version: 66.07.10.p01
glider: 573
mission: 12
dive: 294
start: 9 28 115 5 37 9
data:
$ID,573
$MISSION,12
$DIVE,294
$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,-21947.811
$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,34
$R_STBD_OVSHOOT,40
$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,293
$GPS1,280915,051857,-4504.464,622.770,68,2.0,86,-24.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-65.5
$GPS2,280915,053649,-4504.632,622.784,31,1.9,33,-24.3
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,77.9,1974,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-25.95,0.000,2,0.000,0.000,80,2072,1650,0,0,0,0,0,0
$GC,55,-1.12,-95.1,3.3,-3.4,4,106,11.50,2.40,-29.00,0.000,4,0.244,0.076,2818,658,2340,0,0,0,0,0,0
$GC,379,-1.07,-95.1,45.5,-14.1,57,387,0.08,2.28,0.00,0.000,6,0.175,0.044,2832,2051,2342,0,0,0,0,0,0
$GC,716,-1.07,-95.1,100.9,-16.2,100,720,0.00,2.28,0.00,0.000,4,0.000,0.053,2832,657,2342,0,0,0,0,0,0
$GC,788,-1.01,-95.1,113.6,-18.8,103,793,0.08,2.28,0.00,0.000,6,0.174,0.043,2854,2063,2342,0,0,0,0,0,0
$GC,1111,-1.01,-95.1,166.6,-15.2,119,1116,0.00,2.30,0.00,0.000,4,0.000,0.066,2844,3466,2342,0,0,0,0,0,0
$GC,1234,-1.04,-95.1,185.5,-14.6,124,1242,0.00,2.22,0.00,0.000,6,0.000,0.042,2844,2066,2342,0,0,0,0,0,0
$GC,1550,-1.04,-95.1,231.1,-13.7,140,1555,0.00,2.28,0.00,0.000,4,0.000,0.054,2844,652,2342,0,0,0,0,0,0
$GC,1651,-1.04,-95.1,245.7,-14.4,144,1659,0.00,2.28,0.00,0.000,6,0.000,0.044,2835,2064,2342,0,0,0,0,0,0
$GC,1967,-1.04,-95.1,293.2,-15.4,160,1971,0.00,2.30,0.00,0.000,4,0.000,0.064,2824,3473,2342,0,0,0,0,0,0
$GC,2062,-1.04,-95.1,309.0,-16.1,164,2067,0.05,2.25,0.00,0.000,6,0.176,0.044,2840,2058,2342,0,0,0,0,0,0
$GC,2383,-1.08,-95.1,358.0,-14.7,180,2387,0.00,2.30,0.00,0.000,4,0.000,0.064,2831,3463,2343,0,0,0,0,0,0
$GC,2426,-1.08,-95.1,364.8,-15.3,182,2430,0.00,2.22,0.00,0.000,6,0.000,0.041,2831,2057,2343,0,0,0,0,0,0
$GC,2752,-1.08,-95.1,412.1,-13.8,198,2756,0.00,2.30,0.00,0.000,4,0.000,0.063,2822,3463,2343,0,0,0,0,0,0
$GC,2785,-1.08,-95.1,416.8,-14.5,199,2789,0.00,2.22,0.00,0.000,6,0.000,0.043,2822,2063,2343,0,0,0,0,0,0
$GC,3107,-1.08,-95.1,462.0,-14.9,215,3111,0.00,2.30,0.00,0.000,4,0.000,0.061,2813,3474,2342,0,0,0,0,0,0
$GC,3138,-1.08,-95.1,466.9,-15.1,216,3145,0.05,2.25,0.00,0.000,6,0.174,0.044,2829,2061,2343,0,0,0,0,0,0
$GC,3454,-1.08,-95.1,511.7,-14.3,232,3458,0.00,2.30,0.00,0.000,4,0.000,0.062,2820,3469,2343,0,0,0,0,0,0
