version: 66.07.10.p01
glider: 573
mission: 12
dive: 287
start: 9 26 115 22 22 1
data:
$ID,573
$MISSION,12
$DIVE,287
$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,-21923.338
$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,36
$R_STBD_OVSHOOT,48
$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,286
$GPS1,260915,221357,-4504.356,624.758,61,0.9,61,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-71.9
$GPS2,260915,222140,-4504.381,624.758,19,1.0,20,-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,329.8,1217,-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,-49.9,0.0,0.0,0,34,0.00,0.00,-8.00,0.000,2,0.000,0.000,61,2080,1299,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.2,-0.0,1,112,11.45,2.33,-55.78,0.000,4,0.243,0.077,2805,3451,2427,0,0,0,0,0,0
$GC,128,-1.22,-116.8,5.9,-9.2,15,136,0.00,2.25,0.00,0.000,6,0.000,0.044,2805,2057,2428,0,0,0,0,0,0
$GC,187,-1.16,-116.8,16.9,-18.7,24,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2057,2428,0,0,0,0,0,0
$GC,245,-1.09,-116.8,28.1,-19.4,33,253,0.10,2.33,0.00,0.000,4,0.203,0.060,2819,3442,2429,0,0,0,0,0,0
$GC,274,-1.04,-116.8,33.7,-19.6,37,282,0.08,2.22,0.00,0.000,6,0.174,0.043,2842,2061,2428,0,0,0,0,0,0
$GC,424,-1.04,-116.8,61.0,-18.3,62,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2061,2429,0,0,0,0,0,0
$GC,755,-1.04,-116.8,123.5,-19.3,91,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2061,2429,0,0,0,0,0,0
$GC,1062,-1.04,-116.8,181.4,-17.6,106,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2061,2430,0,0,0,0,0,0
$GC,1374,-1.07,-116.8,232.5,-15.9,121,1378,0.00,2.25,0.00,0.000,4,0.000,0.057,2833,3454,2430,0,0,0,0,0,0
$GC,1400,-1.07,-116.8,237.5,-16.9,122,1404,0.00,2.20,0.00,0.000,6,0.000,0.041,2832,2063,2430,0,0,0,0,0,0
$GC,1722,-1.07,-116.8,289.6,-16.4,138,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2062,2430,0,0,0,0,0,0
$GC,2031,-1.07,-116.8,340.2,-16.8,153,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2062,2430,0,0,0,0,0,0
$GC,2339,-1.07,-116.8,390.6,-16.5,168,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2062,2430,0,0,0,0,0,0
$GC,2650,-1.11,-116.8,442.1,-17.0,183,2654,0.00,2.22,0.00,0.000,4,0.000,0.057,2823,3454,2431,0,0,0,0,0,0
$GC,2751,-1.11,-116.8,459.7,-17.3,187,2755,0.00,2.20,0.00,0.000,6,0.000,0.044,2824,2055,2430,0,0,0,0,0,0
$GC,3065,-1.11,-116.8,513.7,-17.3,202,3069,0.00,2.25,0.00,0.000,4,0.000,0.061,2814,3447,2430,0,0,0,0,0,0
$GC,3098,-1.11,-116.8,519.7,-18.2,203,3103,0.00,2.20,0.00,0.000,6,0.000,0.044,2815,2064,2430,0,0,0,0,0,0
$GC,3420,-1.11,-116.8,574.4,-17.2,219,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2064,2430,0,0,0,0,0,0
$GC,3728,-1.11,-116.8,627.0,-16.8,234,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2064,2430,0,0,0,0,0,0
$GC,4039,-1.11,-116.8,677.6,-16.2,249,4043,0.00,2.20,0.00,0.000,4,0.000,0.055,2806,3447,2430,0,0,0,0,0,0
$GC,4065,-1.11,-116.8,682.3,-17.3,250,4070,0.03,2.20,0.00,0.000,6,0.197,0.044,2817,2063,2430,0,0,0,0,0,0
$GC,4385,-1.11,-116.8,734.0,-15.9,266,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2063,2430,0,0,0,0,0,0
$GC,4696,-1.14,-116.8,782.1,-15.4,281,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2063,2429,0,0,0,0,0,0
