version: 66.07.10.p01
glider: 573
mission: 12
dive: 296
start: 9 28 115 15 21 36
data:
$ID,573
$MISSION,12
$DIVE,296
$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,-21954.68
$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,41
$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,295
$GPS1,280915,151251,-4503.513,624.604,124,1.3,124,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-62.1
$GPS2,280915,152116,-4503.430,624.725,19,0.9,20,-24.4
$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,246.3,1420,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,53,0.00,0.00,-25.88,0.000,2,0.000,0.000,79,2078,1573,0,0,0,0,0,0
$GC,56,-1.12,-95.6,3.2,-3.3,4,113,11.40,2.35,-35.50,0.000,4,0.240,0.079,2809,3451,2342,0,0,0,0,0,0
$GC,299,-1.07,-95.6,42.7,-21.7,43,305,0.10,2.22,0.00,0.000,6,0.190,0.045,2832,2066,2343,0,0,0,0,0,0
$GC,639,-1.07,-95.6,101.1,-15.2,84,643,0.00,2.33,0.00,0.000,4,0.000,0.057,2832,645,2344,0,0,0,0,0,0
$GC,671,-1.03,-95.6,106.0,-14.3,85,678,0.08,2.25,0.00,0.000,6,0.174,0.039,2846,2051,2344,0,0,0,0,0,0
$GC,989,-1.03,-95.6,158.3,-15.9,101,993,0.00,2.28,0.00,0.000,4,0.000,0.056,2836,3470,2343,0,0,0,0,0,0
$GC,1043,-1.03,-95.6,166.9,-14.8,103,1049,0.00,2.25,0.00,0.000,6,0.000,0.043,2836,2062,2344,0,0,0,0,0,0
$GC,1362,-1.03,-95.6,212.9,-13.2,119,1363,0.05,0.00,0.00,0.000,6,0.240,0.000,2846,2062,2344,0,0,0,0,0,0
$GC,1669,-1.07,-95.6,258.9,-14.9,134,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2062,2344,0,0,0,0,0,0
$GC,1979,-1.11,-95.6,304.7,-14.1,149,1981,0.05,0.00,0.00,0.000,6,0.168,0.000,2811,2062,2344,0,0,0,0,0,0
$GC,2286,-1.11,-95.6,351.2,-14.9,164,2290,0.00,2.28,0.00,0.000,4,0.000,0.060,2802,3468,2344,0,0,0,0,0,0
$GC,2331,-1.08,-95.6,357.9,-15.8,166,2336,0.12,2.20,0.00,0.000,6,0.181,0.043,2833,2057,2344,0,0,0,0,0,0
$GC,2661,-1.08,-95.6,404.8,-14.5,182,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2057,2344,0,0,0,0,0,0
$GC,2972,-1.08,-95.6,448.5,-14.2,197,2976,0.00,2.33,0.00,0.000,4,0.000,0.063,2824,3472,2344,0,0,0,0,0,0
$GC,3011,-1.08,-95.6,454.0,-13.2,199,3015,0.00,2.22,0.00,0.000,6,0.000,0.045,2824,2061,2344,0,0,0,0,0,0
$GC,3337,-1.08,-95.6,498.3,-13.6,215,3341,0.00,2.30,0.00,0.000,4,0.000,0.061,2815,3477,2344,0,0,0,0,0,0
$GC,3364,-1.08,-95.6,502.3,-14.1,216,3369,0.05,2.25,0.00,0.000,6,0.180,0.044,2830,2066,2345,0,0,0,0,0,0
$GC,3684,-1.08,-95.6,544.7,-13.1,232,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2066,2344,0,0,0,0,0,0
