24.300,118.575,199.450,42.525,0.000,29.847,47.758,305.948,0.000,0.000,21.802,2087.953,11671.501,346.953,2844.226,179.620,0.000,1375.477,0.000,2342.664,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,65.790,1292.850,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.848,1401.787,791.840,482.292,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353328
$DATA_FILE_SIZE,70368,954
$CAP_FILE_SIZE,141327,0
$CFSIZE,2097086464,2055897088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240915,145327,-4456.411,636.391,55,0.9,55,-24.4