version: 66.07.10.p01
glider: 573
mission: 12
dive: 304
start: 9 30 115 8 44 7
data:
$ID,573
$MISSION,12
$DIVE,304
$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,-21982.441
$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,38
$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,303
$GPS1,300915,083634,-4457.221,624.159,42,1.0,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-72.6
$GPS2,300915,084347,-4457.258,624.172,17,1.2,18,-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,18.9,2340,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-24.65,0.000,2,0.000,0.000,74,2074,1622,0,0,0,0,0,0
$GC,55,-1.12,-93.6,3.5,-3.5,4,106,11.50,2.35,-28.95,0.000,4,0.246,0.071,2817,668,2333,0,0,0,0,0,0
$GC,279,-1.04,-93.6,31.5,-16.8,40,288,0.10,2.25,0.00,0.000,6,0.175,0.043,2838,2045,2335,0,0,0,0,0,0
$GC,429,-1.04,-93.6,55.6,-15.9,65,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2045,2335,0,0,0,0,0,0
$GC,774,-1.04,-93.6,109.7,-16.0,102,778,0.00,2.33,0.00,0.000,4,0.000,0.063,2828,3469,2335,0,0,0,0,0,0
$GC,898,-1.04,-93.6,129.2,-15.6,107,904,0.05,2.25,0.00,0.000,6,0.172,0.044,2843,2069,2335,0,0,0,0,0,0
$GC,1216,-1.04,-93.6,172.5,-13.1,123,1220,0.00,2.28,0.00,0.000,4,0.000,0.057,2834,3471,2336,0,0,0,0,0,0
$GC,1278,-1.04,-93.6,180.8,-13.0,126,1282,0.00,2.22,0.00,0.000,6,0.000,0.044,2834,2057,2336,0,0,0,0,0,0
$GC,1604,-1.04,-93.6,226.6,-14.4,142,1608,0.00,2.25,0.00,0.000,4,0.000,0.057,2834,656,2336,0,0,0,0,0,0
$GC,1658,-1.04,-93.6,235.1,-15.0,144,1667,0.05,2.28,0.00,0.000,6,0.187,0.045,2841,2064,2336,0,0,0,0,0,0
$GC,1975,-1.04,-93.6,280.6,-14.3,160,1979,0.00,2.30,0.00,0.000,4,0.000,0.064,2830,3470,2336,0,0,0,0,0,0
$GC,1994,-1.04,-93.6,283.1,-14.5,161,1998,0.00,2.20,0.00,0.000,6,0.000,0.044,2836,2060,2336,0,0,0,0,0,0
$GC,2320,-1.04,-93.6,329.5,-13.7,177,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2060,2337,0,0,0,0,0,0
$GC,2628,-1.04,-93.6,371.0,-13.2,192,2632,0.00,2.30,0.00,0.000,4,0.000,0.061,2827,3469,2336,0,0,0,0,0,0
$GC,2683,-1.04,-93.6,378.5,-13.3,194,2688,0.05,2.25,0.00,0.000,6,0.166,0.044,2843,2059,2336,0,0,0,0,0,0
$GC,3004,-1.08,-93.6,420.8,-13.3,210,3008,0.00,2.33,0.00,0.000,4,0.000,0.061,2834,3478,2336,0,0,0,0,0,0
$GC,3048,-1.08,-93.6,426.8,-13.9,212,3052,0.00,2.25,0.00,0.000,6,0.000,0.044,2834,2063,2336,0,0,0,0,0,0
$GC,3374,-1.08,-93.6,469.5,-12.8,228,3378,0.00,2.30,0.00,0.000,4,0.000,0.060,2825,3470,2336,0,0,0,0,0,0
$GC,3412,-1.08,-93.6,474.7,-14.1,229,3417,0.00,2.25,0.00,0.000,6,0.000,0.044,2825,2060,2336,0,0,0,0,0,0
$GC,3728,-1.08,-93.6,516.7,-13.1,245,3732,0.00,2.25,0.00,0.000,4,0.000,0.057,2825,654,2336,0,0,0,0,0,0
$GC,3817,-1.08,-93.6,529.3,-14.0,249,3822,0.05,2.28,0.00,0.000,6,0.187,0.045,2831,2065,2336,0,0,0,0,0,0
$GC,4144,-1.08,-93.6,572.5,-13.0,265,4148,0.00,2.28,0.00,0.000,4,0.000,0.065,2821,3475,2336,0,0,0,0,0,0
$GC,4170,-1.08,-93.6,576.2,-13.5,266,4175,0.00,2.25,0.00,0.000,6,0.000,0.045,2825,2063,2336,0,0,0,0,0,0
$GC,4490,-1.08,-93.6,618.0,-12.9,282,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2063,2336,0,0,0,0,0,0
$GC,4801,-1.08,-93.6,658.1,-13.0,297,4805,0.00,2.30,0.00,0.000,4,0.000,0.060,2816,3472,2335,0,0,0,0,0,0
$GC,4900,-1.08,-93.6,671.6,-13.2,301,4906,0.03,2.28,0.00,0.000,6,0.194,0.046,2828,2053,2336,0,0,0,0,0,0