$GC,3995,-1.08,-95.6,587.2,-13.8,247,3999,0.00,2.28,0.00,0.000,4,0.000,0.059,2821,3467,2344,0,0,0,0,0,0
$GC,4049,-1.08,-95.6,595.4,-14.0,249,4055,0.00,2.25,0.00,0.000,6,0.000,0.044,2821,2052,2344,0,0,0,0,0,0
$GC,4366,-1.08,-95.6,637.0,-12.9,265,4370,0.05,2.35,0.00,0.000,4,0.239,0.063,2822,3474,2343,0,0,0,0,0,0
$GC,4405,-1.08,-95.6,641.9,-13.0,267,4409,0.00,2.25,0.00,0.000,6,0.000,0.047,2822,2050,2343,0,0,0,0,0,0
$GC,4731,-1.08,-95.6,682.5,-12.5,283,4735,0.00,2.33,0.00,0.000,4,0.000,0.063,2813,3466,2343,0,0,0,0,0,0
$GC,4757,-1.08,-95.6,686.1,-12.4,284,4762,0.05,2.25,0.00,0.000,6,0.174,0.045,2829,2060,2343,0,0,0,0,0,0
$GC,5077,-1.12,-95.6,725.9,-12.5,300,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2058,2343,0,0,0,0,0,0
$GC,5388,-1.16,-95.6,765.2,-12.4,315,5392,0.00,2.30,0.00,0.000,4,0.000,0.063,2820,3465,2342,0,0,0,0,0,0
$GC,5420,-1.16,-95.6,769.4,-12.5,316,5426,0.00,2.25,0.00,0.000,6,0.000,0.045,2820,2055,2342,0,0,0,0,0,0
$GC,5735,-1.16,-95.6,807.6,-11.8,332,5739,0.00,2.30,0.00,0.000,4,0.000,0.061,2820,647,2342,0,0,0,0,0,0
$GC,5773,-1.16,-95.6,812.2,-12.3,333,5778,0.00,2.28,0.00,0.000,6,0.000,0.047,2811,2059,2342,0,0,0,0,0,0
$GC,6089,-1.16,-95.6,851.6,-12.6,349,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2059,2342,0,0,0,0,0,0
$GC,6397,-1.16,-95.6,890.8,-12.7,364,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2059,2342,0,0,0,0,0,0
$GC,6708,-1.16,-95.6,931.7,-13.3,379,6712,0.00,2.30,0.00,0.000,4,0.000,0.065,2800,3468,2342,0,0,0,0,0,0
$GC,6779,-1.16,-95.6,941.6,-14.2,382,6783,0.00,2.25,0.00,0.000,6,0.000,0.047,2800,2063,2342,0,0,0,0,0,0
$GC,7099,-1.16,-95.6,983.6,-13.1,398,7103,0.00,2.30,0.00,0.000,4,0.000,0.060,2800,646,2342,0,0,0,0,0,0
$GC,7155,-1.12,-95.6,991.3,-14.1,400,7160,0.08,2.28,0.00,0.000,6,0.184,0.042,2814,2069,2342,0,0,0,0,0,0
$STATE,7225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7225,begin apogee
$GC,7231,-0.19,0.0,1000.4,12.9,404,7327,1.05,0.00,89.43,1.287,6,0.169,0.000,3115,1587,1950,0,0,0,0,0,0
$STATE,7328,end apogee,CONTROL_FINISHED_OK
$STATE,7328,begin climb
$GC,7330,1.12,95.6,1004.1,0.0,409,7432,1.27,2.50,93.03,1.250,4,0.088,0.056,3551,199,1559,0,0,0,0,0,0
$GC,7458,1.12,95.6,995.0,11.5,415,7463,0.00,2.42,0.00,0.000,6,0.000,0.038,3551,1600,1556,0,0,0,0,0,0
$GC,7786,1.12,95.6,955.2,12.1,431,7790,0.00,2.40,0.00,0.000,4,0.000,0.054,3560,189,1551,0,0,0,0,0,0
$GC,7852,1.08,95.6,946.5,14.1,434,7858,0.08,2.33,0.00,0.000,6,0.168,0.037,3538,1605,1551,0,0,0,0,0,0
$GC,8178,1.12,95.6,908.1,12.1,450,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1605,1550,0,0,0,0,0,0
