version: 66.07.10.p01
glider: 573
mission: 12
dive: 303
start: 9 30 115 4 14 12
data:
$ID,573
$MISSION,12
$DIVE,303
$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,-21978.994
$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,31
$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,302
$GPS1,300915,040633,-4455.334,624.002,33,1.4,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-69.8
$GPS2,300915,041352,-4455.307,623.999,18,1.5,19,-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,204.3,1284,-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,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-19.52,0.000,2,0.000,0.000,62,2073,1516,0,0,0,0,0,0
$GC,49,-1.13,-104.1,3.2,-2.3,3,106,11.55,2.28,-39.20,0.000,4,0.246,0.074,2808,3453,2372,0,0,0,0,0,0
$GC,378,-1.06,-104.1,50.0,-21.5,57,386,0.08,2.25,0.00,0.000,6,0.166,0.044,2831,2057,2374,0,0,0,0,0,0
$GC,719,-1.06,-104.1,108.4,-16.7,95,723,0.00,2.33,0.00,0.000,4,0.000,0.062,2823,3462,2374,0,0,0,0,0,0
$GC,795,-1.06,-104.1,122.5,-16.3,98,804,0.03,2.22,0.00,0.000,6,0.196,0.041,2833,2060,2374,0,0,0,0,0,0
$GC,1112,-1.06,-104.1,171.6,-15.6,114,1116,0.00,2.28,0.00,0.000,4,0.000,0.057,2837,648,2374,0,0,0,0,0,0
$GC,1188,-1.06,-104.1,185.0,-17.2,117,1195,0.00,2.25,0.00,0.000,6,0.000,0.042,2828,2048,2374,0,0,0,0,0,0
$GC,1507,-1.06,-104.1,233.4,-14.6,133,1511,0.00,2.30,0.00,0.000,4,0.000,0.059,2817,3471,2374,0,0,0,0,0,0
$GC,1639,-1.06,-104.1,252.6,-14.7,139,1644,0.10,2.22,0.00,0.000,6,0.187,0.044,2841,2058,2375,0,0,0,0,0,0
$GC,1970,-1.09,-104.1,298.6,-14.3,155,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2058,2375,0,0,0,0,0,0
$GC,2273,-1.14,-104.1,342.3,-14.0,170,2275,0.08,0.00,0.00,0.000,6,0.122,0.000,2803,2058,2375,0,0,0,0,0,0
$GC,2584,-1.11,-104.1,390.0,-15.1,185,2589,0.10,2.35,0.00,0.000,4,0.199,0.064,2816,3476,2375,0,0,0,0,0,0
$GC,2644,-1.11,-104.1,399.3,-14.5,188,2649,0.00,2.22,0.00,0.000,6,0.000,0.044,2819,2062,2375,0,0,0,0,0,0
$GC,2976,-1.11,-104.1,446.7,-14.5,204,2980,0.00,2.30,0.00,0.000,4,0.000,0.060,2810,3472,2375,0,0,0,0,0,0
$GC,3020,-1.11,-104.1,453.3,-15.1,206,3025,0.05,2.22,0.00,0.000,6,0.223,0.044,2822,2055,2375,0,0,0,0,0,0
$GC,3351,-1.11,-104.1,499.7,-14.0,222,3355,0.00,2.25,0.00,0.000,4,0.000,0.058,2822,650,2375,0,0,0,0,0,0
$GC,3406,-1.11,-104.1,507.7,-14.9,224,3411,0.00,2.28,0.00,0.000,6,0.000,0.046,2813,2067,2375,0,0,0,0,0,0
$GC,3726,-1.11,-104.1,553.9,-14.6,240,3730,0.00,2.28,0.00,0.000,4,0.000,0.063,2802,3470,2375,0,0,0,0,0,0
$GC,3781,-1.11,-104.1,562.4,-14.9,242,3787,0.05,2.22,0.00,0.000,6,0.174,0.044,2818,2069,2375,0,0,0,0,0,0
$GC,4101,-1.11,-104.1,607.7,-14.1,258,4105,0.00,2.28,0.00,0.000,4,0.000,0.060,2810,3466,2376,0,0,0,0,0,0
$GC,4156,-1.11,-104.1,616.1,-15.5,260,4162,0.03,2.22,0.00,0.000,6,0.185,0.044,2819,2063,2375,0,0,0,0,0,0
$GC,4476,-1.11,-104.1,661.9,-14.0,276,4480,0.00,2.28,0.00,0.000,4,0.000,0.058,2811,3471,2375,0,0,0,0,0,0
$GC,4531,-1.11,-104.1,669.9,-14.3,278,4536,0.00,2.25,0.00,0.000,6,0.000,0.045,2811,2060,2375,0,0,0,0,0,0
$GC,4852,-1.11,-104.1,715.5,-14.1,294,4854,0.05,0.00,0.00,0.000,6,0.236,0.000,2822,2060,2375,0,0,0,0,0,0
$GC,5163,-1.14,-104.1,755.8,-12.5,309,5167,0.00,2.33,0.00,0.000,4,0.000,0.063,2812,3469,2374,0,0,0,0,0,0