$GC,5217,-1.11,-93.6,711.1,-12.4,317,5221,0.00,2.33,0.00,0.000,4,0.000,0.064,2819,3470,2335,0,0,0,0,0,0
$GC,5294,-1.11,-93.6,721.6,-13.2,320,5301,0.00,2.25,0.00,0.000,6,0.000,0.046,2819,2063,2335,0,0,0,0,0,0
$GC,5609,-1.11,-93.6,762.9,-13.3,336,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2063,2335,0,0,0,0,0,0
$GC,5920,-1.11,-93.6,802.4,-12.4,351,5924,0.00,2.30,0.00,0.000,4,0.000,0.059,2810,3477,2335,0,0,0,0,0,0
$GC,6053,-1.11,-93.6,820.0,-13.2,357,6058,0.03,2.25,0.00,0.000,6,0.188,0.046,2819,2069,2335,0,0,0,0,0,0
$GC,6380,-1.11,-93.6,859.6,-11.9,373,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2069,2335,0,0,0,0,0,0
$GC,6688,-1.15,-93.6,893.8,-10.8,388,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2069,2335,0,0,0,0,0,0
$GC,6999,-1.18,-93.6,925.7,-10.2,403,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2070,2335,0,0,0,0,0,0
$GC,7307,-1.22,-93.6,955.1,-9.5,418,7309,0.10,0.00,0.00,0.000,6,0.106,0.000,2773,2070,2334,0,0,0,0,0,0
$GC,7618,-1.18,-93.6,988.4,-11.0,433,7622,0.12,2.30,0.00,0.000,4,0.198,0.060,2793,3479,2334,0,0,0,0,0,0
$GC,7688,-1.18,-93.6,996.3,-10.7,436,7693,0.00,2.28,0.00,0.000,6,0.000,0.045,2795,2053,2334,0,0,0,0,0,0
$STATE,7725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7725,begin apogee
$GC,7730,-0.19,0.0,1000.2,10.6,438,7822,1.12,0.00,87.75,1.287,6,0.168,0.000,3118,1591,1950,0,0,0,0,0,0
$STATE,7822,end apogee,CONTROL_FINISHED_OK
$STATE,7822,begin climb
$GC,7824,1.12,93.6,1002.0,0.0,442,7927,1.27,2.55,91.25,1.250,4,0.089,0.055,3551,192,1567,0,0,0,0,0,0
$GC,7983,1.12,93.6,985.8,14.6,449,7988,0.00,2.40,0.00,0.000,6,0.000,0.036,3551,1611,1563,0,0,0,0,0,0
$GC,8297,1.12,93.6,944.2,12.9,464,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1560,0,0,0,0,0,0
$GC,8608,1.12,93.6,905.4,12.7,479,8612,0.00,2.38,0.00,0.000,4,0.000,0.054,3561,192,1558,0,0,0,0,0,0
$GC,8679,1.09,93.6,896.0,13.5,482,8684,0.10,2.25,0.00,0.000,6,0.188,0.037,3538,1616,1557,0,0,0,0,0,0
$GC,9000,1.13,93.6,859.1,11.5,498,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1616,1557,0,0,0,0,0,0
$GC,9310,1.17,93.6,823.9,11.1,513,9315,0.08,2.35,0.00,0.000,4,0.125,0.053,3591,188,1557,0,0,0,0,0,0
$GC,9404,1.08,93.6,811.3,13.7,517,9409,0.22,2.25,0.00,0.000,6,0.169,0.037,3531,1630,1556,0,0,0,0,0,0
$GC,9726,1.14,93.6,775.5,11.3,533,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1630,1556,0,0,0,0,0,0
$GC,10033,1.20,93.6,740.9,11.5,548,10035,0.10,0.00,0.00,0.000,6,0.103,0.000,3585,1630,1555,0,0,0,0,0,0
$GC,10344,1.16,93.6,698.8,14.0,563,10349,0.10,2.35,0.00,0.000,4,0.187,0.054,3571,191,1555,0,0,0,0,0,0
$GC,10451,1.12,93.6,683.8,14.7,568,10456,0.10,2.20,0.00,0.000,6,0.186,0.036,3548,1615,1555,0,0,0,0,0,0
$GC,10777,1.16,93.6,644.3,11.4,584,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1615,1555,0,0,0,0,0,0
$GC,11087,1.19,93.6,608.8,11.6,599,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1615,1554,0,0,0,0,0,0
$GC,11395,1.23,93.6,573.5,11.5,614,11400,0.10,2.33,0.00,0.000,4,0.099,0.054,3608,192,1554,0,0,0,0,0,0
$GC,11457,1.12,93.6,565.4,14.1,617,11462,0.22,2.20,0.00,0.000,6,0.174,0.038,3549,1598,1554,0,0,0,0,0,0