$GC,5004,-1.17,-116.8,830.0,-15.1,296,5008,0.00,2.22,0.00,0.000,4,0.000,0.057,2807,3454,2429,0,0,0,0,0,0
$GC,5053,-1.17,-116.8,837.7,-15.6,298,5058,0.00,2.20,0.00,0.000,6,0.000,0.043,2808,2064,2429,0,0,0,0,0,0
$GC,5374,-1.17,-116.8,887.2,-15.4,314,5378,0.00,2.22,0.00,0.000,4,0.000,0.057,2799,3449,2429,0,0,0,0,0,0
$GC,5423,-1.17,-116.8,895.0,-15.0,316,5428,0.00,2.22,0.00,0.000,6,0.000,0.044,2800,2054,2429,0,0,0,0,0,0
$GC,5744,-1.17,-116.8,945.7,-15.5,332,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2054,2429,0,0,0,0,0,0
$GC,6055,-1.17,-116.8,993.2,-14.9,347,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2053,2428,0,0,0,0,0,0
$STATE,6114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6114,begin apogee
$GC,6119,-0.19,0.0,1002.4,15.0,350,6231,1.10,0.00,107.85,1.289,6,0.170,0.000,3114,1590,1950,0,0,0,0,0,0
$STATE,6232,end apogee,CONTROL_FINISHED_OK
$STATE,6232,begin climb
$GC,6234,1.13,116.8,1006.3,0.0,355,6357,1.30,2.58,112.20,1.249,4,0.089,0.054,3554,196,1473,0,0,0,0,0,0
$GC,6457,1.13,116.8,984.5,14.8,365,6461,0.00,2.38,0.00,0.000,6,0.000,0.036,3554,1595,1469,0,0,0,0,0,0
$GC,6779,1.13,116.8,940.3,13.5,381,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1595,1467,0,0,0,0,0,0
$GC,7087,1.13,116.8,897.8,13.8,396,7091,0.00,2.30,0.00,0.000,4,0.000,0.054,3564,195,1467,0,0,0,0,0,0
$GC,7158,1.10,116.8,887.2,15.1,399,7163,0.10,2.28,0.00,0.000,6,0.187,0.037,3541,1608,1466,0,0,0,0,0,0
$GC,7485,1.13,116.8,845.9,12.2,415,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1608,1465,0,0,0,0,0,0
$GC,7794,1.17,116.8,809.2,11.5,430,7798,0.05,2.22,0.00,0.000,4,0.168,0.053,3574,2999,1465,0,0,0,0,0,0
$GC,7848,1.11,116.8,802.1,13.4,432,7854,0.12,2.22,0.00,0.000,6,0.167,0.036,3547,1590,1465,0,0,0,0,0,0
$GC,8163,1.11,116.8,765.1,11.9,448,8167,0.00,2.28,0.00,0.000,4,0.000,0.055,3557,195,1465,0,0,0,0,0,0
$GC,8285,1.11,116.8,748.9,12.9,453,8290,0.03,2.22,0.00,0.000,6,0.201,0.037,3549,1599,1464,0,0,0,0,0,0
$GC,8607,1.11,116.8,711.5,11.4,469,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1599,1464,0,0,0,0,0,0
$GC,8915,1.11,116.8,679.0,10.1,484,8919,0.00,2.28,0.00,0.000,4,0.000,0.053,3558,190,1464,0,0,0,0,0,0
$GC,9031,1.11,116.8,666.3,10.8,489,9036,0.03,2.22,0.00,0.000,6,0.208,0.037,3549,1599,1464,0,0,0,0,0,0
$GC,9352,1.11,116.8,633.2,10.3,505,9356,0.00,2.20,0.00,0.000,4,0.000,0.054,3549,2990,1464,0,0,0,0,0,0
$GC,9392,1.11,116.8,628.8,11.5,507,9397,0.05,2.15,0.00,0.000,6,0.250,0.037,3548,1598,1464,0,0,0,0,0,0
$GC,9719,1.15,116.8,589.8,12.5,523,9723,0.00,2.28,0.00,0.000,4,0.000,0.056,3559,195,1464,0,0,0,0,0,0
$GC,9780,1.15,116.8,581.3,13.0,526,9784,0.00,2.20,0.00,0.000,6,0.000,0.036,3554,1595,1463,0,0,0,0,0,0
$GC,10111,1.15,116.8,538.7,12.6,542,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1595,1463,0,0,0,0,0,0
$GC,10422,1.15,116.8,500.1,12.3,557,10426,0.00,2.28,0.00,0.000,4,0.000,0.053,3563,196,1463,0,0,0,0,0,0
$GC,10487,1.15,116.8,491.9,12.0,560,10492,0.00,2.20,0.00,0.000,6,0.000,0.037,3561,1594,1463,0,0,0,0,0,0
$GC,10813,1.15,116.8,454.1,11.5,576,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1594,1463,0,0,0,0,0,0