$GC,8489,1.17,95.6,870.5,12.0,465,8494,0.05,2.33,0.00,0.000,4,0.168,0.054,3582,196,1549,0,0,0,0,0,0
$GC,8532,1.09,95.6,864.5,14.7,467,8537,0.12,2.25,0.00,0.000,6,0.161,0.037,3536,1603,1549,0,0,0,0,0,0
$GC,8859,1.13,95.6,825.4,11.6,483,8863,0.00,2.33,0.00,0.000,4,0.000,0.054,3546,192,1549,0,0,0,0,0,0
$GC,9011,1.13,95.6,806.9,11.9,490,9015,0.00,2.22,0.00,0.000,6,0.000,0.038,3546,1600,1548,0,0,0,0,0,0
$GC,9336,1.13,95.6,770.5,10.6,506,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1601,1548,0,0,0,0,0,0
$GC,9647,1.13,95.6,738.8,10.3,521,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1601,1548,0,0,0,0,0,0
$GC,9955,1.16,95.6,705.1,10.9,536,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1601,1547,0,0,0,0,0,0
$GC,10266,1.19,95.6,672.3,10.6,551,10268,0.05,0.00,0.00,0.000,6,0.168,0.000,3581,1601,1548,0,0,0,0,0,0
$GC,10574,1.16,95.6,634.8,12.7,566,10578,0.10,2.25,0.00,0.000,4,0.188,0.055,3558,3002,1547,0,0,0,0,0,0
$GC,10622,1.16,95.6,628.4,12.7,568,10627,0.00,2.20,0.00,0.000,6,0.000,0.037,3566,1601,1547,0,0,0,0,0,0
$GC,10943,1.16,95.6,589.0,12.3,584,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1601,1548,0,0,0,0,0,0
$GC,11254,1.16,95.6,550.8,12.5,599,11258,0.00,2.30,0.00,0.000,4,0.000,0.056,3577,188,1547,0,0,0,0,0,0
$GC,11339,1.11,95.6,539.9,13.1,603,11344,0.12,2.20,0.00,0.000,6,0.184,0.037,3546,1602,1547,0,0,0,0,0,0
$GC,11666,1.15,95.6,502.4,11.2,619,11670,0.00,2.30,0.00,0.000,4,0.000,0.054,3555,195,1547,0,0,0,0,0,0
$GC,11715,1.15,95.6,496.2,12.1,621,11720,0.00,2.22,0.00,0.000,6,0.000,0.038,3555,1602,1547,0,0,0,0,0,0
$GC,12037,1.15,95.6,461.1,10.8,637,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1602,1547,0,0,0,0,0,0
$GC,12346,1.18,95.6,428.8,10.2,652,12350,0.00,2.30,0.00,0.000,4,0.000,0.054,3564,195,1546,0,0,0,0,0,0
$GC,12384,1.18,95.6,424.6,10.9,654,12388,0.00,2.20,0.00,0.000,6,0.000,0.037,3564,1601,1546,0,0,0,0,0,0
$GC,12709,1.18,95.6,390.2,10.4,670,12713,0.00,2.30,0.00,0.000,4,0.000,0.053,3573,190,1546,0,0,0,0,0,0
$GC,12804,1.15,95.6,379.6,11.3,674,12809,0.08,2.20,0.00,0.000,6,0.203,0.037,3557,1602,1547,0,0,0,0,0,0
$GC,13125,1.18,95.6,346.9,9.7,690,13129,0.00,2.22,0.00,0.000,4,0.000,0.055,3557,2997,1547,0,0,0,0,0,0
$GC,13168,1.18,95.6,342.4,10.2,692,13173,0.00,2.20,0.00,0.000,6,0.000,0.037,3566,1596,1546,0,0,0,0,0,0
$GC,13500,1.18,95.6,309.5,10.7,708,13504,0.00,2.30,0.00,0.000,4,0.000,0.055,3576,179,1546,0,0,0,0,0,0