$GC,5240,-1.14,-104.1,766.1,-12.5,312,5247,0.00,2.25,0.00,0.000,6,0.000,0.044,2812,2056,2374,0,0,0,0,0,0
$GC,5555,-1.14,-104.1,806.3,-12.9,328,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2056,2374,0,0,0,0,0,0
$GC,5866,-1.14,-104.1,845.2,-12.3,343,5870,0.00,2.33,0.00,0.000,4,0.000,0.063,2804,3469,2374,0,0,0,0,0,0
$GC,5937,-1.14,-104.1,854.4,-12.7,346,5941,0.00,2.25,0.00,0.000,6,0.000,0.046,2804,2061,2374,0,0,0,0,0,0
$GC,6257,-1.14,-104.1,895.6,-12.8,362,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2061,2374,0,0,0,0,0,0
$GC,6568,-1.14,-104.1,935.7,-12.5,377,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2061,2373,0,0,0,0,0,0
$GC,6876,-1.14,-104.1,976.1,-13.6,392,6880,0.00,2.30,0.00,0.000,4,0.000,0.062,2795,3472,2373,0,0,0,0,0,0
$GC,6925,-1.14,-104.1,983.0,-13.5,394,6931,0.05,2.25,0.00,0.000,6,0.174,0.046,2810,2064,2373,0,0,0,0,0,0
$STATE,7066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7066,begin apogee
$GC,7071,-0.19,0.0,1001.6,13.0,401,7172,1.05,0.00,96.43,1.285,6,0.168,0.000,3113,1579,1950,0,0,0,0,0,0
$STATE,7172,end apogee,CONTROL_FINISHED_OK
$STATE,7172,begin climb
$GC,7174,1.13,104.1,1006.0,0.0,406,7286,1.30,2.53,101.57,1.249,4,0.090,0.055,3553,205,1523,0,0,0,0,0,0
$GC,7324,1.13,104.1,994.1,13.8,413,7329,0.00,2.42,0.00,0.000,6,0.000,0.038,3553,1606,1520,0,0,0,0,0,0
$GC,7652,1.13,104.1,952.3,13.0,429,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1607,1516,0,0,0,0,0,0
$GC,7959,1.13,104.1,911.7,13.3,444,7964,0.00,2.38,0.00,0.000,4,0.000,0.054,3562,189,1514,0,0,0,0,0,0
$GC,8014,1.13,104.1,904.0,14.2,446,8019,0.00,2.28,0.00,0.000,6,0.000,0.035,3562,1602,1514,0,0,0,0,0,0
$GC,8337,1.13,104.1,860.2,13.6,462,8338,0.05,0.00,0.00,0.000,6,0.231,0.000,3551,1602,1513,0,0,0,0,0,0
$GC,8646,1.13,104.1,820.3,12.8,477,8650,0.00,2.33,0.00,0.000,4,0.000,0.054,3560,193,1514,0,0,0,0,0,0
$GC,8685,1.13,104.1,815.1,13.4,479,8689,0.00,2.20,0.00,0.000,6,0.000,0.037,3561,1602,1512,0,0,0,0,0,0
$GC,9011,1.13,104.1,772.5,13.2,495,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1602,1513,0,0,0,0,0,0
$GC,9319,1.13,104.1,731.6,13.2,510,9323,0.00,2.28,0.00,0.000,4,0.000,0.054,3560,2996,1512,0,0,0,0,0,0
$GC,9346,1.13,104.1,727.9,13.4,511,9351,0.05,2.20,0.00,0.000,6,0.178,0.037,3553,1604,1512,0,0,0,0,0,0
$GC,9673,1.13,104.1,687.3,12.6,527,9677,0.00,2.30,0.00,0.000,4,0.000,0.056,3563,194,1512,0,0,0,0,0,0
$GC,9772,1.13,104.1,674.0,14.0,531,9778,0.03,2.22,0.00,0.000,6,0.194,0.037,3554,1598,1512,0,0,0,0,0,0
$GC,10088,1.13,104.1,634.9,12.3,547,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1598,1511,0,0,0,0,0,0
$GC,10397,1.16,104.1,596.6,12.6,562,10400,0.00,2.22,0.00,0.000,4,0.000,0.054,3554,2990,1511,0,0,0,0,0,0
$GC,10412,1.16,104.1,594.6,12.0,562,10418,0.00,2.17,0.00,0.000,6,0.000,0.036,3562,1601,1511,0,0,0,0,0,0
$GC,10727,1.16,104.1,555.9,11.9,578,10731,0.00,2.28,0.00,0.000,4,0.000,0.055,3572,194,1511,0,0,0,0,0,0
$GC,10833,1.13,104.1,542.6,12.5,582,10839,0.08,2.22,0.00,0.000,6,0.163,0.036,3550,1602,1511,0,0,0,0,0,0
$GC,11148,1.17,104.1,507.4,11.2,598,11152,0.00,2.30,0.00,0.000,4,0.000,0.054,3558,193,1511,0,0,0,0,0,0
$GC,11185,1.17,104.1,502.9,11.8,600,11189,0.00,2.17,0.00,0.000,6,0.000,0.037,3558,1602,1511,0,0,0,0,0,0
$GC,11517,1.17,104.1,463.7,12.2,616,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1511,0,0,0,0,0,0
