version: 66.07.10.p01
glider: 573
mission: 12
dive: 189
start: 9 4 115 19 11 2
data:
$ID,573
$MISSION,12
$DIVE,189
$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,-21594.936
$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,35
$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,188
$GPS1,040915,190303,-4505.362,625.050,22,1.0,22,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-72.6
$GPS2,040915,191041,-4505.440,625.091,18,1.4,18,-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,356.3,3024,-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,-49.9,0.0,0.0,0,40,0.00,0.00,-14.70,0.000,2,0.000,0.000,61,2071,1428,0,0,0,0,0,0
$GC,42,-1.13,-114.6,3.1,-1.1,2,112,10.95,2.35,-47.60,0.000,4,0.232,0.070,2811,657,2420,0,0,0,0,0,0
$GC,134,-1.04,-114.6,6.4,-9.8,16,142,0.12,2.28,0.00,0.000,6,0.172,0.044,2841,2058,2421,0,0,0,0,0,0
$GC,193,-1.04,-114.6,16.3,-17.5,25,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2422,0,0,0,0,0,0
$GC,250,-1.04,-114.6,26.5,-17.6,34,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2422,0,0,0,0,0,0
$GC,397,-1.04,-114.6,53.2,-17.7,59,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2058,2422,0,0,0,0,0,0
$GC,740,-1.04,-114.6,111.3,-17.0,114,744,0.00,2.25,0.00,0.000,4,0.000,0.063,2830,3465,2423,0,0,0,0,0,0
$GC,795,-1.04,-114.6,121.0,-17.7,118,801,0.08,2.20,0.00,0.000,6,0.190,0.042,2847,2056,2423,0,0,0,0,0,0
$GC,1122,-1.08,-114.6,177.2,-16.2,149,1127,0.00,2.28,0.00,0.000,4,0.000,0.064,2837,3465,2423,0,0,0,0,0,0
$GC,1166,-1.11,-114.6,185.1,-15.9,152,1174,0.00,2.22,0.00,0.000,6,0.000,0.042,2838,2054,2424,0,0,0,0,0,0
$GC,1491,-1.11,-114.6,241.4,-17.8,183,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2054,2424,0,0,0,0,0,0
$GC,1813,-1.14,-114.6,293.2,-16.0,213,1818,0.05,2.28,0.00,0.000,4,0.168,0.060,2796,3469,2424,0,0,0,0,0,0
$GC,1856,-1.09,-114.6,301.4,-17.6,216,1865,0.10,2.22,0.00,0.000,6,0.163,0.044,2827,2056,2424,0,0,0,0,0,0
$GC,2182,-1.09,-114.6,351.4,-15.5,247,2186,0.00,2.28,0.00,0.000,4,0.000,0.062,2818,3465,2424,0,0,0,0,0,0
$GC,2221,-1.09,-114.6,357.4,-16.0,250,2225,0.00,2.17,0.00,0.000,6,0.000,0.042,2818,2048,2424,0,0,0,0,0,0
$GC,2555,-1.09,-114.6,407.0,-14.9,279,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2048,2424,0,0,0,0,0,0
$GC,2864,-1.09,-114.6,452.7,-15.1,294,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2048,2424,0,0,0,0,0,0
$GC,3174,-1.09,-114.6,501.1,-16.1,309,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2048,2424,0,0,0,0,0,0
$GC,3483,-1.09,-114.6,549.0,-15.4,324,3487,0.00,2.28,0.00,0.000,4,0.000,0.059,2809,3476,2424,0,0,0,0,0,0
$GC,3525,-1.09,-114.6,556.3,-16.5,326,3531,0.05,2.22,0.00,0.000,6,0.169,0.042,2825,2060,2424,0,0,0,0,0,0
$GC,3853,-1.09,-114.6,603.9,-14.2,342,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2424,0,0,0,0,0,0