$GC,3492,-1.08,-95.1,517.4,-14.8,234,3497,0.05,2.20,0.00,0.000,6,0.226,0.044,2830,2053,2342,0,0,0,0,0,0
$GC,3817,-1.08,-95.1,562.7,-13.4,250,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2052,2342,0,0,0,0,0,0
$GC,4128,-1.08,-95.1,603.7,-14.0,265,4132,0.00,2.33,0.00,0.000,4,0.000,0.064,2821,3467,2342,0,0,0,0,0,0
$GC,4199,-1.08,-95.1,614.3,-14.5,268,4203,0.00,2.25,0.00,0.000,6,0.000,0.045,2821,2055,2342,0,0,0,0,0,0
$GC,4520,-1.08,-95.1,659.4,-14.3,284,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2055,2343,0,0,0,0,0,0
$GC,4830,-1.08,-95.1,703.2,-13.9,299,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2055,2342,0,0,0,0,0,0
$GC,5138,-1.08,-95.1,746.9,-14.3,314,5142,0.00,2.33,0.00,0.000,4,0.000,0.063,2812,3468,2341,0,0,0,0,0,0
$GC,5172,-1.08,-95.1,752.0,-16.3,315,5177,0.10,2.22,0.00,0.000,6,0.187,0.045,2836,2058,2341,0,0,0,0,0,0
$GC,5488,-1.13,-95.1,794.2,-13.1,331,5492,0.00,2.30,0.00,0.000,4,0.000,0.065,2827,3465,2341,0,0,0,0,0,0
$GC,5520,-1.18,-95.1,798.6,-12.6,332,5525,0.08,2.22,0.00,0.000,6,0.119,0.044,2788,2066,2341,0,0,0,0,0,0
$GC,5840,-1.18,-95.1,845.3,-14.4,348,5845,0.08,2.33,0.00,0.000,4,0.216,0.059,2803,644,2341,0,0,0,0,0,0
$GC,5872,-1.14,-95.1,850.0,-15.6,349,5878,0.10,2.25,0.00,0.000,6,0.209,0.041,2817,2054,2341,0,0,0,0,0,0
$GC,6188,-1.14,-95.1,891.8,-13.0,365,6192,0.00,2.28,0.00,0.000,4,0.000,0.060,2807,3476,2340,0,0,0,0,0,0
$GC,6228,-1.14,-95.1,897.4,-14.0,367,6232,0.00,2.25,0.00,0.000,6,0.000,0.047,2807,2051,2340,0,0,0,0,0,0
$GC,6554,-1.14,-95.1,941.8,-13.5,383,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2051,2340,0,0,0,0,0,0
$GC,6862,-1.14,-95.1,982.3,-12.6,398,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2051,2340,0,0,0,0,0,0
$STATE,7006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7006,begin apogee
$GC,7012,-0.19,0.0,1000.7,13.0,405,7107,1.08,0.00,89.03,1.286,6,0.168,0.000,3115,1589,1949,0,0,0,0,0,0
$STATE,7108,end apogee,CONTROL_FINISHED_OK
$STATE,7108,begin climb
$GC,7109,1.12,95.1,1004.4,0.0,410,7212,1.27,2.53,92.25,1.251,4,0.087,0.056,3550,200,1561,0,0,0,0,0,0
$GC,7273,1.12,95.1,990.6,12.5,417,7278,0.00,2.42,0.00,0.000,6,0.000,0.038,3550,1610,1557,0,0,0,0,0,0
$GC,7589,1.12,95.1,951.5,12.6,433,7593,0.00,2.40,0.00,0.000,4,0.000,0.054,3559,193,1554,0,0,0,0,0,0
$GC,7644,1.09,95.1,944.0,13.5,435,7649,0.10,2.33,0.00,0.000,6,0.188,0.037,3537,1642,1554,0,0,0,0,0,0
$GC,7966,1.13,95.1,906.1,11.6,451,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1642,1553,0,0,0,0,0,0