$GC,13544,1.14,95.6,304.4,11.1,710,13549,0.10,2.22,0.00,0.000,6,0.194,0.039,3553,1605,1547,0,0,0,0,0,0
$GC,13877,1.18,95.6,268.5,10.6,726,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1605,1546,0,0,0,0,0,0
$GC,14187,1.18,95.6,237.4,9.3,741,14191,0.00,2.30,0.00,0.000,4,0.000,0.053,3562,192,1546,0,0,0,0,0,0
$GC,14309,1.18,95.6,224.4,10.2,746,14317,0.00,2.22,0.00,0.000,6,0.000,0.037,3562,1604,1546,0,0,0,0,0,0
$GC,14626,1.18,95.6,194.7,9.3,762,14630,0.00,2.22,0.00,0.000,4,0.000,0.054,3562,3000,1546,0,0,0,0,0,0
$GC,14666,1.18,95.6,190.8,9.6,764,14670,0.00,2.17,0.00,0.000,6,0.000,0.037,3570,1592,1546,0,0,0,0,0,0
$GC,14992,1.18,95.6,158.7,8.8,780,14996,0.00,2.25,0.00,0.000,4,0.000,0.055,3581,189,1546,0,0,0,0,0,0
$GC,15251,1.14,98.7,137.1,8.2,791,15256,0.12,2.20,0.00,0.000,6,0.182,0.037,3550,1605,1547,0,0,0,0,0,0
$GC,15568,1.14,98.7,110.5,8.8,806,15572,0.00,2.28,0.00,0.000,4,0.000,0.051,3560,193,1546,0,0,0,0,0,0
$GC,15685,1.14,98.7,99.3,10.2,811,15690,0.00,2.20,0.00,0.000,6,0.000,0.036,3560,1596,1546,0,0,0,0,0,0
$GC,16013,1.18,101.8,72.9,8.2,838,16023,0.00,0.00,4.32,0.474,6,0.000,0.000,3560,1596,1535,0,0,0,0,0,0
$GC,16372,1.23,101.8,34.4,11.0,900,16380,0.05,0.00,0.00,0.000,6,0.168,0.000,3593,1597,1536,0,0,0,0,0,0
$GC,16529,1.24,121.1,20.8,6.3,925,16543,0.00,0.00,11.15,0.609,6,0.000,0.000,3593,1597,1455,0,0,0,0,0,0
$GC,16694,1.21,121.1,6.8,10.8,951,16701,0.08,0.00,0.00,0.000,6,0.214,0.000,3578,1605,1453,0,0,0,0,0,0
$STATE,16739,end climb,SURFACE_DEPTH_REACHED
$STATE,16739,begin surface coast
$FINISH,2.0,1.023450
$STATE,16783,end surface coast,CONTROL_FINISHED_OK
$STATE,16783,begin surface
$SM_CCo,16801,38.95,0.056,0,0,1132,200.16
$SM_GC,3.45,0.00,0.00,38.95,0.000,0.000,0.056,64,2065,1132,-9.76,0.14,200.16
$IRIDIUM_FIX,-4450.47,625.47,240708,232328
$TT8_MAMPS,0.027713
$HUMID,62.91
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.30
$XPDR_PINGS,1
$24V_AH,22.8,36.856
$10V_AH,9.7,38.767
$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,24.650,128.725,197.925,38.950,0.000,25.029,44.302,298.901,0.250,0.000,21.810,2123.782,11904.351,341.630,2785.318,188.059,0.000,1358.670,0.000,2302.051,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,78.795,1287.495,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.149,1416.987,792.118,473.229,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353228
$DATA_FILE_SIZE,70587,965
$CAP_FILE_SIZE,146902,0
$CFSIZE,2097086464,2053275648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280915,200433,-4505.344,623.241,101,1.4,101,-24.3