$GC,4163,-1.12,-114.6,645.7,-13.1,357,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2424,0,0,0,0,0,0
$GC,4472,-1.16,-114.6,685.1,-13.1,372,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2423,0,0,0,0,0,0
$GC,4781,-1.19,-114.6,726.3,-13.7,387,4786,0.08,2.25,0.00,0.000,4,0.129,0.060,2779,3468,2423,0,0,0,0,0,0
$GC,4852,-1.15,-114.6,737.4,-15.3,390,4857,0.10,2.22,0.00,0.000,6,0.171,0.044,2810,2055,2422,0,0,0,0,0,0
$GC,5175,-1.15,-114.6,783.1,-14.6,406,5180,0.00,2.25,0.00,0.000,4,0.000,0.063,2801,3465,2422,0,0,0,0,0,0
$GC,5241,-1.15,-114.6,793.6,-14.7,409,5246,0.00,2.20,0.00,0.000,6,0.000,0.043,2801,2059,2422,0,0,0,0,0,0
$GC,5569,-1.15,-114.6,843.2,-15.3,425,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2059,2422,0,0,0,0,0,0
$GC,5878,-1.15,-114.6,888.8,-14.3,440,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2059,2421,0,0,0,0,0,0
$GC,6188,-1.15,-114.6,935.3,-15.1,455,6192,0.00,2.28,0.00,0.000,4,0.000,0.063,2792,3468,2421,0,0,0,0,0,0
$GC,6287,-1.15,-114.6,950.8,-15.8,459,6294,0.05,2.20,0.00,0.000,6,0.181,0.044,2807,2065,2421,0,0,0,0,0,0
$GC,6604,-1.15,-114.6,994.6,-13.3,475,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2065,2421,0,0,0,0,0,0
$STATE,6643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6643,begin apogee
$GC,6648,-0.19,0.0,1000.1,13.2,477,6757,1.05,0.00,105.43,1.290,6,0.165,0.000,3118,1588,1950,0,0,0,0,0,0
$STATE,6758,end apogee,CONTROL_FINISHED_OK
$STATE,6758,begin climb
$GC,6760,1.13,114.6,1004.1,0.0,482,6882,1.27,2.53,109.78,1.252,4,0.090,0.053,3552,199,1481,0,0,0,0,0,0
$GC,6950,1.13,114.6,984.2,14.7,491,6954,0.00,2.38,0.00,0.000,6,0.000,0.037,3551,1614,1476,0,0,0,0,0,0
$GC,7275,1.13,114.6,936.8,14.6,507,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1614,1473,0,0,0,0,0,0
$GC,7585,1.13,114.6,891.3,14.5,522,7589,0.00,2.22,0.00,0.000,4,0.000,0.056,3551,2996,1471,0,0,0,0,0,0
$GC,7624,1.13,114.6,885.0,16.4,524,7629,0.00,2.17,0.00,0.000,6,0.000,0.035,3560,1597,1471,0,0,0,0,0,0
$GC,7951,1.13,114.6,833.6,15.5,540,7955,0.00,2.28,0.00,0.000,4,0.000,0.054,3571,193,1470,0,0,0,0,0,0
$GC,8045,1.10,114.6,818.3,16.2,544,8050,0.10,2.25,0.00,0.000,6,0.163,0.037,3540,1608,1470,0,0,0,0,0,0
$GC,8367,1.15,114.6,772.7,13.9,560,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1608,1470,0,0,0,0,0,0
$GC,8677,1.20,114.6,731.5,13.0,575,8679,0.08,0.00,0.00,0.000,6,0.127,0.000,3584,1608,1469,0,0,0,0,0,0
$GC,8986,1.20,114.6,686.4,14.6,590,8987,0.05,0.00,0.00,0.000,6,0.231,0.000,3575,1610,1469,0,0,0,0,0,0
$GC,9295,1.20,114.6,641.0,15.1,605,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1610,1469,0,0,0,0,0,0
$GC,9605,1.20,114.6,593.9,15.0,620,9609,0.00,2.28,0.00,0.000,4,0.000,0.052,3584,194,1468,0,0,0,0,0,0
$GC,9744,1.14,114.6,571.6,16.4,626,9749,0.12,2.15,0.00,0.000,6,0.187,0.035,3553,1603,1468,0,0,0,0,0,0
$GC,10060,1.18,114.6,526.0,14.5,641,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1604,1468,0,0,0,0,0,0