$GC,8274,1.16,95.1,869.1,12.2,466,8278,0.05,2.40,0.00,0.000,4,0.168,0.054,3582,188,1552,0,0,0,0,0,0
$GC,8345,1.08,95.1,858.9,15.2,469,8350,0.17,2.28,0.00,0.000,6,0.174,0.037,3536,1602,1552,0,0,0,0,0,0
$GC,8667,1.12,95.1,820.9,11.5,485,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1602,1551,0,0,0,0,0,0
$GC,8974,1.16,95.1,786.7,10.6,500,8979,0.05,2.33,0.00,0.000,4,0.169,0.055,3581,188,1551,0,0,0,0,0,0
$GC,9040,1.09,95.1,778.6,12.4,503,9045,0.17,2.25,0.00,0.000,6,0.175,0.037,3536,1604,1551,0,0,0,0,0,0
$GC,9367,1.13,95.1,742.8,11.2,519,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1605,1551,0,0,0,0,0,0
$GC,9675,1.18,95.1,709.5,10.7,534,9677,0.08,0.00,0.00,0.000,6,0.125,0.000,3580,1605,1550,0,0,0,0,0,0
$GC,9986,1.14,95.1,672.9,11.7,549,9991,0.10,2.33,0.00,0.000,4,0.191,0.054,3566,187,1549,0,0,0,0,0,0
$GC,10029,1.11,95.1,667.7,11.6,551,10034,0.05,2.25,0.00,0.000,6,0.175,0.037,3543,1605,1549,0,0,0,0,0,0
$GC,10357,1.15,95.1,635.7,9.3,567,10361,0.00,2.22,0.00,0.000,4,0.000,0.055,3542,2994,1549,0,0,0,0,0,0
$GC,10383,1.15,95.1,632.9,10.4,568,10388,0.00,2.20,0.00,0.000,6,0.000,0.037,3551,1594,1549,0,0,0,0,0,0
$GC,10704,1.15,95.1,601.7,10.1,584,10708,0.00,2.28,0.00,0.000,4,0.000,0.057,3561,192,1549,0,0,0,0,0,0
$GC,10862,1.15,95.1,584.5,11.2,591,10866,0.00,2.20,0.00,0.000,6,0.000,0.037,3561,1613,1549,0,0,0,0,0,0
$GC,11189,1.15,95.1,548.5,11.5,607,11193,0.00,2.20,0.00,0.000,4,0.000,0.057,3561,2994,1549,0,0,0,0,0,0
$GC,11265,1.15,95.1,539.2,12.1,610,11272,0.03,2.20,0.00,0.000,6,0.213,0.037,3561,1593,1549,0,0,0,0,0,0
$GC,11580,1.15,95.1,503.1,11.2,626,11584,0.00,2.28,0.00,0.000,4,0.000,0.055,3572,190,1549,0,0,0,0,0,0
$GC,11664,1.12,95.1,493.2,11.3,629,11669,0.05,2.22,0.00,0.000,6,0.176,0.037,3547,1600,1548,0,0,0,0,0,0
$GC,11980,1.16,95.1,460.8,10.2,645,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1600,1549,0,0,0,0,0,0
$GC,12288,1.21,95.1,429.0,9.9,660,12293,0.08,2.30,0.00,0.000,4,0.125,0.054,3600,198,1548,0,0,0,0,0,0
$GC,12326,1.12,95.1,424.5,11.3,662,12331,0.20,2.17,0.00,0.000,6,0.178,0.038,3547,1604,1548,0,0,0,0,0,0
$GC,12653,1.16,95.1,394.4,8.7,678,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1604,1548,0,0,0,0,0,0
$GC,12962,1.21,95.1,367.6,9.0,693,12967,0.08,2.30,0.00,0.000,4,0.128,0.054,3599,189,1549,0,0,0,0,0,0
$GC,13023,1.12,95.1,361.3,10.0,696,13028,0.20,2.20,0.00,0.000,6,0.179,0.037,3547,1601,1548,0,0,0,0,0,0