$GC,11827,1.17,104.1,426.8,11.8,631,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1602,1511,0,0,0,0,0,0
$GC,12135,1.17,104.1,389.6,11.9,646,12139,0.00,2.30,0.00,0.000,4,0.000,0.052,3568,191,1511,0,0,0,0,0,0
$GC,12159,1.17,104.1,387.0,11.7,647,12163,0.00,2.20,0.00,0.000,6,0.000,0.037,3568,1600,1511,0,0,0,0,0,0
$GC,12485,1.17,104.1,348.3,11.8,663,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1601,1511,0,0,0,0,0,0
$GC,12793,1.17,104.1,312.1,11.7,678,12797,0.00,2.30,0.00,0.000,4,0.000,0.053,3577,189,1511,0,0,0,0,0,0
$GC,12825,1.17,104.1,308.2,11.9,679,12830,0.05,2.22,0.00,0.000,6,0.171,0.037,3561,1600,1511,0,0,0,0,0,0
$GC,13151,1.20,104.1,272.7,11.0,695,13155,0.00,2.30,0.00,0.000,4,0.000,0.053,3570,189,1511,0,0,0,0,0,0
$GC,13206,1.20,104.1,265.4,12.4,697,13212,0.00,2.22,0.00,0.000,6,0.000,0.037,3570,1601,1511,0,0,0,0,0,0
$GC,13525,1.20,104.1,227.4,11.6,713,13529,0.00,2.20,0.00,0.000,4,0.000,0.054,3570,2993,1511,0,0,0,0,0,0
$GC,13552,1.20,104.1,223.5,11.7,714,13556,0.00,2.17,0.00,0.000,6,0.000,0.036,3579,1591,1511,0,0,0,0,0,0
$GC,13870,1.20,104.1,186.5,11.6,729,13874,0.00,2.28,0.00,0.000,4,0.000,0.054,3578,2999,1511,0,0,0,0,0,0
$GC,13918,1.20,104.1,180.6,10.5,731,13924,0.05,2.20,0.00,0.000,6,0.180,0.036,3572,1590,1511,0,0,0,0,0,0
$GC,14242,1.20,104.1,148.2,9.6,747,14246,0.00,2.25,0.00,0.000,4,0.000,0.054,3582,199,1511,0,0,0,0,0,0
$GC,14441,1.20,104.1,126.6,10.8,756,14445,0.00,2.20,0.00,0.000,6,0.000,0.037,3582,1611,1511,0,0,0,0,0,0
$GC,14767,1.20,104.1,91.3,11.5,772,14771,0.00,2.30,0.00,0.000,4,0.000,0.051,3591,192,1511,0,0,0,0,0,0
$GC,14839,1.16,104.1,82.6,11.4,775,14844,0.12,2.22,0.00,0.000,6,0.180,0.036,3560,1609,1511,0,0,0,0,0,0
$GC,15189,1.21,104.1,46.1,9.7,832,15194,0.00,2.30,0.00,0.000,4,0.000,0.052,3569,192,1511,0,0,0,0,0,0
$GC,15297,1.21,104.1,33.3,11.6,850,15304,0.00,2.20,0.00,0.000,6,0.000,0.034,3569,1602,1511,0,0,0,0,0,0
$GC,15454,1.21,104.1,15.9,11.0,875,15460,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1602,1511,0,0,0,0,0,0
$GC,15511,1.21,104.1,9.5,10.7,884,15518,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1602,1511,0,0,0,0,0,0
$STATE,15568,end climb,SURFACE_DEPTH_REACHED
$STATE,15568,begin surface coast
$FINISH,1.9,1.011685
$STATE,15600,end surface coast,CONTROL_FINISHED_OK
$STATE,15600,begin surface
$SM_CCo,15618,45.78,0.055,0,0,1133,200.16
$SM_GC,2.68,0.00,0.00,45.78,0.000,0.000,0.055,75,2073,1133,-9.72,0.40,200.16
$IRIDIUM_FIX,-4441.36,624.45,260708,060651
$TT8_MAMPS,0.026964
$HUMID,63.78
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,22.6,37.619
$10V_AH,9.8,39.519
$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,24.175,132.775,198.000,45.775,0.000,25.411,26.871,259.272,0.250,0.000,20.780,1984.792,11015.330,354.191,2574.282,175.470,0.000,1319.042,0.000,2155.970,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,74.205,1285.200,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.951,1307.192,732.378,444.742,0.000,0.000,0.000,0.000,0.000,0.000
$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,63709,898
$CAP_FILE_SIZE,137553,0
$CFSIZE,2097086464,2052390912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300915,083634,-4457.221,624.159,42,1.0,42,-24.4