$GC,10370,1.22,114.6,482.9,13.4,656,10371,0.08,0.00,0.00,0.000,6,0.125,0.000,3592,1604,1468,0,0,0,0,0,0
$GC,10679,1.19,114.6,438.8,13.9,671,10684,0.10,2.22,0.00,0.000,4,0.197,0.051,3579,197,1468,0,0,0,0,0,0
$GC,10809,1.15,114.6,420.5,13.9,677,10814,0.10,2.15,0.00,0.000,6,0.196,0.036,3556,1606,1467,0,0,0,0,0,0
$GC,11130,1.19,114.6,381.3,12.1,699,11134,0.00,2.28,0.00,0.000,4,0.000,0.051,3564,188,1467,0,0,0,0,0,0
$GC,11207,1.19,114.6,371.0,13.2,705,11213,0.00,2.20,0.00,0.000,6,0.000,0.034,3564,1602,1467,0,0,0,0,0,0
$GC,11532,1.19,114.6,331.0,12.2,736,11536,0.00,2.22,0.00,0.000,4,0.000,0.050,3574,196,1467,0,0,0,0,0,0
$GC,11606,1.19,114.6,321.4,13.8,742,11610,0.00,2.17,0.00,0.000,6,0.000,0.035,3574,1611,1467,0,0,0,0,0,0
$GC,11930,1.19,114.6,279.1,12.7,772,11934,0.00,2.25,0.00,0.000,4,0.000,0.050,3583,190,1467,0,0,0,0,0,0
$GC,11981,1.16,114.6,272.3,13.9,776,11986,0.10,2.15,0.00,0.000,6,0.200,0.035,3560,1604,1467,0,0,0,0,0,0
$GC,12306,1.20,114.6,229.0,14.1,806,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1604,1467,0,0,0,0,0,0
$GC,12625,1.24,114.6,187.2,13.0,836,12627,0.08,0.00,0.00,0.000,6,0.125,0.000,3597,1604,1467,0,0,0,0,0,0
$GC,12942,1.24,114.6,143.2,13.9,866,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1604,1467,0,0,0,0,0,0
$GC,13261,1.24,114.6,100.4,12.9,896,13266,0.00,2.25,0.00,0.000,4,0.000,0.050,3607,192,1467,0,0,0,0,0,0
$GC,13417,1.18,114.6,78.5,14.1,922,13423,0.15,2.15,0.00,0.000,6,0.188,0.035,3569,1601,1467,0,0,0,0,0,0
$GC,13769,1.21,114.6,37.9,10.9,983,13776,0.00,2.28,0.00,0.000,4,0.000,0.051,3578,190,1467,0,0,0,0,0,0
$GC,13863,1.21,114.6,26.4,12.8,998,13871,0.00,2.17,0.00,0.000,6,0.000,0.035,3578,1593,1467,0,0,0,0,0,0
$GC,14020,1.24,114.6,4.5,13.1,1023,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1602,1467,0,0,0,0,0,0
$STATE,14033,end climb,SURFACE_DEPTH_REACHED
$STATE,14033,begin surface coast
$FINISH,1.8,1.023382
$STATE,14060,end surface coast,CONTROL_FINISHED_OK
$STATE,14060,begin surface
$SM_CCo,14076,39.67,0.057,0,0,1133,200.16
$SM_GC,2.89,0.00,0.00,39.67,0.000,0.000,0.057,70,2074,1133,-9.74,0.40,200.16
$IRIDIUM_FIX,-4447.43,625.13,010708,030344
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,1
$24V_AH,23.0,25.315
$10V_AH,10.0,26.165
$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,23.900,86.600,215.200,39.675,0.000,27.147,44.759,260.939,0.250,0.000,21.180,2531.906,8828.088,344.641,2715.613,150.852,0.000,1301.105,0.000,2233.668,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,69.615,1289.790,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.134,1901.387,784.528,442.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353268
$DATA_FILE_SIZE,70382,1029
$CAP_FILE_SIZE,129790,0
$CFSIZE,2097086464,2067365888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040915,230733,-4505.176,624.580,40,1.0,40,-24.4