$GC,13349,1.17,95.1,331.0,9.0,712,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1601,1549,0,0,0,0,0,0
$GC,13659,1.21,95.1,301.9,9.5,727,13664,0.08,2.28,0.00,0.000,4,0.129,0.054,3598,198,1548,0,0,0,0,0,0
$GC,13753,1.13,95.1,290.8,11.9,731,13758,0.10,2.20,0.00,0.000,6,0.168,0.037,3554,1591,1548,0,0,0,0,0,0
$GC,14078,1.17,95.1,258.7,9.8,747,14082,0.00,2.25,0.00,0.000,4,0.000,0.055,3554,2995,1548,0,0,0,0,0,0
$GC,14141,1.17,95.1,251.9,10.6,750,14145,0.00,2.17,0.00,0.000,6,0.000,0.037,3562,1590,1548,0,0,0,0,0,0
$GC,14468,1.17,95.1,219.2,9.8,766,14472,0.00,2.25,0.00,0.000,4,0.000,0.054,3572,196,1548,0,0,0,0,0,0
$GC,14522,1.17,95.1,213.6,10.0,768,14530,0.00,2.20,0.00,0.000,6,0.000,0.037,3572,1590,1548,0,0,0,0,0,0
$GC,14839,1.17,95.1,181.1,10.7,784,14843,0.00,2.28,0.00,0.000,4,0.000,0.053,3581,192,1548,0,0,0,0,0,0
$GC,15086,1.14,95.1,154.0,11.0,795,15092,0.08,2.22,0.00,0.000,6,0.171,0.037,3558,1601,1548,0,0,0,0,0,0
$GC,15417,1.17,97.8,123.6,8.2,811,15421,0.00,2.22,0.00,0.000,4,0.000,0.054,3558,3001,1548,0,0,0,0,0,0
$GC,15616,1.18,116.6,108.8,6.4,820,15639,0.00,2.17,18.45,0.715,6,0.000,0.037,3565,1595,1473,0,0,0,0,0,0
$GC,15950,1.22,116.6,74.5,13.4,839,15955,0.00,2.28,0.00,0.000,4,0.000,0.054,3576,195,1472,0,0,0,0,0,0
$GC,16107,1.22,116.6,56.8,13.0,866,16112,0.00,2.20,0.00,0.000,6,0.000,0.037,3576,1613,1471,0,0,0,0,0,0
$GC,16472,1.28,116.6,6.9,13.1,927,16480,0.00,2.35,0.00,0.000,4,0.000,0.056,3587,203,1471,0,0,0,0,0,0
$STATE,16517,end climb,SURFACE_DEPTH_REACHED
$STATE,16517,begin surface coast
$FINISH,1.5,1.023399
$STATE,16555,end surface coast,CONTROL_FINISHED_OK
$STATE,16556,begin surface
$SM_CCo,16575,41.33,0.055,0,0,1134,200.16
$SM_GC,1.97,0.00,0.00,41.33,0.000,0.000,0.055,63,2063,1134,-9.76,0.08,200.16
$IRIDIUM_FIX,-4444.39,621.76,240708,181821
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,36.647
$10V_AH,9.7,38.560
$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,25.625,146.750,199.725,41.325,0.000,81.434,192.087,515.878,0.000,0.000,34.935,2092.339,11819.884,353.355,3223.442,197.982,0.000,1384.888,0.000,2301.905,0.000,0.540,0.000
$DEVICE_MAMPS,244.035,76.500,1285.965,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.009,1352.015,735.867,423.432,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,70404,940
$CAP_FILE_SIZE,153233,0
$CFSIZE,2097086464,2053537792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280915,101526,-4504.700,625.638,41,1.1,44,-24.4