$GC,11125,1.15,116.8,420.3,10.8,591,11129,0.00,2.22,0.00,0.000,4,0.000,0.053,3561,2991,1463,0,0,0,0,0,0
$GC,11230,1.15,116.8,408.1,10.9,596,11235,0.08,2.15,0.00,0.000,6,0.216,0.037,3554,1600,1463,0,0,0,0,0,0
$GC,11561,1.15,116.8,373.7,10.1,612,11565,0.00,2.25,0.00,0.000,4,0.000,0.055,3565,193,1463,0,0,0,0,0,0
$GC,11683,1.15,116.8,360.6,11.5,617,11688,0.00,2.20,0.00,0.000,6,0.000,0.035,3564,1597,1463,0,0,0,0,0,0
$GC,12006,1.15,116.8,327.6,10.4,633,12010,0.00,2.25,0.00,0.000,4,0.000,0.051,3573,197,1463,0,0,0,0,0,0
$GC,12037,1.15,116.8,323.9,11.1,634,12045,0.05,2.22,0.00,0.000,6,0.177,0.037,3558,1611,1463,0,0,0,0,0,0
$GC,12354,1.15,116.8,290.5,11.0,650,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1611,1463,0,0,0,0,0,0
$GC,12665,1.15,116.8,258.3,10.1,665,12669,0.00,2.30,0.00,0.000,4,0.000,0.052,3567,193,1463,0,0,0,0,0,0
$GC,12811,1.15,116.8,243.1,9.5,671,12817,0.05,2.17,0.00,0.000,6,0.234,0.035,3557,1604,1463,0,0,0,0,0,0
$GC,13128,1.15,116.8,215.0,8.5,687,13132,0.00,2.28,0.00,0.000,4,0.000,0.051,3565,199,1463,0,0,0,0,0,0
$GC,13264,1.15,116.8,201.3,9.3,693,13267,0.00,2.17,0.00,0.000,6,0.000,0.037,3565,1600,1463,0,0,0,0,0,0
$GC,13592,1.15,116.8,171.3,8.8,709,13596,0.00,2.20,0.00,0.000,4,0.000,0.054,3565,2999,1463,0,0,0,0,0,0
$GC,13704,1.15,116.8,160.0,10.3,714,13709,0.05,2.17,0.00,0.000,6,0.184,0.035,3558,1602,1464,0,0,0,0,0,0
$GC,14032,1.18,116.8,129.1,9.4,730,14036,0.00,2.20,0.00,0.000,4,0.000,0.051,3558,2991,1463,0,0,0,0,0,0
$GC,14109,1.18,116.8,121.8,9.5,733,14114,0.00,2.17,0.00,0.000,6,0.000,0.036,3566,1597,1463,0,0,0,0,0,0
$GC,14433,1.18,116.8,91.3,9.7,749,14437,0.00,2.25,0.00,0.000,4,0.000,0.054,3576,196,1463,0,0,0,0,0,0
$GC,14541,1.18,116.8,79.7,10.8,754,14546,0.00,2.17,0.00,0.000,6,0.000,0.036,3576,1601,1463,0,0,0,0,0,0
$GC,14891,1.18,116.8,44.6,9.7,815,14896,0.00,2.25,0.00,0.000,4,0.000,0.051,3586,196,1463,0,0,0,0,0,0
$GC,14957,1.14,116.8,37.7,10.6,826,14965,0.08,2.20,0.00,0.000,6,0.170,0.036,3562,1602,1463,0,0,0,0,0,0
$GC,15115,1.18,116.8,21.5,10.3,851,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1602,1463,0,0,0,0,0,0
$GC,15270,1.18,116.8,6.1,9.3,876,15277,0.00,2.30,0.00,0.000,4,0.000,0.052,3571,198,1464,0,0,0,0,0,0
$STATE,15296,end climb,SURFACE_DEPTH_REACHED
$STATE,15297,begin surface coast
$FINISH,1.9,1.022388
$STATE,15329,end surface coast,CONTROL_FINISHED_OK
$STATE,15329,begin surface
$SM_CCo,15349,41.33,0.055,0,0,1133,200.16
$SM_GC,2.63,0.00,0.00,41.33,0.000,0.000,0.055,64,2057,1133,-9.75,-0.08,200.16
$IRIDIUM_FIX,-4447.43,628.16,230708,060603
$TT8_MAMPS,0.026964
$HUMID,63.03
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.6,35.937
$10V_AH,9.8,37.882
$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,23.975,117.825,220.050,41.325,0.000,25.720,22.797,275.213,0.000,0.000,22.160,1954.100,10766.721,363.663,2583.878,181.585,0.000,1324.213,0.000,2149.887,0.000,0.540,0.000
$DEVICE_MAMPS,250.155,77.265,1289.025,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.193,1310.071,742.780,434.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,63841,885
$CAP_FILE_SIZE,134797,0
$CFSIZE,2097086464,2054488064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270915,024003,-4503.378,623.308,56,1.0,56,-24.3