$GC,11785,1.16,93.6,529.3,11.1,633,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1598,1554,0,0,0,0,0,0
$GC,12092,1.20,93.6,496.4,10.5,648,12097,0.05,2.28,0.00,0.000,4,0.169,0.054,3593,186,1554,0,0,0,0,0,0
$GC,12186,1.12,93.6,484.8,12.1,652,12191,0.17,2.22,0.00,0.000,6,0.175,0.037,3548,1607,1554,0,0,0,0,0,0
$GC,12506,1.17,93.6,449.8,10.8,668,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1607,1554,0,0,0,0,0,0
$GC,12817,1.21,93.6,416.4,10.6,683,12822,0.08,2.30,0.00,0.000,4,0.125,0.054,3600,191,1553,0,0,0,0,0,0
$GC,12929,1.12,93.6,402.0,12.6,688,12934,0.20,2.17,0.00,0.000,6,0.174,0.036,3547,1602,1553,0,0,0,0,0,0
$GC,13249,1.17,93.6,366.4,10.9,704,13253,0.00,2.20,0.00,0.000,4,0.000,0.054,3547,2993,1553,0,0,0,0,0,0
$GC,13321,1.17,93.6,357.9,11.2,707,13326,0.00,2.20,0.00,0.000,6,0.000,0.037,3555,1593,1553,0,0,0,0,0,0
$GC,13644,1.21,93.6,323.3,10.4,723,13648,0.00,2.28,0.00,0.000,4,0.000,0.055,3565,190,1553,0,0,0,0,0,0
$GC,13765,1.21,93.6,309.4,11.2,728,13771,0.00,2.22,0.00,0.000,6,0.000,0.037,3565,1598,1553,0,0,0,0,0,0
$GC,14082,1.21,93.6,274.1,11.3,744,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1598,1553,0,0,0,0,0,0
$GC,14393,1.21,93.6,238.0,11.8,759,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1598,1553,0,0,0,0,0,0
$GC,14700,1.21,93.6,203.4,11.1,774,14701,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1598,1553,0,0,0,0,0,0
$GC,15012,1.21,93.6,170.9,10.0,789,15013,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1598,1553,0,0,0,0,0,0
$GC,15319,1.21,94.0,144.7,8.5,804,15323,0.00,2.30,0.00,0.000,4,0.000,0.053,3575,186,1553,0,0,0,0,0,0
$GC,15578,1.21,94.0,118.5,11.1,815,15585,0.00,2.22,0.00,0.000,6,0.000,0.035,3575,1601,1553,0,0,0,0,0,0
$GC,15897,1.21,94.0,86.0,10.3,831,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1601,1553,0,0,0,0,0,0
$GC,16231,1.21,94.0,50.6,10.7,882,16237,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1601,1553,0,0,0,0,0,0
$GC,16598,1.21,94.0,13.0,10.4,943,16606,0.00,2.25,0.00,0.000,4,0.000,0.053,3575,2996,1553,0,0,0,0,0,0
$GC,16627,1.21,94.0,10.2,9.7,947,16634,0.00,2.17,0.00,0.000,6,0.000,0.037,3584,1603,1553,0,0,0,0,0,0
$GC,16685,1.21,94.0,4.2,10.2,956,16692,0.00,2.30,0.00,0.000,4,0.000,0.054,3594,193,1553,0,0,0,0,0,0
$STATE,16699,end climb,SURFACE_DEPTH_REACHED
$STATE,16699,begin surface coast
$FINISH,1.8,1.023437
$STATE,16731,end surface coast,CONTROL_FINISHED_OK
$STATE,16732,begin surface
$SM_CCo,16752,50.80,0.055,0,0,1132,200.16
$SM_GC,3.68,0.00,0.00,50.80,0.000,0.000,0.055,80,2064,1132,-9.70,0.11,200.16
$IRIDIUM_FIX,-4441.36,624.45,260708,060651
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,37.703
$10V_AH,9.8,39.621
$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,25.325,119.800,179.000,50.800,0.000,27.811,19.036,255.632,0.000,0.000,19.919,2109.699,11880.384,342.109,2719.450,183.683,0.000,1350.010,0.000,2304.474,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,71.145,1286.730,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.363,1393.497,775.339,461.249,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,70563,963
$CAP_FILE_SIZE,142657,0
$CFSIZE,2097086464,2052227072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300915,132528,-4455.553,625.497,42,1.1,42,-24.4